CN118951692A - A bolt tightening device for nuclear industry with balance detection function - Google Patents
A bolt tightening device for nuclear industry with balance detection function Download PDFInfo
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- CN118951692A CN118951692A CN202411162117.XA CN202411162117A CN118951692A CN 118951692 A CN118951692 A CN 118951692A CN 202411162117 A CN202411162117 A CN 202411162117A CN 118951692 A CN118951692 A CN 118951692A
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- fastening
- bolt
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- feeding
- shell
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- 238000001514 detection method Methods 0.000 title claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims description 76
- 239000000463 material Substances 0.000 claims description 25
- 239000007787 solid Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 4
- 230000002829 reductive effect Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 10
- 230000002441 reversible effect Effects 0.000 description 6
- 230000000670 limiting effect Effects 0.000 description 4
- 244000309464 bull Species 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000036961 partial effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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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
-
- 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
- B23P19/008—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 the parts being continuously transported through the machine during assembling or disassembling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/02—Arrangements for handling screws or nuts
- B25B23/08—Arrangements for handling screws or nuts for holding or positioning screw or nut prior to or during its rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
- B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
The invention discloses a bolt fastening device with a balance detection function for nuclear industry, and belongs to the technical field of bolt fastening devices. The automatic feeding device comprises a feeding device, a feeding pipe, an automatic fastening device, a mechanical arm, a main machine seat and an electric wheel, wherein the automatic loading and feeding of bolts is realized by utilizing a fixed feeding assembly, when bolts to be fastened are in place, the bolt heads of the bolts are tightly pressed up and down by utilizing a pressure ball to be matched with a collet slide block, the bolts are fixed, the next bolts are filled in place in the pressing process, the bolt fastening efficiency is ensured, and after the pretightening force is applied, the control system counts. The torque detector is utilized to convert the torque into an electric signal and transmit the electric signal to the control system, and the control system analyzes the corresponding torque according to the magnitude of the electric signal and feeds the corresponding torque back to staff, so that the purpose of detecting the torque in real time is achieved. The main machine seat is matched with the electric wheel and the mechanical arm, so that automatic identification of the bolt holes is realized, and the bolts can be automatically moved to the fastening positions.
Description
Technical Field
The invention relates to the technical field of bolt fastening devices, in particular to a nuclear industry bolt fastening device with a balance detection function.
Background
Nuclear industry bolts are vital fasteners in the field of nuclear industry that play an essential role in securing the safe operation of the facility and the stability of the equipment. The bolt fastening operation in the nuclear industry field often needs precise operation, and the traditional manual fastening is low in efficiency and has great safety risk; when the bolts are large, manual operation is often insufficient for tightening.
When the bolt is fastened, a pretightening force is required to be applied to the bolt, after the bolt is fastened, a tightening torque is continuously applied to the bolt, and the pretightening force generated between the bolt and the connected piece under the action of the tightening torque along the axial lead direction of the bolt is generated. The frictional force between the connecting pieces can be increased by the pretightening force, and when the connecting pieces are subjected to vibration or impact load, the loosening trend can be effectively resisted by the frictional force provided by the pretightening force, and the stability of connection is maintained. When the pretightening force is too large, the screw thread of the bolt is plastically deformed, and the fastening strength is reduced, so that the torque of the bolt fastening needs to be detected when the bolt fastening is performed, the pretightening force of the bolt and the stress strength of the bolt are ensured to reach a balanced state, the bolt can be prevented from loosening under the pretightening force, deformation can be avoided, and the balance detection can be performed when the automatic fastening of the bolt is difficult to realize by the conventional equipment.
Disclosure of Invention
The invention aims to provide a bolt fastening device with a balance detection function for nuclear industry, which solves the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a nuclear industry is with bolt-up device with balanced detection function, includes the host computer seat, rotates on the host computer seat and installs the electronic round, installs the arm on the host computer seat, and arm one end slidable mounting has the material loading pipe, and automatic fastener is installed to material loading pipe one end, and the feeder is installed to the material loading pipe other end; the automatic fastening device comprises a limiting strip and a fastening shell, wherein the limiting strip is arranged in the feeding pipe and extends into the fastening shell, the fastening shell is connected with one end of the feeding pipe, a rotary fastening assembly is rotatably arranged in the fastening shell, a fixed feeding device is arranged in the fastening shell in a sliding mode, a pre-tightening adjusting assembly is rotatably arranged in the fastening shell, the pre-tightening adjusting assembly is in transmission connection with the rotary fastening assembly, the bottom end of the rotary fastening assembly is slidably connected with a sliding collet, the sliding collet is slidably arranged in the fastening shell, a fastening motor is respectively arranged in the fastening shell, a fastening gear is arranged on an output shaft of the fastening motor, and the fastening gear is in meshed transmission with the pre-tightening adjusting assembly.
A control system is arranged in the main machine seat and is used for controlling the whole bolt fastening device. The feeding pipe is internally provided with a plurality of bolts in a linear manner, the feeding device is used for orderly filling the bolts into the feeding pipe, and the feeding pipe is internally provided with a pushing block for pushing the bolts to advance; be equipped with industry camera on the main base for the discernment bolt hole, spacing is used for guiding bolt linear sliding, does not take place the deflection.
The driving path of the main machine base is preset through the control system, then the control system starts the electric wheel, the electric wheel drives the bolt fastening device to drive along the preset path, the industrial camera on the main base identifies the bolt hole on the fastening device in the path, after identification, the control system drives the feeding pipe to move through the mechanical arm, the automatic fastening device at the end part of the feeding pipe is aligned with the bolt hole, and then the mechanical arm is controlled to extend forwards further until the bolt at the end part of the automatic fastening device abuts against the bolt hole.
The pre-tightening adjusting assembly comprises a rotating main ring and an adjusting cylinder, the rotating main ring is rotationally connected with the rotating fastening assembly, a sliding block groove and a sliding block groove are formed in the bottom of the rotating main ring, an adjusting sliding block and a transmission sliding block are installed in the sliding block groove in a sliding mode, sliding plates are symmetrically installed on two sides of the adjusting sliding block, sliding plates are installed on two sides of the transmission sliding block in a sliding block groove in a sliding mode, an adjusting spring is installed between the transmission sliding block and the adjusting sliding block, the transmission sliding block is embedded with the rotating fastening assembly, an adjusting column is installed on the adjusting sliding block, an adjusting ring is rotationally installed on the rotating main ring, an arc-shaped groove is formed in the adjusting ring, the adjusting column is slidingly arranged in the arc-shaped groove, the adjusting ring is rotationally connected with an output shaft of the adjusting cylinder through a connecting piece, and one end of the adjusting cylinder is rotationally connected with the inner wall of the rotating main ring in a meshed mode, and the rotating main ring and the fastening gear are in a meshed mode.
The adjusting cylinder is used for connecting the rotating main ring and the adjusting ring, when the rotating main ring rotates, the adjusting ring is driven to rotate by the adjusting cylinder, and at the moment, the adjusting ring does not deflect relative to the rotating main ring because the adjusting cylinder is in a static state, and the adjusting ring and the rotating main ring integrally rotate; when pretightening force adjustment is needed, the control system can start the adjusting cylinder, the output shaft of the adjusting cylinder drives the adjusting ring to deflect according to a certain angle, at the moment, the adjusting ring deflects relative to the rotating main ring, when the adjusting ring rotates, the adjusting slide block is driven to rotate through the adjusting column, the adjusting slide block is positioned in the slide block groove and cannot rotate, so that the rotation is converted into linear sliding along the slide block groove, the adjusting ring drives the adjusting slide block to be close to the transmission slide block, at the moment, the distance between the transmission slide block and the adjusting slide block is reduced, the adjusting spring is compressed, the elasticity exerted by the compressed adjusting spring on the transmission slide block is increased, and then the embedding force between the transmission slide block and the transmission groove is also increased, otherwise, when the adjusting slide block is far away from the transmission slide block, the embedding force between the transmission slide block and the transmission groove is also reduced;
Under the action of the jogging force, the transmission slide block is jogged with the transmission groove tightly, so that the main rotation ring and the transmission ring are meshed for transmission. When the bolt is fastened, the fastening block continuously applies torque to the bolt to enable the bolt to continuously rotate, meanwhile, the bolt can generate corresponding reverse torque to the fastening block, the reverse torque prevents the fastening block from continuously rotating, under the combined action of the reverse torque of the bolt and the rotating torque of the rotating main ring, the driving ring on the fastening block forces the driving block to retract against the engaging force, the rotating main ring and the driving ring are separated from the engaged state, the rotating main ring rotates, the fastening block applies torque to the bolt, the pretightening force is not changed any more, therefore, when the engaging force between the driving block and the driving groove is increased, the torque required by the driving block for overcoming the engaging force is also increased, the pretightening force which can be applied by the corresponding fastening block to the bolt is also increased, otherwise, when the engaging force between the driving block and the driving groove is reduced, the torque required by the driving block for overcoming the engaging force is also reduced, the torque which can be applied by the corresponding fastening block is also reduced, and the pretightening force which can be applied by the principle is also reduced.
The control system utilizes the control ring to adjust the jogging force between the transmission slide block and the transmission groove according to the requirement of the pretightening force, the fastening motor is started, the output shaft of the fastening motor drives the fastening gear to rotate, the fastening gear drives the rotation main ring to rotate, the rotation main ring drives the transmission ring to rotate through the transmission slide block on the rotation main ring, the transmission ring drives the transmission piece on the transmission ring to rotate, the transmission piece drives the torque detector to rotate, thereby driving the fastening block to rotate, the fastening block drives the bolt to rotate and fasten through the fastening hole, the mechanical arm drives the automatic fastening device to extend forwards along with the tightening of the bolt, when the bolt is about to fasten, the mechanical arm does not need to drive the automatic fastening device to extend forwards along with the reduction of the distance between the bolt and the fastening object, at the moment, along with the continuous fastening, the bolt head can squeeze the inclined plane on the bottom bracket block to enable the bottom bracket block to retract along the bottom bracket slide bar under pressure until the bottom bracket slide block is completely retracted, the bolt head can smoothly pass through the bottom bracket slide block, then the bolt is continuously rotated to apply the preset pretightening force to the bolt, and after the pretightening force is applied, the control system counts; the method is repeated in a circulating way, and full-automatic fastening balance detection of the bolts is achieved.
The rotary fastening assembly comprises a fastening block, the fastening block is rotatably arranged in the fastening shell, a fastening hole is formed in the fastening block, a driving ring is rotatably arranged on the fastening block, a rotating main ring is rotatably connected with the fastening block, a plurality of driving plates are arranged on the driving ring, a plurality of driving grooves are formed in the inner wall of the driving ring, the driving sliding blocks are embedded in the driving grooves, a plurality of torque detectors are arranged on the fastening block and connected with the driving plates, and a sliding bottom support is slidably arranged at the bottom end of the fastening block.
The torque detector comprises a detection shell, a detection rod is slidably mounted in the detection shell, a piston is mounted at one end of the detection rod, the other end of the detection rod is connected with a transmission piece, the piston is slidably connected with the detection shell, a pneumatic sensor is mounted at the bottom end of the detection shell, and the detection shell is mounted on a fastening block.
The cavity in the detection shell is provided with detection gas. When the transmission sheet drives the torque detector to rotate, torque can be applied to the torque detector, the detection rod drives the piston to slide in the detection shell under the action of the torque, the piston slides and compresses detection gas in the cavity, the detection gas is compressed to enable air pressure in the cavity to be increased, the air pressure sensor converts air pressure change into an electric signal to be transmitted to the control system, and the control system analyzes corresponding torque according to the electric signal and feeds back the electric signal to staff.
The sliding shoe comprises a shoe slide block, a shoe slide rod is arranged on the shoe slide block, the shoe slide rod is slidably arranged in the fastening shell, a shoe spring is arranged between the shoe slide block and the fastening shell, and the top end of the shoe slide block is slidably connected with the bottom end of the fastening block. A round hole is arranged in the fastening shell, and one end of the collet slide rod is arranged in the round hole in a sliding way.
The fixed feeding device comprises a feeding component, a fixing component and a driving cylinder, wherein the feeding component is slidably installed in a fastening shell, a spring telescopic rod is installed at the bottom end of the feeding component, the driving cylinder is installed in the fastening shell, a connecting sheet is installed on an output shaft of the driving cylinder and is connected with the spring telescopic rod, the fixing component is slidably installed in the fastening shell, and the fixing component is connected with one end of the spring telescopic rod.
The control system starts a driving cylinder, an output shaft of the driving cylinder drives a spring telescopic rod to lift up through a connecting sheet, the spring telescopic rod drives a feeding ring to slide upwards along the inner wall of a fastening shell, the feeding ring drives a feeding shifting plate to rotate through a feeding rotating rod, the feeding shifting plate rotates around a first connecting rod assembly, the distance between lower unhooking hooks is kept away from each other along with rotation until contact with the bottom of a bolt head is broken, when the spring telescopic rod lifts up, the spring telescopic rod synchronously drives a fixed ring at the bottom to slide upwards along the inner wall of the fastening shell, the fixed ring drives a rack rod at the bottom to slide, the rack rod drives a lower pressing rod to rotate around a second connecting rod assembly and lift up, the bolt loses the limit of a lower supporting hook and falls along a limiting strip, the bottom end of the bolt head on the bolt just falls into a fastening hole of the fastening block and is supported by the supporting slider, meanwhile, the upper supporting hooks are mutually close along with rotation, and when the bolt to be fastened falls down, the next bolt located on the bolt is lost to be supported by the bottom of the lower supporting hook until the bottom of the bolt head is fallen by the upper unhooking hook;
The control system starts the driving cylinder again, the output shaft of the driving cylinder contracts and drives the spring telescopic rod to descend through the connecting sheet, the spring telescopic rod drives the feeding ring to slide downwards, the feeding ring drives the feeding shifting plate to reversely rotate through the feeding rotating rod, the upper supporting hooks are mutually far away along with rotation, the bottom end of the bolt head of the next bolt loses the support of the upper supporting hook and falls down, the interval between the lower supporting hooks is mutually close to furl along with rotation, and the bolt head of the next bolt is supported by the lower supporting hook; meanwhile, the spring telescopic rod drives the fixed ring to slide downwards when descending, the fixed ring drives the rack rod to slide downwards, the rack rod drives the lower pressing rod to rotate and press downwards until the pressing ball contacts with the top of the bolt head of the bolt to be fastened, at the moment, the pressing ball is matched with the collet slide block to tightly press the bolt head of the bolt up and down, so that the bolt is fixed.
The feeding assembly comprises a feeding ring, a feeding rotating rod, a first connecting rod assembly and a feeding pulling piece, wherein the feeding ring is slidably installed in the fastening shell, the feeding pulling piece is movably connected with the feeding ring through the feeding rotating rod, the feeding pulling piece is rotatably connected with the fastening shell through the first connecting rod assembly, a lower supporting hook is arranged at the bottom end of the feeding pulling piece, an upper supporting hook is arranged at the top end of the feeding pulling piece, and the bottom end of the feeding ring is connected with the spring telescopic rod.
The fixed subassembly includes solid fixed ring, lower depression bar and second link assembly, and gu fixed ring top is connected with the spring telescopic link, and a plurality of rack bars are installed to gu fixed ring bottom, and lower depression bar passes through second link assembly to be connected with fastening shell, and the pressure ball is installed in the roll of lower depression bar bottom, and rack bar and lower depression bar meshing transmission. When the bolt rotates, the pressing ball is used as a contact medium, so that the scratch on the surface of the bolt can be prevented.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the fixed feeding component is utilized to realize automatic filling and feeding of the bolt, after the bolt to be fastened is in place, the pressure ball is matched with the collet slide block to press the bolt head of the bolt up and down, so that the bolt is fixed, meanwhile, in the pressing process, the next bolt is filled in place, and the bolt fastening efficiency is ensured. When the bolt rotates, the pressing ball is used as a contact medium to prevent the surface of the bolt from being scratched.
The fastening motor is utilized to drive the fastening block to rotate, the fastening block applies torque to the bolt, the purpose of automatically tightening the bolt is achieved, the torque is converted into an electric signal by the torque detector and is transmitted to the control system, the control system analyzes the corresponding torque according to the electric signal, and the corresponding torque is fed back to a worker, so that the purpose of detecting the torque in real time is achieved.
The adjusting ring is used for controlling the engaging force between the transmission sliding block and the transmission groove, so that the purpose of adjusting the pretightening force is achieved, when the torque is overlarge, the main rotating ring rotates, the torque is prevented from being further applied to the bolt, and the purpose of avoiding overlarge pretightening force is achieved.
The main machine seat is matched with the electric wheel and the mechanical arm, so that automatic identification of the bolt holes is realized, and the bolts can be automatically moved to the fastening positions.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is an overall elevation of the bolt-tightening apparatus of the present invention;
FIG. 2 is a cut-away elevation view of the automatic fastening device of the present invention;
FIG. 3 is an elevational view of the internal structure of the automatic fastening device of the present invention;
FIG. 4 is an elevation view of the automatic fastening device of the present invention;
FIG. 5 is an enlarged partial view of area A of FIG. 3 in accordance with the present invention;
FIG. 6 is a rotational main ring elevation of the present invention;
FIG. 7 is an elevation view of the drive ring of the present invention;
FIG. 8 is an elevational view of the rotary tightening assembly and pretension adjustment assembly of the present invention;
FIG. 9 is an elevation view of a securing assembly of the present invention;
FIG. 10 is an enlarged partial view of region B of FIG. 8 in accordance with the present invention;
In the figure: 1. a feeding device; 2. feeding pipes; 3. an automatic fastening device; 4. a mechanical arm; 5. a main machine base; 6. an electric wheel; 31. a limit bar; 32. a rotary fastening assembly; 33. a feeding assembly; 34. a pretension adjustment assembly; 35. a spring telescoping rod; 36. a connecting sheet; 37. a driving cylinder; 38. fixing a feeding device; 39. a fixing assembly; 310. fastening a motor; 311. fastening a gear; 312. fastening the housing; 313. a sliding shoe; 321. a drive ring; 322. a transmission plate; 323. a transmission groove; 324. a fastening block; 325. a torque detector; 326. a detection rod; 327. a piston; 328. an air pressure sensor; 329. a detection housing; 3210. a fastening hole; 331. a feeding ring; 332. a first link assembly; 333. feeding shifting sheets; 334. a lower supporting hook; 335. a supporting hook is arranged; 336. a feeding rotating rod; 341. rotating the main ring; 342. an adjusting ring; 343. adjusting a cylinder; 344. an adjusting spring; 345. an adjusting slide block; 346. an adjusting column; 347. a transmission slide block; 348. a slider groove; 349. a slide sheet; 3410. a slide groove; 391. a fixing ring; 392. a rack bar; 393. pressing down a rod; 394. pressing the material balls; 395. a second link assembly; 3131. a shoe slide; 3132. a bottom support slide bar; 3133. and a collet spring.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-10, the present invention provides the following technical solutions: the utility model provides a nuclear industry is with bolt-up device with balanced detection function, includes host computer seat 5, rotates on the host computer seat 5 and installs electronic round 6, installs arm 4 on the host computer seat 5, and arm 4 one end slidable mounting has material loading pipe 2, and automatic fastening device 3 is installed to material loading pipe 2 one end, and material feeding device 1 is installed to material loading pipe 2 other end; the automatic fastening device 3 comprises a limit bar 31 and a fastening shell 312, wherein the limit bar 31 is arranged in the feeding tube 2 and extends into the fastening shell 312, the fastening shell 312 is connected with one end of the feeding tube 2, a rotary fastening assembly 32 is rotatably arranged in the fastening shell 312, a fixed feeding device 38 is slidably arranged in the fastening shell 312, a pre-tightening adjusting assembly 34 is rotatably arranged in the fastening shell 312, the pre-tightening adjusting assembly 34 is in transmission connection with the rotary fastening assembly 32, a sliding bottom bracket 313 is slidably connected with the bottom end of the rotary fastening assembly 32, the sliding bottom bracket 313 is slidably arranged in the fastening shell 312, a fastening motor 310 is respectively arranged in the fastening shell 312, a fastening gear 311 is arranged on an output shaft of the fastening motor 310, and the fastening gear 311 is in meshed transmission with the pre-tightening adjusting assembly 34.
A control system is installed in the main machine base 5, and is used for controlling the whole bolt fastening device. The feeding pipe 2 is internally provided with a plurality of bolts in a linear manner, the feeding device 1 is used for orderly filling the bolts into the feeding pipe 2, and the feeding pipe 2 is internally provided with a pushing block for pushing the bolts to advance; the main base is provided with an industrial camera for identifying the bolt holes, and the limiting strips 31 are used for guiding the bolts to slide linearly without deflection.
The pre-tightening adjusting assembly 34 comprises a rotating main ring 341 and an adjusting cylinder 343, the rotating main ring 341 is rotationally connected with the rotating fastening assembly 32, a sliding block groove 348 and a sliding block groove 3410 are arranged at the bottom of the rotating main ring 341, an adjusting sliding block 345 and a transmission sliding block 347 are arranged in the sliding block groove 348 in a sliding mode, sliding pieces 349 are symmetrically arranged on two sides of the adjusting sliding block 345, sliding pieces 349 are symmetrically arranged on two sides of the transmission sliding block 347, an adjusting spring 344 is arranged between the transmission sliding block 347 and the adjusting sliding block 345, the transmission sliding block 347 is embedded with the rotating fastening assembly 32, an adjusting column 346 is arranged on the adjusting sliding block 345, an adjusting ring 342 is rotationally arranged on the rotating main ring 341, an arc-shaped groove is formed in the adjusting ring 342, the adjusting column 346 is rotationally connected with an output shaft of the adjusting cylinder 343 through a connecting piece, one end of the adjusting cylinder 343 is rotationally connected with the inner wall of the rotating main ring 341 through the connecting piece, and the rotating main ring 341 is in meshed transmission with the fastening gear 311.
The adjusting cylinder 343 is used for connecting the rotating main ring 341 and the adjusting ring 342, when the rotating main ring 341 rotates, the adjusting cylinder 343 drives the adjusting ring 342 to rotate, and at the moment, the adjusting ring 342 does not deflect relative to the rotating main ring 341 because the adjusting cylinder 343 is in a static state, and the adjusting ring 342 and the rotating main ring 341 integrally rotate; when the pretightening force is required to be adjusted, the control system can start the adjusting cylinder 343, the output shaft of the adjusting cylinder 343 drives the adjusting ring 342 to deflect at a certain angle, at this time, the adjusting ring 342 deflects relative to the rotating main ring 341, when the adjusting ring 342 rotates, the adjusting slide block 345 is driven to rotate through the adjusting column 346, the adjusting slide block 345 is positioned in the slide block groove 348 and cannot rotate, so that the rotation is converted into linear sliding along the slide block groove 348, the adjusting ring 342 drives the adjusting slide block 345 to be close to the transmission slide block 347, at this time, the distance between the transmission slide block 347 and the adjusting slide block 345 is reduced, the adjusting spring 344 is compressed, the elasticity exerted by the compressed adjusting spring 344 on the transmission slide block 347 is increased, and then the embedding force between the transmission slide block 347 and the transmission groove 323 is also increased, otherwise, when the adjusting slide block 345 is far away from the transmission slide block 347, the embedding force between the transmission slide block 347 and the transmission groove 323 is also reduced;
The driving slider 347 is tightly engaged with the driving groove 323 by the engagement force, so that the rotation main ring 341 is engaged with the driving ring 321 for driving. When the bolt fastening is completed, the fastening block 324 continues to apply torque to the bolt to enable the bolt to continue rotating, meanwhile, the bolt can generate corresponding reverse torque to the fastening block 324, the reverse torque prevents the fastening block 324 from continuing rotating, the transmission ring 321 on the fastening block 324 forces the transmission block 347 to retract against the embedding force under the combined action of the bolt reverse torque and the rotating torque of the rotating main ring 341, the rotating main ring 341 and the transmission ring 321 are separated from the engaged state, so that the rotating main ring 341 idles, the fastening block 324 applies torque to the bolt, the pretightening force is not changed any more, therefore, when the embedding force between the transmission block 347 and the transmission groove 323 is increased, the torque required by the transmission block 347 to overcome the embedding force is also increased, the pretightening force which can be applied by the corresponding fastening block 324 is also increased, otherwise, when the embedding force between the transmission block 347 and the transmission groove 323 is reduced, the torque required by the transmission block 347 overcomes the embedding force is also reduced, the corresponding pretightening force which can be applied by the fastening block 324 to the bolt is also reduced.
The rotary fastening assembly 32 comprises a fastening block 324, the fastening block 324 is rotatably installed in the fastening shell 312, a fastening hole 3210 is formed in the fastening block 324, a driving ring 321 is rotatably installed on the fastening block 324, a rotating main ring 341 is rotatably connected with the fastening block 324, a plurality of driving plates 322 are arranged on the driving ring 321, a plurality of driving grooves 323 are formed in the inner wall of the driving ring 321, driving sliding blocks 347 are embedded in the driving grooves 323, a plurality of torque detectors 325 are installed on the fastening block 324, the torque detectors 325 are connected with the driving plates 322, and a sliding bottom bracket 313 is slidably installed at the bottom end of the fastening block 324.
The torque detector 325 includes a detecting housing 329, a detecting rod 326 is slidably mounted in the detecting housing 329, a piston 327 is mounted at one end of the detecting rod 326, the other end of the detecting rod 326 is connected with the transmission piece 322, the piston 327 is slidably connected with the detecting housing 329, a pneumatic sensor 328 is mounted at the bottom end of the detecting housing 329, and the detecting housing 329 is mounted on the fastening block 324.
A detection gas is disposed in the cavity within the detection housing 329. When the transmission plate 322 drives the torque detector 325 to rotate, torque is applied to the torque detector 325, the detection rod 326 drives the piston 327 to slide in the detection shell 329 under the action of the torque, the piston 327 slides and compresses the detection gas in the cavity, the pressure in the cavity is increased after the detection gas is compressed, the pressure sensor 328 converts the change of the pressure into an electric signal to be transmitted to the control system, and the control system analyzes the corresponding torque according to the magnitude of the electric signal and feeds back the electric signal to the staff.
The sliding shoe 313 includes a shoe slider 3131, a shoe slide bar 3132 is mounted on the shoe slider 3131, the shoe slide bar 3132 is slidably mounted in the fastening housing 312, a shoe spring 3133 is mounted between the shoe slider 3131 and the fastening housing 312, and the top end of the shoe slider 3131 is slidably connected with the bottom end of the fastening block 324. A circular hole is formed in the fastening housing 312, and one end of the shoe slide bar 3132 is slidably disposed in the circular hole.
The fixed feeding device 38 comprises a feeding assembly 33, a fixing assembly 39 and a driving air cylinder 37, wherein the feeding assembly 33 is slidably arranged in a fastening shell 312, a spring telescopic rod 35 is arranged at the bottom end of the feeding assembly 33, the driving air cylinder 37 is arranged in the fastening shell 312, a connecting sheet 36 is arranged on an output shaft of the driving air cylinder 37, the connecting sheet 36 is connected with the spring telescopic rod 35, the fixing assembly 39 is slidably arranged in the fastening shell 312, and the fixing assembly 39 is connected with one end of the spring telescopic rod 35.
The material loading subassembly 33 includes material loading ring 331, material loading bull stick 336, first link assembly 332 and material loading plectrum 333, material loading ring 331 slidable mounting is in fastening shell 312, material loading plectrum 333 passes through material loading bull stick 336 and material loading ring 331 swing joint, material loading plectrum 333 passes through first link assembly 332 and fastening shell 312 rotation to be connected, material loading plectrum 333 bottom is equipped with down the support hook 334, material loading plectrum 333 top is equipped with the support hook 335, material loading ring 331 bottom and spring telescopic link 35 are connected.
The fixing component 39 comprises a fixing ring 391, a pressing rod 393 and a second connecting rod component 395, the top end of the fixing ring 391 is connected with the spring telescopic rod 35, a plurality of rack rods 392 are installed at the bottom end of the fixing ring 391, the pressing rod 393 is connected with the fastening shell 312 through the second connecting rod component 395, a pressing ball 394 is installed at the bottom end of the pressing rod 393 in a rolling mode, and the rack rods 392 are in meshed transmission with the pressing rod 393. When the bolt rotates, the pressing ball 394 is used as a contact medium, so that the scratch on the surface of the bolt can be prevented.
The working principle of the invention is as follows: the control system starts the driving cylinder 37, the output shaft of the driving cylinder 37 drives the spring telescopic rod 35 to lift up through the connecting sheet 36, the spring telescopic rod 35 drives the feeding ring 331 to slide up along the inner wall of the fastening shell 312, the feeding ring 331 drives the feeding shifting plate 333 to rotate through the feeding rotary rod 336, the feeding shifting plate 333 rotates around the first connecting rod component 332, the distance between the lower unhooking pieces is kept away from each other along with the rotation until the contact with the bottom of the bolt head is disconnected, when the spring telescopic rod 35 lifts up, the spring telescopic rod 35 synchronously drives the fixed ring 391 at the bottom to slide up along the inner wall of the fastening shell 312, the fixed ring 391 drives the rack rod 392 at the bottom to slide, the rack rod 392 drives the lower pressing rod 393 to rotate around the second connecting rod component 395 and lift up, the bolt loses the limit of the lower supporting hook 334 to fall along the limit bar 31, the bolt head on the bolt just falls into the fastening hole 3210 of the fastening block 324 and is embedded with the lower supporting slider 3131, meanwhile, the upper supporting hooks 335 are mutually close along with rotation, and after the bolt to be fastened falls down, the upper supporting hook is located on the lower supporting bottom of the bolt head and the bolt is lost due to the falling down of the bolt head;
The control system starts the driving air cylinder 37 again, the output shaft of the driving air cylinder 37 contracts and drives the spring telescopic rod 35 to descend through the connecting sheet 36, the spring telescopic rod 35 drives the feeding ring 331 to slide downwards, the feeding ring 331 drives the feeding shifting sheet 333 to reversely rotate through the feeding rotating rod 336, the upper supporting hooks 335 are separated from each other along with rotation, the bottom ends of the bolt heads of the next bolts lose the support of the upper supporting hooks 335 and fall down, the intervals between the lower supporting hooks 334 are close to each other along with rotation and are supported by the lower supporting hooks 334; meanwhile, the spring telescopic rod 35 drives the fixed ring 391 to slide downwards when descending, the fixed ring 391 drives the rack rod 392 to slide downwards, the rack rod 392 drives the lower pressing rod 393 to rotate and press downwards until the pressing ball 394 contacts with the top of the bolt head of the bolt to be fastened, at the moment, the pressing ball is matched with the bottom support slide block 3131 to tightly press the bolt head of the bolt up and down, so that the fixation of the bolt is realized, and when the feeding ring 331 cannot slide downwards due to clamping of the feeding shifting sheet 333 and the bolt, the spring telescopic rod 35 can be lengthened under the action of the driving cylinder 37, and the influence on the sliding of the lower fixed ring 391 due to the fact that the feeding ring 331 at the upper part cannot slide downwards is prevented.
The driving path of the main machine seat 5 is preset through the control system, then the control system starts the electric wheel 6, the electric wheel 6 drives the bolt fastening device to drive along the preset path, the industrial camera on the main machine seat identifies the bolt hole on the fastening device in the path, after the identification, the control system drives the feeding pipe 2 to move through the mechanical arm 4, the automatic fastening device 3 at the end part of the feeding pipe 2 is aligned with the bolt hole, and then the mechanical arm 4 is controlled to extend forwards further until the bolt at the end part of the automatic fastening device 3 abuts against the bolt hole.
The control system utilizes the control ring to adjust the jogging force between the transmission slide block 347 and the transmission groove 323 according to the pretightening force requirement, the fastening motor 310 is started, the output shaft of the fastening motor 310 drives the fastening gear 311 to rotate, the fastening gear 311 drives the rotating main ring 341 to rotate, the rotating main ring 341 drives the transmission ring 321 to rotate through the transmission slide block 347 on the rotating main ring, the transmission ring 321 drives the transmission piece 322 on the transmission ring to rotate, the transmission piece 322 pushes the torque detector 325 to rotate, thereby driving the fastening block 324 to rotate, the fastening block 324 drives the bolt to rotate through the fastening hole 3210, the mechanical arm 4 drives the automatic fastening device 3 to extend forwards along with the tightening of the bolt, when the bolt is about to be fastened, the mechanical arm 4 does not need to drive the automatic fastening device 3 to extend forwards along with the reduction of the distance between the bolt and a fastening object, at the moment, along with the continuous fastening, the bolt head can squeeze the inclined plane on the bottom bracket block, the bottom bracket block is retracted under pressure until the bottom bracket slide bar 3132 is completely retracted, the bolt head can smoothly pass through the bottom bracket slide block 3131, then the rotating the bolt to apply preset pretightening force to the bolt, and the preset pretightening force is continuously applied by the bolt, and the control system counts after the pretightening force is applied; the method is repeated in a circulating way, and full-automatic fastening balance detection of the bolts is achieved.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a nuclear industry uses bolt-up with balanced detection function which characterized in that: the bolt fastening device comprises a main machine seat (5), an electric wheel (6) is rotatably arranged on the main machine seat (5), a mechanical arm (4) is arranged on the main machine seat (5), a feeding pipe (2) is slidably arranged at one end of the mechanical arm (4), an automatic fastening device (3) is arranged at one end of the feeding pipe (2), and a feeding device (1) is arranged at the other end of the feeding pipe (2); automatic fastener (3) are including spacing (31) and fastening shell (312), spacing (31) are installed in last material pipe (2) and are extended to in fastening shell (312), fastening shell (312) are connected with material loading pipe (2) one end, rotatory fastening assembly (32) are installed to fastening shell (312) internal rotation, fixed loading attachment (38) are installed to fastening shell (312) internal rotation, pretension adjustment subassembly (34) are connected with rotatory fastening assembly (32) transmission, rotatory fastening assembly (32) bottom sliding connection has slip collet (313), slip collet (313) slidable mounting is in fastening shell (312), install fastening motor (310) in fastening shell (312) respectively, install fastening gear (311) on fastening motor (310) output shaft, fastening gear (311) and pretension adjustment subassembly (34) meshing transmission.
2. The bolt-up device for nuclear industry with balance detecting function according to claim 1, wherein: the pre-tightening adjusting assembly (34) comprises a rotating main ring (341) and an adjusting cylinder (343), the rotating main ring (341) is rotationally connected with the rotating fastening assembly (32), a sliding block groove (348) and a sliding block groove (3410) are arranged at the bottom of the rotating main ring (341), an adjusting sliding block (345) and a transmission sliding block (347) are arranged in the sliding block groove (348) in a sliding mode, sliding plates (349) are symmetrically arranged on two sides of the adjusting sliding block (345), sliding plates (349) are symmetrically arranged on two sides of the transmission sliding block (347), the sliding plates (349) are slidably arranged in the sliding block groove (3410), an adjusting spring (344) is arranged between the transmission sliding block (347) and the adjusting sliding block (345), an adjusting column (346) is arranged on the adjusting sliding block groove (345), the adjusting main ring (341) is rotationally arranged on the rotating main ring (348), the adjusting column (346) is slidably arranged in the arc groove (342), and is connected with one end of the rotating main ring (341) through the rotating connecting piece (340) and one end of the rotating main cylinder (343), the rotary main ring (341) is meshed with the fastening gear (311).
3. The bolt-up device for nuclear industry with balance detecting function according to claim 2, wherein: the rotary fastening assembly (32) comprises a fastening block (324), the fastening block (324) is rotationally installed in a fastening shell (312), a fastening hole (3210) is formed in the fastening block (324), a driving ring (321) is rotationally installed on the fastening block (324), a main rotating ring (341) is rotationally connected with the fastening block (324), a plurality of driving plates (322) are arranged on the driving ring (321), a plurality of driving grooves (323) are formed in the inner wall of the driving ring (321), driving blocks (347) are embedded in the driving grooves (323), a plurality of torque detectors (325) are installed on the fastening block (324), the torque detectors (325) are connected with the driving plates (322), and sliding bottoms (313) are slidably installed at the bottom ends of the fastening block (324).
4. A bolt-up device for nuclear industry having a balance detecting function according to claim 3, wherein: the torque detector (325) comprises a detection shell (329), a detection rod (326) is slidably mounted in the detection shell (329), a piston (327) is mounted at one end of the detection rod (326), the other end of the detection rod (326) is connected with a transmission piece (322), the piston (327) is slidably connected with the detection shell (329), an air pressure sensor (328) is mounted at the bottom end of the detection shell (329), and the detection shell (329) is mounted on a fastening block (324).
5. The bolt-up device for nuclear industry with balance detecting function according to claim 4, wherein: the sliding shoe (313) comprises a shoe slider (3131), a shoe slide bar (3132) is arranged on the shoe slider (3131), the shoe slide bar (3132) is slidably arranged in the fastening shell (312), a shoe spring (3133) is arranged between the shoe slider (3131) and the fastening shell (312), and the top end of the shoe slider (3131) is slidably connected with the bottom end of the fastening block (324).
6. The bolt-up device for nuclear industry with balance detecting function according to claim 1, wherein: fixed loading attachment (38) are including material loading subassembly (33), fixed subassembly (39) and actuating cylinder (37), material loading subassembly (33) slidable mounting is in fastening shell (312), spring telescopic link (35) are installed to material loading subassembly (33) bottom, actuating cylinder (37) are installed in fastening shell (312), install connection piece (36) on actuating cylinder (37) output shaft, connection piece (36) are connected with spring telescopic link (35), fixed subassembly (39) slidable mounting is in fastening shell (312), fixed subassembly (39) are connected with spring telescopic link (35) one end.
7. The bolt-up device for nuclear industry with balance detecting function according to claim 6, wherein: the feeding assembly (33) comprises a feeding ring (331), a feeding rotating rod (336), a first connecting rod assembly (332) and a feeding pulling sheet (333), wherein the feeding ring (331) is slidably installed in a fastening shell (312), the feeding pulling sheet (333) is movably connected with the feeding ring (331) through the feeding rotating rod (336), the feeding pulling sheet (333) is rotatably connected with the fastening shell (312) through the first connecting rod assembly (332), a lower supporting hook (334) is arranged at the bottom end of the feeding pulling sheet (333), an upper supporting hook (335) is arranged at the top end of the feeding pulling sheet (333), and the bottom end of the feeding ring (331) is connected with a spring telescopic rod (35).
8. The bolt-up device for nuclear industry with balance detecting function according to claim 6, wherein: the fixed subassembly (39) is including solid fixed ring (391), depression bar (393) and second link assembly (395), gu fixed ring (391) top is connected with spring telescopic link (35), a plurality of rack bars (392) are installed to gu fixed ring (391) bottom, depression bar (393) are connected with fastening shell (312) through second link assembly (395), depression bar (393) bottom roll is installed and is pressed ball (394), rack bar (392) and depression bar (393) meshing transmission.
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| CN202411162117.XA CN118951692B (en) | 2024-08-23 | 2024-08-23 | A bolt tightening device for nuclear industry with balance detection function |
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| CN202411162117.XA CN118951692B (en) | 2024-08-23 | 2024-08-23 | A bolt tightening device for nuclear industry with balance detection function |
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| CN118951692B (en) | 2025-01-24 |
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