Threaded locking actuator

Abstract

The application discloses a screw locking executor. The screw locking executor is provided with a torque detection module between a motor module and a chuck module. A first rotating part of the torque detection module is in transmission connection with a motor shaft, and a second rotating part of the torque detection module is in transmission connection with the chuck. Then, a rotating ring of the second rotating part is located at the radial outside of the first rotating part, and the rotating ring and the first rotating part are elastically connected through an elastic body. The first rotating part and the second rotating part are respectively fixedly provided with a first detection part and a second detection part. In this way, the first rotating part and the second rotating part can form an elastic body with low rotating stiffness. Then, the deflection angle of the deflection between the first rotating part and the second rotating part under the driving of the motor shaft can be measured, so that the measurement and control of the torque output to the chuck by the motor shaft can be realized, and a torque sensor is not needed. The cost is reduced under the premise that the screw locking executor can keep high-precision torque detection and control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of assembly tools, in particular to a threaded locking actuator. BACKGROUND

[0002] With the development of industrial automation, the demand for automatic assembly of fasteners such as screws and nuts is becoming more and more common. In the high-end or precision assembly field, there is a high requirement for the locking torque accuracy of fasteners. Therefore, people have higher and higher requirements for the accuracy of the output torque of the threaded locking actuator.

[0003] At present, the common threaded locking actuator is usually provided with a torque sensor, so that the accurate control of the output torque can be realized through the torque sensor. However, this way of realizing accurate torque control by configuring a torque sensor has high cost. SUMMARY

[0004] In order to solve at least one of the above technical problems, the present application provides a threaded locking actuator, which is provided with a torque detection module between a motor module and a chuck module. The torque detection module includes a first rotating member and a second rotating member arranged coaxially. The first rotating member is in transmission connection with a motor shaft, and the second rotating member is in transmission connection with a chuck. Then, a rotating ring of the second rotating member is located on the radial outside of the first rotating member, and the rotating ring and the first rotating member are elastically connected through an elastic body. The first detection member and the second detection member are respectively fixedly installed on the first rotating member and the second rotating member. It can be understood that in this way, the first rotating member and the second rotating member form an elastic body with low rotating stiffness. Then, the deflection angle of the first rotating member and the second rotating member deflected under the driving of the motor shaft is measured by an angle detection unit (i.e. the first detection member and the second detection member), so as to realize the measurement and control of the torque output from the motor shaft to the chuck. Without using a torque sensor, the cost is reduced under the premise of maintaining high-precision torque detection and control of the threaded locking actuator.

[0005] The present application provides a threaded locking actuator, which comprises:

[0006] The motor module comprises a motor shaft extending in 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, the first rotating member is in transmission connection with the motor shaft, and the second rotating member comprises at least a rotating ring, the rotating ring is located on the radial outside of the first rotating member relative to the first direction, and the radial inner periphery of the rotating ring and the radial outer periphery of the first rotating member are elastically connected through an elastic body relative to the first direction, so that the motor shaft drives the second rotating member to rotate coaxially through the first rotating member;

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

[0009] The main control board is in electrical connection with the motor module;

[0010] The first rotating member is fixedly installed with a first detection member rotating therewith, the second rotating member is fixedly installed with a second detection member rotating therewith, the first detection member and the second detection member constitute an angle detection unit, and the angle detection unit is in electrical connection with the main control board;

[0011] Under the driving of the motor shaft, the angle detection unit is used to detect the deflection angle of the deflection between the first rotating member and the second rotating member in a static state in real time, so that the main control board drives the motor shaft to keep the deflection angle at a predetermined angle.

[0012] In an embodiment, preferably, the radial outer periphery of the first rotating member is provided with a plurality of transmission teeth extending radially outward from the radial outer periphery of the first rotating member, and the radial inner periphery of the rotating ring is provided with a plurality of zero position teeth extending radially inward from the radial inner periphery of the rotating ring;

[0013] The transmission teeth and the zero position teeth are configured as:

[0014] When the first rotating member reversely rotates under the driving of the motor shaft due to the disassembly work of the threaded locking executor on the fastener, the transmission teeth make the first rotating member drive the second rotating member to rotate by abutting against the zero position teeth along the circumferential direction of the rotation shaft.

[0015] In an embodiment, preferably, the radial inner periphery of the rotating ring is provided with a plurality of limiting teeth extending radially inward from the radial inner periphery of the rotating ring;

[0016] The transmission teeth and the limiting teeth are configured as:

[0017] When the first rotating member rotates in the positive direction under the drive of the motor shaft due to the installation of the fastener by the threaded locking executor, the transmission teeth prevent the deflection angle from exceeding a predetermined angle by abutting against the limiting teeth in the circumferential direction of the rotation axis.

[0018] In an embodiment, preferably, a limiting groove is formed between the zero teeth and the limiting teeth in the circumferential extension direction of the radial inner periphery of the rotating ring, and the transmission teeth extend radially outward into the limiting groove.

[0019] When the first rotating member is static without being driven by the motor shaft, the elastic body is in a stretched state to abut the transmission teeth against the zero teeth on one side of the limiting groove.

[0020] In an embodiment, preferably, the same number of elastic bodies, transmission teeth, zero teeth, and limiting teeth are provided between the first rotating member and the rotating ring.

[0021] The elastic body includes four first springs arranged in groups, 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 an embodiment, preferably, the second rotating member further includes 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] In the axial direction, one end of the first rotating member is provided with an adapter boss, the adapter boss and the first end cover are connected by a bearing, and the adapter boss is used for transmission connection with the motor shaft.

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

[0025] In an embodiment, preferably, the first detection member is fixedly installed on one side of the first rotating member facing the first end cover, and the first detection member extends in an arc shape around the rotation axis of the first rotating member.

[0026] The second detection member is fixedly installed on the first end cover.

[0027] When the first rotating member and the second rotating member are in static and rotating states, the projection of the second detection member is located within the arc range of the first detection member in the first direction.

[0028] In an embodiment, preferably, one side of the motor module facing the torque detection module is provided with a conductive slide, which is in the form of a ring around the rotating shaft of the first rotating member, and the conductive slide is electrically connected with the main control board;

[0029] The surface of the first end cover facing the motor module is provided with a conductive contact, which is electrically connected with the second detection member;

[0030] The conductive contact is in abutment with the conductive slide, so that the second detection member and the main control board are kept in an electrically connected state in the static and rotating states of the first end cover.

[0031] In an embodiment, preferably, the motor module at least includes a driving module, which includes a motor seat and a driving motor installed on the motor seat;

[0032] At one end in the first direction, the motor seat is used for fixed installation with a sealed shell bearing the torque detection module, and the motor shaft of the driving motor is protruding relative to the end face of the motor seat;

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

[0034] And the motor seat end cover is used for fixed installation of the main control board.

[0035] In an embodiment, preferably, the motor module further includes a reduction module; wherein, along the first direction, one end of the reduction module is fixedly installed with the motor shaft, and the other end of the reduction module is fixedly installed with the first rotating member, so that the first rotating member is in transmission connection with the motor shaft.

[0036] In an embodiment, preferably, the reduction module includes a first-stage reduction assembly and a second-stage reduction assembly arranged in sequence in the direction from the motor shaft to the first rotating member;

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

[0038] The second-stage reduction assembly includes a second base, a second sun gear and a second planetary gear installed on the second base, the second sun gear is fixedly installed with the first support, and the second planetary gear is provided with a second support on the side facing the first rotating member, and the second support is used for fixed installation with the first rotating member;

[0039] The motor shaft is sequentially connected with the first rotating member, the second rotating member and the first rotating member through the first speed reduction assembly and the second speed reduction assembly.

[0040] In an embodiment, preferably, the chuck module comprises a rotating rail seat extending along the first direction, a first end of the rotating rail seat is used for fixedly mounting with the second rotating member, and a second end of the rotating rail seat is used for mounting the chuck, so that the chuck rotates coaxially with the second rotating member.

[0041] The rotating rail seat is provided with a hollow slide channel penetrating through both ends thereof, the chuck module further comprises a sliding block and a second spring provided in the hollow slide channel, and two ends of the second spring along the first direction abut against the sliding block and the second rotating member respectively, the sliding block is used for fixedly mounting with the chuck, so that the chuck is elastically telescoped along the first direction and mounted in the rotating rail seat.

[0042] In an embodiment, preferably, the main control board is fixedly mounted at an end cover of the motor seat of the motor module.

[0043] The main control board is closed and mounted by a sealing end cover, the sealing end cover is provided with a data communication interface, and the data communication interface is electrically connected with the main control board.

[0044] In an embodiment, preferably, the first detection member comprises a detection magnetic ring, and the second detection member comprises a magnetic sensitive angle sensor.

[0045] The one or more technical solutions provided in the embodiments have at least the following technical effects or advantages:

[0046] The screw locking executor provided in the embodiments comprises a motor module, a torque detection module, a chuck module and a main control board, the torque detection module is arranged between the motor module and the chuck module, the torque detection module comprises a first rotating member and a second rotating member coaxially arranged perpendicular to the first direction, the first rotating member is in transmission connection with the motor shaft of the motor module, the second rotating member is in transmission connection with the chuck of the chuck module, then, the second rotating member comprises a rotating ring located at a radial outer side of the first rotating member, and the rotating ring and the first rotating member are elastically connected through an elastic body.

[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 rotating stiffness.

[0048] Then, the first detection member and the second detection member are respectively fixedly installed on the first rotating member and the second rotating member, so that the angle detection unit composed of the two detection members can detect the deflection angle of the relative deflection between the two rotating members in the static state in real time under the driving of the motor shaft. It should be understood that the deflection angle between the two rotating members is proportional to the torque output to the chuck under the driving of the motor shaft, so that the real-time output torque of the motor shaft transmitted to the chuck through the torque detection module can be obtained through real-time detection of the deflection angle, so that the master control board can adjust the power or rotating speed of the motor shaft according to the input signal of the angle detection unit, so as to keep the deflection angle between the two rotating members at a predetermined angle, or keep the torque output by the motor shaft to the chuck through the torque detection module at a predetermined value, that is, to realize the precise control of the output torque of the screw locking executor, without the need for additional torque sensor to realize the precise control of the output torque. Under the premise of keeping high-precision torque detection and control of the screw locking executor, the cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0050] Figure 1 The structure schematic diagram of the screw locking executor described in the embodiments of the present application.

[0051] Figure 2 The structure schematic diagram of the screw locking executor described in the embodiments of the present application. Figure 1 The structure schematic diagram of the screw locking executor described in the embodiments of the present application.

[0052] Figure 3 The structure schematic diagram of the screw locking executor described in the embodiments of the present application.

[0053] Figure 4 The structure schematic diagram of the screw locking executor described in the embodiments of the present application.

[0054] Figure 5 The structure schematic diagram of the screw locking executor described in the embodiments of the present application.

[0055] Figure 6 The structure schematic diagram of the screw locking executor described in the embodiments of the present application. Figure 5 The structure schematic diagram of the screw locking executor described in the embodiments of the present application.

[0056] Figure 7 The structure schematic diagram of the screw locking executor described in the embodiments of the present application.

[0057] Figure 8Structure diagram of the rotating ring in the embodiment of the present application.

[0058] Figure 9 Structure diagram of the primary speed reduction assembly in the embodiment of the present application.

[0059] Figure 10 Structure diagram of the other side of the primary speed reduction assembly in the embodiment of the present application.

[0060] Figure 11 Structure diagram of the secondary speed reduction assembly in the embodiment of the present application.

[0061] Figure 12 Exploded structure diagram of the secondary speed reduction assembly in the embodiment of the present application.

[0062] Figure 13 Structure diagram of the batch head module in the embodiment of the present application.

[0063] Figure 14 Side sectional structure diagram of the batch head module in the embodiment of the present application.

[0064] Figure 15 Structure diagram of the rotating ring of the first rotating member and the second rotating member being elastically connected through the elastic body in the embodiment of the present application, wherein the second rotating member is removed of the first end cover.

[0065] In the drawings, reference numerals:

[0066] 10 - motor module,

[0067] 11 - drive motor, 12 - motor base, 13 - motor base end cover, 14 - primary speed reduction assembly, 15 - secondary speed reduction assembly,

[0068] 111 - motor shaft,

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

[0070] 151 - second base, 152 - second sun gear, 153 - second planet 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 tooth, 212 - adapter boss,

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

[0074] 231 - first spring,

[0075] 30 - chuck module, 31 - chuck, 32 - rotating guide rail 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 piece, 52 - second detection piece,

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

[0081] 70 - sealed shell,

[0082] 80 - sealed end cover,

[0083] X - first direction. DETAILED DESCRIPTION

[0084] In order to better understand the above technical solutions, 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, not all embodiments of the present application. It should be understood that the present application is not limited to the example embodiments described herein.

[0085] Please combine Figures 1-6 The screw thread locking executor provided by the embodiments of the present application includes a motor module 10, a torque detection module 20, a chuck 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 in transmission connection with the motor shaft 111, the second rotating member 22 at least includes a rotating ring 223, the rotating ring 223 is located on the radial outer side of the first rotating member 21 relative to the first direction X, and 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 relative to the first direction X, so that the motor shaft 111 drives the second rotating member 22 to rotate coaxially through the first rotating member 21; the chuck module 30 is arranged on the side of the torque detection module 20 away from the motor module 10, the chuck module 30 includes a chuck 31 extending along the first direction X, the chuck 31 is configured to rotate coaxially with the second rotating member 22; the main control board 40 is electrically connected with the motor module 10.

[0087] The first rotating member 21 is fixedly installed with a first detecting member 51 rotating with the first rotating member 21, the second rotating member 22 is fixedly installed with a second detecting member 52 rotating with the second rotating member 22, the first detecting member 51 and the second detecting member 52 constitute an angle detecting unit 50, the angle detecting unit 50 is electrically connected with the main control board 40; and under the driving of the motor shaft 111, the angle detecting unit 50 is used for detecting the deflection angle of the deflection between the first rotating member 21 and the second rotating member 22 in a static state in real time, so that the main control board 40 drives the motor shaft 111 to keep the deflection angle at a predetermined angle.

[0088] Overall, the embodiment sets a torque detecting module between the motor module and the chuck module, the torque detecting module can accurately detect the output torque of the rotation transmitted from the motor module to the chuck module, so that the main control board can adjust the power and the rotation speed of the real-time output of the motor module according to the feedback signal of the torque detecting module (i.e. the input signal of the angle detecting unit), that is, adjust the output torque of the threaded locking actuator, and realize the accurate 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 detecting module is arranged beside the motor module, and the chuck module is arranged beside the torque detecting module; that is, referring to Figure 1 and Figure 2 , the motor module, the torque detecting module and the chuck module of the embodiment are arranged along the first direction in sequence, and the torque detecting module is arranged between the motor module and the chuck module, so that the torque detecting module can transmit the rotation of the motor module to the chuck module, specifically to the chuck extending along the first direction, so that the threaded locking actuator can realize the installation and disassembly of the fastener (such as a fastening screw) through the chuck.

[0090] Among them, the torque detecting module of the embodiment includes a first rotating member and a second rotating member which are perpendicular to the first direction and coaxially arranged, the first rotating member is in transmission connection with the motor shaft, and the second rotating member is in transmission connection with the chuck, so it can be understood that under the driving of the motor shaft, the motor shaft first transmits the rotation to the first rotating member, 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 chuck.

[0091] Among them, regarding the transmission connection between the first rotating member and the second rotating member, combined with Figure 4 , the embodiment specifically sets a rotating ring on the radial outer side of the first rotating member, that is, the second rotating member at least includes a 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 elastic body, 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 the elastic bodies can be evenly arranged in the circumferential direction between the first rotating member and the rotating ring, so that the first rotating member and the rotating ring can constitute an elastic body with low rotational stiffness. When the first rotating member is driven to rotate by an external force (i.e., the motor shaft), the first rotating member can drive the rotating ring (or the second rotating member) on the radial outside to rotate in the same direction through the circumferentially arranged elastic bodies. It can be understood that, under the action of different torques of the external force or the motor shaft, different elastic body stretching deformations (when the elastic body is a spring, the stretching deformation is the spring length) result in different deflection angles between the first rotating member and the rotating ring during rotation, wherein the deflection angle is relative to the static state of the first rotating member and the rotating ring.

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

[0094] Next, it can be understood that real-time detection of the deflection angle can achieve real-time detection of the output torque of the motor shaft to the chuck through the torque detection module.

[0095] To this end, the first detection member and the second detection member are respectively fixedly installed on the first rotating member and the second rotating member, that is, the first detection member rotates with the first rotating member, and the second detection member rotates with the second rotating member; and the first detection member and the second detection member constitute an angle detection unit, which can detect the deflection angle of the relative deflection between the first rotating member and the second rotating member (or the rotating ring) in the static state.

[0096] Then, the angle detection unit is electrically connected with the main control board of the threaded locking executor, and the main control board is also electrically connected with the motor module, so that 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 above-mentioned deflection angle), that is, control the output torque of the driving motor.

[0097] It can be seen that the torque detection module is arranged between the motor module and the chuck module to achieve accurate detection and control of the output torque of the driving motor to the chuck through the torque detection module, without the need for existing torque sensors, thereby reducing costs; and the problem of detection accuracy drift with time and temperature changes caused by existing torque sensors is overcome, and the intelligent assembly demand under various working conditions can be met.

[0098] It should be noted that, under the driving of the motor shaft, the angle detection unit of the embodiment detects the deflection angle by detecting the deflection of the two detection members, and the principle of detection can be photoelectric or magnetic sensitive, etc. The embodiment does not limit this.

[0099] The embodiment of the application provides a threaded locking executor, which comprises a motor module, a torque detection module, a chuck module and a main control board. The torque detection module is arranged between the motor module and the chuck module. The torque detection module comprises a first rotating member and a second rotating member which are coaxially arranged perpendicularly to a first direction. The first rotating member is in transmission connection with the motor shaft of the motor module. The second rotating member is in transmission connection with the chuck of the chuck module. Then, the second rotating member comprises a rotating ring which is located radially outside the first rotating member. The rotating ring and the first rotating member are elastically connected through an elastic body.

[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, the first detection member and the second detection member are respectively fixedly installed on the first rotating member and the second rotating member. In this way, under the driving of the motor shaft, the angle detection unit composed of the two detection members can detect the deflection angle of the relative deflection between the two rotating members in the static state in real time. It should also be understood that under the driving of the motor shaft, the deflection angle between the two rotating members is proportional to the torque output to the chuck. In this way, the real-time output torque of the motor shaft transmitted to the chuck through the torque detection module can be obtained through real-time detection of the deflection angle. Therefore, the main control board can adjust the power or the rotating speed of the motor shaft according to the input signal of the angle detection unit, so as to keep the deflection angle between the two rotating members at a predetermined angle, or keep the torque output by the motor shaft to the chuck through the torque detection module at a predetermined value, that is, to realize accurate control of the output torque of the threaded locking executor without the need for additional torque sensors to realize accurate control of the output torque. Under the premise of keeping high-precision torque detection and control of the threaded locking executor, the cost is reduced.

[0102] Regarding the torque detection module 20 described above, in combination with Figures 6-8 and Figure 15 In a possible implementation, the radial outer periphery of the first rotating member 21 is provided with a plurality of transmission teeth 211 which extend radially outward from the radial outer periphery of the first rotating member 21. The radial inner periphery of the rotating ring 223 is provided with a plurality of zero position teeth 224 which extend radially inward from the radial inner periphery of the rotating ring 223. The transmission teeth 211 and the zero position teeth 224 are configured as:

[0103] When the first rotating member 21 is reversely rotated under the drive of the motor shaft 111 due to the dismounting work of the threaded locking executor on the fastener, the transmission teeth 211 abut against the zero position teeth 224 along the circumferential direction of the rotating shaft, thereby driving the second rotating member 22 to rotate along with the first rotating member 21.

[0104] It can be understood that when the threaded locking executor is performing the mounting work on the fastener, the rotating direction of the first rotating member under the drive of the motor shaft can be set as the forward rotation (counterclockwise direction in the figure) of the first rotating member. Figure 6 And Figure 7 When the threaded locking executor is performing the dismounting work on the fastener, the rotating direction of the first rotating member under the drive of the motor shaft can be set as the reverse rotation (clockwise direction in the figure) of the first rotating member. Figure 6 And Figure 7

[0105] It can be understood that when the threaded locking executor is performing the mounting work on the fastener, the rotating direction of the first rotating member under the drive of the motor shaft can be set as the forward rotation (counterclockwise direction in the figure) of the first rotating member.

[0106] Specifically, the first rotating member is provided with a plurality of transmission teeth on the radial outer periphery thereof, and the plurality of transmission teeth are uniformly arranged along the circumferential direction. Correspondingly, the rotating ring is provided with a plurality of zero position teeth on the radial inner periphery thereof, and the plurality of zero position teeth are uniformly arranged along the circumferential direction. It can be understood that the transmission teeth and the zero position teeth can correspond to each other one by one.

[0107] Then, when the first rotating member is reversely rotated under the drive of the motor shaft, the transmission teeth abut against the zero position teeth along the circumferential direction of the rotating shaft, thereby driving the rotating ring (or the second rotating member) to reversely rotate.

[0108] It can be seen that when the fastener is dismounted, the first rotating member drives the second rotating member to reversely rotate. At this time, the first rotating member transmits the rotation through the transmission teeth and the zero position teeth arranged therebetween, instead of using the elastic body (which is used to drive the second rotating member to rotate when the first rotating member is forwardly rotated). In this way, the dismounting torque requirement that the dismounting torque needs to be greater than the locking torque can be met, and the service life of the elastic body can be improved.

[0109] In a specific embodiment, the radial inner periphery of the rotating ring 223 is provided with a plurality of limiting teeth 225 extending radially inward from the radial inner periphery of the rotating ring 223. The transmission teeth 211 and the limiting teeth 225 are configured as follows.

[0110] ​When the first rotating member 21 is positively rotated by the installation of the fastener by the threaded locking actuator and is driven by the motor shaft 111, the transmission teeth 211 prevent the deflection angle from exceeding a predetermined angle by abutting against the limiting teeth 225 in the circumferential direction of the rotating shaft.

[0111] Continuing with the above description, when the first rotating member is positively rotated and drives the second rotating member or rotating ring by 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 elastic body when stretched; in order to protect the elastic body, a plurality of limiting teeth are arranged on the radial inner periphery of the rotating ring in the present embodiment, and the plurality of limiting teeth correspond one-to-one with the plurality of transmission teeth; and when the first rotating member is positively rotated and drives the rotating ring by the elastic body, when the deflection angle between the first rotating member and the rotating ring (also the deflection angle between the first detection member and the second detection member) is greater than or equal to a predetermined angle, at this time, the transmission teeth of the first rotating member abut against the limiting teeth of the rotating ring, thereby driving the rotating ring to rotate by the abutment of the transmission teeth and the limiting teeth, preventing the elastic body from being deformed too much.

[0112] It can be seen that for the case of positive rotation, when the output torque of the motor shaft reaches a certain value, at this time, 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 the abutment of the transmission teeth against the limiting teeth, at this time, even if the output torque of the motor shaft continues to increase, the elastic body will still maintain the deformation corresponding to the predetermined angle, or in other words, the deflection angle between the first rotating member and the rotating ring will still remain at the predetermined angle and will not increase any more.

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

[0115] In a specific embodiment, the limiting groove 226 is formed between the zero teeth 224 and the limiting teeth 225 in the circumferential extension direction of the radial inner periphery of the rotating ring 223, and the transmission teeth 211 extend radially outward into the limiting groove 226; wherein when the first rotating member 21 is stationary without being driven by the motor shaft 111, the elastic body 23 is in a stretched state to abut the transmission teeth 211 against the zero teeth 224 on one side of the limiting groove 226.

[0116] That is, referring to Figure 6 and Figure 8At the radial inner periphery of the rotating ring, a limiting recess is formed between the limiting tooth and the corresponding zero tooth, and the transmission tooth extends into the limiting recess from the radial outer periphery of the first rotating member, that is, the deflection angle of the first rotating member relative to the rotating ring is limited within the circumferential angle corresponding to the limiting recess, which is the above-mentioned predetermined angle.

[0117] Then, the elastomer is arranged outside the limiting recess on the side of the zero tooth, and when not driven by the motor shaft, the elastomer is in a stretched state to abut the transmission tooth with the zero tooth; it can be understood that at this time, the deflection angle between the first detection member and the second detection member is zero degrees.

[0118] When the motor shaft drives the first rotating member to rotate forward, when the output torque is not large, the first rotating member is driven to rotate the rotating ring forward by the elastomer, and when the output torque is too large, the first rotating member will drive the rotating ring to rotate forward by abutting the transmission tooth with the limiting tooth, as described above, the deflection angle between the first rotating member and the rotating ring will remain at the predetermined angle and will not increase with the increase of the output torque.

[0119] When the motor shaft drives the first rotating member to rotate reversely, the first rotating member is directly driven to rotate the rotating ring reversely by abutting the transmission tooth with the zero tooth.

[0120] In a specific embodiment, the same number of elastomers 23, transmission teeth 211, zero teeth 224 and limiting teeth 225 are arranged 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 a pull ring 24 for detachable installation of the first spring 231.

[0121] Specifically, the same number of elastomers, transmission teeth, zero teeth and limiting teeth can be arranged between the first rotating member and the rotating ring, for example, 6 and evenly distributed; then, each elastomer can include four first springs, and the first spring is detachably installed through the pull ring on the first rotating member and the rotating ring, realizing the replaceable effect of the first spring.

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

[0123] Regarding the mounting structure of the first rotating member 21 and the second rotating member 22, in one possible implementation, the second rotating member 22 further comprises a first end cover 221 and a second end cover 222, the first end cover 221 and the second end cover 222 are respectively arranged on two sides of the rotating ring 223 in the axial direction, 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 accommodation space between the first end cover 221 and the second end cover 222; wherein, in the axial direction, one end of the first rotating member 21 is provided with a transfer boss 212, the transfer boss 212 is transferably installed with the first end cover 221 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 fixedly installing with the batch head module 30, so that the batch head 31 co-rotates with the second rotating member 22.

[0124] That is, in the embodiment, referring to Figures 4-6 , the second rotating member further comprises a first end cover and a second end cover closing two sides of the rotating ring, the first end cover and the second end cover are respectively fixedly installed on one side of the rotating ring facing the motor module and one side of the rotating ring facing the batch head module, so that the two end covers rotate together with the rotating ring; then, the first rotating member is located in the accommodation space between the two end covers.

[0125] In addition, in order to be transmissionally connected with the motor module, the first rotating member comprises a transfer boss at the middle position, the transfer boss is transferably installed with the first end cover through a bearing, so that the first rotating member can be transmissionally connected with the motor shaft through the transfer boss; the second end cover can be directly fixedly installed with the batch head module.

[0126] In one specific implementation, one side of the first rotating member 21 facing the first end cover 221 is fixedly installed with a first detection member 51, the first detection member 51 extends in an arc shape around the rotation shaft of the first rotating member 21; a second detection member 52 is fixedly installed on the first end cover 221; and in the static state and the rotating state of the first rotating member 21 and the second rotating member 22, the projection of the second detection member 52 is located within the arc-shaped range of the first detection member 51 along the first direction X.

[0127] In the embodiment, in combination with Figure 5 , Figure 7 and Figure 8 , the first detection member can be fixedly installed on one 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 installed on the first end cover, and the projection of the second detection member should be located within the arc-shaped range of the first detection member in the static state and the rotating state.

[0128] In a specific embodiment, the side of the motor module 10 facing the torque detection module 20 is provided with a conductive slide 61 in the form of a ring surrounding the rotation shaft of the first rotating member 21, and the conductive slide 61 is electrically connected to the main control board 40; the surface of the first end cover 221 facing the motor module 10 is provided with a conductive contact 62, 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 first end cover 221 is in a state of electrical connection between the second detection member 52 and the main control board 40 in the static state and the rotating state.

[0129] In the present embodiment, on the one hand, a conductive slide in the form of a ring can be arranged on the side of the motor module facing the torque detection module, and on the other hand, a conductive contact can be 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 slide and always abuts against the conductive slide; then, the conductive slide 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 is always electrically connected to the main control board, or in other words, the angle detection unit is always electrically connected to the main control board, thereby avoiding the problem of cable entanglement of conventional wiring.

[0130] Regarding the motor module 10, in one possible implementation, the motor module 10 at least includes a driving module, and the driving module includes a motor base 12 and a driving motor 11 mounted 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 sealed shell 70 carrying the torque detection module 20, and the motor shaft 111 of the driving motor 11 is protrudingly arranged relative to the end face of the motor base 12; at the other end along 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 fixedly installing the main control board 40.

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

[0132] Wherein, it can be understood that at this time, the conductive slide on the side of the motor base 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 installed with the motor shaft 111, and the other end of the reduction module is fixedly installed with the first rotating member 21, so that the first rotating member 21 is in transmission connection with the motor shaft 111.​

[0134] That is, in the embodiment, the motor module can further include a speed reduction module, the speed reduction module is fixedly installed with the motor shaft and the first rotating part of the torque detection module, so that the speed reduction module can reduce the rotation speed of the motor shaft output and then transmit the rotation to the first rotating part, so it can be understood that the torque of the motor shaft output can be improved by reducing the rotation speed.

[0135] In a specific embodiment, the speed reduction module includes a first-stage speed reduction assembly 14 and a second-stage speed reduction assembly 15 arranged in sequence from the direction in which the motor shaft 111 points to the first rotating part 21.

[0136] The first-stage speed 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 with the motor shaft 111, and the first planetary gear 143 is provided with a first support 144 on the side away from the driving module; the second-stage speed 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 with the first support 144, and the second planetary gear 153 is provided with a second support 154 on the side facing the first rotating part 21, the second support 154 is used for fixedly installing with the first rotating part 21; so that the motor shaft 111 is drivingly connected with the first rotating part 21 through the first-stage speed reduction assembly 14 and the second-stage speed reduction assembly 15 in sequence.

[0137] The embodiment gives a possible structure of arranging two-stage speed reduction assemblies between the motor shaft and the first rotating part; specifically, the motor shaft drives the first rotating part to rotate through the first-stage speed reduction assembly and the second-stage speed reduction assembly in sequence; wherein the first-stage speed reduction assembly and the second-stage speed reduction assembly are both, for example, planetary speed reduction assemblies.

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

[0139] Wherein, it can be understood that, referring to Figure 2 and Figure 12When the motor module includes a speed reduction module, the conductive slide mentioned above can be arranged on the side of the second base of the speed reduction module facing the first rotating member (as shown in FIG. 32); when the motor module does not include a speed reduction module, the conductive slide mentioned above can be arranged directly on the side of the motor base facing the first rotating member. Figure 12

[0140] Regarding the bit module 30, in one possible implementation, the bit module 30 includes a rotating guide rail base 32 extending along the first direction X, a first end of the rotating guide rail base 32 is configured to be fixedly installed with the second rotating member 22, and a second end of the rotating guide rail base 32 is configured to install the bit 31, so that the bit 31 rotates coaxially with the second rotating member 22. The rotating guide rail base 32 is provided with a hollow slide 321 penetrating through both ends thereof, and the bit module 30 further includes a sliding block 33 and a second spring 34 arranged in the hollow slide 321. The second spring 34 is arranged at both ends thereof along the first direction X to abut against the sliding block 33 and the second rotating member 22, respectively. The sliding block 33 is configured to be fixedly installed with the bit 31, so that the bit 31 is elastically installed in the rotating guide rail base 32 along the first direction X.

[0141] In this embodiment, the bit module includes a rotating guide rail base extending along the first direction, a first end of the rotating guide rail base is fixedly installed with the second rotating member mentioned above, for example, the first end is fixedly installed with the second end cover of the second rotating member facing the bit module. Then, a second end of the rotating guide rail base is configured to install the bit, so that the bit rotates coaxially with the second rotating member.

[0142] Specifically, the rotating guide rail base of this embodiment is provided with a hollow slide penetrating through both ends thereof. Then, a sliding block and a second spring are sequentially installed in the hollow slide. The second spring is arranged at both ends thereof to abut against the sliding block and the second rotating member, respectively. An end of the sliding block opposite to the second spring is fixedly installed with the bit, for example, a strong magnetic ring 331 is fixed on the sliding block, and the strong magnetic ring uses magnetic force to adsorb the bit in the hexagonal groove of the sliding block.

[0143] It can be understood that in this way, the bit is elastically installed in the rotating guide rail base along the first direction, so that when the threaded locking executor tightens or disassembles the fastener, the bit can be ensured to always abut against the fastener through the elastic action of the second spring. Or, when the fastener moves along the first direction, for example, moves up and down (at this time, the first direction is, for example, the vertical direction) due to tightening or disassembly, the bit module can make the bit move up and down along the first direction together with the fastener through the elastic action of the second spring, while the threaded locking executor as a whole can remain stationary.

[0144] In one possible implementation, the main control board 40 is fixedly installed on the motor base end cover 13 of the motor module 10. The main control board 40 is installed in a sealed manner by the sealing end cover 80, and the sealing end cover 80 is provided with a data communication interface 41 electrically connected with the main control board 40.​

[0145] In the embodiment, the main control board is fixedly installed at the end cover of the motor base of the motor module, and then the main control board is closed by a sealing end cover. A data communication interface can be arranged on the sealing end cover and electrically connected with the main control board. Thus, the threaded locking actuator can be electrically connected with external equipment through the data communication interface.

[0146] In a possible implementation, the first detection member 51 comprises a magnetic ring, and the second detection member 52 comprises 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 by using the magnetic principle.

[0147] The above describes the basic principles of the application in combination with specific embodiments. However, it should be pointed out that the advantages, advantages, effects and the like mentioned in the application are only examples and are not limiting, and these advantages, advantages, effects and the like cannot be considered as the must-haves of each embodiment of the application. In addition, the above specific details are only for the purpose of example and for the purpose of understanding, and are not limiting, and the above details do not limit the application to the must-use specific details.

[0148] The block diagrams of the devices, apparatuses, equipment, systems involved in the application are only illustrative examples and are not intended to require or imply that the connection, arrangement, configuration must be as shown in the block diagram. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, mean "include but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0149] It should also be noted that in the devices, equipment and methods of the application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombination should be considered as equivalent solutions of the application.

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

[0151] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the forms disclosed herein. Although the example aspects and embodiments have been discussed with reference to particular aspects and embodiments, persons of ordinary skill in the art will appreciate that other variations, modifications, changes, additions, and subcombinations can be made to the described embodiments.

Claims

1. A threaded locking actuator, comprising: The threaded locking executor comprises: a motor module comprising a motor shaft extending along a first direction; a torque detection module comprising a first rotating member and a second rotating member coaxially arranged perpendicular to the first direction, the first rotating member being in transmission connection with the motor shaft, the second rotating member comprising at least a rotating ring, the rotating ring being located on the radial outside of the first rotating member relative to the first direction, and the radial inner periphery of the rotating ring and the radial outer periphery of the first rotating member being elastically connected by an elastic body relative to the first direction, so that the motor shaft drives the second rotating member to rotate coaxially through the first rotating member; a batch head module arranged on the side of the torque detection module away from the motor module, the batch head module comprising a batch head extending along the first direction, the batch head being configured to rotate coaxially with the second rotating member; a main control board in electrical connection with the motor module; wherein the first rotating member is fixedly installed with a first detection member rotating therewith, the second rotating member is fixedly installed with a second detection member rotating therewith, the first detection member and the second detection member constitute an angle detection unit, and the angle detection unit is in electrical connection with the main control board; and under the drive of the motor shaft, the angle detection unit is used to detect the deflection angle of the deflection between the first rotating member and the second rotating member when they are in a static state, so that the main control board drives the motor shaft to keep the deflection angle at a predetermined angle; wherein the radial outer periphery of the first rotating member is provided with a plurality of transmission teeth extending radially outward from the radial outer periphery of the first rotating member; and the radial inner periphery of the rotating ring is provided with a plurality of zero position teeth extending radially inward from the radial inner periphery of the rotating ring; wherein the transmission teeth and the zero position teeth are configured as: when the first rotating member reversely rotates under the drive of the motor shaft due to the dismounting work of the threaded locking executor on the fastener, the transmission teeth abut against the zero position teeth along the circumferential direction of the rotating shaft of the first rotating member, so that the first rotating member drives the second rotating member to rotate.

2. The threaded locking actuator of claim 1, wherein, the radial inner periphery of the rotating ring is provided with a plurality of limiting teeth extending radially inward from the radial inner periphery of the rotating ring; wherein the transmission teeth and the limiting teeth are configured as: when the first rotating member positively rotates under the drive of the motor shaft due to the mounting work of the threaded locking executor on the fastener, the transmission teeth abut against the limiting teeth along the circumferential direction of the rotating shaft, so as to prevent the elastic body from deforming too much.

3. The threaded locking actuator of claim 2, wherein, along the circumferential extension direction of the radial inner periphery of the rotating ring, the zero position teeth and the limiting teeth form a limiting groove therebetween, and the transmission teeth extend radially outward into the limiting groove; wherein when the first rotating member is static without being driven by the motor shaft, the elastic body is in a stretched state to abut the transmission teeth against the zero position teeth on one side of the limiting groove.

4. The threaded locking actuator of claim 3, wherein, the same number of elastic bodies, transmission teeth, zero position teeth and limiting teeth are arranged between the first rotating member and the rotating ring; The elastic body comprises four first springs arranged in groups, and the radial outer periphery of the first rotating member and the radial inner periphery of the rotating ring are respectively provided with a pull ring for detachable installation of the first spring.

5. The threaded locking actuator of claim 1, wherein, 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 separately arranged on both sides of the rotating ring in the axial direction, and the first end cover and the second end cover are 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 first direction, one end of the first rotating member is provided with a adapter boss, the adapter boss and the first end cover are connected through a bearing, and the adapter boss is used for transmission connection with the motor shaft. The second end cover is used for fixed installation with the batch head module, so that the batch head follows the coaxial rotation of the second rotating member.

6. The threaded locking actuator of claim 5, wherein, The first detection member is fixedly installed on one side of the first rotating member facing the first end cover, and the first detection member extends in an arc shape around the rotating shaft of the first rotating member. The second detection member is fixedly installed on the first end cover. And when the first rotating member and the second rotating member are in static and rotating state, along the first direction, the projection of the second detection member is located within the arc range of the first detection member.

7. The threaded locking actuator of claim 6, wherein, The motor module is provided with a conductive slide on the side facing the torque detection module, the conductive slide is in the form of a ring around the rotating shaft of the first rotating member, and the conductive slide is electrically connected with the main control board. The surface of the first end cover facing the motor module is provided with a conductive contact, and the conductive contact is electrically connected with the second detection member. Wherein, the conductive contact and the conductive slide are in contact, so that the second detection member and the main control board maintain electrical connection state in static and rotating state of the first end cover.

8. The threaded locking actuator of claim 1, wherein, The motor module at least includes a driving module, and the driving module includes a motor seat and a driving motor installed on the motor seat. Wherein, along the first direction, one end of the motor seat is used for fixed installation with the sealed shell bearing the torque detection module, and the motor shaft of the driving motor is protruding relative to the end surface of the motor seat; Along the first direction, the other end of the motor seat is closed through a motor seat end cover; And the motor seat end cover is used for fixed installation of the main control board.

9. The threaded locking actuator of claim 8, wherein, The motor module further comprises a reduction module; wherein, along the first direction, one end of the reduction module is fixedly installed with the motor shaft, and the other end of the reduction module is fixedly installed with the first rotating member, so that the first rotating member is in transmission connection with the motor shaft.

10. The threaded locking actuator of claim 9, wherein, The reduction module comprises a first reduction assembly and a second reduction assembly arranged in sequence in the direction from the motor shaft to the first rotating member; Wherein, the first reduction assembly comprises a first base, a first sun gear and a first planetary gear installed on the first base, the first sun gear is fixedly installed with the motor shaft, and the first planetary gear is provided with a first support on the side away from the driving module; 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 with the first support, the second planetary gear is provided with a second support towards a side of the first rotating member, and the second support is used for fixedly mounting with the first rotating member; So that the motor shaft is sequentially transmissionally connected with the first rotating member through the primary reduction assembly and the secondary reduction assembly.

11. The threaded locking actuator of claim 1, wherein, The batch head module comprises a rotating guide rail base extending along the first direction, a first end of the rotating guide rail base is used for fixedly mounting with the second rotating member, and a second end of the rotating guide rail base is used for mounting the batch head, so that the batch head coaxially rotates with the second rotating member; Wherein, the rotating guide rail base is provided with a hollow slide way penetrating through both ends thereof, the batch head module further comprises a sliding block provided in the hollow slide way and a second spring, two ends of the second spring along the first direction respectively abut against the sliding block and the second rotating member, the sliding block is used for fixedly mounting with the batch head, so that the batch head is elastically telescoped along the first direction and mounted on the rotating guide rail base.

12. The threaded locking actuator of claim 1, wherein, The main control board is fixedly mounted on a motor base end cover of the motor module; Wherein, the main control board is closed mounted by a sealing end cover, the sealing end cover is provided with a data communication interface, and the data communication interface is electrically connected with the main control board.

13. The threaded locking actuator of claim 1, wherein, The first detection member comprises a detection magnetic ring, and the second detection member comprises a magnetic sensitive angle sensor.

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