CN210819578U

CN210819578U - Multifunctional gripper device for wind power bolt robot

Info

Publication number: CN210819578U
Application number: CN201921725077.XU
Authority: CN
Inventors: 储方琴; 拜启东; 胡振海; 陈显东; 计然
Original assignee: Shanghai Value Automation Technology Co ltd
Current assignee: Shanghai Value Automation Technology Co ltd
Priority date: 2019-10-15
Filing date: 2019-10-15
Publication date: 2020-06-23
Anticipated expiration: 2029-10-15

Abstract

The utility model relates to a multi-functional tongs device for wind-powered electricity generation bolt robot, including the frame main part, the frame main part is connected with automatic module, vision module and the module of screwing up in advance, the module of screwing up in advance is including the rotary drive unit, telescopic shaft and the sleeve that connect gradually, energy storage when the telescopic shaft shrink releases the ability when stretching out, the sleeve with treat the bolt cap phase-match that snatchs the bolt, the frame main part still is connected with the flexible unit of third, and the flexible end of this flexible unit of third is connected with second coupling assembling, the module of snatching automatically and all connect in advance the module second coupling assembling to can remove under second coupling assembling's drive, second coupling assembling is including flexible energy storage spare, and this flexible energy storage spare is energy storage when the flexible end of the flexible unit of third contracts, releases the ability when stretching out. Compared with the prior art, the utility model discloses can be used to snatching and screwing up of bolt, promote wind-powered electricity generation bolt robot work efficiency and operating mass with rated load.

Description

Multifunctional gripper device for wind power bolt robot

Technical Field

The utility model belongs to the technical field of machining equipment and specifically relates to a multi-functional tongs device for wind-powered electricity generation bolt robot is related to.

Background

Traditional wind-powered electricity generation bolt all snatchs the assembly and uses hydraulic pressure spanner or hydraulic pressure elongator to carry out the operation of screwing up in advance through the manual work, and the completion is screwed up the bolt process and need carry out repeatability work, and dangerous high. A wind power hub bolt needs 1 day from assembling to pre-tightening, and an ultrahigh-pressure and high-torque wrench has a great safety threat to operators.

Utility model with publication number CN109794763A discloses an automatic device of screwing up of six robot bolts includes: the device comprises a shell rear end, a shell front end, an alternating current servo motor, a harmonic reducer, a reducing flange, a torque sensor, an output shaft and a sleeve. The rear end of the shell is connected with a tail end flange of the six-axis robot through a bolt, and the alternating current servo motor is connected with a baffle plate in the rear end of the shell through a bolt; the harmonic reducer is axially connected with the alternating current servo motor through a key and is fixedly connected in the radial direction through a bolt; the reducing flange is connected with the harmonic reducer through a bolt, and the torque sensor is connected with the reducing flange through a bolt; the output shaft is connected with the torque sensor through a bolt, and the output shaft is connected with the sleeve through an O-shaped locking ring; the front end of the shell is connected with the harmonic reducer and the rear end of the shell through bolts.

In actual operation, firstly, an encoder on the alternating current servo motor is connected with a controller in the six-axis robot, and various types of bolt tightening torque values and tightening curves are input into a system; then, the position of a bolt hole is positioned through a vision system on the six-axis robot, the alternating current servo motor reduces the speed and improves the torque through a harmonic reducer to drive a tail end sleeve to rotate, meanwhile, tightening torque information is obtained through a torque sensor and is fed back to the alternating current servo motor, and the rotating speed of the alternating current servo motor is changed according to the comparison between the feedback information and a torque curve of an input system; when the torque value of the torque sensor reaches the set torque value, the alternating current servo motor stops rotating. The type of the sleeve can be quickly changed according to the size of the bolt required to be screwed.

The automatic bolt tightening device for the six-axis robot has the following defects:

1. the automatic bolt screwing device of the six-axis robot is only used for screwing bolts, and has a single function;

2. according to the automatic bolt screwing device for the six-axis robot, the bolt is positioned to the position of the bolt hole only through the vision system on the six-axis robot, and then is rotated through the alternating current servo motor, so that the bolt is screwed, and during actual work, the vision system has positioning errors, so that the bolt cannot be truly aligned to the bolt hole; also can have impurity on bolt and the bolt hole, hinder the wrong income of bolt, it is difficult to realize efficient bolt tightening to rely on alternating current servo motor's rotation alone.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a multi-functional tongs device for wind-powered electricity generation bolt robot in order to overcome the defect that is difficult to realize efficient bolt tightening that above-mentioned prior art exists.

The purpose of the utility model can be realized through the following technical scheme:

the utility model provides a multi-functional tongs device for wind-powered electricity generation bolt robot, includes the frame main part, the frame main part is connected with automatic module, vision module and the module of screwing up in advance, the module of screwing up in advance is including the rotary drive unit, telescopic shaft and the sleeve that connect gradually, energy storage when the telescopic shaft shrink releases energy when stretching out, sleeve and the bolt cap phase-match of waiting to snatch the bolt, automatic module, vision module and the rotary drive unit of snatching all connect wind-powered electricity generation bolt robot.

Further, the pre-tightening module is further fixedly connected with a first proximity switch, a second proximity switch and a third proximity switch, the first proximity switch, the second proximity switch and the third proximity switch are all connected with the wind power bolt robot, the first proximity switch aligns to the initial position of the sleeve when the bolt is grabbed, the second proximity switch aligns to the position of the sleeve when the telescopic shaft meets the preset first shrinkage, and the third proximity switch aligns to the position of the sleeve when the telescopic shaft meets the preset second shrinkage.

Further, the automatic grabbing module comprises a first telescopic unit, a second telescopic unit and a clamping unit, the first telescopic unit, the second telescopic unit and the clamping unit are all connected with the wind power bolt robot, the first telescopic unit is connected with the frame body, the telescopic end of the first telescopic unit is horizontally arranged and connected with the second telescopic unit, and the telescopic end of the second telescopic unit is vertically arranged and connected with the clamping unit.

Further, the first telescopic unit and the second telescopic unit are both cylinders, and the clamping unit is an air claw.

Furthermore, a fourth proximity switch for detecting the bolt is arranged on the clamping unit, and the fourth proximity switch is connected with the wind power bolt robot.

Further, the frame main part still is equipped with displacement sensor, and this displacement sensor connects wind-powered electricity generation bolt robot.

Furthermore, the multifunctional gripper device further comprises a first connecting assembly, the first connecting assembly is respectively connected with the frame main body, the telescopic shaft and the rotary driving unit, the first connecting assembly comprises a fixed plate, a first connecting plate and a second connecting plate, the fixed plate is fixedly connected with the rotary driving unit, one end of the first connecting plate is fixedly connected with the fixed plate, the other end of the first connecting plate is connected with the second connecting plate through bolts, the contact surface of the first connecting plate and the second connecting plate is a spherical surface, and a spring structure and a gasket are arranged at the joint of the first connecting plate and the second connecting plate.

Furthermore, the multifunctional gripper device further comprises a third telescopic unit, the third telescopic unit is fixedly connected with the frame main body and is connected with the wind power bolt robot, the telescopic end of the third telescopic unit is connected with a second connecting assembly, the automatic grabbing module and the pre-screwing module are both connected with the second connecting assembly and can move under the driving of the second connecting assembly, the second connecting assembly comprises a telescopic energy storage piece, and the telescopic energy storage piece stores energy when the telescopic end of the third telescopic unit contracts and releases energy when stretching out.

Further, second coupling assembling still includes third connecting plate, fourth connecting plate and slider, the flexible end and the fourth connecting plate of third flexible unit are connected respectively to the third connecting plate, the fourth connecting plate is connected respectively and is grabbed the module voluntarily, screw up module, slider and flexible energy storage spare in advance, be equipped with the confession in the frame main part the guide rail that the slider removed.

Further, flexible energy storage spare includes the spring and is located the inside straight tube of spring, the one end fixed connection frame main part of straight tube or the stiff end of third flexible unit, other end sliding connection the fourth connecting plate, the spring is located between fourth connecting plate and the straight tube stiff end.

Compared with the prior art, the utility model has the advantages of it is following:

(1) when actually carrying out the tightening work of bolt, can have impurity on bolt and the bolt hole, cause great hindrance to tightening work, influence work efficiency, the utility model discloses be equipped with the telescopic shaft, through filling the ability in advance to the telescopic shaft to with telescopic shaft energy storage release when using, can effectively improve wind-powered electricity generation bolt robot's work efficiency.

(2) The utility model discloses on the basis that is provided with the telescopic shaft, be provided with the flexible unit of third and second coupling assembling further, fill the ability through the flexible energy storage piece of the flexible unit of third to second coupling assembling, when wind-powered electricity generation bolt robot carries out screwing up in advance of bolt to the energy storage of cooperation telescopic shaft promotes the bolt forward, has further improved wind-powered electricity generation bolt robot and has carried out the work efficiency of screwing up the bolt in advance.

(3) The utility model discloses multi-functional tongs device still can be used to snatch the bolt, and wind-powered electricity generation bolt robot carries out the energy storage through driving the telescopic shaft shrink to when the rotation driving module begins to rotate, the energy storage of release telescopic shaft for cap of bolt and sleeve accordant connection realize snatching of bolt, it is multiple functional.

(4) The utility model discloses a vision module can accurate identification bolt and bolt hole position, can effectually avoid because of the error leads to the risk that multi-functional tongs hit with bolt positioning tray and wind-powered electricity generation wheel hub, has also improved production efficiency.

(5) The utility model discloses be provided with displacement sensor, when screwing up the bolt in advance, acquire the screw thread length that the bolt was twisted, realize twisting the bolt in-process, if because eccentric or impurity lead to the bolt can't twist to target in place, and the torque value has reached the setting value this moment, can judge that the bolt is not twisted and targets in place to withdraw from the electric spanner reversal, avoid damaging the screw thread, improve the quality of product.

(6) When actually carrying out the tightening work of bolt, aim at the bolt with the bolt hole of waiting to assemble the bolt, can have the deviation of aiming at, do not aim at just can't carry out the tightening work of bolt, influence work efficiency, the utility model discloses improve the first connecting component in the module of screwing up in advance, establish the contact surface of first connecting plate and second connecting plate into the sphere, the junction is equipped with spring structure and gasket, this connection makes the module of screwing up in advance be in the floating condition, can keep being in same water flat line with telescopic shaft and sleeve under the normal conditions, when carrying out the bolt and screwing up in advance, if there is micro off-centre bolt and screw thread, the module of screwing up in advance can float with self-adaptation, realizes the alignment, has improved production efficiency.

(7) The utility model discloses wind-powered electricity generation bolt robot that can arrange snatchs the assembly and screws up in advance to wind-powered electricity generation wheel hub bolt, has avoided the personal safety risk that manual operation brought, has improved assembly bolt's beat and production efficiency moreover.

Drawings

Fig. 1 is a schematic view of the multifunctional gripper device of the present invention;

fig. 2 is a schematic view of a partial structure of the multi-functional gripper of the present invention;

fig. 3 is an isometric view of the pre-tightening device of the present invention;

fig. 4 is a left side view of the pre-tightening device of the present invention;

FIG. 5 is a cross-sectional view taken at F-F of FIG. 4;

fig. 6 is a schematic view of the state of the bolt for assembling the multifunctional gripper of the present invention;

in the figures, 1, a frame body, 101, a guide rail, 102, a junction box, 2, an automatic grabbing module, 201, a first telescopic unit, 202, a second telescopic unit, 203, a third telescopic unit, 204, a clamping unit, 205, a second connecting assembly, 2051, a third connecting plate, 2052, a fourth connecting plate, 2053, a slider, 2054, a telescopic energy storage member, 20541, a spring, 20542, a straight pipe, 206, a fourth proximity switch, 207, a ventilation interface group, 3, a vision module, 4, a pre-tightening module, 401, a rotary driving unit, 402, a telescopic shaft, 403, a sleeve, 404, a first connecting assembly, 4041, a fixing plate, 4042, a first connecting plate, 4043, a second connecting plate, 4044, a protruding plate, 4045, a first proximity switch, 4046, a second proximity switch, 4047, a third proximity switch, 4048, a spring structure, 4049, a fifth screw, 4050, a first connecting plate, 4051, a shaft sleeve, 4052, Second screw, 5, bolt.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

Example 1

As shown in fig. 1, the present embodiment is a multifunctional gripper for a wind power bolt robot, and is used for cooperating with the wind power bolt robot to realize the grabbing, assembling and pre-tightening of a bolt 5, the multifunctional gripper includes a frame body 1, an automatic grabbing module 2, a vision module 3 and a pre-tightening module 4, and the automatic grabbing module 2, the vision module 3 and the pre-tightening module 4 are all connected to the frame body 1.

The above components are described in detail below:

1. visual module 3

The vision module 3 is arranged on the frame body 1 and is just opposite to the direction of the bolt to be grabbed, and is connected with the wind power bolt robot, and the vision module 3 is a camera.

2. Automatic grabbing module 2

The automatic grabbing module 2 comprises a first cylinder (a first telescopic unit 201), a second cylinder (a second telescopic unit 202), a third cylinder (a third telescopic unit 203), a gas claw (a clamping unit 204) and a second connecting assembly 205, and the first cylinder, the second cylinder, the third cylinder and the gas claw are all connected with a wind power bolt robot.

As shown in fig. 2, the third cylinder is fixedly connected to the frame body 1.

The second connection assembly 205 includes a third connection plate 2051, a fourth connection plate 2052, and a slider 2053, the third connection plate connects the telescopic end of the third cylinder and the fourth connection plate 2052, the fourth connection plate 2052 connects the automatic gripping module 2, the pre-tightening module 4, the slider 2053, and the telescopic energy storage member 2054, respectively, the frame body 1 is provided with a guide 101 for the slider 2053 to move, the fourth connection plate 2052 connects the automatic gripping module 2 and the pre-tightening module 4, respectively, the automatic gripping module 2 and the pre-tightening module 4 are slidably connected to the frame body 1, and specifically, the frame body 1 is provided with a rail and a connection frame body, so that the automatic gripping module 2 and the pre-tightening module 4 can move on the frame body 1 while the frame body 1 provides horizontal support for the automatic gripping module 2 and the pre-tightening module 4. Therefore, the fourth connecting plate 2052 can simultaneously drive the automatic grabbing module 2 and the pre-tightening module 4 to move under the joint cooperation of the telescopic end of the third cylinder and the slider 2053.

The fourth connecting plate 2052 is further connected with a telescopic energy storage member 2054, the telescopic energy storage member 2054 comprises a spring 20541 and a straight pipe 20542 positioned inside the spring 20541, one end of the straight pipe 20542 is fixedly connected with the fixed end of the third telescopic unit 203, the other end of the straight pipe 20542 is slidably connected with the fourth connecting plate 2052, the spring 20541 is positioned between the fixed end of the fourth connecting plate 2052 and the fixed end of the straight pipe 20542, and the spring 20541 can be driven by the movable energy of the fourth connecting plate 2052 to store or release energy.

In this embodiment, the third connecting plate 2051 is an adapter that can be connected to the telescopic end of the cylinder and the fourth connecting plate 2052 in a matching manner.

The first cylinder is connected with the fourth connecting plate 2052 and supported by the frame body 1, the telescopic end of the first cylinder is horizontally arranged and connected with the second cylinder, and the telescopic end of the second cylinder is vertically arranged and connected with the gas claw. This example realizes first cylinder, second cylinder and gas claw interconnect through setting up corresponding connection frame.

And a fourth proximity switch 206 for detecting the bolt 5 is further arranged on the gas claw, and the fourth proximity switch 206 is connected with the wind power bolt robot.

3. Pre-tightening module 4

As shown in fig. 3, the pre-tightening module 4 includes an electric wrench (a rotation driving unit 401), a telescopic shaft 402, a sleeve 403, and a first connecting assembly 404, the first connecting assembly 404 is respectively connected to one end of the frame body 1, the electric wrench, and one end of the telescopic shaft 402, the other end of the telescopic shaft 402 is fixedly connected to the sleeve 403, and the sleeve 403 is matched with a bolt cap of a bolt to be grasped.

First connecting subassembly 404 includes fixed plate 4041, first connecting plate 4042, second connecting plate 4043 and fifth connecting plate 4049, and electric spanner fixes on fixed plate 4041, and fixed plate 4041 is connected through first screw 4050 to the one end of first connecting plate 4042, and the junction of first screw 4050 and fixed plate 4041 is equipped with axle sleeve 4051, and the other end passes through second screw 4052 and connects second connecting plate 4043.

As shown in fig. 4 and 5, the contact surface of the first connecting plate 4042 and the second connecting plate 4043 is a spherical surface, a spring structure 4048 is provided at the connection portion of the first connecting plate 4042 and the second connecting plate 4043, and the spring structure 4048 of this embodiment is a plurality of springs. This connection allows the pre-tightening module 4 to float, normally remaining level with the telescopic shaft 402 and the sleeve 403, and when pre-tightening the bolt, if the bolt 5 is slightly off-center from the thread, the pre-tightening module 4 can float adaptively to achieve alignment.

Second connecting plate 4043 fixedly connected vertical fifth connecting plate 4049 that sets up, fifth connecting plate 4049 fixed connection fourth connecting plate 2052 realize under the drive of fourth connecting plate 2052 for whole module 4 of screwing up in advance removes.

Both the electric wrench and the telescopic shaft 402 are products obtained by adopting the prior art.

4. Frame body 1

The frame body 1 is further provided with a displacement sensor 103 for detecting the displacement of the top end of the first cylinder piston rod relative to the frame body, and the displacement sensor 103 is connected with the wind power bolt robot.

Still be equipped with on the second connecting plate 4043 and stretch out board 4044, this stretch out board 4044 is just to telescopic shaft 402 and sleeve 403, it is equipped with first proximity switch 4045 on the board 4044 to stretch out, second proximity switch 4046 and third proximity switch 4047, first proximity switch 4045, wind-powered electricity generation bolt robot is all connected to second proximity switch 4046 and third proximity switch 4047, the initial position of sleeve 403 when first proximity switch 4045 aligns and snatchs the bolt, the position of sleeve 403 when telescopic shaft 402 is aimed at telescopic shaft 402 and satisfies the first shrinkage of default, the position of sleeve 403 when telescopic shaft 402 is aimed at to third proximity switch 4047 satisfies the second shrinkage of default.

The frame body 1 is further provided with a ventilation interface set 207, and the ventilation interface set 207 is used for introducing compressed air to each cylinder.

The frame body 1 is further provided with a junction box 102 for wiring connection lines of all parts of the multifunctional gripper device and the wind power bolt robot.

The following describes in detail the working principle of the multifunctional gripper for a wind power bolt robot in combination with a wind power bolt robot according to the present embodiment:

before use, compressed air is supplied to all the cylinders through the air inlet set 207, the piston rod of the third cylinder is in an extended state, i.e., the automatic gripping module 2 and the pre-tightening module 4 are integrally extended, the piston rods of the remaining cylinders are in a retracted state, and the first proximity switch 4045 has a signal indicating that the sleeve 403 is in the initial position.

When grabbing the bolt, the wind-powered electricity generation bolt robot drives the multi-functional tongs device of this embodiment, moves the position of the first bolt of location tray, then vision module 3 gathers the 5 photo information feedback of bolt to wind-powered electricity generation bolt robot in real time, and wind-powered electricity generation bolt robot finds out the central point of bolt cap and puts, aims at the bolt cap of bolt 5 with sleeve 403 on the multi-functional tongs device.

After alignment, the wind power bolt robot drives the multifunctional gripper to continue moving forward, so that the sleeve 403 abuts against the bolt cap to drive the telescopic shaft 402 to contract and store energy, and the wind power bolt robot stops moving until the second proximity switch 4046 has a signal. Then the first cylinder piston rod and the second cylinder piston rod extend out in sequence until the fourth proximity switch 206 has a signal, that is, after the bolt 5 is detected, the pneumatic claw acts to grasp the bolt 5. Then the electric spanner starts, drives sleeve 403 rotatory, and sleeve 403 rotatory in-process, telescopic shaft 402 continues to act on sleeve 403 thrust because energy storage in advance for after sleeve 403 rotates to certain angle, in the bolt cap got into sleeve 403, telescopic shaft 402 stretched out this moment, and after wind-powered electricity generation bolt robot lost second proximity switch 4046's signal, the electric spanner stop rotating. After first proximity switch 4045 has the signal once more, wind-powered electricity generation bolt robot drives multi-functional tongs with bolt 5 from the location tray snatch move to wheel hub assembly bolt department, accomplish the work of snatching of bolt this moment.

After the wind power bolt robot moves to a certain safe position, bolt assembly is carried out, the piston rod of the third air cylinder retracts, namely, the automatic grabbing module 2 and the pre-tightening module 4 are driven to retract integrally, energy is stored in the spring 20541 in the telescopic energy storage part 2054, after the piston rod of the first air cylinder retracts in place, the bolt 5 clamped by the air claw retracts in the retracting process of the piston rod of the first air cylinder, and therefore the sleeve 403 is driven to contract the telescopic shaft 402 for energy storage (the tensile force of the first air cylinder is larger than the elastic force of the telescopic shaft 402) until a signal is sent by the third proximity switch 4047, and then the bolt assembly work is completed. When the third proximity switch 4047 has a signal, it represents that the telescopic shaft 402 is in the fully retracted state, and the reason for this is that, in the bolt tightening process, the multifunctional gripper of this embodiment may be pressed toward the bolt tightening direction, and if the telescopic shaft 402 has a shrinkage amount, the displacement of the multifunctional gripper of this embodiment toward the bolt tightening direction may be increased, which affects the bolt tightening effect, so that the telescopic shaft 402 is in the fully retracted state at the assembly stage, and this defect may be overcome.

As shown in fig. 6, the state of the multifunctional gripper is that the piston rod of the third cylinder is retracted after the gripping operation of the bolt is completed.

When the bolt is screwed up in advance, the vision module 3 collects the photo information of the bolt hole in real time and feeds the photo information back to the wind power bolt robot, the wind power bolt robot finds out the central position of the bolt hole, the bolt 5 on the multifunctional gripper device is aligned to the bolt hole of the bolt to be assembled, and the bolt reaches the thread surface of the bolt hole.

Then the electric spanner starts, drives bolt 5 and rotates, and the third cylinder starts, and the drive third cylinder piston rod stretches out forward, based on the elasticity of spring 20541 in the flexible energy storage piece 2054 and the drive power of third cylinder, twists bolt 5 in the bolt hole, and the elasticity of spring 20541 in the flexible energy storage piece 2054 can reach 300 newtons in this embodiment.

During the screwing of the bolt, the displacement sensor 103 transmits the displacement to the wind power bolt robot in real time, and the displacement variation during the period corresponds to the length of the screwed thread of the bolt.

After the bolt 5 can be judged to enter the length of the three threads, the electric wrench stops rotating, the pneumatic claw is loosened, the piston rod of the second air cylinder retracts, and after the piston rod retracts to the right position, the electric wrench is started to continue rotating until the bolt 5 reaches the preset length of the screwed threads and the preset torque value. During the period, with the screwing of the bolt, the piston rod of the third cylinder gradually becomes a completely extended state, the spring 20541 also gradually releases all stored energy, and the telescopic shaft 402 is pressed by the bolt due to small stored energy, so that the stored energy is not released all the time. When the piston rod of the third cylinder is changed into a fully extended state, the stored energy of the telescopic shaft 402 is released, so that the multifunctional gripper device finishes the screwing of the last several threads.

If the length of the screw thread screwed by the bolt is abnormal during the screwing of the bolt, the bolt 5 is judged not to be screwed in place, the electric wrench is reversely rotated to withdraw, the screw thread is prevented from being damaged, and the quality of a product is improved. After the bolt 5 reaches the preset screwed-in thread length and the preset torque value, the wind power bolt robot drives the multifunctional gripper device to return to the safe area, and the bolt 5 is screwed in advance at the moment. And may be ready for the next bolt to be grasped.

The control software for the wind power bolt robot to complete all actions by matching with the multifunctional gripper is the control software in the prior art.

Example 2

The present embodiment is substantially the same as the multifunctional gripper for a wind power bolt robot in embodiment 1, except that the multifunctional gripper in the present embodiment does not have the third telescopic unit 203 and the second connection assembly 205, and both the automatic gripping module 2 and the pre-tightening module 4 are fixedly connected to the frame body 1, specifically, the first telescopic unit 201 in the automatic gripping module 2 is fixedly connected to the frame body 1; the second connecting plate 4043 in the pre-tightening module 4 fixedly connects the frame body 1. The protruding plate 4044 is provided on the frame body 1.

The working principle of the multifunctional gripper combined with the wind power bolt robot in the embodiment is also substantially the same as that of the embodiment 1, but the difference is that the third telescopic unit 203 and the second connecting assembly 205 are not involved, and when the bolt is pre-tightened, the electromagnetic valve of the first cylinder is adjusted to be in a middle leakage state.

The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.

Claims

1. The utility model provides a multi-functional tongs device for wind-powered electricity generation bolt robot, includes frame main part (1), its characterized in that, frame main part (1) is connected with automatic module (2), vision module (3) and screws up module (4) in advance, it includes rotary drive unit (401), telescopic shaft (402) and sleeve (403) that connect gradually to screw up module (4) in advance, energy storage when telescopic shaft (402) shrink releases energy when stretching out, sleeve (403) and the bolt cap phase-match of waiting to snatch the bolt, automatic module (2), vision module (3) and rotary drive unit (401) of snatching all connect wind-powered electricity generation bolt robot.

2. The multifunctional gripper for the wind-power bolt robot is characterized in that a first proximity switch (4045), a second proximity switch (4046) and a third proximity switch (4047) are fixedly connected to the pre-tightening module (4), the first proximity switch (4045), the second proximity switch (4046) and the third proximity switch (4047) are connected to the wind-power bolt robot, the first proximity switch (4045) is aligned with an initial position of the sleeve (403) when the bolt is grabbed, the second proximity switch (4046) is aligned with a position of the sleeve (403) when the telescopic shaft (402) meets a preset first shrinkage amount, and the third proximity switch (4047) is aligned with a position of the sleeve (403) when the telescopic shaft (402) meets a preset second shrinkage amount.

3. The multifunctional gripper for the wind power bolt robot is characterized in that the automatic gripping module (2) comprises a first telescopic unit (201), a second telescopic unit (202) and a clamping unit (204), the first telescopic unit (201), the second telescopic unit (202) and the clamping unit (204) are connected with the wind power bolt robot, the first telescopic unit (201) is connected with the frame body (1), the telescopic end of the first telescopic unit (201) is horizontally arranged and connected with the second telescopic unit (202), and the telescopic end of the second telescopic unit (202) is vertically arranged and connected with the clamping unit (204).

4. The multifunctional gripper for wind and electricity bolt robots according to claim 3, characterized in that the first telescopic unit (201) and the second telescopic unit (202) are both air cylinders, and the clamping unit (204) is an air claw.

5. The multifunctional gripper for wind power bolt robots according to claim 3, characterized in that a fourth proximity switch (206) for detecting bolts is arranged on the clamping unit (204), and the fourth proximity switch (206) is connected with the wind power bolt robot.

6. The multifunctional gripper for wind power bolt robots as claimed in claim 3, characterized in that the frame body (1) is further provided with a displacement sensor (103), and the displacement sensor (103) is connected with the wind power bolt robot.

7. The multifunctional gripper for the wind power bolt robot as claimed in claim 1, characterized in that the multifunctional gripper further comprises a first connecting component (404), the first connecting component (404) is respectively connected with the frame main body (1), the telescopic shaft (402) and the rotary driving unit (401), the first connecting component (404) comprises a fixing plate (4041), a first connecting plate (4042) and a second connecting plate (4043), the fixed plate (4041) is fixedly connected with the rotary driving unit (401), one end of the first connecting plate (4042) is fixedly connected with the fixed plate (4041), the other end of the first connecting plate is connected with the second connecting plate (4043) through a bolt, the contact surface of the first connecting plate (4042) and the second connecting plate (4043) is a spherical surface, and a spring structure (4048) and a gasket are arranged at the joint of the first connecting plate (4042) and the second connecting plate (4043).

8. The multifunctional gripper for the wind power bolt robot is characterized by further comprising a third telescopic unit (203), wherein the third telescopic unit (203) is fixedly connected with the frame main body (1) and connected with the wind power bolt robot, a second connecting assembly (205) is connected to the telescopic end of the third telescopic unit (203), the automatic grabbing module (2) and the pre-tightening module (4) are both connected with the second connecting assembly (205) and can move under the driving of the second connecting assembly (205), the second connecting assembly (205) comprises a telescopic energy storage piece (2054), and the telescopic energy storage piece (2054) stores energy when the telescopic end of the third telescopic unit (203) contracts and releases energy when the telescopic end of the third telescopic unit (203) extends.

9. The multifunctional gripper device for the wind-power bolt robot is characterized in that the second connecting assembly (205) further comprises a third connecting plate (2051), a fourth connecting plate (2052) and a slider (2053), the third connecting plate (2051) is respectively connected with a telescopic end of the third telescopic unit (203) and the fourth connecting plate (2052), the fourth connecting plate (2052) is respectively connected with an automatic grabbing module (2), a pre-tightening module (4), a slider (2053) and a telescopic energy storage piece (2054), and a guide rail (101) for the slider (2053) to move is arranged on the frame main body (1).

10. The multifunctional gripper for wind and electricity bolt robots according to claim 9, characterized in that the telescopic energy storage member (2054) comprises a spring (20541) and a straight pipe (20542) positioned inside the spring (20541), one end of the straight pipe (20542) is fixedly connected with a fixed end of the frame body (1) or the third telescopic unit (203), the other end of the straight pipe is slidably connected with the fourth connecting plate (2052), and the spring (20541) is positioned between the fourth connecting plate (2052) and the fixed end of the straight pipe (20542).