An initiating device head self-adaptive tightening device and a method of using the same

Abstract

The present application relates to a kind of pyrotechnic device head self-adapting tightening device, belong to mechanical manufacturing and automation technical field, the problem of jamming in tightening process caused by cumulative error of structure and tightening equipment machining and assembly is solved.The present application includes support, drive mechanism, self-adapting mechanism, rotary disc, flange shaft and chuck;Self-adapting mechanism is arranged on support, and it can be moved in two directions perpendicular to each other relative to support;Rotary disc includes relatively rotatable inner race and outer race, outer race is arranged on self-adapting mechanism, inner race is arranged on the inside of outer race;Flange shaft is arranged in inner race;One end of flange shaft is connected with drive mechanism and can be driven to rotate by drive mechanism, the other end of flange shaft is connected with chuck.The present application uses self-adapting mechanism, effectively avoids the problem of jamming in tightening process caused by cumulative error of structure and tightening equipment machining and assembly.

Description

Technical Field

[0001] This invention relates to the fields of mechanical manufacturing and automation technology, and in particular to an adaptive tightening device for the end caps of a pyrotechnic apparatus. Background Technology

[0002] In the automated docking and tightening process of pyrotechnic heads, high precision is required, ensuring that the axes of the structural components to be tightened coincide. However, due to the large dimensions and tolerances of the structural components, as well as the cumulative machining and assembly errors of the tightening equipment itself, relying solely on fixed positioning methods often fails to achieve precise axis alignment. This error can lead to the axes of the two structural components not completely coinciding during the tightening process, resulting in jamming and affecting production efficiency and product quality. Summary of the Invention

[0003] Based on the above analysis, the present invention aims to provide an adaptive tightening device for the end cap of a pyrotechnic device, in order to solve the problem of jamming during the tightening process caused by cumulative errors in the processing and assembly of structural components and tightening equipment.

[0004] On one hand, the present invention provides an adaptive tightening device for the end cap of a pyrotechnic apparatus, comprising a support, a drive mechanism, an adaptive mechanism, a rotary table, a flange shaft, and a chuck; wherein, the adaptive mechanism is disposed on the support and is movable relative to the support in two mutually perpendicular directions; the rotary table includes an inner and an outer race that are rotatable relative to each other, the outer race is disposed on the adaptive mechanism, and the inner race is disposed inside the outer race; the flange shaft is disposed within the inner race; one end of the flange shaft is connected to the drive mechanism and can be driven to rotate by the drive mechanism, and the other end of the flange shaft is connected to the chuck.

[0005] Furthermore, the adaptive mechanism includes an X-axis moving component and a Y-axis moving component, with the rotary table disposed between the X-axis moving component and the Y-axis moving component.

[0006] Furthermore, the Y-axis moving component is disposed on the support and is movable relative to the support in the Y-axis direction, and the X-axis moving component is disposed on the Y-axis moving component and is movable relative to the Y-axis moving component in the X-axis direction.

[0007] Furthermore, the outer race of the rotary table is fixedly disposed on the bottom surface of the X-axis moving component.

[0008] Furthermore, the support is provided with a first central through hole, the Y-axis moving component is provided with a second central through hole, and the X-axis moving component is provided with a third central through hole; when the Y-axis moving component and the X-axis moving component are both in the zero position, the axes of the first central through hole, the second central through hole, and the third central through hole coincide.

[0009] Furthermore, the diameters D1 of the first central through hole, D2 of the second central through hole, and D3 of the third central through hole satisfy the following relationship: D1 = D2 > D3.

[0010] Furthermore, the diameter D1 of the first central through hole and the diameter D2 of the second central through hole are 2.5-3 times the diameter D3 of the third central through hole.

[0011] Furthermore, the diameter D3 of the third central through hole is larger than the diameter of the input end of the flange shaft.

[0012] Furthermore, the Y-axis moving component includes a Y-axis guide rail, a Y-axis transverse plate, and a Y-axis slider. The Y-axis guide rail is fixedly mounted on the support, the Y-axis slider is slidably mounted on the Y-axis guide rail, and the Y-axis transverse plate is fixedly connected to the Y-axis slider.

[0013] Furthermore, the X-axis moving component includes an X-axis guide rail, an X-axis transverse plate, and an X-axis slider. The X-axis guide rail is fixedly mounted on the Y-axis transverse plate, and the X-axis slider is slidably mounted on the X-axis guide rail. The X-axis transverse plate is fixedly connected to the X-axis slider.

[0014] Furthermore, the adaptive mechanism includes a spring reset module, which can push the X-axis transverse plate or the Y-axis transverse plate back to its initial position.

[0015] Furthermore, the spring reset module includes a mounting base, an adjustable screw, a compression spring, an adjusting nut, and a pressure plate; the adjustable screw is mounted on the mounting base and can reciprocate relative to the mounting base; the adjusting nut is adjustablely positioned at the outer end of the adjustable screw; the pressure plate is fixedly mounted at the inner end of the adjustable screw; the compression spring is sleeved on the adjustable screw, with one end abutting against the mounting base and the other end abutting against the pressure plate.

[0016] Furthermore, the pressure plates of the plurality of spring reset modules abut against two opposite sides of the X-direction transverse plate or the Y-direction transverse plate.

[0017] Furthermore, the adaptive mechanism also includes a calibration module that enables the X-axis transverse plate and / or the Y-axis transverse plate to be precisely positioned at zero.

[0018] Furthermore, the calibration module includes a Y-axis zero-position block and a Y-axis stop block. The Y-axis zero-position block is disposed on the support, and the Y-axis stop block is disposed on the lower surface of the Y-axis transverse plate. When the Y-axis transverse plate is in the zero position, the outer surfaces of the Y-axis zero-position block and the Y-axis stop block are aligned in the vertical direction.

[0019] Furthermore, the pressure plate of the spring reset module adjacent to the Y-direction zero-position block simultaneously abuts against the outer surfaces of both the Y-direction zero-position block and the Y-direction stop block.

[0020] Furthermore, the calibration module also includes an X-axis zero-position block and an X-axis stop block. The X-axis zero-position block is disposed on the Y-axis transverse plate, and the X-axis stop block is disposed on the lower surface of the X-axis transverse plate. When the X-axis transverse plate is in the zero position, the outer surfaces of the X-axis zero-position block and the X-axis stop block are aligned in the vertical direction.

[0021] Furthermore, the pressure plate of the spring reset module adjacent to the X-direction zero position block simultaneously abuts against the outer surfaces of both the X-direction zero position block and the X-direction stop block.

[0022] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0023] (1) By setting the adaptive mechanism, the present invention realizes the adaptive positioning of the end cap of the pyrotechnic device in the automated docking and tightening process, effectively avoiding the problem of jamming in the tightening process caused by the cumulative error of the processing and assembly of structural parts and tightening equipment.

[0024] (2) By setting a spring reset module, the adaptive mechanism can move smoothly after being subjected to force, and the tightening device can always be in a state of force balance in all directions, which further improves the stability of the tightening process.

[0025] (3) By adjusting the nut, the preload of the spring reset module can be adjusted, thereby adjusting the sensitivity of the adaptive mechanism;

[0026] (4) By setting the zero-position block and the stop block, and adjusting the preload of the spring reset module, the X-axis transverse plate and the Y-axis transverse plate of the adaptive mechanism can be accurately positioned to the zero position, thereby improving the accuracy of the system.

[0027] (5) By setting limit blocks, the excessive movement of the adaptive mechanism is avoided, which may cause collisions and safety hazards.

[0028] (6) Improve production efficiency: The application of the adaptive tightening device makes the tightening process smoother and improves production efficiency.

[0029] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0030] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0031] Figure 1 This is a schematic diagram of the self-adaptive tightening device for the end cap of the pyrotechnic apparatus of the present invention;

[0032] Figure 2 This is a schematic diagram of the support for the adaptive tightening device for the end cap of the pyrotechnic apparatus of the present invention;

[0033] Figure 3 This is a schematic diagram of the flange shaft of the adaptive tightening device for the end cap of the pyrotechnic apparatus of the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of the adaptive tightening device for the end cap of the pyrotechnic apparatus of the present invention after removing the X-direction transverse plate;

[0035] Figure 5 This is a schematic diagram of the self-adaptive tightening device for the end cap of the pyrotechnic apparatus of the present invention after the support is removed;

[0036] Figure 6 This is a Y-direction sectional view of the adaptive tightening device for the end cap of the pyrotechnic apparatus of the present invention;

[0037] Figure 7 This is an X-axis sectional view of the adaptive tightening device for the end cap of the pyrotechnic apparatus of the present invention;

[0038] Figure 8 This is a top view of the adaptive tightening device for the end cap of the pyrotechnic apparatus of the present invention;

[0039] Figure 9 This is a schematic diagram of the spring reset module of the adaptive tightening device for the end cap of the pyrotechnic apparatus of the present invention.

[0040] Figure label:

[0041] 10-Drive mechanism; 11-Tightening motor; 12-Reducer; 13-Motor mount; 14-Torque sensor; 15-Coupling; 20-Adaptive mechanism; 21-X-direction moving assembly; 211-X-direction transverse plate; 212-X-direction guide rail; 213-X-direction slider; 214-X-direction stop block; 215-X-direction zero-position block; 22-Y-direction moving assembly; 221-Y-direction transverse plate; 222-Y-direction guide rail; 223-Y-direction slider; 224- 225-Y-direction stop block; 23-Y-direction zero-position block; 23-Spring reset module; 231-Mounting base; 232-Adjustable screw; 233-Compression spring; 234-Adjusting nut; 235-Pressure plate; 30-Rotating disc; 31-Outer seat ring; 32-Inner seat ring; 40-Flange shaft; 41-Shaft end; 42-Flange end; 50-Chuck; 51-Claw; 60-Support; 61-Base plate; 62-Baffle; 63-First center through hole; 64-Limit block. Detailed Implementation

[0042] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0043] Example 1

[0044] This invention provides an adaptive tightening device for the end caps of a pyrotechnic apparatus, such as... Figure 1 As shown, the device includes a support 60, a drive mechanism 10, an adaptive mechanism 20, a rotary table 30, a flange shaft 40, and a chuck 50. The adaptive mechanism 20 is mounted on the support 60 and can move relative to the support 60 in two mutually perpendicular directions. The rotary table 30 includes an inner seat ring 32 and an outer seat ring 31 that can rotate relative to each other. The outer seat ring 31 is mounted on the adaptive mechanism 20, and the inner seat ring 32 is located inside the outer seat ring 31. The flange shaft 40 is located inside the inner seat ring 32. One end of the flange shaft 40 is connected to the drive mechanism 10 and can be driven to rotate by the drive mechanism 10. The other end of the flange shaft 40 is connected to the chuck 50, which has jaws 51 for turning the end caps of the pyrotechnic device.

[0045] The support 60 serves as a support structure for the tightening device, providing support and fixation. It can be fixedly mounted on the frame (not shown in the figure) or on the robotic arm for automatic positioning as needed. The structure of the support 60 is as follows: Figure 2 As shown, it includes a horizontally arranged base plate 61 and vertically arranged baffles 62 on both sides. The baffles 62 are used to install protective covers to prevent personnel from accidentally touching them. The base plate 61 has a first central through hole 63 in the center, and Y guide rails 222 are fixedly arranged on both sides of the first central through hole 63 along the Y direction.

[0046] The support 60 is also provided with multiple limit blocks 64. In a preferred embodiment, see... Figure 2 , Figure 8 Four limit blocks 64 are provided, symmetrically arranged at the four edges of the support 60. The limit blocks 64 can be used to limit the displacement of the adaptive mechanism 20.

[0047] See Figures 5-7 The adaptive mechanism 20 includes an X-axis moving component 21 and a Y-axis moving component 22. The Y-axis moving component 22 is disposed on the support 60 and is movable relative to the support 60 in the Y direction, and the X-axis moving component 21 is disposed on the Y-axis moving component 22 and is movable relative to the Y-axis moving component 22 in the X direction.

[0048] See Figure 2 , Figures 6-7 The Y-axis moving assembly 22 includes a Y-axis guide rail 222, a Y-axis transverse plate 221, and a Y-axis slider 223. The Y-axis guide rail 222 is fixedly mounted on the support 60, and the Y-axis slider 223 is slidably mounted on the Y-axis guide rail 222. The Y-axis transverse plate 221 is fixedly connected to the Y-axis slider 223. A second central through hole is provided in the middle of the Y-axis transverse plate 221, which is used for the output end of the flange shaft 40 to pass through.

[0049] The X-axis moving assembly 21 has a similar structure to the Y-axis moving assembly 22, including an X-axis guide rail 212, an X-axis transverse plate 211, and an X-axis slider 213. The X-axis guide rail 212 is fixedly mounted on the Y-axis transverse plate 211, and the X-axis slider 213 is slidably mounted on the X-axis guide rail 212. The X-axis transverse plate 211 is fixedly connected to the X-axis slider 213. A third central through hole is provided at the center of the X-axis transverse plate 211, which is used for the intermediate section of the flange shaft 40 to pass through.

[0050] If misalignment or misalignment causes jamming during the tightening process, the resulting force will be transmitted to the outer seat ring 31 through the inner seat ring 32 of the rotary table 30, thereby causing the X-axis moving component 21 and / or the Y-axis moving component 22 to move adaptively, thus ensuring accurate alignment and axis coincidence, allowing normal tightening to continue.

[0051] In some preferred embodiments, the adaptive mechanism 20 further includes a spring reset module 23. See also Figure 9The spring reset module 23 includes a mounting base 231, an adjustable screw 232, a compression spring 233, an adjusting nut 234, and a pressure plate 235. The mounting base 231 is used to mount the spring reset module 23 to a target position. A through hole is provided on the mounting base 231, in which the adjustable screw 232 is freely movable. An adjusting nut 234 is provided at the outer end of the adjustable screw 232, which, by turning the adjusting nut 234, limits the length of the adjustable screw 232 extending towards the center of the adaptive tightening device. A pressure plate 235 is fixedly mounted on the inner end of the adjustable screw 232 (i.e., the end facing the center of the adaptive tightening device). A compression spring 233 is sleeved on the adjustable screw 232, one end of which abuts against the mounting base 231, and the other end abuts against the pressure plate 235, causing the pressure plate 235 to extend towards the center of the adaptive tightening device. When the pressure plate 235 is subjected to pressure, the pressure plate 235 can drive the adjustable screw 232 to move outward against the elastic force of the compression spring 233.

[0052] In this embodiment, a total of eight spring reset modules 23 are provided. Four of them are used to push the X-axis transverse plate 211, and four are used to push the Y-axis transverse plate 221, arranged as follows: Figure 8 As shown.

[0053] Four spring reset modules 23 for pushing the Y-axis transverse plate 221 are fixedly mounted on the support 60. The length direction of each of the four spring reset modules 23 is parallel to the length direction of the two Y-axis guide rails 222. The four spring reset modules 23 are symmetrically arranged on the left and right sides of the Y-axis transverse plate 221, and the pressure plates 235 of the spring reset modules 23 abut against two opposite sides of the Y-axis transverse plate 221. These four spring reset modules 23 are arranged in pairs to absorb shock and buffer during adaptive movement in the tightening process to ensure the stability of the tightening process, and at the same time, they can push the Y-axis transverse plate 221 to move and reset along the Y-axis.

[0054] Before starting work, the four spring reset modules 23 need to be pre-adjusted by turning the adjusting nut 234 so that the Y-direction transverse plate 221 is in the middle position, and the elastic force of the compression springs 233 on both sides is equal, and the adjusting nut 234 of each spring reset module 23 maintains a certain distance from the mounting base 231.

[0055] Four spring reset modules 23 for pushing the X-axis transverse plate 211 are fixedly mounted on the Y-axis transverse plate 221. The length direction of each of the four spring reset modules 23 is parallel to the length direction of the two X-axis guide rails 212. The four spring reset modules 23 are symmetrically arranged on the upper and lower sides of the X-axis transverse plate 211, and the pressure plates 235 of the spring reset modules 23 abut against two opposite sides of the X-axis transverse plate 211. These four spring reset modules 23 are arranged in pairs to absorb shock and buffer during adaptive movement in the tightening process to ensure the stability of the tightening process, and at the same time, they can push the X-axis transverse plate 211 to move and reset along the X-axis.

[0056] Before starting work, these four spring reset modules 23 also need to be pre-adjusted. Tighten the adjusting nut 234 so that the X-direction transverse plate 211 is in the middle position, and the elastic force of the compression springs 233 on both sides is equal, and the adjusting nut 234 of each spring reset module 23 maintains a certain distance from the mounting base 231.

[0057] After pre-adjustment, the central axis of the adaptive mechanism 20 coincides with the axis of the first central through hole 63 of the support 60, and can be driven to move along the X and / or Y directions.

[0058] Furthermore, the adaptive mechanism 20 also includes a calibration module, which includes a zero-position block and a stop block set opposite to each other. Specifically, it includes an X-direction zero-position block 215 and an X-direction stop block 214 for the X-direction lateral plate 211, and a Y-direction zero-position block 225 and a Y-direction stop block 224 for the Y-direction lateral plate 221.

[0059] like Figure 6 As shown, the Y-axis zero-position block 225 is mounted on the support 60. Simultaneously, the Y-axis stop block 224 is mounted on the lower surface of the Y-axis transverse plate 221, corresponding to the position of the Y-axis zero-position block 225. When the Y-axis transverse plate 221 is in the zero position (i.e., the initial position of the adaptive tightening device), the outer surfaces of the Y-axis zero-position block 225 and the Y-axis stop block 224 are aligned vertically, and the pressure plate 235 of the adjacent spring reset module 23 simultaneously abuts against the outer surfaces of both the Y-axis zero-position block 225 and the Y-axis stop block 224. This arrangement allows the Y-axis transverse plate 221 to be precisely positioned at the zero position.

[0060] Before the tightening operation begins, the extension length of the adjustable screw 232 of the spring reset module 23 and the elastic force of the compression spring 233 need to be adjusted to ensure that the Y-direction transverse plate 221 is in the zero position without external force. The specific method is as follows: Adjust the adjusting nut 234 of the spring reset module 23 located on one side of the Y-direction stop block 224 so that the maximum extension length of the adjustable screw 232 is such that the pressure plate 235 just abuts against the outer side of the Y-direction zero position block 225. At the same time, it is necessary to ensure that the initial state thrust (i.e. the elastic force of the compressed spring 233) of the spring reset module 23 located on one side of the Y-direction stop block 224 is less than the initial state thrust of the spring reset module 23 on the opposite side, so that the thrust of the spring reset module 23 on the opposite side can press the Y-direction transverse plate 221 onto the Y-direction zero position block 225, so that the Y-direction transverse plate 221 can be accurately positioned at the zero position. Then adjust the adjusting nut 234 of the spring reset module 23 on the opposite side so that the adjusting nut 234 on this side is a certain distance away from the mounting base 231, so that the adjustable screw 232 can still move towards the opposite side after being subjected to force.

[0061] When the adaptive mechanism 20 is subjected to a force along the Y direction toward the Y-direction zero block 225, the Y-direction stop block 224 pushes the pressure plate 235 of the spring reset module 23, which is in contact with it, away from the Y-direction zero block 225, thus achieving Y-direction movement. At this time, the pressure plate 235 of the spring reset module 23 on the side away from the Y-direction zero block 225 is always in contact with the side of the Y-direction transverse plate 221 under the action of the compression spring 233. When the adaptive mechanism 20 is subjected to a force along the Y direction away from the Y-direction zero block 225, the Y-direction transverse plate 221 pushes the pressure plate 235 of the spring reset module 23 on the side away from the Y-direction zero block 225 to overcome the elastic force of the compression spring 233 and achieve Y-direction movement. At this time, the pressure plate 235 of the spring reset module 23 on the side adjacent to the Y-direction zero block 225 is always in contact with the side of the Y-direction zero block 225 and does not move with the Y-direction transverse plate 221.

[0062] Furthermore, two sets of Y-axis zero-position blocks 225 and Y-axis stop blocks 224 are provided, located on the same side of the Y-axis transverse plate 221. Simultaneously, the pressure plates 235 of the two spring reset modules 23 on this side abut against the outer surfaces of the corresponding Y-axis zero-position blocks 225 and Y-axis stop blocks 224. This arrangement ensures that the Y-axis transverse plate 221 experiences uniform force, achieves accurate positioning, and prevents twisting or displacement.

[0063] like Figure 4 , Figure 7As shown, the X-axis zero-position block 215 is disposed on the Y-axis transverse plate 221. Simultaneously, the X-axis stop block 214 is disposed on the lower surface of the X-axis transverse plate 211, corresponding to the position of the X-axis zero-position block 215. When the X-axis transverse plate 211 is in the zero position (i.e., the initial position of the adaptive tightening device), the outer surfaces of the X-axis zero-position block 215 and the X-axis stop block 214 are aligned vertically, and the pressure plate 235 of the adjacent spring reset module 23 simultaneously abuts against the outer surfaces of both the X-axis zero-position block 215 and the X-axis stop block 214. This arrangement allows the X-axis transverse plate 211 to be precisely positioned at the zero position.

[0064] The principle and process of adjusting the initial position of the X-axis transverse plate 211 are the same as those of adjusting the initial position of the Y-axis transverse plate 221, and will not be repeated here.

[0065] Preferably, two sets of X-axis zero-position blocks 215 and X-axis stop blocks 214 are provided and located on the same side of the X-axis transverse plate 211. Simultaneously, the pressure plates 235 of the two spring reset modules 23 located on this side abut against the outer surfaces of the corresponding X-axis zero-position blocks 215 and X-axis stop blocks 214. This arrangement ensures that the X-axis transverse plate 211 is subjected to uniform force, accurately positioned, and avoids twisting or displacement.

[0066] When both the Y-axis moving component 22 and the X-axis moving component 21 are at zero position, the axes of the first central through hole 63, the second central through hole, and the third central through hole coincide.

[0067] Preferably, the diameters D1 of the first central through hole 63, D2 of the second central through hole, and D3 of the third central through hole satisfy the following relationship: D1 = D2 > D3.

[0068] Furthermore, the diameter D1 of the first central through hole and the diameter D2 of the second central through hole are 2.5-3 times, preferably 3 times, the diameter D3 of the third central through hole. This is so that the flange shaft 40 and the rotary table 30 can pass through these central through holes, and that the adaptive mechanism 20 does not interfere with the movement of the X-axis and / or Y-axis during the tightening process.

[0069] Furthermore, the diameter D3 of the third central through hole is larger than the diameter of the input end of the flange shaft 40. This arrangement facilitates the installation of the flange shaft 40 and allows it to have a certain amount of movement space relative to the X-axis transverse sliding plate 211.

[0070] See Figure 4 , Figure 6 as well as Figure 7The rotary table 30 is disposed between the X-axis moving assembly 21 and the Y-axis moving assembly 22. The outer race 31 of the rotary table 30 is fixedly disposed on the bottom surface of the X-axis transverse plate 211 of the X-axis moving assembly 21. The inner race 32 is disposed within the outer race 31 and can rotate relative to the outer race 31. The central axis of the inner race 32 coincides with the central axis of the third central through hole, and the inner diameter of the inner race 32 is greater than or equal to the inner diameter of the third central through hole. The rotary table 30 is preferably a single-row four-point contact ball-type rotary support. The bottom of the rotary table 30 is located within the second central through hole of the Y-axis transverse plate 221, with a gap between it and the Y-axis transverse plate 221.

[0071] See Figure 3 The flange shaft 40 consists of a shaft end 41 and a flange end 42. The shaft end 41 passes through the center hole of the inner seat ring 32 of the rotary table 30 and is connected to the coupling 15 to transmit the torque of the motor 11. The upper end face of the flange end 42 is connected to the inner seat ring 32 of the rotary table 30 to provide support and fixation for the flange shaft 40. The lower end face of the flange end 42 is connected to the chuck 50 to drive the chuck 50 to rotate.

[0072] The chuck 50 is a pneumatic hollow three-jaw chuck 50, used to install the jaws 51. The jaws 51 are designed according to the external dimensions of the end cap of the pyrotechnic device and are used to clamp the parts to be tightened.

[0073] See Figure 1 The drive mechanism 10 includes a motor mount 13, a motor 11, a reducer 12, a torque sensor 14, and a coupling 15. The motor mount 13 is fixedly mounted on the X-direction lateral plate 211 of the X-direction movement assembly 21 of the adaptive mechanism 20. The output shaft of the motor 11 is connected to the reducer 12, and the housing of the reducer 12 is mounted on the motor mount 13. The reducer 12 is connected to the input end of the flange shaft 40 via the torque sensor 14 and the coupling 15. The entire drive mechanism 10 is located above the adaptive mechanism 20 and can be moved relative to the support 60 in the X and / or Y directions by the adaptive mechanism 20.

[0074] Motor 11 is an explosion-proof servo motor that provides tightening torque to the device. The output shaft of motor 11 is connected to reducer 12. Reducer 12 is mounted on motor mount 13 and is used to reduce the output speed of motor 11 and increase torque. The output shaft of reducer 12 is connected to torque sensor 14. Torque sensor 14 is used to measure the output torque of motor 11 to ensure precise control of the tightening process. Coupling 15 is used to connect torque sensor 14 to flange shaft 40 to transmit tightening torque.

[0075] The adaptive mechanism 20 in this invention achieves adaptive adjustment of the tightening device in the X and Y directions through the cooperation of two transverse plates (X-direction transverse plate 211 and Y-direction transverse plate 221) and the elastic action of the spring reset module 23.

[0076] In the tightening process of the adaptive tightening device for the end cap of the pyrotechnic apparatus of the present invention, the torque transmission route is as follows: motor 11 - reducer 12 - torque sensor 14 - coupling 15 - flange shaft 40 - chuck 50 - jaw 51.

[0077] During the tightening process, the transmission routes of the X and Y displacements of the tightening device are as follows: the displacement of the jaws 51 and chuck 50 due to assembly errors is transmitted to the flange shaft 40, the flange shaft 40 transmits the displacement to the inner seat ring 32 of the rotary table 30, the inner seat ring 32 drives the outer seat ring 31 to move, the outer seat ring 31 of the rotary table 30 drives the X-direction transverse plate 211 of the adaptive mechanism 20 to move in the X direction, and / or the X-direction transverse plate 211 drives the Y-direction transverse plate 221 to move in the Y direction through the X-direction guide rail 212, thereby realizing adaptive adjustment in the X and Y directions.

[0078] The beneficial effects of this invention are mainly reflected in the following aspects:

[0079] (1) By setting the adaptive mechanism, the present invention realizes the adaptive positioning of the end cap of the pyrotechnic device in the automated docking and tightening process, effectively avoiding the problem of jamming in the tightening process caused by the cumulative error of the processing and assembly of structural parts and tightening equipment.

[0080] (2) By setting a spring reset module, the tightening device can always be in a state of force balance in all directions, which further improves the stability of the tightening process.

[0081] (3) By adjusting the nut, the preload of the spring reset module can be adjusted, thereby adjusting the sensitivity of the adaptive mechanism;

[0082] (4) By setting zero-position blocks and stop blocks, the X-axis transverse plate and Y-axis transverse plate of the adaptive mechanism can be accurately positioned to the zero position, thereby improving the accuracy of the system.

[0083] (5) By setting limit blocks, the excessive movement of the adaptive mechanism is avoided, which may cause collisions and safety hazards.

[0084] (6) Improve production efficiency: The application of the adaptive tightening device makes the tightening process smoother and improves production efficiency.

[0085] Example 2

[0086] This invention also relates to a method for tightening the end cap of a pyrotechnic device, employing the adaptive tightening device of Example 1. The method specifically includes the following steps:

[0087] Step 1: Pre-adjust the equipment.

[0088] Specifically, the pre-adjusted spring reset module 23 is configured such that the central axis of the adaptive mechanism 20 coincides with the central axis of the first central through hole 63 of the support 60, the outer surfaces of the X-direction zero-position block 215 and the X-direction stop block 214 are aligned, and the outer surfaces of the Y-direction zero-position block 225 and the Y-direction stop block 224 are aligned, so that the adjusting nuts 234 of the four spring reset modules 23 on the side away from the zero-position block and the stop block are moved away from the mounting base 231 by a certain distance. At this time, the adaptive mechanism 20 is in the zero position and can move freely along the X and / or Y directions.

[0089] Step 2: Clamp the workpiece.

[0090] Specifically, the head of the pyrotechnic device is clamped and fixed using the 51 chuck, and the pyrotechnic device is clamped and fixed using the matching equipment, and the two are aligned.

[0091] Step 3: Activate the adaptive tightening device to complete the tightening operation.

[0092] During the tightening process, the torque transmission route is as follows: motor 11 - reducer 12 - torque sensor 14 - coupling 15 - flange shaft 40 - chuck 50 - jaw 51. When the value fed back by torque sensor 14 reaches the preset value, it indicates that the tightening operation is complete.

[0093] During the tightening process, if misalignment, excessive error, or other reasons cause jamming, the force on the chuck 51 and chuck 50 is transmitted to the flange shaft 40, which in turn transmits the force to the inner seat ring 32 of the rotary table 30. The inner seat ring 32 drives the outer seat ring 31 to move, and the outer seat ring 31 drives the X-direction transverse plate 211 of the adaptive mechanism 20 to move in the X direction, and / or the X-direction transverse plate 211 drives the Y-direction transverse plate 221 to move in the Y direction through the X-direction guide rail 212, thereby achieving adaptive adjustment in the X and Y directions.

[0094] The tightening method described in this embodiment makes the tightening process smoother and improves production efficiency.

[0095] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A self-adaptive tightening device for the end cap of a pyrotechnic apparatus, characterized in that, The device includes a support, a drive mechanism, an adaptive mechanism, a rotary table, a flange shaft, and a chuck. The adaptive mechanism is mounted on the support and is movable relative to the support in two mutually perpendicular directions. The rotary table includes an inner and an outer race that can rotate relative to each other. The outer race is mounted on the adaptive mechanism, and the inner race is located inside the outer race. The flange shaft is located within the inner race. One end of the flange shaft is connected to the drive mechanism and can be driven to rotate by the drive mechanism, while the other end of the flange shaft is connected to the chuck.

2. The adaptive tightening device for the end cap of a pyrotechnic apparatus according to claim 1, characterized in that, The adaptive mechanism includes an X-axis moving component and a Y-axis moving component, with the rotary table disposed between the X-axis moving component and the Y-axis moving component.

3. The adaptive tightening device for the end cap of a pyrotechnic apparatus according to claim 2, characterized in that, The Y-axis moving component is disposed on the support and can move relative to the support in the Y-axis direction, and the X-axis moving component is disposed on the Y-axis moving component and can move relative to the Y-axis moving component in the X-axis direction.

4. The adaptive tightening device for the end cap of a pyrotechnic apparatus according to claim 2 or 3, characterized in that, The outer race of the rotary table is fixedly mounted on the bottom surface of the X-axis moving component.

5. The adaptive tightening device for the end cap of a pyrotechnic apparatus according to claim 4, characterized in that, The support is provided with a first central through hole, the Y-axis moving component is provided with a second central through hole, and the X-axis moving component is provided with a third central through hole; when the Y-axis moving component and the X-axis moving component are both at the zero position, the axes of the first central through hole, the second central through hole and the third central through hole coincide.

6. The self-adaptive tightening device for the end cap of a pyrotechnic apparatus according to claim 5, characterized in that, The diameters D1 of the first central through hole, D2 of the second central through hole, and D3 of the third central through hole satisfy the following relationship: D1 = D2 > D3.

7. The self-adaptive tightening device for the end cap of a pyrotechnic apparatus according to claim 6, characterized in that, The diameter D1 of the first central through hole and the diameter D2 of the second central through hole are 2.5-3 times the diameter D3 of the third central through hole.

8. The self-adaptive tightening device for the end cap of a pyrotechnic apparatus according to claim 6, characterized in that, The diameter D3 of the third central through hole is equal to the diameter of the input end of the flange shaft.

9. The adaptive tightening device for the end cap of a pyrotechnic apparatus according to any one of claims 2-3 and 5-7, characterized in that, The Y-axis moving component includes a Y-axis guide rail, a Y-axis transverse plate, and a Y-axis slider. The Y-axis guide rail is fixedly mounted on the support, and the Y-axis slider is slidably mounted on the Y-axis guide rail. The Y-axis transverse plate is fixedly connected to the Y-axis slider.

10. The self-adaptive tightening device for the end cap of a pyrotechnic apparatus according to claim 9, characterized in that, The X-axis moving component includes an X-axis guide rail, an X-axis transverse plate, and an X-axis slider. The X-axis guide rail is fixedly mounted on the X-axis transverse plate, and the X-axis slider is slidably mounted on the X-axis guide rail. The X-axis transverse plate and the X-axis slider are fixedly connected.

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