CN-122007876-A - Intelligent screwing robot for high-strength bolts of steel structures of coastal power plants

CN122007876ACN 122007876 ACN122007876 ACN 122007876ACN-122007876-A

Abstract

The invention discloses an intelligent screwing robot for a high-strength bolt of a steel structure of a coastal power plant, which relates to the technical field of intelligent screwing robots and comprises a puncture type lubrication assembly, wherein the puncture type lubrication assembly is arranged in an automatic screwing mechanism and comprises a plurality of first air bag layers, a lubricant and a plurality of ejector pins, the lubricant is filled in the first air bag layers, the bottom surface of the first air bag layers is contacted with the ejector pins to be broken by stress so as to enable the lubricant to flow out, the lubricant is used for guiding the friction force of threads of a nut and the threads of the bolt strips to be reduced, the first air bag layers are arranged in each liquid storage cylinder, the lubricant is stored in the first air bag layers, one liquid storage cylinder corresponds to one thread of the bolt strip, the first bevel gear is driven to synchronously rotate, the second bevel gear which is in meshed connection with the first bevel gear is driven to rotate, the second bevel gear is driven to rotate, the horizontal rotation power is converted into the vertical direction, and the lubricant flows into the thread engagement surface through a centralized liquid guiding assembly, and the friction force of the engagement surface is reduced.

Inventors

GUO CUNRUI
LIAO QINGSHENG
SUN JINGYU
HU MULIN
LIU YONGSHENG
LIU JIAJIE
LAN JIAN
GU CHENGMING
LIU JIALI
SHI WEI

Assignees

华能汕头海门发电有限责任公司
中国能源建设集团广东省电力设计研究院有限公司

Dates

Publication Date: 20260512
Application Date: 20260317

Claims (10)

1. A intelligence is applied and is twisted robot for coastal power plant steel construction high strength bolt, its characterized in that includes: a robot arm (100); The automatic bolt screwing mechanism (200) is arranged on one side of the robot arm (100) and is used for driving nuts installed in the automatic bolt screwing mechanism to be screwed with a plurality of installed bolt strips (209) to realize screwing; The puncture type lubrication assembly (3) is arranged in the automatic bolt screwing mechanism (200), the puncture type lubrication assembly (3) comprises a plurality of first air bag layers (312), a lubricant (313) and a plurality of ejector pins (314), the lubricant (313) is filled in the first air bag layers (312), the bottom surface of the first air bag layers (312) is in contact with the ejector pins (314) to be broken under force so that the lubricant (313) flows out, and the lubricant is used for being guided to the surfaces of the nuts and the bolt strips (209) to reduce friction force of threads of the nuts and the bolt strips; The centralized liquid guide assembly (4) is arranged in the puncture type lubricating assembly (3), the centralized liquid guide assembly (4) comprises a plurality of guide cylinders (401), a plurality of branch discs (405) and a plurality of second vertical grooves (406), the plurality of second vertical grooves (406) uniformly guide the lubricant (313) to the threaded surface of the bolt strip (209), the plurality of guide cylinders (401) are positioned right below the first air bag layer (312) and are used for accommodating the flowing lubricant (313) in a centralized manner, and the surfaces of the plurality of branch discs (405) are provided with a plurality of branch holes and are used for uniformly guiding the lubricant (313) at multiple points; the full contact assembly (5) is arranged in the puncture type lubrication assembly (3), the full contact assembly (5) comprises a plurality of protruding needles (502) and a plurality of second air bag layers (505), the second air bag layers (505) are respectively arranged on the top surfaces of the first air bag layers (312), and the tail ends of the protruding needles (502) puncture the second air bag layers (505) to enable compressed gas in the second air bag layers to flow out and push the lubricant (313) to be discharged from the first air bag layers (312).
2. The intelligent screwing robot for the high-strength bolts of the steel structures of the coastal power plants of claim 1, wherein the puncture type lubrication assembly (3) further comprises a reinforcing seat (301), a driven rod (302), two belt pulleys (303) and a belt (304), the reinforcing seat (301) is arranged at the top of the transmission frame (203), the driven rod (302) is connected to one side of the reinforcing seat (301) in a penetrating mode, the two belt pulleys (303) are respectively sleeved at the end portions of the driven rod (302) and the output shaft of the servo motor (204), and the belt (304) is sleeved on the outer surfaces of the two belt pulleys (303) and used for driving the driven rod (302) to synchronously rotate.
3. The intelligent screwing robot for the high-strength bolt of the steel structure of the coastal power plant of claim 2 wherein the puncture type lubrication assembly (3) further comprises two positioning frames (305), a screw rod (306), a first bevel gear (307) and a second bevel gear (308), the two positioning frames (305) are respectively arranged at the top of the transmission frame (203), the screw rod (306) is arranged on one side of one positioning frame (305), the first bevel gear (307) is sleeved at one end of the driven rod (302), and the second bevel gear (308) is sleeved at one end of the screw rod (306).
4. The intelligent screwing robot for the high-strength bolts of the steel structure of the coastal power plant of claim 3 wherein the first bevel gear (307) is meshed with the second bevel gear (308) for driving the screw rod (306) to rotate in situ.
5. The intelligent screwing robot for high-strength bolts of coastal power plant steel structures of claim 4, wherein the puncture type lubrication assembly (3) further comprises two positioning strips (309), a lifting frame (310), a plurality of liquid storage cylinders (311) and a plurality of L-shaped blocks (315), the two positioning strips (309) are respectively arranged in the two positioning frames (305), the lifting frame (310) is respectively sleeved at the ends of the two positioning strips (309) and the screw rod (306), the liquid storage cylinders (311) are respectively arranged at the tops of the lifting frame (310), and the plurality of ejector pins (314) are respectively arranged at the tops of the L-shaped blocks (315).
6. The intelligent screwing robot for the high-strength bolts of the steel structure of the coastal power plant of claim 1 wherein the centralized liquid guide assembly (4) further comprises a plurality of guide holes (402), a plurality of inclined grooves (403) and a plurality of first vertical grooves (404), wherein the plurality of guide holes (402) are respectively formed in the inner surfaces of the plurality of guide cylinders (401), the plurality of inclined grooves (403) are respectively formed in the inner surfaces of the plurality of sleeves (206), the plurality of first vertical grooves (404) are respectively formed in the inner surfaces of the plurality of sleeves (206), and the plurality of guide holes (402), the plurality of inclined grooves (403) and the plurality of first vertical grooves (404) are mutually communicated and are used for guiding the lubricant (313).
7. The intelligent screwing robot for the high-strength bolts of the steel structure of the coastal power plant of claim 1 wherein the full contact assembly (5) further comprises a plurality of closed top covers (501), a plurality of limit washers (503) and a plurality of liquid storage cylinders (504), the plurality of closed top covers (501) are respectively arranged at the tops of the plurality of liquid storage cylinders (311), and the plurality of limit washers (503) are respectively arranged inside the plurality of liquid storage cylinders (311).
8. The intelligent screwing robot for the high-strength bolts of the steel structure of the coastal power plant of claim 7 wherein a plurality of liquid storage cylinders (504) are respectively arranged inside a plurality of limit washers (503), and the interiors of a plurality of second air bag layers (505) are filled with compressed gas.
9. The intelligent screwing robot for the high-strength bolts of the steel structure of the coastal power plant of claim 1, wherein a machine base (101) is arranged at the bottom of the robot arm (100), the automatic screwing mechanism (200) comprises a supporting seat (201) and a hydraulic cylinder (202), the hydraulic cylinder (202) is arranged at the top of the supporting seat (201), an output shaft of the hydraulic cylinder (202) is in transmission connection with a transmission frame (203), a servo motor (204) is arranged on one side of the transmission frame (203), and a plurality of worms (205) are in transmission connection with an output shaft of the servo motor (204).
10. The intelligent screwing robot for high-strength bolts of coastal power plant steel structures of claim 9, wherein a plurality of sleeves (206) are connected in a penetrating mode in the transmission frame (203), worm wheels (207) are sleeved at one end portions of the sleeves (206), the worm wheels (205) are respectively meshed with the worm wheels (207), a screwing table (208) is arranged on one side of the robot arm (100), and a plurality of bolt strips (209) are respectively arranged on the top of the screwing table (208).

Description

Intelligent screwing robot for high-strength bolts of steel structures of coastal power plants Technical Field The invention relates to the technical field of intelligent screwing robots, in particular to an intelligent screwing robot for a high-strength bolt of a steel structure of a coastal power plant. Background The coastal power plant steel structure comprises a boiler steel frame, coastal means that bolts are in a high humidity environment, common bolts are extremely prone to rusting, biting and vibration loosening, therefore high-strength bolts are needed to limit the steel structure, a used robot is not only required to screw the bolts, but also has locking capacity, a temporary or permanent light rail is mainly paved on a steel beam for an area which is difficult to reach manually in the coastal power plant and has extremely high requirements on looseness and rust prevention, a traveling wheel of the robot is clamped on a track to move, the position of the high-strength bolts is reached to be processed, the robot is provided with a laser radar, after the laser radar reaches a working area, steel structure nodes are scanned, the position of each high-strength bolt is automatically identified, an automatic bolt screwing mechanism is driven to move to the position right above the high-strength bolts, a motor is usually installed on the robot, and a plurality of nuts are driven by the motor to install bolt bars. At present, manual operation or semi-automatic screwing equipment is adopted in the screwing operation of high-strength bolts, the efficiency is low, and the risk of high-altitude operation is high, in order to solve the problem, the intelligent screwing device is partially shown, a steel structure connecting node intelligent screwing bolt group robot is disclosed in the patent with the publication number of CN202111042150.5, the intelligent screwing device comprises an operation module, a moving module and a visual perception module, the intelligent screwing device has the functions of automatic positioning of bolts, initial screwing, final screwing, flexible movement and intelligent ranging, the final screwing operation of the bolts is started after the initial screwing of the bolts, a motor continuously drives a worm and a rotary worm wheel sleeve to rotate, the final screwing of the bolts can be considered until the heads of the bolts are broken, the friction force of the nuts and the bolt rods is relied on in the screwing process, the nuts is needed to overcome the supporting surface of the nuts, and the supporting surface of the bolt rods, in order to enable the nuts to generate enough clamping force, the screwing operation is needed to apply larger force, the load requirements on the worm mechanism are increased, the energy consumption of the worm mechanism is also increased, the nuts and the worm wheel friction force of the worm rod is rapidly increased, the worm wheel is completely increased, the torque is fully increased after the heads of the bolts are completely screwed, and the screw threads are not completely screwed, and the screw tightening force is not completely is completely reduced. Disclosure of Invention The invention aims to provide an intelligent screwing robot for a high-strength bolt of a steel structure of an coastal power plant, which aims to solve the problems that in the prior art, in order to generate enough clamping force for a nut, larger force needs to be applied to screwing operation, so that the load requirement on a worm gear mechanism is increased, and the energy consumption of the worm gear mechanism is also increased. In order to achieve the purpose, the invention provides the technical scheme that the intelligent screwing robot for the high-strength bolts of the steel structure of the coastal power plant comprises the following components; A robotic arm; The automatic bolt screwing mechanism is arranged on one side of the robot arm and used for driving nuts installed in the automatic bolt screwing mechanism to be screwed with a plurality of installed bolt strips to realize screwing; the puncture type lubrication assembly is arranged in the automatic bolt screwing mechanism and comprises a plurality of first air bag layers, a lubricant and a plurality of ejector pins, wherein the lubricant is filled in the first air bag layers, the bottom surfaces of the first air bag layers are contacted with the ejector pins to be broken by stress so as to enable the lubricant to flow out, and the lubricant is used for guiding the lubricant to the surfaces of the nuts and the bolt strips to reduce the friction force of the threads of the nuts and the bolt strips; The centralized liquid guide assembly is arranged in the puncture type lubricating assembly and comprises a plurality of guide cylinders, a plurality of branch discs and a plurality of second vertical grooves, wherein the second vertical grooves uniformly guide the lubricant to the threaded surfaces of the bolt