Thread locking actuator

Abstract

The embodiment of the invention discloses thread locking execution. According to the thread locking actuator, a torque detection module is arranged between a motor module and a bit module, a first rotating part of the torque detection module is in transmission connection with a motor shaft, a second rotating part of the torque detection module is in transmission connection with a bit, and then a rotating ring of the second rotating part is located on the radial outer side of the first rotating part; the rotating ring is elastically connected with the first rotating piece through an elastic body; a first detection piece and a second detection piece are fixedly mounted on the first rotating piece and the second rotating piece respectively; therefore, the first rotating piece and the second rotating piece can form an elastic body with low rotating rigidity, then the torque output to the bit by the motor shaft can be measured and controlled by measuring the deflection angle of deflection between the first rotating piece and the second rotating piece under the driving of the motor shaft, a torque sensor does not need to be used any more, and the cost is reduced. And on the premise that the thread locking actuator keeps high-precision torque detection and control, the cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of assembly tools, and in particular to a thread locking actuator. Background Art

[0002] With the development of industrial automation, the demand for automated assembly of fasteners such as screws and nuts is becoming more and more common. In addition, in the mid-to-high-end or precision assembly field, there are higher requirements for the locking torque accuracy of fasteners. Therefore, people's requirements for the accuracy of the output torque of thread locking actuators are also getting higher and higher.

[0003] At present, common thread locking actuators are usually equipped with torque sensors, so that the output torque can be accurately controlled through the torque sensor. However, the cost of achieving accurate torque control by configuring the torque sensor is relatively high. Summary of the invention

[0004] In view of at least one aspect of the above technical problems, an embodiment of the present application provides a thread locking actuator, wherein a torque detection module is provided between a motor module and a screwdriver bit module, wherein the torque detection module comprises a first rotating member and a second rotating member coaxially arranged, the first rotating member is transmission-connected to the motor shaft, and the second rotating member is transmission-connected to the screwdriver bit, and then, the rotating ring of the second rotating member is located radially outside the first rotating member, and the rotating ring is elastically connected to the first rotating member through an elastic body; and, in this embodiment, a first detection member and a second detection member are fixedly mounted on the first rotating member and the second rotating member, respectively; it can be understood that, in this way, the first rotating member and the second rotating member can form an elastic body with low rotational stiffness, and then, by measuring the deflection angle of the deflection between the first rotating member and the second rotating member driven by the motor shaft through the angle detection unit (i.e., the first detection member and the second detection member), the torque output from the motor shaft to the screwdriver bit can be measured and controlled without using a torque sensor, and the cost is reduced under the premise that the thread locking actuator maintains high-precision torque detection and control.

[0005] The embodiment of the present application provides a thread locking actuator, the thread locking actuator comprising:

[0006] The motor module comprises a motor shaft extending along a first direction;

[0007] The torque detection module comprises a first rotating member and a second rotating member coaxially arranged perpendicular to a first direction, wherein the first rotating member is drivingly connected to the motor shaft, and the second rotating member at least comprises a rotating ring, wherein the rotating ring is located radially outside the first rotating member relative to the first direction, and relative to the first direction, the radial inner circumference of the rotating ring is elastically connected to the radial outer circumference of the first rotating member via an elastic body, so that the motor shaft drives the second rotating member to rotate coaxially through the first rotating member;

[0008] A screwdriver bit module is arranged on a side of the torque detection module facing away from the motor module, the screwdriver bit module comprises a screwdriver bit extending along the first direction, and the screwdriver bit is configured to rotate coaxially with the second rotating member;

[0009] A main control board, electrically connected to the motor module;

[0010] The first rotating member is fixedly mounted with a first detecting member that rotates with it, the second rotating member is fixedly mounted with a second detecting member that rotates with it, the first detecting member and the second detecting member constitute an angle detecting unit, and the angle detecting unit is electrically connected to the main control board;

[0011] Furthermore, under the drive of the motor shaft, the angle detection unit is used to detect in real time the deflection angle of the first rotating member and the second rotating member relative to each other when the two are in a stationary state, so that the main control board maintains the deflection angle at a predetermined angle by driving the motor shaft.

[0012] In one embodiment, preferably, a plurality of transmission teeth are provided on the radial outer periphery of the first rotating member, and the transmission teeth radially extend outward from the radial outer periphery of the first rotating member; a plurality of zero-position teeth are provided on the radial inner periphery of the rotating ring, and the zero-position teeth radially extend inward from the radial inner periphery of the rotating ring;

[0013] Wherein, the transmission tooth and the zero position tooth are configured as follows:

[0014] When the first rotating member rotates in the opposite direction under the drive of the motor shaft due to the disassembly of the fastener by the thread locking actuator, the transmission tooth abuts against the zero position tooth along the circumferential direction of the rotating shaft, so that the first rotating member drives the second rotating member to rotate.

[0015] In one embodiment, preferably, a plurality of limiting teeth are provided on the radial inner circumference of the rotating ring, and the limiting teeth extend radially inward from the radial inner circumference of the rotating ring;

[0016] Wherein, the transmission teeth and the limiting teeth are configured as follows:

[0017] When the first rotating member rotates forwardly under the drive of the motor shaft due to the installation work of the fastener by the thread locking actuator, along the circumferential direction of the rotating shaft, the transmission tooth abuts against the limit tooth to prevent the deflection angle from exceeding a predetermined angle.

[0018] In one embodiment, preferably, along the circumferential extension direction of the radial inner circumference of the rotating ring, a limiting groove is formed between the zero-position tooth and the limiting tooth, and the transmission tooth radially extends outward into the limiting groove;

[0019] Wherein, when the first rotating member is stationary because it is not driven by the motor shaft, the elastic body is in a stretched state to make the transmission tooth abut against the zero-position tooth on one side of the limiting groove.

[0020] In one embodiment, preferably, the same number of the elastic body, the transmission teeth, the zero position teeth and the limit teeth are provided between the first rotating member and the rotating ring;

[0021] Wherein, the elastic body includes four first springs arranged in a group, and the radial outer periphery of the first rotating member and the radial inner periphery of the rotating ring are respectively provided with pull rings for detachable installation of the first springs.

[0022] In one embodiment, preferably, the second rotating member further comprises a first end cover and a second end cover, the first end cover and the second end cover are respectively arranged on both sides of the rotating ring in the axial direction, the first end cover and the second end cover are respectively fixedly installed with the rotating ring, and the first rotating member is located in the accommodation space between the first end cover and the second end cover;

[0023] Wherein, along the axial direction, one end of the first rotating member is provided with a transfer boss, the transfer boss and the first end cover are installed through a bearing transfer, and the transfer boss is used for transmission connection with the motor shaft;

[0024] The second end cover is used for fixed installation with the bit module, so that the bit rotates coaxially with the second rotating member.

[0025] In one embodiment, preferably, the first detecting member is fixedly mounted on a surface of the first rotating member facing the first end cover, and the first detecting member extends in an arc shape around the rotating axis of the first rotating member;

[0026] The second detection member is fixedly mounted on the first end cover;

[0027] Furthermore, when the first rotating member and the second rotating member are in a stationary state and a rotating state, along the first direction, the projection of the second detecting member is located within the arc range of the first detecting member.

[0028] In one embodiment, preferably, a conductive slide is provided on a side of the motor module facing the torque detection module, the conductive slide is in a ring shape surrounding the rotating shaft of the first rotating member, and the conductive slide is electrically connected to the main control board;

[0029] A conductive contact is provided on a surface of the first end cover facing the motor module, and the conductive contact is electrically connected to the second detection member;

[0030] The conductive contact abuts against the conductive slideway, so that the second detection member and the main control board maintain an electrical connection state when the first end cover is in a stationary state or a rotating state.

[0031] In one embodiment, preferably, the motor module at least includes a driving module, and the driving module includes a motor base and a driving motor installed on the motor base;

[0032] Wherein, along one end of the first direction, the motor seat is used for fixed installation with the sealing shell carrying the torque detection module, and the motor shaft of the driving motor is convexly arranged relative to the end surface of the motor seat;

[0033] At the other end along the first direction, the motor seat is closed by a motor seat end cover;

[0034] Furthermore, the motor seat end cover is used for fixing and installing the main control board.

[0035] In one embodiment, preferably, the motor module also includes a reduction module; wherein, along the first direction, one end of the reduction module is fixedly mounted on the motor shaft, and the other end of the reduction module is fixedly mounted on the first rotating member, so that the first rotating member is transmission-connected to the motor shaft.

[0036] In one embodiment, preferably, the deceleration module comprises a primary deceleration assembly and a secondary deceleration assembly which are arranged in sequence in a direction from the motor shaft to the first rotating member;

[0037] The first-stage reduction assembly includes a first base and a first sun gear and a first planetary gear mounted on the first base, the first sun gear is fixedly mounted on the motor shaft, and a first support is provided on a side of the first planetary gear facing away from the drive module;

[0038] The secondary reduction assembly comprises a second base and a second sun gear and a second planetary gear mounted on the second base, the second sun gear is fixedly mounted on the first support, a second support is provided on a side of the second planetary gear facing the first rotating member, and the second support is used to be fixedly mounted on the first rotating member;

[0039] So that the motor shaft is transmission-connected to the first rotating member through the primary reduction assembly and the secondary reduction assembly in sequence.

[0040] In one embodiment, preferably, the screwdriver bit module comprises a rotating guide rail seat extending along the first direction, the first end of the rotating guide rail seat is used for fixed installation with the second rotating member, and the second end of the rotating guide rail seat is used for installing the screwdriver bit, so that the screwdriver bit rotates coaxially with the second rotating member;

[0041] Among them, the rotating guide rail seat is provided with a hollow slideway passing through its two ends, and the screwdriver bit module also includes a slider and a second spring arranged on the hollow slideway, and the two ends of the second spring along the first direction respectively abut against the slider and the second rotating member, and the slider is used to be fixedly installed with the screwdriver bit so that the screwdriver bit can be elastically telescopically installed on the rotating guide rail seat along the first direction.

[0042] In one embodiment, preferably, the main control board is fixedly mounted on the motor seat end cover of the motor module;

[0043] The main control board is installed in a sealed end cover, and the sealed end cover is provided with a data communication interface, and the data communication interface is electrically connected to the main control board.

[0044] In one embodiment, preferably, the first detection component includes a detection magnetic ring, and the second detection component includes a magnetic angle sensor.

[0045] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0046] An embodiment of the present application provides a thread locking actuator, which includes a motor module, a torque detection module, a bit module and a main control board; wherein the torque detection module is arranged between the motor module and the bit module, the torque detection module includes a first rotating member and a second rotating member coaxially arranged perpendicular to a first direction, the first rotating member is transmission-connected to the motor shaft of the motor module, the second rotating member is transmission-connected to the bit of the bit module, and then, the second rotating member includes a rotating ring located radially outside the first rotating member, and the rotating ring and the first rotating member are elastically connected by an elastomer.

[0047] It can be understood that, in this way, the first rotating member and the second rotating member of the torque detection module constitute an elastic body with low rotational stiffness.

[0048] Then, in this embodiment, the first detection member and the second detection member are fixedly installed on the first rotating member and the second rotating member respectively. In this way, under the drive of the motor shaft, the angle detection unit formed by the two detection members can detect in real time the deflection angle of the two rotating members relative to each other when they are in a stationary state; it should also be understood that under the drive of the motor shaft, the deflection angle between the two rotating members is proportional to the torque output to the screwdriver. In this way, the real-time output torque transmitted to the screwdriver by the motor shaft through the torque detection module can be obtained by real-time detection of the deflection angle, so that the main control board can adjust the power or speed of the motor shaft according to the input signal of the angle detection unit, so that the deflection angle between the two rotating members is maintained at a predetermined angle, or in other words, the torque transmitted to the screwdriver by the motor shaft through the torque detection module is maintained at a predetermined value, that is, the output torque of the thread locking actuator is accurately controlled without having to use an additional torque sensor to achieve accurate control of the output torque, and the cost is reduced under the premise that the thread locking actuator maintains high-precision torque detection and control. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0050] Figure 1 Schematic diagram of the structure of the thread locking actuator described in the embodiment of the present application.

[0051] Figure 2 for Figure 1 Schematic diagram of the cross-sectional structure.

[0052] Figure 3 It is a schematic diagram of the cross-sectional structure of the motor module described in the embodiment of the present application.

[0053] Figure 4 It is a schematic diagram of the cross-sectional structure of the torque detection module described in the embodiment of the present application.

[0054] Figure 5 Schematic diagram of the structure of the torque detection module described in the embodiment of the present application.

[0055] Figure 6 for Figure 5 Schematic diagram of the explosion structure.

[0056] Figure 7 Schematic diagram of the structure of the first rotating member in the embodiment of the present application.

[0057] Figure 8It is a schematic diagram of the structure of the rotating ring described in the embodiment of the present application.

[0058] Fig. 9 It is a schematic diagram of the structure of the first-stage reduction assembly described in an embodiment of the present application.

[0059] Fig.10 It is a schematic diagram of the structure of the other side of the first-stage reduction assembly described in the embodiment of the present application.

[0060] Fig.11 It is a schematic diagram of the structure of the two-stage reduction gear assembly described in an embodiment of the present application.

[0061] Fig.12 It is a schematic diagram of the exploded structure of the secondary deceleration assembly described in the embodiment of the present application.

[0062] Fig.13 Schematic diagram of the structure of the screwdriver bit module described in the embodiment of the present application.

[0063] Fig.14 It is a schematic diagram of the side cross-sectional structure of the bit module described in the embodiment of the present application.

[0064] Fig.15 This is a schematic structural diagram of the embodiment of the present application in which the rotating rings of the first rotating member and the second rotating member are elastically connected via an elastomer, wherein the first end cover of the second rotating member is removed.

[0065] Wherein, the reference numerals are:

[0066] 10-Motor module,

[0067] 11-driving motor, 12-motor seat, 13-motor seat end cover, 14-first-stage reduction assembly, 15-second-stage reduction assembly,

[0068] 111-motor shaft,

[0069] 141-first base, 142-first sun gear, 143-first planetary gear, 144-first support,

[0070] 151 - second base, 152 - second sun gear, 153 - second planetary gear, 154 - second support,

[0071] 20-torque detection module, 21-first rotating member, 22-second rotating member, 23-elastic body, 24-pull ring, 25-bearing,

[0072] 211- transmission gear, 212- transfer boss,

[0073] 221-first end cover, 222-second end cover, 223-rotating ring, 224-zero position tooth, 225-limiting tooth, 226-limiting groove,

[0074] 231- first spring,

[0075] 30-bit module, 31-bit, 32-rotating guide seat, 33-slider, 34-second spring,

[0076] 321-Hollow slide,

[0077] 331-strong magnetic ring,

[0078] 40-main control board, 41-data communication interface,

[0079] 50-angle detection unit, 51-first detection member, 52-second detection member,

[0080] 61-conductive slide, 62-conductive contact,

[0081] 70-sealed shell,

[0082] 80-Sealing end cap,

[0083] X - first direction. DETAILED DESCRIPTION

[0084] In order to better understand the above technical solution, the example embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited to the exemplary embodiments described here.

[0085] Please combine Figure 1 to Figure 6 An embodiment of the present application provides a thread locking actuator, which includes a motor module 10, a torque detection module 20, a screwdriver module 30 and a main control board 40.

[0086] The motor module 10 includes a motor shaft 111 extending along a first direction X; the torque detection module 20 includes a first rotating member 21 and a second rotating member 22 coaxially arranged perpendicular to the first direction X, the first rotating member 21 is transmission-connected to the motor shaft 111, and the second rotating member 22 at least includes a rotating ring 223, the rotating ring 223 is located radially outside the first rotating member 21 relative to the first direction X, and, relative to the first direction X, the radial inner periphery of the rotating ring 223 and the radial outer periphery of the first rotating member 21 are elastically connected by an elastic body 23, so that the motor shaft 111 drives the second rotating member 22 to rotate coaxially through the first rotating member 21; the screwdriver head module 30 is arranged on the side of the torque detection module 20 facing away from the motor module 10, the screwdriver head module 30 includes a screwdriver head 31 extending along the first direction X, and the screwdriver head 31 is configured to rotate coaxially with the second rotating member 22; the main control board 40 is electrically connected to the motor module 10.

[0087] Among them, the first rotating member 21 is fixedly installed with a first detection member 51 that rotates with it, and the second rotating member 22 is fixedly installed with a second detection member 52 that rotates with it. The first detection member 51 and the second detection member 52 constitute an angle detection unit 50, and the angle detection unit 50 is electrically connected to the main control board 40; and, under the drive of the motor shaft 111, the angle detection unit 50 is used to detect in real time the deflection angle between the first rotating member 21 and the second rotating member 22 relative to each other when the two are in a stationary state, so that the main control board 40 maintains the deflection angle at a predetermined angle by driving the motor shaft 111.

[0088] In general, in this embodiment, a torque detection module is arranged between the motor module and the bit module. While transmitting the rotation output by the motor module to the bit module, the torque detection module can also accurately detect the output torque of the rotation. Therefore, the main control board can adjust the real-time output power and speed of the motor module according to the feedback signal of the torque detection module (i.e., the input signal of the angle detection unit), that is, adjust the output torque of the thread locking actuator to achieve precise control of the output torque.

[0089] Specifically, the motor module includes a driving motor, and the motor shaft of the driving motor is arranged along a first direction; then, along the first direction, the torque detection module is arranged beside the motor module, and the screwdriver module is arranged beside the torque detection module; that is, it can be seen Figure 1 and Figure 2 In this embodiment, the motor module, the torque detection module and the screwdriver bit module are arranged in sequence along the first direction, and the torque detection module is arranged between the motor module and the screwdriver bit module. In this way, the torque detection module can transmit the rotation of the motor module to the screwdriver bit module, specifically to the screwdriver bit extending along the first direction of the screwdriver bit module, so that the thread locking actuator can realize the installation and removal of the fastener (for example, a fastening screw) through the screwdriver bit.

[0090] Among them, the torque detection module of this embodiment includes a first rotating member and a second rotating member that are perpendicular to the first direction and coaxially arranged. The first rotating member is transmission-connected to the above-mentioned motor shaft, and the second rotating member is transmission-connected to the above-mentioned screwdriver bit. In this way, it can be understood that under the drive of the motor shaft, the motor shaft first transmits the rotation to the first rotating member, and then the first rotating member drives the second rotating member to rotate in the same direction, and then the second rotating member transmits the rotation to the screwdriver bit.

[0091] Among them, regarding the transmission connection between the first rotating member and the second rotating member, Figure 4 In this embodiment, a rotating ring is specifically arranged on the radial outer side of the first rotating member, that is, the second rotating member at least includes the rotating ring; then, the radial inner periphery of the rotating ring and the radial outer periphery of the first rotating member are elastically connected through an elastomer, so that the motor shaft can drive the second rotating member to rotate coaxially through the first rotating member.

[0092] It can be understood that a plurality of elastomers can be evenly arranged along the circumferential direction between the first rotating member and the rotating ring, so that an elastomer with low rotational stiffness can be formed between the first rotating member and the rotating ring, and when the first rotating member is driven by an external force (i.e., the motor shaft), the first rotating member can drive the radially outer rotating ring (or the second rotating member) to rotate in the same direction through the circumferentially arranged elastomers; and it can be understood that under the action of external force or different torques of the motor shaft, due to the different stretched deformations of the elastomer (when the elastomer is a spring, the stretched deformation is the spring length), the first rotating member and the rotating ring will have different deflection angles during rotation, wherein the deflection angle is relative to the first rotating member and the rotating ring being in a stationary state.

[0093] Generally speaking, it can be understood that the deflection angle between the first rotating member and the rotating ring is proportional to the output torque thereof, that is, the larger the deflection angle is, the larger the torque output by the torque detection module to the bit is.

[0094] Next, it can be understood that the real-time detection of the output torque output by the motor shaft to the screwdriver bit through the torque detection module can be achieved through the real-time detection of the deflection angle mentioned above.

[0095] To this end, in this embodiment, a first detection member and a second detection member are fixedly mounted on the first rotating member and the second rotating member respectively, that is, the first detection member rotates following the first rotating member, and the second detection member rotates following the second rotating member; and the first detection member and the second detection member constitute an angle detection unit, which can detect in real time the deflection angle between the first rotating member and the second rotating member (or rotating ring) relative to each other when the two are in a stationary state.

[0096] Then, the angle detection unit is electrically connected to the main control board of the threaded locking actuator, and the main control board is also electrically connected to the motor module. In this way, it can be understood that the main control board can control the power and speed of the motor module according to the input signal of the angle detection unit (the input signal is the measurement signal of the deflection angle mentioned above), that is, control the output torque of the drive motor.

[0097] It can be seen that this embodiment can realize accurate detection and control of the output torque of the drive motor to the bit through the torque detection module by setting a torque detection module between the motor module and the bit module, without using the existing torque sensor, thereby reducing the cost; and it also overcomes the problem of detection accuracy drift with time and temperature brought by the existing torque sensor, and can meet the intelligent assembly needs under various working conditions.

[0098] It should be noted that, driven by the motor shaft, the angle detection unit of this embodiment detects the above-mentioned deflection angle by utilizing the offset generated by two detection members. The utilization principle may be photoelectric or magnetic sensitive, etc., and this embodiment does not impose any limitation on this.

[0099] An embodiment of the present application provides a thread locking actuator, which includes a motor module, a torque detection module, a bit module and a main control board; wherein the torque detection module is arranged between the motor module and the bit module, the torque detection module includes a first rotating member and a second rotating member coaxially arranged perpendicular to a first direction, the first rotating member is transmission-connected to the motor shaft of the motor module, the second rotating member is transmission-connected to the bit of the bit module, and then, the second rotating member includes a rotating ring located radially outside the first rotating member, and the rotating ring and the first rotating member are elastically connected by an elastomer.

[0100] It can be understood that, in this way, the first rotating member and the second rotating member of the torque detection module constitute an elastic body with low rotational stiffness.

[0101] Then, in this embodiment, the first detection member and the second detection member are fixedly installed on the first rotating member and the second rotating member respectively. In this way, under the drive of the motor shaft, the angle detection unit formed by the two detection members can detect in real time the deflection angle of the two rotating members relative to each other when they are in a stationary state; it should also be understood that under the drive of the motor shaft, the deflection angle between the two rotating members is proportional to the torque output to the screwdriver. In this way, the real-time output torque transmitted to the screwdriver by the motor shaft through the torque detection module can be obtained by real-time detection of the deflection angle, so that the main control board can adjust the power or speed of the motor shaft according to the input signal of the angle detection unit, so that the deflection angle between the two rotating members is maintained at a predetermined angle, or in other words, the torque transmitted to the screwdriver by the motor shaft through the torque detection module is maintained at a predetermined value, that is, the output torque of the thread locking actuator is accurately controlled without having to use an additional torque sensor to achieve accurate control of the output torque, and the cost is reduced under the premise that the thread locking actuator maintains high-precision torque detection and control.

[0102] Regarding the torque detection module 20, Figure 6 to Figure 8 as well as Fig.15 In one possible implementation, a plurality of transmission teeth 211 are provided on the radial outer periphery of the first rotating member 21, and the transmission teeth 211 radially extend outward from the radial outer periphery of the first rotating member 21; a plurality of zero-position teeth 224 are provided on the radial inner periphery of the rotating ring 223, and the zero-position teeth 224 radially extend inward from the radial inner periphery of the rotating ring 223; wherein the transmission teeth 211 and the zero-position teeth 224 are configured as follows:

[0103] When the first rotating member 21 rotates in the opposite direction driven by the motor shaft 111 due to the disassembly of the fastener by the thread locking actuator, the transmission teeth 211 abut against the zero position teeth 224 along the circumferential direction of the rotating shaft to drive the second rotating member 22 to rotate.

[0104] It can be understood that when the thread locking actuator is installing the fastener, the present application can set the rotation direction of the first rotating member driven by the motor shaft to forward rotation ( Figure 6 and Figure 7 In the counterclockwise direction), on the contrary, when the thread locking actuator is disassembling the fastener, the rotation direction of the first rotating member driven by the motor shaft is set to reverse rotation ( Figure 6 and Figure 7 clockwise direction).

[0105] Considering that the torque of the threaded locking actuator when disassembling the fastener is usually greater than the locking torque, and torque detection is usually not required during disassembly, for this reason, the present application uses the abutment between the transmission tooth and the zero-position tooth to make the first rotating member drive the second rotating member to rotate in the opposite direction, thereby completing the disassembly of the fastener.

[0106] Specifically, in this embodiment, a plurality of transmission teeth are provided on the radial outer periphery of the first rotating member, and the plurality of transmission teeth can be evenly arranged along the circumferential direction. Correspondingly, in this embodiment, a plurality of zero-position teeth are provided on the radial inner periphery of the rotating ring, and the plurality of zero-position teeth are evenly arranged along the circumferential direction. Moreover, it can be understood that the transmission teeth and the zero-position teeth can correspond one to one.

[0107] Then, driven by the motor shaft, when the first rotating member rotates in the reverse direction, along the circumferential direction of the rotating shaft, the transmission teeth will abut against the zero-position teeth and drive the rotating ring (or the second rotating member) to rotate in the reverse direction through the zero-position teeth.

[0108] It can be seen that when the fastener is disassembled, the first rotating member drives the second rotating member to rotate in the opposite direction. At this time, the first rotating member transmits rotation through the transmission teeth and the zero-position teeth arranged between the two, and the elastomer mentioned above is not used (the first rotating member drives the second rotating member to rotate through the elastomer when it rotates forward). In this way, the disassembly requirement that the disassembly torque needs to be greater than the locking torque mentioned above can be met, and the service life of the elastomer can also be improved.

[0109] In a specific embodiment, a plurality of limiting teeth 225 are provided on the radial inner circumference of the rotating ring 223, and the limiting teeth 225 extend radially inward from the radial inner circumference of the rotating ring 223; wherein the transmission teeth 211 and the limiting teeth 225 are configured as follows:

[0110] When the first rotating member 21 rotates forwardly under the drive of the motor shaft 111 due to the installation of the fastener by the thread locking actuator, the transmission teeth 211 abut against the limiting teeth 225 along the circumferential direction of the rotating shaft to prevent the deflection angle from exceeding the predetermined angle.

[0111] Continuing with the above description, when the first rotating member rotates forward and drives the second rotating member or the rotating ring to rotate through the elastic body, considering that the greater the torque output by the motor shaft, the greater the deflection angle between the first rotating member and the rotating ring, at this time, the greater the deformation of the elastomer being stretched; in order to protect the elastomer, this embodiment also provides a plurality of limit teeth on the radial inner circumference of the rotating ring, and the plurality of limit teeth correspond to the plurality of transmission teeth one by one; and, when the first rotating member rotates forward and drives the rotating ring to rotate through the elastic body, when the deflection angle of the first rotating member and the rotating ring (also the deflection angle of the first detection member and the second detection member) is greater than or equal to a predetermined angle, at this time, this embodiment can drive the rotating ring to rotate through the abutment between the transmission teeth and the limit teeth by the transmission teeth of the first rotating member. Excessive deformation of the elastic body is prevented.

[0112] It can be seen that for the forward rotation, when the output torque of the motor shaft reaches a certain value, the deflection angle between the first rotating member and the rotating ring will reach a predetermined angle (for example, 10 degrees). At this time, the transmission teeth of the first rotating member will just abut against the limiting teeth of the rotating ring.

[0113] When the output torque of the motor shaft continues to increase, the first rotating member will drive the rotating ring to rotate by abutting the limiting teeth through the transmission teeth. At this time, even if the output torque of the motor shaft continues to increase, the elastic body will still maintain the deformation at the corresponding preset angle, or in other words, the deflection angle between the first rotating member and the rotating ring will still remain at the preset angle and will no longer increase.

[0114] It can be understood that the above predetermined angle can be set according to actual needs, such as 10 degrees, 15 degrees, etc.

[0115] In a specific embodiment, a limiting groove 226 is formed between the zero-position tooth 224 and the limiting tooth 225 along the circumferential extension direction of the radial inner circumference of the rotating ring 223, and the transmission tooth 211 extends radially outward into the limiting groove 226; wherein, when the first rotating member 21 is stationary due to not being driven by the motor shaft 111, the elastomer 23 is in a stretched state to abut the transmission tooth 211 against the zero-position tooth 224 on one side of the limiting groove 226.

[0116] That is, see Figure 6 and Figure 8A limiting groove is formed between the limiting tooth and the corresponding zero-position tooth on the radial inner circumference of the rotating ring, and the transmission tooth extends radially outward from the radial outer circumference of the first rotating member into the limiting groove. That is to say, the deflection angle of the first rotating member relative to the rotating ring will be limited to the circumferential angle corresponding to the limiting groove, and the circumferential angle is the predetermined angle mentioned above.

[0117] Then, in this embodiment, the elastomer is arranged outside the limiting groove located on one side of the zero-position tooth, and when not driven by the motor shaft, the elastomer is in a stretched state to abut the transmission tooth against the zero-position tooth; it can be understood that at this time, the deflection angle between the corresponding first detection member and the second detection member is zero degree.

[0118] When the motor shaft drives the first rotating member to rotate in the forward direction, when the output torque is not large, the first rotating member drives the rotating ring to rotate in the forward direction through the elastic body. When the output torque is too large, the first rotating member will drive the rotating ring to rotate in the forward direction by abutting the limiting teeth through the transmission teeth. As described above, at this time, the deflection angle between the first rotating member and the rotating ring will be maintained at a predetermined angle and will no longer increase with the increase of the output torque.

[0119] When the motor shaft drives the first rotating member to rotate in the reverse direction, the first rotating member directly drives the rotating ring to rotate in the reverse direction by abutting the zero-position tooth through the transmission tooth.

[0120] In a specific embodiment, the same number of elastomers 23, transmission teeth 211, zero-position teeth 224 and limit teeth 225 are provided between the first rotating member 21 and the rotating ring 223; wherein the elastomer 23 includes four first springs 231 arranged in groups, and the radial outer periphery of the first rotating member 21 and the radial inner periphery of the rotating ring 223 are respectively provided with pull rings 24 for detachable installation of the first springs 231.

[0121] Specifically, the same number of elastomers, transmission teeth, zero-position teeth and limit teeth can be arranged between the first rotating member and the rotating ring, for example, 6 in number and evenly distributed; then, each elastomer may include four first springs, and the first springs are detachably installed through the pull rings on the first rotating member and the rotating ring, thereby achieving a replaceable effect of the first springs.

[0122] In this way, each first spring only needs a small pulling force to transmit a large torque.

[0123] Regarding the installation structure of the first rotating member 21 and the second rotating member 22, in one possible implementation manner, the second rotating member 22 also includes a first end cover 221 and a second end cover 222, and the first end cover 221 and the second end cover 222 are respectively arranged on both sides of the axial direction of the rotating ring 223, and the first end cover 221 and the second end cover 222 are respectively fixedly installed with the rotating ring 223, and the first rotating member 21 is located in the accommodating space between the first end cover 221 and the second end cover 222; wherein, along the axial direction, a transfer boss 212 is provided at one end of the first rotating member 21, and the transfer boss 212 and the first end cover 221 are transfer-installed through a bearing 25, and the transfer boss 212 is used for transmission connection with the motor shaft 111; the second end cover 222 is used for fixed installation with the screwdriver bit module 30, so that the screwdriver bit 31 rotates coaxially with the second rotating member 22.

[0124] That is, in this embodiment, see Figures 4 to 6 The second rotating member also includes a first end cover and a second end cover on both sides of the closed rotating ring. The first end cover and the second end cover are respectively fixedly installed on the side of the rotating ring facing the motor module and the side facing the screw head module, so that the two end covers rotate together with the rotating ring; then, the first rotating member is located in the accommodating space between the two end covers.

[0125] In addition, in order to be connected to the motor module in transmission, the first rotating member includes a transfer boss in the middle position, and the transfer boss and the first end cover are installed through a bearing transfer, so that the first rotating member can be connected to the motor shaft in transmission through the transfer boss; the second end cover can be directly fixed to the screwdriver bit module.

[0126] In a specific embodiment, a first detecting member 51 is fixedly mounted on a side of the first rotating member 21 facing the first end cover 221, and the first detecting member 51 extends in an arc shape around the rotating axis of the first rotating member 21; the second detecting member 52 is fixedly mounted on the first end cover 221; and when the first rotating member 21 and the second rotating member 22 are in a stationary state and a rotating state, along the first direction X, the projection of the second detecting member 52 is located within the arc range of the first detecting member 51.

[0127] In this embodiment, combined with Figure 5 , Figure 7 and Figure 8 The first detection member can be fixedly mounted on a side of the first rotating member facing the first end cover, and the first detection member is, for example, a detection magnetic ring, and the first detection member extends in an arc shape; then, the second detection member is fixedly mounted on the first end cover, and, whether in a stationary or rotating state, the projection of the second detection member should be located within the arc range of the first detection member.

[0128] In a specific embodiment, a conductive slide 61 is provided on one side of the motor module 10 facing the torque detection module 20, and the conductive slide 61 is in a circular ring shape surrounding the rotating shaft of the first rotating member 21, and the conductive slide 61 is electrically connected to the main control board 40; a conductive contact 62 is provided on the surface of the first end cover 221 facing the motor module 10, and the conductive contact 62 is electrically connected to the second detection member 52; wherein the conductive contact 62 abuts against the conductive slide 61, so that the second detection member 52 and the main control board 40 remain electrically connected when the first end cover 221 is stationary and rotating.

[0129] In this embodiment, on the one hand, a circular conductive slideway can be arranged on a side of the motor module facing the torque detection module, and at the same time, a conductive contact is arranged on the surface of the first end cover facing the motor module; in this way, it can be understood that when the first end cover is driven to rotate, the conductive contact rotates along the conductive slideway and is always in contact with the conductive slideway; then, the conductive slideway can be electrically connected to the main control board, and the conductive contact can be electrically connected to the second detection member, so that the second detection member can be ensured to be always electrically connected to the main control board, or the angle detection unit can be ensured to be electrically connected to the main control board, thereby avoiding the cable entanglement problem of conventional wiring.

[0130] Regarding the motor module 10, in a possible implementation manner, the motor module 10 at least includes a driving module, the driving module includes a motor base 12 and a driving motor 11 installed on the motor base 12; wherein, at one end along the first direction X, the motor base 12 is used to be fixedly installed with a sealing shell 70 that carries the torque detection module 20, and the motor shaft 111 of the driving motor 11 is protruding relative to the end surface of the motor base 12; along the other end of the first direction X, the motor base 12 is closed by a motor base end cover 13; and the motor base end cover 13 is used for fixed installation of the main control board 40.

[0131] That is, in this embodiment, the motor module should at least include a driving module, the driving module includes a driving motor and a motor seat, and the motor seat can be directly fixedly installed with the sealing shell carrying the torque detection module (or combined with Figure 2 , the motor base can also be fixedly installed through the reduction module and the sealing shell described below); then, the side of the motor base facing away from the torque detection module is closed by the motor base end cover, and then the main control board is fixedly installed on the motor base end cover.

[0132] It can be understood that, at this time, the conductive slideway on the side of the motor module facing the torque detection module mentioned above can be arranged on the side of the motor base facing the torque detection module.

[0133] In another possible implementation, the motor module 10 further includes a reduction module; wherein, along the first direction X, one end of the reduction module is fixedly mounted on the motor shaft 111, and the other end of the reduction module is fixedly mounted on the first rotating member 21, so that the first rotating member 21 is transmission-connected to the motor shaft 111.

[0134] That is, in this embodiment, the motor module may also include a deceleration module, and the deceleration module is fixedly installed with the motor shaft and the first rotating part of the torque detection module at the same time. In this way, the deceleration module can speed up the rotation output by the motor shaft and then transmit it to the first rotating part. It can be understood that the torque can be increased by decelerating the rotation output by the motor shaft.

[0135] In a specific embodiment, the reduction module includes a primary reduction assembly 14 and a secondary reduction assembly 15 which are sequentially arranged in a direction from the motor shaft 111 to the first rotating member 21;

[0136] Among them, the first-stage reduction assembly 14 includes a first base 141 and a first sun gear 142 and a first planetary gear 143 installed on the first base 141, the first sun gear 142 is fixedly installed on the motor shaft 111, and a first support 144 is provided on the side of the first planetary gear 143 facing away from the drive module; the second-stage reduction assembly 15 includes a second base 151 and a second sun gear 152 and a second planetary gear 153 installed on the second base 151, the second sun gear 152 is fixedly installed on the first support 144, and a second support 154 is provided on the side of the second planetary gear 153 facing the first rotating member 21, and the second support 154 is used to be fixedly installed with the first rotating member 21; so that the motor shaft 111 is transmission-connected to the first rotating member 21 through the first-stage reduction assembly 14 and the second-stage reduction assembly 15 in sequence.

[0137] This embodiment provides a possible structure in which a two-stage reduction assembly is arranged between the motor shaft and the first rotating member; specifically, the motor shaft drives the first rotating member to rotate through the primary reduction assembly and the secondary reduction assembly in sequence; wherein the primary reduction assembly and the secondary reduction assembly are, for example, planetary reduction assemblies.

[0138] That is, for the first-stage reduction assembly, the motor shaft is fixedly mounted on the first sun gear and first drives the first sun gear to rotate, and the first sun gear drives the first planetary gear to rotate, and a first support is provided on the side of the first planetary gear facing away from the driving motor, and the first support rotates with the first planetary gear; then, for the second-stage reduction assembly, the first support is fixedly mounted on the second sun gear and first drives the second sun gear to rotate, and the second sun gear drives the second planetary gear to rotate, and a second support is provided on the side of the second planetary gear facing away from the first support or toward the first rotating member, and the second support rotates with the second planetary gear; then, the second support is also fixedly mounted on the first rotating member and drives the first rotating member to rotate, so that the motor shaft drives the first rotating member to rotate through the two-stage reduction assembly.

[0139] Among them, it can be understood, see Figure 2 and Fig.12When the motor module includes a reduction module, the conductive slideway mentioned above can be specifically arranged on a side of the second base of the reduction module facing the first rotating member (such as Fig.12 When the motor module does not include a reduction module, the conductive slideway mentioned above can be directly arranged on a side of the motor base facing the first rotating member.

[0140] Regarding the bit module 30, in one possible implementation manner, the bit module 30 includes a rotating guide rail seat 32 extending along the first direction X, the first end of the rotating guide rail seat 32 is used for fixed installation with the second rotating member 22, and the second end of the rotating guide rail seat 32 is used for installing the bit 31, so that the bit 31 rotates coaxially with the second rotating member 22; wherein the rotating guide rail seat 32 is provided with a hollow slideway 321 running through both ends thereof, the bit module 30 also includes a slider 33 and a second spring 34 provided on the hollow slideway 321, the second spring 34 abuts against the slider 33 and the second rotating member 22 at both ends along the first direction X, and the slider 33 is used for fixed installation with the bit 31, so that the bit 31 is elastically and telescopically installed on the rotating guide rail seat 32 along the first direction X.

[0141] In this embodiment, the screwdriver bit module includes a rotating guide rail seat extending along a first direction, and the first end of the rotating guide rail seat is fixedly installed with the second rotating member mentioned above, for example, it is specifically fixedly installed with the second rotating member toward the second end cover of the screwdriver bit module; then, the second end of the rotating guide rail seat is used to install the screwdriver bit, so that the screwdriver bit can rotate coaxially with the second rotating member.

[0142] Specifically, the rotating guide rail seat of the present embodiment is provided with a hollow slideway passing through its two ends, and then a slider and a second spring are installed in the hollow slideway in sequence, and the two ends of the second spring respectively abut the slider and the second rotating member, and the end of the slider facing away from the second spring is fixedly installed with the screwdriver bit. For example, a strong magnetic ring 331 is fixed on the slider, and the strong magnetic ring uses magnetic force to adsorb the screwdriver bit in the hexagonal groove of the slider.

[0143] It can be understood that, in this way, the bit is elastically and telescopically mounted on the rotating guide rail seat along the first direction, so that when the thread locking actuator tightens or removes the fastener, the bit can be ensured to always abut against the fastener through the elastic action of the second spring; in other words, when the fastener moves up and down along the first direction (the first direction is, for example, the vertical direction) due to tightening or removing, the bit module can make the bit move up and down along the first direction with the fastener through the elastic action of the second spring, while the thread locking actuator as a whole can remain stationary.

[0144] In one possible implementation, the main control board 40 is fixedly mounted on the motor base end cover 13 of the motor module 10 ; wherein the main control board 40 is enclosed and installed by a sealing end cover 80 , and the sealing end cover 80 is provided with a data communication interface 41 , and the data communication interface 41 is electrically connected to the main control board 40 .

[0145] In this embodiment, the main control board can be specifically fixedly installed on the motor base end cover of the motor module, and then the main control board is closed by a sealing end cover, wherein a data communication interface can be set on the sealing end cover, and the data communication interface is electrically connected to the main control board, so that the threaded locking actuator can be electrically connected to the external device through the data communication interface.

[0146] In a possible implementation, the first detection member 51 includes a detection magnetic ring, and the second detection member 52 includes a magnetic angle sensor; that is, the angle detection unit formed by the first detection member and the second detection member can specifically perform angle detection using the magnetic sensitivity principle.

[0147] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0148] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0149] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0150] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0151] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize that some variations, modifications, changes, additions and sub-combinations thereof should be included within the scope of protection of the present invention.

Claims

1. A thread locking actuator, characterized in that: The thread locking actuator comprises: The motor module comprises a motor shaft extending along a first direction; The torque detection module comprises a first rotating member and a second rotating member coaxially arranged perpendicular to a first direction, wherein the first rotating member is drivingly connected to the motor shaft, and the second rotating member at least comprises a rotating ring, wherein the rotating ring is located radially outside the first rotating member relative to the first direction, and relative to the first direction, the radial inner circumference of the rotating ring is elastically connected to the radial outer circumference of the first rotating member via an elastic body, so that the motor shaft drives the second rotating member to rotate coaxially through the first rotating member; A screwdriver bit module is arranged on a side of the torque detection module facing away from the motor module, the screwdriver bit module comprises a screwdriver bit extending along the first direction, and the screwdriver bit is configured to rotate coaxially with the second rotating member; A main control board, electrically connected to the motor module; The first rotating member is fixedly mounted with a first detecting member that rotates with it, the second rotating member is fixedly mounted with a second detecting member that rotates with it, the first detecting member and the second detecting member constitute an angle detecting unit, and the angle detecting unit is electrically connected to the main control board; Furthermore, under the drive of the motor shaft, the angle detection unit is used to detect in real time the deflection angle of the first rotating member and the second rotating member relative to each other when the two are in a stationary state, so that the main control board maintains the deflection angle at a predetermined angle by driving the motor shaft.

2. The thread locking actuator according to claim 1, characterized in that: A plurality of transmission teeth are provided on the radial outer periphery of the first rotating member, and the transmission teeth radially extend outward from the radial outer periphery of the first rotating member; a plurality of zero-position teeth are provided on the radial inner periphery of the rotating ring, and the zero-position teeth radially extend inward from the radial inner periphery of the rotating ring; Wherein, the transmission tooth and the zero position tooth are configured as follows: When the first rotating member rotates in the opposite direction under the drive of the motor shaft due to the disassembly of the fastener by the thread locking actuator, the transmission tooth abuts against the zero position tooth along the circumferential direction of the rotating shaft, so that the first rotating member drives the second rotating member to rotate.

3. The thread locking actuator according to claim 2, characterized in that: A plurality of limiting teeth are arranged on the radial inner circumference of the rotating ring, and the limiting teeth extend radially inward from the radial inner circumference of the rotating ring; Wherein, the transmission teeth and the limiting teeth are configured as follows: When the first rotating member rotates forwardly under the drive of the motor shaft due to the installation work of the fastener by the thread locking actuator, along the circumferential direction of the rotating shaft, the transmission tooth abuts against the limit tooth to prevent the deflection angle from exceeding a predetermined angle.

4. The thread locking actuator according to claim 3, characterized in that: Along the circumferential extension direction of the radial inner circumference of the rotating ring, a limiting groove is formed between the zero-position tooth and the limiting tooth, and the transmission tooth radially extends outward into the limiting groove; Wherein, when the first rotating member is stationary because it is not driven by the motor shaft, the elastic body is in a stretched state to make the transmission tooth abut against the zero-position tooth on one side of the limiting groove.

5. The thread locking actuator according to claim 4, characterized in that: The same number of the elastic bodies, the transmission teeth, the zero position teeth and the limit teeth are arranged between the first rotating member and the rotating ring; Wherein, the elastic body includes four first springs arranged in a group, and the radial outer periphery of the first rotating member and the radial inner periphery of the rotating ring are respectively provided with pull rings for detachable installation of the first springs.

6. The thread locking actuator according to claim 1, characterized in that: The second rotating member further comprises a first end cover and a second end cover, the first end cover and the second end cover are respectively arranged on both sides of the rotating ring in the axial direction, the first end cover and the second end cover are respectively fixedly installed with the rotating ring, and the first rotating member is located in the accommodation space between the first end cover and the second end cover; Wherein, along the axial direction, one end of the first rotating member is provided with a transfer boss, the transfer boss and the first end cover are installed through a bearing transfer, and the transfer boss is used for transmission connection with the motor shaft; The second end cover is used for fixed installation with the bit module, so that the bit rotates coaxially with the second rotating member.

7. The thread locking actuator according to claim 6, characterized in that: The first detecting member is fixedly mounted on a surface of the first rotating member facing the first end cover, and the first detecting member extends in an arc shape around the rotating axis of the first rotating member; The second detection member is fixedly mounted on the first end cover; Furthermore, when the first rotating member and the second rotating member are in a stationary state and a rotating state, along the first direction, the projection of the second detecting member is located within the arc range of the first detecting member.

8. The thread locking actuator according to claim 7, characterized in that: A conductive slide is provided on one side of the motor module facing the torque detection module, the conductive slide is in a ring shape surrounding the rotating shaft of the first rotating member, and the conductive slide is electrically connected to the main control board; A conductive contact is provided on a surface of the first end cover facing the motor module, and the conductive contact is electrically connected to the second detection member; The conductive contact abuts against the conductive slideway, so that the second detection member and the main control board maintain an electrical connection state when the first end cover is in a stationary state or a rotating state.

9. The thread locking actuator according to claim 1, characterized in that: The motor module at least includes a driving module, and the driving module includes a motor base and a driving motor installed on the motor base; Wherein, along one end of the first direction, the motor seat is used for fixed installation with the sealing shell carrying the torque detection module, and the motor shaft of the driving motor is convexly arranged relative to the end surface of the motor seat; At the other end along the first direction, the motor seat is closed by a motor seat end cover; Furthermore, the motor seat end cover is used for fixing and installing the main control board.

10. The thread locking actuator according to claim 9, characterized in that: The motor module also includes a reduction module; wherein, along the first direction, one end of the reduction module is fixedly mounted on the motor shaft, and the other end of the reduction module is fixedly mounted on the first rotating member, so that the first rotating member is drivingly connected to the motor shaft.

11. The thread locking actuator according to claim 10, characterized in that: The deceleration module comprises a primary deceleration assembly and a secondary deceleration assembly which are arranged in sequence from the motor shaft to the direction of the first rotating member; The first-stage reduction assembly includes a first base and a first sun gear and a first planetary gear mounted on the first base, the first sun gear is fixedly mounted on the motor shaft, and a first support is provided on a side of the first planetary gear facing away from the drive module; The secondary reduction assembly comprises a second base and a second sun gear and a second planetary gear mounted on the second base, wherein the second sun gear is fixedly mounted on the first support, and a second support is provided on a side of the second planetary gear facing the first rotating member, and the second support is used to be fixedly mounted on the first rotating member; So that the motor shaft is transmission-connected to the first rotating member through the primary reduction assembly and the secondary reduction assembly in sequence.

12. The thread locking actuator according to claim 1, characterized in that: The screwdriver bit module comprises a rotating guide rail seat extending along the first direction, wherein the first end of the rotating guide rail seat is used for fixed installation with the second rotating member, and the second end of the rotating guide rail seat is used for installing the screwdriver bit, so that the screwdriver bit rotates coaxially with the second rotating member; Among them, the rotating guide rail seat is provided with a hollow slideway passing through its two ends, and the screwdriver bit module also includes a slider and a second spring arranged on the hollow slideway, and the two ends of the second spring along the first direction respectively abut against the slider and the second rotating member, and the slider is used to be fixedly installed with the screwdriver bit so that the screwdriver bit can be elastically telescopically installed on the rotating guide rail seat along the first direction.

13. The thread locking actuator according to claim 1, characterized in that: The main control board is fixedly mounted on the motor seat end cover of the motor module; The main control board is installed in a sealed end cover, and the sealed end cover is provided with a data communication interface, and the data communication interface is electrically connected to the main control board.

14. The thread locking actuator according to claim 1, characterized in that: The first detection component includes a detection magnetic ring, and the second detection component includes a magnetic angle sensor.

Images