A tightening mechanism for a boom hole drilling installation robot

Abstract

This utility model discloses a tightening mechanism for a boom drilling and installation robot, relating to the field of boom installation technology. It includes a limiting sleeve for boom assembly, with one end face recessed axially to a certain depth to form a limiting groove for accommodating a nut. The shape of the limiting groove matches the shape of the nut to prevent rotation and limit its movement. When the limiting sleeve is driven to rotate around its axial direction, the limiting groove restricts the nut's rotation. The limiting groove on the limiting sleeve precisely matches the nut's shape, applying radial limiting force through geometric constraints to ensure the nut remains synchronized with the limiting sleeve during rotation. Compared to the shortcomings of existing technologies where manual tightening with a wrench requires a large operating space and insufficient tightening force, this tightening structure uses a coaxial drive of the limiting sleeve, which does not occupy a large horizontal operating space and is suitable for areas with dense pipelines.

Description

Technical Field

[0001] This utility model relates to the field of boom installation technology, specifically to a tightening mechanism for a boom drilling and installation robot. Background Technology

[0002] like Figure 5 The standard rod system shown consists of three core components: a metal rod with external threads at the top, a tapered expansion tube fitted onto the threaded section, and a matching nut (usually a hexagonal or square nut). During installation, the following steps must be followed: First, drill mounting holes matching the outer diameter of the expansion tube into the building structure (e.g., a concrete slab); then insert the expansion tube into the hole from bottom to top, with the nut positioned between the bottom of the expansion tube and the structural surface; finally, tighten the nut manually, utilizing the threaded transmission principle to cause the expansion tube to expand radially, thus forming a mechanical engagement with the hole wall. The rod can be represented by 'a', and the nut by 'b'.

[0003] However, this installation method has drawbacks. First, it's difficult to precisely control the force used to tighten the nuts manually with a wrench, leading to uneven tightening and potentially causing the hanger to be loosely installed or overtightened, resulting in component damage. Second, during installation using a wrench, at least 12cm of operating space is required, which is often difficult to achieve in beam-column joints or areas with dense pipelines. Construction workers are often forced to operate the wrench at a 20° to 40° angle, resulting in lower effective axial preload. This angled tightening can prevent the nuts from being fully tightened, making them prone to loosening later.

[0004] To address this issue, we propose a tightening mechanism for a boom drilling and installation robot. Utility Model Content

[0005] The purpose of this utility model is to solve the problems in the prior art by proposing a tightening mechanism for a boom drilling and installation robot. This tightening mechanism, through the setting of a limiting sleeve, relies on the matching of its upper limiting groove with the shape of the nut on the boom to achieve coaxial rotation tightening of the nut by the limiting sleeve. It occupies less space during operation, and the rotation of the limiting sleeve is directly converted into the rotation of the nut, resulting in high transmission efficiency and ensuring sufficient tightening effect.

[0006] To solve the above problems, this utility model provides the following technical solution:

[0007] A tightening mechanism for a boom drilling and installation robot includes a limiting sleeve for boom assembly. One end face of the limiting sleeve is recessed to a certain depth along the axial direction to form a limiting groove for accommodating a nut. The shape of the limiting groove is adapted to match the shape of the nut to prevent rotation and limit the nut. When the limiting sleeve is driven to rotate around its axial direction, the nut can rotate with the limiting groove.

[0008] As a further embodiment of this utility model: the limiting sleeve is configured in multiple sets, and the limiting grooves on the multiple sets of limiting sleeves are all different in shape, so as to form a component library.

[0009] As a further embodiment of this utility model, the tightening mechanism also includes a tightening sleeve for driving the limiting sleeve to rotate. The tightening sleeve is coaxially disposed outside the limiting sleeve and is connected to the keyway of the limiting sleeve so that when the tightening sleeve rotates, the limiting sleeve can rotate by relying on the keyway between the tightening sleeve and the limiting sleeve.

[0010] As a further embodiment of this invention, the tightening mechanism also includes a drive component for driving the tightening sleeve to rotate.

[0011] As a further embodiment of this utility model: the drive assembly includes a support, on which a tightening gear for coaxial mounting of the tightening sleeve and a drive motor for driving the tightening gear to rotate are provided.

[0012] As a further embodiment of this utility model: a through hole for inserting a tightening sleeve is provided at the center of the tightening gear, and the wall of the through hole and the outer wall of the tightening sleeve are both provided with insertion holes. The two insertion holes are arranged opposite to each other and together hold a key block. The two insertion holes and the key block together form a connection structure, and the connection structure is set into two sets and arranged radially along the tightening gear.

[0013] As a further embodiment of this utility model: notches are provided on the sides of the tightening gear, tightening sleeve and limiting sleeve, and the notches together form an inlet or outlet for the boom to enter or move out.

[0014] As a further embodiment of this utility model, the tightening mechanism also includes a second slide for sliding installation of the bearing support, and a second drive source is provided on the second slide. The execution end of the second drive source is connected to the bearing support to realize the sliding of the bearing support on the second slide.

[0015] As a further embodiment of this utility model: the bearing support is provided with a gear transmission component for transmitting power between the drive motor and the tightening gear.

[0016] As a further embodiment of this utility model: the bearing support is provided with a protective cover for covering the second drive source, and a V-shaped lateral abutment seat is provided on the bearing support below the limiting sleeve, so that when the rod is placed on the limiting sleeve, the side of the rod abuts against the two inner side walls of the V-shaped lateral abutment seat.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The axial recess of the limiting sleeve forms a limiting groove that precisely fits the shape of the nut. Using geometric constraints, it applies a radial limiting effect to the nut, ensuring that the nut remains synchronized with the limiting sleeve during rotation, thus achieving tightening. Compared to the shortcomings of existing technologies where manual tightening with a wrench requires a large operating space and results in insufficient tightening force, the tightening structure of this application uses a coaxial drive of the limiting sleeve, which does not occupy a large horizontal operating space, making it suitable for areas with dense pipelines and having a wide range of applications. Furthermore, the rotation of the limiting sleeve is directly converted into the rotation of the nut, resulting in high transmission efficiency, low energy loss, and ensuring sufficient tightening force.

[0019] 2. By setting multiple sets of limit sleeves and integrating them into a component library based on the different shapes of their upper limit grooves, the corresponding limit sleeve can be retrieved from the component library according to the shape of the nut on the rod to be tightened, thus expanding the application scenarios.

[0020] 3. The keyway fit ensures a rigid connection between the tightening sleeve and the limiting sleeve, preventing energy loss due to slippage or offset during power transmission. The coaxial structure design reduces the impact of eccentric loads on the mechanism, minimizing vibration and wear risks. Furthermore, the tightening sleeve, as an independent module, is easily compatible with different drive and limiting sleeves, facilitating subsequent functional expansion and maintenance.

[0021] 4. With the addition of the drive assembly, the mechanism has been upgraded from manual operation to automated control. The drive assembly can precisely control the rotation speed and torque of the tightening sleeve, avoiding over-tightening or under-tightening problems that may occur during manual operation, and ensuring the consistency of the tightening process. The automated design not only reduces the labor intensity of operators, but is also suitable for hazardous environments or production lines requiring continuous operation, significantly improving work efficiency and safety.

[0022] 5. The drive assembly adopts a design that integrates the tightening gear and drive motor into the load-bearing support, resulting in a compact structure and efficient power transmission. The gear drive smoothly transmits the motor power to the tightening sleeve, reducing energy loss.

[0023] 6. The tightening gear and tightening sleeve are connected by a key block and a socket, significantly improving the mechanism's torsional resistance and reliability. Two sets of radially arranged connection structures evenly distribute the load, preventing component failure caused by single-point stress concentration. The key block plug-in design simplifies the assembly process, allowing operators to quickly disassemble or replace components without complex tools.

[0024] 7. The notch-designed inlet and outlet greatly simplifies the boom installation process. Operators can quickly insert or remove the boom into or from the limiting sleeve through the notch without repeated adjustments, saving operation time and reducing labor intensity. The notch design also avoids mechanical interference between the boom and other components of the mechanism, reducing the risk of accidental jamming or scratches and improving operational safety.

[0025] 8. The sliding function of the support allows the mechanism to be flexibly adjusted according to the position of the boom, adapting to the needs of different installation scenarios. When controlled in conjunction with the drive motor, the mechanism can achieve full automation of the "positioning-tightening" process, significantly improving work efficiency.

[0026] 9. The V-shaped abutment seat constrains the lateral position of the hanger rod through double inclined surfaces, ensuring that the hanger rod axis is strictly aligned with the tightening axis, avoiding assembly errors caused by misalignment, and significantly improving tightening quality and product consistency. Attached Figure Description

[0027] The present invention will be further described below with reference to the accompanying drawings.

[0028] Figure 1 This is a three-dimensional structural diagram of the drilling mechanism of this utility model;

[0029] Figure 2 yes Figure 1 A three-dimensional structural diagram showing the removal of the protective cover under certain conditions;

[0030] Figure 3 yes Figure 2 A three-dimensional structural diagram of the drilling rig under the condition of removal;

[0031] Figure 4 yes Figure 3 A partially enlarged structural diagram;

[0032] Figure 5 This is a schematic diagram of a hanger structure in the prior art;

[0033] Figure 6 This is a three-dimensional structural diagram of the tightening mechanism of this utility model;

[0034] Figure 7 yes Figure 6 A three-dimensional structural diagram showing the removal of the protective cover in the current state;

[0035] Figure 8 yes Figure 6 A three-dimensional structural diagram showing the removal of the cover from the gear transmission component under certain conditions;

[0036] Figure 9 yes Figure 8 A three-dimensional structural diagram showing the removal of the lifting rod in the current state;

[0037] Figure 10 yes Figure 9 A schematic diagram of the assembly structure of the gear transmission component and the bearing support under the specified conditions;

[0038] Figure 11 This is a three-dimensional structural diagram of the tightening gear, tightening sleeve, and limiting sleeve in this utility model;

[0039] Figure 12 This is a three-dimensional structural diagram of the tightening gear and tightening sleeve in this utility model;

[0040] Figure 13 This is a schematic diagram of the three-dimensional structure of the limiting sleeve in this utility model;

[0041] Figure 14 This is a three-dimensional structural diagram of the frame, drilling mechanism, and tightening mechanism of this utility model. Figure 1 ;

[0042] Figure 15 This is a three-dimensional structural diagram of the frame, drilling mechanism, and tightening mechanism of this utility model. Figure 2 ;

[0043] Figure 16 This is a three-dimensional structural diagram of the frame, drilling mechanism, and tightening mechanism of this utility model. Figure 3 .

[0044] In the diagram: 1. Drilling rig; 101. Drill bit; 2. Telescopic dust collection hood; 201. Closed end; 202. Open end; 3. Fixing plate; 4. Clamp; 5. Connecting rod; 6. Support; 7. Hose clamp; 8. V-shaped support block; 9. First slide; 10. First drive source; 11. Dust collection pipe; 12. Vacuum cleaner; 13. Protective cover; 14. Limiting sleeve; 15. Limiting groove; 16. Tightening sleeve; 17. Bearing 18. Support; 19. Tightening gear; 20. Drive motor; 21. Key block; 22. Inlet / outlet; 23. Second slide; 24. Second drive source; 25. Protective cover; 26. V-shaped lateral abutment seat; 27. Gear transmission component; 28. Frame; 29. ​​Lifting seat; 30. First slide; 31. Second slide; 32. Distance sensor; 33. Industrial camera; 44. Fill light; a. Hanging rod; b. Nut. Detailed Implementation

[0045] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0046] Example 1:

[0047] like Figures 1-4 As shown, a drilling mechanism includes a first slide table 9, on which a fixed plate 3 is slidably mounted. A first drive source (cylinder, etc.) 10 is disposed on the first slide table 9. The actuator of the first drive source 10 is fixedly connected to the fixed plate 3, so that when the first drive source 10 is working, it can drive the fixed plate 3 to slide on the first slide table 9. The direction of sliding can be set according to the actual drilling direction. A drill rig 1 and a telescopic dust collection hood 2 are disposed on the fixed plate 3. The specific connection and layout relationships are as follows:

[0048] (1) Drilling machine 1: The fixing plate 3 is designed in an L shape to fit the shape of the drilling machine 1. The bottom of the fixing plate 3 is provided with a V-shaped support block 8 for the bottom of the drilling machine 1 to be placed. At the same time, the bottom and side of the drilling machine 1 are clamped on the fixing plate 3 by the hose clamp 7. The movement of the fixing plate 3 can drive the drilling machine 1 to move accordingly.

[0049] (2) Telescopic Dust Collection Hood 2: The telescopic dust collection hood 2 has a fixed closed end 201 and a free open end 202. The closed end 201 is mounted on the fixed plate 3 and statically sleeved around the drill bit 101. Static sleeved means that the closed end 201 is fitted around the drill bit 101 through a hole with a diameter slightly larger than the diameter of the drill bit 101, so that the closed end 201 does not interfere with the rotation of the drill bit 101. This installation method does not interfere with the rotation of the drill bit 101; when the drill bit 101 is working, the closed end 201 always remains relatively stationary. The open end 202 is arranged flush with the drill tip of the drill bit 101. Figure 2 The drill tip of the drill bit 101 shown is higher than the opening end 202, which indicates that the drilling operation is underway. It should be noted that the telescopic dust collection hood 2 can be a pipe with telescopic function in the prior art, such as a corrugated pipe.

[0050] Under the above design, when drilling is required on a building, a laser is used for pre-positioning, then the drill rig 1 is started, causing the drill bit 101 to rotate. The fixed plate 3 is then moved on the first slide 9 until the drill bit 101 and the opening end 202 contact the drilling position. The fixed plate 3 continues to move, feeding the drill bit 101 towards the building until the specified drilling depth is achieved. During this process, because the opening end 202 is in contact with the drilling position, the telescopic dust collection hood 2 is compressed when the drill bit 101 feeds, meaning the closed end 201 moves towards the opening end 202. At this time, the positions of the drill bit 101 and the telescopic dust collection hood 2 can be adjusted. Figure 1 To illustrate, the open end 202 is located below the drill tip of the drill bit 101. Simultaneously, due to the contact between the open end 202 and the outer perimeter of the drilling location, debris and dust generated during drilling fall into the telescopic dust collection hood 2, ensuring cleanliness during drilling operations and eliminating the need for subsequent cleaning of scattered debris and dust.

[0051] To prevent dust from escaping through the gap between the open end 202 and the building, and to compensate for the limited material storage of the telescopic dust hood 2 during high-intensity drilling, this application provides a dust collection pipe 11 on the closed end 201 for communication with the inner cavity of the telescopic dust hood 2. Therefore, during drilling, the generated debris and dust will fall from the dust collection pipe 11. Simultaneously, the vibration generated by the drilling machine 1 during drilling further helps to shake the debris and dust off from the dust collection pipe 11. Furthermore, a vacuum cleaner 12 can be added, connected to the dust collection pipe 11, to suck up the debris and dust generated during drilling.

[0052] To facilitate the installation of the closed end 201 on the fixed plate 3, a clamp 4 is provided on the fixed plate 3, which is attached to the outside of the drilling rig 1. Multiple connecting rods 5 are fixedly mounted on the clamp 4, and a support 6 is provided at one end of each connecting rod 5 extending to the drill bit 101. The support 6 is used for the installation of the closed end 201. To ensure uniform force distribution, the multiple connecting rods 5 are arranged in a circumferential array outside the drill bit 101. Furthermore, the closed end 201 and the drill bit 101 can be arranged coaxially, so that the telescopic dust collection hood 2 and the drill bit 101 are coaxially arranged.

[0053] like Figure 1 As shown, a protective cover 13 can also be installed on the fixed plate 3 to protect and cover the entire drilling rig 1.

[0054] Example 2:

[0055] like Figures 6-13As shown, a tightening mechanism for a boom drilling and installation robot includes multiple limiting sleeves 14. One end face of each limiting sleeve 14 is recessed axially to a certain depth (this depth can be set according to the thickness of the nut b) to form a limiting groove 15 for accommodating the nut b on the boom a. This state can be achieved by... Figure 13 This is used to indicate the type of nut b on the boom a. Because the nuts b on the boom a are of different types, the shapes of the limiting grooves 15 on the multiple limiting sleeves 14 are respectively designed to match the shapes of the nuts b. These multiple limiting sleeves 14 with different limiting grooves 15 constitute a selectable component library. Before tightening the boom a, a limiting sleeve 14 with a matching upper limiting groove 15 shape is selected from the component library according to the shape of the nuts b on the boom a.

[0056] Preferably, since the nut b on the existing boom a is generally hexagonal or square, this application provides two limiting sleeves 14 to match it. Correspondingly, the limiting grooves 15 on the two limiting sleeves 14 are hexagonal and square, respectively. Of course, when the bolt b on the boom a is set to other shapes, the shape of the limiting groove 15 on the limiting sleeve 14 will also match it.

[0057] It should be noted that this application Figures 6-8 The lifting rods a are not fitted with expansion tubes. Expansion tubes will be fitted onto their top ends during subsequent use. When an expansion tube is fitted onto the top end of lifting rod a, it can be placed on the selected limiting sleeve 14. The limiting groove 15 on the limiting sleeve 14 accommodates the nut b on lifting rod a. Then, the limiting sleeve 14 is driven upwards until the expansion tube on lifting rod a is inserted into the hole. Next, the limiting sleeve 14 is driven to rotate axially. Since the shape of the limiting groove 15 matches the shape of the nut b, the limiting groove 15 will prevent the nut b from rotating, causing the nut b to rotate. The rotation of the nut b will cause the expansion tube to expand radially, thus forming a mechanical engagement with the hole wall and completing the tightening process.

[0058] Based on the component library formed by the aforementioned multiple limiting sleeves 14, this application provides a tightening sleeve 16 for driving the limiting sleeves 14 to rotate. After selecting the appropriate limiting sleeve 14 from the component library, the limiting sleeve 14 can be coaxially placed inside the tightening sleeve 16, and the two can be connected using a keyway. This connection method is similar to the spline connection in the prior art, or it can be the method designed in this application: one section of the limiting sleeve 14 is set as a prism shape. This state can be achieved by... Figure 13 This indicates that a groove is formed by recessing one end face of the tightening sleeve 16 inward to a certain depth along its axial direction. This state can be achieved by... Figure 12 This is done by using the prism-shaped segment and the slotted fitting to complete the installation of the tightening sleeve 16 and the limiting sleeve 14. The state after installation can be determined by... Figure 11 The above installation method allows the rotation of the tightening sleeve 16 to drive the limiting sleeve 14 to follow, thereby realizing the tightening action of the limiting sleeve 14 on the nut b.

[0059] To automatically rotate the tightening sleeve 16, this application also includes a drive assembly for driving the tightening sleeve 16 to rotate. Specifically, the drive assembly includes a support 17, on which a tightening gear 18 and a drive motor 19 are mounted. The output shaft of the drive motor 19 is connected to the tightening gear 18. The tightening sleeve 16 is coaxially mounted on the tightening gear 18. The two can be conventionally detachably connected, for example, by having a through hole at the center of the tightening gear 18 for inserting the tightening sleeve 16, and both the wall of the through hole and the outer wall of the tightening sleeve 16 have insertion holes, which are arranged opposite to each other and jointly hold a key block 20. Figure 11 As shown, the two sockets and the key block 20 together form a connection structure, and the connection structure is set into two sets and arranged radially along the tightening gear 18. During operation, the drive motor 19 works, which drives the tightening gear 18 to rotate, thereby driving the tightening sleeve 16 to rotate, realizing the rotation action of the tightening sleeve 16.

[0060] Furthermore, in order to increase the rotational torque of the tightening sleeve 16, a gear transmission component 26 is provided on the bearing support 17 for transmitting power between the drive motor 19 and the tightening gear 18. The gear transmission component 26 can be a reduction gear set or the like in the prior art, which will not be described in detail here.

[0061] Meanwhile, in order to enable the boom a to be driven upward when placed on the tightening sleeve 16, this application also includes a second slide 22 for sliding installation of the bearing support 17, and a second drive source (cylinder, etc.) 23 is provided on the second slide 22. The execution end of the second drive source 23 is connected to the bearing support 17 to realize the sliding of the bearing support 17 on the second slide 22, that is, to realize the up and down movement of the tightening sleeve 16.

[0062] Based on the aforementioned setting of the limiting sleeve 14 and the bearing support 17, since the length of the lifting rod a is relatively long and it has a nut b, generally, the lifting rod a can only be inserted into the limiting sleeve 14 from top to bottom. However, this vertical insertion method is limited by environmental factors and is inconvenient to use. Therefore, we propose a horizontal insertion method. This method involves notches on the sides of the tightening gear 18, the tightening sleeve 16, and the limiting sleeve 14, and these notches together form an inlet / outlet 21 for the lifting rod a to enter or exit. This state can be achieved by... Figure 11 It should be noted that the size of the notch on the tightening gear 18 will not interfere with the meshing of the gears in the gear transmission component 26. The existence of this notch will not interfere with the meshing of the tightening gear 18 and the gear transmission component 26.

[0063] To protect the drive motor 19, a protective cover 24 is provided on the support 17. Meanwhile, to stably limit the movement of the boom a placed on the limiting sleeve 14, a V-shaped lateral abutment seat 25 is provided on the support 17 below the limiting sleeve 14. When the boom a is placed on the limiting sleeve 14, the bottom sides of the boom a abut against the two inner walls of the V-shaped lateral abutment seat 25. In other words, the limiting sleeve 14 and the V-shaped lateral abutment seat 25 limit the movement of the boom a, ensuring its stability during upward movement.

[0064] Example 3:

[0065] like Figures 14-16 As shown, the boom drilling and installation robot includes a frame 27, on which a column is mounted. A lifting seat 28 is slidably mounted vertically on the column. A first slide 29 is slidably mounted horizontally on the lifting seat 28. A second slide 30 is slidably mounted horizontally on the first slide 29. The sliding direction of the first slide 29 is perpendicular to the sliding direction of the second slide 30. Therefore, the lifting seat 28, the first slide 29, and the second slide 30 together constitute a three-dimensional motion mechanism. At this time, the drilling mechanism and the tightening mechanism mentioned above are set on the second slide 30. The drilling mechanism and the tightening mechanism can move in three dimensions under the action of the three-dimensional motion mechanism, that is, they can move up and down, left and right, and forward and backward to realize the corresponding drilling and tightening actions.

[0066] When the robot needs to drill holes in the ceiling, the drilling mechanism can first be moved to the designated position using a three-dimensional motion mechanism. Then, the drill bit 101 is fed upwards to drill holes in the ceiling until a hole of the corresponding depth is formed. The specific drilling process can be referred to the description in Embodiment 1, which will not be repeated here. Afterwards, the drilling mechanism is reset using the three-dimensional motion mechanism. Then, the suspension rod a is placed on the tightening sleeve 16, and the tightening sleeve 16 is moved again using the three-dimensional motion mechanism until the top of the suspension rod a is inserted and tightened into the hole. The specific tightening process can be referred to the description in Embodiment 2, which will not be repeated here. This embodiment integrates the drilling mechanism and the tightening mechanism on the frame 27, so that the drilling and tightening work is carried out sequentially by automated means. This avoids the huge time and manpower required for drilling and suspension rod installation in large-scale sites. Moreover, the automated drilling and tightening work ensures that the drilling position, accuracy, and tightening effect are consistent and without significant errors.

[0067] It should be noted that the sliding of the aforementioned lifting seat 28, first slide 29, and second slide 30 can be achieved using existing technologies such as lead screw and slider mechanisms and telescopic rods, and this paper is not limited to this type of drive. Furthermore, the design of the three-dimensional motion mechanism composed of the lifting seat 28, first slide 29, and second slide 30 is only one approach implemented in this paper; based on mature three-dimensional motion design technologies, this paper can arbitrarily select one.

[0068] To enable this robot to adapt to different workplaces and achieve high installation accuracy, a distance sensor 31, an industrial camera 32, and a supplementary light 33 can be installed on the second slide 30. The distance sensor 31 continuously monitors the upward feed displacement of the drill bit 101 and the tightening sleeve 16 during drilling and tightening operations, ensuring the accuracy of these processes. The industrial camera 32 can capture images of the drilling location for identification, and in conjunction with the three-dimensional motion mechanism, it allows for better adjustment of the positions of the drill bit 101 and the tightening sleeve 16. The supplementary light 33 provides illumination in dark working environments.

[0069] Furthermore, based on the three-dimensional motion mechanism setup, in order to ensure stable and precise upward feed displacement of the drilling and tightening mechanisms, this embodiment fixes the first slide 9 in the drilling mechanism onto the second slide 30. This allows the drill bit 101 to move upward not only by the lifting seat 28 but also by the fixed plate 3. That is, in use, the upward drive of the drill bit 101 by the lifting seat 28 is defined as coarse adjustment, and the upward drive of the drill bit 101 by the fixed plate 3 is defined as fine adjustment. Initially, coarse adjustment is used to quickly adjust the drill bit 101 to the specified height, and then fine adjustment is used to slowly feed the drill bit 101 upward to achieve drilling. Similarly, in this embodiment, the second slide 22 in the tightening mechanism is fixed onto the second slide 30. This allows the tightening sleeve 16 to move upward not only by the lifting seat 28 but also by the bearing support 17. The upward movement of the tightening mechanism can also be defined as coarse and fine adjustment stages respectively.

[0070] The above description provides a detailed account of one embodiment of the present invention. However, this description is merely a preferred embodiment and should not be construed as limiting the scope of the present invention. All equivalent variations and improvements made within the scope of the claims of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A tightening mechanism for a boom drilling and installation robot, characterized in that, It includes a limiting sleeve (14) for assembling the boom (a), and one end face of the limiting sleeve (14) is recessed to a certain depth along the axial direction to form a limiting groove (15) for accommodating the nut (b). The shape of the limiting groove (15) is adapted to match the shape of the nut (b) to prevent rotation of the nut (b). When the limiting sleeve (14) is driven to rotate around its axial direction, the nut (b) can rotate by relying on the limiting effect of the limiting groove (15).

2. The tightening mechanism for a boom drilling and installation robot according to claim 1, characterized in that, The limiting sleeve (14) is configured in multiple sets, and the limiting groove (15) on the multiple sets of limiting sleeves (14) are all different in shape to form a component library.

3. A tightening mechanism for a boom drilling and installation robot according to claim 1 or 2, characterized in that, The tightening mechanism also includes a tightening sleeve (16) for driving the limiting sleeve (14) to rotate. The tightening sleeve (16) is coaxially disposed outside the limiting sleeve (14) and connected to the keyway of the limiting sleeve (14) so ​​that when the tightening sleeve (16) rotates, the limiting sleeve (14) can rotate by relying on the keyway between the tightening sleeve (16) and the limiting sleeve (14).

4. The tightening mechanism for a boom drilling and installation robot according to claim 3, characterized in that, The tightening mechanism also includes a drive assembly for driving the tightening sleeve (16) to rotate.

5. A tightening mechanism for a boom drilling and installation robot according to claim 4, characterized in that, The drive assembly includes a support (17), on which a tightening gear (18) for coaxial mounting of a tightening sleeve (16) and a drive motor (19) for driving the tightening gear (18) to rotate are provided.

6. A tightening mechanism for a boom drilling and installation robot according to claim 5, characterized in that, The tightening gear (18) has a through hole at its center for inserting the tightening sleeve (16). The wall of the through hole and the outer wall of the tightening sleeve (16) are both provided with insertion holes. The two insertion holes are arranged opposite to each other and together hold a key block (20). The two insertion holes and the key block (20) together form a connection structure. The connection structure is set into two sets and arranged radially along the tightening gear (18).

7. A tightening mechanism for a boom drilling and installation robot according to claim 6, characterized in that, The tightening gear (18), tightening sleeve (16) and limiting sleeve (14) are all provided with notches on their sides, and the notches together form an inlet (21) for the boom (a) to enter or move out.

8. A tightening mechanism for a boom drilling and installation robot according to claim 5, characterized in that, The tightening mechanism also includes a second slide (22) for sliding installation of the support (17), and a second drive source (23) is provided on the second slide (22). The execution end of the second drive source (23) is connected to the support (17) to realize the sliding of the support (17) on the second slide (22).

9. A tightening mechanism for a boom drilling and installation robot according to claim 5, characterized in that, The bearing support (17) is provided with a gear transmission component (26) for transmitting power between the drive motor (19) and the tightening gear (18).

10. A tightening mechanism for a boom drilling and installation robot according to claim 8, characterized in that, The bearing support (17) is provided with a protective cover (24) for covering the second drive source (23). A V-shaped lateral abutment seat (25) is provided on the bearing support (17) below the limiting sleeve (14) so ​​that when the boom (a) is placed on the limiting sleeve (14), the side of the boom (a) abuts against the two inner side walls of the V-shaped lateral abutment seat (25).

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