CN111300028B - Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment - Google Patents
Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment Download PDFInfo
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- CN111300028B CN111300028B CN201911252365.2A CN201911252365A CN111300028B CN 111300028 B CN111300028 B CN 111300028B CN 201911252365 A CN201911252365 A CN 201911252365A CN 111300028 B CN111300028 B CN 111300028B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- 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
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Abstract
The utility model provides a transformer substation's live equipment bolt-up flexible connector, instrument and robot system for operation includes: the universal joint comprises an upper universal joint, a lower universal joint and a connecting rod, wherein the upper universal joint and the lower universal joint are connected through the connecting rod; the lower universal joint is composed of a semi-convex universal joint and a semi-concave universal joint which are connected in a matched mode, grooves are formed in the semi-convex universal joint and the semi-concave universal joint, and the magnetic adjusting rod and the second straightening spring are installed in the grooves in a clearance fit mode; and the moving direction of the magnetic adjusting rod is adjusted by utilizing the second straightening spring, so that a buckle is formed at the joint of the magnetic adjusting rod and the sleeve, and the fixed connection of the flexible connector and the sleeve is realized. The bolt fastening tool can realize the disassembly and assembly operation of the bolts in the four quadrants, and the degree of freedom of the bolt fastening tool is increased. The first straightening spring, the connecting rod and the upper and lower universal joints of the flexible connector ensure the rigidity of the flexible connector while realizing torque transmission.
Description
Technical Field
The utility model relates to a live working instrument technical field especially relates to electrified equipment of transformer substation bolt-up flexible connector, instrument and robot system for operation.
Background
When the insulator of the transformer substation has defects, the connecting bus needs to be disconnected, so that the insulator is replaced. At the present stage, when the bus connection is not fastened, the circuit can generate a heating phenomenon, and the following defects mainly exist in the transformer substation for dismounting the bus and replacing the insulator:
(1) the dismouting generating line is mostly the maintenance operation that has a power failure, and the connection condition of inspection circuit fastens, can't arrange the area that has a power failure and overhauls at high power continuity, can't carry out the live-line maintenance operation.
(2) The replacement of the insulator and the disassembly and assembly of the bus are mostly manual operation, the manual operation faces the climbing operation, and the potential safety hazard of falling from the high altitude exists.
(3) Due to different models, the specifications of the mounting bolts of the replacement insulator and the disassembly and assembly bus are different, and the replacement needs to be carried out aiming at different bolts.
Disclosure of Invention
The purpose of this description embodiment is to provide transformer substation live equipment flexible connector for bolt-up operation, the sleeve that this disclosure used need not to carry out customization processing for national standard specification sleeve, and the processing cost is low, practices thrift telescopic change time to improve maintenance operating efficiency.
This description embodiment provides transformer substation's live equipment bolt-up flexible connector for operation, realizes through following technical scheme:
the method comprises the following steps: the universal joint comprises an upper universal joint, a lower universal joint and a connecting rod, wherein the upper universal joint and the lower universal joint are connected through the connecting rod;
the lower universal joint is composed of a semi-convex universal joint and a semi-concave universal joint which are connected in a matched mode, grooves are formed in the semi-convex universal joint and the semi-concave universal joint, and the magnetic adjusting rod and the second straightening spring are installed in the grooves in a clearance fit mode;
and the moving direction of the magnetic adjusting rod is adjusted by utilizing a second straightening spring, so that a buckle is formed at the joint of the magnetic adjusting rod and the standard sleeve, and the fixed connection of the flexible connector and the sleeve is realized.
According to the further technical scheme, the protruding support of the semi-convex universal joint is inserted into the groove of the semi-concave universal joint, so that the semi-convex universal joint is connected with the semi-concave universal joint.
According to the further technical scheme, two ends of the first straightening spring are circular bending rings, and two ends of the first straightening spring are respectively sleeved at the connecting structure of the upper universal joint and the connecting rod and the connecting structure of the lower universal joint and the connecting rod.
According to the further technical scheme, the magnetic adjusting rod is of a hollow structure at one end, and the second straightening spring is installed inside the magnetic adjusting rod in a clearance fit mode.
According to the technical scheme, two ends of the magnetic adjusting rod are arc surfaces and are in clearance fit with the adjusting ball and the fixing ball respectively, and the adjusting ball and the fixing ball are installed in the guide groove in the semi-convex universal joint in a clearance fit mode.
According to a further technical scheme, the semi-convex universal joint is provided with an adjusting jackscrew.
The embodiment of the specification provides a transformer substation live equipment bolt fastening tool which comprises the flexible connector, wherein an upper universal joint of the flexible connector is arranged on an output shaft of a rotating motor;
the rotating motor is installed inside the angular electric wrench, the control box is connected and installed on the angular electric wrench, the adjusting support is connected with the angular electric wrench in an interference fit mode, the clamping handle is installed on the adjusting support, one end of the clamping handle is fixed, one end of the clamping handle is adjustable, and the clamping bodies are installed on two sides of the clamping handle.
The embodiment of the specification provides a transformer substation live equipment bolt fastening operation system which comprises a robot, wherein a mechanical arm of the robot is connected with a clamping handle of a bolt fastening tool;
the clamping handle is installed on the adjusting support, one end of the clamping handle is fixed, 90-degree angle adjustment can be achieved, the flexible connector can achieve bending transmission, therefore, when the sleeve is connected with the bolt, disassembling and assembling operation of the bolt in the four quadrants can be achieved, and the degree of freedom of the bolt fastening tool is increased.
The embodiment of the specification provides a transformer substation live equipment bolt fastening operation method, which comprises the following steps:
the adjusting jackscrew of the flexible adapter is rotated outwards, the adjusting ball moves in the semi-convex universal joint, the magnetic adjusting rod moves upwards under the action of the spring force of the second straightening spring, and meanwhile, the fixing ball moves in the semi-convex universal joint;
the selected sleeve is installed at the joint of the lower universal joint, the adjusting jackscrew of the flexible adapter is rotated inwards, the adjusting jackscrew extrudes the adjusting ball to move inwards, the magnetic adjusting rod moves downwards under the action of the adjusting ball, the fixed ball is extruded out of part of the ball, and a buckle is formed at the joint of the fixed ball and the sleeve, so that the flexible connector is fixedly connected with the sleeve.
The mechanical arm clamps the bolt fastening tool to carry out bolt dismounting operation, after a sleeve of the bolt fastening tool is connected with a bolt, the bolt fastening tool is remotely controlled, a rotating motor is started to carry out dismounting operation, a laser sensor, a vision sensor, an ultrasonic sensor and a leakage current sensor are arranged on the robot, so that the states of the robot, the tool and equipment in the live dismounting operation process can be monitored at any time, and the operation safety is ensured;
compared with the prior art, the beneficial effect of this disclosure is:
1. the adjusting jackscrew of the flexible adapter disclosed by the invention rotates outwards, the adjusting ball is moved in the upper guide groove of the semi-convex universal joint, the magnetic adjusting rod moves upwards under the action of the spring force of the second straightening spring, and meanwhile, the fixing ball moves along the lower guide groove in the semi-convex universal joint. The socket that will select is installed in the joint department of universal joint down, simultaneously through the internal hexagonal spanner with flexible adapter's regulation jackscrew internal rotation, makes and adjusts jackscrew extrusion regulation ball inward movement, under the effect of adjusting the ball, the magnetism regulation pole moves down, extrudes 1/4 balls with fixed ball, forms the buckle with muffjoint department to realize flexible connector and sleeve fixed connection.
2. The live working robot arm of transformer substation passes through clamping handle centre gripping bolt fastening tool, and clamping handle passes through bolted connection and installs on adjusting the support, and one end is fixed, can realize 90 angle modulation. The flexible connector can realize bending transmission, so that when the sleeve is connected with the bolt, the bolt fastening tool can realize the disassembling and assembling operation of the bolt in four quadrants, and the degree of freedom of the bolt fastening tool is increased. The first straightening spring, the connecting rod and the upper and lower universal joints of the flexible connector ensure the rigidity of the flexible connector while realizing torque transmission.
3. The invention provides a transformer substation live equipment bolt fastening flexible connection technology, designs related combined type operation tools, constructs a linear circulating feeding type sleeve fixing model, develops a rigid-flexible coupling multipoint split type connection rotary joint, and realizes accurate alignment of the transformer substation live equipment bolt fastening tools.
4. The intelligent operation method for bolt fastening of the robot is provided, a multi-degree-of-freedom split type flexible combined operation system is developed, a multi-degree-of-freedom bolt replacement model is constructed, multi-source heterogeneous data control technologies such as laser, vision, ultrasound and leakage current are fused, information barriers of a live working space and a structure of the robot are broken, and the overhaul operation task of bolt fastening of live equipment of a transformer substation is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic structural diagram of a flexible connector for bolt fastening operation of substation live equipment according to an embodiment of the present disclosure;
fig. 2(a) -2 (b) are schematic sectional structural diagrams of flexible connectors for bolt fastening operation of live equipment of a transformer substation according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a transformer substation live equipment bolt fastening operation tool according to an embodiment of the present disclosure;
FIGS. 4(a) -4 (b) are schematic structural diagrams of a semi-convex gimbal and a semi-concave gimbal according to an embodiment of the present disclosure;
FIG. 5 is a diagram of a robotic work system according to an exemplary embodiment of the present disclosure;
FIG. 6 is a block diagram of another exemplary robotic work system according to the present disclosure;
in the figure, 1, a clamping body, 2, a clamping handle, 3, an adjusting support, 4, a control box, 5, a rotating motor, 6, a flexible adapter, 7, a standard sleeve, 8, an angular electric wrench, 9, an upper universal joint, 10, a connecting rod, 11, a lower universal joint, 12, an adjusting jackscrew, 13, a first straightening spring, 14, an adjusting ball, 15, a magnetic adjusting rod, 16, a second straightening spring, 17, a fixed ball, 18, a semi-convex universal joint, 19 and a semi-concave universal joint.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
When the insulator of the transformer substation has defects, the connecting bus needs to be disconnected, so that the insulator is replaced. One of the purposes of the embodiment of the invention is to provide the flexible connector for bolt fastening operation of the live equipment of the transformer substation.
Example of implementation 1
This embodiment discloses flexible connector for transformer substation live equipment bolt-up operation, refer to fig. 1, fig. 2(a) -fig. 2(b) and show, include: the universal joint comprises an upper universal joint, a lower universal joint and a connecting rod, wherein the upper universal joint and the lower universal joint are connected through the connecting rod;
the lower universal joint is composed of a semi-convex universal joint and a semi-concave universal joint which are connected in a matched mode, grooves are formed in the semi-convex universal joint and the semi-concave universal joint, and the magnetic adjusting rod and the second straightening spring are installed in the grooves in a clearance fit mode;
and the moving direction of the magnetic adjusting rod is adjusted by utilizing the second straightening spring, so that a buckle is formed at the joint of the magnetic adjusting rod and the sleeve, and the fixed connection of the flexible connector and the sleeve is realized. During live working, the robot clamps the working tool to perform maintenance tasks such as bolt fastening.
The sleeve is standard, adjusts the internal and external rotary motion of jackscrew 12, and through adjusting ball 14, the magnetic adjustment pole, the transmission is adjusted fixed ball position, and fixed ball 1/4 sphere is outstanding, is connected with the sleeve, realizes the change of different specifications.
The lower joint is composed of 2 parts, shown in fig. 4(a) -4 (b). The upper gimbal is only partially constructed.
In the specific embodiment, the upper universal joint 9 is connected with the connecting rod 10 through screws. The protruding columns of the semi-convex universal joint 18 of the lower universal joint 11 are inserted into the grooves of the semi-concave universal joint 19, and the semi-convex universal joint 18 is connected with the semi-concave universal joint 19 through bolts. The lower universal joint 11 is connected with the connecting rod 10 through screws. The two ends of the first straightening spring 13 are circular bending rings, the two ends of the first straightening spring are respectively sleeved under the connecting screw of the upper universal joint 9 and the connecting rod 10 and the screw cap of the connecting screw of the lower universal joint 11 and the connecting rod 10, and the two ends of the first straightening spring 13 are fixed after the screws are tightened.
The first straightening spring ensures that the axes of the upper universal joint and the lower universal joint are overlapped as much as possible, and the rigidity is kept.
Referring to fig. 4(a) -4 (b), the inner structures of the semi-convex universal joint 18 and the semi-concave universal joint 19 are shown, and the inner parts of the semi-convex universal joint 18 and the semi-concave universal joint 19 are provided with key slots. The magnetic adjusting rod 15 is a hollow structure at one end, and the second straightening spring 16 is installed inside the magnetic adjusting rod 15 in a clearance fit manner. The magnetic adjusting rod 15 and the second straightening spring 16 are arranged in a clearance fit mode in key grooves in the inner portions of the semi-convex universal joint 18 and the semi-concave universal joint 19. The two ends of the magnetic adjusting rod 15 are arc surfaces which are respectively in clearance fit with the adjusting ball 14 and the fixed ball 17. The adjusting ball 14 and the fixed ball 17 are arranged in a guide groove in the semi-convex universal joint 18 in a clearance fit mode. The semi-convex universal joint 18 is provided with an adjusting jackscrew 12 which is connected through threads.
The magnetic adjustment rod 15 is a hollow rod, inside of which is a second straightening spring magnetic rod. The adjusting ball 14 and the fixed ball cooperate to realize transmission.
The adjusting jackscrew 12 rotates inside and outside, the position of the fixed ball is adjusted through the adjusting ball 14 and the magnetic adjusting rod, and the fixed ball 1/4 protrudes out of the spherical surface and is connected with the sleeve.
Example II
Referring to fig. 3, the embodiment of the present specification provides a transformer substation live equipment bolt fastening tool, including the flexible connector in the first embodiment, the clamping body 1 is installed on two sides of the clamping handle 2 through a bolt connection, the clamping handle 2 is installed on the adjusting support 3 through a bolt connection, one end of the clamping handle is fixed, and the other end of the clamping handle is adjustable. The adjusting support 3 is connected with the angular electric wrench 8 in an interference fit manner. The control box 4 is installed on the angular electric wrench 8 through bolted connection, the rotating electrical machines 5 are installed inside the angular electric wrench 8 through bolts, and the upper universal joints 9 of the flexible adapter 6 are installed on the output shafts of the rotating electrical machines through screws.
Example III
Referring to fig. 5 and 6, the embodiment of the present specification provides a robot system for bolt fastening operation of live equipment of a transformer substation, comprising a robot, wherein a mechanical arm of the robot is connected with a clamping handle of a bolt fastening tool;
the clamping handle is installed on the adjusting support, one end of the clamping handle is fixed, 90-degree angle adjustment can be achieved, the flexible connector can achieve bending transmission, therefore, when the sleeve is connected with the bolt, disassembling and assembling operation of the bolt in the four quadrants can be achieved, and the degree of freedom of the bolt fastening tool is increased.
Before operation, a corresponding sleeve is selected according to different operation objects, the adjusting jackscrew of the flexible adapter is screwed outwards through the inner hexagonal wrench, the adjusting ball 14 moves in the upper guide groove of the semi-convex universal joint 18, the magnetic adjusting rod moves upwards under the action of the spring force of the second straightening spring, and meanwhile, the fixing ball 17 moves along the lower guide groove of the semi-convex universal joint 18. The selected sleeve is installed at the joint of the lower universal joint, the adjusting jackscrew of the flexible adapter is rotated inwards through the inner hexagonal wrench, the adjusting jackscrew extrudes the adjusting ball 14 to move inwards, the magnetic adjusting rod moves downwards under the action of the adjusting ball 14, the fixing ball is extruded to 1/4 round balls, and a buckle is formed at the joint of the sleeve, so that the flexible connector and the sleeve are fixedly connected.
In a specific embodiment, the standard sleeve has a groove, and the ball of the connector protrudes to cooperate with the groove to form a snap.
The upper guide groove and the lower guide groove are positioned in the semi-convex universal joint 18; the function is guiding function, and the ball can move in the guide groove.
The upper universal joint of the flexible adapter is arranged on an output shaft of the rotating motor through a screw.
The live working robot arm of transformer substation passes through clamping handle centre gripping bolt fastening tool, and clamping handle passes through bolted connection and installs on adjusting the support, and one end is fixed, can realize 90 angle modulation. The flexible connector can realize bending transmission, so that when the sleeve is connected with the bolt, the bolt fastening tool can realize the disassembling and assembling operation of the bolt in four quadrants, and the degree of freedom of the bolt fastening tool is increased. The first straightening spring, the connecting rod and the upper and lower universal joints of the flexible connector ensure the rigidity of the flexible connector while realizing torque transmission.
The bolt dismouting operation is carried out to arm centre gripping bolt fastening tool, and after bolt fastening tool's sleeve and bolted connection, long-range wireless control bolt fastening tool started the rotating electrical machines, carries out the dismouting operation, is equipped with laser, vision, supersound and leakage current's sensor on the robot, can monitor the state of electrified dismouting operation in-process robot, instrument and equipment at any time, guarantees operation safety.
The square head shape of the motor output shaft is connected with the upper universal joint which is a square groove and matched with the motor output shaft, and the upper universal joint fixing jackscrew is convenient to fix.
The prior patent CN106312881 discloses a universal sleeve with flexibility and magnetism, which is a customized fastening sleeve with high customization; the mounting bolt who changes insulator, dismouting generating line is the standard component, and the sleeve that this patent used need not to carry out the customization processing for national standard specification sleeve, and the processing cost is low, practices thrift telescopic change time to improve maintenance operating efficiency.
In another embodiment, the multi-degree-of-freedom mechanical arm and a combined operation system with the split type flexible sleeve angular wrench construct a multi-degree-of-freedom bolt replacement model in a four-quadrant space, integrate multi-source heterogeneous data integration control modes such as laser, vision, ultrasound and leakage current, break information barriers of a live working space and a live working structure of a robot, and achieve overhaul operation of bolt fastening of live equipment of a transformer substation.
Specifically, the bolt fastening operation method for the robot system includes:
the mechanical arm clamps the bolt fastening tool to carry out bolt dismounting operation, after a sleeve of the bolt fastening tool is connected with a bolt, the bolt fastening tool is controlled, the rotating motor is started to carry out dismounting operation, the robot is provided with a laser sensor, a vision sensor, an ultrasonic sensor and a leakage current sensor, the states of the robot, the tool and equipment in the live dismounting operation process can be monitored at any time, and the operation safety is ensured;
the adjusting jackscrew of the flexible adapter is rotated outwards, the adjusting ball moves in the semi-convex universal joint, the magnetic adjusting rod moves upwards under the action of the spring force of the second straightening spring, and meanwhile, the fixing ball moves in the semi-convex universal joint;
the selected sleeve is installed at the joint of the lower universal joint, the adjusting jackscrew of the flexible adapter is rotated inwards, the adjusting jackscrew extrudes the adjusting ball to move inwards, the magnetic adjusting rod moves downwards under the action of the adjusting ball, the fixed ball is extruded out of part of the ball, and a buckle is formed at the joint of the fixed ball and the sleeve, so that the flexible connector is fixedly connected with the sleeve.
It is to be understood that throughout the description of the present specification, reference to the term "one embodiment", "another embodiment", "other embodiments", or "first through nth embodiments", etc., is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or materials described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (9)
1. Flexible connector is used in electrified equipment bolt-up operation of transformer substation, characterized by for the split type rotary joint that connects of hard and soft coupling multiple spot, include: the universal joint comprises an upper universal joint, a lower universal joint and a connecting rod, wherein the upper universal joint and the lower universal joint are connected through the connecting rod;
the lower universal joint is composed of a semi-convex universal joint and a semi-concave universal joint which are connected in a matched mode, grooves are formed in the semi-convex universal joint and the semi-concave universal joint, and the magnetic adjusting rod and the second straightening spring are installed in the grooves in a clearance fit mode;
the two ends of the magnetic adjusting rod are arc surfaces and are in clearance fit with the adjusting ball and the fixed ball respectively, and the adjusting ball and the fixed ball are arranged in the guide groove in the semi-convex universal joint in clearance fit;
the position of the fixed ball is adjusted by utilizing the second straightening spring to adjust the moving direction of the magnetic adjusting rod, and the fixed ball is extruded out of a part of round balls, so that a buckle is formed at the joint of the fixed ball and the standard sleeve, and the fixed connection of the flexible connector and the standard sleeve is realized.
2. The flexible connector for bolt fastening operation of the substation live equipment according to claim 1, wherein the protruding pillar of the semi-convex universal joint is inserted into the groove of the semi-concave universal joint, so that the connection between the semi-convex universal joint and the semi-concave universal joint is realized.
3. The flexible connector for bolt fastening operation of the live equipment of the transformer substation of claim 1, wherein two ends of the first straightening spring are circular bending rings, and two ends of the first straightening spring are respectively sleeved at the connecting structure of the upper universal joint and the connecting rod and the connecting structure of the lower universal joint and the connecting rod.
4. The flexible connector for bolt fastening operation of the live equipment of the substation of claim 1, wherein the magnetic adjusting rod is of a hollow structure at one end, and the second straightening spring is installed inside the magnetic adjusting rod in a clearance fit manner.
5. The flexible connector for bolt fastening operation of the substation live equipment according to claim 1, wherein an adjusting jackscrew is mounted on the semi-convex universal joint.
6. The flexible connector for bolt fastening operation of the live equipment of the substation of claim 3, wherein the first straightening spring ensures that the axes of the upper and lower universal joints coincide and maintains rigidity.
7. A transformer substation live equipment bolt fastening tool is characterized by comprising the flexible connector as claimed in any one of claims 1 to 6, wherein an upper universal joint of the flexible connector is mounted on an output shaft of a rotating motor;
the rotating motor is installed inside the angular electric wrench, the control box is connected and installed on the angular electric wrench, the adjusting support is connected with the angular electric wrench in an interference fit mode, the clamping handle is installed on the adjusting support, one end of the clamping handle is fixed, one end of the clamping handle is adjustable, and the clamping bodies are installed on two sides of the clamping handle.
8. A robot system characterized by comprising a robot, a robot arm of which is connected to a grip handle of the bolt tightening tool according to claim 7;
the clamping handle is installed on the adjusting support, one end of the clamping handle is fixed, 90-degree angle adjustment can be achieved, the flexible connector can achieve bending transmission, therefore, when the sleeve is connected with the bolt, disassembling and assembling operation of the bolt in the four quadrants can be achieved, and the degree of freedom of the bolt fastening tool is increased.
9. The robot system bolt tightening method according to claim 8, comprising:
the mechanical arm clamps the bolt fastening tool to carry out bolt dismounting operation, after a sleeve of the bolt fastening tool is connected with a bolt, the bolt fastening tool is controlled, the rotating motor is started to carry out dismounting operation, the robot is provided with a laser sensor, a vision sensor, an ultrasonic sensor and a leakage current sensor, the states of the robot, the tool and equipment in the live dismounting operation process can be monitored at any time, and the operation safety is ensured;
the adjusting jackscrew of the flexible connector is screwed outwards, the adjusting ball moves in the semi-convex universal joint, the magnetic adjusting rod moves upwards under the action of the spring force of the second straightening spring, and meanwhile, the fixing ball moves in the semi-convex universal joint;
the selected sleeve is arranged at the joint of the lower universal joint, the adjusting jackscrew of the flexible connector is screwed inwards, the adjusting jackscrew extrudes the adjusting ball to move inwards, the magnetic adjusting rod moves downwards under the action of the adjusting ball, the fixed ball is extruded out of part of the ball, and a buckle is formed at the joint of the fixed ball and the sleeve, so that the flexible connector is fixedly connected with the sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911252365.2A CN111300028B (en) | 2019-12-09 | 2019-12-09 | Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911252365.2A CN111300028B (en) | 2019-12-09 | 2019-12-09 | Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment |
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| CN111300028A CN111300028A (en) | 2020-06-19 |
| CN111300028B true CN111300028B (en) | 2021-03-16 |
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| CN201911252365.2A Active CN111300028B (en) | 2019-12-09 | 2019-12-09 | Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111660277B (en) * | 2020-06-28 | 2023-02-10 | 中铁九局集团电务工程有限公司 | Bolt mounting arm |
| CN111923021A (en) * | 2020-07-08 | 2020-11-13 | 广东工业大学 | Modular robot |
| CN113478426A (en) * | 2021-07-12 | 2021-10-08 | 上海咏序科技有限公司 | Passive compliant pneumatic torque actuator at tail end of robot |
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| US6390927B1 (en) * | 1999-10-22 | 2002-05-21 | Cleveland Tool Corporation | Spring loaded U-joint with spring retaining surface |
| CN102333620A (en) * | 2009-03-17 | 2012-01-25 | 水户工业株式会社 | Universal tightening tool and tightening device using same |
| CN203641263U (en) * | 2013-12-13 | 2014-06-11 | 成世有 | Novel universal connecting part |
| CN207014267U (en) * | 2017-07-24 | 2018-02-16 | 杭州华丰巨箭工具有限公司 | The pneumatic Universal sleeve of high-performance |
| CN208005130U (en) * | 2018-01-26 | 2018-10-26 | 航天智造（上海）科技有限责任公司 | A kind of fully automatic bolt tightening machine people's system |
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