CN113458744B - Auxiliary sleeve replacement box and overhaul robot applying auxiliary sleeve replacement box - Google Patents
Auxiliary sleeve replacement box and overhaul robot applying auxiliary sleeve replacement box Download PDFInfo
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- CN113458744B CN113458744B CN202110684988.8A CN202110684988A CN113458744B CN 113458744 B CN113458744 B CN 113458744B CN 202110684988 A CN202110684988 A CN 202110684988A CN 113458744 B CN113458744 B CN 113458744B
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- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000007689 inspection Methods 0.000 claims abstract description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 42
- 239000010959 steel Substances 0.000 claims description 42
- 239000000463 material Substances 0.000 claims description 25
- 239000000758 substrate Substances 0.000 claims description 11
- 238000012423 maintenance Methods 0.000 claims description 7
- 230000001174 ascending effect Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 15
- 238000010276 construction Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 235000005770 birds nest Nutrition 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 235000005765 wild carrot Nutrition 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention belongs to the technical field of electric power operation climbing robots, and particularly relates to a sleeve auxiliary replacement box and an overhaul robot applying the auxiliary replacement box. The invention comprises a box body, wherein a containing hole for placing a single sleeve is arranged on the box body; the invention also comprises an unlocking pull rod, when the unlocking pull rod generates reciprocating motion, only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time, so that the sleeve corresponding to the positioning notch is unlocked. The invention can be arranged on the existing climbing robot, thereby realizing the sleeve on-line replacement function in the high-altitude operation under the premise of ensuring the safe construction. The invention also provides an overhaul robot applying the auxiliary replacement box, which has the advantages of light and reliable structure, safe and reliable operation and synchronous guarantee of the stability of the climbing operation, thereby greatly saving the manpower inspection cost, improving the overhaul efficiency and guaranteeing the safe and reliable operation of the power transmission system.
Description
Technical Field
The invention belongs to the technical field of electric power operation climbing robots, and particularly relates to a sleeve auxiliary replacement box and an overhaul robot applying the auxiliary replacement box.
Background
The stability and safety of the electric power are basic guarantees for promoting the development of various industries, and in China, the electric power angle steel towers are large in number and wide in distribution, and are exposed to field environments and even severe environments with high dust, strong wind and high humidity for a long time. Under the traditional mode, need bear maintenance equipment by the maintainer and follow the climbing angle steel tower of peg side, gradually articulate the safety rope and prevent weighing down, lead to patrolling and examining the cycle length, the climbing danger is big, work efficiency is low. Therefore, climbing robots suitable for angle steel towers have been developed, and climbing types of various morphological structures, such as snake-shaped robots, wheel-type robots, inchworm-type robots, and the like, have been gradually derived. As shown in fig. 7, since the electric angle steel tower is a truss structure formed by bolting or welding angle steel, the electric angle steel tower is mainly constructed by four main angle steel main materials and some auxiliary materials for inclined-pull support; the angle steel main material is arranged at a certain inclination angle with the foundation, the angle steel main material is externally coated with angle steel and fixedly connected with bolts, the angle steel main material is directly connected with the angle steel main material by bolts or externally connected with a gusset plate, and a large number of horizontally-extending foot nails are arranged along the height direction of the angle steel tower so as to be used for manual inspection. Therefore, the electric angle steel tower has the characteristics of numerous obstacles, including but not limited to foot nails, cladding bolts, gusset plates and the like; regardless of the robot, how to avoid the obstacle while ensuring the climbing efficiency is a great difficulty. Meanwhile, in the climbing process, the main machine of the robot is always parallel to the angle steel main material, so that the robot can be stably clamped and stably climbed; however, due to the huge mass of the existing robots, the host of the robot often has an angle inclination condition, so that the reliability is doubtful. In addition, when the traditional robot overhauls the electric power angle steel tower, bolt tightening is a stock working procedure; considering the use safety, a sleeve with a specified specification is usually arranged on an overhaul mechanical arm of the robot in advance, and then the robot is sent to a re-tightening height for re-tightening. Because the electric power angle steel tower has a plurality of bolts and different types, the round trip operation mode of sleeve replacement and aloft work on the ground is extremely time-consuming and labor-consuming, and the problem needs to be solved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a sleeve auxiliary replacement box which can be installed on the existing climbing robot, so that the sleeve on-line replacement function in the high-altitude operation is realized on the premise of ensuring the safe construction. The invention further aims to provide an overhaul robot applying the auxiliary replacement box, which is light and reliable in structure, safe and reliable in operation and capable of synchronously guaranteeing the action stability of climbing operation, so that the manpower inspection cost can be greatly saved, the overhaul efficiency is improved, and the safe and reliable operation of a power transmission system is guaranteed.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The utility model provides a supplementary casket of changing of sleeve which characterized in that: the box comprises a box body, wherein the box body is provided with containing holes for placing a single sleeve, and the containing holes are more than two groups and are sequentially arranged along a preset direction; the auxiliary replacement box also comprises an unlocking pull rod with a radial rod length parallel to the accommodating hole, a guide cavity or a guide rail communicated with the accommodating hole is arranged at the side of the accommodating hole, the unlocking pull rod is positioned in the guide cavity or on the guide rail so as to generate reciprocating travelling motion along the arrangement direction of the accommodating hole, and the auxiliary replacement box also comprises a power source for driving the unlocking pull rod to generate the motion; one side of the unlocking pull rod facing the cavity of the accommodating hole is convexly provided with a limiting protrusion; the limiting bulge stretches into the accommodation Kong Kongqiang and is matched with a spigot which is formed between the limiting bulge and a preset positioning notch at the sleeve and limits the sleeve to move upwards; when the unlocking pull rod generates reciprocating motion, one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time, so that the sleeve corresponding to the positioning notch is unlocked.
Preferably, the box body is rectangular block-shaped, and the containing holes are sequentially and uniformly distributed along the length direction of the box body; the unlocking pull rod is in a rectangular rod body shape, an intersection exists between the unlocking pull rod body and the cavity of the containing hole, and an avoidance arc groove for avoiding the ascending path of the sleeve is arranged on the unlocking pull rod corresponding to each sleeve; the limiting protrusions are formed in the area between each adjacent avoidance arc groove along the length direction of the unlocking pull rod, and the width of each limiting protrusion is sequentially increased or sequentially reduced so as to ensure that only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time.
Preferably, the box body comprises a rectangular box-shaped outer shell and a mounting substrate arranged in the outer shell, wherein the mounting substrate is horizontally arranged so as to divide a box cavity of the outer shell into an upper box cavity and a lower box cavity; the box cover of the outer shell is penetrated and provided with a mounting hole, the hole wall of the mounting hole forms the hole wall of the containing hole, the upper plate surface of the mounting substrate forms the hole bottom of the containing hole, and finally a counter bore-shaped containing hole is formed; the unlocking pull rod extends along the upper box cavity and is matched with a spigot formed between the corresponding sleeves in the accommodating holes.
Preferably, the power source is an electric push rod, the power source is fixed at the lower plate surface of the mounting substrate, and the telescopic shaft of the power source and the power end of the unlocking pull rod are fixedly connected with each other through a connecting block.
Preferably, the box body is cylindrical, and the containing holes are uniformly distributed along the box body Zhou Xiangyi; the unlocking pull rod is in a C-shaped rod shape or a circular ring rod shape, an intersection exists between the unlocking pull rod body and the cavity of the containing hole, and an avoidance arc groove for avoiding the ascending path of the sleeve is arranged at the inner rod surface of the unlocking pull rod corresponding to each sleeve; the limiting protrusions are formed in the area between each adjacent avoidance arc groove along the circumferential direction of the unlocking pull rod, and the width of each limiting protrusion is sequentially increased or sequentially reduced so as to ensure that only one group of limiting protrusions and corresponding positioning notches at the same time can be separated from each other.
Preferably, the power source is a rotary motor or a swing arm motor; or the unlocking pull rod is provided with a rack so as to form meshed fit with a driving gear at the rotary motor, or an output shaft of the rotary motor is integrally and coaxially fixed on the unlocking pull rod, or a hinged fit relationship is formed between a swing rod of the swing arm motor and a power end of the unlocking pull rod.
Preferably, the unlocking pull rod is provided with sensing points, the number of the sensing points corresponds to that of the sleeves, and the distance between the sensing points is equal to the distance between the adjacent sleeves; the photoelectric switch for monitoring the position of the sensing point is arranged at the box body, and the sensing surface of the photoelectric switch is positioned on the action path of the sensing point.
Preferably, the overhaul robot applying the sleeve auxiliary replacement box comprises a host machine and a bolt tightening device arranged on the host machine, wherein the bolt tightening device comprises a mechanical arm with a working head and a sleeve auxiliary replacement box, wherein the mechanical arm is fixed on the host machine, and the sleeve auxiliary replacement box is convenient for the working head at the mechanical arm to realize sleeve replacement operation; the working head comprises a striking seat fixed on the mechanical arm and a striking anchor rod which is arranged at the head end of the striking seat and is used for plugging and fixing a sleeve, the outline of the head end of the striking anchor rod is matched with the outline of a preset dismounting hole at the sleeve, the head end of the striking anchor rod is square prism matched with the outline of the dismounting hole, a positioning pin hole is concavely arranged at the side wall of the head end, an elastic pin which can generate elastic telescopic action along the radial direction of the striking anchor rod is arranged in the positioning pin hole, so that elastic clamping fit is formed between the elastic pin and a notch at the wall of the dismounting hole, and a striking motor is arranged in the striking seat so as to drive the striking anchor rod to generate rotary action around the axis of the sleeve; the main machine also comprises two sets of walking parts which can do advancing motion along the length direction of the angle steel main materials and are respectively matched with the two adjacent angle steel main materials; the two sets of walking parts are provided with horizontal sliding tables, the mechanical arm is arranged on the front surface of the base between the two sets of walking parts, horizontal guide rods extend from the base to the horizontal sliding tables at the two sides, and sliding guide matching with the horizontal sliding tables with the horizontal sliding guide direction is formed; the maintenance robot further comprises a centering assembly for centering the position of the base, wherein the centering assembly comprises a plumb guide rail arranged on the back surface of the base, and a plumb slide block is matched with a slide rail on the plumb guide rail; two ends of the centering connecting rod are respectively hinged on the plumb sliding block and the walking part, and the axis of the hinged part is vertical to the advancing direction of the plumb sliding block; an included angle exists between the two groups of centering connecting rods positioned on two sides of the base, and the angle end of the included angle points to the advancing direction of the plumb sliding block.
Preferably, the walking part on each angle steel main material consists of two groups of walking modules which are sequentially arranged along the length direction of the angle steel main material; the walking modules on the upper layer on the two sets of walking parts are arranged at equal heights, and the walking modules on the lower layer on the two sets of walking parts are arranged at equal heights; the two horizontal guide rods are respectively matched with the horizontal sliding tables on the two groups of upper-layer traveling modules and the horizontal sliding tables on the two groups of lower-layer traveling modules; the base is fixed at the middle section rod body of the horizontal guide rod and bridges the two horizontal guide rods; the arrangement position of the plumb guide rail and the arrangement position of the horizontal guide rod are spatially avoided; the two groups of centering connecting rods are arranged at two sides of the vertical guide rail in a plane symmetry manner.
Preferably, the angle steel main material is provided with an I-shaped rail along the length direction, the walking module comprises a walking plate and walking wheels which are rotatably matched with the walking plate, and rolling matching is formed between the walking wheels and the I-shaped rail; the walking wheels are driven by the driving wheels or the walking modules through an external driving source, so that walking actions along the I-shaped rail are generated.
The invention has the beneficial effects that:
1) The special high-altitude remote control use environment based on the electric power angle steel tower is extremely dangerous due to the fact that objects falling accidentally at high altitude are extremely dangerous, and therefore operation safety is the primary focus. The invention adopts a unique high-altitude assembly structure, and ensures that only one group of sleeves can be unlocked at the same time by utilizing the locking characteristic of the unlocking pull rod on the inner sleeve of the accommodating hole, and the group of sleeves are just the sleeve types required by the working head. Therefore, when in actual work, the invention can be completely suitable for the existing climbing robot and matched with the magnetic or bayonet type working head, thereby synchronously realizing the sleeve on-line replacement function in high-altitude operation on the premise of ensuring safe construction and maximizing the working efficiency.
2) When the lock is actually assembled, the unlocking pull rod can be regarded as a lock tongue, so that the purpose of accessing the inner sleeve of the appointed accommodating hole is realized through locking and unlocking actions between the lock tongue and the positioning notch at the sleeve. Based on the above concepts, the present invention provides two specific embodiments:
Firstly, the box body is rectangular and is matched with a rectangular rod-shaped unlocking pull rod; when the unlocking device works, the unlocking pull rod is pulled along the straight line in the length direction of the rod, so that locking and unlocking actions of the limiting bulge at the unlocking pull rod and the opposite positioning notch of the avoidance arc groove are realized. When the unlocking pull rod with linear motion is adopted, the power source can adopt linear travel power components such as a linear motor or an electric push rod and the like so as to realize the online driving function of the unlocking pull rod.
Secondly, the box body is cylindrical and is matched with a C-shaped rod-shaped or circular ring rod-shaped unlocking pull rod; when the unlocking device works, the unlocking pull rod is rotated along the circumferential direction of the box body, so that locking and unlocking actions of the limiting bulge at the unlocking pull rod and the opposite positioning notch of the avoidance arc groove are realized. When the unlocking pull rod is in a rotary action, a rotary motor coaxial with the unlocking pull rod can be adopted to directly drive the unlocking pull rod to act; the rack can also be arranged on the rod side of the unlocking pull rod, so that the rack is meshed with the driving gear at the rotary motor. When the swing arm motor is adopted, such as a steering engine and the like, the power transmission purpose can be directly achieved in a hinged mode, and the description is omitted here.
3) In actual operation, because of high-altitude remote control operation, the induction component is required to be additionally arranged on the unlocking pull rod, so that the on-line induction effect on the position of the unlocking pull rod is realized, and the current sleeve is clear. The invention adopts a mode of matching the induction point with the photoelectric switch, has simple and clear structure and more compact and reasonable structure, and is beneficial to the use of the high-altitude operation environment.
4) The sleeve auxiliary replacement box can be directly used on the existing climbing robot and matched with the magnetic type or bayonet type working head so as to achieve the sleeve on-line replacement function in a high-altitude state, thereby greatly improving the actual operation efficiency. Meanwhile, through the scheme, on one hand, the main machine moves up and down along the electric power angle steel tower by arranging the walking parts such as the walking wheels, the walking rollers, the air rail or the walking clamping jaws and the like; and then the electric power angle steel tower is matched with the mechanical arm, so that the on-line maintenance function of the parts such as the bolts on the electric power angle steel tower can be realized. On the other hand, when the walking part gradually goes upwards, the distance between the walking parts can be gradually shortened under the influence of the asymptotic distance between the adjacent angle steel main materials, so that the horizontal guiding unit is formed by the horizontal guide rod and the horizontal sliding table, thereby ensuring that the normal function of the walking part is not influenced. In addition, for the maintenance robot, the working reliability is also critical while satisfying the structural stability, namely, how to combine the walking part and the horizontal guide rail action with the base non-action to form perfect balance. According to the invention, through the matching structure of the vertical sliding block, the vertical guide rail and the centering connecting rod, the base can still be always ensured to be always positioned at a constant position, such as the middle area of two angle steel main materials, under the displacement action of the horizontal guide unit, so that the constancy of the working reference of the mechanical arm positioned on the base is ensured, and a basic guarantee is provided for the fixed-point maintenance of the final mechanical arm.
5) As a further preferable scheme of the scheme, each set of walking part comprises two groups of walking modules, and the walking modules at the same height jointly bear a horizontal guide rod, so that the stable supporting function of the base is realized. At this time, the outer ends of the centering connecting rods can be respectively arranged on two groups of walking modules with the same height, and the inner ends are simultaneously hinged on the base and have included angles, so that the centering function is realized, dead point effects generated when the two groups of centering connecting rods are positioned on the same straight line can be avoided, and the working reliability of the centering connecting rods is further improved.
6) For the invention, the walking module preferably adopts walking wheels, so as to be matched with I-shaped rails welded on the angle steel main material in advance, thereby realizing the obstacle avoidance and directional maintenance functions. Of course, in actual operation, a walking jaw or the like may be used. When travelling along the I-shaped rail, the travelling wheel can be driven by a self-contained power source such as a power motor to rotate, and also can be driven by an external driving source such as a traction system to generate the uplink and downlink actions along the electric angle steel tower, which will not be described herein.
Drawings
FIG. 1 is a working state diagram of a sleeve assisted replacement cartridge;
FIG. 2 is a front view of the structure of FIG. 1 with the outer housing removed;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a right side view of FIG. 2;
FIGS. 5 and 6 are flowcharts of actions for unlocking the tie rod;
FIG. 7 is a schematic view of the structure of an electrical angle tower;
FIG. 8 is a diagram of one of the operating conditions of the service robot;
FIG. 9 is a schematic top view of FIG. 8;
fig. 10 is a schematic perspective view of an inspection robot;
FIG. 11 is a bottom view of the inspection robot;
FIG. 12 is a front view of the service robot;
FIG. 13 is a schematic view of the structure of the working head;
Fig. 14 is an exploded view of the assembly of the structure shown in fig. 13.
The actual correspondence between each label and the component name of the invention is as follows:
a-angle steel main material b-sleeve b 1-positioning notch b 2-dismounting hole
C-strike seat d-strike motor e-strike anchor rod f-elastic pin
11-Mechanical arm 11 a-working head 12-running part
12 A-horizontal sliding table 12 b-travelling wheels 12 c-base plate 12 d-cornice 12 e-travelling plate
13-Horizontal guide rod 14-base
15 A-vertical guide rail 15 b-vertical slider 15 c-centering link
16-I-shaped rail
21-Case 211-receiving hole 21 a-outer case 21 b-mounting substrate
22-Unlocking pull rod 22 a-avoiding arc groove 22 b-sensing point
23-Power source 24-connecting block 25-photoelectric switch
Detailed Description
For ease of understanding, the specific structure and operation of the present invention will be further described herein with reference to FIGS. 1-14:
The specific structure of the invention is shown in figures 1-6 and 8-12, and the main structure of the invention comprises a host machine and a bolt tightening device positioned on the host machine. The host serves as a bearing body for realizing climbing and descending functions relative to the electric angle steel tower shown in fig. 7. The bolt tightening device comprises a sleeve fixed on the main machine to assist in replacing the cartridge and a mechanical arm 11 with a working head. The sleeve auxiliary replacement box is auxiliary equipment based on a bolt tightening device, and because the type of a bolt and a nut for fixing on an electric angle steel tower is more than one type, when the bolt is tightened, sleeve replacement can be carried out at different moments so as to continue operation, and therefore, the sleeve auxiliary replacement box is designed. The working head is of a structure similar to a screwdriver with a replaceable head, and is of a conventional design; of course, in actual operation, the device can be designed into a magnetic type or a bayonet type. The purpose of the robotic arm 11 is to facilitate bolting and sleeve replacement of the working head 11a at the proper angle. Wherein:
1. sleeve auxiliary replacement box
Fig. 1-6 are schematic structural views of one embodiment of a sleeve-assisted cartridge replacement cartridge, i.e., a specific implementation configuration in which the cartridge body 21 is rectangular. In fig. 1 to 6, the cartridge 21 includes an outer case 21a having a hollow cartridge, and a horizontally plate-shaped mounting substrate 21b is disposed in the cartridge of the outer case 21a so as to divide the cartridge of the outer case 21a into an upper cartridge and a lower cartridge. In fig. 1, three sets of receiving holes 211 are arranged at the box cover of the outer casing 21a in a penetrating manner, and the three sets of receiving holes 211 correspond to the M16 sleeve, the M18 sleeve and the M20 sleeve respectively. Each sleeve is coaxially concavely provided with a groove at the outer wall, thereby forming a positioning notch b1. Inside the outer case 21a, there is an elongated guide chamber which communicates with the upper case chamber accommodating hole 211. The unlocking pull rod 22 moves in the guide cavity, and the part of the unlocking pull rod 22 extending into the accommodating hole 211 is in a right-angle saw-tooth shape with a single-side bulge as shown in fig. 3 and 5-6, namely, a limit bulge is formed. In other words, the portion of the unlocking lever 22 extending into the accommodation hole 211 presents the escape arc groove 22a of an isosceles trapezoid shape with a recess on one side as shown in fig. 3 and 5 to 6, and the above-mentioned limit projection is formed between the adjacent escape arc grooves 22 a. The tail end of the extending part of the unlocking pull rod 22, namely the power end, is fixed with the telescopic shaft of the power source 23 through a connecting block 24, and the power source 23 is an electric push rod. The electric push rod is fixed on the back surface of the mounting substrate 21b, and the horizontal movement of the telescopic shaft drives the unlocking pull rod 22 to horizontally move along with the output of the electric push rod.
As shown in fig. 3, the outer side of the unlocking pull rod 22 is further provided with three protruding right-angle serrations arranged at equal intervals, thereby forming sensing points 22b; the three protruding sensing points 22b are respectively in contact with the photoelectric switch 25. When the electric push rod stops outputting, the unlocking pull rod 22 stops, and the current position of the unlocking pull rod 22 can be known through matching of the photoelectric switch 25 and the sensing point 22 b.
When the push rod of the electric push rod is contracted to the minimum position, the side edges of the unlocking pull rod 22 are all clamped in the positioning notches b1 of the sleeves, so that the movement of all the sleeves is limited;
as shown in fig. 2-4; when the unlocking pull rod 22 stops for the first time, the M20 sleeve corresponds to the rightmost avoidance arc groove 22a of the unlocking pull rod 22, the unlocking pull rod 22 does not limit the M20 sleeve, the M20 sleeve can be taken out, and the other two sleeves correspond to the unlocking pull rod 22 and are straight edges or limit protrusions. Similarly, as shown in fig. 5-6, the M16 sleeve and the M18 sleeve can be unlocked in sequence, so that only one sleeve can be unlocked and taken out at the same time.
When the bolts need to be re-tightened, the required sleeve b is unlocked according to the use condition, and then the working head 11a of the mechanical arm 11 is aligned with the dismounting hole b2 at the rear of the sleeve b, and is pushed into the dismounting hole b2 while slowly rotating. The side of the working head 11a is provided with an elastic pin, the side of the inside of the dismounting hole b2 is provided with a notch, after the elastic pin is matched with the notch, the rotation of the working head 11a is stopped, and the mechanical arm 11 drives the working head 11a to carry the current sleeve b to be separated from the accommodating hole 211 at the box body 21 for operation.
When the sleeve is replaced, the mechanical arm 11 drives the working head to align the sleeve a on the working head with the corresponding accommodating hole 211 on the box body 21. The unlocking pull rod 22 moves until the corresponding avoiding arc groove 22a is unlocked, and a storage path is left. After the sleeves are inserted into the corresponding receiving holes 211 along the storage path, the unlocking lever 22 is moved until the corresponding receiving holes 211 are again locked.
Of course, in actual assembly, the mechanical arm 11 may be a power arm that is directly available in the market, and then the striking seat c may be mounted at the head end. As shown in fig. 13-14, the mechanical arm 11 is used for positioning the working head, the striking motor d at the working head is used for realizing the rotary screwing action of the sleeve b, and the cooperation of the elastic pin f at the striking anchor rod e at the head end of the working head and the notch is used for realizing the high-altitude dismounting operation of the sleeve b, so that the high-altitude bolt re-tightening purpose can be finally ensured.
2. Host machine
The main machine is similar to a four-foot trolley, namely, a vehicle body is formed by matching two horizontal guide rods 13 with a square plate-shaped base 14, and four groups of wheels are formed by four groups of traveling modules, wherein the appearance of the main machine is shown in fig. 8-11. In operation, the four sets of travel modules each include travel wheels 12b, travel plates 12e, a backing plate 12c with cornice 12d, and a horizontal slip table 12a. The travelling wheel 12b forms a rolling fit with the i-shaped rail 16 welded on the angle steel main material a in advance, and the fitting mode and the assembling mode are common and will not be described herein. The pad 12c serves to transition between the running plate 12e and the horizontal sliding table 12a on the one hand, and relies on the cornice 12d on the other hand to avoid a series of adverse conditions caused by scraping of the horizontal sliding table 12a by obstacles such as spikes or even bird nests on the running path.
On the basis of the above structure, the invention also provides a centering component as a core structure. The centering component is designed to ensure that when two sets of walking parts 12 move up or down along the I-shaped rail 16, the walking parts 12 can move synchronously or move away from each other due to the eight-shaped structure of the angle steel main material a shown in fig. 7; obviously, if a rigid member is used entirely, the running gear 12 will simply snap directly onto the I-shaped rail 16 as shown in FIG. 8. Therefore, on one hand, the invention designs the normal horizontal sliding table 12a and the horizontal guide rod 13, thereby ensuring that the walking part 12 can realize both the approaching and separating actions and the ascending and descending actions. On the other hand, the centering assembly is arranged, so that the centering of the base 14 positioned on the horizontal guide rod 13 can be always ensured while the travelling part 12 generates the synchronous actions of the XY axes, namely, the centering assembly is always positioned at the symmetrical axes of the two angle steel main materials a shown in fig. 7.
In practical design, referring to fig. 10-12, the centering assembly comprises two centering connecting rods 15c arranged in an eight shape, the outer ends of the centering connecting rods 15c are hinged to two groups of walking modules at the upper layer, and the inner ends of the centering connecting rods 15c are hinged to a vertical sliding block 15b at the base 14; meanwhile, the plumb slider 15b is again rail-fitted at the plumb rail 15a at the back of the base 14. To this end, when the above XY-axis operation of the traveling unit 12 occurs, the centering link 15c is pressed or pulled, and the centering link 15c is slid with respect to the vertical rail 15a in combination with the vertical slider 15b, so that the base 14 integrated with the vertical rail 15a is always positioned at the center position of the horizontal guide bar 13. Since the position of the base 14 is constant, the working reference of the mechanical arm 11 located on the base 14 is also clear, and the working reliability and stability of the mechanical arm 11 are remarkably ensured.
It will be understood by those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof; for example, the outer ends of the centering links 15c may be simultaneously hinged to two groups of traveling modules at the lower layer, or the mechanical arm 11 may be an inspection mechanical arm 11, or a mechanical arm 11 with other functions may be used. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
The technology, shape, and construction parts of the present invention, which are not described in detail, are known in the art.
Claims (7)
1. The utility model provides a supplementary casket of changing of sleeve which characterized in that: the box comprises a box body (21), wherein the box body (21) is provided with containing holes (211) for placing a single sleeve, and the containing holes (211) are more than two groups and are sequentially arranged along a preset direction; the auxiliary replacement box further comprises an unlocking pull rod (22) which is parallel to the accommodating hole (211) in the longitudinal direction of the rod and is radial, a guide cavity or a guide rail which is communicated with the accommodating hole (211) is arranged at the side of the accommodating hole (211) of the box body (21), the unlocking pull rod (22) is positioned in the guide cavity or on the guide rail so as to generate reciprocating running motion along the arrangement direction of the accommodating hole (211), and the auxiliary replacement box further comprises a power source (23) for driving the unlocking pull rod (22) to generate the motion; one side of the unlocking pull rod (22) facing the cavity of the accommodating hole (211) is convexly provided with a limiting bulge; the limit bulge stretches into the cavity of the accommodating hole (211) and is matched with a spigot which is formed between the limit bulge and a preset positioning notch at the sleeve and limits the sleeve to move upwards; when the unlocking pull rod (22) generates reciprocating movement, only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time, so that the sleeve corresponding to the positioning notch is unlocked;
The box body (21) is rectangular and blocky, and the containing holes (211) are sequentially and uniformly distributed along the length direction of the box body (21); the unlocking pull rod (22) is in a rectangular rod shape, an intersection exists between the rod body of the unlocking pull rod (22) and the cavity of the accommodating hole (211), and an avoidance arc groove (22 a) for avoiding the ascending path of the sleeve is arranged on the unlocking pull rod (22) corresponding to each sleeve; the limiting protrusions are formed in the area between each adjacent avoidance arc groove (22 a) along the length direction of the unlocking pull rod (22), and the width of each limiting protrusion is sequentially increased or sequentially reduced so as to ensure that one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time;
The box body (21) comprises a rectangular box-shaped outer shell (21 a) and a mounting substrate (21 b) arranged in the outer shell (21 a), wherein the mounting substrate (21 b) is horizontally arranged so as to divide a box cavity of the outer shell (21 a) into an upper box cavity and a lower box cavity; a mounting hole is arranged at the box cover of the outer shell (21 a) in a penetrating manner, the hole wall of the mounting hole forms the hole wall of the accommodating hole (211), the upper plate surface of the mounting substrate (21 b) forms the hole bottom of the accommodating hole (211), and finally a counter bore-shaped accommodating hole (211) is formed; the unlocking pull rod (22) extends along the upper box cavity and is matched with corresponding sleeves in each accommodating hole (211) through a spigot;
The box body (21) is cylindrical, and the containing holes (211) are uniformly distributed along the box body (21) Zhou Xiangyi; the unlocking pull rod (22) is in a C-shaped rod shape or a circular ring rod shape, an intersection exists between the rod body of the unlocking pull rod (22) and the cavity of the accommodating hole (211), and an avoidance arc groove (22 a) for avoiding the ascending path of the sleeve is arranged at the inner rod surface of the unlocking pull rod (22) corresponding to each sleeve; the limiting protrusions are formed in the area between each adjacent avoidance arc groove (22 a) along the circumferential direction of the unlocking pull rod (22), and the width of each limiting protrusion is sequentially increased or sequentially reduced so as to ensure that one group of limiting protrusions and the corresponding positioning notch can be separated from each other at the same time.
2. A cartridge assisted replacement cartridge as in claim 1 wherein: the power source (23) is an electric push rod, the power source (23) is fixed at the lower plate surface of the mounting substrate (21 b), and the telescopic shaft of the power source (23) and the power end of the unlocking pull rod (22) are fixedly connected with each other through a connecting block (24).
3. A cartridge assisted replacement cartridge as in claim 1 wherein: the power source (23) is a rotary motor or a swing arm motor; or the unlocking pull rod (22) is provided with a rack so as to form meshed fit with a driving gear at the position of the rotary motor, or an output shaft of the rotary motor is integrally and coaxially fixed on the unlocking pull rod (22), or a hinged fit relationship is formed between a swinging rod of the swinging arm motor and a power end of the unlocking pull rod (22).
4. A sleeve assisted replacement cartridge according to claim 1 or 2 or 3, wherein: the unlocking pull rod (22) is provided with sensing points (22 b), the number of the sensing points (22 b) corresponds to that of the sleeves, and the distance between the sensing points (22 b) is equal to the distance between adjacent sleeves; the photoelectric switch (25) for monitoring the position of the sensing point (22 b) is arranged at the box body (21), and the sensing surface of the photoelectric switch (25) is positioned on the action path of the sensing point (22 b).
5. An inspection robot for assisting in replacing a cartridge using the sleeve as claimed in claim 1 or 2 or 3, characterized in that: the device comprises a host machine and a bolt tightening device arranged on the host machine, wherein the bolt tightening device comprises a mechanical arm (11) with a working head (11 a) and a sleeve auxiliary replacement box, wherein the mechanical arm (11) is fixed on the host machine, and the sleeve auxiliary replacement box is convenient for the working head (11 a) at the mechanical arm (11) to realize sleeve replacement operation; the working head (11 a) comprises a striking seat fixed on the mechanical arm (11) and a striking anchor rod which is arranged at the head end of the striking seat and is used for plugging and fixing a sleeve, the outline of the head end of the striking anchor rod is matched with the outline of a preset dismounting hole at the sleeve, the head end of the striking anchor rod is square prism matched with the outline of the dismounting hole, a positioning pin hole is concavely arranged at the side wall of the head end, an elastic pin which can generate elastic telescopic action along the radial direction of the striking anchor rod is arranged in the positioning pin hole, and thus elastic clamping fit is formed between the elastic pin and a notch at the wall of the dismounting hole, and a striking motor is arranged in the striking seat so as to drive the striking anchor rod to generate rotary action around the axis of the sleeve; the main machine also comprises two sets of walking parts (12) which can do advancing motion along the length direction of the angle steel main materials, and the two sets of walking parts (12) are respectively matched with the two adjacent angle steel main materials; the two sets of walking parts (12) are provided with horizontal sliding tables (12 a), the mechanical arm (11) is arranged on the front surface of a base (14) positioned between the two sets of walking parts (12), the horizontal sliding tables (12 a) at the two sides of the base (14) extend out of horizontal guide rods (13), and sliding guide matching with the horizontal sliding tables (12 a) in which the guide direction is horizontal is formed between the horizontal guide rods (13); the maintenance robot further comprises a centering assembly for centering the position of the base (14), wherein the centering assembly comprises a vertical guide rail (15 a) arranged on the back surface of the base (14), and a vertical sliding block (15 b) is matched with a sliding rail on the vertical guide rail (15 a); two ends of the centering connecting rod (15 c) are respectively hinged on the vertical sliding block (15 b) and the walking part (12), and the axis of the hinged part is vertical to the advancing direction of the vertical sliding block (15 b); an included angle is formed between two groups of centering connecting rods (15 c) positioned on two sides of the base (14), and the angle end of the included angle points to the advancing direction of the plumb sliding block (15 b).
6. The service robot of claim 5, wherein: the walking parts (12) on each angle steel main material consist of two groups of walking modules which are sequentially arranged along the length direction of the angle steel main material; the walking modules positioned at the upper layer on the two sets of walking parts (12) are arranged at equal heights, and the walking modules positioned at the lower layer on the two sets of walking parts (12) are arranged at equal heights; the two horizontal guide rods (13) are respectively matched at the horizontal sliding tables (12 a) on the two groups of upper-layer traveling modules and the horizontal sliding tables (12 a) on the two groups of lower-layer traveling modules; the base (14) is fixed at the middle section shaft of the horizontal guide rod (13) and bridges the two horizontal guide rods (13); the arrangement position of the vertical guide rail (15 a) and the arrangement position of the horizontal guide rod (13) are spatially avoided; the two groups of centering connecting rods (15 c) are symmetrically arranged at two sides of the vertical guide rail (15 a) in a plane.
7. The service robot of claim 6, wherein: an I-shaped rail (16) is arranged on the angle steel main material along the length direction of the angle steel main material, the walking module comprises a walking plate (12 e) and a walking wheel (12 b) which is rotatably matched with the walking plate (12 e), and rolling matching is formed between the walking wheel (12 b) and the I-shaped rail (16); the travelling wheels (12 b) are driving wheels or travelling modules which are driven by an external driving source, so that travelling actions along the I-shaped rail (16) are generated.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110684988.8A CN113458744B (en) | 2021-06-21 | 2021-06-21 | Auxiliary sleeve replacement box and overhaul robot applying auxiliary sleeve replacement box |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110684988.8A CN113458744B (en) | 2021-06-21 | 2021-06-21 | Auxiliary sleeve replacement box and overhaul robot applying auxiliary sleeve replacement box |
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| CN113458744A CN113458744A (en) | 2021-10-01 |
| CN113458744B true CN113458744B (en) | 2024-05-31 |
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| CN202110684988.8A Active CN113458744B (en) | 2021-06-21 | 2021-06-21 | Auxiliary sleeve replacement box and overhaul robot applying auxiliary sleeve replacement box |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116460573B (en) * | 2023-03-21 | 2023-11-07 | 国网安徽省电力有限公司 | Bolt fastening method based on electromagnetic clutch self-adaptive bolt tightening device |
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