Series connection rod centering regulation and control method based on calibration graphite boat

Abstract

The invention relates to the technical field of graphite boats, and particularly provides a series connection rod centering regulation and control method based on calibration of a graphite boat, and the method comprises the steps: detecting the position information of the tail end of a series connection rod of the graphite boat through a first centering detection mechanism; the control module receives the position information and judges whether deviation exists between the position information and preset position information or not; when a deviation exists between the position information and the preset position information and a deviation value is within a first preset deviation range, driving the movable ends of the linear driving module and the pushing module to move towards a direction close to the graphite boat by a first correction displacement and a second reference displacement, a push rod of the push module is propped against the tail end of the series connection rod of the graphite boat; and a nut sleeve of the torque output mechanism is sleeved with a nut at one end of the series connection rod.

Description

Technical Field

[0001] This application relates to the technical field of graphite boats, and in particular to a method for centering and regulating a series rod of a calibrated graphite boat. Background Art

[0002] A graphite boat is a carrier for carrying photovoltaic cells. It is formed by connecting several graphite boat plates in series through a series rod, and nuts are sleeved at both ends of the series rod to achieve fastening. When the graphite boat is in use, it needs to operate in various environments. The internal stresses generated by different graphite boat plates are different, and the internal stresses will cause different degrees of deformation of the graphite boat plates. Therefore, a boat calibrator is required to calibrate the graphite boat after it has been used for a period of time.

[0003] The boat calibrator is equipped with a nut tightening and loosening device for adjusting the tightness of the nuts at both ends of the graphite boat series rod to facilitate subsequent calibration of the graphite boat, such as calibrating the distance between the boat blades and the perpendicularity of the boat blades of the graphite boat.

[0004] During the process of tightening and loosening the nuts by the nut tightening and loosening device, if the series rod does not maintain a centered position, it may cause the length of the series rod extending out of the graphite boat to be abnormal, such as too long or too short, which will in turn affect the tightening effect of the nuts. When the series rod extends too long, the nut may be over-tightened due to uneven force, increasing the risk of thread damage or component deformation; while when it extends too short, the tightening may not be in place due to insufficient effective contact with the nut, affecting the stability and tightness of the connection. Summary of the Invention

[0005] In view of the above problems, this application provides a method for centering and regulating a series rod of a calibrated graphite boat. By detecting whether the series rod is centered and adjusting the displacement of the linear drive module and / or the pushing module when the series rod is not centered, the series rod is centered, and the efficiency of nut tightening and loosening is improved.

[0006] To achieve the objectives of this application, the following technical solutions are provided in this application:

[0007] In a first aspect, this application provides a method for centering and regulating a series rod of a calibrated graphite boat, the method including:

[0008] Detecting the position information of the end of the graphite boat series rod through a first centering detection mechanism;

[0009] The control module receives the position information and determines whether there is a deviation between the position information and the preset position information;

[0010] When there is a deviation between the position information and the preset position information and the deviation value is within the first preset deviation range, drive the movable ends of the linear drive module and the pushing module to move a first correction displacement and a second reference displacement respectively in the direction close to the graphite boat, so that the series rod is centered, the push rod of the pushing module abuts against the end of the graphite boat series rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series rod;

[0011] Wherein, the series rod being centered means that the perpendicular distances from the two ends of the graphite boat series rod to the corresponding side of the graphite boat are within a preset range; the preset position information refers to the position information of the end of the series rod when the series rod is centered; the first reference displacement is determined according to the distance between the end of the series rod and the socket end when the series rod is centered and the linear drive module is in the initial state; the first correction displacement is the sum of the first reference displacement and the deviation value; the second reference displacement is determined according to the distance between the end of the push rod close to the pushing module and the pushing module and the distance between the end of the push rod close to the graphite boat and the end of the series rod when the pushing module is in the initial state.

[0012] In a possible implementation manner, the method further includes:

[0013] When there is a deviation between the position information and the preset position information and the deviation value is within the second preset deviation range, drive the movable ends of the linear drive module and the pushing module to move a first reference displacement and a second correction displacement respectively in the direction close to the graphite boat;

[0014] Wherein, the second correction displacement is the sum of the second reference displacement and the deviation value, and the minimum value of the first preset deviation range is greater than the maximum value of the second preset deviation range.

[0015] In a possible implementation manner, the method further includes:

[0016] When there is a deviation between the position information and the preset position information and the deviation value is within the third preset deviation range, drive the movable ends of the linear drive module and the pushing module to move a first reference displacement and a second reference displacement respectively in the direction close to the graphite boat, so that the series rod is centered, the push rod of the pushing module abuts against the end of the graphite boat series rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series rod, wherein the minimum value of the second preset deviation range is greater than the maximum value of the third preset deviation range.

[0017] In a second aspect, the present application provides a method for regulating and controlling the centering of a series rod of a calibrated graphite boat, and the method includes:

[0018] Detect the position information of the end of the graphite boat series rod through a first centering detection mechanism;

[0019] The control module receives the position information and determines whether there is a deviation between the position information and the preset position information;

[0020] When there is a deviation between the position information and the preset position information and the deviation value is within a second preset deviation range, the active ends of the linear drive module and the pushing module are respectively driven to move a first reference displacement and a second correction displacement in a direction close to the graphite boat, so that the series rod is centered, the push rod of the pushing module abuts against the end of the graphite boat series rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series rod;

[0021] Wherein, the series rod being centered means that the perpendicular distances from the two ends of the graphite boat series rod to the corresponding side of the graphite boat are within a preset range; the preset position information refers to the position information of the end of the series rod when the series rod is centered; the first reference displacement is determined according to the distance between the end of the series rod and the socket end when the series rod is centered and the linear drive module is in an initial state; the second reference displacement is determined according to the distance between the end of the push rod close to the pushing module and the pushing module and the distance between the end of the push rod close to the graphite boat and the end of the series rod when the pushing module is in an initial state, and the second correction displacement is the sum of the second reference displacement and the deviation value.

[0022] In a possible implementation manner, the method further includes:

[0023] When there is a deviation between the position information and the preset position information and the deviation value is within a third preset deviation range, the active ends of the linear drive module and the pushing module are respectively driven to move a first reference displacement and a second reference displacement in a direction close to the graphite boat, so that the series rod is centered, the push rod of the pushing module abuts against the end of the graphite boat series rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series rod; wherein, the minimum value of the second preset deviation range is greater than the maximum value of the third preset deviation range.

[0024] In a third aspect, the present application provides a method for regulating the centering of a series rod based on calibrating a graphite boat, and the method includes:

[0025] Detecting the position information of the end of the graphite boat series rod through a first centering detection mechanism;

[0026] The control module receives the position information and determines whether there is a deviation between the position information and the preset position information;

[0027] When there is a deviation between the position information and the preset position information and the deviation value is within the third preset deviation range, drive the movable ends of the linear drive module and the pushing module to move the first reference displacement and the second reference displacement respectively in the direction close to the graphite boat, so that the series rod is centered, the push rod of the pushing module abuts against the end of the graphite boat series rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series rod;

[0028] Among them, the series rod being centered means that the vertical distances from the two ends of the graphite boat series rod to the corresponding side of the graphite boat are within a preset range; the preset position information refers to the position information of the end of the series rod when the series rod is centered; the first reference displacement is determined according to the distance between the end of the series rod and the socket end when the series rod is centered and the linear drive module is in the initial state; the second reference displacement is determined according to the distance between the end of the push rod close to the pushing module and the pushing module and the distance between the end of the push rod close to the graphite boat and the end of the series rod when the pushing module is in the initial state.

[0029] In a possible implementation manner, after the series rod is centered, the push rod of the pushing module abuts against the end of the graphite boat series rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series rod, the method further includes;

[0030] The control module drives the rotation drive mechanism of the torque output mechanism to rotate, so as to drive the nut sleeve to rotate the nut at one end of the series rod.

[0031] The series rod centering control method based on graphite boat calibration in this application can detect the position state of the series rod in real time and perform displacement compensation according to the detection result. Specifically: when it is detected that the series rod is offset, the compensation mechanism is automatically selected according to the magnitude of the offset - for a large offset exceeding the threshold (i.e., the deviation exceeds the third preset deviation range and is within the first preset deviation range), the linear drive module with a larger stroke range superimposes a compensation displacement on the basis of the reference displacement; for a small offset exceeding the threshold (i.e., the deviation value exceeds the third preset deviation range and is within the second preset deviation range), the more precise pushing module performs fine-tuning compensation. When the series rod is in the centered state, the linear drive module and the pushing module synchronously execute the preset reference displacement (i.e., the deviation value is within the third preset deviation range). This hierarchical control strategy reasonably distributes the compensation tasks of the two modules, not only ensuring the fast response ability to large offsets but also achieving high-precision correction of small deviations, thus significantly improving the comprehensive performance of centering control. Description of the Drawings

[0032] The drawings are used to provide a further understanding of the present application, and constitute a part of the specification. They are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation to the present application;

[0033] Figure 1 Schematic structural diagram of the tension nut device provided by the embodiment of the present application;

[0034] Figure 2 is Figure 1 left view of;

[0035] Figure 3 is Figure 1 enlarged schematic view of area A in;

[0036] Figure 4 Schematic structural diagram of the nut sleeve provided by the embodiment of the present application;

[0037] Figure 5 Flowchart of the series rod centering control method based on a calibrated graphite boat provided by the embodiment of the present application;

[0038] Figure 6 Flowchart of another series rod centering control method based on a calibrated graphite boat provided by the embodiment of the present application;

[0039] Figure 7 Flowchart of another series rod centering control method based on a calibrated graphite boat provided by the embodiment of the present application;

[0040] Illustration: 1. Support plate; 2. Linear drive module; 3. Torque output mechanism; 31. Rotation drive assembly; 311. Rotation motor; 312. Guide sleeve; 313. Guide shaft; 32. Nut sleeve; 321. Sleeve; 322. Inner socket end; 3221. First clamping layer; 3222. Second clamping layer; 323. Outer socket end; 3231. Third clamping layer; 3232. Fourth clamping layer; 33. Outer shell; 4. Thrust mechanism; 41. Pushing module; 42. Push rod; 5. First centering detection mechanism; 6. Return detection mechanism; 61. Transmissive end; 62. Receiving end; 7. Second centering detection mechanism; 71. Sensor; 72. Trigger part. Detailed implementation manners

[0041] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without making creative efforts based on the embodiments in the present application belong to the scope of protection of the present application.

[0042] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the present application.

[0043] The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features; in the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0044] Figure 1 Schematic diagram of the mechanism of the loose and tight nut device provided by the embodiment of the present application; Figure 2 is Figure 1 left view of; Figure 3 is Figure 1 enlarged schematic diagram of area A in; Figure 4 Schematic diagram of the structure of the nut sleeve provided by the embodiment of the present application; Figure 5 Flowchart of the series rod centering control method based on a calibrated graphite boat provided by the embodiment of the present application; Figure 6 Flowchart of another series rod centering control method based on a calibrated graphite boat provided by the embodiment of the present application; Figure 7 Flowchart of another series rod centering control method based on a calibrated graphite boat provided by the embodiment of the present application. The technical solutions of the present application will be described below in conjunction with Figures 1 to 7 and the following embodiments.

[0045] As Figures 1 - 4 shown, the embodiment of the present application provides a loose and tight nut device, including: a support plate 1, a linear drive module 2, a torque output mechanism 3, and a pushing mechanism 4.

[0046] The support plate 1 is connected to the linear drive module 2, and the linear drive module 2 is movably connected to the torque output mechanism 3. Specifically, the side of the support plate 1 is fixedly connected to the linear drive module 2, and the movable end of the linear drive module 2 is connected to the rotation drive assembly 31 of the torque output mechanism 3.

[0047] The torque output mechanism 3 includes a rotary drive assembly 31 and a nut sleeve 32. The rotary drive assembly 31 is in transmission connection with the nut sleeve 32. The rotary drive assembly 31 is used to drive the nut sleeve 32 to rotate, and the socket end of the nut sleeve 32 is used to socket the nut at one end of the series rod.

[0048] The pushing mechanism 4 includes a pushing module 41 and a push rod 42. The nut sleeve 32, the drive rotary assembly and the pushing module 41 are coaxially arranged. A coaxial channel is provided inside the nut sleeve 32 and the rotary drive assembly 31. The push rod 42 is movably sleeved in the channel. The first end of the push rod 42 is connected to the pushing module 41, and the second end of the push rod 42 is used to abut against the end of the series rod.

[0049] Among them, the linear drive module 2 is exemplified by one of a linear motor, an electric push rod, an electric cylinder, and a combination of a lead screw and a rotary motor. The pushing module 41 is exemplified by one of a cylinder and a combination of a lead screw and a rotary motor. At the same time, a preset distance can be provided between the pushing module 41 and the push rod 42 and they are coaxially arranged. The movable end of the pushing module 41 is movably connected to the first end of the push rod 42. Alternatively, no interval is provided between the pushing module 41 and the push rod 42 and they are coaxially arranged, and the movable end of the pushing module 41 is fixedly connected to the push rod 42.

[0050] The tightening and loosening operation of the fastening nuts at both ends of the series rod by the tightening and loosening nut device provided in this embodiment is realized as follows: the movable end of the pushing module 41 extends out and is connected to the first end of the push rod 42. The linear drive module 2 drives the torque output mechanism 3 and the pushing mechanism 4 to move in the direction close to the graphite boat until the pushing module 41 drives the second end of the push rod 42 to abut against the end of the series rod and the linear drive module 2 drives the nut sleeve 32 to socket the nut at one end of the series rod. Then, the rotary drive assembly 31 rotates to drive the nut sleeve 32 to rotate the nut at one end of the series rod. Among them, by abutting against the end of the series rod through the pushing mechanism 4, axial positioning of the series rod can be performed, and further, synchronous rotation of the series rod can be effectively inhibited when the nut is rotated, effectively improving the efficiency of nut tightening and loosening.

[0051] In some embodiments, the rotary drive assembly 31 includes a rotary motor 311, a driving wheel, a driven wheel, a belt, a guide sleeve 312 and a guide shaft 313. Specifically:

[0052] The output end of the rotary motor 311 is rotatably connected to the driving wheel. The driving wheel is in belt transmission connection with the driven wheel. Specifically, the inner wall of the driven wheel sleeves the first end of the guide sleeve 312. The second end of the guide sleeve 312, specifically the inner wall of the second end of the guide sleeve 312, sleeves the first end of the guide shaft 313. The second end of the guide shaft 313 sleeves the nut sleeve 32. A coaxial channel is provided inside the guide sleeve 312, the guide shaft 313 and the nut sleeve 32. The push rod 42 is movably sleeved in the channel.

[0053] Among them, the rotation drive assembly 31 further includes a housing 33. A cavity is provided inside the housing 33, and a rotation motor 311, a driving wheel, a driven wheel and a belt are arranged inside the cavity. Two opposite side surfaces of the housing 33 are provided with two opposite through holes. The two through holes coincide with the central axis of the driven wheel, and bearings are assembled in both through holes. The second end of the push rod 42 sequentially passes through the bearing in one of the through holes on the housing 33, the channel of the driven wheel, the channel of the guide sleeve 312, the channel of the guide shaft 313 and the channel of the nut sleeve 32. The bearing in the other through hole on the housing 33 is sleeved on the guide sleeve 312. Moreover, the upper bottom surface of the housing 33 is connected to the movable end of the linear drive module 2.

[0054] It should be noted that the rotation drive assembly 31 drives the nut sleeve 32 to rotate in the following way: the rotation motor 311 drives the driving wheel to rotate, and under the transmission of the belt, the driven wheel rotates, synchronously driving the guide sleeve 312 and the guide shaft 313 connected to the driven wheel to rotate, and further synchronously driving the nut sleeve 32 connected to the guide shaft 313 to rotate. However, the push rod 42 sleeved in the channel does not rotate along with it. The push rod 42 only moves linearly in the direction close to or away from the graphite boat under the push of the push module 41 or the push of the series rod.

[0055] On the basis of the above embodiments, a boat aligner is further provided. The boat aligner includes a loose-tight nut device and a three-axis linear motion mechanism; the three-axis linear motion mechanisms are arranged opposite to and at intervals; the three-axis linear motion mechanism is connected to the loose-tight nut device and is used to drive the loose-tight nut device to move in the XYZ three-axis directions; the loose-tight nut device is used to adjust the tightness of the nuts at both ends of the series rod.

[0056] The loose-tight nut device provided in this embodiment realizes the efficient tightness operation of the series rod nut through the coordinated cooperation of the top-push mechanism 4 and the torque output mechanism 3. Specifically, through the connection between the movable end of the push module 41 and the first end of the push rod 42, and in cooperation with the synchronous movement of the torque output mechanism 3 and the top-push mechanism 4 driven by the linear drive module 2, when the second end of the push rod 42 accurately abuts against the end of the series rod, the nut sleeve 32 accurately sleeves the nut at the end of the series rod, achieving a moment balance between the axial positioning of the top-push mechanism 4 on the end of the series rod and the rotation action of the nut sleeve 32, effectively suppressing the problem of the follow-up rotation of the series rod when tightening and loosening the nut. This dual action mechanism improves the nut tightening and loosening efficiency and avoids the thread damage of the series rod or the nut caused by the rotation of the series rod.

[0057] In some embodiments, in order to match nuts of different diameter specifications, a loose and tight nut device is also provided. Based on the features described in the above embodiments, the nut sleeve 32 of this loose and tight nut device is set as a synchronously variable-diameter sleeve with an opposing clamping layer. The synchronously variable-diameter sleeve with an opposing clamping layer includes an inner sleeve end movably connected to a rotary drive assembly and an outer sleeve end movably sleeved on the inner sleeve end, so that the inner wall of the inner sleeve end is adapted to sleeve the outer wall of a type of nut, the outer wall of the outer sleeve end is adapted to sleeve the inner wall of another type of nut, and the inner wall of the outer sleeve end is adapted to sleeve the outer wall of yet another type of nut.

[0058] Specifically, as Figure 4 shown, the synchronously variable-diameter sleeve with an opposing clamping layer includes a sleeve 321, an inner sleeve end 322, an outer sleeve end 323, and a first spring. One end of the sleeve 321 away from the rotary drive assembly 31 is axially connected with the outer sleeve end 323 along the axis of the sleeve 321 and movably connected with the inner sleeve end 322. The outer sleeve end 323 is coaxially sleeved inside the inner sleeve end 322. One end of the inner sleeve end 322 close to the sleeve 321 is connected with a first spring, and the other end of the first spring is connected with the inner wall of the sleeve 321.

[0059] Among them, the second end of the push rod 42 of the pushing mechanism 4 sequentially passes through and is slidably connected with the rotary drive assembly 31, the first spring, the sleeve 321, and the inner sleeve end 322 coaxially.

[0060] The synchronously variable-diameter sleeve with an opposing clamping layer in this embodiment can be applicable to nuts of multiple specifications. Specifically: the outer wall of the outer sleeve end 323 is sleeved on the inner wall of the first type of specification nut and can tighten and loosen it; the inner wall of the inner sleeve end 322 is sleeved on the outer wall of the second type of specification nut and can tighten and loosen it; the inner wall of the outer sleeve end 323 is sleeved on the outer wall of the third type of specification nut and can tighten and loosen it, wherein the outer diameter of the third type of specification nut is smaller than the inner diameter of the outer sleeve end and larger than the inner diameter of the inner sleeve end.

[0061] It should be noted that the inner wall of the outer sleeve end 323 is sleeved on the outer wall of the third type of specification nut in the following way: the end face of the inner sleeve end 322 is subjected to the pressure from the third type of specification nut towards the sleeve 321, and the first spring contracts to drive the inner sleeve end 322 to move towards the direction close to the sleeve 321 until the inner wall of the outer sleeve end 323 is sleeved on the outer wall of the third type of specification nut.

[0062] Moreover, in this embodiment, a groove penetrating the channel thereof is also opened at one end of the sleeve 321. One end of the inner sleeve end 322 connected to the sleeve 321 matches the size of the groove and is nested in the groove. In this way, it not only allows the inner sleeve end 322 to move axially along the groove when being pressed, but also can prevent the circumferential deflection of the inner sleeve end 322 through the cooperation between the inner sleeve end 322 and the groove, so as to realize torque transmission.

[0063] In some embodiments, as Figure 4As shown, the inner socket end 322 includes a base, and a first clamping layer 3221 and a second clamping layer 3222 that extend axially along the base. The base is nested in a groove at one end of the sleeve 321. The outer socket end 323 includes a third clamping layer 3231 and a fourth clamping layer 3232 that extend axially along the sleeve 321. The first clamping plane and the third clamping layer 3231 form a first stacked mating surface in the radial direction of the sleeve 321, and the second clamping layer 3222 and the fourth clamping layer form a second stacked mating surface in the radial direction of the sleeve 321. The two sets of stacked mating surfaces are symmetrically distributed along the axis of the sleeve 321. The base can be connected to one end of the first spring.

[0064] It should be noted that the outer walls of the opposite third clamping layer 3231 and fourth clamping layer 3232 are sleeved with the inner walls of the first type of standard nuts and can be tightened and loosened. The outer walls of the second type of standard nuts are sleeved with the clamping space formed by the opposite first clamping layer 3221 and second clamping layer 3222 and can be tightened and loosened. The outer walls of the third type of standard nuts are sleeved with the clamping space formed by the opposite third clamping layer 3231 and fourth clamping layer 3232 and can be tightened and loosened. The first clamping layer 3221 and the second clamping layer 3222 are of planar structure. The inner side surfaces of the third clamping layer 3231 and the fourth clamping layer 3232 close to the inner socket end 322 are planes with the same dimensions as those of the first clamping layer 3221 and the second clamping layer 3222. The outer side surfaces of the third clamping layer 3231 and the fourth clamping layer are curved surfaces with arcs, and the curved surfaces can match the inner walls of the first type of standard nuts.

[0065] In some embodiments, a nut tightening and loosening device is further provided. The torque output mechanism 3 of the nut tightening and loosening device further includes a second spring. The two ends of the second spring are respectively connected to the rotary drive assembly 31 and one end of the nut sleeve 32 facing away from the socket end. The second end of the push rod 42 sequentially passes through and is slidably connected to the rotary drive assembly 31, the second spring, and the nut sleeve 32. Exemplarily, one end of the nut sleeve 32 is connected to one end of the second spring, and the other end of the second spring is sleeved in the guide shaft 313, which can reduce the stress when the nut sleeve 32 rotates the nut and avoid damage to the nut surface.

[0066] In some embodiments, a nut tightening and loosening device is further provided. The nut tightening and loosening device further includes a second spring, a piezoelectric module, and a control module; a piezoelectric module is connected to one end of the second spring close to the rotary drive assembly 31.

[0067] The piezoelectric module is exemplified as a piezoelectric ceramic drive module, which is a device commonly used to control and regulate micro-mechanical movements. Its function is to cause the piezoelectric ceramic material to deform through the change of the electric field, thereby generating mechanical displacement. In practical applications, piezoelectric ceramics are usually designed in a form similar to a thin sheet. By applying a voltage, the thin sheet is bent or stretched, and then the load connected to it is pushed to complete the movement.

[0068] It should be noted that a control module is also provided in this embodiment. The control module releases corresponding current stimulation to the piezoelectric module according to the depth data of the nut, causing the piezoelectric module to deform. This deformation can cause the second spring to deform, that is, adjust the pre-tightening force of the second spring, so that the torque output mechanism 3 can adapt to nuts with different depths.

[0069] At the same time, in order to obtain the depth information of the nut in real time, a first centering detection mechanism 5 communicatively connected to the control module is also provided in this embodiment. The first centering detection mechanism 5 is used to detect the depth of the nut when aligning with the nut and feed back the depth information to the control module. The first centering detection mechanism 5 can be installed on the side of the support plate 1 opposite to the linear drive module 2 or on two opposite side surfaces or the front end surface of the support plate 1, or installed on other suitable movable supports, as long as it can ensure that the detection light of the first centering detection mechanism 5 is not blocked and can effectively capture the nut area of the graphite boat.

[0070] Exemplarily, the first centering detection mechanism 5 includes a laser rangefinder. Before collecting the position information of the end of the series rod or the depth of the nut, the detection light of the first centering detection mechanism 5 needs to be opposite to the series rod and the nut and coincide with the axis of the series rod.

[0071] On the basis of the above embodiments, a boat aligning machine is further provided. The boat aligning machine includes a nut tightening and loosening device and a three-axis linear motion mechanism; the three-axis linear motion mechanisms are arranged opposite to each other and at intervals; the three-axis linear motion mechanism is connected to the nut tightening and loosening device and is used to drive the nut tightening and loosening device to move in the XYZ three-axis directions; the nut tightening and loosening device is used to adjust the tightness of the nuts at both ends of the series rod and can also handle nuts of different diameter specifications and different depth specifications.

[0072] The nut tightening and loosening device described in this embodiment can fix the series rod and rotate the nut at the same time. At the same time, through the coaxial clamping layer and synchronous diameter-changing sleeve structure, combined with the built-in second spring-piezoelectric module, it realizes the rapid adaptation and reliable clamping of nuts with different diameters and depths. The inner socket end 322 of the nut tightening and loosening device is elastically sleeved through the first spring, and the outer socket end 323 nests the inner socket end 322 to form a composite structure, which can automatically switch the socket mode according to the inner diameter or outer diameter size of the nut; at the same time, an intelligent adjustment system integrating the second spring-piezoelectric module is integrated, and the pre-tightening force of the second spring is adjusted in advance to accurately match nuts with different depths. This dual adaptive mechanism enables the nut tightening and loosening device to be compatible with nuts in a wide range of diameters and depths, effectively avoiding damage to the nut surface while ensuring a stable clamping force. Moreover, the overall structure maintains compactness while meeting multi-functional requirements, and is suitable for nut assembly operations on automated production lines and nut tightening and loosening operations based on graphite boat calibration.

[0073] In actual graphite boat calibration operations, if the series rod does not maintain a centered position, it may cause the length of its protrusion from the graphite boat to be abnormal, such as too long or too short, which in turn affects the tightening effect of the nut. When the series rod protrudes too long, the nut may be over-tightened due to uneven stress, increasing the risk of thread damage or component deformation; while if it protrudes too short, the tightening may not be in place due to insufficient effective contact with the nut, affecting the stability and sealing performance of the connection. Therefore, it is necessary to detect whether the series rod is centered so as to intervene or adjust at any time to center the series rod. Therefore, in some embodiments, a detection system based on the nut tightening / loosening device described in the above embodiments is also provided. The detection system includes a first centering detection mechanism 5 and a control module. The first centering detection mechanism 5 is used to collect the position information of the end of the series rod, and the control module is used to determine whether the series rod is centered according to the position information fed back by the first centering detection mechanism 5.

[0074] Where the series rod being centered means that the vertical distances from the two ends of the series rod to the corresponding side of the graphite boat are within a preset range, and the series rod being offset means that the vertical distances from the two ends of the series rod to the corresponding side of the graphite boat are not within the preset range. Exemplarily, the first centering detection mechanism 5 can be installed on the side of the support plate 1 opposite to the linear drive module 2. The first centering detection mechanism 5 includes a laser rangefinder. Before collecting the position information of the end of the series rod, the detection light of the first centering detection mechanism 5 needs to be opposite to the series rod and coincide with its axis.

[0075] In actual graphite boat calibration operations, the series rod may occasionally break. When the nut tightening / loosening device completes the nut loosening / tightening operation and the linear drive module 2 performs the return stroke, the remaining part of the broken series rod is likely to be accidentally brought back by the torque output mechanism 3. In response to this situation, the detection system is provided with a back-carry detection mechanism 6, such as Figure 2 shown, the back-carry detection mechanism 6 includes a light-emitting end 61 and a receiving end 62. The light-emitting end 61 and the receiving end 62 are installed at one end of the support plate 1 opposite to the graphite boat and on both sides of the torque output mechanism 3. The detection line formed by the light-emitting end 61 and the receiving end 62 intersects and is perpendicular to the extension line of the axis of the pushing mechanism 4; the back-carry detection mechanism 6 is used to detect whether the nut sleeve 32 carries the series rod after the linear drive module 2 completes the return stroke.

[0076] The back-carry detection mechanism 6 detects whether the nut tightening / loosening device brings back the series rod as follows: when the linear drive module 2 completes the return stroke, if the remaining part of the broken series rod blocks the light transmission between the light-emitting end 61 and the receiving end 62, the back-carry detection mechanism 6 is triggered, and an alarm can be issued through the control module and the safety protection program can be started. The back-carry detection mechanism 6 exemplified herein is a split-type photoelectric sensor.

[0077] In some embodiments, a detection mechanism for detecting whether the series rod is centered is further provided, that is, the second centering detection mechanism 7. In order to cooperate with the second centering detection mechanism 7, it is necessary to ensure a preset distance between the driving module 41 of the pushing mechanism 4 and the first end of the push rod 42. Therefore, a preset distance should be provided coaxially between the driving module 41 and the second end of the push rod 42, and the movable end of the driving module 41 is movably connected to the first end of the push rod 42. Specifically: as Figure 3 shown, the second centering detection mechanism 7 includes a sensor 71 and a trigger part 72. The trigger part 72 is assembled on the axially moving push rod 42 of the pushing mechanism 4, and the sensor 71 is assembled on the movement path of the trigger part 72. When the trigger part 72 contacts the sensor 71, the control module determines that the series rod is offset.

[0078] The second centering detection mechanism 7 detects whether the series rod is centered as follows: During the process of the linear drive module 2 driving the torque output mechanism 3 and the pushing mechanism 4 to move towards the graphite boat nut, if the series rod is docked with the push rod 42 of the pushing mechanism 4 and pushes the push rod to move away from the graphite boat nut until the trigger part 72 on the push rod 42 triggers the sensor 71, then the series rod is offset. Exemplarily, the sensor 71 of the second centering detection mechanism 7 is a groove type photoelectric sensor 71, and the trigger part 72 is an induction sheet matching the groove width of the groove type photoelectric sensor.

[0079] In some embodiments, the first centering detection mechanism 5 and the second centering detection mechanism 7 are redundantly arranged in the tightening nut device to effectively detect whether the series rod is centered and avoid bad states (such as incomplete tightening, over-tightening, etc.) during the nut locking process caused by the series rod offset problem not being detected in time.

[0080] In some embodiments, the control module is communicatively connected to the first centering detection mechanism 5, the second centering detection mechanism 7, and the backhaul detection mechanism 6 respectively. The control module is used to judge whether the series rod is centered according to the position information fed back by the first centering detection mechanism 5 and alarm when the series rod is offset; it is also used to control the linear drive module 2 and the driving module 41 to move and correct the displacement when the series rod is offset, so that the series rod is centered, the push rod 42 of the driving module 41 abuts against the end of the series rod, and the nut sleeve 32 of the torque output mechanism 3 sleeves the nut at one end of the series rod, and is also used to drive the rotary drive assembly 31 to rotate to drive the nut sleeve 32 to rotate the nut at one end of the series rod; it is also used to alarm when the second centering detection mechanism 7 is triggered; it is also used to alarm when the backhaul detection mechanism 6 is triggered.

[0081] In some embodiments, the loose and tight nut device further includes a three-axis linear motion mechanism, which is connected to the loose and tight nut device and is used to drive the loose and tight nut device to move in three-axis directions. Exemplarily, when the first centering detection mechanism 5 is installed on the support plate 1, the three-axis linear motion mechanism is driven to approach the graphite boat until the first centering detection mechanism 5 aligns with the series rod and the nut. After the first centering detection mechanism 5 collects relevant data, the three-axis linear motion mechanism is driven to drive the loose and tight nut device to approach the graphite boat until the loose and tight nut device aligns with the series rod and the nut.

[0082] The triple detection mechanism described in this embodiment realizes the full-range precise control of the series rod. The first centering detection mechanism 5 monitors the position of the end of the series rod in real time to ensure the accurate initial positioning of the series rod before the operation of the loose and tight nut. The control module can judge whether the series rod is in the centered position according to the position information detected by the first centering detection mechanism 5, and calculate the deviation data when there is an offset to provide a basis for subsequent compensation control, avoiding the abnormality of the loose and tight nut operation caused by the deviation of the initial position of the series rod from the source. The second centering detection mechanism 7 realizes the dynamic monitoring of the centering of the series rod through a mechanical trigger design. When the series rod has an offset during the advancement of the linear drive module 2, it will push the push rod 42 of the push mechanism 4 to move, so that the trigger part 72 on the push rod 42 triggers the sensor 71, forming a complementary detection with the first centering detection mechanism 5. The backhaul detection mechanism 6 uses a split photoelectric sensor 71 to set a laser beam detection area on the return path of the linear drive module 2. When the broken residue of the series rod blocks the optical path, the backhaul detection mechanism 6 is triggered. The backhaul detection mechanism 6 and the foregoing two sets of detection systems form a closed-loop control chain: the first centering detection mechanism 5 ensures the starting accuracy, the second centering detection mechanism 7 monitors the process state, and the backhaul mechanism ensures the safety of the end. Practical applications show that this trinity detection system reduces the failure rate, ensures the continuous operation of the loose and tight nut operation, and at the same time reduces the product defect rate caused by the abnormal position of the series rod.

[0083] In some embodiments, based on the above loose and tight nut device and control system, this embodiment further provides a method for regulating the centering of the series rod based on a calibrated graphite boat, as Figure 5 shown, the method includes:

[0084] S510 Detect the position information of the end of the series rod through the first centering detection mechanism 5;

[0085] S520 The control module receives the position information and judges whether there is a deviation between the position information and the preset position information;

[0086] When there is a deviation between the position information and the preset position information and the deviation value is within the first preset deviation range, drive the movable ends of the linear drive module 2 and the pushing module 41 to move the first correction displacement and the second reference displacement respectively in the direction close to the graphite boat, so that the series rod is centered, the push rod 42 of the pushing module 41 abuts against the end of the series rod, and the nut sleeve 32 of the torque output mechanism 3 sleeves the nut at one end of the series rod;

[0087] The control module drives the rotation drive assembly 31 of the torque output mechanism 3 to rotate, so as to drive the nut sleeve 32 to rotate the nut at one end of the series rod.

[0088] In some embodiments, based on the above-mentioned nut tightening and loosening device and control system, this embodiment further provides another method for regulating the centering of the series rod based on calibrating the graphite boat, as Figure 6 shown, the method includes:

[0089] S610 Detect the position information of the end of the series rod through the first centering detection mechanism 5;

[0090] S620 The control module receives the position information and judges whether there is a deviation between the position information and the preset position information;

[0091] S630 When there is a deviation between the position information and the preset position information and the deviation value is within the second preset deviation range, drive the movable ends of the linear drive module 2 and the pushing module 41 to move the first reference displacement and the second correction displacement respectively in the direction close to the graphite boat, so that the series rod is centered, the push rod 42 of the pushing module 41 abuts against the end of the series rod, and the nut sleeve 32 of the torque output mechanism 3 sleeves the nut at one end of the series rod;

[0092] S640 The control module drives the rotation drive assembly 31 of the torque output mechanism 3 to rotate, so as to drive the nut sleeve 32 to rotate the nut at one end of the series rod.

[0093] Wherein, the centering of the series rod means that the vertical distances from the two ends of the series rod to the corresponding side of the graphite boat are within a preset range, the preset position information refers to the position information of the end of the series rod when the series rod is centered, the second reference displacement is determined according to the distance between the end of the push rod 42 close to the pushing module 41 and the pushing module 41 when the pushing module 41 is in the initial state, the first correction displacement is the sum of the first reference displacement and the deviation value, and the minimum value of the second preset deviation range is greater than the maximum value of the first preset deviation range.

[0094] In some embodiments, based on the above-mentioned nut tightening and loosening device and control system, this embodiment further provides another method for regulating the centering of the series rod based on calibrating the graphite boat, as Figure 7 shown, the method includes:

[0095] The S710 detects the position information of the end of the series rod through the first centering detection mechanism 5;

[0096] The S720 control module receives the position information and determines whether there is a deviation between the position information and the preset position information;

[0097] When there is a deviation between the position information and the preset position information and the deviation value is within the third preset deviation range, the S730 drives the movable ends of the linear drive module 2 and the pushing module 41 to move a first reference displacement and a second reference displacement in the direction close to the graphite boat, so that the series rod is centered, the push rod 42 of the pushing module 41 abuts against the end of the series rod, and the nut sleeve 32 of the torque output mechanism 3 sleevs the nut at one end of the series rod.

[0098] The S740 control module drives the rotation drive assembly 31 of the torque output mechanism 3 to rotate, so as to drive the nut sleeve 32 to rotate the nut at one end of the series rod.

[0099] In the above embodiments, the centering of the series rod means that the vertical distances from the two ends of the series rod to the corresponding side of the graphite boat are within a preset range. The preset position information refers to the position information of the end of the series rod when the series rod is centered. This position information is obtained by laser calibration and stored in the control module. This position information can be the coordinates of the end of the series rod or the distance from the end of the series rod to the first centering detection mechanism.

[0100] The first reference displacement is determined according to the distance between the end of the series rod and the socket end when the series rod is centered and the linear drive module 2 is in the initial state; the second reference displacement is determined according to the distance between the end of the push rod 42 close to the pushing module 41 and the pushing module 41 and the distance between the end of the push rod 42 close to the graphite boat and the end of the series rod when the pushing module 41 is in the initial state. The first correction displacement is the sum of the first reference displacement and the deviation value, and the second correction displacement is the sum of the second reference displacement and the deviation value.

[0101] The deviation value is the difference between the position information of the end of the series rod detected by the first detection mechanism and the preset position range. When in the preset deviation range, it is necessary to ensure that the minimum value of the first preset deviation range is greater than the maximum value of the second preset deviation range, and the minimum value of the second preset deviation range is greater than the maximum value of the third preset deviation range.

[0102] The initial state in this application covers two positioning references of the linear drive module 2 and the linear drive module 2: it can either be the absolute zero position state of the module or the preset process starting position (i.e., the state where the moving end of the module is at a specific distance from the zero position). Regardless of which reference is used for definition, the core constraint condition must be satisfied - when the linear drive module 2 and the pushing module 41 cooperate to enter the initial state (i.e., the overall reset of the tensioning nut device), the front end of the nut sleeve 32 of the torque output mechanism 3 and the second end of the push rod 42 of the pushing module 41 must be strictly restricted within the space range behind the front end face of the support plate 1. In particular, the determination criterion for "return stroke completed" in the text refers to the linear drive module 2 and the pushing module 41 synchronously returning to this initial state (i.e., the overall reset of the tensioning nut device), and the spatial orientation of the front end face of the support plate 1 always remains parallel to the graphite boat installation reference plane and is opposite to the graphite boat.

[0103] In this embodiment, the method for centering and regulating the series rod based on calibrating the graphite boat can detect the position state of the series rod in real time and perform displacement compensation according to the detection result. Specifically: when it is detected that the series rod has an offset, the compensation mechanism is automatically selected according to the magnitude of the offset - for a large offset exceeding the threshold (i.e., the deviation exceeds the third preset deviation range and is within the first preset deviation range), the linear drive module with a larger stroke range superimposes a compensation displacement on the basis of the reference displacement; for a small offset exceeding the threshold (i.e., the deviation value exceeds the third preset deviation range and is within the second preset deviation range), the pushing module with higher precision performs fine-tuning compensation; when the series rod is in the centered state (i.e., the deviation value is within the third preset deviation range), the linear drive module and the pushing module synchronously execute the preset reference displacement. This hierarchical control strategy reasonably distributes the compensation tasks of the two modules, not only ensuring the fast response ability to large offsets but also achieving high-precision correction of small deviations, thus significantly improving the comprehensive performance of centering control.

[0104] In some embodiments, a boat calibrator is also provided. The boat calibrator includes the tensioning nut device and the three-axis linear motion mechanism described in the above embodiments; the three-axis linear motion mechanisms are arranged opposite to and spaced apart from each other, and the spacing distance is determined according to the graphite boat placement station; the three-axis linear motion mechanism is connected to the tensioning nut device and is used to drive the tensioning nut device to move in the XYZ three-axis directions. This boat calibrator tightens and loosens the nuts on both sides of the series rod through the tensioning nut device in combination with the above series rod centering and regulating method.

[0105] Beneficial effects achievable by the embodiments of the present application: By integrating the mechanical structure and the detection and control system, high-precision and highly adaptable full-automatic operation of the tightening and loosening operation of the series rod nut is achieved. Specifically, at the mechanical execution level, the pushing mechanism and the torque output mechanism form a two-way positioning system. The former realizes the axial fixation of the series rod through the driven push rod, and the latter, with the help of the coaxial clamping layer synchronous variable-diameter sleeve structure and the composite adjustment mechanism of the second spring-piezoelectric module, can automatically adapt to the diameter differences and thread depth changes of various specifications of nuts, ensuring that the clamping force is stable within the process requirements; at the detection and control level, the first centering detection mechanism (such as a laser displacement sensor) and the second centering detection mechanism (such as a mechanical trigger photoelectric switch) can real-time feedback the spatial state data of the series rod, and the return detection mechanism (such as an infrared laser pair sensor) can detect the mis-return of the broken rod. The three-level monitoring network composed of these three detection mechanisms, combined with the PID algorithm of the control module to dynamically adjust the compensation displacement of the linear drive module and the pushing module, centers the series rod. This integrated system greatly improves the success rate of the nut tightening and loosening operation and is compatible with the mixed-line calibration requirements of different models of graphite boats, solving the three major technical problems of series rod positioning deviation, nut damage, and broken rod residue in the traditional process.

[0106] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting it. The present application is not limited to the exact structure already described and illustrated in the drawings, and it cannot be considered that the specific implementation of the present application is only limited to these descriptions. For those of ordinary skill in the technical field to which the present application belongs, without departing from the concept of the present application, various changes and deformations made should be regarded as belonging to the protection scope of the present application.

Claims

1. A centering control method for a series rod based on a calibrated graphite boat, characterized in that The method includes:: Detecting the position information of the end of the graphite boat series connection rod through a first centering detection mechanism; The control module receives the position information and determines whether there is a deviation between the position information and the preset position information; When there is a deviation between the position information and the preset position information and the deviation value is within a first preset deviation range, driving the movable ends of the linear driving module and the pushing module to move a first correction displacement and a second reference displacement respectively in the direction close to the graphite boat, so that the series connection rod is centered, the push rod of the pushing module abuts against the end of the graphite boat series connection rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series connection rod; Wherein, the centering of the series connection rod means that the perpendicular distances from the two ends of the graphite boat series connection rod to the corresponding side of the graphite boat are within a preset range; the preset position information refers to the position information of the end of the series connection rod when the series connection rod is centered; the first reference displacement is determined according to the distance between the end of the series connection rod and the socket end when the series connection rod is centered and the linear driving module is in the initial state; the first correction displacement is the sum of the first reference displacement and the deviation value; The second reference displacement is determined according to the distance between the end of the push rod close to the pushing module and the pushing module and the distance between the end of the push rod close to the graphite boat and the end of the series connection rod when the pushing module is in the initial state.

2. The method for regulating the centering of a series rod based on a calibrated graphite boat according to claim 1, wherein The method further includes:: When there is a deviation between the position information and the preset position information and the deviation value is within a second preset deviation range, driving the movable ends of the linear driving module and the pushing module to move a first reference displacement and a second correction displacement respectively in the direction close to the graphite boat; Wherein, the second correction displacement is the sum of the second reference displacement and the deviation value, and the minimum value of the first preset deviation range is greater than the maximum value of the second preset deviation range.

3. The method for regulating the centering of the series rod based on the calibrated graphite boat according to claim 1 or 2, characterized in that The method further includes:: When there is a deviation between the position information and the preset position information and the deviation value is within a third preset deviation range, driving the movable ends of the linear driving module and the pushing module to move a first reference displacement and a second reference displacement respectively in the direction close to the graphite boat, so that the series connection rod is centered, the push rod of the pushing module abuts against the end of the graphite boat series connection rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series connection rod, wherein the minimum value of the second preset deviation range is greater than the maximum value of the third preset deviation range.

4. A centering control method for a series rod based on a calibrated graphite boat, characterized in that, The method includes:: Detecting the position information of the end of the graphite boat series connection rod through a first centering detection mechanism; The control module receives the position information and determines whether there is a deviation between the position information and the preset position information; When there is a deviation between the position information and the preset position information and the deviation value is within a second preset deviation range, driving the movable ends of the linear driving module and the pushing module to move a first reference displacement and a second correction displacement respectively in the direction close to the graphite boat, so that the series connection rod is centered, the push rod of the pushing module abuts against the end of the graphite boat series connection rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series connection rod; Wherein, the centralization of the series rod means that the vertical distances from the two ends of the graphite boat series rod to the corresponding side of the graphite boat are within a preset range; the preset position information refers to the position information of the end of the series rod when the series rod is centralized; the first reference displacement is determined according to the distance between the end of the series rod and the socket end when the series rod is centralized and the linear drive module is in the initial state; the second reference displacement is determined according to the distance between the end of the push rod close to the push module and the push module and the distance between the end of the push rod close to the graphite boat and the end of the series rod when the push module is in the initial state, and the second correction displacement is the sum of the second reference displacement and the deviation value.

5. The method for regulating the centering of the series rod based on the calibrated graphite boat according to claim 4, wherein The method further includes: When there is a deviation between the position information and the preset position information and the deviation value is within a third preset deviation range, drive the movable ends of the linear drive module and the push module to move the first reference displacement and the second reference displacement respectively in the direction close to the graphite boat, so that the series rod is centralized, the push rod of the push module abuts against the end of the graphite boat series rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series rod; wherein, the minimum value of the second preset deviation range is greater than the maximum value of the third preset deviation range.

6. A centering control method for a series rod based on a calibrated graphite boat, characterized in that The method includes: Detect the position information of the end of the graphite boat series rod through the first centering detection mechanism; The control module receives the position information and judges whether there is a deviation between the position information and the preset position information; When there is a deviation between the position information and the preset position information and the deviation value is within a third preset deviation range, drive the movable ends of the linear drive module and the push module to move the first reference displacement and the second reference displacement respectively in the direction close to the graphite boat, so that the series rod is centralized, the push rod of the push module abuts against the end of the graphite boat series rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series rod; Wherein, the centralization of the series rod means that the vertical distances from the two ends of the graphite boat series rod to the corresponding side of the graphite boat are within a preset range; the preset position information refers to the position information of the end of the series rod when the series rod is centralized; the first reference displacement is determined according to the distance between the end of the series rod and the socket end when the series rod is centralized and the linear drive module is in the initial state; the second reference displacement is determined according to the distance between the end of the push rod close to the push module and the push module and the distance between the end of the push rod close to the graphite boat and the end of the series rod when the push module is in the initial state.

7. The centering control method of the series rod based on the graphite boat calibration according to any one of claims 1-6, characterized in that After the series rod is centralized, the push rod of the push module abuts against the end of the graphite boat series rod, and the nut sleeve of the torque output mechanism sleeves the nut at one end of the series rod, the method further includes; The control module drives the rotation drive mechanism of the torque output mechanism to rotate, so as to drive the nut sleeve to rotate the nut at one end of the series rod.

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