CN113500382A

CN113500382A - Bolt tightening device and climbing robot applying same

Info

Publication number: CN113500382A
Application number: CN202110685935.8A
Authority: CN
Inventors: 张金锋; 刘军; 姬书军; 孙磊; 龚志文; 孙丙宇; 郭兴源; 汪胜和; 刘大平; 张祖泷; 徐云峰; 毕喜飞
Original assignee: Hefei Zhongke Lanrui Technology Co ltd; State Grid Anhui Electric Power Co Ltd
Current assignee: Hefei Zhongke Lanrui Technology Co ltd; State Grid Anhui Electric Power Co Ltd
Priority date: 2021-06-21
Filing date: 2021-06-21
Publication date: 2021-10-15

Abstract

The invention belongs to the technical field of electric power operation climbing robots, and particularly relates to a bolt tightening device and a climbing robot applying the same. Bolt device of retightening includes the extension arm and is fixed in the working head on the extension arm, its characterized in that: the extension arm comprises a bottom frame fixed on the main machine, and a rotating assembly used for driving the working head to rotate and a plane displacement assembly used for driving the working head to perform fixed-point operation are mounted on the bottom frame. The bolt tightening device can be installed on a host of a climbing robot of the traditional model at present, so that the manpower is replaced, and the high-altitude operation requirement with high accuracy and high efficiency is met. The invention also aims to provide an optimal climbing robot, so that the bolt re-tightening device is carried, the function of online sleeve replacement during high-altitude operation is better realized on the premise of ensuring safe construction, the labor-saving inspection cost is greatly reduced, the maintenance efficiency is improved, and the safe and reliable operation of a power transmission system is ensured.

Description

Bolt tightening device and climbing robot applying same

Technical Field

The invention belongs to the technical field of electric power operation climbing robots, and particularly relates to a bolt tightening device and a climbing robot applying the same.

Background

The stability and the safety of the electric power are basic guarantees for promoting the development of various industries. In China, the electric angle steel towers shown in FIG. 16 are large in number and wide in distribution, and are exposed in a field environment or even a dusty strong wind and high humidity severe environment for a long time; in the subsequent maintenance process, maintenance personnel need to ascend and stably tighten the connecting bolts at the electric angle steel tower, the danger coefficient is high, the labor intensity is high, the idle time is long, the physical strength of the working personnel is easily overdrawn, the physical health of the working personnel is further harmed, and meanwhile, the maintenance mode is obviously extremely low in efficiency. Whether a climbing robot used for an electric angle steel tower or other high-altitude operations can be developed so as to meet the requirement of bolt tightening operations in high-altitude environments is an urgent technical problem to be solved in recent years in the field.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a bolt tightening device which can be mounted on a main machine of a climbing robot with the traditional model at present so as to replace manpower and meet the requirements of high-precision and high-efficiency aerial work. The invention also aims to provide an optimal climbing robot, so that the bolt re-tightening device is carried, the function of online sleeve replacement during high-altitude operation is better realized on the premise of ensuring safe construction, the labor-saving inspection cost is greatly reduced, the maintenance efficiency is improved, and the safe and reliable operation of a power transmission system is ensured.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a bolt device that retightens, includes the extension arm and is fixed in the working head on the extension arm, its characterized in that: the extension arm is including fixing the bottom frame on the host computer, installs the rotating component who is used for driving the working head to produce the rotation action and is used for driving the working head to produce the plane displacement subassembly of fixed point operation on the bottom frame, wherein:

a rotating component: the angle steel angle iron comprises a rotating seat capable of generating rotating action on a bottom frame, wherein the rotating axis of the rotating seat is vertical to the length direction of an angle steel main material and is positioned on a symmetrical plane where the edge of the angle steel main material is positioned; the rotary seat is driven by a rotary power source to generate a specified action;

a plane displacement assembly: the X-axis displacement mechanism and the Y-axis displacement mechanism are vertical to each other in displacement direction; the X-axis displacement mechanism comprises an X-axis rack and an X-axis moving block capable of generating reciprocating linear motion along the length direction of the X-axis rack, the motion direction of the X-axis moving block and the rotary axis of the rotary seat form a forty-five-degree included angle, and the opening of the included angle points to the direction of the main angle steel material; the Y-axis displacement mechanism comprises a Y-axis rack and a Y-axis moving block which can generate reciprocating linear motion along the length direction of the Y-axis rack, and the Y-axis rack and the X-axis moving block are fixedly connected with each other;

working head: the striking anchor rod is arranged at the head end of the striking seat and used for positioning and rotating the 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, and a detachable elastic clamping or thread matching relation is formed between the head end of the striking anchor rod and the dismounting hole; the striking base is fixed on the Y-axis moving block, and a striking motor is arranged in the striking base so as to drive the striking anchor rod to rotate around the axis of the sleeve.

Preferably, the head end of striking the stock is the square prism shape of matcing dismouting hole appearance, is equipped with the locating pin hole in the lateral wall department recess of this head end, arranges the elastic pin that can follow the radial flexible action that produces of striking stock in the locating pin hole to form the cooperation of elasticity joint between the notch with dismouting hole pore wall department.

Preferably, an X-axis lead screw is matched on the X-axis frame in a rotating mode, and an X-axis moving block is matched on the X-axis lead screw in a threaded mode; a Y-axis screw rod is matched on the Y-axis frame in a rotating way, and a Y-axis moving block is matched on the Y-axis screw rod in a threaded way; the X-axis screw rod and the Y-axis screw rod are respectively driven by a group of synchronous motors to generate corresponding rotary actions.

Preferably, the rotary power source is a rotary motor, the rotary seat is in rotary fit with the positioning support at the bottom frame, and power transmission fit is formed between the worm gear and the worm at the output shaft of the rotary motor.

Preferably, a climbing robot of using the bolt tightening device, including the host computer and be used for driving the host computer and produce the walking portion along the lift action of angle steel owner material, its characterized in that: the main machine is also provided with a sleeve auxiliary replacing box which is convenient for realizing high-altitude sleeve replacing operation between the main machine and the working head, and the sleeve auxiliary replacing box and the bolt tightening device are both fixed at the head end of the main machine; the sleeve auxiliary replacement box comprises a box body, wherein the box body is provided with more than two groups of accommodating holes for accommodating single sleeves, and the accommodating holes are sequentially arranged along a set direction; the auxiliary replacing box also comprises an unlocking pull rod parallel to the radial direction of the accommodating hole in the rod length direction, a guide cavity or a guide rail communicated with the accommodating hole is arranged at the side of the box body at the accommodating hole, the unlocking pull rod is positioned in the guide cavity or on the guide rail so as to generate reciprocating motion along the arrangement direction of the accommodating hole, and the auxiliary replacing box also comprises a power source for driving the unlocking pull rod to generate the motion; a limiting bulge is convexly arranged on one side of the unlocking pull rod, which faces the hole cavity of the accommodating hole; the limiting bulge extends into the hole cavity of the accommodating hole and forms a spigot fit for limiting the sleeve to generate an upward motion with a preset positioning notch at the sleeve; 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 notches is unlocked.

Preferably, the box body is in a rectangular block shape, and the accommodating holes are uniformly distributed along the length direction of the box body in sequence; the unlocking pull rod is in a rectangular rod body shape, an intersection is arranged between the rod body of the unlocking pull rod and the hole cavity of the accommodating hole, and an avoidance arc groove for avoiding an ascending path of the sleeve is arranged on the unlocking pull rod corresponding to each sleeve; along the long direction of the pole of unblock pull rod, the region between each adjacent arc groove of dodging forms spacing arch, and the width of each spacing arch increases in proper order or reduces in proper order to ensure that at the same time only a set of spacing arch and corresponding location notch can throw off each other.

Preferably, the cartridge body comprises a rectangular cartridge-shaped outer housing and a mounting substrate arranged in the outer housing, and the mounting substrate is horizontally arranged to divide the cartridge cavity of the outer housing into an upper cartridge cavity and a lower cartridge cavity; the box cover of the outer shell is provided with a mounting hole in a penetrating manner, the hole wall of the mounting hole forms a hole wall of the accommodating hole, the upper plate surface of the mounting substrate forms a hole bottom of the accommodating hole, and a sunk accommodating hole is formed finally; the unlocking pull rod extends along the upper box cavity and forms spigot fit with the corresponding sleeve in each accommodating hole.

Preferably, the power source is an electric push rod, the power source is fixed to the lower plate surface of the mounting substrate, and a telescopic shaft of the power source is fixedly connected with the power end of the unlocking pull rod through a connecting block.

Preferably, the box body is cylindrical, and the accommodating holes are uniformly distributed along the circumferential direction of the box body in sequence; the unlocking pull rod is in a C-shaped rod shape or a circular rod shape, an intersection is arranged between the rod body of the unlocking pull rod and the hole cavity of the accommodating hole, and an avoidance arc groove for avoiding an ascending path of the sleeve is arranged at the position of the inner rod surface of the unlocking pull rod corresponding to each sleeve; the limiting protrusions are formed in the area between every two adjacent avoidance arc grooves along the circumferential direction of the unlocking pull rod, and the width of each limiting protrusion is sequentially increased or decreased 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 unlocking pull rod is provided with induction points, the number of the induction points corresponds to that of the sleeves, and the distance between the induction 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.

The invention has the beneficial effects that:

1) based on the current situations of various numbers and different types of bolts on the electric angle steel tower, it is obvious that how to realize online sleeve replacement operation becomes a difficult problem. If the climbing robot with sleeves of different models is used at each time, the cost performance obviously cannot meet daily requirements.

In view of the above, the invention provides a bolt re-tightening device which can be installed on a host of a climbing robot of the conventional type, so that the position of a working head can be positioned through the matching of a rotating component and a plane displacement component, and the bolt re-tightening function of any point position can be realized through a striking motor on the working head; when the type of the bolt is changed, the sleeve at the striking anchor rod of the working head can be easily replaced on line, so that the purposes of convenience and high efficiency are achieved. It is worth noting that the rotation axis of the rotating assembly needs to be located on the symmetrical plane where the edge of the angle steel main material is located; therefore, the X-axis displacement mechanism with the included angle of 45 degrees can ensure that the X-axis displacement mechanism can always horizontally move along the wall surface of one outer wall of the main angle steel material, the Y-axis displacement mechanism also ensures that the working heads perform approaching and separating actions relative to the bolt to be tightened, and the controllability and the working accuracy can be effectively ensured.

Obviously, the invention can be used for multiple purposes on one hand, thereby being suitable for bolt tightening occasions of various electric angle steel towers; on the other hand, the fixed point action of the working head is very accurate and reliable by the driving of the extension arm, so that the high-altitude operation requirement of high accuracy and high efficiency can be realized instead of manual work.

2) The invention also aims to provide an optimal climbing robot, so that the bolt re-tightening device is carried, the function of online sleeve replacement during high-altitude operation is better realized on the premise of ensuring safe construction, the labor-saving inspection cost is greatly reduced, the maintenance efficiency is improved, and the safe and reliable operation of a power transmission system is ensured.

In particular, the special high-altitude remote control using environment based on the electric angle steel tower is extremely dangerous for falling objects accidentally, so the safety of the operation is the first time. When the detachable structure of the working head is adopted and the working head is assembled on the ground, the safety is ensured, but the working efficiency cannot be maximized. The invention abandons the ground assembly mode, adopts a unique high-altitude assembly structure instead, and utilizes the locking characteristic of the unlocking pull rod to the inner sleeve of the accommodating hole to ensure that only one group of sleeves are unlocked at the same time, and the group of sleeves are just the type of the sleeves required by the working head. Therefore, during actual work, the invention can be completely suitable for the existing climbing robot and matched with the detachable working head, so that on the premise of ensuring safe construction, the function of online replacement of the sleeve during high-altitude operation can be synchronously realized, and the working efficiency can be maximized.

3) During actual assembly, the unlocking pull rod can be regarded as a lock tongue, and therefore the purpose of storing and taking the inner sleeve in the appointed accommodating hole is achieved through locking and unlocking actions between the lock tongue and the positioning notch at the sleeve. On the basis of the above concept, the present invention provides the following two specific embodiments:

firstly, the box body is rectangular and matched with a rectangular rod-shaped unlocking pull rod; when the unlocking device works, the unlocking pull rod is pulled to move along the straight line of the rod length direction, so that the locking and unlocking actions of the limiting bulge at the unlocking pull rod and the avoidance arc groove relative to the positioning notch are realized. When the unlocking pull rod moves linearly, the power source can adopt linear motion 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 matched with a C-shaped rod-shaped or circular rod-shaped unlocking pull rod; when the locking device works, the unlocking pull rod rotates along the circumferential direction of the box body, so that the locking and unlocking actions of the limiting protrusion at the unlocking pull rod and the avoiding arc groove relative positioning notch are realized. When the unlocking pull rod is in a rotary action, a rotary motor which is coaxial with the unlocking pull rod can be adopted to directly drive the unlocking pull rod to act; the rack may also be arranged on the lever side of the unlocking lever so as to form a meshing fit with a pinion gear at the rotary motor. When the swing arm motor is adopted, if a steering engine and the like are adopted, the purpose of power transmission can be directly completed in a hinged mode, and the details are omitted here.

4) During actual work, due to high-altitude remote control operation, the induction component needs to be additionally arranged on the unlocking pull rod, so that the on-line induction effect of the position of the unlocking pull rod is realized, and which sleeve is in the unlocking state at present is determined. The invention adopts the mode that the induction point is matched with the photoelectric switch, has simple and clear structure and more compact and reasonable structure, and is beneficial to the use in the high-altitude operation environment.

Drawings

FIG. 1 is an assembled view of a bolt tightening apparatus;

FIG. 2 is a schematic structural view of a bolt tightening device;

FIG. 3 is a perspective view of the rotary assembly;

FIG. 4 is an exploded assembly view of the structure shown in FIG. 3;

FIG. 5 is a schematic perspective view of the X-axis displacement assembly;

FIG. 6 is an exploded assembly view of the structure shown in FIG. 5;

FIG. 7 is a perspective view of the Y-axis displacement assembly and the working head;

FIG. 8 is an exploded assembly view of the structure shown in FIG. 7;

FIG. 9 is an exploded view of the assembly of the work head;

FIG. 10 is a schematic view of the cartridge assisted replacement cartridge;

FIG. 11 is a front view of the structure of FIG. 10 with the outer housing removed;

FIG. 12 is a top view of FIG. 11;

FIG. 13 is a right side view of FIG. 11;

FIGS. 14 and 15 are flowcharts of the operation of the unlocking lever;

FIG. 16 is a schematic structural view of an electric angle tower.

The actual correspondence between each label and the part name of the invention is as follows:

a-angle steel main material b-sleeve b 1-positioning notch b 2-dismounting hole

11-extension arm

111-bottom frame 112-swivel assembly

112 a-rotary base 112 b-rotary motor 113-X axis displacement mechanism

113a-X axis frame 113b-X axis moving block 113c-X axis screw

114-Y axis displacement mechanism 114a-Y axis frame 114b-Y axis moving block

114c-Y axis screw 115-synchronous motor

12-working head 12 a-striking base

12 b-striking anchor 12 c-elastic pin 12 d-striking motor

21-body 211-receiving hole 21 a-outer housing 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

30-main unit 40-walking part

Detailed Description

For ease of understanding, the specific construction and operation of the present invention is further described herein with reference to FIGS. 1-16:

the specific structure of the present invention is shown in fig. 2, and the main structure thereof includes a main frame 30 with a walking part 40 and a work kit located on the main frame 30. The main machine is used as a bearing main body of the working kit and is used for realizing the functions of climbing upwards and walking downwards relative to the electric angle steel tower shown in figure 16. The work kit comprises a sleeve auxiliary replacement box and a bolt tightening device. The bolt re-tightening device is formed by matching the extension arm 11 and the working head 12, so that the on-line re-tightening function of the working suite on the bolts at the main angle steel material a and the bolts at the peripheral area at the four corners of the electric angle steel tower is realized. The sleeve auxiliary replacement box is auxiliary equipment based on a bolt re-tightening device, and because the type of a bolt and a nut used for fixing on the electric angle steel tower is more than one, when the bolt re-tightening is carried out on the electric angle steel tower, the sleeve can be replaced at any time at different moments, so the sleeve auxiliary replacement box is designed. Wherein:

one, the host computer

Fig. 1 is a schematic view showing an assembled state of the main body 30, the traveling unit, and the work kit. As can be seen from fig. 1, the main body 30 and the walking part 40 can be implemented by using an inchworm-type robot or a wheel-type robot, etc. that are commonly available in the market, and the work purpose can be achieved by installing a work kit during work. Of course, when necessary, the bolt tightening device can be installed without matching with the sleeve auxiliary replacement box, and at the moment, when the sleeve needs to be replaced, the bolt tightening device needs to be disassembled and assembled on the ground, so that the efficiency is obviously lower than that of the sleeve auxiliary replacement box.

Bolt tightening device

Fig. 2 to 9 are schematic structural views of the bolt tightening apparatus, and it can be seen from the drawings that the bolt tightening apparatus includes a base frame 111, a rotation member 112, a plane displacement member, and a working head 12, which are assembled in sequence.

The bottom frame 111 is shown in fig. 2 and is a conventional fixed frame structure for connecting the rotating component 112 with the head end of the main frame 30, which will not be described herein. 2-3, the rotating assembly 112 adopts a worm gear and worm transmission pair to meet the power transmission requirement from the rotating motor 112b to the rotating base 112a, so that the rotating base 112a on the symmetrical plane where the current root angle steel main material edge is located meets the rotation requirement; in other words, when only the rotating assembly 112 starts to operate, the swinging amount of the working head 12 on the left side of the angle steel main material is consistent with the swinging amount of the working head on the right side of the angle steel main material, so that the reference positioning requirement is realized, and a foundation guarantee is provided for the fixed point bolt tightening of the subsequent working head.

On the basis of the above structure, the present invention is further provided with a plane displacement assembly composed of an X-axis displacement mechanism 113 and a Y-axis displacement mechanism 114 which are matched as shown in fig. 5 to 8. The X-axis displacement mechanism 113 and the Y-axis displacement mechanism 114 are each driven by means of a corresponding synchronous motor 115.

During assembly, the X-axis displacement mechanism 113 includes an X-axis frame 113a and an X-axis lead screw 113c rotatably fitted on the X-axis frame 113a, and an X-axis moving block 113b is disposed on the X-axis lead screw 113c, so that the X-axis moving block 113b can generate a linear telescopic motion along the rotation axis of the rotating base 112a in an angle direction of 45 °. Because the angle steel main material is 90-degree angle steel, and the rotation axis of the rotating base 112a is located on the symmetrical plane where the edge of the angle steel main material is located, the axis action direction of the X-axis moving block 113b is actually parallel to one side wall of the angle steel main material, so that the accurate positioning effect of the working head 12 relative to the bolt is ensured, and the working head 12 cannot generate action interference with the angle steel main material, thereby achieving multiple purposes. The Y-axis displacement mechanism 114 includes a Y-axis frame 114a, a Y-axis lead screw 114c, and a Y-axis moving block 114b, which are similar to the X-axis displacement mechanism 113, and the Y-axis frame 114a is fixed to the X-axis moving block 113b to ensure the linear movement of the striking block 12a fixed to the Y-axis moving block 114 b.

As for the working head 12, as shown with reference to fig. 8 to 9, it is practical to perform an online swiveling action of the sleeve fixed to the striking bolt 12b by the striking motor 12d and the striking bolt 12b at the output shaft of the striking motor 12d, which are coaxially arranged. The rotation action of the sleeve b can be similar to a socket wrench, so that the bolt in the sleeve cavity is driven to generate the re-tightening action. Each time the sleeve is inserted and pulled relative to the bolt, the insertion can be completed through the Y-axis displacement mechanism 114; each time the relative position of the sleeve and the bolt is accurately located, this may be accomplished by means of the rotation assembly 112 in cooperation with the X-axis displacement mechanism 113.

Third, the auxiliary replacement casket of the bush

Fig. 10-15 are schematic views of one embodiment of the cartridge replacement-assist box, that is, the box 21 is a rectangular parallelepiped. In fig. 10 to 15, the cartridge 21 includes an outer case 21a having a hollow cartridge chamber, and a horizontal plate-like mounting base plate 21b is disposed in the cartridge chamber of the outer case 21a so as to divide the cartridge chamber of the outer case 21a into two parts, an upper cartridge chamber and a lower cartridge chamber. In fig. 10, three sets of receiving holes 211 are disposed through the lid of the outer housing 21a, 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 recessed with a positioning notch b1 at the outer wall. An elongated guide chamber is formed in the outer case 21a and communicates with the accommodation hole 211 at the upper cartridge chamber. The unlocking rod 22 moves in the guide cavity, and the part of the unlocking rod 22 extending into the accommodating hole 211 is in a shape of a right-angled sawtooth protruding from one side as shown in fig. 12 and 14-15, namely, a limit protrusion is formed. In other words, the portion of the unlocking lever 22 extending into the receiving hole 211 has an arc avoiding groove 22a recessed on one side in an isosceles trapezoid shape as shown in fig. 12 and 14 to 15, and the above-mentioned limit protrusion is formed between the adjacent arc avoiding grooves 22 a. The tail end of the extending part of the unlocking pull rod 22, namely the power end, is fixed with a telescopic shaft of a 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 of the mounting base plate 21b, and the horizontal movement of the telescopic shaft drives the unlocking pull rod 22 to generate horizontal movement along with the output of the electric push rod.

As shown in fig. 12, three convex right-angled serrations equally spaced apart are further disposed on the outer side of the unlocking lever 22, thereby forming a sensing point 22 b; the three convex sensing points 22b are in contact with the photoelectric switches 25, respectively. When the electric push rod stops outputting, the unlocking pull rod 22 stops, and the position of the current unlocking pull rod 22 can be known through matching the photoelectric switch 25 and the sensing point 22 b.

When the push rod of the electric push rod contracts to the minimum position, the side edge of the unlocking pull rod 22 is completely clamped in the positioning notch b1 of the sleeve to limit the movement of all the sleeves;

as shown in fig. 11-13; when the unlocking pull rod 22 is stopped for the first time, the M20 sleeve corresponds to the most right avoiding 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 rest two sleeves correspond to the unlocking pull rod 22 and are straight edges or limiting protrusions. Similarly, as shown in fig. 14 to 15, 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 bolt needs to be tightened again, the required sleeve b is unlocked according to the use condition, then the working head 12 of the extension arm 11 is aligned to the dismounting hole b2 at the rear of the sleeve b, and the bolt is pushed into the dismounting hole b2 while slowly rotating. The side surface of the working head 12 is provided with an elastic pin 12c, the hole cavity of the dismounting hole b2 is provided with a notch in a concave manner, after the elastic pin 12c is matched with the notch, the rotation of the working head 12 is stopped, and the extension arm 11 drives the working head 12 to carry the current sleeve b to be separated from the accommodating hole 211 at the box body 21, so that the operation is carried out.

When the sleeve is used, the extension arm drives the working head to align the sleeve thereon with the corresponding receiving 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 have been pushed along the storage path into the respective receiving openings 211, the unlocking levers 22 are moved until the respective receiving openings 211 are locked again.

It will, of course, be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but rather includes the same or similar structures that may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. 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 description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.

Claims

1. The utility model provides a bolt is tight device again, includes extension arm (11) and is fixed in work head (12) on extension arm (11), its characterized in that: the extension arm (11) comprises a bottom frame (111) fixed on the main machine (30), a rotating component (112) used for driving the working head (12) to generate rotating motion and a plane displacement component used for driving the working head (12) to generate fixed-point operation are mounted on the bottom frame (111), wherein:

rotating assembly (112): the angle steel forming machine comprises a rotating base (112a) capable of generating rotating motion on a bottom frame (111), wherein the rotating axis of the rotating base (112a) is vertical to the length direction of an angle steel main material, and is positioned on a symmetrical plane where the edge of the angle steel main material is positioned; the rotary seat (112a) is driven by a rotary power source to generate a specified action;

a plane displacement assembly: comprises an X-axis displacement mechanism (113) and a Y-axis displacement mechanism (114) with displacement directions perpendicular to each other; the X-axis displacement mechanism (113) comprises an X-axis rack (113a) and an X-axis moving block (113b) capable of generating reciprocating linear motion along the length direction of the X-axis rack (113a), the motion direction of the X-axis moving block (113b) and the rotation axis of the rotating seat (112a) form a forty-five degree included angle, and the opening of the included angle points to the direction of the angle steel main material; the Y-axis displacement mechanism (114) comprises a Y-axis frame (114a) and a Y-axis moving block (114b) capable of generating reciprocating linear motion along the length direction of the Y-axis frame (114a), and the Y-axis frame (114a) and the X-axis moving block (113b) are fixedly connected with each other;

working head (12): the striking anchor rod comprises a striking seat (12a) and a striking anchor rod (12b) which is arranged at the head end of the striking seat (12a) and used for positioning and rotating a sleeve, wherein the shape outline of the head end of the striking anchor rod (12b) is matched with the shape outline of a preset dismounting hole at the sleeve, and a detachable elastic clamping or thread matching relation is formed between the head end of the striking anchor rod (12b) and the dismounting hole; the striking base (12a) is fixed on the Y-axis moving block (114b), and a striking motor (12d) is arranged in the striking base (12a) so as to drive the striking anchor rod (12b) to rotate around the axis of the sleeve.

2. A bolt tightening device according to claim 1, wherein: the head end of striking stock (12b) is the square prism shape for matcing the dismouting hole appearance, is equipped with the locating pin hole in the lateral wall department concavity of this head end, arranges in the locating pin hole can follow the elastic pin (12c) that strikes stock (12b) and radially produce the flexible action of elasticity to form the cooperation of elasticity joint between the notch with dismouting hole pore wall department.

3. A bolt tightening device according to claim 2, wherein: an X-axis lead screw (113c) is rotatably matched on the X-axis frame (113a), and an X-axis moving block (113b) is in threaded fit on the X-axis lead screw (113 c); a Y-axis screw rod (114c) is rotatably matched on the Y-axis frame (114a), and a Y-axis moving block (114b) is in threaded fit on the Y-axis screw rod (114 c); the X-axis screw rod (113c) and the Y-axis screw rod (114c) are respectively driven by a group of synchronous motors (115) so as to generate corresponding rotary motion.

4. A bolt tightening device according to claim 2, wherein: the rotary power source is a rotary motor (112b), the rotary seat (112a) is matched on the positioning support at the bottom frame (111) in a rotating mode, and power transmission matching is formed between the worm gear and the worm at the output shaft of the rotary motor (112 b).

5. A climbing robot applying the bolt tightening device according to claim 1, 2, 3 or 4, comprising a main machine (30) and a walking part (40) for driving the main machine (30) to generate lifting action along a main angle steel material, characterized in that: the main machine (30) is also provided with a sleeve auxiliary replacing box which is convenient for realizing high-altitude sleeve replacing operation between the main machine and the working head (12), and the sleeve auxiliary replacing box and the bolt tightening device are both fixed at the head end of the main machine (30); the sleeve auxiliary replacing box comprises a box body (21), wherein the box body (21) is provided with accommodating holes (211) for accommodating single sleeves, and the accommodating holes (211) are more than two groups and are sequentially arranged along a given direction; the auxiliary replacing box also comprises an unlocking pull rod (22) parallel to the accommodating hole (211) in the rod length direction and in the radial direction, a guide cavity or a guide rail 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 motion along the arrangement direction of the accommodating hole (211), and the auxiliary replacing box also comprises a power source (23) used for driving the unlocking pull rod (22) to generate the motion; one side of the unlocking pull rod (22) facing the hole cavity of the accommodating hole (211) is convexly provided with a limiting bulge; the limiting bulge extends into a hole cavity of the accommodating hole (211) and is matched with a spigot which is formed between the preset positioning notches at the sleeve and used for limiting the sleeve to generate an upward motion; when the unlocking pull rod (22) 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 notches is unlocked.

6. A climbing robot as claimed in claim 5, wherein: the box body (21) is in a rectangular block shape, and the accommodating holes (211) are uniformly distributed along the length direction of the box body (21) in sequence; the unlocking pull rod (22) is in a rectangular rod shape, an intersection is arranged between the rod body of the unlocking pull rod (22) and the hole cavity of the accommodating hole (211), and an avoiding arc groove (22a) for avoiding an 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 every two adjacent avoidance arc grooves (22a) along the rod length direction of the unlocking pull rod (22), and the width of each limiting protrusion is sequentially increased or sequentially reduced, so that only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time.

7. A climbing robot according to claim 6, characterized in that: the box body (21) comprises a rectangular box-shaped outer shell (21a) and a mounting base plate (21b) arranged in the outer shell (21a), wherein the mounting base plate (21b) is horizontally arranged so as to divide a box cavity of the outer shell (21a) into an upper box cavity and a lower box cavity; a mounting hole penetrates through the box cover of the outer shell (21a), the hole wall of the mounting hole forms a hole wall of the accommodating hole (211), the upper plate surface of the mounting substrate (21b) forms the hole bottom of the accommodating hole (211), and finally, a sunk accommodating hole (211) is formed; an unlocking pull rod (22) extends along the upper box cavity and forms a spigot fit with the corresponding sleeve in each accommodating hole (211).

8. A climbing robot as claimed in claim 7, characterized in that: the power source (23) is an electric push rod, the power source (23) is fixed on the lower plate surface of the mounting base plate (21b), and a telescopic shaft of the power source (23) is fixedly connected with the power end of the unlocking pull rod (22) through a connecting block (24).

9. A climbing robot as claimed in claim 5, wherein: the box body (21) is cylindrical, and the accommodating holes (211) are uniformly distributed along the circumferential direction of the box body (21) in sequence; the unlocking pull rod (22) is in a C-shaped rod shape or a circular rod shape, an intersection is reserved between the rod body of the unlocking pull rod (22) and the hole cavity of the accommodating hole (211), and an avoidance arc groove (22a) for avoiding an 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 every two adjacent avoidance arc grooves (22a) along the circumferential direction of the unlocking pull rod (22), and the width of each limiting protrusion is sequentially increased or sequentially reduced, so that only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time.

10. A climbing robot as claimed in claim 5, wherein: the unlocking pull rod (22) is provided with sensing points (22b), the number of the sensing points (22b) corresponds to that of the sleeves, and the distance between the sensing points (22b) is equal to the distance between adjacent sleeves; a photoelectric switch (25) for monitoring the position of the sensing point (22b) 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).