CN110773992A

CN110773992A - Nut screwing device

Info

Publication number: CN110773992A
Application number: CN201911060677.3A
Authority: CN
Inventors: 古小兵; 胡振华; 黄国君; 易钢杨
Original assignee: Yuanmeng Precision Technology Shenzhen Institute
Current assignee: Yuanmeng Precision Technology Shenzhen Institute
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2020-02-11

Abstract

The invention belongs to the technical field of nut screwing, and particularly relates to nut screwing equipment. The nut screwing mechanism comprises a mounting seat, a sleeve and a rotary driving piece, the sleeve is provided with a nesting part capable of nesting a nut, and the rotary driving piece drives the sleeve to rotate so that the nesting part drives the nut to rotate and screw the nut; the position coarse adjustment mechanism is used for coarsely adjusting the position of the nut screwing mechanism, and the position fine adjustment mechanism is used for finely adjusting the position of the sleeve so that the nesting part moves to the position right above the nut. The nut screwing equipment can not only realize automatic screwing of nuts on the track, but also automatically adjust the positions of the nut screwing mechanisms relative to the nuts according to the specific positions of the nuts by the position coarse adjustment mechanism and the position fine adjustment mechanism, automatically adjust the positions of the nut screwing mechanisms, and has high automation degree and high screwing operation efficiency.

Description

Nut screwing device

Technical Field

The invention belongs to the technical field of nut screwing, and particularly relates to nut screwing equipment.

Background

From traditional trains to high-speed rails and motor cars which are rapidly developed nowadays, rail transit brings great convenience for daily life of people. In recent years, with the gradual maturity of high-speed rail technology, the speed of passenger transport and freight transport is greatly improved, the traffic density is gradually increased, the faster speed and the more number of cars also put forward higher and higher requirements on the track quality, and the requirements on the track maintenance and overhaul quality are more strict. In the track maintenance and overhaul project, the tightness reinforcement of the track bolt and the nut is an extremely important work, the tightness degree of the nut is directly related to the stability of track laying, and the loosening of the nut can cause the track to loosen, so that the stable running of a train is influenced.

In the prior art, in the process of track laying, maintenance and overhaul, a hook head wrench is often adopted to perform screwing operation, during operation, an operator holds the hook head wrench to manually screw a nut, the operation amount of a track nut is large, the labor intensity of manual operation is high, the operation efficiency is low, and the bolt screwing quality cannot be guaranteed. With the development of mechanization and automation industries, a nut screwing machine capable of screwing nuts appears in the market, when the nut screwing machine is used, the nut screwing machine is installed on an overhauling travelling crane for track overhauling, and nut screwing operation is carried out before the travelling crane, compared with manual screwing, the labor cost is effectively reduced, and the operation efficiency is greatly improved. However, in the use process, the traveling crane can only move the nut runner carried by the traveling crane to a position close to the nut, and the arrangement position of each nut on the track is different, so that the position of the nut runner can not be changed by only depending on the traveling crane, the tightening head of the nut runner can not be strictly aligned with each nut, when the specific tightening operation is carried out, the nut runner on the traveling crane needs to be manually controlled to move and adjust the position of the nut runner relative to the nut of the track, and the nut runner can be moved to a position right behind the tightening head of the nut runner opposite to the nut, and then the subsequent tightening operation can be carried out. So, even use the driving to carry on the nut screwing machine and tighten the track nut, its screwing up the operation process still needs the manual work to assist, can't break away from artifical autonomous operation completely, and degree of automation is waited to further promote.

Disclosure of Invention

The invention aims to provide nut screwing equipment, and aims to solve the technical problems that in the prior art, a nut screwing machine is low in automation degree, and manual assistance is needed for moving and positioning during operation.

In order to achieve the purpose, the invention adopts the technical scheme that: a nut threading apparatus comprising: the rack can be adaptively mounted on an external track maintenance travelling crane and comprises a rack main body and a supporting plate movably mounted on the rack main body; the nut screwing mechanism is arranged on the supporting plate and comprises a mounting seat, a sleeve which is arranged on the mounting seat and is used for being matched with each nut on the nested track, and a rotary driving piece which is used for driving the sleeve to rotate so as to provide screwing torque, a nested part which is used for being matched with the nested nut is arranged at one end of the sleeve, which is far away from the mounting seat, a power output shaft of the rotary driving piece is in driving connection with the sleeve and is used for driving the sleeve to rotate around the axis of the sleeve, so that the nested part drives the nut to rotate and screw the nut; the position coarse adjustment mechanism is arranged on the rack main body and used for performing coarse adjustment on the position of the nut screwing mechanism, and a driving end of the position coarse adjustment mechanism is in driving connection with the supporting plate so as to drive the supporting plate to drive the nut screwing mechanism to move along a direction parallel to the direction of the rail to enable the sleeve to be close to the nut on the rail; and the position fine adjustment mechanism is arranged on the supporting plate and is used for finely adjusting the position of the sleeve, and the driving end of the position fine adjustment mechanism is in driving connection with the mounting seat so as to drive the mounting seat to drive the sleeve to move and enable the nesting part to move right above the nut.

Further, the position coarse adjustment mechanism comprises a coarse adjustment linear module and a module mounting frame used for mounting the coarse adjustment linear module, the module mounting frame is mounted on the rack main body and is located on the side portion, close to the maintenance travelling crane, of the supporting plate, the driving end of the coarse adjustment linear module is connected with the supporting plate, and the linear driving direction of the coarse adjustment linear module is parallel to the rail.

Further, the linear module of coarse adjustment includes shell, lead screw, traveling nut, slide and lead screw driving motor, the shell install in on the module mounting bracket, the lead screw rotate along parallel track direction install in the shell, traveling nut threaded connection in on the lead screw, the slide with traveling nut fixed connection exposes outward the shell, the backup pad with slide fixed connection, lead screw driving motor install in on the shell and with the one end drive of lead screw is connected.

Further, position fine-tuning includes fixed plate, X axle adjustment subassembly and Y axle adjustment subassembly, the fixed plate install in the backup pad deviates from orbital upper portion, Y axle adjustment subassembly with X axle adjustment subassembly from last to overlapping in proper order down install in on the fixed plate, Y axle adjustment subassembly with the mount pad is fixed, and is used for the drive reciprocating motion is made in Y axle direction to the mount pad, X axle adjustment subassembly with Y axle adjustment subassembly drive is connected, and is used for the drive Y axle adjustment subassembly drives the mount pad is together made reciprocating motion in X axle direction, X axle direction with Y axle direction all with telescopic axis direction is mutually perpendicular.

Furthermore, the X-axis adjusting assembly comprises a first connecting seat and an X-axis driving module used for driving the first connecting seat to reciprocate along the X-axis direction, and the Y-axis adjusting assembly comprises a second connecting seat and a Y-axis driving module used for driving the second connecting seat to reciprocate along the Y-axis direction; the X-axis driving module is installed on the fixing plate, the first connecting seat is arranged on the fixing plate in a sliding mode, the Y-axis driving module is installed on the first connecting seat, and the second connecting seat is arranged on the first connecting seat in a sliding mode and connected with the installation seat.

Furthermore, the first connecting seat is provided with a first through hole, the second connecting seat is provided with a second through hole, the fixing plate is provided with a third through hole, and the supporting plate is provided with a fourth through hole; the mounting seat comprises a mounting cylinder for the sleeve to penetrate through and mount, a first end of the mounting cylinder is connected with the second penetrating hole in an interference fit manner, a second end of the mounting cylinder penetrates through the first penetrating hole and the third penetrating hole once and extends out of the fourth penetrating hole, the inner diameter of the third penetrating hole is larger than the outer diameter of the mounting cylinder, the inner diameters of the first penetrating hole and the fourth penetrating hole are larger than or equal to the inner diameter of the third penetrating hole, and the end part of the nesting part extends out of the second end of the mounting cylinder; the Y-axis driving module drives the second connecting seat to drive the mounting cylinder to reciprocate along the Y-axis direction so as to drive the sleeve to move in the first penetration hole along the Y-axis direction, and the X-axis driving module drives the first connecting seat to drive the second connecting seat to reciprocate along the X-axis direction so as to drive the mounting cylinder together with the sleeve to move in the fourth penetration hole along the X-axis direction so as to enable the nested part to move right above the nut.

Furthermore, the X-axis driving module comprises a first driving motor, a first transmission gear, a first transmission rack and a first sliding connection structure, the first driving motor is mounted on the fixed plate, the first transmission rack is mounted on the first connection seat and extends along the X-axis direction, the first connection seat is connected with the fixed plate in a sliding manner through the first sliding connection structure, the first transmission gear is sleeved on a driving shaft of the first driving motor and is connected with the first transmission rack in a meshing manner, and the first driving motor drives the first transmission gear to rotate, so that the first transmission rack is driven to drive the first connection seat to slide on the fixed plate along the X-axis direction; the Y-axis driving module comprises a second driving motor, a second transmission gear, a second transmission rack and a second sliding connection structure, the second driving motor is installed on the side portion of the first connecting seat, the second transmission rack is installed on the second connecting seat and extends along the Y-axis direction, the second connecting seat is connected with the first connecting seat in a sliding mode through the second sliding connection structure, the second transmission gear is connected to the driving shaft of the second driving motor in a sleeved mode and is connected with the second transmission rack in a meshed mode, the second driving motor drives the second transmission gear to rotate, and therefore the second transmission rack is driven to pull the second connecting seat to slide and move on the first connecting seat along the Y-axis direction.

Furthermore, the nut screwing equipment comprises two groups of nut screwing mechanisms and two groups of position fine adjustment mechanisms which are identical in structure, the driving ends of the two groups of position fine adjustment mechanisms are respectively in driving connection with the two mounting seats of the two groups of nut screwing mechanisms, the supporting plate is provided with two fourth penetrating holes at intervals in the direction perpendicular to the track, the two sleeves of the two nut screwing mechanisms penetrate out of the two fourth penetrating holes respectively, one sleeve is sleeved, the nesting portion of the other sleeve can move right above the nut on one side of the track while moving right above the nut on the other side of the track.

Furthermore, the nut screwing equipment also comprises a lifting driving mechanism which is used for driving the two nesting parts to nest or to be away from the corresponding nuts at the same time, and the two sleeves are movably arranged in the corresponding mounting cylinders and can reciprocate up and down along the axis direction of the sleeves; the lifting driving mechanism comprises a first driving part, a second driving part and a lifting driving motor, the lifting driving motor is installed on the supporting plate, the first driving part and the second driving part are respectively connected with the sleeve fixedly and are in driving connection with the lifting driving motor, the lifting driving motor drives the first driving part and the second driving part to be close to or far away from the corresponding nut and drive the corresponding sleeve to be corresponding to the mounting cylinder to move up and down along the axis direction of the sleeve, so that the nested parts are nested or separated from the corresponding nuts.

The nut screwing equipment provided by the invention at least has the following technical effects: the nut screwing mechanism is arranged for executing nut screwing operation, the position coarse adjusting mechanism and the position fine adjusting mechanism are arranged for adjusting the position of the nesting part of the nut screwing mechanism relative to the nut, during operation, the position coarse adjusting mechanism drives the supporting plate to drive the nut screwing mechanism to integrally move towards the nut along the track direction according to the position of the nut until the nesting part of the sleeve is almost positioned right above the nut, then the position fine adjusting mechanism drives the mounting seat to drive the sleeve to move according to the specific position of the nut, the nesting part of the sleeve moves right above the nut, and the position adjustment is finished. Subsequently, the nested part is connected with the nut in a nested mode, the rotary driving piece is started to output a screwing torque, the power output shaft of the rotary driving piece drives the sleeve to rotate around the axis of the sleeve, the sleeve rotates and simultaneously drives the nested part nested on the nut to rotate, the nut is screwed up, and the sleeve is moved to the nested part to be separated from the nut after the nut is screwed up. Therefore, by using the nut screwing equipment, not only can the automatic screwing of the nut on the track be realized, but also the nut screwing mechanism can automatically adjust the position of the nut screwing mechanism relative to the nut according to the specific position of the nut before executing the screwing operation, the nut screwing mechanism is ensured to move to the accurate position firstly and then execute the screwing operation, the positioning movement of the nut screwing mechanism is automatically adjusted through the position coarse adjusting mechanism and the position fine adjusting mechanism, the manual participation is not needed, the automation degree is high, the labor intensity of operators can be effectively reduced, and the nut screwing operation efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a nut screwing apparatus according to a first embodiment of the present invention;

FIG. 2 is a schematic structural view of the position coarse adjustment mechanism of the nut screwing device shown in FIG. 1 assembled with a support frame;

fig. 3 is a schematic view of a structure in which a nut runner mechanism of the nut runner apparatus shown in fig. 1 is assembled with a position fine adjustment mechanism;

FIG. 4 is another perspective view of the structure shown in FIG. 3;

FIG. 5 is a first cross-sectional view of the structure shown in FIG. 3;

FIG. 6 is a second cross-sectional view of the structure shown in FIG. 3;

FIG. 7 is a bottom view of the structure shown in FIG. 3;

fig. 8 is a schematic structural view of a position fine adjustment mechanism of the nut runner apparatus shown in fig. 1;

FIG. 9 is an exploded schematic view of the fine position adjustment mechanism shown in FIG. 8;

FIG. 10 is a schematic view of the lift drive mechanism of the nut threading device shown in FIG. 1 as assembled with a sleeve;

fig. 11 is a schematic structural view of a nut runner mechanism of the nut runner apparatus shown in fig. 1;

FIG. 12 is an exploded schematic view of the nut runner mechanism shown in FIG. 11;

FIG. 13 is a cross-sectional view taken along line A-A of FIG. 11;

FIG. 14 is a partially exploded schematic view of the nut runner mechanism shown in FIG. 11;

FIG. 15 is a schematic view of the nut runner apparatus shown in FIG. 1 in positional relationship to a rail;

fig. 16 is a schematic view of a service trolley equipped with the nut runner apparatus shown in fig. 1 operating on a track.

Wherein, in the figures, the respective reference numerals:

1-track 2-maintenance traveling crane 3-nut screwing equipment

10-sleeve 11-nested part 20-rotary driving piece

21-power output shaft 22-driving motor 23-speed reducer

24-X-axis adjusting assembly 25-Y-axis adjusting assembly 30-mounting seat

31-mounting plate 32-mounting cylinder 33-coarse adjustment linear module

34-module mounting rack 40-transmission component 1 a-nut

41-driving gear 42-driven gear 43-transmission shaft

44-transmission connecting piece 45-spline nut 46-first bearing

47-second bearing 50-positioning component 51-elastic positioning piece

52-first spring fixing seat 53-second spring fixing seat 60-lifting driving mechanism

61-first driving part 62-second driving part 63-lifting driving motor

64-lifting mounting rack 65-adapter plate 70-CCD camera

71-camera supporting rod 80-searchlight 81-lamp pole

100-nut screwing mechanism 111-annular abutting wall 200-position fine adjustment mechanism

201-fixed plate 241-first connecting seat 242-X-axis driving module

252-Y-axis driving module 251-second connecting seat 300-position coarse adjustment mechanism

311-connecting through hole 331-shell 334-sliding plate

335-lead screw driving motor 400-frame

401-support plate 431-anti-drop pin 441-first connector

442-second connector 443-connecting joint 611-first clamping arm

612-first connecting arm 621-second clamping arm 622-second connecting arm

2011-third through hole 2311-speed reducer fixing seat 2411-first through hole

2421 first driving motor 2422 first transmission gear 2423 first transmission rack

2424 first slide rail 2425 first slide block 2511 second through hole

2521-second drive Motor 2522-second Transmission Gear 2523-second Transmission Rack

2524 second slide rail 2525 second slider 2526 mounting Block

4011, fourth penetration hole 4411, first connection hole 4412, first connection lug

4421-second connecting hole 4422-second connecting lug 4431-first connecting shaft

4432-second connecting shaft 6001-drive plate.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-16 are exemplary and intended to be illustrative of the invention and should not be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 16, an embodiment of the present invention provides a nut screwing apparatus 3, which is suitable for installing and repairing a nut 1a on a mechanical structure, and is particularly suitable for installing and repairing a nut 1a of a railway track 1, a port crane, a tower crane, and other equipment having a track, as shown in fig. 16. Specifically, as shown in fig. 1 to 4, the nut screwing device 3 includes a rack 400, a nut screwing mechanism 100, a position coarse adjustment mechanism 300, and a position fine adjustment mechanism 200, wherein the rack 400 can be fittingly mounted on an external track 1 maintenance trolley 2, so that the nut screwing device 3 of the present embodiment is integrally mounted on the maintenance trolley 2, and the nut screwing device 3 of the present embodiment can move on the track 1 along with the maintenance trolley 2. More specifically, the frame 400 includes a frame body and a support plate 401 movably mounted on the frame body, the nut runner mechanism 100 is mounted on the support plate 401 and is used for performing a tightening operation on each nut 1a on the rail 1, the position coarse adjustment mechanism 300 is mounted on the frame body and is used for performing coarse adjustment on the position of the nut runner mechanism 100, and the position fine adjustment mechanism 200 is mounted on the support plate 401 and is used for performing fine adjustment on the position of the sleeve 10.

Further, as shown in fig. 3 and 5, the nut screwing mechanism 100 comprises a mounting seat 30, a sleeve 10 mounted on the mounting seat 30 and used for fitting each nut 1a on the nested rail 1, and a rotary driver 20 used for driving the sleeve 10 to rotate so as to provide screwing torque, wherein one end of the sleeve 10, far away from the mounting seat 30, is provided with a nesting part 11 used for fitting the nested nut 1a, and a power output shaft 21 of the rotary driver 20 is in driving connection with the sleeve 10 and used for driving the sleeve 10 to rotate around the axis thereof so as to enable the nesting part 11 to drive the nut 1a to rotate and screw the nut 1 a.

Specifically, as shown in fig. 7, the nesting portion 11 is a groove recessed in the end of the sleeve 10 and capable of accommodating the nut 1a, and an inner wall surface of the groove has an annular abutting wall 111 adapted to the shape of the nut 1a, for example, when the nut 1a to be screwed is a hexagon nut 1a, the annular abutting wall 111 has six abutting wall surfaces corresponding to six side walls of the nut 1 a; thus, when the nut 1a is nested in the nesting portion 11, the outer wall surface of the nut 1a contacts the annular abutting wall 111, and when the sleeve 10 rotates, the nut 1a abuts against the annular abutting wall 111 and can rotate along with the sleeve 10. More specifically, when the nut screwing device 3 of the present embodiment is mounted on the maintenance vehicle 2, one end of the sleeve 10 provided with the nesting portion 11 is suspended above the rail 1, and when the maintenance vehicle 2 travels along the rail 1, the nut screwing device 3 moves along the rail 1, and the sleeve 10 synchronously moves above the rail 1 along the rail 1, so that automatic tightening of each nut 1a on the rail 1 can be realized.

Further, as shown in fig. 1 to 4, the driving end of the position coarse adjustment mechanism 300 is drivingly connected to the supporting plate 401 to drive the nut screwing mechanism 100 to move along a direction parallel to the direction of the rail 1 to make the sleeve 10 approach the nut 1a on the rail 1; the driving end of the position fine adjustment mechanism 200 is in driving connection with the mounting base 30 to drive the sleeve 10 to move, and the nesting portion 11 is moved to a position right above the nut 1 a.

The nut runner apparatus 3 according to the embodiment of the present invention is provided with a nut runner mechanism 100 for performing a nut runner operation, and a position rough adjustment mechanism 300 and a position fine adjustment mechanism 200 for adjusting the position of a nest 11 of the nut runner mechanism 100 with respect to a nut 1 a. During operation, as shown in fig. 16, the nut screwing device 3 is carried on the external nut 1a maintenance trolley 2, the nut 1a maintenance trolley 2 moves along the track 1, the nut screwing device 3 moves along the track 1 synchronously, when the nut screwing device 3 moves to the nut 1a to be screwed, the maintenance trolley 2 stops moving, at this time, the sleeve 10 of the nut screwing device 3 is positioned near the nut 1a to be screwed, because the maintenance trolley 2 cannot judge the specific parking position according to the relative position of the nut 1a and the nesting part 11, when the maintenance trolley 2 stops moving, the sleeve 10 of the nut screwing mechanism 100 may still have a certain distance from the nut 1a, at this time, the position coarse adjustment mechanism 300 can drive the support plate 401 according to the position of the nut 1a to drive the whole nut screwing mechanism 100 to move towards the nut 1a along the track 1 direction as a whole until the nesting part 11 of the sleeve 10 is almost positioned right above the nut 1a, then, the fine position adjusting mechanism 200 drives the mounting seat 30 to drive the sleeve 10 to move according to the specific position of the nut 1a, and the nesting portion 11 of the sleeve 10 moves to a position right above the nut 1a, so that the position adjustment of the nut screwing mechanism 100 is completed. Then, the nested part 11 and the nut 1a are connected in a nested manner, the rotary driving element 20 is started to output a tightening torque, the power output shaft 21 of the rotary driving element 20 drives the sleeve 10 to rotate around the axis of the sleeve 10, the sleeve 10 rotates and drives the nested part 11 nested on the nut 1a to rotate so as to tighten the nut 1a, and after the nut 1a is tightened, the sleeve 10 is moved to the nested part 11 to be separated from the nut 1 a. Thus, by using the nut screwing equipment 3, not only can the automatic screwing of the nut 1a on the track 1 be realized, but also before the nut screwing mechanism 100 executes the screwing operation, the position coarse adjustment mechanism 300 and the position fine adjustment mechanism 200 can also automatically adjust the position of the nut screwing mechanism 100 relative to the nut 1a according to the specific position of the nut 1a, the nut screwing mechanism 100 is ensured to move to the accurate position firstly and then executes the screwing operation, the positioning movement of the nut screwing mechanism 100 is automatically adjusted through the position coarse adjustment mechanism 300 and the position fine adjustment mechanism 200, the manual participation is not needed, the automation degree is high, the labor intensity of operators can be effectively reduced, and the operation efficiency of screwing the nut 1a is improved.

In addition, in the process of screwing the nut 1a, the screwing torque applied to the nut 1a can be controlled by controlling the power output of the rotary driving piece 20, the torque output of the rotary driving piece 20 is set before operation, so that the torque output is matched with the torque required by screwing the nut 1a, the rotary driving piece 20 drives the sleeve 10 to act on the specified torque to the nut 1a, the rotary driving piece 20 can be automatically stopped, the situation that the nut 1a is damaged due to overlarge torque or the nut 1a is not screwed in place due to undersize torque is avoided, the screwed nut 1a is not easy to loosen, and the fastening connection is more stable and reliable. In this embodiment, the rotary drive member 20 described above can provide a torque of 150NM or more, thereby satisfying the tightening requirements of the nut 1a on the track 1.

In another embodiment of the present invention, as shown in fig. 1 and 2, the position coarse adjustment mechanism 300 includes a coarse adjustment linear module 33 and a module mounting rack 34 for mounting the coarse adjustment linear module 33, the module mounting rack 34 is mounted on the rack main body and is located at a side portion of the supporting board 401 close to the maintenance vehicle 2, or the rack 400 may include only the supporting board 401 without the rack main body, the module mounting rack 34 is directly mounted on the maintenance vehicle 2, the supporting board 401 is movably mounted at a side portion of the module mounting rack 34, as shown in fig. 1 and 2, a driving end of the coarse adjustment linear module 33 is connected with the supporting board 401, and a linear driving direction of the coarse adjustment linear module 33 is parallel to the rail 1, so that the coarse adjustment linear module 33 drives the supporting board 401 to reciprocate along an extending direction of the rail 1, the supporting board 401 moves to drive the nut screwing mechanism 100 mounted at an upper portion thereof, thus, when the nut runner device 3 of the present embodiment stops moving along with the maintenance trolley 2, the nut runner device 3 may be still a distance away from the nut 1a due to the movement error of the maintenance trolley 2, at this time, the coarse tuning linear module 33 is started to drive the support plate 401 to carry the nut runner mechanism 100 to move along the track 1, and the nut runner mechanism 100 can be adjusted to be substantially located right above the nut 1 a. In this way, the coarse adjustment linear module 33 is arranged to drive the support plate 401 to reciprocate back and forth relative to the frame 400 along the extending direction of the rail 1, so that the sleeve 10 of the nut screwing mechanism 100 can be moved to be approximately positioned right above the nut 1a, and the position coarse adjustment mechanism 300 has a simple structure, a simple position coarse adjustment process and short response time.

Specifically, as shown in fig. 1 and 2, the coarse adjustment linear module 33 includes a housing 331, a lead screw (not shown), a moving nut (not shown), a sliding plate 334 and a lead screw driving motor 335, the housing 331 is mounted on the module mounting frame 34, the lead screw is rotatably mounted in the housing 331 along a direction parallel to the track 1, the moving nut is screwed on the lead screw, the sliding plate 334 is fixedly connected with the moving nut and is exposed out of the housing 331, the supporting plate 401 is fixedly connected with the sliding plate 334, and the lead screw driving motor 335 is drivingly connected with one end of the lead screw. Thus, the lead screw driving motor 335 rotates to drive the lead screw to rotate, the lead screw drives the moving nut to move along the direction parallel to the track 1, and the supporting plate 401 fixedly connected to the sliding plate 334 can move along the extending direction of the track 1, so that the nut screwing mechanism 100 installed on the supporting plate 401 moves along the extending direction of the track 1. More closely, the coarse adjustment linear module 33 further includes two slide rails and two slide blocks for guiding and supporting, the two slide rails are disposed on the upper and lower sides of the lead screw in parallel, and the two slide blocks are both mounted on the slide plate 334 and are slidably connected with the two slide rails correspondingly, so as to ensure the normal sliding movement of the slide plate 334. Specifically, the coarse tuning linear module 33 of the present embodiment has a similar structure and driving relationship to those of a general linear module, and thus the detailed structure and driving relationship thereof are not described herein.

In another embodiment of the present invention, as shown in fig. 3 and 4, the fine position adjustment mechanism 200 includes a fixing plate 201, an X-axis adjustment assembly 24, and a Y-axis adjustment assembly 25, the fixing plate 201 is mounted on an upper portion of the supporting plate 401 away from the rail 1, the Y-axis adjustment assembly 25 and the X-axis adjustment assembly 24 are sequentially stacked from top to bottom and mounted on the fixing plate 201, the Y-axis adjustment assembly 25 is fixed to the mounting base 30 and is configured to drive the mounting base 30 to reciprocate in the Y-axis direction, the X-axis adjustment assembly 24 is drivingly connected to the Y-axis adjustment assembly 25 and is configured to drive the Y-axis adjustment assembly 25 to drive the mounting base 30 to reciprocate in the X-axis direction, both the X-axis direction and the Y-axis direction are perpendicular to the axial direction of the sleeve 10, that is, to the Z-axis direction in the figures, wherein the X-axis direction and the Y-axis direction are horizontal. Specifically, the X-axis adjusting unit 24 is provided to drive the nut runner mechanism 100 to move in the X-axis direction, and the Y-axis adjusting unit 25 is provided to drive the nut runner mechanism 100 to move in the Y-axis direction, that is, the position fine-adjusting mechanism 200 drives the nut runner mechanism 100 to move in a plane perpendicular to the axis of the sleeve 10 (the direction indicated by the Z-axis in fig. 3 and 4), thereby adjusting the position of the sleeve 10 with respect to the nut 1a so that the sleeve 10 of the nut runner mechanism 100 moves to be located directly above the nut 1 a. In this way, the start position fine adjustment mechanism 200 drives the nut runner mechanism 100 to move in the X, Y axis direction, and when the sleeve 10 moves until the nesting portion 11 is positioned directly above the nut 1a, the sleeve 10 is moved toward the nut 1a, and the nut 1a is nested in the nesting portion 11.

In the present embodiment, as shown in fig. 3 to 6, the X-axis adjusting assembly 24 includes a first connecting seat 241 and an X-axis driving module 242 for driving the first connecting seat 241 to reciprocate along the X-axis direction, and the Y-axis adjusting assembly 25 includes a second connecting seat 251 and a Y-axis driving module 252 for driving the second connecting seat 251 to reciprocate along the Y-axis direction; the X-axis driving module 242 is mounted on the fixing plate 201, the first connecting seat 241 is slidably disposed on the fixing plate 201, the Y-axis driving module 252 is mounted on the first connecting seat 241, and the second connecting seat 251 is slidably disposed on the first connecting seat 241 and connected to the mounting seat 30. When the position of the sleeve 10 needs to be adjusted, the Y-axis driving module 252 is started, the Y-axis driving module 252 drives the second connection driving mounting seat 30 to move in the Y-axis direction, so as to drive the sleeve 10 to move from the Y-axis direction to the side portion facing the nut 1a, then, when the X-axis driving module 242 is started, the X-axis driving module 242 drives the first connecting seat 241 to drive the second connecting seat 251 and the mounting seat 30 to move together in the X-axis direction, so as to drive the sleeve 10 to move from the side portion of the nut 1a to the position right above the nut 1a in the X-axis direction, and the position fine adjustment mechanism 200 has a simple structure and a simple position adjustment process.

In this embodiment, as shown in fig. 2 and fig. 5 to 7, the first connecting base 241 is provided with a first through hole 2411, the second connecting base 251 is provided with a second through hole 2511, the fixing plate 201 is provided with a third through hole 2011, and the supporting plate 401 is provided with a fourth through hole 4011; the mounting seat 30 comprises a mounting cylinder 32 for the sleeve 10 to penetrate through, a first end of the mounting cylinder 32 is connected with a second penetration hole 2511 in an interference fit manner, a second end of the mounting cylinder 32 penetrates through a first penetration hole 2411 and a third penetration hole 2011 once and extends out of a fourth penetration hole 4011, the inner diameter of the third penetration hole 2011 is larger than the outer diameter of the mounting cylinder 32, the inner diameters of the first penetration hole 2411 and the fourth penetration hole 4011 are both larger than or equal to the inner diameter of the third penetration hole 2011, and the end where the nesting part 11 is located extends out of the second end of the mounting cylinder 32; in this way, the end of the sleeve 10 provided with the nesting portion 1111 can reciprocate along the Y axis or the X axis within the range defined by the third insertion hole 2011, and for the case where the relative position of the nesting portion 11 and the nut 1a needs to be finely adjusted, the positional movement of the sleeve 10 is limited within a certain range, which facilitates the quick movement of the sleeve 10 to a specified position, and the error in the positional adjustment is relatively small. For example, when the nut screwing device 3 of the present embodiment is used for screwing the nut 1a on the train track 1, the nut screwing device 3 of the present embodiment is installed on the external maintenance trolley 2, and the nesting part 11 of the sleeve 10 is always suspended above the track 1 during maintenance, when a certain nut 1a needs to be screwed, the nut screwing device 3 is driven by the maintenance trolley to perform position transfer for a large distance, and then the position of the nut screwing mechanism 100 is further adjusted by the position coarse adjustment mechanism 300, so that the sleeve 10 is already moved above the corresponding nut 1a after the position coarse adjustment, at this time, only the position of the sleeve 10 needs to be slightly adjusted, and the nesting part 11 is moved to just face the nut 1 a.

Specifically, in the embodiment, as shown in fig. 3, 4 and 7, the Y-axis driving module 252 drives the second connecting seat 251 to drive the mounting cylinder 32 to reciprocate along the Y-axis direction, so as to drive the sleeve 10 to move along the Y-axis direction in the first insertion hole 2411, and the X-axis driving module 242 drives the first connecting seat 241 to drive the second connecting seat 251 to reciprocate along the X-axis direction, so as to drive the mounting cylinder 32 and the sleeve 10 to move along the X-axis direction in the third insertion hole 2011, so as to move the nesting portion 11 to a position right above the nut 1 a.

Preferably, in this embodiment, in an initial state, that is, before the position fine adjustment mechanism 200 performs position adjustment on the sleeve 10, the second through-hole 2511, the first through-hole 2411, the third through-hole 2011 and the fourth through-hole 4011 are coaxially arranged, and axes of the four are overlapped with an axis of the mounting cylinder 32, so that the mounting cylinder 32 is ensured to be suspended in the middle of the first through-hole 2411, the third through-hole 2011 and the fourth through-hole 4011, when the X-axis driving module 242 and the Y-axis driving module 252 drive the nut screwing 1a to perform position adjustment, the mounting cylinder 32 (the sleeve 10) can adjust the position in the third through-hole 2011 in the front, back, left and right directions, and the four directions have the same adjustment stroke, and the position adjustment of the sleeve 10 is more flexible. Of course, in some other embodiments, on the premise that the positioning installation of the installation cylinder 32 and the position fine adjustment mechanism 200 is satisfied, that is, on the premise that the second through hole is coaxial with the installation cylinder 32, the first through hole 2411, the third through hole 2011, and the fourth through hole 4011 may not be coaxial with the second through hole, and may be designed according to actual requirements.

In another embodiment of the present invention, as shown in fig. 6, 8 and 9, the X-axis driving module 242 includes a first driving motor 2421, a first transmission gear 2422, a first transmission rack 2423 and a first sliding connection structure (not labeled in the figures), the first driving motor 2421 is installed on the fixing plate 201, the first transmission rack 2423 is installed on the first connection base 241 and extends along the X-axis direction, the first connection base 241 is slidably connected to the fixing plate 201 through the first sliding connection structure, the first transmission gear 2422 is sleeved on a driving shaft of the first driving motor 2421 and is engaged with the first transmission rack 2423, the first driving motor 2421 drives the first transmission gear 2422 to rotate, so as to drive the first transmission rack 2423 to pull the first connection base 241 to slide on the fixing plate 201 along the X-axis direction; the X-axis driving module 242 has a simple structure and is convenient to assemble. Specifically, in the present embodiment, as shown in fig. 6 and 9, the first sliding connection structure includes a first slide rail 2424 and a first slide block 2425, the first slide rail 2424 is disposed on the fixing plate 201 along the X-axis direction, the first slide block 2425 is disposed at a position of the first connection seat 241 corresponding to the first slide block 2425, specifically, the first connection seat 241 is a hollow seat with a hollow interior, and the first slide rail 2424 and the first slide block 2425 are both accommodated inside the first connection seat 241, so that the influence of foreign matters such as external dust on the sliding fit of the first slide rail 2424 and the first slide block 2425 can be avoided, and thus, the first sliding connection structure is disposed to limit the moving direction of the first connection seat 241 on the fixing plate 201, and ensure that the first connection seat 241 can only move along the X-axis direction, thereby further improving the position adjustment precision of the position fine adjustment mechanism 200.

Further, as shown in fig. 5, 8 and 9, the Y-axis driving module 252 includes a second driving motor 2521, a second transmission gear 2522, a second transmission rack 2523 and a second sliding connection structure (not labeled in the figures), the second driving motor 2521 is installed at a side portion of the first connection seat 241, the second transmission rack 2523 is installed on the second connection seat 251 and extends along the Y-axis direction, the second connection seat 251 is slidably connected to the first connection seat 241 through the second sliding connection structure, the second transmission gear 2522 is sleeved on a driving shaft of the second driving motor 2521 and is engaged with the second transmission rack 2523, the second driving motor 2521 drives the second transmission gear 2522 to rotate, so as to drive the second transmission rack 2523 to drive the second connection seat 251 to slide on the first connection seat 241 along the Y-axis direction, the Y-axis driving module 252 is simple in structure and convenient to assemble. Specifically, in the present embodiment, as shown in fig. 5 and 9, the second sliding connection structure includes a second sliding rail 2524 and a second sliding block 2525, the second sliding rail 2524 is disposed on the fixing plate 201 along the Y-axis direction, the second sliding block 2525 is disposed at a position of the second connection seat 251 corresponding to the second sliding block 2525, more specifically, the second connection seat 251 is a hollow seat with a hollow interior, and the second sliding rail 2524 and the second sliding block 2525 are both accommodated inside the second connection seat 251, so that it is avoided that foreign matters such as external dust and the like affect the sliding fit of the second sliding rail 2524 and the second sliding block 2525, and thus, the second sliding connection structure is disposed to limit the moving direction of the second connection seat 251 on the first connection seat 241, and ensure that the second connection seat 251 can only move along the Y-axis direction, thereby further improving the position adjustment precision of the position fine adjustment mechanism 200.

Furthermore, in the present embodiment, as shown in fig. 8 and 9, the first connecting seat 241 and the second connecting seat 251 are both hollow rectangular parallelepiped seats, the first transmission rack 2423 is fixed on one side wall of the first connecting seat 241, the second driving motor 2521 is fixed on the side wall of the first connecting seat 241 where the first transmission rack 2423 is disposed, the second transmission rack 2523 is fixed on one side wall of the second connecting seat 251, and the first transmission rack 2423 is perpendicular to the second transmission rack 2523.

In another embodiment of the present invention, as shown in fig. 1, fig. 2 and fig. 15, the nut screwing apparatus 3 includes two sets of nut screwing mechanisms 100 and two sets of position fine-tuning mechanisms 200 having the same structure, the driving ends of the two sets of position fine-tuning mechanisms 200 are respectively connected to the two mounting seats 30 of the two sets of nut screwing mechanisms 100 in a driving manner, two fourth through holes 4011 are provided on the support plate 401 at intervals in a direction perpendicular to the rail 1, the two sleeves 10 of the two nut screwing mechanisms 100 respectively penetrate through the two fourth through holes 4011, and the nested portion 11 of one sleeve 10 can move to a position right above the nut 1a on one side of the rail 1 while the nested portion 11 of the other sleeve 10 can move to a position right above the nut 1a on the other side of the rail 1. Generally, since the nuts 1a are provided on both opposite sides of the rail 1 and the nuts 1a on both sides are arranged substantially symmetrically, the above-mentioned two sets of nut screwing mechanisms 100 are provided at intervals on the support plate 401, and the nut screwing mechanisms 1a can simultaneously perform the screwing operation on both the nuts 1a on both sides of the rail 1, thereby effectively shortening the screwing time of the nuts 1a and improving the operation efficiency. And, two sets of nut mechanisms 100 are all installed on the same supporting plate 401, so, only need set up a set of position coarse adjustment mechanism 300 can realize two nuts 1a tighten the mechanism along the position coarse adjustment of the 1 direction of orbit, the whole mechanism of the apparatus has been simplified effectively, the apparatus is assembled more conveniently, and adjust the position of the nut 1a corresponding to each separately of two sleeves 10 through setting up two sets of position fine adjustment mechanisms 200 on the supporting plate 401 respectively, the position fine adjustment of two sleeves 10 is carried on independently, noninterfere, thus guarantee that the nested part 11 of two sleeves 10 can move to the nut 1a corresponding to the nested.

In the present embodiment, when the nut screwing mechanism 100 distant from the position rough adjustment mechanism 300 meets the use requirement, only the Y-axis adjustment unit 25 may be provided in the corresponding position fine adjustment mechanism 200, as shown in fig. 1.

In the present embodiment, as shown in fig. 1 and fig. 15, the nut screwing device 3 further includes a lifting drive mechanism 60 for simultaneously driving the two nesting parts 11 to nest or separate from the corresponding nut 1a, and the two sleeves 10 are movably mounted in the corresponding mounting cylinders 32 and can reciprocate up and down along the axial direction thereof; the lifting driving mechanism 60 includes a first driving portion 61, a second driving portion 62 and a lifting driving motor 63, wherein the lifting driving motor 63 is mounted on the supporting plate 401, specifically, the lifting driving motor 63 is mounted on the bottom surface of the supporting plate 401 facing the rail 1 through a lifting mounting frame 64, and is disposed at the middle position of the two sleeves 10. The first driving part 61 and the second driving part 62 are respectively fixedly connected with the two sleeves 10 and are respectively in driving connection with the lifting driving motor 63, the lifting driving motor 63 drives the first driving part 61 and the second driving part 62 to be close to or far away from the corresponding nuts 1a and drives the corresponding sleeves 10 to reciprocate up and down in the corresponding mounting cylinders 32 along the axis direction thereof, so that the two nested parts 11 are nested or separated from the corresponding nuts 1 a. So, set up one set of lift actuating mechanism 60 and can drive two sleeves 10 simultaneously and move towards corresponding nut 1a to make two nested portion 11 nests the nut 1a that corresponds, compare and set up two sets of different mechanisms respectively and be used for driving two sleeves 10 respectively and remove along self axis, only set up a set of foretell lift actuating mechanism 60 structure, can simplify the overall structure of the nut equipment 3 of twisting of this embodiment, equipment and plant maintenance are more convenient, and can also effectively save the energy consumption.

In this embodiment, as shown in fig. 1 and 15, the first driving portion 61 includes a first clamping arm 611 and a first connecting arm 612, the second driving portion 62 includes a second clamping arm 621 and a second connecting arm 622, the first clamping arm is sleeved outside one of the sleeves 10, the second clamping arm 621 is sleeved outside the other sleeve 10, an end of the first connecting arm 612 facing the lifting driving motor 63 is connected to an end of the second connecting arm 622 facing the lifting driving motor 63 through the adapter plate 65, a driving shaft of the lifting driving motor 63 is in driving connection with the first clamping arm 611 and the first connecting arm 612, and the lifting driving motor 63 drives the first clamping arm 611 and the first connecting arm 612 to approach or separate from the supporting plate 401, so as to drive the corresponding sleeve 10 to approach or separate from the corresponding nut 1 a.

Specifically, as shown in fig. 1, 10 and 15, the lifting driving mechanism 60 is drivingly connected to the first clamping arm 611 and the first connecting arm 612 through a Z-axis linear module, the Z-axis linear module includes a housing, a screw rod disposed in the housing and rotatable along the Z-axis direction, a moving nut screwed to the screw rod, and two driving plates 6001 fixedly connected to the moving nut and exposed out of the housing as driving ends, the two driving plates 6001 are fixedly connected to the first clamping arm 611 and the second clamping arm 621, respectively, the driving shaft of the lifting driving motor 63 is connected to one end of the screw rod through a belt, thus, the lifting driving motor 63 rotates to drive the screw rod to rotate, the movable nut moves linearly along the Z-axis direction, thereby driving the first clamping arm 611 and the second clamping arm 621 fixedly connected to the driving plate 6001 to move linearly along the Z-axis direction, so as to drive the sleeve 10 to reciprocate linearly along the Z-axis direction (the axis direction of the sleeve 10). Furthermore, the Z-axis linear module further includes a slide rail and a slider for guiding and supporting, which are not described herein.

In another embodiment of the present invention, as shown in fig. 1, 3 and 11, each of the two nut screwing mechanisms 100 further includes a transmission assembly 40, each of the two transmission assemblies 40 includes a transmission shaft 43, each of the two transmission shafts 43 and each of the two sleeves 10 has a first end and a second end opposite to each other, the nesting portion 11 is disposed at the first ends of the two sleeves 10, the second ends of the two sleeves 10 are respectively connected to the second ends of the corresponding transmission shafts 43, the two transmission shafts 43 are correspondingly inserted into the two mounting cylinders 32, the first ends of the two transmission shafts 43 are respectively connected to the two mounting cylinders 32 in a sliding manner, and the two transmission shafts 43 can respectively slide in the corresponding mounting cylinders 32 in a reciprocating manner along the axial direction thereof (i.e., the Z-axis direction in fig. 1) up and down, so that the sleeves 10 can move in a reciprocating manner relative to the corresponding mounting cylinders 32 up and down, so that the nesting portions 11. In this way, the transmission shaft 43 is provided to slidably connect the socket 10 in the mounting cylinder 32, so as to ensure that the lifting driving mechanism 60 can drive the socket 10 to reciprocate up and down in the mounting cylinder 32 along the Z-axis direction, and the transmission assembly 40 is provided to transmit the transmission, so that the transmission assembly 40 can transmit the tightening torque of the rotary driving element 20 to the socket 10 through the transmission shaft 43.

Specifically, the nut turning mechanism 100 of the nut turning device 3 of the present embodiment is described below by taking a nut turning mechanism 100 as an example, and the other nut turning mechanism 100 is completely the same in structure and will not be described again.

In this embodiment, as shown in fig. 11 to 13, the transmission assembly 40 further includes a driving gear 41 and a driven gear 42 engaged with each other, the mounting base 30 further includes a mounting plate 31, the rotary driving member 20 is mounted on the mounting plate 31, the power output shaft 21 of the rotary driving member 20 is connected to the driving gear 41, the driving gear 41 and the driven gear 42 are rotatably mounted on the mounting plate 31 along a horizontal direction, specifically, the driving gear 41 is mounted on one side portion of the mounting plate 31, the driven gear 42 is mounted on the other side portion of the mounting plate 31, and the driven gear 42 and the driving gear 41 are vertically disposed in a staggered manner, so that a space above the driven gear 42 is left without interfering with other objects. A connecting through hole 311 is formed in the position, facing the driven gear 42, of the mounting plate 31, the mounting cylinder 32 is fixed below the mounting plate 31, and the first end of the transmission shaft 43 penetrates out of the connecting through hole 311 and is sleeved with the driven gear 42. Thus, when the rotary driving member 20 is activated, the power output shaft 21 of the rotary driving member 20 rotates and drives the driving gear 41 to rotate, the driving gear 41 rotates and drives the driven gear 42 to rotate, the driven gear 42 drives the transmission shaft 43 to rotate around its own axis, and the transmission shaft 43 further drives the socket 10 to rotate around its own axis, thereby tightening the nut 1 a. The transmission structure is simple and compact, the whole volume of the tightening mechanism is reduced, the tightening torque is transmitted through the meshing of the driving gear 41 and the driven gear 42, and for nuts 1a requiring different tightening torques, the nut can be realized by replacing the driving gear 41 and the driven gear 42 with different transmission ratios, and the nut is more flexible and convenient to use.

Furthermore, in the embodiment, as shown in fig. 12 to 14, the transmission assembly 40 further includes a spline nut 45, a first bearing 46 and a second bearing 47, the first bearing 46 is embedded in the connecting through hole 311, the driven gear 42 is sleeved outside the spline nut 45, the spline nut 45 is sleeved at the first end of the transmission shaft 43, and the spline nut 45 and the transmission shaft 43 form a ball spline; the spline nut 45 penetrates through the first bearing 46 and is fixed with the inner ring of the first bearing 46, one end of the spline nut 45 extends out of the mounting plate 31 and is in key connection with the driven gear 42, such as flat key connection and the like, the second bearing 47 is embedded in the mounting cylinder 32, and the other end of the spline nut 45 extends out of the connecting through hole 311 and is fixed with the inner ring of the second bearing 47 so as to be rotatably connected with the mounting cylinder 32 through the second bearing 47.

In this embodiment, as shown in fig. 12 and 14, the transmission shaft 43 is a spline shaft, and the outer wall surface of the first end of the transmission shaft 43 is provided with a plurality of rail protrusions (not shown) at uniform intervals, for example, three rail protrusions are equally spaced at 120 ° on the outer wall of the transmission shaft 43, six load ball rows are formed on the outer wall of the transmission shaft 43, and the balls at the corresponding positions of the spline nuts 45 are clamped between the load ball rows on the left and right sides of the corresponding rail protrusions, so that the friction between the outer wall surface of the transmission shaft 43 and the outer wall surface of the spline nuts 45 can be reduced, and the energy consumption of the lifting drive motor 63 for driving the transmission shaft 43 to move up. More specifically, a slip-off preventing pin 431 is further vertically connected to the middle portion of the transmission shaft 43, the length of the slip-off preventing pin 431 is greater than the outer diameter of the spline nut 45, and the slip-off preventing pin 431 can be used for preventing the transmission shaft 43 from being pulled out of the mounting cylinder 32 under the action of external force.

In this embodiment, as shown in fig. 12 to 14, the second end of the transmission shaft 43 is connected to the second end of the sleeve 10 through a transmission connector 44, the transmission connector 44 includes a first connector 441, a second connector 442 and a connecting joint 443, the first connector 441 is connected to the second end of the transmission shaft 43, the second connector 442 is connected to the second end of the sleeve 10, and the second connector 442 is rotatably connected to the first connector 441 through the connecting joint 443. In this way, the sleeve 10 can rotate relative to the transmission shaft 43, when the sleeve 10 moves to the nesting part 11 to be sleeved with the nut 1a, the nut 1a and the transmission shaft 43 are not concentric, and by arranging the transmission connecting piece 44, the sleeve 10 rotates to adjust the connecting angle between the sleeve 10 and the transmission shaft 43, the nut 1a and the transmission shaft 43 rotate coaxially, the nut 1a rotates more smoothly, and the tightening operation is more labor-saving and reliable.

In this embodiment, as shown in fig. 12 to 14, a first connecting shaft 4431 and a second connecting shaft 4432 are protruded from a side wall of the connecting joint 443 and are arranged in a crisscross manner, the first connecting head 441 is rotatably connected to the connecting joint 443 via the first connecting shaft 4431, the second connecting head 442 is rotatably connected to the connecting joint 443 via the second connecting shaft 4432, and the first connecting head 441, the connecting joint 443, and the second connecting head 442 together form a universal joint structure. In this way, the connecting joint 443 is rotatably connected to the first connecting head 441 by the first connecting shaft 4431 and can rotate around the first connecting shaft 4431, and the connecting joint 443 is rotatably connected to the second connecting head 442 by the second connecting shaft 4432 and can rotate around the second connecting shaft 4432, so that the sleeve 10 can rotate around the first connecting shaft 4431 and the second connecting shaft 4432. Specifically, two first connecting lugs 4412 which are oppositely arranged are protruded from the end of the second connecting head 442 facing the first connecting head 441, two first connecting holes 4411 through which the first connecting shaft 4431 is rotatably inserted are respectively formed in the two first connecting lugs 4412, two second connecting lugs 4422 which are oppositely arranged are protruded from the end of the first connecting head 441 facing the second connecting head 442, two second connecting holes 4421 through which the second connecting shaft 4432 is rotatably inserted are respectively formed in the two second connecting lugs 4422, and the hole axes of the first connecting hole 4411 and the second connecting hole 4421 are both perpendicular to the axis of the mounting cylinder 32.

In this embodiment, as shown in fig. 11 to 14, the nut screwing mechanism 100 further includes a positioning assembly 50 for limiting the coaxial connection between the socket 10 and the transmission shaft 43, the positioning assembly 50 includes an elastic positioning element 51 coaxially disposed with the transmission shaft 43 and sleeved outside the transmission shaft 43, one end of the elastic positioning element 51 is connected to the transmission shaft 43, and the other end of the elastic positioning element 51 is connected to the socket 10 and elastically pushes against the socket 10, so that the axis of the socket 10 and the axis of the transmission shaft 43 are kept coincident. In this way, when the tightening operation is not performed, that is, the socket 10 is always kept coaxial with the transmission shaft 43 in the initial state, the position of the socket 10 can be used as a positioning reference when the nut runner mechanism 100 is assembled with other equipment, and when the nut runner mechanism 100 is moved, the socket 10 can be moved to a predetermined position more quickly by using this as a reference. In addition, when the socket 10 is rotatably connected to the transmission shaft 43 through the transmission connector 44, the socket 10 may shake during the moving process, at this time, the elastic positioning element 51 is disposed to push the socket 10, and during the moving process, the elastic positioning element 51 elastically restrains the socket 10 so that the socket 10 cannot shake, thereby facilitating the fast and accurate movement of the socket 10, and enabling the nesting portion 11 to fast move to a position right above the nut 1 a.

Specifically, as shown in fig. 12 to 14, the elastic positioning element 51 is a spring sleeved outside the transmission shaft 43, the positioning assembly 50 further includes a first spring fixing seat 52 and a second spring fixing seat 53, the outline of which is adapted to the installation cylinder 32, the first spring fixing seat 52 is sleeved at the second end of the transmission shaft 43, the second spring fixing seat 53 is sleeved at the second end of the sleeve 10, two opposite ends of the elastic positioning element 51 are respectively embedded in the first spring fixing seat 52 and the second spring fixing seat 53, when the transmission shaft 43 drives the first spring fixing seat 52 and the second spring fixing seat 53 to ascend to a predetermined position, the first spring fixing seat 52 and the second spring fixing seat 53 are accommodated in the installation cylinder 32, and outer wall surfaces of the first spring fixing seat 52 and the second spring fixing seat 53 are both contacted with an inner wall surface of the installation cylinder 32 and can slide along the cylinder wall of the installation cylinder 32. So, when first spring fixing seat 52 and second spring fixing seat 53 were acceptd in installation section of thick bamboo 32, the position that sleeve 10 was located is the location reference position promptly, like this, set up first spring fixing seat 52 and second spring fixing seat 53 location installation elastic positioning element 51, elastic positioning element 51's dismouting is more convenient, and, first spring fixing seat 52 and second spring fixing seat 53 can also be to elastic positioning element 51 its auxiliary stay's effect, the combined action of three makes sleeve 10 better keep under initial condition with the coaxial setting of transmission shaft 43.

More specifically, when the nut screwing operation is started, the lifting driving motor 63 drives the socket 10 to pull the transmission shaft 43 to move towards the nut 1a, and the transmission shaft 43 moves and simultaneously extrudes the first positioning member mounting seat 30, the second positioning member mounting seat 30 and the elastic positioning member 51 together to be pulled out of the mounting cylinder 32, at this time, the socket 10 can rotate relative to the transmission shaft 43 again.

In the present embodiment, as shown in fig. 12 and 13, the rotary driving member 20 includes a tightening driving motor 22 and a speed reducer 2323, an output shaft of the tightening driving motor 22 is connected to an input shaft of the speed reducer 23, an output shaft of the speed reducer 23 is connected to a rotating shaft of the driving gear 41, the speed reducer 23 is fixedly mounted on the mounting plate 31 through a speed reducer fixing seat 2311, and the driving gear 41 is accommodated in the speed reducer fixing seat 2311. The speed reducer 23 can reduce the rotation speed of the tightening drive motor 22 and increase the torque, and thus the drive output power of the rotary drive unit 20 can be set to match the tightening torque required for the nut 1 a. Specifically, the tightening driving motor 22 is preferably a servo motor, which has the characteristics of small electromechanical time constant, high linearity, etc., and can convert the received electrical signal into an accurate angular displacement or angular velocity output, and the accuracy thereof can reach 0.001 mm.

In another embodiment of the present invention, as shown in fig. 1, 2 and 15, the electric components of the rotary driving member 20, the position coarse adjustment mechanism 300 and the position fine adjustment mechanism 200 may be further connected to a control device (not shown) outside the nut screwing device 3 in a communication manner, the external control device can obtain the position information of each nut 1a on the track 1, thereby obtaining the specific position information of each nut 1a relative to the nesting portion 11, and calculate the accurate position of the sleeve 10 relative to each nut 1a, thereby controlling the position coarse adjustment mechanism 300 and the position fine adjustment mechanism 200 to perform position adjustment according to the calculated data, thereby adjusting the position of the sleeve 10 relative to the nut 1a, so that the nesting portion 11 moves to be directly above the nut 1a, and then starting the rotary driving member 20 to perform the screwing operation. For example, as shown in fig. 1 and 15, a CCD camera 70 is mounted on the support plate 401 or the inspection vehicle 2 to photograph the nut 1a (the CCD camera 70 is suspended from the side of the support plate 401 via a camera support rod 71), and a searchlight 80 is suspended from the support plate 401 (the searchlight 80 is mounted from the side of the support plate 401 via a lamp post 81) to supplement the light rays of the CCD camera 70, so that the relative position information of the nest 11 and the nut 1a can be accurately acquired.

Specifically, in this embodiment, the method for automatically adjusting the position of the nut screwing device 3 includes the following steps:

and S10, mounting the nut screwing equipment 3 on the track maintenance travelling crane 2, specifically, mounting the rack main body of the rack 400 or the module mounting frame 34 of the position coarse adjustment module 300 on the maintenance travelling crane 2, and carrying the whole nut screwing equipment 3 on the maintenance travelling crane 2.

S20, adjusting the position of the sleeve 10 relative to the current nut 1a according to the specific position of the nut 1a on the track, and enabling the nesting part 11 to be located right above the current nut 1 a; specifically, the position of the nest 11 relative to the current nut 1a is adjusted manually here.

S30, the preset point on the nesting portion 11 is defined as the coordinate reference point, the CCD camera 70 collects a picture including the coordinate reference point and the current nut 1a, and feeds back image information of the picture to the control device, the control device analyzes pixel information of the picture, and records the pixel information as a standard position pixel, and then calculates a standard coordinate position of the coordinate reference point (i.e., the nesting portion 11) relative to the nut 1a at the standard position (i.e., determines a relative coordinate of the nesting portion 11 with the current nut 1a as the origin of coordinates) from the standard position pixel.

S40, the track maintenance crane 2 drives the nut screwing equipment 3 to advance on the track 1, when the next nut enters the image acquisition range of the CCD camera 70, the CCD camera 70 acquires a real-time picture containing a coordinate reference point and the current nut 1a, and feeds the real-time picture back to the control device for analysis; in this process, it is required to ensure that the nest 11 is always located within the image capturing range of the CCD camera 70 (it is only required to align the lens of the CCD camera 70 with the nest 11 and move the lens along with the nest 11), so as to obtain a real-time picture including the nest 11 and the current nut 1a, so as to calculate the position of the nest 11 relative to the current nut 1a according to the real-time picture.

S50, the control device analyzes the real-time pixel information of the real-time picture, obtains the relative position information of the current nut 1a relative to the coordinate reference point on the nesting part 11 according to the real-time pixel information and the standard position pixel, and controls the start position coarse adjustment mechanism 300 and the position fine adjustment mechanism 200 according to the relative position information so as to adjust the position of the nesting part 11.

S60, when the nest 11 moves to a position directly above the current nut 1a, the control device controls the closing position rough adjustment mechanism 300 and the position fine adjustment mechanism 200, the sleeve 10 moves to nest the current nut 1a, and the control device controls the rotary drive 20 to drive the sleeve 10 to rotate and tighten the current nut 1 a. Specifically, the control device controls the lifting driving motor 63 to start and drive the sleeve 10 to move until the nested part 11 is nested in the current nut 1a, controls the lifting driving motor 63 to close, then controls the rotary driving member 20 to start and output the tightening torque so as to drive the sleeve 10 to rotate and tighten the current nut 1a, after the tightening operation is finished, closes the rotary driving member 20, starts the lifting driving motor 63 again to drive the sleeve 10 to move until the nested part 11 is separated from the current nut 1a, and the maintenance travelling crane 2 starts and drives the nut screwing device 3 to continue to advance along the track 1.

And S70, repeating the steps S40 to S60 until all the nuts on the track are overhauled.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A nut threading apparatus, comprising:

the rack can be adaptively mounted on an external track maintenance travelling crane and comprises a rack main body and a supporting plate movably mounted on the rack main body;

the nut screwing mechanism is arranged on the supporting plate and comprises a mounting seat, a sleeve which is arranged on the mounting seat and is used for being matched with each nut on the nested track, and a rotary driving piece which is used for driving the sleeve to rotate so as to provide screwing torque, a nested part which is used for being matched with the nested nut is arranged at one end of the sleeve, which is far away from the mounting seat, a power output shaft of the rotary driving piece is in driving connection with the sleeve and is used for driving the sleeve to rotate around the axis of the sleeve, so that the nested part drives the nut to rotate and screw the nut;

the position coarse adjustment mechanism is arranged on the rack main body and used for performing coarse adjustment on the position of the nut screwing mechanism, and a driving end of the position coarse adjustment mechanism is in driving connection with the supporting plate so as to drive the supporting plate to drive the nut screwing mechanism to move along a direction parallel to the direction of the rail to enable the sleeve to be close to the nut on the rail;

and the position fine adjustment mechanism is arranged on the supporting plate and is used for finely adjusting the position of the sleeve, and the driving end of the position fine adjustment mechanism is in driving connection with the mounting seat so as to drive the mounting seat to drive the sleeve to move and enable the nesting part to move right above the nut.

2. The nut threading apparatus of claim 1, wherein: the position coarse adjustment mechanism comprises a coarse adjustment linear module and a module mounting frame used for mounting the coarse adjustment linear module, the module mounting frame is mounted on the rack main body and is located on the side portion, close to the maintenance travelling crane, of the supporting plate, the driving end of the coarse adjustment linear module is connected with the supporting plate, and the linear driving direction of the coarse adjustment linear module is parallel to the rail.

3. The nut threading apparatus of claim 2, wherein: the coarse adjustment linear module comprises a shell, a screw rod, a movable nut, a sliding plate and a screw rod driving motor, wherein the shell is installed on the module installation frame, the screw rod is rotatably installed in the shell along the direction of a parallel track, the movable nut is in threaded connection with the screw rod, the sliding plate is fixedly connected with the movable nut and is exposed out of the shell, the supporting plate is fixedly connected with the sliding plate, and the screw rod driving motor is installed on the shell and is in driving connection with one end of the screw rod.

4. The nut screwing apparatus according to any one of claims 1 to 3, wherein: the position fine-tuning includes fixed plate, X axle adjustment subassembly and Y axle adjustment subassembly, the fixed plate install in the backup pad deviates from orbital upper portion, Y axle adjustment subassembly with X axle adjustment subassembly from last to overlapping in proper order down establish in on the fixed plate, Y axle adjustment subassembly with the mount pad is fixed, and is used for the drive reciprocating motion is made in Y axle direction to the mount pad, X axle adjustment subassembly with Y axle adjustment subassembly drive is connected, and is used for the drive Y axle adjustment subassembly drives the mount pad is in the same place reciprocating motion is made in X axle direction, X axle direction with Y axle direction all with telescopic axis direction is mutually perpendicular.

5. The nut threading apparatus of claim 4, wherein: the X-axis adjusting assembly comprises a first connecting seat and an X-axis driving module used for driving the first connecting seat to reciprocate along the X-axis direction, and the Y-axis adjusting assembly comprises a second connecting seat and a Y-axis driving module used for driving the second connecting seat to reciprocate along the Y-axis direction; the X-axis driving module is installed on the fixing plate, the first connecting seat is arranged on the fixing plate in a sliding mode, the Y-axis driving module is installed on the first connecting seat, and the second connecting seat is arranged on the first connecting seat in a sliding mode and connected with the installation seat.

6. The nut threading apparatus of claim 5, wherein: the first connecting seat is provided with a first through hole, the second connecting seat is provided with a second through hole, the fixing plate is provided with a third through hole, and the supporting plate is provided with a fourth through hole;

the mounting seat comprises a mounting cylinder for the sleeve to penetrate through and mount, the first end of the mounting cylinder is connected with the second penetrating hole in an interference fit manner, the second end of the mounting cylinder penetrates through the first penetrating hole and the third penetrating hole once and extends out of the fourth penetrating hole, the inner diameter of the third penetrating hole is larger than the outer diameter of the mounting cylinder, the inner diameters of the first penetrating hole and the fourth penetrating hole are larger than or equal to the inner diameter of the third penetrating hole, and the end part where the nesting part is located extends out of the second end of the mounting cylinder;

the Y-axis driving module drives the second connecting seat to drive the mounting cylinder to reciprocate along the Y-axis direction so as to drive the sleeve to move in the first penetration hole along the Y-axis direction, and the X-axis driving module drives the first connecting seat to drive the second connecting seat to reciprocate along the X-axis direction so as to drive the mounting cylinder together with the sleeve to move in the fourth penetration hole along the X-axis direction so as to enable the nested part to move right above the nut.

7. The nut threading apparatus of claim 6, wherein:

the X-axis driving module comprises a first driving motor, a first transmission gear, a first transmission rack and a first sliding connection structure, the first driving motor is installed on the fixed plate, the first transmission rack is installed on the first connecting seat and extends along the X-axis direction, the first connecting seat is connected with the fixed plate in a sliding mode through the first sliding connection structure, the first transmission gear is sleeved on a driving shaft of the first driving motor and is connected with the first transmission rack in a meshed mode, the first driving motor drives the first transmission gear to rotate, and therefore the first transmission rack is driven to pull the first connecting seat to slide on the fixed plate along the X-axis direction;

the Y-axis driving module comprises a second driving motor, a second transmission gear, a second transmission rack and a second sliding connection structure, the second driving motor is installed on the side portion of the first connecting seat, the second transmission rack is installed on the second connecting seat and extends along the Y-axis direction, the second connecting seat is connected with the first connecting seat in a sliding mode through the second sliding connection structure, the second transmission gear is connected to the driving shaft of the second driving motor in a sleeved mode and is connected with the second transmission rack in a meshed mode, the second driving motor drives the second transmission gear to rotate, and therefore the second transmission rack is driven to pull the second connecting seat to slide and move on the first connecting seat along the Y-axis direction.

8. The nut threading apparatus according to claim 6 or 7, characterized in that: the nut screwing equipment comprises two groups of nut screwing mechanisms and two groups of position fine adjustment mechanisms which are identical in structure, the driving ends of the two groups of position fine adjustment mechanisms are respectively in driving connection with the two mounting seats of the two groups of nut screwing mechanisms, the supporting plate is provided with two fourth penetrating holes at intervals in the direction perpendicular to the track, the two sleeves of the two nut screwing mechanisms penetrate out of the two fourth penetrating holes respectively, one sleeve penetrates out of the sleeve, the nested part of the other sleeve can move right above the nut on one side of the track when the nested part of the other sleeve moves right above the nut on the other side of the track.

9. The nut threading apparatus of claim 8, wherein: the nut screwing equipment further comprises a lifting driving mechanism for driving the two nested parts to be nested or to be away from the corresponding nuts at the same time, and the two sleeves are movably arranged in the corresponding mounting cylinders and can reciprocate up and down along the axis direction of the sleeves;

the lifting driving mechanism comprises a first driving part, a second driving part and a lifting driving motor, the lifting driving motor is installed on the supporting plate, the first driving part and the second driving part are respectively connected with the sleeve fixedly and are in driving connection with the lifting driving motor, the lifting driving motor drives the first driving part and the second driving part to be close to or far away from the corresponding nut and drive the corresponding sleeve to be corresponding to the mounting cylinder to move up and down along the axis direction of the sleeve, so that the nested parts are nested or separated from the corresponding nuts.

10. The nut threading apparatus of claim 9, wherein: two the nut screwing mechanism all still includes transmission assembly, two transmission assembly all includes the transmission shaft, two transmission shaft and two the sleeve all has relative first end and second end, nested portion sets up in two telescopic first end, two telescopic second end respectively with correspond the second end of transmission shaft is connected, two the transmission shaft corresponds wears to locate two in the installation section of thick bamboo, two the first end of transmission shaft respectively with two installation section of thick bamboo sliding connection, and two the transmission shaft homoenergetic corresponds follow self axis direction reciprocal sliding from top to bottom in the installation section of thick bamboo, thereby make the sleeve can correspond relatively installation section of thick bamboo reciprocal movement from top to bottom, so that nested portion nestification or the nut that breaks away from corresponding.