CN114799845B - Transmission tower bolt-up robot - Google Patents
Transmission tower bolt-up robot Download PDFInfo
- Publication number
- CN114799845B CN114799845B CN202210476830.6A CN202210476830A CN114799845B CN 114799845 B CN114799845 B CN 114799845B CN 202210476830 A CN202210476830 A CN 202210476830A CN 114799845 B CN114799845 B CN 114799845B
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- guide rail
- ball screw
- sliding table
- connecting piece
- foot mechanism
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 116
- 210000002683 foot Anatomy 0.000 claims abstract description 107
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 34
- 230000009471 action Effects 0.000 claims abstract description 24
- 230000009194 climbing Effects 0.000 claims abstract description 17
- 229910052742 iron Inorganic materials 0.000 claims abstract description 17
- 210000004744 fore-foot Anatomy 0.000 claims abstract description 10
- 210000000452 mid-foot Anatomy 0.000 claims description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
- 241000252254 Catostomidae Species 0.000 claims description 8
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005021 gait Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 238000010521 absorption reaction 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
- 238000010586 diagram Methods 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
- 230000001360 synchronised effect Effects 0.000 description 1
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
-
- 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
Landscapes
- 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 robot for fastening bolts of 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, wherein the front foot mechanism and the rear foot mechanism are respectively connected with two ends of the middle foot mechanism, the front foot mechanism is connected with the front end of the middle foot guide rail through a first ball screw sliding table, and the rear foot mechanism is connected with 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 climb over the obstacle and fasten bolts on the iron tower, and has the characteristics of simple structure, convenient operation and the like; solves the problems of high risk and large labor capacity of manual operation.
Description
Technical Field
The invention belongs to the technical field of equipment for electric power operation, and particularly relates to a robot for fastening bolts of a power transmission tower.
Background
In recent years, along with the rapid growth of national economy, the development of the electric power industry is rapid, the rapid development of the electric transmission line iron tower industry is promoted, and according to statistics, the sales income of the electric transmission line iron tower industry in China is increased from 50 hundred million yuan in 2003 to 426 hundred million yuan in 2010, the annual composite growth rate reaches 36.68%, the industry is in a rapid development period, the electric transmission line iron tower industry in China presents a good development situation in 2010, and the management and control capacity of enterprises in industry on cost is higher and the profit capability is stronger;
the prior power transmission line iron tower is structurally characterized in that various towers are all of a space truss structure, rod pieces are mainly composed of single equilateral angle steel or combined angle steel, two materials, namely Q235 and Q345, are generally used, the rod pieces are connected by adopting rough bolts, the bolts are connected by shearing force, the whole tower is composed of angle steel, connecting steel plates and bolts, the bolts are important component parts in a power transmission system, once the potential fault hazard occurs, the safety of a high-voltage power grid is directly threatened, and even the loss which is difficult to measure is caused. Therefore, the fastening degree of the bolts is strictly controlled in the installation, overhaul and maintenance processes, potential safety hazards are avoided, and the existing tool cannot meet the requirement of use when the bolts are fastened due to the limited space between the rod pieces, so that a bolt fastening tool used on a transmission line iron tower is needed to solve the problem.
Disclosure of Invention
The invention aims to provide a power transmission tower bolt fastening robot aiming at the problems in the prior art, and the robot can climb over obstacles and fasten bolts on a tower and has the characteristics of simple structure, convenient operation and the like; solves the problems of high risk and large labor capacity of manual operation.
The technical scheme of the invention is as follows:
a power transmission tower bolt-up robot 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, wherein the front foot mechanism and the rear foot mechanism are respectively connected with two ends of the middle foot mechanism, the front foot mechanism is connected with the front end of the middle foot guide rail through a first ball screw sliding table, and the rear foot mechanism is connected with 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 forefoot mechanism include first ball guide rail, first guide rail step motor, forefoot connecting piece and two pairs of first electro-magnet sucking discs, first guide rail step motor connect in first ball guide rail upper end, two pairs of first electro-magnet sucking discs are fixed in first ball guide rail lower extreme through the forefoot connecting piece.
Specifically, the midfoot mechanism include midfoot guide rail, be located midfoot guide rail side and provide the second guide rail step motor of power, rotatory slip table, for rotatory slip table provides slip table step motor, midfoot connecting piece and second electro-magnet sucking disc of power, rotatory slip table connect the slip table of realizing the angle of turning to the adjustment machine of machine on the slip table of midfoot guide rail, rotatory slip table on be provided with slip table step motor, rotatory slip table below pass through the connection of midfoot connecting piece and provide two pairs of second electro-magnet sucking discs of great electromagnetic adsorption power firmly absorption in iron tower angle steel surface.
Specifically, 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 screw tightening module comprises a ball screw connecting piece, a third ball screw guide rail, a stepping motor, a sliding table connecting piece, a screw tightening mechanism, a camera and a camera connecting piece, wherein the third ball screw guide rail is fixed on the first ball screw guide rail through the ball screw connecting piece, the screw tightening mechanism is fixed on a guide rail sliding table of the third ball screw guide rail through the sliding table connecting piece, and the stepping motor is installed on the guide rail sliding table of the third ball screw guide rail.
Specifically, the bolt screwing mechanism 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 the shaft coupling and be connected with planetary gear reducer, planetary gear reducer connect the 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 realizes spanner sleeve and wait to tighten the center alignment of bolt through adjusting the guide rail slip table of third ball guide rail, the decline of rethread forefoot mechanism, spanner sleeve entangles the bolt, screws up the bolt through brushless motor and planetary gear reducer combined action.
The beneficial effects of the invention are as follows: the invention provides a power transmission tower bolt fastening robot which comprises a climbing mechanism and a bolt fastening 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 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; the bolt screwing mechanism and the camera are connected to the guide rail sliding table. According to the invention, through the gait of lifting, advancing and descending of the front foot mechanism, the middle foot mechanism and the rear foot mechanism in turn, the advancing and foot nail crossing actions of the robot are realized, the functions of climbing over the iron tower and fastening bolts can be realized, in each action process, 2 pairs of electromagnet suckers are always simultaneously adsorbed on the surface of the angle steel of the iron tower, so that enough adsorption force is provided, the machine is ensured not to topple or slide, and the device has the characteristics of simple structure, convenience in operation and the like; solves the problems of high risk and large labor capacity of manual operation.
Drawings
Fig. 1 is a schematic view of an overall structure of a screw fastening robot provided by the present invention;
FIG. 2 is a schematic view of a midfoot structure;
FIG. 3 is a schematic view of a hindfoot structure;
fig. 4 is a schematic view of a bolt tightening structure.
The device comprises a front foot mechanism, a middle foot mechanism, a rear foot mechanism 3, a 4-bolt screwing module, a first ball screw guide rail 1-1, a first guide rail stepping motor 1-2, a front foot connecting piece 1-3, a first electromagnet sucker 1-4, a middle foot guide rail 2-1, a second guide rail stepping motor 2-2, a rotary sliding table 2-3, a sliding table stepping motor 2-4, a middle foot connecting piece 2-5, a second electromagnet sucker 2-6, a second ball screw guide rail 3-1, a third guide rail stepping motor 3-3, a third electromagnet sucker 3-4, a ball screw connecting piece 4-1, a third ball screw guide rail 4-2, a step motor 4-3, a sliding table connecting piece 4-4, a bolt screwing mechanism 4-6 camera, a camera connecting piece 4-7, a brushless motor 4-5-2, a planetary gear reducer 4-5-3, a planetary gear reducer 4-5-4, a hammer block 4-5-5, and a coupling sleeve.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and the specific embodiments.
Fig. 1 is a schematic diagram of the whole structure of a power transmission tower bolt-up robot provided by the invention, which comprises a climbing mechanism and a bolt-up 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 with two ends of the middle foot mechanism 2, the front foot mechanism 1 is connected with the front end of the middle foot guide rail 2-1 through a first ball screw sliding table, and the rear foot mechanism 3 is connected with 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 forefoot mechanism 1 and ascends and descends along with the forefoot mechanism 1; the screw tightening module 4 is fixed on the first ball screw guide rail 1-1 of the front foot mechanism through the ball screw connecting piece 4-1, the iron tower screw tightening robot provided by the invention can realize the functions of climbing over obstacles and tightening screws on an iron tower, consists of the front foot mechanism, the middle foot mechanism and the rear foot mechanism, and realizes the actions of advancing and crossing foot nails of the robot through the gait of lifting, advancing and descending the three foot mechanisms in sequence, wherein in each action process, two pairs of electromagnet suckers are always simultaneously adsorbed on the surface of angle steel of the iron tower so as to provide enough adsorption force and ensure that the machine cannot topple 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 to 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 adsorbed and fixed on the angle steel of the 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, and 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, so that 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 positioned at the upper end of the second ball screw guide rail 3-1 and used for providing power for the second ball screw guide rail, 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 midfoot mechanism 2 is adsorbed and fixed on the angle steel of the 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 midfoot guide rail 2-1 through the second ball screw sliding table, and 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, so that the lifting action of the rear foot is realized.
Example 1
The implementation provides a specific structure of the midfoot mechanism 2, as shown in fig. 2, the midfoot mechanism 2 comprises a midfoot guide rail 2-1, a second guide rail stepping motor 2-2 positioned on the side edge of the midfoot guide rail 2-1 and providing power, a rotary sliding table 2-3, a sliding table stepping motor 2-4 providing power for the rotary sliding table 2-3, a midfoot 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 midfoot guide rail 2-1 to realize the angle of a steering adjustment machine 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 with the two pairs of second electromagnet suckers 2-6 providing larger electromagnetic adsorption force and firmly adsorbed on the surface of angle steel of the iron tower through the midfoot connecting piece 2-5.
The rotary sliding table 2-3 of the midfoot mechanism is connected to the sliding table of the midfoot guide rail 2-1, when the second electromagnet sucker 2-6 is adsorbed on the surface of the angle steel, a larger electromagnetic adsorption force can be provided, the second electromagnet sucker is firmly adsorbed on the surface of the angle steel of the iron tower, the rotary sliding table 2-3 can realize the steering of the whole robot, the angle of the robot is adjusted, and the midfoot connecting piece 2-5 in the embodiment consists 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 angle steel, as 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 meanwhile, the third guide rail stepping motor 3-2 drives the second ball screw sliding table to slide on the second ball screw guide rail 3-1, so long as the synchronous operation of the first guide rail stepping motor 1-2 and the third guide rail stepping motor 3-2 is kept, the lifting action of the middle foot mechanism 2 can be realized.
Example 2
The embodiment provides a concrete structure of the bolt tightening module 4, as shown in fig. 4, the concrete structure 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, wherein 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 stepping motor 4-3 is installed on the guide rail sliding table of the third ball screw guide rail.
The screw bolt screwing 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 socket 4-5-5, wherein the coupler 4-5-2 is fixed on a 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 socket 4-5-5, and the camera 4-6 is connected with the planetary gear reducer 4-5-3 through a camera connecting piece 4-7.
When the bolt is required to be screwed down, the guide rail sliding table of the third ball screw guide rail is simultaneously adjusted by combining the video image returned by the camera 4-6 to realize the center alignment of the spanner sleeve 4-5 and the bolt to be screwed down, the spanner sleeve 4-5-5 is sleeved on the bolt through the descending of the front foot mechanism 1, and the brushless motor 4-5-1 and the planetary gear reducer 4-5-3 jointly act to screw down the bolt.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical scheme of the present invention and are not limiting; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (4)
1. The power transmission tower bolt-up 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 with two ends of the middle foot mechanism (2), the front foot mechanism (1) is connected with 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 with 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 screw 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);
the screw 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 screw tightening mechanism (4-5), a camera (4-6) and a camera connecting piece (4-7), wherein 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 screw 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 stepping motor (4-3) is arranged on the guide rail sliding table of the third ball screw guide rail;
the screw bolt screwing 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 socket (4-5-5), wherein the coupler (4-5-2) is fixed on a 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 socket (4-5-5), the camera (4-6) is connected with the wrench socket (4-5-3) through a camera connecting piece (4-7), the wrench socket (4-5) and the wrench socket (5) is aligned with the screw bolt before the wrench socket (4-5) is screwed down by adjusting a guide rail of a third ball screw guide rail in combination with a video image returned by the camera (4-6), the bolts are screwed through the combined action of the brushless motor (4-5-1) and the planetary gear reducer (4-5-3).
2. The power transmission tower bolt-up robot 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 power transmission tower bolt-up robot according to claim 1, wherein the midfoot mechanism (2) comprises a midfoot guide rail (2-1), a second guide rail stepping motor (2-2) which is positioned at the side edge of the midfoot 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 midfoot 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 midfoot guide rail (2-1) to realize machine steering and adjust the angle of the machine, the sliding table stepping motor (2-4) is arranged on the rotary sliding table (2-3), and the lower part of the rotary sliding table (2-3) is connected with the two pairs of second electromagnet suckers (2-6) which provide larger electromagnetic adsorption force and are firmly adsorbed on the surface of angle steel iron tower.
4. The power transmission tower bolt-up 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 positioned at the upper end of the second ball screw guide rail (3-1) and supplies power to the second ball screw guide rail, a rear foot connecting piece (3-3) and a third electromagnet sucker (3-4), and 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).
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 CN114799845A (en) | 2022-07-29 |
| CN114799845B true 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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| Country | Link |
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| CN (1) | CN114799845B (en) |
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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| Publication number | Publication date |
|---|---|
| CN114799845A (en) | 2022-07-29 |
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