An adaptive fastener gripping and tightening device

Abstract

This invention provides an adaptive fastener gripping device and a fastener tightening device, relating to the field of automated machinery manufacturing. The invention comprises two aspects: First, an adaptive fastener gripping device, in which multiple grippers are circumferentially connected to one side of a gripping housing, forming a gripping opening, and an elastic element engaging with the grippers; in a non-gripping state, the grippers are constrained by the elastic element, and the gripping opening is in its initial state; in a gripping state, the grippers overcome the elastic force of the elastic element and rotate relative to the gripping housing, increasing the initial gripping opening to accommodate the fastener. Second, an adaptive fastener tightening device, in which a mounting groove adapted to a tightening gun is provided on the upper side of the gripping housing, the output end of the tightening gun is connected to a tightening assembly, and the tightening assembly extends to the gripping opening. This invention can adaptively grip fasteners of different sizes, avoiding damage to fasteners due to excessive gripping force and parts falling off due to insufficient gripping force.

Description

Technical Field

[0001] This invention relates to the field of automated machinery manufacturing, specifically to a fastener adaptive gripping device and a fastener tightening device. Background Technology

[0002] With the rapid development of my country's aerospace, machinery manufacturing, and other fields, automated assembly technology plays an increasingly important role in the final assembly of spacecraft, vehicles, and other products. The introduction of this technology not only improves production efficiency and product quality but also reduces labor costs and parts waste. Automated assembly requires gripping and tightening mechanisms. The gripping mechanism can precisely fix the position and orientation of parts, ensuring that parts do not shift or rotate during transportation, and can stably grip and transport parts of various shapes and sizes. When the parts are transported to the preset position, the tightening mechanism then tightens the parts.

[0003] A bolt tightening system disclosed in publication number (CN117066869A) includes a multi-axis robotic arm and a quick-change device. The quick-change device includes a gripping fixture, a tightening sleeve, and a quick-change connector at the end of the multi-axis robotic arm. The multi-axis robotic arm switches between the gripping fixture and the tightening sleeve via the quick-change connector. It is used to drive the gripping fixture to pick up the structural parts to be assembled onto the tightening platform, and to drive the tightening sleeve to tighten the bolts onto the structural parts to be assembled. The gripping fixture uses vision recognition to pick up parts. Vision-based gripping systems are complex and bulky, and require high precision in gripping force. Excessive gripping force can damage parts, while insufficient gripping force can cause parts to fall off. When the tightening sleeve tightens the parts, the gripping fixture needs to release the parts, which is complex and requires high correlation. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive fastener gripping device that addresses the shortcomings of existing technologies by providing a solution. It can adaptively grip fasteners of different sizes, avoiding damage to the fasteners due to excessive gripping force and the problem of parts falling off due to insufficient gripping force.

[0005] Another objective of this invention is to provide an adaptive fastener tightening device that addresses the shortcomings of existing technologies by first gripping the fastener and then tightening it without replacing the device, thereby improving work efficiency. Furthermore, it does not require loosening the fastener when tightening it, thus solving the problems of high device complexity and high correlation, and reducing the research and development and subsequent maintenance costs of the device.

[0006] This invention is achieved through the following technical solution:

[0007] In a first aspect, there is an adaptive fastener gripping device, comprising a gripping housing, an elastic element, and grippers for gripping the fastener; a plurality of grippers are rotatably connected to one side of the gripping housing in a circumferential direction, the plurality of grippers forming a gripping opening, and the elastic element cooperating with the plurality of grippers; in a non-gripping state, the grippers are constrained by the elastic element, and the gripping opening is in an initial state; in a gripping state, the grippers overcome the elastic force of the elastic element and rotate relative to the gripping housing, and the gripping opening in the initial state increases to adapt to the fastener.

[0008] Furthermore, in the invention, the aforementioned gripper includes a connecting portion and a gripping portion, the connecting portion being rotatably connected to the side wall of the gripping housing, and multiple gripping portions forming a gripping opening.

[0009] Furthermore, in the invention, the gripping part is inclined toward the gripping opening, and the bottom end of the gripping part is a guide structure that can be adapted to fasteners of different sizes.

[0010] Furthermore, in the invention, the aforementioned elastic element is an elastic ring, and the connecting portion is provided with a first limiting groove adapted to the elastic ring, with the elastic ring sleeved within the first limiting groove of the plurality of connecting portions.

[0011] Furthermore, in the invention, the sidewall of the gripping housing is provided with a second limiting groove along the circumferential direction that is adapted to the elastic ring, and the elastic ring is sleeved in a plurality of second limiting grooves.

[0012] Furthermore, in the invention, there are multiple elastic rings, and the connecting part is provided with multiple first limiting grooves adapted to the multiple elastic rings from top to bottom, with each of the multiple elastic rings corresponding to one of the multiple first limiting grooves.

[0013] Furthermore, in the invention, the side wall of the gripping housing is provided with a plurality of second limiting grooves adapted to the elastic ring from top to bottom, and any one of the second limiting grooves is arranged along the circumference of the gripping housing.

[0014] Secondly, an adaptive fastener tightening device includes an adaptive fastener gripping device, a tightening gun, and a tightening assembly; the upper side of the gripping housing is provided with a mounting groove adapted to the tightening gun, the output end of the tightening gun is connected to the tightening assembly, and the tightening assembly extends to the gripping opening.

[0015] Furthermore, in the invention, the tightening assembly includes a tightening shaft and a sleeve shaft. One end of the tightening shaft is connected to a tightening gun, and the other end of the tightening shaft is rotatably engaged with the sleeve shaft. One end of the sleeve shaft is provided with a rotating groove that rotatably engages with the tightening shaft. The tightening shaft can reciprocate along the axial direction of the rotating groove. The other end of the sleeve shaft extends to the gripping opening. The gripping housing includes a first housing and a second housing. The first housing and the second housing are telescopically engaged. The tightening assembly is fitted with a return spring. A limiting member is installed on the inner side wall of the first housing. One end of the return spring abuts against the limiting member, and the other end of the return spring abuts against the second housing.

[0016] Furthermore, in the invention, the aforementioned sleeve shaft is provided with a connecting groove adapted to the fastener, and an adsorption element that cooperates with the fastener is installed in the connecting groove.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0018] Firstly, the adaptive fastener gripping device uses multiple grippers that adjust their rotation amplitude according to the size of the fastener, allowing for the gripping of fasteners of different sizes. This eliminates the need for visual identification of the fastener's size before gripping, and for adjusting the gripping opening size and controlling the gripper pressure. Rubber rings secure the multiple grippers, ensuring a more stable transfer of the fastener to the preset position. The rubber rings prevent excessive pressure on the fastener, avoiding damage from excessive gripping force. Furthermore, the adaptive adjustment of the gripping opening size based on the fastener's size prevents parts from falling off due to insufficient gripping force.

[0019] Secondly, the adaptive fastener tightening device uses a gripping device with multiple jaws that are controlled by rubber rings to adaptively change, preventing excessive gripping force from damaging parts and insufficient gripping force from causing parts to fall off. Without changing the device, the fastener is gripped first and then tightened, improving work efficiency. Moreover, the fastener does not need to be loosened when tightening, solving the problems of high device complexity and high correlation, and reducing the device's research and development and subsequent maintenance costs. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0021] Figure 1 A schematic diagram of a gripping device for adaptive fasteners;

[0022] Figure 2 Figure 1 Enlarged view at point C;

[0023] Figure 3 A schematic diagram of a tightening device for adaptive fasteners;

[0024] Figure 4 A longitudinal sectional view of the tightening device for adaptive fasteners;

[0025] Figure 5 for Figure 4Enlarged view of point A in the middle;

[0026] Figure 6 for Figure 4 Enlarged view of section B in the middle.

[0027] The attached diagram shows the markings and corresponding component names:

[0028] 1-Grip shell, 2-Gripper, 3-Connecting part, 4-Gripping part, 5-Elastic element, 6-Connecting port, 7-Flipping groove, 8-Flat washer, 9-Tightening gun, 10-Fixing fixture, 11-First shell, 12-Second shell, 13-Reset spring, 14-Tightening shaft, 15-Sleeve shaft, 16-Rotating groove, 17-Limiting element, 18-Second baffle, 19-First baffle, 20-Fastener, 21-Mounting groove, 22-Connecting groove, 23-Adsorption element. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0030] Example 1

[0031] Please refer to Figure 1 and Figure 2 .

[0032] The gripping device for the adaptive fastener 20 includes a gripping housing 1, an elastic element 5, and grippers 2 for gripping the fastener 20. Multiple grippers 2 are rotatably connected to one side of the gripping housing 1 in the circumferential direction, forming a gripping opening. The elastic element 5 cooperates with the multiple grippers 2. In the non-gripping state, the grippers 2 are bound by the elastic element 5, and the gripping opening is in the initial state. In the gripping state, the end of the gripper 2 away from the gripping housing 1 overcomes the elastic force of the elastic element 5 and moves relative to the gripping housing 1 in a direction away from the central axis of the housing 1. The inclined surface of the gripper 2 is opened, and the gripping opening in the initial state is enlarged to adapt to the fastener 20.

[0033] In this embodiment, the gripping housing 1 is a hollow structure with openings at both ends. Multiple grippers 2 are rotatably connected to one side of the gripping housing 1, and one side of each gripper 2 is rotatably connected to the gripping housing 1. The other side of each gripper 2 extends to the bottom of the gripping housing 1 to form a gripping opening (preferably, there can be four grippers 2, evenly spaced). The gripping housing 1 has a connection port 6 adapted to the grippers 2, and both sides of the connection port 6 have flip grooves 7. One side of each gripper 2 is located at the connection port 6, and both sides of each gripper 2 are rotatably engaged with the flip grooves 7 via a rotating shaft. The elastic element 5 can be an "O"-shaped rubber ring, which can be simultaneously fitted onto multiple grippers 2 and restrain them. In the initial state, the rubber ring is taut. In the initial state, multiple grippers 2, bound by rubber rings, adhere to the side wall of the gripping housing 1, at which point the inner diameter of the gripping opening formed by the multiple grippers 2 is at its minimum. Fasteners 20 (such as bolts or screws) are stored within the fixing fixture 10. During gripping, the gripping housing 1 is moved to the fastener 20, and the gripping opening is aligned with the screw nut. Then, the gripping housing 1 is pushed downwards, and the multiple grippers 2 press against the nut. Due to the reaction force from the nut, the grippers 2 rotate outwards relative to the gripping housing 1, gradually increasing the gripping opening. Simultaneously, the rubber ring deforms, and the gripping housing 1 continues to move towards the screw. The gripping opening formed by the multiple grippers 2 continues to increase until it exceeds the size of the nut, at which point the multiple grippers 2 enclose the nut, and the nut is no longer... A reaction force is applied to multiple grippers 2. Under the pressure of the rubber ring, the grippers 2 rotate toward the gripping housing 1 and finally adhere to the side wall of the gripping housing 1, thus achieving the gripping of the screw. Furthermore, this solution can also grip assembled fasteners 20. For example, if a spring washer and a flat washer 8 are fitted on the screw shank, when the gripping device grips the entire assembly, the gripping housing 1 moves to the screw nut and aligns the gripping opening with the screw nut. Then, the gripping housing 1 is pushed downwards, and the multiple grippers 2 press against the nut. After being subjected to the reaction force of the nut, the grippers 2 rotate outwards relative to the gripping housing 1, and the gripping opening formed by the multiple grippers 2 gradually increases. At the same time, the rubber ring deforms, and the gripping housing 1 continues to move toward the screw, and the gripping opening formed by the multiple grippers 2... The gripping opening continues to increase until it is larger than the size of the nut. Multiple grippers 2 enclose the nut inside. The gripping housing 1 continues to move toward the screw. Multiple grippers 2 press against the spring washer (the outer diameter of the spring washer is larger than the outer diameter of the nut). After being subjected to the reaction force of the spring washer, the grippers 2 rotate outward relative to the gripping housing 1. The gripping opening formed by multiple grippers 2 continues to increase until it is larger than the size of the spring washer. Multiple grippers 2 enclose the spring washer inside. The gripping housing 1 continues to move toward the screw. Multiple grippers 2 press against the flat washer 8 (the outer diameter of the flat washer 8 is larger than the outer diameter of the spring washer). After being subjected to the reaction force of the flat washer 8, the grippers 2 rotate outward relative to the gripping housing 1. The gripping opening formed by multiple grippers 2 continues to increase until it is larger than the size of the flat washer 8. Multiple grippers 2 enclose the flat washer 8 inside.This solution can be used in conjunction with a tightening gun 9. The tightening gun 9 is installed inside the gripping housing 1, with its output end located at the gripping opening. During tightening, the tightening gun 9 drives the fastener 20 to rotate, causing the fastener 20 to move downwards relative to the multiple grippers 2. Under the pressure of the nut, the multiple grippers 2 rotate relative to the gripping housing 1, and the gripping opening adaptively enlarges. When tightening the fastener 20, there is no need to control the multiple grippers 2 to release the fastener 20, eliminating the need for an intelligent control program and saving production costs. In summary, the gripping device can not only grip fasteners 20 individually but also grip combined fasteners 20, improving the efficiency of automated assembly. When the multiple grippers 2 grip the fastener 20... The gripper 2 adjusts its rotation amplitude according to the size of the fastener 20, thus enabling it to grip fasteners 20 of different sizes. Before gripping the fastener 20, there is no need to visually identify its size, adjust the gripping opening size, or control the pressure of the gripper 2. Rubber rings secure the multiple grippers 2, allowing them to more firmly transfer the fastener 20 to the preset position. The rubber rings alone prevent excessive pressure on the fastener 20, avoiding damage from excessive gripping force. Furthermore, the multiple grippers 2 adaptively adjust the gripping opening size according to the size of the fastener 20, preventing parts from falling off due to insufficient gripping force.

[0034] Furthermore, in the invention, the gripper 2 includes a connecting part 3 and a gripping part 4. The connecting part 3 is rotatably connected to the side wall of the gripping housing 1, and multiple gripping parts 4 form a gripping opening.

[0035] In this embodiment, the connection port 6 on the side wall of the gripping housing 1 is adapted to the connection part 3. Both sides of the connection port 6 are provided with rotating grooves 16. The rotating shaft passes through the connection part 3, and both sides of the rotating shaft are rotatably connected to the rotating grooves 16. Under the limiting action of the elastic member 5, the connection part 3 can fit more closely to the side wall of the gripping housing 1. The gripping opening formed by multiple gripping parts 4 is smaller and suitable for smaller fasteners 20.

[0036] Furthermore, in the invention, the gripping part 4 is inclined toward the gripping opening, and the bottom end of the gripping part 4 is a guide structure that can be adapted to fasteners 20 of different sizes.

[0037] In this embodiment, when gripping the fastener 20, the fastener 20 first abuts against the bottom end of the gripping part 4. The bottom end of the gripping part 4 is an adaptive guide structure (a slope structure that gradually rises along the gripping opening axis). After the gripping part 4 is subjected to force, it drives the connecting part 3 to rotate. The gripping opening formed by the multiple gripping parts 4 becomes larger, which can adaptively increase according to the size of the fastener 20. Furthermore, the gripping parts 4 are inclined towards the gripping opening. After the fastener 20 enters the inner side of the multiple gripping parts 4, the multiple gripping parts 4 can limit the fastener 20 and prevent the fastener 20 from falling off.

[0038] Furthermore, in the invention, the elastic element 5 is an elastic ring, and the connecting part 3 is provided with a first limiting groove adapted to the elastic ring. The elastic ring is sleeved in the first limiting groove of the multiple connecting parts 3.

[0039] In this embodiment, each of the multiple connecting parts 3 is provided with a first limiting groove. The first limiting grooves of the multiple connecting parts 3 are located at the same horizontal height. The elastic ring is sleeved on the multiple connecting parts 3 and installed in the first limiting groove of the connecting part 3. When the fastener 20 is gripped, the elastic ring adapts to the deformation according to the size of the fastener 20. Moreover, the elastic ring is located in the first limiting groove of the multiple connecting parts 3, which avoids the problem of the elastic ring detaching from the connecting part 3 during the deformation process.

[0040] Furthermore, in the invention, the side wall of the gripping housing 1 is provided with a second limiting groove along the circumferential direction that is adapted to the elastic ring, and the elastic ring is sleeved in a plurality of second limiting grooves.

[0041] In this embodiment, the side wall of the gripping housing 1 is provided with a plurality of second limiting grooves from top to bottom. The second limiting grooves of the gripping housing 1 and the first limiting groove of the connecting part 3 are located at the same horizontal height. The elastic ring is located in the first limiting groove and the second limiting groove, which enhances the anti-detachment capability of the elastic ring.

[0042] Furthermore, in the invention, there are multiple elastic rings, and the connecting part 3 is provided with multiple first limiting grooves from top to bottom that are adapted to the multiple elastic rings, and the multiple elastic rings correspond one-to-one with the multiple first limiting grooves.

[0043] In this embodiment, multiple elastic rings are installed in different first limiting grooves from top to bottom. The connecting part 3 is limited by multiple elastic rings, which can improve the gripping force on the fastener 20 and avoid the problem of falling off when gripping the fastener 20.

[0044] Furthermore, in the invention, the side wall of the gripping housing 1 is provided with a plurality of second limiting grooves adapted to the elastic ring from top to bottom, and any one of the second limiting grooves is arranged along the circumference of the gripping housing 1.

[0045] In this embodiment, the connecting part 3 is provided with multiple first limiting grooves adapted to multiple elastic rings from top to bottom, and the side wall of the gripping housing 1 is provided with multiple second limiting grooves adapted to multiple elastic rings from top to bottom. The multiple first limiting grooves and multiple second limiting grooves correspond one-to-one. The first limiting grooves and second limiting grooves at the same height form a combination groove. Multiple elastic rings are installed in different combination grooves from top to bottom, which avoids the problem of the elastic rings detaching from the connecting part 3 during deformation.

[0046] Example 2

[0047] Please refer to Figures 3 to 6 .

[0048] The tightening device of the adaptive fastener 20 includes a gripping device of the adaptive fastener 20, a tightening gun 9 and a tightening assembly; the upper side of the gripping housing 1 is provided with a mounting groove 21 adapted to the tightening gun 9, the output end of the tightening gun 9 is connected to the tightening assembly, and the tightening assembly extends to the gripping opening.

[0049] In this embodiment, the tightening gun 9 is installed in the mounting groove 21 of the gripping housing 1. The gripping device is controlled to grip the fastener 20 from the fixed fixture 10, then move the fastener 20 to a preset position, and finally control the tightening gun 9 to tighten the fastener 20. Specifically, the mounting groove 21 is located on the upper side of the gripping housing 1, the housing of the tightening gun 9 is installed in the mounting groove 21, the output end of the tightening gun 9 is connected to the tightening assembly, and the tightening assembly extends to the lower side of the gripping housing 1. After the gripping device has gripped the fastener 20, the tightening assembly can engage with the gripped fastener 20. The tightening gun 9 can control the rotation of the tightening component, which can tighten the fastener 20. The gripping device controls the adaptive changes of multiple grippers 2 through rubber rings, which will not cause the gripping force to be too large and damage the parts, or the gripping force to be too small and cause the parts to fall off. Without changing the device, the fastener 20 is gripped first and then tightened, which improves work efficiency. Moreover, the fastener 20 does not need to be loosened when tightening it, which solves the problems of high device complexity and high correlation, and reduces the device's research and development and later maintenance costs.

[0050] Furthermore, in the invention, the tightening assembly includes a tightening shaft 14 and a sleeve shaft 15. One end of the tightening shaft 14 is connected to the tightening gun 9, and the other end of the tightening shaft 14 is rotatably engaged with the sleeve shaft 15. One end of the sleeve shaft 15 is provided with a rotating groove 16 that rotatably engages with the tightening shaft 14. The tightening shaft 14 can reciprocate along the axial direction of the rotating groove 16. The other end of the sleeve shaft 15 extends to the gripping opening. The gripping housing 1 includes a first housing 11 and a second housing 12. The first housing 11 and the second housing 12 are telescopically engaged. The tightening assembly is fitted with a return spring 13. A limiting member 17 is installed on the inner side wall of the first housing 11. One end of the return spring 13 abuts against the limiting member 17, and the other end of the return spring 13 abuts against the second housing 12.

[0051] In this embodiment, the gripping housing 1 consists of a first housing 11 and a second housing 12. The inner diameter of the first housing 11 is adapted to the outer diameter of the second housing 12. A first baffle 19 is installed circumferentially on the inner sidewall of the first housing 11, and a second baffle 18 that cooperates with the first baffle 19 is installed circumferentially on the outer sidewall of the second housing 12. The first housing 11 and the second housing 12 can extend and retract together, but will not detach from each other. A tightening gun 9 is installed on the first housing 11, and the output end of the tightening gun 9 is connected to a tightening shaft 14. The tightening shaft 14 cooperates with a sleeve shaft 15. The sleeve shaft 15 is fixedly installed on the second housing 12, and the sleeve shaft 15 is provided with a... The tightening shaft 14 is fitted with a rotating groove 16, which is a polygonal groove to transmit torque. A return spring 13 is sleeved on the tightening shaft 14. A limiting member 17 is installed on the inner side wall of the first housing 11. The return spring 13 is located between the limiting member 17 and the second housing 12. One end of the return spring 13 abuts against the limiting member 17, and the other end of the return spring 13 abuts against the second housing 12. Specifically, the gripping device first grips the fastener 20, moves the fastener 20 to a preset position and abuts against the base surface, and then presses down on the first housing 11. The first housing 11 and the second housing 12 move relative to each other, and the limiting member 17 presses against the return spring 13. This compresses the return spring 13. During the above operation, the tightening gun 9 also drives the tightening shaft 14 to move downwards. The sleeve shaft 15 is provided with a rotating groove 16. The tightening shaft 14 moves downwards to a deeper part of the rotating groove 16, and the tightening shaft 14 and the sleeve shaft 15 will not abut against each other. When tightening the fastener 20, the tightening gun 9 drives the tightening shaft 14 to rotate, and the tightening shaft 14 drives the sleeve shaft 15 to rotate (the cross-section of the tightening shaft 14 is polygonal, and the rotating groove 16 is a polygonal groove adapted to the tightening shaft 14). The sleeve shaft 15 drives the fastener 20 to rotate. When the fastener 20 rotates in the fastening hole, it will make an axial displacement, thus resetting. Spring 13 pushes the second housing 12 to make a relative distance displacement. The number of rotations of fastener 20 is positively correlated with the distance the second housing 12 is pushed. In this application, when tightening fastener 20, it is not necessary to control the sleeve shaft 15 to make a corresponding displacement. The sleeve shaft 15 automatically displaces under the pressure of return spring 13, which improves the overall adaptability. In the prior art, it is necessary to measure the number of rotations of fastener 20, calculate the displacement that fastener 20 needs to make in the axial direction, and then control the robotic arm to drive the fastener 20 to move. The above control system is highly complex, and when the calculation is wrong, it will cause damage to fastener 20.

[0052] Furthermore, in the invention, the sleeve shaft 15 is provided with a connecting groove 22 adapted to the fastener 20, and an adsorption member 23 that cooperates with the fastener 20 is installed in the connecting groove 22.

[0053] In this embodiment, the connecting groove 22 is a polygonal groove. After the fastener 20 is placed in the connecting groove 22, it can be driven to rotate. The surface wall of the connecting groove 22 is equipped with an adsorption component 23 (which can be a magnet). The fastener 20 is more stable under the adsorption of the magnet, which avoids the problem of the fastener 20 falling off the connecting groove 22 during the processing.

[0054] In summary, in the first aspect, embodiments of the present invention provide an adaptive fastener 20 gripping device. When gripping the fastener 20, the multiple grippers 2 adjust their rotation amplitude according to the size of the fastener 20, thereby enabling the gripping of fasteners 20 of different sizes. Before gripping the fastener 20, it is not necessary to visually identify the size of the fastener 20, adjust the gripping opening size, or control the pressure of the grippers 2. The rubber rings restrain the multiple grippers 2, allowing them to more securely transfer the fastener 20 to a preset position. The restraint of the grippers 2 by the rubber rings prevents excessive pressure on the fastener 20, avoiding damage caused by excessive gripping force. Furthermore, the multiple grippers 2 adaptively adjust the gripping opening size according to the size of the fastener 20, preventing the problem of parts falling off due to insufficient gripping force.

[0055] Secondly, an adaptive fastener 20 tightening device is provided. The gripping device controls multiple grippers 2 to adaptively change through a rubber ring, which will not cause the gripping force to be too large, which would damage the parts, or the gripping force to be too small, which would cause the parts to fall off. Without changing the device, the fastener 20 is gripped first and then tightened, which improves work efficiency. Moreover, the fastener 20 does not need to be loosened when tightening it, which solves the problems of high device complexity and high correlation, and reduces the device's research and development and later maintenance costs.

[0056] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A gripping device for adaptive fasteners, characterized in that, Includes a gripping housing, an elastic element, and grippers for gripping fasteners; A plurality of grippers are rotatably connected to one side of the gripping housing in the circumferential direction, and the plurality of grippers form a gripping opening. The elastic element cooperates with the plurality of grippers. In the non-gripping state, the gripper is restrained by the elastic element, and the gripping opening is in the initial state; In the gripping state, the gripper rotates relative to the gripping housing against the elastic force of the elastic element, and the gripping opening in the initial state increases to accommodate the fastener. The gripper includes a connecting part and a gripping part. The connecting part is rotatably connected to the side wall of the gripping housing, and the plurality of gripping parts form a gripping opening. The gripping part is inclined towards the gripping opening, and the bottom end of the gripping part is a guide structure that can accommodate fasteners of different sizes. The elastic element is an elastic ring, and the connecting portion is provided with a first limiting groove that fits the elastic ring. The elastic ring is sleeved within the first limiting groove of the plurality of connecting portions. The sidewall of the gripping housing is provided with a second limiting groove along the circumferential direction to fit the elastic ring, and the elastic ring is sleeved in a plurality of the second limiting grooves.

2. The gripping device for adaptive fasteners according to claim 1, characterized in that, The number of elastic rings is multiple, and the connecting part is provided with multiple first limiting grooves from top to bottom to fit the multiple elastic rings. The multiple elastic rings correspond one-to-one with the multiple first limiting grooves.

3. The gripping device for adaptive fasteners according to claim 2, characterized in that, The side wall of the gripping housing is provided with a plurality of second limiting grooves adapted to the elastic ring from top to bottom, and any one of the second limiting grooves is arranged along the circumference of the gripping housing.

4. A tightening device for adaptive fasteners, characterized in that, Includes the gripping device, tightening gun, and tightening assembly of the adaptive fastener as described in any one of claims 1 to 3; The upper side of the gripping housing is provided with a mounting groove adapted to the tightening gun, the output end of the tightening gun is connected to the tightening assembly, and the tightening assembly extends to the gripping opening.

5. The tightening device for adaptive fasteners according to claim 4, characterized in that, The tightening assembly includes a tightening shaft and a sleeve shaft. One end of the tightening shaft is connected to the tightening gun, and the other end of the tightening shaft is rotatably engaged with the sleeve shaft. One end of the sleeve shaft is provided with a rotating groove that rotatably engages with the tightening shaft. The tightening shaft can reciprocate along the axial direction of the rotating groove. The other end of the sleeve shaft extends to the gripping opening. The gripping housing includes a first housing and a second housing. The first housing and the second housing are telescopically engaged. The tightening assembly is fitted with a return spring. A limit member is installed on the inner sidewall of the first housing. One end of the return spring abuts against the limit member, and the other end of the return spring abuts against the second housing.

6. The tightening device for adaptive fasteners according to claim 5, characterized in that, The sleeve shaft is provided with a connecting groove that is adapted to the fastener, and an adsorption element that cooperates with the fastener is installed in the connecting groove.

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