CN114799845A - Bolt fastening robot for power transmission tower - Google Patents
Bolt fastening robot for power transmission tower Download PDFInfo
- Publication number
- CN114799845A CN114799845A CN202210476830.6A CN202210476830A CN114799845A CN 114799845 A CN114799845 A CN 114799845A CN 202210476830 A CN202210476830 A CN 202210476830A CN 114799845 A CN114799845 A CN 114799845A
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- guide rail
- ball screw
- sliding table
- connecting piece
- bolt
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 16
- 210000002683 foot Anatomy 0.000 claims abstract description 126
- 230000007246 mechanism Effects 0.000 claims abstract description 115
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 36
- 230000009471 action Effects 0.000 claims abstract description 23
- 230000009194 climbing Effects 0.000 claims abstract description 18
- 229910052742 iron Inorganic materials 0.000 claims abstract description 18
- 210000004744 fore-foot Anatomy 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 16
- 241000252254 Catostomidae Species 0.000 claims description 10
- 229910000746 Structural steel Inorganic materials 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 description 9
- 239000010959 steel Substances 0.000 description 9
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 238000001179 sorption measurement Methods 0.000 description 5
- 210000000452 mid-foot Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 210000000548 hind-foot Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- B23P19/04—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 for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of equipment for electric power operation, and particularly relates to a bolt fastening robot for a power transmission tower, which comprises a climbing mechanism and a bolt tightening module connected to the climbing mechanism; the climbing mechanism comprises a front foot mechanism for realizing lifting action, a middle foot mechanism for realizing fixing and lifting action and a rear foot mechanism for realizing lifting action, the front foot mechanism and the rear foot mechanism are respectively connected to two ends of the middle foot mechanism, the front foot mechanism is connected to the front end of the middle foot guide rail through a first ball screw sliding table, and the rear foot mechanism is connected to the rear end of the middle foot guide rail through a second ball screw sliding table; the bolt tightening module is arranged on the side edge of the front foot mechanism and ascends and descends along with the front foot mechanism; the bolt tightening module is fixed on a first ball screw guide rail of the forefoot mechanism through a ball screw connecting piece. The robot can realize climbing, obstacle crossing and bolt fastening on an iron tower, and has the characteristics of simple structure, convenient operation and the like; the problems of high danger and large labor amount of manual operation are solved.
Description
Technical Field
The invention belongs to the technical field of equipment for electric power operation, and particularly relates to a bolt fastening robot for a power transmission iron tower.
Background
In recent years, with the rapid growth of national economy, the development of the power industry is rapid, the rapid development of the power transmission line iron tower industry is promoted, according to statistics, the sales income of the power transmission line iron tower industry in China is increased from 50 billion yuan in 2003 to 426 billion yuan in 2010, the annual composite growth rate reaches 36.68%, the industry is in the rapid development period in 2010, the power transmission line iron tower industry in China presents a good development situation, and enterprises in the industry have high management and control capacity on cost and strong profitability;
the existing power transmission line iron tower is structurally characterized in that various tower types belong to a space truss structure, rod pieces mainly comprise single equilateral angle steel or combined angle steel, the materials generally adopt Q235 and Q345, a rough bolt is adopted for connection between the rod pieces, the rod pieces are connected by the bolts in a shearing force mode, the whole tower comprises the angle steel, a connecting steel plate and the bolts, the bolts are important components in a power transmission system, once fault hidden danger occurs, the safety of a high-voltage power grid is directly threatened, and even loss which is difficult to estimate is caused. Therefore, the fastening degree of the bolt is strictly controlled in the installation, overhaul and maintenance processes, potential safety hazards are avoided, and due to the fact that the space between the rod piece and the rod piece is limited, when the bolt is fastened, the existing tool cannot be used satisfactorily, and therefore the bolt fastening tool used on the power transmission line iron tower is needed to solve the problem.
Disclosure of Invention
The invention aims to provide a bolt fastening robot for a power transmission tower aiming at the problems in the prior art, the robot can realize climbing, obstacle crossing and bolt fastening on the tower, and has the characteristics of simple structure, convenient operation and the like; the problems of high danger and large labor amount of manual operation are solved.
The technical scheme of the invention is as follows:
a bolt fastening robot for a power transmission tower comprises a climbing mechanism and a bolt tightening module connected to the climbing mechanism; the climbing mechanism comprises a front foot mechanism for realizing lifting action, a middle foot mechanism for realizing fixing and lifting action and a rear foot mechanism for realizing lifting action, the front foot mechanism and the rear foot mechanism are respectively connected to two ends of the middle foot mechanism, the front foot mechanism is connected to the front end of the middle foot guide rail through a first ball screw sliding table, and the rear foot mechanism is connected to the rear end of the middle foot guide rail through a second ball screw sliding table; the bolt tightening module is arranged on the side edge of the front foot mechanism and ascends and descends along with the front foot mechanism; the bolt tightening module is fixed on a first ball screw guide rail of the forefoot mechanism through a ball screw connecting piece.
Specifically, the front foot mechanism comprises a first ball screw guide rail, a first guide rail stepping motor, a front foot connecting piece and two pairs of first electromagnet suckers, wherein the first guide rail stepping motor is connected to the upper end of the first ball screw guide rail, and the two pairs of first electromagnet suckers are fixed at the lower end of the first ball screw guide rail through the front foot connecting piece.
The utility model discloses a rotary sliding table, including the sufficient guide rail in, be located sufficient guide rail side and provide second guide rail step motor, the rotary sliding table of power, for the rotary sliding table provide power's slip table step motor, well sufficient connecting piece and second electro-magnet sucking disc, rotary sliding table connect the angle that realizes turning to the adjustment machine of machine on the slip table of sufficient guide rail in, rotary sliding table on be provided with slip table step motor, rotary sliding table below connect through well sufficient connecting piece and provide great electro-magnetic adsorption power and firmly adsorb in two pairs of second electro-magnet sucking discs on iron tower angle steel surface.
The rear foot mechanism comprises a second ball screw guide rail, a third guide rail stepping motor, a rear foot connecting piece and a third electromagnet sucker, wherein the third guide rail stepping motor is positioned at the upper end of the second ball screw guide rail and provides power for the second ball screw guide rail, and the third electromagnet sucker is fixed at the lower end of the second ball screw guide rail through the rear foot connecting piece
Specifically, the bolt tightening module include ball screw connecting piece, third ball screw guide rail, step motor, slip table connecting piece, bolt mechanism, camera and camera connecting piece of screwing, third ball screw guide rail be fixed in on the first ball screw guide rail through ball screw connecting piece, bolt mechanism of screwing be fixed in on the guide rail slip table of third ball screw guide rail through the slip table connecting piece, the guide rail slip table of third ball screw guide rail on install step motor.
Specifically, the bolt mechanism of screwing include brushless motor, shaft coupling, planetary gear reducer, hammer block and spanner sleeve, the shaft coupling be fixed in on the slip table connecting piece, brushless motor pass through shaft coupling and planetary gear reducer connection, planetary gear reducer connection hammer block, the hammer block connect the spanner sleeve, the camera pass through the camera connecting piece and connect on planetary gear reducer, the video image that combines the camera passback is realized spanner sleeve and is waited to tighten the center of bolt through the guide rail slip table of adjustment third ball guide rail and aims at, the decline of rethread forefoot mechanism, spanner sleeve entangles the bolt, tightens the bolt through brushless motor and planetary gear reducer combined action.
The invention has the beneficial effects that: the invention provides a bolt fastening robot for a power transmission tower, which comprises a climbing mechanism and a bolt tightening module connected to the climbing mechanism; the climbing module comprises a front foot mechanism for realizing lifting action, a middle foot mechanism for realizing fixing and lifting action and a rear foot mechanism for realizing lifting action; the front foot mechanism and the rear foot mechanism respectively comprise a guide rail stepping motor, a ball screw guide rail, an electromagnetic chuck and a foot connecting piece; the front foot mechanism and the rear foot mechanism are respectively connected to two ends of the middle foot mechanism, the front foot mechanism is connected to the front end of the middle foot guide rail through a first ball screw sliding table, and the rear foot mechanism is connected to the rear end of the middle foot guide rail through a second ball screw sliding table; the bolt tightening module is arranged on the side edge of the front foot mechanism and ascends and descends along with the front foot mechanism; the bolt tightening module is fixed on a first ball screw guide rail of the forefoot mechanism through a ball screw connecting piece; the bolt fastening module is provided with a guide rail, a bolt screwing mechanism and a camera; and the bolt screwing mechanism and the camera are connected to the guide rail sliding table. The invention realizes the actions of advancing and crossing foot nails of the robot through the steps of sequentially lifting, advancing and descending the front foot mechanism, the middle foot mechanism and the rear foot mechanism, can realize the functions of climbing and crossing obstacles and fastening bolts on an iron tower, and in each action process, 2 pairs of electromagnet suckers are always adsorbed on the surface of the angle steel of the iron tower at the same time so as to provide enough adsorption force and ensure that the machine cannot overturn or slide off, and the invention has the characteristics of simple structure, convenient operation and the like; the problems of high danger and large labor amount of manual operation are solved.
Drawings
Fig. 1 is an overall structural schematic view of a bolt-tightening robot provided by the present invention;
FIG. 2 is a schematic illustration of a midfoot structure;
FIG. 3 is a schematic diagram of a hindfoot configuration;
fig. 4 is a schematic view of a bolt tightening structure.
1 forefoot mechanism, 2 midfoot mechanism, 3 rearfoot mechanism, 4 bolt tightening module, 1-1 first ball screw guide rail, 1-2 first guide rail stepping motor, 1-3 forefoot connecting piece, 1-4 first electromagnet sucker, 2-1 midfoot guide rail, 2-2 second guide rail stepping motor, 2-3 rotary sliding table, 2-4 sliding table stepping motor, 2-5 midfoot connecting piece, 2-6 second electromagnet sucker, 3-1 second ball screw guide rail, 3-2 third guide rail stepping motor, 3-3 rearfoot connecting piece, 3-4 third electromagnet sucker, 4-1 ball screw connecting piece, 4-2 third ball screw guide rail, 4-3 stepping motor, 4-4 sliding table connecting piece, 4-5 bolt tightening mechanism, The camera comprises a 4-6 camera, a 4-7 camera connecting piece, a 4-5-1 brushless motor, a 4-5-2 coupler, a 4-5-3 planetary gear reducer, a 4-5-4 hammer block and a 4-5-5 wrench sleeve.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and the detailed description.
Fig. 1 is a schematic diagram of an overall structure of a bolt fastening robot for a power transmission tower, which includes a climbing mechanism and a bolt tightening module 4 connected thereto; the climbing mechanism comprises a front foot mechanism 1 for realizing lifting action, a middle foot mechanism 2 for realizing fixing and lifting action and a rear foot mechanism 3 for realizing lifting action, wherein the front foot mechanism 1 and the rear foot mechanism 3 are respectively connected to two ends of the middle foot mechanism 2, the front foot mechanism 1 is connected to the front end of a middle foot guide rail 2-1 through a first ball screw sliding table, and the rear foot mechanism 3 is connected to the rear end of the middle foot guide rail 2-1 through a second ball screw sliding table; the bolt tightening module 4 is arranged on the side edge of the front foot mechanism 1 and ascends and descends along with the front foot mechanism 1; the bolt tightening module 4 is fixed on a first ball screw guide rail 1-1 of the front foot mechanism through a ball screw connecting piece 4-1, the iron tower bolt tightening robot provided by the invention can realize functions of climbing and obstacle crossing and bolt tightening on an iron tower, and comprises the front foot mechanism, the middle foot mechanism and the rear foot mechanism, the forward movement and the foot nail crossing movement of the robot are realized through sequential lifting, advancing and descending steps of the three foot mechanisms, and in each movement process, two pairs of electromagnet suckers are simultaneously adsorbed on the surface of iron tower angle steel to provide enough adsorption force, so that the machine is ensured not to overturn or slide.
The front foot mechanism 1 comprises a first ball screw guide rail 1-1, a first guide rail stepping motor 1-2, a front foot connecting piece 1-3 and two pairs of first electromagnet suckers 1-4, wherein the first guide rail stepping motor 1-2 is connected to the upper end of the first ball screw guide rail 1-1, and the two pairs of first electromagnet suckers 1-4 are fixed at the lower end of the first ball screw guide rail 1-1 through the front foot connecting piece 1-3. When the middle foot mechanism 2 is fixedly adsorbed on the angle iron tower, the first electromagnet sucker 1-4 is not adsorbed, and the front foot mechanism 1 is connected to the front end of the middle foot guide rail 2-1 through the first ball screw sliding table, so that the first ball screw sliding table can be driven to slide on the first ball screw guide rail 1-1 through the first guide rail stepping motor 1-2, and the front foot lifting action is realized.
The rear foot mechanism 3 is shown in fig. 3 and comprises a second ball screw guide rail 3-1, a third guide rail stepping motor 3-2 which is positioned at the upper end of the second ball screw guide rail 3-1 and provides power for the second ball screw guide rail 3-1, a rear foot connecting piece 3-3 and a third electromagnet sucker 3-4, wherein the third electromagnet sucker 3-4 is fixed at the lower end of the second ball screw guide rail 3-1 through the rear foot connecting piece 3-3. When the middle foot mechanism 2 is fixedly adsorbed on the angle iron tower, the third electromagnet sucker 3-4 is not adsorbed, and the rear foot mechanism 3 is connected to the rear end of the middle foot guide rail 2-1 through the second ball screw sliding table, so that the second ball screw sliding table can be driven to slide on the third guide rail stepping motor 3-2 through the third guide rail stepping motor 3-2, and the rear foot lifting action is realized.
Example 1
The embodiment provides a specific structure of the middle foot mechanism 2, as shown in fig. 2, the middle foot mechanism 2 comprises a middle foot guide rail 2-1, a second guide rail stepping motor 2-2 which is positioned at the side edge of the middle foot guide rail 2-1 and provides power, a rotary sliding table 2-3, a sliding table stepping motor 2-4 which provides power for the rotary sliding table 2-3, a middle foot connecting piece 2-5 and a second electromagnet sucker 2-6, the rotary sliding table 2-3 is connected on the sliding table of the middle foot guide rail 2-1 to realize the steering adjustment of the machine and the angle adjustment of the machine, the rotary sliding table 2-3 is provided with a sliding table stepping motor 2-4, and the lower part of the rotary sliding table 2-3 is connected with two pairs of second electromagnet suckers 2-6 which provide larger electromagnetic adsorption force and are firmly adsorbed on the surface of the angle iron tower steel through middle foot connecting pieces 2-5.
The rotary sliding table 2-3 of the middle foot mechanism is connected to the sliding table of the middle foot guide rail 2-1, when the second electromagnet sucker 2-6 is adsorbed to the surface of the angle iron, a large electromagnetic adsorption force can be provided, the second electromagnet sucker is firmly adsorbed to the surface of the angle iron, the rotary sliding table 2-3 can achieve steering of the whole robot, and the angle of the robot is adjusted, wherein the middle foot connecting piece 2-5 is composed of an aluminum profile and 3D printing parts. When the front foot mechanism 1 and the rear foot mechanism 3 are simultaneously adsorbed on the surface of the angle steel, because the front foot mechanism 1 is connected to the front end of the middle foot guide rail 2-1 through the first ball screw sliding table, the rear foot mechanism 3 is connected to the rear end of the middle foot guide rail 2-1 through the second ball screw sliding table, the first ball screw sliding table is driven to slide on the first ball screw guide rail 1-1 through the first guide rail stepping motor 1-2 of the front foot mechanism 1, and the second ball screw sliding table is driven to slide on the second ball screw guide rail 3-1 through the third guide rail stepping motor 3-2, the lifting action of the middle foot mechanism 2 can be realized as long as the first guide rail stepping motor 1-2 and the third guide rail stepping motor 3-2 are kept to synchronously run.
Example 2
The embodiment provides a specific structure of the bolt tightening module 4, as shown in fig. 4, the bolt tightening module includes a ball screw connecting piece 4-1, a third ball screw guide rail 4-2, a stepping motor 4-3, a sliding table connecting piece 4-4, a bolt tightening mechanism 4-5, a camera 4-6 and a camera connecting piece 4-7, the third ball screw guide rail 4-2 is fixed on the first ball screw guide rail 1-1 through the ball screw connecting piece 4-1, the bolt tightening mechanism 4-5 is fixed on a guide rail sliding table of the third ball screw guide rail through the sliding table connecting piece 4-4, and the guide rail sliding table of the third ball screw guide rail is provided with the stepping motor 4-3.
The bolt screwing mechanism 4-5 comprises a brushless motor 4-5-1, a coupling 4-5-2, a planetary gear reducer 4-5-3, a hammer block 4-5-4 and a wrench sleeve 4-5-5, the shaft coupling 4-5-2 is fixed on the sliding table connecting piece 4-4, the brushless motor 4-5-1 is connected with the planetary gear reducer 4-5-3 through the shaft coupling 4-5-2, the planetary gear reducer 4-5-3 is connected with a hammer block 4-5-4, the hammer block 4-5-4 is connected with the wrench sleeve 4-5-5, and the camera 4-6 is connected with the planetary gear reducer 4-5-3 through the camera connecting piece 4-7.
When the bolt needs to be screwed, the video image transmitted back by the camera 4-6 is combined, the guide rail sliding table of the third ball screw guide rail is adjusted simultaneously to achieve the purpose that the centers of the wrench sleeve 4-5-5 and the bolt to be screwed are aligned, then the bolt is sleeved by the wrench sleeve 4-5-5 through the descending of the front foot mechanism 1, and the bolt can be screwed through the combined action of the brushless motor 4-5-1 and the planetary gear reducer 4-5-3.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (6)
1. A power transmission tower bolt fastening robot is characterized by comprising a climbing mechanism and a bolt tightening module (4) connected to the climbing mechanism;
the climbing mechanism comprises a front foot mechanism (1) for realizing lifting action, a middle foot mechanism (2) for realizing fixing and lifting action and a rear foot mechanism (3) for realizing lifting action, wherein the front foot mechanism (1) and the rear foot mechanism (3) are respectively connected to two ends of the middle foot mechanism (2), the front foot mechanism (1) is connected to the front end of a middle foot guide rail (2-1) through a first ball screw sliding table, and the rear foot mechanism (3) is connected to the rear end of the middle foot guide rail (2-1) through a second ball screw sliding table;
the bolt tightening module (4) is arranged on the side edge of the front foot mechanism (1) and ascends and descends along with the front foot mechanism (1); the bolt tightening module (4) is fixed on a first ball screw guide rail (1-1) of the forefoot mechanism through a ball screw connecting piece (4-1).
2. The robot for fastening the bolts of the power transmission tower according to claim 1, wherein the front foot mechanism 1 comprises a first ball screw guide rail (1-1), a first guide rail stepping motor (1-2), a front foot connecting piece (1-3) and two pairs of first electromagnet suckers (1-4), the first guide rail stepping motor (1-2) is connected to the upper end of the first ball screw guide rail (1-1), and the two pairs of first electromagnet suckers (1-4) are fixed to the lower end of the first ball screw guide rail (1-1) through the front foot connecting piece (1-3).
3. The iron tower bolt-tightening robot as claimed in claim 1, wherein the center foot mechanism 2 comprises a center foot guide rail (2-1), a second guide rail stepping motor (2-2) which is located on the side of the center foot guide rail (2-1) and provides power, a rotary sliding table (2-3), a sliding table stepping motor (2-4) which provides power for the rotary sliding table (2-3), a center foot connecting piece (2-5) and a second electromagnet sucker (2-6), the rotary sliding table (2-3) is connected to the sliding table of the center foot guide rail (2-1) to achieve the angle adjustment of the machine in the turning direction of the machine, the rotary sliding table (2-3) is provided with the sliding table stepping motor (2-4), and the lower part of the rotary sliding table (2-3) is connected through the center foot connecting piece (2-5) to provide large electromagnetic attraction force to be firmly adsorbed to the middle foot guide rail (2-1) Two pairs of second electromagnet suckers (2-6) on the surface of the angle iron tower.
4. The iron tower bolt-tightening robot according to claim 1, wherein the rear foot mechanism 3 comprises a second ball screw guide rail (3-1), a third guide rail stepping motor (3-2) which is located at the upper end of the second ball screw guide rail (3-1) and provides power for the second ball screw guide rail, a rear foot connecting piece (3-3) and a third electromagnet chuck (3-4), and the third electromagnet chuck (3-4) is fixed at the lower end of the second ball screw guide rail (3-1) through the rear foot connecting piece (3-3).
5. The iron tower bolt-tightening robot according to claim 1, wherein the bolt-tightening module 4 comprises a ball screw connecting piece (4-1), a third ball screw guide rail (4-2), a stepping motor (4-3), a sliding table connecting piece (4-4), a bolt-tightening mechanism (4-5), a camera (4-6) and a camera connecting piece (4-7), the third ball screw guide rail (4-2) is fixed on the first ball screw guide rail (1-1) through a ball screw connecting piece (4-1), the bolt screwing mechanism (4-5) is fixed on a guide rail sliding table of the third ball screw guide rail through a sliding table connecting piece (4-4), and a stepping motor (4-3) is arranged on a guide rail sliding table of the third ball screw guide rail.
6. The iron tower bolt fastening robot according to claim 5, wherein the bolt tightening mechanism (4-5) comprises a brushless motor (4-5-1), a coupler (4-5-2), a planetary gear reducer (4-5-3), a hammer block (4-5-4) and a wrench sleeve (4-5-5), the coupler (4-5-2) is fixed on the sliding table connecting piece (4-4), the brushless motor (4-5-1) is connected with the planetary gear reducer (4-5-3) through the coupler (4-5-2), the planetary gear reducer (4-5-3) is connected with the hammer block (4-5-4), the hammer block (4-5-4) is connected with the wrench sleeve (4-5-5), the camera (4-6) is connected to the planetary gear reducer (4-5-3) through a camera connecting piece (4-7), the center alignment of the wrench sleeve (4-5-5) and the bolt to be screwed is achieved by adjusting a guide rail sliding table of the third ball screw guide rail in combination with a video image returned by the camera (4-6), the bolt is sleeved by the wrench sleeve (4-5-5) through the descending of the front foot mechanism, and the bolt is screwed through the combined action of the brushless motor (4-5-1) and the planetary gear reducer (4-5-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210476830.6A CN114799845B (en) | 2022-04-30 | 2022-04-30 | Transmission tower bolt-up robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210476830.6A CN114799845B (en) | 2022-04-30 | 2022-04-30 | Transmission tower bolt-up robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114799845A true CN114799845A (en) | 2022-07-29 |
| CN114799845B CN114799845B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210476830.6A Active CN114799845B (en) | 2022-04-30 | 2022-04-30 | Transmission tower bolt-up robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229639A (en) * | 2007-12-16 | 2008-07-30 | 沈孝芹 | Gantry type bolt installing robot |
| CN112025719A (en) * | 2020-07-29 | 2020-12-04 | 山东科技大学 | Climbing robot for high-voltage power transmission tower |
| CN111071362B (en) * | 2019-12-18 | 2021-01-26 | 国网智能科技股份有限公司 | Climbing robot and system for overhead line pole tower |
| CN112356940A (en) * | 2020-10-13 | 2021-02-12 | 国网安徽省电力有限公司 | Climbing robot for angle steel tower |
| CN112873217A (en) * | 2020-12-03 | 2021-06-01 | 国网新疆电力有限公司电力科学研究院 | Angle steel tower bolt fastening robot |
-
2022
- 2022-04-30 CN CN202210476830.6A patent/CN114799845B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229639A (en) * | 2007-12-16 | 2008-07-30 | 沈孝芹 | Gantry type bolt installing robot |
| CN111071362B (en) * | 2019-12-18 | 2021-01-26 | 国网智能科技股份有限公司 | Climbing robot and system for overhead line pole tower |
| CN112025719A (en) * | 2020-07-29 | 2020-12-04 | 山东科技大学 | Climbing robot for high-voltage power transmission tower |
| CN112356940A (en) * | 2020-10-13 | 2021-02-12 | 国网安徽省电力有限公司 | Climbing robot for angle steel tower |
| CN112873217A (en) * | 2020-12-03 | 2021-06-01 | 国网新疆电力有限公司电力科学研究院 | Angle steel tower bolt fastening robot |
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| CN114799845B (en) | 2024-04-09 |
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