An adaptive single motor bolt tightening tool

Abstract

The application relates to a self-adaptive single-motor bolt screwing tool, which relates to a bolt screwing tool. The application is used for solving the problems that the existing external hexagonal bolt screwing tool is large in size, difficult to control, unable to adapt to complex working environments, small in contact area with the external hexagonal bolt and needing to replace the screwing tool when different specifications of the external hexagonal bolt are screwed. The frameless motor of the application is embedded into the upper portion of a tool shell, a reset shaft is vertically arranged in the frameless motor, a cooperative driving assembly is coaxially inserted into the lower end of the reset shaft, a driving transmission shaft is coaxially inserted into the lower inner hole of the reset shaft, a reset spring is arranged between the top of the driving transmission shaft and the lower inner hole of the reset shaft, the driving transmission shaft is fixedly connected with the lower end surface of the reset spring, an outer driven transmission shaft is coaxially sleeved on an inner driven transmission shaft, the cooperative driving assembly drives a planetary gear system, a clamping driving helical gear and a helical gear clamp to clamp, screw and dismount the bolt. The application is used for bolt screwing.

Description

Technical Field

[0001] This invention relates to a screw-tightening tool, specifically an adaptive single-motor bolt screw-tightening tool, belonging to the field of bolt tightening and disassembly. Background Technology

[0002] An external hex bolt is a type of mechanical part, a fastener consisting of an external hexagonal head and a threaded shank (a cylinder with external threads), commonly used for connecting mechanical structures. In the daily use of machinery, wear and aging of parts are unavoidable problems. In special working environments where human maintenance is difficult, such as radiation environments and space environments, it is essential to use robots to perform maintenance operations on machinery requiring parts replacement.

[0003] The patent, with announcement number CN116477546A, entitled "An Invention Patent for a Single-Motor Controlled Rotary Gripper and Capping Method," employs a single-motor driven end effector to achieve rotation. This rotation function is primarily used for cap opening. The opening principle is as follows: a friction element actively releases the rotational constraint on the hand, allowing the motor assembly to simultaneously rotate the hand and the gripping assembly in a first direction, thus separating the cap from the bottle body. In other words, during the rotational cap opening process, the gripping assembly must apply both a clamping force and a rotational force to the cap. Furthermore, for sampling tubes, sample tubes, and material tubes, the caps screwed onto the tube body are prone to slippage and damage under stress.

[0004] Even when used in external hex bolts, the output shaft of its motor assembly directly drives the end effector, making it unable to provide sufficient power and torque for tightening and disassembling the bolts, especially in environments where they are difficult to tighten or the bolts are old.

[0005] Currently, robots need to change to different sized tools when tightening hex bolts of different sizes, and operators still need to apply external force. Even with automated bolt tightening tools, different tool sizes are required. This increases the difficulty of the robot's work, especially in special working environments, and affects the robot's operating speed.

[0006] Existing hex bolt tightening tools suitable for robotic operations employ at least two drive mechanisms, resulting in large size and complex control. Furthermore, these tools lack integrated sensors, making it difficult to meet the requirements for unmanned operation in complex environments. Additionally, their small contact area with the hex bolt leads to poor tightening performance, making them unsuitable for maintenance tasks.

[0007] In summary, existing tools for tightening hexagonal bolts for robotic operations suffer from several drawbacks: large size, difficult control, inability to adapt to complex working environments, small contact area with the hexagonal bolts, and the need to change tools when tightening hexagonal bolts of different specifications. Summary of the Invention

[0008] The purpose of this invention is to solve the problems of existing hexagonal bolt tightening tools, such as large size, difficulty in control, inability to adapt to complex working environments, small contact area with the hexagonal bolt, and the need to change tightening tools when tightening hexagonal bolts of different sizes. Therefore, this invention provides an adaptive single-motor bolt tightening tool.

[0009] The technical solution of the present invention is: an adaptive single-motor bolt tightening tool, which includes a tool housing, a frameless motor, a reset shaft, a co-drive assembly, a sun gear, planetary gears, an internal gear ring, a turntable, a clamping drive helical gear, and a helical gear clamp; the frameless motor is embedded in the upper part of the tool housing, the reset shaft is vertically inserted into the frameless motor, and the co-drive assembly is coaxially inserted into the lower end of the reset shaft. The co-drive assembly includes a reset spring, a drive shaft, an outer driven shaft, and an inner driven shaft. The drive shaft is coaxially inserted into the lower inner hole of the reset shaft, and a reset spring is provided between the top of the drive shaft and the lower inner hole of the reset shaft. The drive shaft is fixedly connected to the lower end face of the reset spring, and the outer driven shaft is coaxially mounted on the inner driven shaft.

[0010] The sun gear is mounted on the outer driven drive shaft, the internal gear ring is coaxially mounted on the sun gear, and the sun gear and the internal gear ring are meshed through planetary gears. The turntable is mounted on the lower part of the internal gear ring, the clamping drive helical gear is mounted on the lower part of the inner driven drive shaft, and the helical gear clamp is mounted on the lower end of the turntable and meshes with the clamping drive helical gear.

[0011] The frameless motor drives the active drive shaft to rotate forward via the reset shaft. The drive teeth on the active drive shaft simultaneously contact and rotate in the same direction and at the same speed with the drive teeth on the outer and inner driven drive shafts. The inner driven drive shaft drives the clamping drive helical gear to rotate, and the clamping drive helical gear meshes with the helical gear clamp. The outer driven drive shaft drives the sun gear to rotate, and the sun gear sequentially drives the planet gears, internal gear ring, and turntable to rotate. The internal gear ring drives the turntable to rotate in the opposite direction with the helical gear clamp. At the same time, the helical gear clamp and the clamping drive helical gear rotate relative to each other during the meshing process, so that the helical gear clamp moves towards the center to clamp the external hexagonal bolt. After clamping the bolt, the meshing helical gears can self-lock, and the bolt will not come out of the clamp. The frameless motor rotates in the opposite direction to loosen the external hexagonal bolt.

[0012] After the frameless motor rotates forward and clamps the external hexagonal bolt, it continues to rotate forward. Because the external hexagonal bolt is clamped, the helical gear clamps cannot continue to approach each other, the inner driven drive shaft stops rotating, the frameless motor stalls, and after the output torque of the frameless motor increases, the drive shaft passively moves upward along the drive tooth surfaces of the outer and inner driven drive shafts. The upper end of the drive shaft presses against the return spring, and the return spring contracts upward.

[0013] The active drive shaft moves upward until it disengages from the drive tooth surface of the inner driven drive shaft. At this time, the end face of the drive tooth of the active drive shaft is still in contact with the end face of the drive tooth of the outer driven drive shaft. The active drive shaft drives the outer driven drive shaft and the sun gear to rotate. The sun gear meshes with the planet gears, and the planet gears mesh with the internal gear ring. The internal gear ring drives the turntable and the helical gear clamp to rotate in the opposite direction to the sun gear. The helical gear clamp drives the clamping drive helical gear to rotate in the same direction, thereby tightening the external hexagonal bolt.

[0014] After the external hex bolts are tightened, the frameless motor rotates in the reverse direction. The return spring pushes the drive shaft to move down, and the driving gear friction slope of the drive shaft contacts the inner driven friction slope of the inner driven shaft. The helical gear clamp loosens the clamped external hex bolts.

[0015] The frameless motor continues to rotate in the opposite direction to achieve reverse clamping of the external hexagonal bolt. After the external hexagonal bolt is clamped in the opposite direction, it continues to rotate in the opposite direction to achieve loosening of the external hexagonal bolt.

[0016] Furthermore, the tool housing includes a flange connecting plate, a camera housing, a first housing body, a second housing body, and a third housing body; wherein, a support plate with an inner hole is provided in the middle of the flange connecting plate, and the camera housing is horizontally mounted on the support plate of the flange connecting plate; the first housing body, the second housing body, and the third housing body are arranged coaxially from top to bottom and are connected by bolts.

[0017] Furthermore, the upper and lower parts of the reset shaft are respectively provided with an upper inner hole and a lower inner hole, which are coaxially arranged, and the inner diameter of the lower inner hole is smaller than that of the upper inner hole. The inner wall of the lower inner hole is machined with multiple limiting grooves along its axial direction.

[0018] Furthermore, the active drive shaft includes a connecting shaft, a top surface, and drive teeth. Multiple limiting protrusions are machined on the outer circumferential surface of the connecting shaft along its axial direction, and the limiting protrusions cooperate with the limiting grooves on the reset shaft. The top surface is a disc-shaped plate, the connecting shaft is installed in the middle of the upper end face of the top surface, and the drive teeth are fixedly installed on the outer edge of the lower end face of the top surface.

[0019] Furthermore, the driving tooth includes a first active tooth and a second active tooth. Both the first active tooth and the second active tooth are inverted conical arc plates. The conical surface of the first active tooth is the active tooth friction slope, and the bottom end surface of the first active tooth is the active tooth plane.

[0020] Furthermore, the outer driven drive shaft includes two first outer driven teeth and an outer power output shaft. Two first outer driven teeth are symmetrically mounted on the upper surface of the disc-shaped plate on the outer power output shaft, and both first outer driven teeth are inverted conical arc plates. The conical surface on the first outer driven tooth is the outer driven friction slope, and the upper surface of the first outer driven tooth is the outer driven tooth plane. The driving tooth friction slope is in contact with the outer driven friction slope.

[0021] Furthermore, the inner driven drive shaft includes two inner driven teeth, an inner bottom surface, and an inner power output shaft. The outer diameter of the inner power output shaft is smaller than the outer diameter of the outer power output shaft, and the length of the outer power output shaft is smaller than the length of the inner power output shaft.

[0022] Both inner driven teeth are inverted conical arc plates. The two oppositely arranged inner driven teeth are connected by the bottom surface of the inner layer mounted on the inner power output shaft. The conical surface of the inner driven tooth is the inner driven friction slope, and the upper end face of the inner driven tooth is the inner driven tooth plane. The driving tooth friction slope is in contact with both the outer driven friction slope and the inner driven friction slope.

[0023] Preferably, the thickness of the active tooth friction slope is greater than or equal to the sum of the thicknesses of the outer driven friction slope and the inner driven friction slope.

[0024] Preferably, the tooth height of the inner driven friction inclined surface is lower than that of the outer driven friction inclined surface, and the tooth height of the driving tooth friction inclined surface is the same as that of the outer driven friction inclined surface.

[0025] The circumferential length of the driving tooth is less than the circumferential length of the outer driven tooth, and the circumferential length of the outer driven tooth is less than the circumferential length of the inner driven tooth.

[0026] Furthermore, it also includes a camera, which is a slim camera that is inserted into the camera housing and whose lower end extends downward to the bottom face of the drive helical gear.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] 1. This invention employs a frameless motor-driven collaborative drive assembly, making the overall structure of the invention more compact and smaller in size. The collaborative drive assembly drives the planetary gear system, as well as the clamping drive helical gear 12 and helical gear clamp 14 to clamp, tighten, and loosen external hexagonal bolts. The entire operation process is clear and controllable, making it particularly suitable for working in complex environments.

[0029] 2. When the helical gear clamp 14 used in this invention contacts the end face of the external hexagonal bolt, it uses surface contact, and it contacts the end faces of three of the corners of the external hexagon. The large contact area prevents slippage when the bolt is turned in the circumferential direction, thus avoiding the problem of bolt turning failure.

[0030] 3. This invention controls the rotation of three clamps on the helical gear clamp 14 in the same or opposite directions through a coordinated drive component and a planetary gear system. When the three clamps rotate together towards the center, they can clamp the external hexagonal bolts. It should be noted that the outer edges of the three clamps in this invention are smaller than the inner diameter of the turntable 11. That is to say, the helical gear clamp 14 of this invention can not only clamp the bolts, but also occupy little space during the clamping process. Moreover, by adjusting the inward rotation angle of the three clamps, it can be adapted to different specifications of external hexagonal bolts, thereby ensuring the applicability of this invention.

[0031] 4. The collaborative drive component of the present invention is arranged vertically in a nested manner. This arrangement occupies little space while utilizing the friction between the contact surfaces of the active tooth friction inclined surface 511, the outer driven friction inclined surface 611 and the inner driven friction inclined surface 711, as well as the relationship between the height and thickness of the teeth of the active tooth friction inclined surface 511, the outer driven friction inclined surface 611 and the inner driven friction inclined surface 711, to achieve the switching between clamping the bolt and tightening the bolt. The entire operation process is simple in structure.

[0032] 5. This invention uses a single motor to perform a series of operations such as clamping, loosening, tightening, and loosening of bolts by rotating forward and backward, which is simpler to control than existing technologies.

[0033] 6. This invention uses an integrated camera as a visual sensor to assist in bolt tightening operations, making it more suitable for unmanned operations. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the spiral screwing tool of the present invention; Figure 2 yes Figure 1 A bottom view; Figure 3 This is a cross-sectional view of the present invention; Figure 4 This is a schematic diagram of the transmission relationship in this invention; Figure 5 This is a schematic diagram of the structure when the helical gear clamp 14 is clamped in the forward direction; Figure 6 Schematic diagram of the helical gear clamp opening; Figure 7 This is a schematic diagram of the transmission during the clamping stage; Figure 8 This is a schematic diagram of the transmission during the twisting stage; Figure 9 This is a schematic diagram of the transmission during the loosening phase; Figure 10This is a schematic diagram of the active drive shaft;

[0035] Figure 11 This is a schematic diagram of the outer driven drive shaft; Figure 12 This is a schematic diagram of the inner driven transmission shaft. Detailed Implementation

[0036] Specific implementation method one: Combining Figures 1 to 12 This embodiment describes a tool housing 1, a frameless motor 2, a reset shaft 3, a co-drive assembly, a sun gear 8, planet gears 9, an internal gear ring 10, a turntable 11, a clamping drive helical gear 12, and a helical gear clamp 14.

[0037] The frameless motor 2 is embedded in the upper part of the tool housing 1, the reset shaft 3 is vertically inserted into the frameless motor 2, and the co-drive component is coaxially inserted into the lower end of the reset shaft 3.

[0038] The collaborative drive assembly includes a reset spring 4, a drive shaft 5, an outer driven shaft 6, and an inner driven shaft 7. The drive shaft 5 is coaxially inserted into the lower inner hole of the reset shaft 3, and a reset spring 4 is provided between the top of the drive shaft 5 and the lower inner hole of the reset shaft 3. The drive shaft 5 is fixedly connected to the lower end face of the reset spring 4, and the outer driven shaft 6 is coaxially mounted on the inner driven shaft 7.

[0039] The sun gear 8 is mounted on the outer driven drive shaft 6, the internal gear ring 10 is coaxially mounted on the sun gear 8, and the sun gear 8 and the internal gear ring 10 are meshed through the planet gear 9. The turntable 11 is mounted on the lower part of the internal gear ring 10, the clamping drive helical gear 12 is mounted on the lower part of the inner driven drive shaft 7, and the helical gear clamp 14 is mounted on the lower end of the turntable 11 and meshes with the clamping drive helical gear 12.

[0040] The frameless motor 2 drives the active drive shaft 5 to rotate in the forward direction via the reset shaft 3. The drive teeth on the active drive shaft 5 simultaneously contact and rotate in the same direction and at the same speed with the drive teeth on the outer driven drive shaft 6 and the inner driven drive shaft 7. The inner driven drive shaft 7 drives the clamping drive helical gear 12 to rotate, and the clamping drive helical gear 12 meshes with the helical gear clamp 14. The outer driven drive shaft 6 drives the sun gear 8 to rotate, and the sun gear 8 sequentially drives the planet gear 9, the internal gear ring 10, and the turntable 11 to rotate. The internal gear ring 10 drives the turntable 11 to rotate in the opposite direction with the helical gear clamp 14. At the same time, the helical gear clamp 14 and the clamping drive helical gear 12 rotate relative to each other during the meshing process, so that the helical gear clamp 14 moves towards the center to clamp the external hexagonal bolt. After clamping the bolt, the meshing helical gears can self-lock, and the bolt will not come out of the clamp. The frameless motor 2 rotates in the reverse direction to release the external hexagonal bolt.

[0041] After the frameless motor 2 rotates forward and clamps the external hexagonal bolt, it continues to rotate forward. Because the external hexagonal bolt is clamped, the helical gear clamps 14 cannot continue to approach each other, the inner driven drive shaft 7 stops rotating, the frameless motor 2 is stalled, and after the output torque of the frameless motor 2 increases, the drive shaft 5 passively moves upward along the drive tooth surface of the outer driven drive shaft 6 and the inner driven drive shaft 7. The upper end of the drive shaft 5 presses against the return spring 4, and the return spring 4 retracts upward.

[0042] The active drive shaft 5 moves upward until it disengages from the drive tooth surface of the inner driven drive shaft 7. At this time, the end face of the drive tooth of the active drive shaft 5 is still in contact with the end face of the drive tooth of the outer driven drive shaft 6. The active drive shaft 5 drives the outer driven drive shaft 6 and the sun gear 8 to rotate. The sun gear 8 meshes with the planet gear 9, and the planet gear 9 meshes with the internal gear ring 10. The internal gear ring 10 drives the turntable 11 and the helical gear clamp 14 to rotate in the opposite direction to the sun gear 8. The helical gear clamp 14 drives the clamping drive helical gear 12 to rotate in the same direction, thereby tightening the external hexagonal bolt. After the bolt is clamped, the meshing helical gears can self-lock, and the bolt will not come out of the clamp.

[0043] After the external hex bolts are tightened, the frameless motor 2 rotates in the reverse direction, the return spring 4 pushes the drive shaft 5 to move down, the drive gear friction slope 511 of the drive shaft 5 contacts the inner driven friction slope 711 of the inner driven drive shaft 7, and the helical gear clamp 14 loosens the clamped external hex bolts.

[0044] The frameless motor 2 continues to rotate in the opposite direction to achieve reverse clamping of the external hexagonal bolt. After the external hexagonal bolt is clamped in the opposite direction, it continues to rotate in the opposite direction to achieve loosening of the external hexagonal bolt.

[0045] In this embodiment, the frameless motor 2 is fixedly connected to the tool housing 1, and the frameless motor 2 is fixedly connected to the reset shaft 3. The drive shaft 5 and the reset shaft 3 are coaxially assembled together with relative sliding capability. The reset spring 4 is fixedly connected to the upper end face 52 of the drive shaft 5. The outer driven shaft 6 and the tool housing 1 are coaxially assembled with the wheel 8, which can rotate relative to each other. The inner driven shaft 7 and the outer driven shaft 6 are coaxially assembled together with relative transmission capability. The sun gear is coaxially fixedly connected to the outer power output shaft 62 of the drive shaft 6. Planetary gear 9 is rotatably assembled with tool housing 1, and planetary gear 9 meshes with sun gear 8. Internal gear ring 10 is fixedly connected to turntable 11, and turntable 11 is rotatably coaxially assembled with tool housing 1. Internal gear ring 11 meshes with planetary gear 9. Helical gear 12 is coaxially fixedly connected with inner power output shaft 72. Helical gear clamp 14 is eccentrically assembled with turntable 11, and helical gear clamp 14 meshes with helical gear 12. Camera 13 is coaxially fixedly connected with camera housing 12.

[0046] The helical gear clamp 14 in this embodiment includes three clamps. Each clamp includes an L-shaped clamp body and a driven helical gear. The driven helical gear is fitted on the upper part of the vertical section of the L-shaped clamp body, and the driven helical gear is connected to the vertical section of the L-shaped clamp body by a key. The horizontal section of the L-shaped clamp body has a rectangular cross-sectional shape, and the inner end face of the rectangular surface is used to contact one corner of the external hexagonal bolt.

[0047] Specific Implementation Method Two: Combining Figure 1 and Figure 3 This embodiment describes a tool housing 1 comprising a flange connecting plate 1-1, a camera housing 1-2, a first housing 1-3, a second housing 1-4, and a third housing 1-5. The flange connecting plate 1-1 has a support plate with an inner hole in its center, and the camera housing 1-2 is horizontally mounted on the support plate of the flange connecting plate 1-1. The first housing 1-3, the second housing 1-4, and the third housing 1-5 are arranged coaxially from top to bottom and connected by bolts.

[0048] With this configuration, the tool housing 1 in this embodiment consists of multiple parts connected sequentially from top to bottom. This not only facilitates the connection between the components but also ensures the dimensional and positional fit between different components and the cooperating drive assembly and planetary gear system. It reduces the overall size, making installation and component maintenance and replacement easier. Other components and connections are the same as in Specific Embodiment One.

[0049] Specific implementation method three: Combining Figure 3 In this embodiment, the upper and lower parts of the reset shaft 3 are respectively provided with an upper inner hole and a lower inner hole. The upper inner hole and the lower inner hole are arranged coaxially, and the inner diameter of the lower inner hole is smaller than the inner diameter of the upper inner hole. The inner wall of the lower inner hole is machined with a plurality of limiting grooves along its axial direction.

[0050] With this configuration, the upper inner hole is mainly used for mounting the camera housing 1-2. The middle part of the camera housing 1-2 extends through the entire screw-on tool, providing a safe and reliable space for camera installation without interfering with other structures. Other components and connections are the same as in Specific Embodiment Two.

[0051] Specific implementation method four: Combination Figure 10 In this embodiment, the active drive shaft 5 includes a connecting shaft 52, a top surface 513, and drive teeth. Multiple limiting protrusions 53 are machined on the outer circumferential surface of the connecting shaft 52 along its axial direction. The limiting protrusions 53 cooperate with the limiting grooves on the reset shaft 3. The top surface 513 is a disc-shaped plate. The connecting shaft 52 is installed in the middle of the upper end surface of the top surface 513, and the drive teeth are fixedly installed on the outer edge of the lower end surface of the top surface 513.

[0052] In this configuration, the connecting shaft 52 is primarily used to connect with the reset shaft 3. Power is transmitted to the reset shaft 3 via the frameless motor 2, and the reset shaft 3 transmits the rotational power to the connecting shaft 52. The entire transmission process is simple and easy to assemble and disassemble. Furthermore, this embodiment enables continued power transmission and coordinated action with the outer driven drive shaft 6 and the inner driven drive shaft 7. Finally, the clamping, tightening, and loosening of the external hexagonal bolts are achieved through drive teeth. The top surface 513 provides a platform for mounting the drive teeth. Other components and connections are the same as in specific embodiment three.

[0053] Specific Implementation Method Five: Combining Figure 10 This embodiment describes the driving teeth, which include a first active tooth 51 and a second active tooth 54. Both the first active tooth 51 and the second active tooth 54 are inverted conical arc plates. The conical surface of the first active tooth 51 is the active tooth friction inclined surface 511, and the bottom end surface of the first active tooth 51 is the active tooth plane 512.

[0054] With this configuration, a first driving tooth 51 is machined on the drive shaft 5. The first driving tooth 51 and the second driving tooth 54 are evenly arranged circumferentially. The side of the first driving tooth 51 is machined with a driving tooth friction slope 511, which is used to drive the outer driven friction slope 611 and the inner driven friction slope 711. Therefore, the thickness of the driving tooth friction slope 511 is greater than or equal to the thickness of the driving tooth friction slope 511. The first driving tooth 51 is machined with a driving tooth plane 512 and a top surface 513 circumferentially machined. The driving tooth friction slope 511... The high coefficient of friction facilitates contact with the outer driven friction slope 611 and the inner driven friction slope 711, providing driving force. The low coefficient of friction of the driving tooth plane 512 and top surface 513 ensures that power is transmitted through the driving and driven friction slopes. When the driving tooth plane 512, top surface 513, outer driven tooth plane 612, outer bottom surface 613, inner driven tooth plane 712, and inner bottom surface 713 are in contact with each other, the inner and outer driven transmission shafts 6 and 7 do not rotate, avoiding uncertain motion conditions and ensuring work efficiency. Other components and connections are the same as in any of the specific embodiments one to four.

[0055] In this embodiment, the first driving tooth 51 and the second driving tooth 54 have the same structure and work together on the first outer driven tooth 61 and the inner driven tooth 71 to achieve power transmission.

[0056] Specific Implementation Method Six: Combination Figure 11In this embodiment, the outer driven drive shaft 6 includes two first outer driven teeth 61 and an outer power output shaft 62. Two first outer driven teeth 61 are symmetrically mounted on the upper surface of the disc-shaped plate on the outer power output shaft 62, and both first outer driven teeth 61 are inverted conical arc plates. The conical surface on the first outer driven tooth 61 is the outer driven friction inclined surface 611, and the upper surface of the first outer driven tooth 61 is the outer driven tooth plane 612. The driving tooth friction inclined surface 511 is in contact with the outer driven friction inclined surface 611.

[0057] With this configuration, the outer driven drive shaft 6 is machined with a first outer driven tooth 61. The two first outer driven teeth 61 are evenly arranged circumferentially. The side of the first outer driven tooth 61 is machined with an outer driven friction slope 611. The first outer driven tooth 61 is machined with an outer driven tooth plane 612. The outer driven teeth 61 are machined circumferentially with an outer bottom surface 613. The outer driven friction slope 611 has a large coefficient of friction, while the outer driven tooth plane 612 and the outer bottom surface 613 have small coefficients of friction. The end of the outer driven drive shaft 6 is machined with an outer power output shaft 62. This ensures that power is transmitted through the active and driven friction inclined surfaces. When the active tooth plane 512, top surface 513, outer driven tooth plane 612, outer bottom surface 613, inner driven tooth plane 712, and inner bottom surface 713 are in contact with each other, the inner and outer driven transmission shafts 6 and 7 do not rotate, thus avoiding uncertain motion conditions and ensuring work efficiency.

[0058] Other components and connections are the same as any one of the specific embodiments one to five.

[0059] Specific implementation method seven: Combination Figure 12 The inner driven drive shaft 7 of this embodiment includes two inner driven teeth 71, an inner bottom surface 713, and an inner power output shaft 72. The outer diameter of the inner power output shaft 72 is smaller than the outer diameter of the outer power output shaft 62, and the length of the outer power output shaft 62 is smaller than the length of the inner power output shaft 72.

[0060] Both inner driven teeth 71 are inverted conical arc plates. The two oppositely arranged inner driven teeth 71 are connected by the inner bottom surface 713 mounted on the inner power output shaft 72. The conical surface of the inner driven tooth 71 is the inner driven friction inclined surface 711, and the upper end surface of the inner driven tooth 71 is the inner driven tooth plane 712. The driving tooth friction inclined surface 511 is in contact with both the outer driven friction inclined surface 611 and the inner driven friction inclined surface 711.

[0061] In this configuration, the inner driven drive shaft 7 is machined with inner driven teeth 71. Two inner driven teeth 71 are evenly arranged circumferentially. The sides of the inner driven teeth 71 are machined with inner driven friction inclined surfaces 711, and the inner driven teeth 71 are machined with inner driven tooth planes 712. An inner bottom surface 713 is machined circumferentially between the inner driven teeth 71. The inner driven friction inclined surfaces 711 have a high coefficient of friction, while the inner driven tooth planes 712 and inner bottom surfaces 713 have low coefficients of friction. An inner power output shaft 72 is machined at the end of the inner driven drive shaft 7. This configuration ensures that power is transmitted through the driving and driven friction inclined surfaces. When the driving tooth plane 512, top surface 513, outer driven tooth plane 612, outer bottom surface 613, inner driven tooth plane 712, and inner bottom surface 713 are in contact, the inner and outer driven drive shafts 6 and 7 do not rotate, avoiding uncertain motion conditions and ensuring work efficiency.

[0062] Other components and connections are the same as any one of the specific embodiments one to six.

[0063] Specific implementation method eight: Combination Figures 7 to 9 In this embodiment, the thickness of the active tooth friction slope 511 is greater than or equal to the sum of the thicknesses of the outer driven friction slope 611 and the inner driven friction slope 711.

[0064] This configuration ensures sufficient contact between the active friction ramp and the inner and outer driven friction ramps, preventing damage caused by excessive contact pressure due to a small contact area between parts. Other components and connections are the same as in any of the specific embodiments one through seven.

[0065] Specific Implementation Method Nine: Combining Figures 7 to 9 In this embodiment, the tooth height of the inner driven friction slope 711 is lower than that of the outer driven friction slope 611, while the tooth height of the driving tooth friction slope 511 is the same as that of the outer driven friction slope 611. This minimizes the tool volume while ensuring full contact between the driving tooth friction slope 511 and the inner driven friction slope 711.

[0066] The circumferential length of the driving tooth 51 is less than the circumferential length of the outer driven tooth 61, and the circumferential length of the outer driven tooth 61 is less than the circumferential length of the inner driven tooth 71. When the bolt needs to be loosened after tightening, it ensures that the driving tooth 51, after moving downward and resetting under the action of the return spring 4, will preferentially contact the inner driven tooth 71.

[0067] With this configuration, the active tooth friction slope 511, the outer driven friction slope 611, and the inner driven friction slope 711 are all slopes with the same inclination angle. The same inclination angle ensures that the active friction slope and the inner and outer driven friction slopes are in full contact, avoiding damage caused by excessive contact pressure due to a small contact area between the parts.

[0068] Other components and connections are the same as any one of the specific embodiments one to eight.

[0069] Specific Implementation Method Ten: Combining Figures 7 to 9 This embodiment also includes a camera 13, which is an elongated camera. The camera 13 is inserted into the camera housing 1-2, and its lower end extends downward to the bottom end face of the clamping drive helical gear 12.

[0070] With this setup, the camera can clearly capture the bolt's position and orientation information, which can be fed back to the host computer for fine-tuning of the tool's orientation, facilitating unmanned operation. Other components and connections are the same as in any of the specific implementation methods one through nine.

[0071] Combination Figures 1 to 12 Explanation of the working principle of this invention:

[0072] Tighten the bolts:

[0073] The tool is fixed to the end of the robotic arm via the flange interface 11, and the camera 13 guides the robotic arm to move the tool to the predetermined position for working.

[0074] When bolt clamping is required, the frameless motor 2 rotates forward, driving the reset shaft 3, reset spring 4, and drive shaft 5 to rotate. The drive friction inclined surface 511 simultaneously contacts the outer driven friction inclined surface 611 and the inner driven friction inclined surface 711, pushing the outer driven drive shaft 6 and the inner driven drive shaft 7 to rotate at the same speed and in the same direction. At the same time, it drives the sun gear 8 and the helical gear 12 to rotate in the same direction. The sun gear 8 meshes with the planet gear 9, and the planet gear 9 meshes with the internal gear ring 10. The internal gear ring 10 drives the turntable 11 and the helical gear clamp 14 to rotate in the opposite direction to the sun gear 8, and at the same time, it rotates relative to the helical gear 12. The helical gear clamp 14 moves towards the center to clamp the bolt. After clamping the bolt, the meshing helical gears can self-lock, and the bolt will not come out of the clamp.

[0075] When the bolt needs to be tightened after clamping, the frameless motor 2 rotates forward, driving the reset shaft 3, reset spring 4, and drive shaft 5 to rotate. The drive friction slope 511 simultaneously contacts the outer driven friction slope 611 and the inner driven friction slope 711. At this time, the helical gear clamp 14 has clamped the bolt, and the inner driven drive shaft 7 cannot continue to rotate. The frameless motor 2 stalls. When the output torque increases to a certain level, the main drive shaft moves upward along the outer driven friction slope 611 and the inner driven friction slope 711, and the reset spring 4 contracts. When the drive shaft 5 moves up a certain distance, the active friction inclined surface 511 disengages from the inner driven friction inclined surface 711 and contacts the outer driven friction inclined surface 611. The drive shaft 5 then drives the outer driven drive shaft 6 and the sun gear 8 to rotate. The sun gear 8 meshes with the planet gear 9, and the planet gear 9 meshes with the internal gear ring 10. The internal gear ring 10 drives the turntable 11 and the helical gear clamp 14 to rotate in the opposite direction to the sun gear 8. The helical gear clamp 14 drives the helical gear 12 to rotate in the same direction, thus tightening the bolt.

[0076] When the bolts need to be loosened after tightening, the frameless motor 2 reverses and drives the reset shaft 3, reset spring 4, and drive shaft 5 to rotate. The reset spring 4 resets, and the drive friction inclined surface 511 disengages from the outer driven friction inclined surface 611. The tooth width of the outer driven tooth 61 is smaller than the tooth width of the inner driven tooth 71. The drive friction inclined surface 511 contacts the outer driven friction inclined surface 611, driving the inner driven drive shaft 7 to rotate. At the same time, the helical gear 12 rotates, causing the helical gear clamp 14 to open and loosen the bolts.

[0077] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive single-motor bolt tightening tool, characterized in that: It includes a tool housing (1), a frameless motor (2), a reset shaft (3), a co-drive assembly, a sun gear (8), planet gears (9), an internal gear ring (10), a turntable (11), a clamping drive helical gear (12), and a helical gear clamp (14); The frameless motor (2) is embedded in the upper part of the tool housing (1), the reset shaft (3) is vertically inserted into the frameless motor (2), and the co-drive component is coaxially inserted into the lower end of the reset shaft (3). The collaborative drive assembly includes a reset spring (4), a drive shaft (5), an outer driven shaft (6), and an inner driven shaft (7). The drive shaft (5) is coaxially inserted into the lower inner hole of the reset shaft (3), and a reset spring (4) is provided between the top of the drive shaft (5) and the lower inner hole of the reset shaft (3). The drive shaft (5) is fixedly connected to the lower end face of the reset spring (4), and the outer driven shaft (6) is coaxially mounted on the inner driven shaft (7). The sun gear (8) is mounted on the outer driven drive shaft (6), the internal gear ring (10) is coaxially mounted on the sun gear (8), and the sun gear (8) and the internal gear ring (10) are meshed through the planet gear (9). The turntable (11) is mounted on the lower part of the internal gear ring (10), the clamping drive helical gear (12) is mounted on the lower part of the inner driven drive shaft (7), and the helical gear clamp (14) is mounted on the lower end of the turntable (11) and meshes with the clamping drive helical gear (12). The frameless motor (2) drives the active drive shaft (5) to rotate in the forward direction via the reset shaft (3). The drive teeth on the active drive shaft (5) simultaneously contact and rotate in the same direction and at the same speed with the drive teeth on the outer driven drive shaft (6) and the inner driven drive shaft (7). The inner driven drive shaft (7) drives the clamping drive helical gear (12) to rotate. The clamping drive helical gear (12) meshes with the helical gear clamp (14). The outer driven drive shaft (6) drives the sun gear (8) to rotate. The sun gear (8) sequentially drives the planet gear (9), the internal gear ring (10), and the turntable (11) to rotate. The internal gear ring (10) drives the turntable (11) to rotate in the opposite direction with the helical gear clamp (14). The helical gear clamp (14) and the clamping drive helical gear (12) simultaneously generate phase during the meshing process. The rotation causes the helical gear clamp (14) to move toward the center and clamp the external hexagonal bolt. After clamping the bolt, the meshing helical gears can self-lock, and the bolt will not come off the clamp. The frameless motor (2) rotates in the opposite direction to loosen the external hexagonal bolt. After the frameless motor (2) rotates in the forward direction to clamp the external hexagonal bolt, it continues to rotate in the forward direction. Because the external hexagonal bolt is clamped, the helical gear clamp (14) cannot continue to move closer to each other. The inner driven drive shaft (7) stops rotating, and the frameless motor (2) is stalled. After the output torque of the frameless motor (2) increases, the drive shaft (5) moves passively upward along the drive tooth surface of the outer driven drive shaft (6) and the inner driven drive shaft (7). The upper end of the drive shaft (5) presses against the reset spring (4), and the reset spring (4) contracts upward. The active drive shaft (5) moves up until it disengages from the drive tooth surface of the inner driven drive shaft (7). At this time, the end face of the drive tooth of the active drive shaft (5) is still in contact with the end face of the drive tooth of the outer driven drive shaft (6). The active drive shaft (5) drives the outer driven drive shaft (6) and the sun gear (8) to rotate. The sun gear (8) meshes with the planet gear (9). The planet gear (9) meshes with the internal gear ring (10). The internal gear ring (10) drives the turntable (11) and the helical gear clamp (14) to rotate in the opposite direction to the sun gear (8). The helical gear clamp (14) drives the clamping drive helical gear (12) to rotate in the same direction, thereby tightening the external hexagonal bolt. After the external hex bolt is tightened, the frameless motor (2) rotates in the opposite direction, the reset spring (4) pushes the active drive shaft (5) to move down, the active gear friction slope (511) of the active drive shaft (5) contacts the inner driven friction slope (711) of the inner driven drive shaft (7), and the helical gear clamp (14) loosens the clamped external hex bolt; The frameless motor (2) continues to rotate in the opposite direction to achieve reverse clamping of the external hexagonal bolt. After the external hexagonal bolt is clamped in the opposite direction, it continues to rotate in the opposite direction to achieve loosening of the external hexagonal bolt.

2. The adaptive single-motor bolt tightening tool according to claim 1, characterized in that: The upper and lower parts of the reset shaft (3) are respectively provided with an upper inner hole and a lower inner hole. The upper inner hole and the lower inner hole are arranged coaxially, and the inner diameter of the lower inner hole is smaller than the inner diameter of the upper inner hole. Multiple limiting grooves are machined on the inner sidewall of the lower inner hole along its axial direction.

3. The adaptive single-motor bolt tightening tool according to claim 2, characterized in that: The active drive shaft (5) includes a connecting shaft (52), a top surface (513) and a drive tooth. Multiple limiting protrusions (53) are machined on the outer circumferential surface of the connecting shaft (52) along its axial direction. The limiting protrusions (53) cooperate with the limiting grooves on the reset shaft (3). The top surface (513) is a disc-shaped plate, the connecting shaft (52) is installed in the middle of the upper end surface of the top surface (513), and the drive gear is fixedly installed on the outer edge of the lower end surface of the top surface (513).

4. The adaptive single-motor bolt tightening tool according to claim 3, characterized in that: The driving teeth include a first active tooth (51) and a second active tooth (54). Both the first active tooth (51) and the second active tooth (54) are inverted conical arc plates. The conical surface of the first active tooth (51) is the active tooth friction inclined surface (511), and the bottom end surface of the first active tooth (51) is the active tooth plane (512).

5. The adaptive single-motor bolt tightening tool according to claim 4, characterized in that: The outer driven drive shaft (6) includes two first outer driven teeth (61) and an outer power output shaft (62). Two first outer driven teeth (61) are symmetrically installed on the upper surface of the disc-shaped plate on the outer power output shaft (62). Both first outer driven teeth (61) are inverted conical arc plates. The conical surface on the first outer driven teeth (61) is the outer driven friction inclined surface (611), and the upper surface of the first outer driven teeth (61) is the outer driven tooth plane (612). The driving tooth friction inclined surface (511) is in contact with the outer driven friction inclined surface (611).

6. An adaptive single-motor bolt tightening tool according to claim 1 or 5, characterized in that: The inner driven drive shaft (7) includes two inner driven teeth (71), an inner bottom surface (713), and an inner power output shaft (72). The outer diameter of the inner power output shaft (72) is smaller than the outer diameter of the outer power output shaft (62), and the length of the outer power output shaft (62) is smaller than the length of the inner power output shaft (72). Both inner driven teeth (71) are inverted conical arc plates. The two oppositely arranged inner driven teeth (71) are connected by the inner bottom surface (713) mounted on the inner power output shaft (72). The conical surface of the inner driven tooth (71) is the inner driven friction inclined surface (711), and the upper end surface of the inner driven tooth (71) is the inner driven tooth plane (712). The driving tooth friction inclined surface (511) is in contact with both the outer driven friction inclined surface (611) and the inner driven friction inclined surface (711).

7. The adaptive single-motor bolt tightening tool according to claim 6, characterized in that: The thickness of the active tooth friction slope (511) is greater than or equal to the sum of the thicknesses of the outer driven friction slope (611) and the inner driven friction slope (711).

8. The adaptive single-motor bolt tightening tool according to claim 7, characterized in that: The tooth height of the inner driven friction inclined surface (711) is lower than that of the outer driven friction inclined surface (611), and the tooth height of the driving tooth friction inclined surface (511) is the same as that of the outer driven friction inclined surface (611). The circumferential length of the driving tooth (51) is less than the circumferential length of the outer driven tooth (61), and the circumferential length of the outer driven tooth (61) is less than the circumferential length of the inner driven tooth (71).

9. The adaptive single-motor bolt tightening tool according to claim 8, characterized in that: It also includes a camera (13), which is a slender camera. The camera (13) is inserted into the camera housing (1-2) of the tool housing (1), and its lower end extends downward to the bottom end face of the clamping drive helical gear (12), so that the camera center layout provides target bolt position information for the control system.

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