CN112658665A - Self-adaptive electric sleeve for robot and robot - Google Patents
Self-adaptive electric sleeve for robot and robot Download PDFInfo
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- CN112658665A CN112658665A CN202011240721.1A CN202011240721A CN112658665A CN 112658665 A CN112658665 A CN 112658665A CN 202011240721 A CN202011240721 A CN 202011240721A CN 112658665 A CN112658665 A CN 112658665A
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Abstract
The invention discloses a self-adaptive electric sleeve for a robot, which comprises a driver, a guide shaft and a sleeve for screwing a bolt head, wherein the guide shaft comprises a shaft body and a shaft seat, the driver is connected with the shaft seat, the sleeve is sleeved on the shaft body, the driver controls the guide shaft to rotate, the guide shaft and the sleeve synchronously rotate, the sleeve is in sliding connection with the shaft body, the sleeve moves along the length direction of the shaft body, a spring for enabling the sleeve to be far away from the shaft seat is sleeved on the shaft body, and the spring is positioned between the shaft seat and the sleeve. The electric sleeve has the advantage that the electric sleeve can avoid the phenomenon of separation or deadlocking. The invention also provides a robot.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a self-adaptive electric sleeve for a robot and the robot, and belongs to the technical field of live working robots.
[ background of the invention ]
At present, various limitations exist on the maintenance and the repair of a high-voltage transmission line, firstly, because a line is electrified, such as potential safety hazards exist in direct manual operation, and secondly, because the environment or the terrain and the landscape of the high-voltage transmission line exist, the high-voltage transmission line which is difficult or impossible to reach or approach by operating personnel may exist, so that the requirement on an automatic maintenance or repair device of the high-voltage transmission line exists, and a high-voltage transmission line robot is produced accordingly.
With the development of various transmission line operation robots, operators are gradually replaced to enter a high-voltage live environment to complete various daily works. One of the main functions of an electric power fitting robot is to fasten, install, and detach bolts to different fittings. The robot operates the bolts mainly through a socket wrench, the randomness of the positions of the bolt heads on the hardware fitting is high under the working condition of the site, the difficulty of aligning the socket carried on the robot with the socket is high, the operation process is complex, and the efficiency is affected. Moreover, in the process of mounting and dismounting the bolt, if the sleeve position cannot be followed, the bolt is easy to separate from the sleeve or be dead against the sleeve.
[ summary of the invention ]
The invention aims to provide an adaptive electric sleeve for a robot, which can avoid the phenomenon of separation or deadlocking.
The technical scheme adopted by the invention is as follows:
the utility model provides a self-adaptation electric sleeve for robot, includes driver, guiding axle and is used for twisting the sleeve of bolt head, the guiding axle includes axis body and axle bed, the driver with the axle bed is connected, sleeve cover is established on the axis body, driver control guiding axle rotates, guiding axle and sleeve rotate in step, the sleeve with axis body sliding connection, the sleeve removes along the length direction of axis body, the cover is equipped with the spring that is used for making the sleeve to keep away from the axle bed on the axis body, the spring is in between axle bed and the sleeve.
The beneficial effects of the invention are as follows:
in the invention, the self-adaptive electric sleeve comprises a guide shaft and a sleeve, the sleeve is sleeved on a shaft body of the guide shaft and can move along the length direction of the shaft body, the shaft body is also sleeved with a spring, the spring is positioned between the sleeve and a shaft seat, the sleeve is far away from the shaft seat under the action of the spring, a bolt head enters the sleeve and is extruded in the process of installing a bolt, the sleeve extrudes the spring, the sleeve is close to the shaft seat, the driver controls the guide shaft to rotate, the shaft body drives the sleeve to rotate, the sleeve twists the bolt head, the distance between the bolt head and the shaft seat is gradually increased along with the continuous entering of the whole bolt into an installation hole, the compressed spring pushes the sleeve to advance along with the sleeve, the sleeve and the bolt head are always kept in contact, and the bolt head is ensured not to be separated from the sleeve, the invention can avoid the separation of, it is possible to ensure that the bolt can be fully tightened.
In the process of disassembling the bolt, the bolt head enters the sleeve, the spring is in a loose state at the moment, the driver controls the guide shaft to rotate, the shaft body drives the sleeve to rotate, the sleeve twists the bolt head to enable the bolt to be gradually separated from the mounting hole, when the bolt head props against the sleeve, the bolt head can push the sleeve in the disassembling process to enable the sleeve to be continuously close to the shaft seat, under the action of the spring, the situation that the sleeve is clamped or jacked can be avoided, and the bolt can be smoothly twisted out.
In conclusion, in the process of fastening, mounting and dismounting the bolt, the situation that the bolt head is separated from or is dead against the sleeve can be avoided.
Preferably, a first bolt is arranged at the joint of the sleeve and the shaft body, a sliding rail distributed along the length direction of the shaft body is arranged on the shaft body, the sliding rail radially penetrates through the shaft body, and the first bolt drives the sleeve to move along the sliding rail.
Preferably, a gap is formed between the sleeve and the shaft body, an angle of deflection exists between a central axis of the sleeve and a central axis of the guide shaft, the sleeve is provided with a cavity for accommodating a bolt head, and a guide surface for guiding the bolt head to enter the cavity is arranged at an opening of the cavity.
In the process of calibrating the bolt head, complete alignment is not needed, the bolt head is only required to be in a sector range of the deflection of the sleeve, after the sleeve props against the bolt head, the driver controls the sleeve to rotate positively and reversely, and under the thrust of the spring and the action of the guide surface, the sleeve deflects, and the bolt head slides into the sleeve, so that the bolt head can be sleeved.
Preferably, the deflection angle has a maximum angle of 5 °.
Preferably, the cross section of the cavity is hexagonal or quadrangular.
Preferably, the driver comprises an output shaft, the shaft seat is sleeved on the output shaft, and the shaft seat is connected with the output shaft through a second pin shaft.
Preferably, the shaft body is a square shaft, and the sleeve is provided with a hole corresponding to the square shaft.
Preferably, the driver is an electric wrench or an impact wrench or a reduction motor.
The invention also provides a robot, which comprises an electric sleeve, wherein the robot is used for eliminating the power-lack hardware fitting, and the electric sleeve adopts the self-adaptive electric sleeve for the robot as described in any one of the above items.
Other features and advantages of the present invention will be disclosed in more detail in the following detailed description of the invention and the accompanying drawings.
[ description of the drawings ]
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a schematic view of a compressed sleeve according to embodiment 1 of the present invention;
FIG. 3 is a schematic structural view of the bolt according to embodiment 1 of the present invention;
FIG. 4 is an exploded view of example 1 of the present invention;
FIG. 5 is a schematic structural view of a sleeve in embodiment 1 of the present invention;
FIG. 6 is a side view of example 1 of the present invention;
fig. 7 is a sectional view of embodiment 1 of the present invention.
[ detailed description ] embodiments
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered 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 explicitly defined otherwise.
In the present invention, unless otherwise expressly specified 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 connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1:
as shown in fig. 1 to 7, this embodiment shows an adaptive electric sleeve 3 for a robot, including driver 1, leading axle 2 and the sleeve 3 that is used for screwing the bolt head, leading axle 2 includes axis body 22 and axle bed 21, driver 1 with axle bed 21 is connected, sleeve 3 cover is established on the axis body 22, driver 1 control leading axle 2 rotates, leading axle 2 rotates with sleeve 3 synchronization, sleeve 3 with axis body 22 sliding connection, sleeve 3 moves along the length direction of axis body 22, the cover is equipped with the spring 43 that is used for making sleeve 3 keep away from axle bed 21 on the axis body 22, spring 43 is between axle bed 21 and sleeve 3.
In this embodiment, the adaptive electric sleeve 3 includes a guide shaft 2 and a sleeve 3, the sleeve 3 is sleeved on a shaft body 22 of the guide shaft 2, the sleeve 3 can move along the length direction of the shaft body 22, a spring 43 is further sleeved on the shaft body 22, the spring 43 is located between the sleeve 3 and the shaft seat 21, under the action of the spring 43, the sleeve 3 is far away from the shaft seat 21, in the process of installing the bolt 5, the bolt head enters the sleeve 3 and is squeezed, the sleeve 3 squeezes the spring 43, the sleeve 3 is close to the shaft seat 21, the driver 1 controls the guide shaft 2 to rotate, the shaft body 22 drives the sleeve 3 to rotate, the sleeve 3 screws the bolt head, the bolt head is screwed by the sleeve 3, the whole bolt 5 continuously enters the installation hole, the distance between the bolt head and the shaft seat 21 is gradually increased, at this time, the compressed spring 43 pushes the sleeve 3 to advance along with the sleeve 3, so, the bolt head is ensured not to be separated from the sleeve 3, the bolt head can be prevented from being separated from the sleeve 3, and the bolt 5 can be ensured to be completely screwed.
At the in-process of dismantling bolt 5, the bolt head gets into sleeve 3, this moment spring 43 is in the state of relaxing, 1 control guide shaft of driver 2 rotates, axis body 22 drives sleeve 3 and rotates, sleeve 3 is twisted the bolt head, makes the bolt head break away from the mounting hole gradually, works as when the bolt head withstands sleeve 3, the bolt head can promote sleeve 3 dismantling the in-process, makes sleeve 3 constantly be close to axle bed 21 under the effect of spring 43, can avoid the dead or died condition of top of sleeve 3 to take place, and this embodiment can be smooth unscrew bolt 5.
In conclusion, the in-process that bolt 5 fastening, installation and dismantlement were carried out to this embodiment, can avoid appearing the bolt head and break away from or the condition of dieback takes place with sleeve 3, and this embodiment can accomplish the operation smoothly, can reach better fastening effect simultaneously, can avoid appearing the condition emergence that bolt 5 does not screw up completely.
Regarding the connection manner between the sleeve 3 and the shaft body 22, in this embodiment, the sleeve 3 is provided with a hole 31 for the shaft body 22 to go deep, the sleeve 3 and the shaft body 22 are connected by a first bolt 42, the shaft body 22 is provided with slide rails distributed along the length direction of the shaft body 22, the slide rails run through in the radial direction of the shaft body 22, the first bolt 42 can slide in the slide rails along the length direction of the shaft body 22, the shaft body 22 and the sleeve 3 are synchronously rotated by the first bolt 42, the inner diameter of the hole 31 is larger than the outer diameter of the shaft body 22, so that a gap exists between the hole 31 and the shaft body 22, the sleeve 3 can deflect relative to the central axis 51 of the shaft body 22, so that a deflection angle 53 exists between the central axis 52 of the sleeve 3 and the central axis 51 of the shaft body 22, the maximum angle of the deflection angle 53 is 5 °, that the range in which the sleeve 3 can deflect, secondly the sleeve is provided with a cavity for accommodating the bolt 5, and the opening of the cavity is provided with a guide surface 310 for guiding the bolt 5 into the cavity.
In the process of sleeving the bolt head, the sleeve 3 does not need to be completely aligned with the bolt head, and only the bolt head needs to be in a deflected fan-shaped range of the sleeve 3, after the bolt head is aligned, the sleeve 3 abuts against the bolt head, so that the spring 43 between the sleeve 3 and the shaft seat 21 is compressed, the driver 1 controls the sleeve 3 to rotate, under the action of the thrust force of the spring 43 and the guide surface 310, the sleeve 3 can deflect to enable the bolt head to enter a cavity of the sleeve 3, in addition, the embodiment is mainly applied to a robot for live working, the embodiment is controlled by the robot, after the bolt head enters the sleeve 3, the position of the embodiment is adjusted by the robot to enable the central shaft 52 of the sleeve 3 to coincide with the central shaft 51 of the shaft body 22, so that the bolt head can be sleeved, in the process of sleeving, the alignment fault tolerance of the embodiment and the bolt head is high, the operation degree of difficulty that can reduce staff can let more staff light get on the hand, also can save operating time, also can reduce the requirement to the robot precision simultaneously, can reduce the structure complexity of robot executive component, can increase substantially the success rate that this embodiment emboliaed.
In this embodiment, the sleeve 3 is connected to the shaft 22 through the first latch 42, the first latch 42 facilitates the installation and removal of the sleeve 3, since the main operation object of the present embodiment is the bolt 5, and there are many kinds of size types of the bolt 5, one sleeve 3 therefore does not satisfy all the operating requirements, and therefore it is necessary to equip a plurality of different size types of sleeve 3, before the mounting or dismounting work is carried out, the operator can select the matched sleeve 3 according to the actual size of the bolt 5, the first bolt 42 is adopted to realize the connection between the sleeve 3 and the shaft body 22, so that the sleeve 3 can be quickly replaced without other auxiliary tools, the sleeve 3 can be mounted and dismounted more conveniently and quickly, and the time spent by workers for replacing the sleeve 3 can be saved.
Regarding the sleeve 3, in the present embodiment, the depth of the cavity of the sleeve 3 is much greater than the thickness of the bolt head, the cross section of the cavity is a regular hexagon, the inner diameter of the cavity is slightly greater than the outer diameter of the bolt head, and in the process of installing or detaching the bolt 5, as long as the total length of the depth of the cavity and the distance between the sleeve 3 and the shaft seat 21 is greater than the total length of the bolt 5, it can be ensured that the bolt 5 and the sleeve 3 do not disengage or jam, but the present embodiment can be satisfied with most of the bolts 5, so the application range of the present embodiment is wider.
It will of course be appreciated that, since the bolts 5 may be of many different kinds, the cross-section of the cavity of the socket 3 may also have a variety of shapes corresponding to the bolt head, such as a quadrilateral, a pentagon, etc.
In order to enable the shaft body 22 and the sleeve 3 to rotate synchronously, in this embodiment, the shaft body 22 is a square shaft, the cross section of the hole 31 is quadrilateral, the inner diameter of the hole 31 is larger than the outer diameter of the shaft body 22, the shaft body 22 and the sleeve 3 can always rotate synchronously through the square shaft, and the phenomenon that slipping or different rotating speeds occur between the sleeve 3 and the shaft body 22 is avoided.
In this embodiment, the driver 1 includes the output shaft 11, the axle seat 21 cover is established on the output shaft 11, the axle seat 21 is connected through the second bolt 41 with the output shaft 11, can make things convenient for the installation or the dismantlement of leading axle 2 through the second bolt 41, also can make things convenient for the staff to the maintenance or the change of leading axle 2.
As for the driver 1, the driver 1 is an electric wrench in this embodiment, but it is understood that the driver 1 may be an impact wrench or a high-power speed-reducing motor in other embodiments.
Example 2:
this embodiment shows a robot including an electric socket 3, the robot being used for eliminating a power shortage, the electric socket 3 being the electric socket 3 as described in embodiment 1 or other same or similar embodiments.
While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (9)
1. An adaptive electric socket for a robot, comprising a driver, a guide shaft and a socket for screwing a head of a bolt, characterized in that: the guiding shaft comprises a shaft body and a shaft seat, the driver is connected with the shaft seat, the sleeve is sleeved on the shaft body, the driver controls the guiding shaft to rotate, the guiding shaft and the sleeve rotate synchronously, the sleeve is connected with the shaft body in a sliding mode, the sleeve moves along the length direction of the shaft body, a spring used for enabling the sleeve to be far away from the shaft seat is sleeved on the shaft body, and the spring is located between the shaft seat and the sleeve.
2. The adaptive electric sleeve for a robot of claim 1, wherein: the connecting part of the sleeve and the shaft body is provided with a first bolt, the shaft body is provided with a sliding rail distributed along the length direction of the shaft body, the sliding rail radially penetrates through the shaft body, and the first bolt is used for driving the sleeve to move along the sliding rail.
3. The adaptive electric sleeve for a robot of claim 1, wherein: a gap is formed between the sleeve and the shaft body, an angle of deflection exists between the central shaft of the sleeve and the central shaft of the guide shaft, the sleeve is provided with a cavity for accommodating a bolt head, and a guide surface for guiding the bolt head to enter the cavity is arranged at an opening of the cavity.
4. The adaptive electric sleeve for a robot according to claim 3, wherein: the maximum angle of the deflection angle is 5 °.
5. The adaptive electric sleeve for a robot according to claim 3, wherein: the cross section of the cavity is hexagonal or quadrangular.
6. The adaptive electric sleeve for a robot of claim 1, wherein: the driver comprises an output shaft, the shaft seat is sleeved on the output shaft, and the shaft seat is connected with the output shaft through a second pin shaft.
7. The adaptive electric sleeve for a robot of claim 1, wherein: the axis body is the square shaft, the sleeve is equipped with the hole that the square shaft corresponds.
8. The adaptive electric sleeve for a robot of claim 1, wherein: the driver is an electric wrench or an impact wrench or a speed reducing motor.
9. The utility model provides a robot, includes electronic sleeve, the robot is used for eliminating lacking the electric power gold utensil, its characterized in that: the electric sleeve adopts the self-adaptive electric sleeve for the robot as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011240721.1A CN112658665A (en) | 2020-11-09 | 2020-11-09 | Self-adaptive electric sleeve for robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011240721.1A CN112658665A (en) | 2020-11-09 | 2020-11-09 | Self-adaptive electric sleeve for robot and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112658665A true CN112658665A (en) | 2021-04-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011240721.1A Pending CN112658665A (en) | 2020-11-09 | 2020-11-09 | Self-adaptive electric sleeve for robot and robot |
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| Country | Link |
|---|---|
| CN (1) | CN112658665A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091180A (en) * | 2022-06-22 | 2022-09-23 | 国网天津市电力公司建设分公司 | Bolt fastening robot end tool capable of screwing at opposite sides |
| WO2023098890A1 (en) * | 2021-12-02 | 2023-06-08 | 奥动新能源汽车科技有限公司 | Torque gun for applying torque and battery swapping robot comprising same |
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| CN206982535U (en) * | 2017-06-23 | 2018-02-09 | 日本电产东测（浙江）有限公司 | Bolt fixation box spanner and bolt head fixing device |
| CN210326710U (en) * | 2019-08-13 | 2020-04-14 | 浙江铂创机器人科技有限公司 | Tension clamp drainage plate bolt fastening robot |
| CN111098122A (en) * | 2020-01-14 | 2020-05-05 | 新昌县新明实业有限公司 | Bolt fastening robot for power transmission line |
| CN111113010A (en) * | 2020-01-14 | 2020-05-08 | 新昌县新明实业有限公司 | Flexible tail end fastening device of bolt fastening robot for power transmission line |
| CN211277318U (en) * | 2019-10-29 | 2020-08-18 | 天永机械电子（太仓）有限公司 | Sleeve quick-change mechanism |
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2020
- 2020-11-09 CN CN202011240721.1A patent/CN112658665A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206982535U (en) * | 2017-06-23 | 2018-02-09 | 日本电产东测（浙江）有限公司 | Bolt fixation box spanner and bolt head fixing device |
| CN210326710U (en) * | 2019-08-13 | 2020-04-14 | 浙江铂创机器人科技有限公司 | Tension clamp drainage plate bolt fastening robot |
| CN211277318U (en) * | 2019-10-29 | 2020-08-18 | 天永机械电子（太仓）有限公司 | Sleeve quick-change mechanism |
| CN111098122A (en) * | 2020-01-14 | 2020-05-05 | 新昌县新明实业有限公司 | Bolt fastening robot for power transmission line |
| CN111113010A (en) * | 2020-01-14 | 2020-05-08 | 新昌县新明实业有限公司 | Flexible tail end fastening device of bolt fastening robot for power transmission line |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023098890A1 (en) * | 2021-12-02 | 2023-06-08 | 奥动新能源汽车科技有限公司 | Torque gun for applying torque and battery swapping robot comprising same |
| CN115091180A (en) * | 2022-06-22 | 2022-09-23 | 国网天津市电力公司建设分公司 | Bolt fastening robot end tool capable of screwing at opposite sides |
| CN115091180B (en) * | 2022-06-22 | 2024-02-20 | 国网天津市电力公司建设分公司 | End tool of bolt fastening robot capable of being screwed on opposite sides |
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Application publication date: 20210416 |