Light and small automatic bolt assembling device

Abstract

A light and small automatic bolt assembling device comprises a power assembly which comprises a 360-degree continuous rotation steering engine, one end of the power assembly is connected with a mechanical arm through a shell, the other end of the power assembly is provided with a steering wheel, and the power assembly is connected with the output end of the 360-degree continuous rotation steering engine and rotates; the transmission assembly comprises a first connecting piece, an extension spring and a second connecting piece which are coaxially connected in sequence, and a guide sleeve coaxially arranged on the outer sides of the first connecting piece, the extension spring and the second connecting piece in a sleeving mode. The first connecting piece comprises a first connecting part, a second connecting part and a third connecting part which are integrally arranged in the axial direction, the first connecting part is connected with the steering wheel, the third connecting part is connected with the extension spring, and the second connecting part is connected with the guide sleeve; a first connecting hole and a guide hole are formed in the guide sleeve, the first connecting hole is matched with the outer ring of the second connecting part, the third connecting part, the extension spring and the second connecting piece are located in the guide hole, and the periphery of the second connecting piece is in sliding fit with the guide hole; one end of the magnetic sleeve is detachably connected with the other end of the second connecting piece, and the other end of the magnetic sleeve is connected to a bolt head to be assembled and disassembled in a sleeving mode; and the control system is in communication connection with the 360-degree continuous rotation steering engine. The automatic device can be installed at the tail end of a continuum flexible mechanical arm to carry out bolt replacement operation in a narrow space.

Description

Technical Field

[0001] The invention relates to the technical field of bolt assembly, and in particular to a lightweight and small-sized automatic bolt assembly device. Background Art

[0002] In recent years, whether it is military or civilian products, the precision requirements are getting higher and higher, and the volume and weight requirements are getting smaller and smaller. Due to the smaller internal volume, the axial and radial space of the fasteners are limited. The traditional industrial assembly robots and their end devices are becoming more and more difficult to work in the assembly process. Tightening and disassembling bolts in a small space and requiring precise torque values ​​have become the most common tasks in daily production. At the same time, since it is impossible to operate in a small space, it is even more difficult to achieve precise torque requirements at the same time, so it has become a common technical problem in actual production.

[0003] At present, there is no automated device specifically designed to solve the problem of tightening bolts in a narrow space. It can tighten and disassemble bolts that require a certain torque in a limited space and accurately reach the specified torque. Conventional tool wrenches have the following problems when installing and tightening bolts in a narrow space:

[0004] (I) Difficulty in meeting product requirements: Conventional tool wrenches are difficult to operate and easily cause interference when installing and tightening bolts in a narrow space; secondly, they cannot meet the tightening torque requirements of the bolts, which ultimately leads to the product failing to meet the use requirements;

[0005] (ii) Difficulty in operation and high labor intensity for operators: Because the operating space is too narrow, the operator's arms and operating tools cannot be used, and the installation and tightening of bolts are difficult;

[0006] (III) Low assembly efficiency: Due to the difficulty of operation, the assembly time of the same product increases a lot, which directly leads to the problem of low assembly efficiency.

[0007] Patent document CN 112109071 A provides a highly dexterous assembly mechanism in a narrow space, including a drive mechanism integrated module, an actuator and multiple transmission wires, wherein the actuator has six degrees of freedom, and each joint is connected to the drive mechanism integrated module through a transmission wire. The drive mechanism integrated module drives the actuator through multiple transmission wires to achieve six-degree-of-freedom movement, which can preliminarily realize the bolt assembly function in a narrow space.

[0008] However, this technical solution still has shortcomings. Since the movement of the actuator is controlled by a transmission wire, its working stability is poor, and manual assistance is required for bolt installation. The control process is complicated, and it is impossible to truly realize the automation and efficiency of bolt installation, tightening and removal in a narrow space. Especially in the maintenance and inspection process of large equipment such as space shuttles, aircraft engines, and automobile engines, the time-consuming and labor-intensive manual replacement of fastening parts due to the narrow and complex internal space environment, there is an urgent need to design a lightweight and small automated bolt assembly device to replace manual bolt installation, tightening and removal and other related work. Summary of the invention

[0009] In view of the problems and shortcomings existing in the prior art, the present invention provides a lightweight and small automated bolt assembly device, which can realize automatic positioning, installation and tightening of bolts in a narrow space after being matched with a flexible robotic arm, thereby solving the problems of time-consuming and labor-intensive manual replacement. The purpose is to solve the problems that the existing device is too large in size and weight, and requires manual assistance for installation or is complex to control, and cannot truly realize the automation and efficiency of bolt installation and tightening in a small space.

[0010] The technical solution of the present invention is as follows:

[0011] A lightweight and small-sized automatic bolt assembly device, characterized by comprising:

[0012] A power assembly includes a 360-degree continuous rotating steering gear, one end of which is connected to the mechanical arm through a housing, and the other end is provided with a steering plate, and the steering plate is connected to the output end of the 360-degree continuous rotating steering gear through a transmission device and rotates;

[0013] The transmission assembly comprises a first connecting member, a tension spring and a second connecting member which are coaxially connected in sequence, and a guide sleeve which is coaxially sleeved on the outside of the first connecting member and the second connecting member;

[0014] The first connecting member comprises a first connecting portion, a second connecting portion and a third connecting portion which are integrally arranged along the axial direction, wherein the first connecting portion is coaxially fixedly connected to the steering disc, the third connecting portion is connected to the tension spring, and the second connecting portion is connected to the guide sleeve;

[0015] The guide sleeve is provided with a first connecting hole and a guiding hole in the axial direction, the first connecting hole is matched with the outer ring of the second connecting part, the third connecting part, the tension spring and the second connecting member are located in the guiding hole, and the outer periphery of the second connecting member is slidably matched with the guiding hole, and can move axially along the guiding hole under the elastic force of the tension spring; the guiding hole is a non-circular hole that limits the circumferential movement of the second connecting member;

[0016] A magnetic sleeve, one end of which is detachably connected to the other end of the second connecting member, the other end of which is sleeved on the bolt head to be loaded and unloaded, and a permanent magnet is arranged inside;

[0017] The control system is connected to the 360-degree continuous rotation steering gear for controlling its rotation and torque parameters.

[0018] According to a specific embodiment, the shell includes an upper shell and a lower shell, one end of the lower shell is provided with a flange, which is detachably connected to the robotic arm, and the other end is detachably connected to the upper shell, wherein the 360-degree continuously rotating servo is located inside the shell, and the ear plates on both sides thereof are located between the upper shell and the lower shell, and are fixed with standard connecting parts, preferably with bolts or screws.

[0019] The first connecting member is provided with a receiving hole inside, which is located at one end close to the steering disc, and is used to avoid the bolts connecting the steering disc and the 360-degree rotating steering gear; the first connecting part is axially connected to the steering disc by bolts, and the second connecting part is provided with a first pin hole perpendicular to the axial direction thereof, and the guide sleeve is provided with a second pin hole matched therewith, and is fixedly connected by the first connecting pin and circumferentially positioned. Specifically, the first connecting pin can be a round shaft pin shaft with an interference fit with the first pin hole and the second pin hole, or a threaded pin shaft can be used, and matched with the first pin hole and the second pin hole through a thread pair.

[0020] The shaft diameters of the first connecting portion, the second connecting portion and the third connecting portion are arranged in decreasing steps, and the outer diameter of the first connecting portion is smaller than the outer diameter of the guide sleeve.

[0021] The first connection hole is a threaded hole, connected to the second connection part through a threaded pair, and the guide hole is a polygonal hole, specifically, a hexagonal hole in this embodiment, and the outer periphery of the second connection member cooperates with it. The purpose of the first connection hole being a threaded hole is to reduce the pressure of the first connection pin shaft transmitting torque by means of the friction torque generated by the threaded connection, so as to facilitate lightweight structural design to reduce the volume and weight of the automation device; the purpose of the guide hole being a hexagonal hole rather than a circular hole is to transmit the torque of the 360-degree continuous rotation servo to the guide sleeve through the first connection member, and then to the magnetic sleeve by the guide sleeve, so as to control the assembly or disassembly of the bolt.

[0022] In order to facilitate the assembly and disassembly of the first connecting member, the tension spring and the second connecting member, the guide sleeve is a split structure, including symmetrically connected guide components. Specifically and preferably, the two guide components are fixedly connected by screws and nuts.

[0023] A spiral groove is provided on the end of the third connecting part and the second connecting member that is connected to the tension spring, and the two ends of the tension spring are connected to the third connecting part and the second connecting member by screwing into the spiral groove respectively. According to a specific embodiment, a second connecting hole is provided inside the end of the second connecting member that is connected to the magnetic sleeve, and the second connecting hole is a threaded hole. The second connecting member is provided with a third pin hole that intersects and penetrates the second connecting hole at a right angle, and is detachably connected to the second connecting member through a second connecting pin. Specifically, the second connecting pin can be connected to the second connecting member and the magnetic sleeve by an interference fit, or by a threaded pair. The purpose of the second connecting hole being a threaded hole is to reduce the pressure of the second connecting pin shaft transmitting torque by means of the friction torque generated by the threaded connection, thereby facilitating a lightweight structural design to reduce the volume and weight of the automation device.

[0024] According to a specific embodiment, the control system comprises:

[0025] The single-chip microcomputer is used to collect signals, run corresponding algorithms and generate control signals to control the 360-degree continuous rotation servo;

[0026] The optical coupling voltage control module has an input end connected to the single-chip microcomputer and an output end connected to the servo drive module. The servo drive module is connected to the 360-degree continuous rotation servo to control the output voltage and current.

[0027] The voltage detection module has an input end connected to the 360-degree continuous rotation servo and an output end connected to the single-chip microcomputer, and is used to measure and feedback the voltage across the 360-degree continuous rotation servo;

[0028] The current detection board, whose input end is connected to the 360-degree continuous rotation servo and whose output end is connected to the single-chip microcomputer, is used to collect current signals in real time and convert them into voltage signals, and then convert them into digital quantities and feed them back to the single-chip microcomputer to control the motion parameters of the 360-degree continuous rotation servo;

[0029] The button module is connected to the microcontroller and is used to select the working mode.

[0030] In one embodiment, the working modes of the button are generally divided into two types, one is for assembling the bolts, and the other is for removing the bolts, which is specifically achieved by controlling the forward and reverse rotation of the 360-degree continuous rotating servo by a single chip microcomputer.

[0031] According to a specific embodiment, the single chip microcomputer adopts an STM32 single chip microcomputer, and the current detection board adopts a MAX472 current detection board.

[0032] Directions:

[0033] When it is necessary to install the bolts, first connect the fixed end of the housing of the present invention to the robot arm. Then align one end of the magnetic sleeve with the bolt head to be assembled, put one end of the bolt head into the magnetic sleeve, and align the other end with the screw hole to be connected. After that, the operation button module is set to the assembly mode, rotate and transfer the torque to the bolt through the first connecting member, the guide sleeve, the second connecting member and the magnetic sleeve in sequence, drive the bolt to rotate clockwise and be gradually tightened. During the tightening process, as the bolt moves toward the connecting hole, the magnetic sleeve generates a pulling force to move forward and drives the second connecting member to move. Since the second connecting member is connected to the first connecting member through a tension spring and slides with the guide sleeve, the second connecting member moves forward along the guide hole during this process, and the tension spring is stretched, that is, only the magnetic sleeve will move axially on the outside, and other parts will not move, thereby meeting the use requirements of bolt assembly in a narrow space. After the assembly is completed, the second connecting member moves along the guide hole and returns to the initial position under the action of the elastic force of the tension spring.

[0034] In addition, during the assembly process, the control voltage is output to the 360-degree continuous rotation servo through the optocoupler voltage control module, and the voltage and current are detected by the voltage detection module and the current detection board and fed back to the microcontroller to adjust the output voltage and current, thereby indirectly controlling the output torque to ensure the size of the assembly torque.

[0035] When the bolts need to be removed, you only need to operate the button module to set it to the removal mode. The working principle is the same as the installation process and will not be repeated here.

[0036] The beneficial effects of the present invention are:

[0037] 1) The mechanical structure of the present invention uses aluminum alloy as the main material, and the lightweight structural design reduces its volume and weight. It can be installed at the end of a continuum flexible mechanical arm to perform bolt replacement operations in a narrow space.

[0038] 2) The present invention can realize automatic advancement and automatic resetting of the bolt assembly process through the cooperation of magnetic force and the elastic force of the tension spring, thereby reducing the difficulty of motion control of the flexible mechanical arm carrying the automation device in a narrow space.

[0039] 3) The present invention indirectly controls the bolt tightening torque through electric current, which reduces the volume and weight of the device and enhances its dexterity compared with the existing torque sensor feedback control; and by switching different assembly or disassembly working modes through key interruptions, it can realize the automated installation, disassembly and tightening operations of carbon steel bolts of various specifications and small sizes, thereby enhancing its engineering practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A perspective view of an embodiment;

[0041] Figure 2for Figure 1 A full cross-sectional view of

[0042] Figure 3 A cross-sectional view showing the connection relationship of the transmission components;

[0043] Figure 4 is a cross-sectional view of the first connecting member;

[0044] Figure 5 is a three-dimensional view of the guide sleeve;

[0045] Figure 6 A stereogram showing the inner side of the guide component;

[0046] Figure 7 A three-dimensional diagram showing the connection between the second connecting member and the magnetic sleeve;

[0047] Figure 8 is a cross-sectional view of the second connecting member;

[0048] Fig. 9 It is a principle block diagram of the control system of the present invention;

[0049] Fig.10 It is the hardware circuit diagram of the control system of the present invention;

[0050] 100. Power assembly; 200. Transmission assembly; 300. Magnetic sleeve; 1. 360-degree continuous rotation servo; 11. Steering wheel; 2. Outer shell; 21. Lower shell; 22. Upper shell; 3. First connecting piece; 31. First connecting part; 32. Second connecting part; 33. Third connecting part; 34. Accommodating hole; 35. First pin hole; 4. Guide sleeve; 41. Guide part; 411. First connecting hole; 412. Guide hole; 413. Second pin hole; 414. Fixing hole; 5. Tension spring; 6. Second connecting piece; 61. Second connecting hole; 62. Third pin hole; 7. First connecting pin; 8. Second connecting pin. DETAILED DESCRIPTION

[0051] The technical means adopted to achieve the predetermined inventive objectives of the present invention will be further described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0052] See also Figure 1 and Figure 2 As shown, Figure 1 is a stereogram of an embodiment, Figure 2 for Figure 1 Full cross-sectional view.

[0053] A lightweight and small automatic bolt assembly device, comprising:

[0054] The power assembly 100 includes a 360-degree continuous rotating steering gear 1, one end of which is connected to the mechanical arm through a housing 2, and the other end of which is provided with a steering plate 11, and the steering plate 11 is connected to the output end of the 360-degree continuous rotating steering gear 1 through a transmission device and rotates;

[0055] See also Figure 2-Figure 6 As shown, Figure 3 This is a cross-sectional view of the connection relationship of the transmission components. Figure 4 is a cross-sectional view of the first connecting member, Figure 5 A three-dimensional diagram of the guide sleeve. Figure 6 A stereoscopic view from the inside of the guide component.

[0056] The transmission assembly 200 comprises a first connecting member 3, a tension spring 5 and a second connecting member 6 which are coaxially connected in sequence, and a guide sleeve 4 which is coaxially sleeved on the outside of the first connecting member 3, a tension spring 5 and a second connecting member 6;

[0057] The first connecting member 3 comprises a first connecting portion 31, a second connecting portion 32 and a third connecting portion 33 which are integrally arranged along the axial direction, wherein the first connecting portion 31 is coaxially fixedly connected to the steering disc 11, the third connecting portion 33 is connected to the tension spring 5, and the second connecting portion 32 is connected to the guide sleeve 4;

[0058] The guide sleeve 4 is provided with a first connecting hole 411 and a guiding hole 412 in the axial direction. The first connecting hole 411 is matched with the outer ring of the second connecting part 32. The third connecting part 33, the tension spring 5 and the second connecting member 6 are located in the guiding hole 412. The outer periphery of the second connecting member 6 is slidably matched with the guiding hole 412, and can move axially along the guiding hole 412 under the elastic force of the tension spring 5. The guiding hole 412 is a non-circular hole that limits the circumferential movement of the second connecting member 6. In a specific implementation, the guiding hole can be a circular hole or a polygonal hole with at least one plane.

[0059] A magnetic sleeve 300, one end of which is detachably connected to the other end of the second connecting member 6, and the other end of which is sleeved on the bolt head to be loaded and unloaded, and a permanent magnet is provided inside;

[0060] The control system is connected to the 360-degree continuous rotation steering gear 1 for controlling its rotation and torque parameters.

[0061] See Figure 2 In a specific embodiment, the housing 2 includes an upper housing 22 and a lower housing 21, wherein the upper housing 22 has a flange at one end and is connected to the robot arm by bolts, and the other end is connected to the lower housing 21 by bolts, wherein the 360-degree continuous rotating servo is located inside the housing 2, and the ear plates on both sides thereof are located between the upper housing 22 and the lower housing 21 and are fixed by bolts.

[0062] See Figure 3 and Figure 4, the first connecting member 3 is provided with a receiving hole 34 inside, which is located at one end close to the steering disc 11, and is used to avoid the bolts that connect the steering disc 11 to the 360-degree rotating steering gear; the first connecting portion 31 is axially connected to the steering disc 11 by bolts, and the second connecting portion 32 is provided with a first pin hole 35 that is perpendicular to the axial direction thereof, and the guide sleeve 4 is provided with a second pin hole 413 that matches the first pin hole 413, and is fixedly connected by the first connecting pin 7 and positioned circumferentially. Specifically, the first connecting pin 7 can be a round shaft pin shaft that is interference-fitted with the first pin hole 35 and the second pin hole 413, or a threaded pin shaft that is matched with the first pin hole 35 and the second pin hole 413 through a threaded pair.

[0063] See Figure 4 The shaft diameters of the first connecting portion 31 , the second connecting portion 32 and the third connecting portion 33 are arranged in decreasing steps, and the outer diameter of the first connecting portion 31 is smaller than the outer diameter of the guide sleeve 4 .

[0064] See Figure 6 , the first connection hole 411 is a threaded hole, fixedly connected to the second connection part 32 through a threaded pair, and the guide hole 412 is a hexagonal hole, and the outer periphery of the second connection member 6 cooperates with it. Among them, the first connection hole 411 is a threaded hole for the purpose of reducing the pressure of the long first connection pin 7 shaft transmitting torque by means of the friction torque generated by the threaded connection, so as to facilitate the lightweight structural design to reduce the volume and weight of the automation device; the guide hole 412 is a hexagonal hole instead of a round hole for the purpose of transmitting the torque of the 360-degree continuous rotation of the servo 1 to the guide sleeve 4 through the first connection member 3, and then transmitted to the magnetic suction sleeve 300 by the guide sleeve 4, so as to control the assembly or disassembly of the bolt.

[0065] See Figure 5 In order to facilitate the assembly and disassembly of the first connecting member 3, the tension spring 5, and the second connecting member 6, the guide sleeve 4 is a split structure, including symmetrically arranged guide components 41, and the two guide components 41 are fixedly connected by screws and nuts.

[0066] According to a specific embodiment, a spiral groove is provided on the third connection portion 33 and the end of the second connection member 6 connected to the tension spring, and the two ends of the tension spring 5 are connected to the third connection portion and the second connection member by screwing into the spiral groove respectively.

[0067] See Figure 7 and Figure 8According to a specific embodiment, a second connecting hole 61 is provided inside one end of the second connecting member 6 connected to the magnetic sleeve 300, and the second connecting hole 61 is a threaded hole, and a third pin hole 62 is provided outside that intersects and penetrates the second connecting hole 61, and is detachably connected to the second connecting member 6 through a second connecting pin 8. Specifically, the second connecting pin 8 can be connected to the second connecting member 6 and the magnetic sleeve 300 by an interference fit, or by a threaded pair. The purpose of the second connecting hole 61 being a threaded hole is to reduce the pressure of the second connecting pin 8 transmitting torque by means of the friction torque generated by the threaded connection, thereby facilitating a lightweight structural design to reduce the volume and weight of the automation device.

[0068] See Fig. 9 According to a specific embodiment, the control system includes:

[0069] The single-chip microcomputer is used to collect signals, run corresponding algorithms and generate control signals to control the 360-degree continuous rotation servo;

[0070] The optical coupling voltage control module has an input end connected to the single-chip microcomputer and an output end connected to the servo drive module. The servo drive module is connected to the 360-degree continuous rotation servo to control the output voltage and current.

[0071] The voltage detection module has an input end connected to the 360-degree continuous rotation servo and an output end connected to the single-chip microcomputer, and is used to measure and feedback the voltage across the 360-degree continuous rotation servo;

[0072] The current detection board, whose input end is connected to the 360-degree continuous rotation servo and whose output end is connected to the single-chip microcomputer, is used to collect current signals in real time and convert them into voltage signals, which are then converted into digital quantities by the ADC interface and fed back to the single-chip microcomputer to control the motion parameters of the 360-degree continuous rotation servo;

[0073] The button module is connected to the microcontroller and is used to select the working mode.

[0074] In one embodiment, the working modes of the button are generally divided into two types, one is for assembling the bolts, and the other is for removing the bolts, which is specifically achieved by controlling the forward and reverse rotation of the 360-degree continuous rotating servo by a single chip microcomputer.

[0075] The single chip microcomputer adopts an STM32 single chip microcomputer, and the current detection board adopts a MAX472 current detection board.

[0076] See Fig.10In the specific implementation, the conventional configurations such as the minimum system circuit of the STM32 microcontroller are no longer described. Only the external pin configuration and hardware circuit design are performed. Since the STM32 needs to control external devices, some interfaces need to be set, including the DAC interface that receives the control signal and outputs a variable voltage, the ordinary GPIO interface that outputs high and low levels, the Timer interface that outputs PWM waves, the ADC interface that receives and converts the sensor feedback signal, the EXTI interface that triggers the interrupt to change the closed-loop current control amount and the forward and reverse rotation of the servo, and the USART interface of the real-time current (voltage) in the serial port transmission circuit.

[0077] After configuring the MCU pins, start designing the hardware circuit diagram in conjunction with other modules. Only design circuits related to peripherals, namely the circuits between the STM32 MCU, MAX472 current detection board, voltage detection module, optocoupler voltage control module, independent button module and 360-degree continuous rotation servo. All the above components are grounded. The STM32 MCU is connected to the optocoupler voltage control module through the PA4 and PA6 pins. The positive and negative poles of the independent power supply are respectively connected to the DC+ and DC- pins of the optocoupler voltage control module. When the independent power supply voltage changes, the OUT output voltage can be controlled to change or the voltage detection module can be used to feedback the voltage from the S pin to the PC2 pin of the STM32 MCU to form a voltage outer loop to keep the voltage stable. The OUT output voltage is applied to both ends of the MAX472 current detection board and the 360-degree continuous rotation servo. The 72 current detection board converts the flowing current into voltage and feeds it back to the PC0 pin of the microcontroller through the OUT terminal to form a current inner loop. The 360-degree continuous rotation servo signal line is connected to the PA0 pin of the STM32 microcontroller to provide a PWM signal. The K1-K4 button pins of the independent button module are respectively connected to the PB1, PB10, PB3 and PB5 pins of the STM32 microcontroller to perform 360-degree continuous rotation servo forward and reverse rotation and closed-loop control of the change of the current (electromagnetic torque) value, thereby adapting to the tightening and removal of bolts of different sizes.

[0078] The theoretical basis of the device control is the torque control method. The main purpose is to control the torque output by the 360-degree continuous rotation servo. The output torque is indirectly controlled by controlling the current to ensure the working effect of the device.

[0079] Directions:

[0080] When it is necessary to install the bolts, first connect the fixed end of the housing 2 of the present invention to the robot arm. Then align one end of the magnetic sleeve 300 with the bolt head to be assembled, put one end of the bolt head into the magnetic sleeve 300, and align the other end with the screw hole to be connected. After that, the operation button module is set to the assembly mode, rotate and transfer the torque to the bolt through the first connecting member 3, the guide sleeve 4, the second connecting member 6 and the magnetic sleeve 300 in sequence, drive the bolt to rotate clockwise and be gradually tightened. During the tightening process, as the bolt moves toward the connection hole, the magnetic sleeve 300 generates a pulling force to move forward, and drives the second connecting member 6 to move. Since the second connecting member 6 is connected to the first connecting member 3 through the tension spring 5 and slides with the guide sleeve 4, during this process, the second connecting member 6 moves forward along the guide hole 412, and the tension spring 5 is stretched, that is, only the magnetic sleeve 300 will move axially on the outside, and other components will not move, thereby meeting the use requirements of bolt assembly in a narrow space. After the assembly is completed, the second connecting member 6 moves along the guide hole 412 under the elastic force of the tension spring 5 and returns to the initial position.

[0081] In addition, during the assembly process, the control voltage is output to the 360-degree continuous rotation servo 1 through the optical coupling voltage control module, and the voltage and current are detected by the voltage detection module and the current detection board and fed back to the single-chip microcomputer to adjust the output voltage and current, thereby indirectly controlling the output torque to ensure the size of the assembly torque.

[0082] When the bolts need to be removed, you only need to operate the button module to set it to the removal mode. The working principle is the same as the installation process and will not be repeated here.

[0083] The above is a preferred embodiment of the present invention, but the present invention is not limited to the above embodiments and examples. Various changes, equivalent substitutions, improvements, etc. made within the scope of knowledge of those skilled in the art without departing from the concept of the present invention should be included in the protection scope of the present invention.

Claims

1. A lightweight and small automatic bolt assembly device, characterized in that: include: A power assembly (100) comprises a 360-degree continuously rotating steering gear (1), one end of which is connected to a mechanical arm via a housing (2), and the other end of which is provided with a steering disc (11), wherein the steering disc is connected to an output end of the 360-degree continuously rotating steering gear (1) via a transmission device and rotates; The transmission assembly (200) comprises a first connecting member (3), a tension spring (5) and a second connecting member (6) which are coaxially connected in sequence, and a guide sleeve (4) which is coaxially sleeved on the outside of the first connecting member (3), a tension spring (5) and a second connecting member (6) which are coaxially connected in sequence. The first connecting member (3) comprises a first connecting portion (31), a second connecting portion (32) and a third connecting portion (33) which are integrally arranged along the axial direction, wherein the first connecting portion (31) is coaxially fixedly connected to the steering disc (11), the third connecting portion (33) is connected to the tension spring (5), and the second connecting portion (32) is connected to the guide sleeve (4); The guide sleeve (4) is provided with a first connecting hole (411) and a guide hole (412) in the axial direction, the first connecting hole (411) is matched with the outer ring of the second connecting part (32), the third connecting part (33), the tension spring (5) and the second connecting member (6) are located in the guide hole (412), and the outer periphery of the second connecting member (6) is slidably matched with the guide hole (412) and can move axially along the guide hole (412) under the elastic force of the tension spring (5); the guide hole is a non-circular hole that limits the circumferential movement of the second connecting member (6); A magnetic suction sleeve (300), one end of which is detachably connected to the other end of the second connecting member (6), the other end of which is sleeved on the bolt head to be loaded and unloaded, and a permanent magnet is provided inside; The control system is connected to the 360-degree continuous rotation steering engine (1) for controlling its rotation and torque parameters.

2. The assembly device according to claim 1, characterized in that: The housing (2) comprises an upper housing (22) and a lower housing (21); one end of the lower housing (21) is provided with a flange which is detachably connected to the mechanical arm, and the other end is detachably connected to the upper housing (22); the 360-degree continuously rotating steering gear is located inside the housing (2), and the ear plates on both sides thereof are located between the upper housing (22) and the lower housing (21) and fixed by standard connecting parts.

3. The assembly device according to claim 1, characterized in that: The first connecting member (3) is provided with a receiving hole (34) inside, which is located at one end close to the steering disc (11); the first connecting portion (31) is axially connected to the steering disc (11) by bolts, the second connecting portion (32) is provided with a first pin hole (35) perpendicular to the axial direction thereof, and the guide sleeve (4) is provided with a second pin hole (413) matching with the second pin hole, which is fixedly connected by a first connecting pin (7) and circumferentially positioned.

4. The assembly device according to claim 3, characterized in that: The shaft diameters of the first connecting portion (31), the second connecting portion (32) and the third connecting portion (33) are arranged in a step-wise decreasing manner, and the outer diameter of the first connecting portion (31) is smaller than the outer diameter of the guide sleeve (4).

5. The assembly device according to claim 4, characterized in that: The first connecting hole (411) is a threaded hole, connected to the second connecting part (32) via a threaded pair, and the guide hole (412) is a polygonal hole, with the outer periphery of the second connecting member (6) matching it.

6. The assembly device according to claim 5, characterized in that: The guide sleeve (4) is a split structure, comprising symmetrically connected guide components (41).

7. The assembly device according to claim 1, characterized in that: The third connecting portion (33) and the end of the second connecting member (6) connected to the tension spring are provided with a spiral groove, and the two ends of the tension spring (5) are respectively connected to the third connecting portion and the second connecting member by being screwed into the spiral groove.

8. The assembly device according to claim 1, characterized in that: A second connecting hole (61) is provided inside one end of the second connecting member (6) connected to the magnetic sleeve (300), and the second connecting hole (61) is a threaded hole. A third pin hole (62) is provided on the outside of the second connecting member, which intersects and penetrates the second connecting hole (61) and is perpendicular to the second connecting hole (61), and is detachably connected to the second connecting member via a second connecting pin (8).

9. The assembly device according to any one of claims 1 to 8, characterized in that: The control system comprises: The single-chip microcomputer is used to collect signals, run corresponding algorithms and generate control signals to control the 360-degree continuous rotation servo; The optical coupling voltage control module has an input end connected to the single-chip microcomputer and an output end connected to the servo drive module. The servo drive module is connected to the 360-degree continuous rotation servo to control the output voltage and current. The voltage detection module has an input end connected to the 360-degree continuous rotation servo and an output end connected to the single-chip microcomputer, and is used to measure and feedback the voltage across the 360-degree continuous rotation servo; The current detection board, whose input end is connected to the 360-degree continuous rotation servo and whose output end is connected to the single-chip microcomputer, is used to collect current signals in real time and convert them into voltage signals, and then convert them into digital quantities and feed them back to the single-chip microcomputer to control the motion parameters of the 360-degree continuous rotation servo; The button module is connected to the microcontroller and is used to select the working mode.

10. The assembly device according to claim 9, characterized in that The single chip microcomputer adopts an STM32 single chip microcomputer, and the current detection board adopts a MAX472 current detection board.

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