A lightweight, compact automated bolt assembly device

Abstract

A lightweight and compact automated bolt assembly device includes: a power assembly comprising a 360-degree continuously rotating servo motor, one end of which is connected to a robotic arm via a housing, and the other end having a servo disk connected to and rotating the output end of the 360-degree continuously rotating servo motor; a transmission assembly comprising a first connecting member, a tension spring, and a second connecting member coaxially connected in sequence, and a guide sleeve coaxially sleeved on their outer sides; the first connecting member includes a first connecting portion, a second connecting portion, and a third connecting portion integrally arranged along the axial direction, the first connecting portion being connected to the servo disk, the third connecting portion being connected to the tension spring, and the second connecting portion being connected to the guide sleeve; the guide sleeve has a first connecting hole and a guide hole inside, the first connecting hole engaging with the outer ring of the second connecting portion, the third connecting portion, the tension spring, and the second connecting member being located within the guide hole, and the outer periphery of the second connecting member slidingly engaging with the guide hole; a magnetic sleeve, one end detachably connected to the other end of the second connecting member, and the other end sleeved on the bolt head to be loaded or unloaded; and a control system communicatively connected to the 360-degree continuously rotating servo motor. This automated device can be installed at the end of a continuous flexible robotic arm for bolt replacement operations in confined spaces.

Description

Technical Field

[0001] This invention relates to the field of bolt assembly technology, and more specifically to a lightweight and compact automated bolt assembly device. Background Technology

[0002] In recent years, both military and civilian products have faced increasingly higher precision requirements, as well as smaller size and weight requirements. Due to the reduced internal volume, the axial and radial space of fasteners is limited, making it increasingly difficult for traditional industrial assembly robots and their end effectors to perform assembly tasks. Tightening and disassembling bolts in confined spaces while achieving precise torque values ​​has become a common task in daily production. Furthermore, the inability to operate in confined spaces makes it even more difficult to achieve precise torque requirements simultaneously, thus becoming a prevalent technical challenge in real-world production.

[0003] Currently, there is no automated device specifically designed to tighten bolts in confined spaces, capable of precisely tightening and loosening bolts requiring a specific torque within limited areas. Conventional wrenches present the following problems when installing and tightening bolts in confined spaces:

[0004] (i) Difficulty in meeting product requirements: Conventional wrenches are difficult to operate and are prone to interference when installing and tightening bolts in confined spaces; secondly, they cannot meet the tightening torque requirements of bolts, ultimately resulting in the product failing to meet the usage requirements.

[0005] (ii) High difficulty of operation and high labor intensity for operators: Because the operating space is too small, the operator's arms and operating tools cannot be used, making the bolt installation and tightening operation difficult;

[0006] (iii) Low assembly efficiency: Due to the high difficulty of operation, the assembly time for the same product is greatly increased, which directly leads to the problem of low assembly efficiency.

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

[0008] However, this technical solution still has shortcomings. Because it uses a transmission wire to control the movement of the actuator, its stability during operation is poor. Manual assistance is still required for bolt installation, and the control process is complex, making it impossible to truly automate and efficiently perform bolt installation, tightening, and disassembly in confined spaces. Especially in the maintenance and testing of large equipment such as space shuttles, aircraft engines, and automotive engines, the confined and complex internal space environment makes manual replacement of fasteners time-consuming and labor-intensive. Therefore, there is an urgent need to design a lightweight, small-scale automated bolt assembly device to replace manual bolt installation, tightening, and disassembly. Summary of the Invention

[0009] To address the problems and shortcomings of existing technologies, this invention provides a lightweight and compact automated bolt assembly device. When mounted on a flexible robotic arm, it enables the automatic positioning, installation, and tightening of bolts in confined spaces, thereby solving the problems of time-consuming and labor-intensive manual replacement. The aim is to address the issues of existing devices being too bulky and heavy, requiring manual assistance for installation, or having complex control, thus failing to truly achieve automation and efficiency in bolt installation and tightening within confined spaces.

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

[0011] A lightweight and compact automated bolt assembly device, characterized in that it comprises:

[0012] The power unit includes a 360-degree continuous rotation servo motor, one end of which is connected to the robotic arm through a housing, and the other end is provided with a servo disk. The servo disk is connected to the output end of the 360-degree continuous rotation servo motor through a transmission device and rotates.

[0013] The transmission assembly includes a first connector, a tension spring, and a second connector connected coaxially in sequence, and a guide sleeve coaxially sleeved on their outer sides;

[0014] The first connector includes a first connecting part, a second connecting part, and a third connecting part integrally disposed along the axial direction, wherein the first connecting part is coaxially fixedly connected to the rudder, the third connecting part is connected to the tension spring, and the second connecting part is connected to the guide sleeve;

[0015] The guide sleeve has a first connecting hole and a guide hole along the axial direction inside. The first connecting hole is engaged with the outer ring of the second connecting part. The third connecting part, the tension spring, and the second connecting member are located inside the guide hole, and the outer periphery of the second connecting member is slidably engaged with the guide hole, so that it can move axially along the guide hole under the elastic force of the tension spring. The guide hole is a non-circular hole that restricts the circumferential movement of the second connecting member.

[0016] A magnetic sleeve, one end of which is detachably connected to the other end of the second connector, and the other end is fitted onto the bolt head to be installed or removed, and has a permanent magnet inside;

[0017] The control system communicates with the 360-degree continuously rotating servo motor to control its rotation and torque parameters.

[0018] According to a specific embodiment, the outer shell includes an upper shell and a lower shell. One end of the lower shell is provided with a flange, which is detachably connected to the robotic arm, and the other end is detachably connected to the upper shell. The 360-degree continuous rotation servo motor is located inside the outer shell, and the lugs on both sides of the servo motor are located between the upper shell and the lower shell. Standard connectors are used for fixing, preferably bolts or screws.

[0019] The first connector has an internal receiving hole located near the rudder disc to avoid the bolts connecting the rudder disc to the 360° rotating servo. The first connecting part is axially connected to the rudder disc via bolts. The second connecting part has a first pin hole perpendicular to its axial direction, and the guide sleeve has a second pin hole that mates with it. They are fixedly connected by the first connecting pin and circumferentially positioned. Specifically, the first connecting pin can be a round shaft pin with an interference fit between the first and second pin holes, or it can be a threaded pin pin with a threaded pair that mates with the first and second pin holes.

[0020] The shaft diameters of the first connecting part, the second connecting part, and the third connecting part are arranged in a stepped manner, and the outer diameter of the first connecting part is smaller than the outer diameter of the guide sleeve.

[0021] The first connecting hole is a threaded hole, which connects to the second connecting part through a threaded pair. The guide hole is a polygonal hole, specifically a hexagonal hole in this embodiment, and the outer periphery of the second connecting member mates with it. The purpose of making the first connecting hole a threaded hole is to reduce the pressure on the first connecting pin to transmit torque by using the frictional torque generated by the threaded connection, thereby facilitating lightweight structural design to reduce the size and weight of the automated device. The purpose of making the guide hole a hexagonal hole instead of a round hole is to transmit the torque of the 360-degree continuously rotating servo motor to the guide sleeve through the first connecting member, and then from the guide sleeve to the magnetic sleeve, thereby controlling the assembly or disassembly of the bolt.

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

[0023] The third connecting part and the end of the second connecting member connected to the tension spring are provided with a helical groove. The two ends of the tension spring are respectively connected to the third connecting part and the second connecting member by screwing into the helical groove. According to a specific embodiment, the end of the second connecting member connected to the magnetic sleeve has a second connecting hole inside. The second connecting hole is a threaded hole. The second connecting member has a third pin hole that intersects and passes through the second connecting hole, perpendicular to it, and is detachably connected to the magnetic sleeve via a second connecting pin. Specifically, the second connecting pin, the second connecting member, and the magnetic sleeve can be connected by an interference fit or by a threaded pair. The purpose of the threaded hole is to reduce the pressure on the second connecting pin shaft to transmit torque by utilizing the frictional torque generated by the threaded connection, thereby facilitating lightweight structural design to reduce the size and weight of the automated device.

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

[0025] The microcontroller is used to acquire signals, run corresponding algorithms, and generate control signals to control the 360-degree continuously rotating servo motor.

[0026] The optocoupler voltage control module has its input end connected to the microcontroller and its output end connected to the servo drive module. The servo drive module is connected to a 360-degree continuously rotating servo motor to control the output voltage and current.

[0027] The voltage detection module has its input end connected to the 360-degree continuously rotating servo motor and its output end connected to the microcontroller. It is used to measure and feedback the voltage across the 360-degree continuously rotating servo motor.

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

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

[0030] In one embodiment, the button's working mode is generally divided into two types: one is assembling the bolt, and the other is disassembling the bolt. Specifically, this is achieved by controlling the forward and reverse rotation of a 360-degree continuously rotating servo motor via a microcontroller.

[0031] According to a specific embodiment, the microcontroller is an STM32 microcontroller, and the current detection board is a MAX472 current detection board.

[0032] How to use:

[0033] When bolt installation is required, first connect the fixed end of the outer casing of this invention to the robotic arm. Then, align one end of the magnetic sleeve with the bolt head to be assembled, place one end of the bolt head into the magnetic sleeve, and align the other end with the threaded hole to be connected. Next, set the operation button module to assembly mode, rotate, and transmit torque sequentially through the first connecting member, guide sleeve, second connecting member, and magnetic sleeve to the bolt, driving the bolt to rotate clockwise and gradually tighten. During the tightening process, as the bolt moves towards the connection hole, the magnetic sleeve generates a forward pulling force, driving the second connecting member to move. Since the second connecting member is connected to the first connecting member via a tension spring and slides with the guide sleeve, during this process, the second connecting member moves forward along the guide hole, and the tension spring is stretched. That is, only the magnetic sleeve moves axially externally, while other components do not move, thus meeting the requirements for bolt assembly in confined spaces. After assembly, the second connecting member moves along the guide hole under the elastic force of the tension spring and returns to its initial position.

[0034] In addition, during the assembly process, the optocoupler voltage control module outputs control voltage to the 360-degree continuously rotating servo motor, and the voltage and current are detected by the voltage detection module and current detection board and fed back to the microcontroller to adjust the output voltage and current, thereby indirectly controlling the magnitude of the output torque to ensure the magnitude of the assembly torque.

[0035] When it is necessary to remove the bolts, simply operate the button module to set it to disassembly mode. The working principle is the same as the installation process, so it will not be described again.

[0036] The beneficial effects of this invention are:

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

[0038] 2) This invention can achieve automatic advancement and automatic reset of the bolt assembly process through the combination of magnetic force and elastic force of tension spring, which reduces the difficulty of motion control of the flexible robotic arm carrying this automated device in a confined space.

[0039] 3) This invention indirectly controls the bolt tightening torque through current, which reduces the size and weight of the device and enhances its dexterity compared with the existing torque sensor feedback control; and by switching between different assembly or disassembly working modes through button interruption, it can realize the automated installation, disassembly and tightening of carbon steel bolts of various specifications and small sizes, which enhances its engineering practicality. Attached Figure Description

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

[0041] Figure 2for Figure 1 Full sectional view;

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

[0043] Figure 4 This is a cross-sectional view of the first connector;

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

[0045] Figure 6 A three-dimensional view of the inside of the guide component;

[0046] Figure 7 A perspective view of the connection between the second connector and the magnetic sleeve;

[0047] Figure 8 This is a sectional view of the second connector;

[0048] Figure 9 This is a block diagram of the control system principle of the present invention;

[0049] Figure 10 This is the hardware circuit diagram of the control system of the present invention;

[0050] 100. Power assembly; 200. Transmission assembly; 300. Magnetic sleeve; 1. 360-degree continuous rotation servo; 11. Steering disc; 2. Housing; 21. Lower housing; 22. Upper housing; 3. First connecting member; 31. First connecting part; 32. Second connecting part; 33. Third connecting part; 34. Receiving hole; 35. First pin hole; 4. Guide sleeve; 41. Guide component; 411. First connecting hole; 412. Guide hole; 413. Second pin hole; 414. Fixing hole; 5. Tension spring; 6. Second connecting member; 61. Second connecting hole; 62. Third pin hole; 7. First connecting pin; 8. Second connecting pin. Detailed Implementation

[0051] The technical means adopted to achieve the intended purpose of the present invention will be further described below with reference to the accompanying drawings in the embodiments of the present invention.

[0052] See Figure 1 and Figure 2 As shown, where, Figure 1 This is a perspective view of an embodiment. Figure 2 for Figure 1 Full sectional view.

[0053] A lightweight and compact automated bolt assembly device, comprising:

[0054] The power unit 100 includes a 360-degree continuous rotation servo motor 1, one end of which is connected to the robotic arm through the housing 2, and the other end is provided with a servo disk 11. The servo disk 11 is connected to the output end of the 360-degree continuous rotation servo motor 1 through a transmission device and rotates.

[0055] See Figures 2-6 As shown, where, Figure 3 This is a sectional view showing the connection relationship of the transmission components. Figure 4 This is a sectional view of the first connector. Figure 5 A three-dimensional view of the guide sleeve. Figure 6 A three-dimensional view of the inside of the guide component.

[0056] The transmission assembly 200 includes a first connector 3, a tension spring 5, and a second connector 6 connected coaxially in sequence, and a guide sleeve 4 coaxially sleeved on their outer sides.

[0057] The first connector 3 includes a first connecting part 31, a second connecting part 32 and a third connecting part 33 integrally arranged along the axial direction, wherein the first connecting part 31 is coaxially fixedly connected to the rudder disk 11, the third connecting part 33 is connected to the tension spring 5, and the second connecting part 32 is connected to the guide sleeve 4.

[0058] The guide sleeve 4 has a first connecting hole 411 and a guide hole 412 arranged axially inside. The first connecting hole 411 is engaged with the outer ring of the second connecting part 32. The third connecting part 33, the tension spring 5 and the second connecting member 6 are located inside the guide hole 412, and the outer periphery of the second connecting member 6 is slidably engaged with the guide hole 412, so that it can move axially along the guide hole 412 under the elastic force of the tension spring 5. The guide hole 412 is a non-circular hole that restricts the circumferential movement of the second connecting member 6. In a specific implementation, the guide hole is a polygonal hole.

[0059] The magnetic sleeve 300 has one end detachably connected to the other end of the second connector 6, and the other end is sleeved on the bolt head to be installed or removed, and has a permanent magnet inside.

[0060] The control system is connected in communication with the 360-degree continuous rotation servo motor 1 to control its rotation and torque parameters.

[0061] See Figure 2 In one specific embodiment, the outer shell 2 includes an upper shell 22 and a lower shell 21. One end of the upper shell 22 is provided with a flange and is connected to the robotic arm by bolts, and the other end is connected to the lower shell 21 by bolts. The 360-degree continuous rotation servo is located inside the outer shell 2, and the lugs on both sides of the servo are located between the upper shell 22 and the lower shell 21 and are fixed by bolts.

[0062] See Figure 3 and Figure 4The first connecting member 3 has an internal receiving hole 34 located near the end of the rudder disk 11 to avoid the bolts connecting the rudder disk 11 to the 360-degree rotating servo. The first connecting part 31 is axially connected to the rudder disk 11 by bolts. The second connecting part 32 has a first pin hole 35 perpendicular to its axial direction, and the guide sleeve 4 has a second pin hole 413 that mates with it. They are fixedly connected by the first connecting pin 7 and circumferentially positioned. Specifically, the first connecting pin 7 can be a round shaft pin that is interference-fitted with the first pin hole 35 and the second pin hole 413, or it can be a threaded pin that mates with the first pin hole 35 and the second pin hole 413 through a threaded pair.

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

[0064] See Figure 6 The first connecting hole 411 is a threaded hole, which is fixedly connected to the second connecting part 32 through a threaded pair. The guide hole 412 is a hexagonal hole, and the outer periphery of the second connecting member 6 mates with it. The purpose of making the first connecting hole 411 a threaded hole is to reduce the pressure on the first connecting pin 7 to transmit torque by means of the frictional torque generated by the threaded connection, thereby facilitating lightweight structural design to reduce the size and weight of the automation device. The purpose of making the guide hole 412 a hexagonal hole instead of a round hole is to transmit the torque of the 360-degree continuously rotating servo motor 1 to the guide sleeve 4 through the first connecting member 3, and then to the magnetic sleeve 300 through the guide sleeve 4, thereby controlling the assembly or disassembly of the bolt.

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

[0066] According to a specific embodiment, the third connecting part 33 and the second connecting member 6 are provided with a spiral groove at the end connected to the tension spring. The two ends of the tension spring 5 are respectively connected to the third connecting part and the second connecting member by being screwed into the spiral groove.

[0067] See Figure 7 and Figure 8According to a specific embodiment, the end of the second connecting member 6 connected to the magnetic sleeve 300 has a second connecting hole 61 inside. The second connecting hole 61 is a threaded hole, and a third pin hole 62 is provided on the outside, intersecting and penetrating the second connecting hole 61 perpendicularly. The second connecting pin 8 is detachably connected to the magnetic sleeve 300 via a second connecting pin 8. Specifically, the second connecting pin 8, the second connecting member 6, and the magnetic sleeve 300 can be connected by an interference fit or by a threaded connection. The purpose of the threaded hole 61 is to reduce the pressure on the second connecting pin 8 to transmit torque by utilizing the frictional torque generated by the threaded connection, thereby facilitating lightweight structural design to reduce the size and weight of the automated device.

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

[0069] The microcontroller is used to acquire signals, run corresponding algorithms, and generate control signals to control the 360-degree continuously rotating servo motor.

[0070] The optocoupler voltage control module has its input end connected to the microcontroller and its output end connected to the servo drive module. The servo drive module is connected to a 360-degree continuously rotating servo motor to control the output voltage and current.

[0071] The voltage detection module has its input end connected to the 360-degree continuously rotating servo motor and its output end connected to the microcontroller. It is used to measure and feedback the voltage across the 360-degree continuously rotating servo motor.

[0072] The current detection board has its input end connected to the 360-degree continuous rotation servo motor and its output end connected to the microcontroller. It is used to collect current signals in real time, convert them into voltage signals, and then convert them into digital quantities via the ADC interface to feed back the motion parameters of the 360-degree continuous rotation servo motor to the microcontroller.

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

[0074] In one embodiment, the button's working mode is generally divided into two types: one is assembling the bolt, and the other is disassembling the bolt. Specifically, this is achieved by controlling the forward and reverse rotation of a 360-degree continuously rotating servo motor via a microcontroller.

[0075] The microcontroller used is an STM32 microcontroller, and the current detection board is a MAX472 current detection board.

[0076] See Figure 10In specific implementation, the conventional configurations such as the minimum system circuit of the STM32 microcontroller will not be described. Only the external pin configuration and hardware circuit design will be carried out. Since the STM32 needs to control external devices, some interfaces need to be set up, including a DAC interface for receiving control signals and outputting variable voltage, a general GPIO interface for outputting high and low levels, a Timer interface for outputting PWM waves, an ADC interface for receiving and converting sensor feedback signals, an EXTI interface for interrupt-triggered changes to the closed-loop current control quantity and servo motor forward and reverse rotation, and a USART interface for real-time current (voltage) in the serial port transmission circuit, etc.

[0077] After configuring the microcontroller pins, the hardware circuit diagram design began, integrating it with other modules. Only the peripheral-related circuits were designed, namely the circuits between the STM32 microcontroller, MAX472 current detection board, voltage detection module, optocoupler voltage control module, independent button module, and 360-degree continuous rotation servo. All components share a common ground. The STM32 microcontroller is connected to the optocoupler voltage control module via pins PA4 and PA6. The positive and negative terminals of the independent power supply are connected to the DC+ and DC- pins of the optocoupler voltage control module, respectively. When the independent power supply voltage changes, it can control the output voltage at the OUT terminal to change, or, in conjunction with the voltage feedback from the S pin of the voltage detection module to the PC2 pin of the STM32 microcontroller, form a voltage outer loop to maintain voltage stability. The output voltage at the OUT terminal is applied across the MAX472 current detection board and the 360-degree continuous rotation servo. The 72 current detection board converts the flowing current into voltage and feeds it back to the PC0 pin of the microcontroller through the OUT terminal to form a current inner loop. The 360-degree continuous rotation servo signal line is connected to the PA0 pin of the STM32 microcontroller to provide a PWM signal. The K1-K4 button pins of the independent button module are connected to the PB1, PB10, PB3 and PB5 pins of the STM32 microcontroller respectively to change the forward and reverse rotation of the 360-degree continuous rotation servo and the closed-loop control current (electromagnetic torque) value, thereby adapting to the tightening and loosening of bolts of different sizes.

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

[0079] How to use:

[0080] When bolts need to be installed, first connect the fixed end of the outer casing 2 of this invention to the robotic arm. Then, align one end of the magnetic sleeve 300 with the bolt head to be assembled, place one end of the bolt head into the magnetic sleeve 300, and align the other end with the screw hole to be connected. After that, set the operation button module to assembly mode, rotate, and transmit the torque sequentially to the bolt through the first connecting member 3, the guide sleeve 4, the second connecting member 6, and the magnetic sleeve 300, driving the bolt to rotate clockwise and be gradually tightened. During the tightening process, as the bolt moves towards the connection hole, the magnetic sleeve 300 generates a forward pulling force, which drives the second connecting member 6 to move. Since the second connecting member 6 is connected to the first connecting member 3 through the tension spring 5 and slides with the guide sleeve 4, during this process, the second connecting member 6 moves forward along the guide hole 412, and the tension spring 5 is stretched. That is, only the magnetic sleeve 300 moves axially externally, while other parts do not move, thus meeting the requirements for bolt assembly in confined spaces. After assembly, the second connector 6 moves along the guide hole 412 and returns to its initial position under the elastic force of the tension spring 5.

[0081] In addition, during the assembly process, the optocoupler voltage control module outputs control voltage to the 360-degree continuously rotating servo motor 1, and the voltage and current are detected by the voltage detection module and the current detection board and fed back to the microcontroller to adjust the output voltage and current, thereby indirectly controlling the output torque to ensure the assembly torque.

[0082] When it is necessary to remove the bolts, simply operate the button module to set it to disassembly mode. The working principle is the same as the installation process, so it will not be described again.

[0083] The above description represents a preferred embodiment of the present invention. However, the present invention is not limited to the above embodiments and examples. Within the scope of knowledge possessed by those skilled in the art, all variations, equivalent substitutions, improvements, etc., made without departing from the concept of the present invention should be included within the protection scope of the present invention.

Claims

1. A lightweight and compact automated bolt assembly device, characterized in that, include: The power unit (100) includes a 360-degree continuous rotation servo motor (1), one end of which is connected to the robotic arm through the housing (2), and the other end is provided with a servo disk (11). The servo disk is connected to the output end of the 360-degree continuous rotation servo motor (1) through a transmission device and rotates. The transmission assembly (200) includes a first connector (3), a tension spring (5), and a second connector (6) connected coaxially in sequence, and a guide sleeve (4) coaxially sleeved on their outer sides; The first connector (3) includes a first connecting part (31), a second connecting part (32) and a third connecting part (33) integrally arranged along the axial direction, wherein the first connecting part (31) is coaxially fixedly connected to the rudder disk (11), the third connecting part (33) is connected to the tension spring (5), and the second connecting part (32) is connected to the guide sleeve (4); The third connecting part (33) and the second connecting piece (6) are provided with a spiral groove at one end connected to the tension spring. The two ends of the tension spring (5) are respectively connected to the third connecting part and the second connecting piece by being screwed into the spiral groove. The guide sleeve (4) has a first connecting hole (411) and a guide hole (412) axially arranged inside. The first connecting hole (411) is engaged with the outer ring of the second connecting part (32). The third connecting part (33), the tension spring (5), and the second connecting member (6) are located inside the guide hole (412). The outer periphery of the second connecting member (6) is slidably engaged with the guide hole (412) and can move axially along the guide hole (412) under the elastic force of the tension spring (5). The guide hole is a non-circular hole that restricts the circumferential movement of the second connecting member (6). The first connecting part (31) is axially connected to the rudder disk (11) by bolts. The second connecting part (32) is provided with a first pin hole (35) perpendicular to its axial direction. The guide sleeve (4) is provided with a second pin hole (413) that cooperates with it. They are fixedly connected by the first connecting pin (7) and circumferentially positioned. The shaft diameters of the first connecting part (31), the second connecting part (32) and the third connecting part (33) are arranged in a stepped manner, and the outer diameter of the first connecting part (31) is smaller than the outer diameter of the guide sleeve (4). The first connecting hole (411) is a threaded hole, which is connected to the second connecting part (32) through a threaded pair. The guide hole (412) is a polygonal hole, and the outer periphery of the second connecting member (6) is fitted with it. A magnetic sleeve (300) has one end detachably connected to the other end of the second connector (6), and the other end is fitted onto the bolt head to be installed or removed, and is provided with a permanent magnet inside. The control system is connected in communication with the 360-degree continuous rotation servo (1) to control its rotation and torque parameters.

2. The assembly device according to claim 1, characterized in that, The outer shell (2) includes an upper shell (22) and a lower shell (21). One end of the lower shell (21) is provided with a flange, which is detachably connected to the robotic arm, and the other end is detachably connected to the upper shell (22). The 360-degree continuous rotation servo is located inside the outer shell (2), and the ear plates on both sides are located between the upper shell (22) and the lower shell (21) and are fixed by standard connectors.

3. The assembly device according to claim 1, characterized in that, The first connector (3) has a receiving hole (34) inside, located at one end near the rudder (11).

4. The assembly device according to claim 1, characterized in that, The guide sleeve (4) is a split structure, including symmetrically connected guide components (41).

5. The assembly device according to claim 1, characterized in that, The second connector (6) has a second connecting hole (61) inside the end that is connected to the magnetic sleeve (300). The second connecting hole (61) is a threaded hole. The second connector has a third pin hole (62) that is perpendicular to and passes through the second connecting hole (61) on the outside. It is detachably connected to the second connector through the second connecting pin (8).

6. The assembly apparatus according to any one of claims 1-5, characterized in that, The control system includes: The microcontroller is used to acquire signals, run corresponding algorithms, and generate control signals to control the 360-degree continuously rotating servo motor. The optocoupler voltage control module has its input end connected to the microcontroller and its output end connected to the servo drive module. The servo drive module is connected to a 360-degree continuously rotating servo motor to control the output voltage and current. The voltage detection module has its input end connected to the 360-degree continuously rotating servo motor and its output end connected to the microcontroller. It is used to measure and feedback the voltage across the 360-degree continuously rotating servo motor. The current detection board has its input end connected to the 360-degree continuous rotation servo and its output end connected to the microcontroller. It is used to collect current signals in real time, convert them into voltage signals, and then convert them into digital quantities to feed back to the microcontroller to control the motion parameters of the 360-degree continuous rotation servo. The button module connects to the microcontroller and is used to select the working mode.

7. The assembly device according to claim 6, characterized in that, The microcontroller used is an STM32 microcontroller, and the current detection board is a MAX472 current detection board.

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