An angle-adjustable nut feeding device for a reactor bolt tensioning machine

Abstract

The present invention discloses an angle-adjustable nut feeding device for a reactor bolt tensioner, which relates to the technical field of feeding devices. The feeding device includes a feeding mechanism, an initial positioning mechanism, a fine positioning screwing mechanism, an angle adjustment mechanism, and a support and guide mechanism. The feeding mechanism and the support and guide mechanism are tightly connected, the feeding mechanism is located above the support and guide mechanism, the initial positioning mechanism and the feeding mechanism are transmission-connected, the initial positioning mechanism is coaxially connected to the front end of the feeding mechanism, the fine positioning screwing mechanism and the initial positioning mechanism are transmission-connected, the fine positioning screwing mechanism is coaxially connected to the initial positioning mechanism, and the angle adjustment mechanism and the feeding mechanism are hinged. The initial positioning mechanism is used to complete the initial rotation and the fine positioning screwing mechanism, achieve high-precision tightening, and provide real-time feedback of torque data; the angle adjustment mechanism reads the angle change through a photoelectric sensor and transmits it to the control system, thereby improving the overall assembly stability.

Description

Technical Field

[0001] The invention relates to the technical field of feeding devices, in particular to an angle-adjustable nut feeding device for a reactor bolt tensioning machine. Background Art

[0002] Currently, bolt tensioning equipment used in nuclear power reactor maintenance and disassembly operations is evolving toward automation, precision, and spatial adaptability. Traditional methods, relying on manual operation or a single tightening mechanism, are increasingly exposed to issues such as low efficiency, large errors, and poor repeatability, particularly in environments characterized by high radiation, high temperatures, and confined spaces. With the increasing adoption of intelligent manufacturing, servo drive, and sensor technologies, reactor tightening devices urgently need to evolve toward highly integrated, multi-axis coaxial systems with adaptive structures to achieve precise positioning and automated tightening of key components.

[0003] In the existing technology, some fastening equipment uses electric drive to achieve the screwing and pre-tightening of the main nut, in which a single servo rotation structure is used to complete the entire tightening process, and it does not have the ability to flexibly adjust the angle. When operating in complex spaces, problems such as nut slipping, alignment failure or unstable transmission are prone to occur.

[0004] First, there is a lack of technical means for angle adjustment. Secondly, the lack of a buffer structure leads to problems such as secondary positioning accuracy deviation, weak adaptability, and unstable operation. Finally, the nut is prone to slipping and alignment failure. Therefore, the technical personnel in this field provide an angle-adjustable nut feeding device for a reactor bolt tensioner to solve the problems raised in the above background. Summary of the Invention

[0005] The object of the present invention is to provide a nut feeding device with adjustable angle for a reactor bolt tensioning machine, so as to solve the problems raised in the prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The feeding device includes a feeding mechanism, an initial positioning mechanism, a fine positioning screwing mechanism, an angle adjustment mechanism and a supporting and guiding mechanism. The feeding mechanism and the supporting and guiding mechanism are tightly connected. The feeding mechanism is located above the supporting and guiding mechanism. The initial positioning mechanism and the feeding mechanism are transmission-connected. The initial positioning mechanism is coaxially connected to the front end of the feeding mechanism. The fine positioning screwing mechanism and the initial positioning mechanism are transmission-connected. The fine positioning screwing mechanism is coaxially connected to the initial positioning mechanism. The angle adjustment mechanism and the feeding mechanism are hinged.

[0008] By adopting the above technical scheme, the feeding device includes a feeding mechanism, an initial positioning mechanism, a fine positioning screwing mechanism, an angle adjustment mechanism and a support and guide mechanism. The feeding mechanism is fastened to the top of the support and guide mechanism by screws. The initial positioning mechanism is coaxially connected to the feeding mechanism and is transmitted through a small gear set, driving the nut sleeve to rotate at a low speed to complete the initial rotation; the fine positioning screwing mechanism is composed of a servo motor, a reducer, a universal joint and an annular torque sensor. The servo motor is fixed to the support mechanism and transmits power coaxially to the nut sleeve through a key connection and a universal joint to achieve high-precision tightening and real-time feedback of torque data; the angle adjustment mechanism includes a roller bearing support, an eccentric cam locking member, an electromagnetic block and a dial. The support is hinged to the feeding mechanism, the electromagnetic block and the magnetic block are attracted to each other, and cooperate with the locking rod to achieve rapid locking. The photoelectric sensor reads the angle change and transmits it to the control system, thereby improving assembly stability and automation accuracy.

[0009] Furthermore, the feed mechanism includes a nut clamping assembly, a pushing assembly and a buffer assembly. The nut clamping assembly and the pushing assembly are slidingly connected. A dovetail slide is provided between the nut clamping assembly and the pushing assembly. The pushing assembly includes a push rod, a push plate and a linear guide. The push plate and the linear guide are slidingly connected. The push rod and the push plate are threadedly connected. The buffer assembly is located between the push plate and the push rod. The buffer assembly includes an elastic part and an oil pressure buffer. The elastic part is coaxially sleeved on the push rod shaft. The pushing motor and the angle adjustment mechanism are fastened and connected. The pushing motor and the push rod are transmission connected.

[0010] By adopting the above technical solution, the feeding mechanism includes a nut clamping assembly, a pushing assembly and a buffer assembly, wherein the nut clamping assembly is composed of an elastic limiting claw and a V-groove nut supporting plate, the limiting claw is hinged on both sides of the supporting plate through a rotating shaft, and automatically opens and closes under the pushing force of the push plate, thereby realizing flexible adaptation and temporary clamping of nuts of different specifications; the supporting plate is a V-shaped structure, and the angle between its groove and the horizontal plane is controlled at 45 degrees ± 2 degrees, ensuring that the nut is stably positioned and prevented from slipping; the clamping assembly and the pushing assembly are connected by a dovetail slide The push plate in the pushing assembly is connected to the push rod by a threaded connection and moves synchronously along the linear guide rail; the buffer assembly is arranged between the push plate and the push rod, and is composed of an elastic member coaxially sleeved outside the push rod and a parallel oil pressure buffer, which cushions the impact force at the end of the push, prevents mechanical jamming and nut dislocation, and improves the pushing stability; the pushing motor and the angle adjustment mechanism are fastened with bolts, and are connected to the push rod by a coupling to realize feeding power output, thereby achieving an automatic, controllable and low-interference feeding assembly effect.

[0011] Furthermore, the initial positioning mechanism includes a screw-on starting assembly, a threaded guide assembly and an elastic pre-tightening assembly. The screw-on starting assembly includes a pinion group, a nut sleeve and a rotating shaft. The pinion group is sleeved on the rotating shaft through a key connection. The nut sleeve is a cylindrical structure. The front end of the nut sleeve is provided with a conical guide port, and the rear end of the nut sleeve is provided with a multi-tooth internal spline. The pinion group and the nut sleeve are transmission-connected. The threaded guide assembly is arranged on the inner side of the nut sleeve. The nut sleeve is provided with a coaxial spiral groove. The coaxial spiral groove is fixed with a wear-resistant strip by gluing. The elastic pre-tightening assembly includes an axial compression spring and a limit ring. The axial compression spring is sleeved on the outer periphery of the coaxial spiral groove, and the limit ring is connected to the inner wall of the nut sleeve through a retaining spring.

[0012] By adopting the above technical scheme, the initial positioning mechanism includes a screw-on starting component, a threaded guide component and an elastic pre-tightening component, wherein the pinion group of the screw-on starting component is installed on the rotating shaft through a key connection, and the transmission connection nut sleeve enables it to rotate at low speed to drive the nut to be pre-screwed in; the nut sleeve is an integral cylindrical structure, with a conical guide mouth at the front end and a multi-tooth internal spline at the rear end, which can stably engage the rotating mechanism and realize rapid assembly and disassembly; the threaded guide component is arranged on the inner side of the nut sleeve, and a coaxial spiral groove is processed on the inner wall of the sleeve, and a high-strength wear-resistant strip is fixed in the spiral groove by gluing to enhance the durability of the nut guide; the elastic pre-tightening component includes an axial compression spring and a limit ring, and the compression spring is sleeved on the outside of the coaxial spiral groove to apply a constant axial preload force to the nut, and the limit ring is embedded in the inner wall of the sleeve through a retaining spring, effectively limiting the displacement of the spring, thereby achieving smooth screwing during pre-positioning and significantly improving the anti-interference ability.

[0013] Furthermore, the precision positioning screwing mechanism includes a servo motor, a reducer, a universal joint assembly and an annular torque sensor, the servo motor and the support guide mechanism are tightly connected, the reducer and the servo motor output shaft are transmission-connected, the universal joint assembly and the reducer output shaft are key-connected, the universal joint assembly and the nut sleeve are key-connected, the annular torque sensor is arranged in the universal joint assembly, and the annular torque sensor and the universal joint assembly are tightly connected.

[0014] By adopting the above technical solution, the precise positioning screwing mechanism includes a servo motor, a reducer, a universal joint assembly and an annular torque sensor. The servo motor is fastened to the base of the support guide mechanism by screws, and the output shaft is directly flange-connected to the reducer for transmission; the output shaft of the reducer is connected to the input end in the universal joint assembly through a key connection to achieve coaxial force transmission; the output end of the universal joint assembly is also connected to the rear end of the nut sleeve through a key to achieve gapless rotation output; the torque sensor is an annular structure, embedded in the middle section of the universal joint assembly, and is fastened to the universal joint screw. By real-time sensing of the torque changes generated during the servo screwing process, the analog signal is transmitted to the control system to achieve closed-loop control of the tightening angle and preload force, significantly improving the screwing accuracy and preventing overload damage.

[0015] Furthermore, the angle adjustment mechanism includes a rotating support assembly, an eccentric locking assembly and an angle calibration assembly. The rotating support assembly includes an annular support, a roller bearing and a base. The roller bearing and the base are rotatably connected. The annular support and the base are rotatably connected. The eccentric locking assembly includes an eccentric cam block, a locking rod, an electromagnetic block, an elastic locking piece and a magnetic block. The eccentric cam block and the locking rod are hinged. The magnetic block and the locking rod are tightly connected. The electromagnetic block and the magnetic block have magnetic poles that attract and transmit each other. The elastic locking piece and the electromagnetic block are tightly connected. The elastic locking piece and the magnetic block are tightly connected. The electromagnetic block and the base are tightly connected. The angle calibration assembly includes a circular scale and a photoelectric sensor. The circular scale and the base are tightly connected. The photoelectric sensor and the annular support are magnetically connected.

[0016] By adopting the above technical scheme, the angle adjustment mechanism includes a rotating support assembly, an eccentric locking assembly and an angle calibration assembly. The annular support in the rotating support assembly is arranged in a roller bearing on the base through a central shaft sleeve. The support can rotate around the axis to achieve multi-angle adjustment; the eccentric locking assembly includes an eccentric cam block, a locking rod, an electromagnetic block, an elastic locking piece and a magnetic block. The cam block is hingedly connected to the locking rod, and the magnetic block is connected to the locking rod through a screw; mutually attractive magnetic poles are provided between the electromagnetic block and the magnetic block to form a magnetic pole attraction transmission structure; the elastic locking piece connects the electromagnetic block and the magnetic block to provide a reset elastic force. The entire assembly is installed on the base and can achieve quick release and locking by switching the magnetic polarity, thereby improving the convenience and safety of adjustment; the angle calibration assembly includes a circular dial and a photoelectric sensor. The dial is fastened to the rotating part of the base by screws and has an etched angle mark. The photoelectric sensor is mounted on the annular support by magnetic attraction, and reads the rotation angle in real time and transmits it to the display module to achieve high-precision angle positioning function.

[0017] Furthermore, the supporting and guiding mechanism includes a base, a telescopic guide rod assembly and a bubble level. The base and the telescopic guide rod assembly are tightly connected. The bubble level and the telescopic guide rod assembly are tightly connected. The telescopic guide rod assembly includes a telescopic guide column, a coaxial sleeve and an electric control block. The telescopic guide column and the coaxial sleeve are slidingly connected. The telescopic guide column and the electric control block are magnetically repelled. The bubble level and the electric control block are electrically connected. The telescopic guide column and the base are hinged through a ball head.

[0018] By adopting the above technical solution, the supporting and guiding mechanism includes a base, a telescopic guide rod assembly and a bubble level. The base is connected to the telescopic guide rod assembly by screws, and the bubble level is fixed to the surface of the guide rod assembly by a clamping structure to assist in verticality correction; the telescopic guide rod assembly includes a telescopic guide column, a coaxial sleeve and an electronic control block. The guide column is cylindrical and achieves high-precision linear sliding through rollers or sliding bearings and the sleeve; the electronic control block forms a non-contact repulsive force with the telescopic guide column through magnetic pole repulsion, and the electronic control block is electrically connected to the bubble level to form an adjustable feedback control loop; the bottom end of the guide column is connected to the base through a ball head hinge structure, which improves the flexibility and centering adjustment capability of the support device, and significantly improves the rigidity and positioning accuracy of the whole machine.

[0019] Furthermore, the nut clamping assembly includes an elastic limiting claw and a nut supporting plate. The elastic limiting claw is symmetrically arranged on both sides of the nut supporting plate. The elastic limiting claw is hinged to the nut supporting plate through a rotating shaft. When the push plate is pushed, the elastic limiting claw is controlled to open or close. The nut supporting plate has a V-groove structure, and the angle between the groove surface and the horizontal plane is 45 degrees ± 2 degrees.

[0020] By adopting the above technical solution, the nut clamping assembly includes an elastic limiting claw and a nut supporting plate. The limiting claws are arranged on both sides of the supporting plate and are hinged by a pin shaft. When the push plate is pushed, the limiting claws are opened by the thrust, and can adapt to different nut diameters in the clamping state and reset and close at the end of pushing. The supporting plate has a V-shaped groove structure, and its groove angle is controlled within the range of 45°±2°, providing stable support and anti-rolling function with the optimal contact surface angle, thereby ensuring that the spatial posture of the nut remains consistent during transportation and initial positioning, greatly improving reliability and adaptability.

[0021] Furthermore, three radially distributed elastic guide rails are provided on the inner side of the conical guide port, each elastic guide rail is crescent-shaped, and the elastic guide rail and the nut sleeve are fixed by a snap connection. The opening angle of the conical guide port is 60 degrees ± 3 degrees, and the conical guide port is used to guide the nut to be concentrically screwed into the bolt.

[0022] By adopting the above technical solution, three radially distributed elastic guide rails are provided on the inner side of the tapered guide opening. The cross-section of each elastic guide rail is crescent-shaped and is evenly distributed on the inner circumference of the guide opening. It is fixed to the inner wall of the nut sleeve by a snap-fit ​​method, so that it can adapt to different nut shape tolerances in an elastic state; the tapered guide opening has an overall conical structure, and its opening angle is controlled at 60°±3°, which can effectively guide the nut to be screwed into the main bolt in a coaxial manner, reduce eccentricity, jamming and other phenomena, and achieve a high-tolerance, automatic deviation-correcting guide assembly effect.

[0023] Furthermore, the universal joint assembly includes a cross universal joint, steel balls and a double-bearing support frame. The cross universal joint and the reducer output shaft are connected through a spline sleeve. The double-bearing support frame and the reducer housing are fastened together. The double-bearing support frame is provided with two sets of radial steel balls, which are used to reduce the radial offset of the universal joint.

[0024] By adopting the above technical solution, the universal joint assembly includes a cross universal joint, steel balls and a double-bearing support frame. The cross universal joint is connected to the reducer output shaft through a spline sleeve transmission, which can effectively absorb slight installation deviations; the double-bearing support frame consists of a rigid shell and two groups of high-precision radial steel balls, which are fastened to the reducer housing by screws. The steel balls provide full-circle support for the universal joint, which can limit its radial displacement and buffer torque impact, thereby ensuring long life, low wear and high-precision transmission of the coupling.

[0025] Furthermore, the circular dial is provided with etched angle markings, and a photoelectric sensor reads the angle changes and is connected to the display via a cable.

[0026] By adopting the above technical solution, etched angle marks are provided on the circular dial to form a high-contrast angle identification track; when the photoelectric sensor reads the angle change, it obtains the angle data by sensing the change in the spacing between the scale lines, and connects the signal to the upper display module through a cable, realizing high-precision, digital real-time angle monitoring and feedback function, making the angle adjustment operation visible.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The nut clamping and pushing assemblies in this device are connected by a dovetail slideway. The clamping assembly utilizes a combination of a V-grooved support plate and elastic limiting claws. The limiting claws are hingedly mounted on either side of the support plate via a rotating shaft and automatically open and close under the thrust of the push plate to accommodate nuts of varying diameters. The push plate and push rod are threaded together, and a buffer assembly consisting of an elastic member and a hydraulic buffer in parallel is introduced to effectively absorb impact forces at the moment of pushing, preventing the nut from bouncing or getting stuck, achieving highly reliable flexible clamping and stable feeding. This structure, through dual-stage buffering and automatic clamping, achieves both high versatility and precise control, while maintaining a simple yet robust structure.

[0029] The nut sleeve in the initial positioning mechanism features a tapered guide opening at the front end and three internal radial elastic guide rails. The guide rails are crescent-shaped and fixed to the inner wall of the barrel by snaps. They have an elastic adaptability function and can automatically correct the nut's posture in the event of eccentricity, burrs, or initial angle deviation in the main bolt thread, achieving smooth engagement and pre-screwing. Combined with the wear-resistant strips in the spiral grooves on the inner wall of the sleeve and the axial elastic loading structure formed by the compression spring and limit ring, the nut receives preload support during the initial screw-in stage. This structure significantly improves the success rate of highly tolerant automatic screwing, and is a breakthrough in traditional mechanical positioning methods.

[0030] The angle adjustment mechanism in this device utilizes a four-stage control mechanism consisting of a rotating support, roller bearing, eccentric cam lock, and electromagnetic attraction. This mechanism achieves controlled state switching through magnetic attraction between the electromagnetic and magnetic blocks, enabling rapid release and high-strength locking without relying on external fasteners. In the angle calibration assembly, an etched circular dial combined with a magnetic photoelectric sensor measures the rotation angle contactlessly, enabling low-interference, real-time, digital feedback control. This combined structure transitions from mechanical angle adjustment to precise electronic feedback adjustment, balancing structural stability with digital operability, making it suitable for repetitive positioning operations in high-precision applications such as reactors. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 This is a schematic diagram of the push component structure of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of the rotary starter assembly of the present invention;

[0034] Figure 4 This is a schematic structural diagram of the elastic preload assembly of the present invention;

[0035] Figure 5 This is a schematic diagram of the cross universal joint structure of the present invention;

[0036] Figure 6 This is a structural diagram of the rotary support assembly of the present invention;

[0037] Figure 7 This is a structural schematic diagram of the eccentric locking assembly of the present invention;

[0038] Figure 8 This is a structural diagram of the support and guide mechanism of the present invention;

[0039] Figure 9 This is a schematic structural diagram of the nut clamping assembly of the present invention;

[0040] Figure 10 This is a schematic diagram of the elastic guide rail structure of the present invention;

[0041] Figure 11 This is a schematic diagram of the steel ball structure of the present invention;

[0042] Figure 12 This is a schematic diagram of the etched angle marking structure of the present invention.

[0043] In the figure: 1. Feed mechanism; 11. Nut clamping assembly; 111. Elastic limiting claw; 112. Nut supporting plate; 12. Pushing assembly; 121. Push rod; 122. Push plate; 123. Linear guide rail; 124. Pushing motor; 13. Buffer assembly; 131. Elastic member; 132. Hydraulic buffer; 14. Dovetail slide; 2. Initial positioning mechanism; 21. Screwing start assembly; 211. Pinion group; 212. Nut sleeve; 2121. Conical guide port; 2122. Internal spline; 2123. Coaxial spiral groove; 2124. Elastic guide rail; 213. Rotating shaft; 214. Wear-resistant strip; 22. Threaded guide assembly; 23. Elastic preload assembly; 231. Axial compression spring; 232. Limiting ring; 3. Fine positioning screwing mechanism; 31. Servo motor Motor; 32. Reducer; 33. Universal joint assembly; 331. Cross universal joint; 332. Steel ball; 333. Double bearing support frame; 34. Annular torque sensor; 4. Angle adjustment mechanism; 41. Rotating support assembly; 411. Annular support; 412. Roller bearing; 413. Base; 42. Eccentric locking assembly; 421. Eccentric cam block; 422. Locking rod; 423. Electromagnetic block; 424. Elastic locking piece; 425. Magnetic block; 43. Angle calibration assembly; 431. Circular dial; 4311. Etched angle mark; 432. Photoelectric sensor; 5. Support and guide mechanism; 51. Base; 52. Telescopic guide rod assembly; 521. Telescopic guide column; 522. Coaxial sleeve; 523. Electronic control block; 53. Bubble level. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] See also Figure 1 - Figure 12 As shown, the present invention provides a technical solution of a nut feeding device with adjustable angle for a reactor bolt tensioner:

[0046] The feeding device includes a feeding mechanism 1, an initial positioning mechanism 2, a fine positioning screwing mechanism 3, an angle adjustment mechanism 4 and a support and guide mechanism 5. The feeding mechanism 1 and the support and guide mechanism 5 are fastened together. The feeding mechanism 1 is located above the support and guide mechanism 5. The initial positioning mechanism 2 and the feeding mechanism 1 are connected by transmission. The initial positioning mechanism 2 is coaxially connected to the front end of the feeding mechanism 1. The fine positioning screwing mechanism 3 and the initial positioning mechanism 2 are connected by transmission. The fine positioning screwing mechanism 3 is coaxially connected to the initial positioning mechanism 2. The angle adjustment mechanism and the feeding mechanism 1 are hinged.

[0047] By adopting the above technical solution, the feeding device includes a feeding mechanism 1, an initial positioning mechanism 2, a fine positioning screwing mechanism 3, an angle adjustment mechanism and a support and guide mechanism 5. The feeding mechanism 1 is fastened to the top of the support and guide mechanism 5 by screws. The initial positioning mechanism 2 is coaxially connected to the feeding mechanism 1 and is transmitted through a small gear set 211, driving the nut sleeve 212 to rotate at a low speed to complete the initial rotation; the fine positioning screwing mechanism 3 is composed of a servo motor, a reducer 32, a universal joint and an annular torque sensor 34. The servo motor is fixed to the support mechanism and transmits power coaxially to the nut sleeve 212 through a key connection and a universal joint to achieve high-precision tightening and real-time feedback of torque data; the angle adjustment mechanism includes a roller bearing 412 support, an eccentric cam locking member, an electromagnetic block 423 and a dial. The support is hinged to the feeding mechanism 1, the electromagnetic block 423 and the magnetic block 425 are attracted to each other, and cooperate with the locking rod 422 to achieve rapid locking. The photoelectric sensor reads the angle change and transmits it to the control system, thereby improving assembly stability and automation accuracy.

[0048] Furthermore, the feed mechanism 1 includes a nut clamping assembly 11, a pushing assembly 12 and a buffer assembly 13. The nut clamping assembly 11 and the pushing assembly 12 are slidingly connected. A dovetail slide 14 is provided between the nut clamping assembly 11 and the pushing assembly 12. The pushing assembly 12 includes a push rod 121, a push plate 122 and a linear guide 123. The push plate 122 and the linear guide 123 are slidingly connected. The push rod 121 and the push plate 122 are threadedly connected. The buffer assembly 13 is located between the push plate 122 and the push rod 121. The buffer assembly 13 includes an elastic member 131 and an oil pressure buffer 132. The elastic member 131 is coaxially sleeved on the push rod 121 shaft. The pushing motor 124 and the angle adjustment mechanism 4 are fastened together. The pushing motor 124 and the push rod 121 are transmission-connected.

[0049] By adopting the above technical solution, the feeding mechanism 1 includes a nut clamping component 11, a pushing component 12 and a buffer component 13, wherein the nut clamping component 11 is composed of an elastic limiting claw 111 and a V-groove nut supporting plate 112, and the limiting claw is hinged on both sides of the supporting plate through a rotating shaft, and automatically opens and closes under the pushing force of the push plate 122, thereby realizing flexible adaptation and temporary clamping of nuts of different specifications; the supporting plate is a V-shaped structure, and the angle between its groove and the horizontal plane is controlled at 45°±2°, ensuring that the nut is stably positioned and prevented from slipping; the clamping component and the pushing component 12 are slidably connected by a dovetail slide rail 14, The push plate 122 in the pushing assembly 12 is connected to the push rod 121 by a threaded manner and moves synchronously along the linear guide rail 123; the buffer assembly 13 is arranged between the push plate 122 and the push rod 121, and is composed of an elastic member 131 coaxially sleeved on the outside of the push rod 121 and a parallel oil pressure buffer 132, which buffers the impact force at the end of the pushing, prevents mechanical jamming and nut dislocation, and improves the pushing stability; the pushing motor 124 is fastened to the angle adjustment mechanism 4 by bolts, and is connected to the push rod 121 by a coupling to realize feeding power output, thereby achieving an automatic, controllable, and low-interference feeding assembly effect.

[0050] Furthermore, the initial positioning mechanism 2 includes a screw-on start component 21, a threaded guide component 22 and an elastic pre-tightening component 23. The screw-on start component 21 includes a pinion group 211, a nut sleeve 212 and a rotating shaft 213. The pinion group 211 is sleeved on the rotating shaft 213 through a key connection. The nut sleeve 212 is a cylindrical structure. The front end of the nut sleeve 212 is provided with a tapered guide port 2121, and the rear end of the nut sleeve 212 is provided with a multi-tooth internal spline 2122. The group 211 and the nut sleeve 212 are transmission connected, the threaded guide assembly 22 is arranged on the inner side of the nut sleeve 212, the nut sleeve 212 is provided with a coaxial spiral groove 2123, the coaxial spiral groove 2123 is fixed with a wear-resistant strip 214 by gluing, and the elastic preload assembly 23 includes an axial compression spring 231 and a limiting ring 232. The axial compression spring 231 is sleeved on the outer periphery of the coaxial spiral groove 2123, and the limiting ring 232 is connected to the inner wall of the nut sleeve 212 through a retaining spring.

[0051] By adopting the above technical solution, the initial positioning mechanism 2 includes a screw-on starting component 21, a threaded guide component 22 and an elastic pre-tightening component 23, wherein the small gear set 211 of the screw-on starting component 21 is installed on the rotating shaft 213 through a key connection, and the transmission connection nut sleeve 212 is driven to realize low-speed rotation to drive the nut to be pre-screwed in; the nut sleeve 212 is an integral cylindrical structure, with a conical guide port 2121 at the front end and a multi-tooth internal spline 2122 at the rear end, which can stably engage the rotating mechanism and realize rapid assembly and disassembly; the threaded guide Component 22 is arranged on the inner side of the nut sleeve 212. The inner wall of the sleeve is processed with a coaxial spiral groove 2123, and a high-strength wear-resistant strip 214 is fixed in the spiral groove by gluing to enhance the durability of the nut guidance; the elastic preload component 23 includes an axial compression spring 231 and a limiting ring 232. The compression spring is sleeved on the outside of the coaxial spiral groove 2123 to apply a constant axial preload force to the nut. The limiting ring 232 is embedded in the inner wall of the sleeve through a retaining spring, which effectively limits the displacement of the spring, thereby achieving smooth rotation during pre-positioning and significantly improving the anti-interference ability.

[0052] Furthermore, the precise positioning screwing mechanism 3 includes a servo motor 31, a reducer 32, a universal joint assembly 33 and an annular torque sensor 34. The servo motor 31 is tightly connected to the support guide mechanism 5, the reducer 32 is transmission-connected to the output shaft of the servo motor 31, the universal joint assembly and the output shaft of the reducer 32 are key-connected, the universal joint assembly 33 and the nut sleeve 212 are key-connected, the annular torque sensor 34 is arranged in the universal joint assembly 33, and the annular torque sensor 34 and the universal joint assembly 33 are tightly connected.

[0053] By adopting the above technical solution, the precise positioning screwing mechanism 3 includes a servo motor 31, a reducer 32, a universal joint assembly 33 and an annular torque sensor 34. The servo motor 31 is fastened to the base 413 of the support guide mechanism 5 by screws, and the output shaft is directly flange-connected to the reducer 32 for transmission; the output shaft of the reducer 32 is connected to the input end in the universal joint assembly 33 through a key connection to realize coaxial force transmission; the output end of the universal joint assembly 33 is also connected to the rear end of the nut sleeve 212 through a key to realize gapless rotation output; the torque sensor is an annular structure, embedded in the middle section of the universal joint assembly 33, and is fastened to the universal joint screw. By real-time sensing of the torque changes generated during the servo screwing process, the analog signal is transmitted to the control system to realize closed-loop control of the tightening angle and preload force, significantly improving the screwing accuracy and preventing overload damage.

[0054] Furthermore, the angle adjustment mechanism includes a rotating support assembly 41, an eccentric locking assembly 42 and an angle calibration assembly 43, the rotating support assembly 41 includes an annular support 411, a roller bearing 412 and a base 413, the roller bearing 412 and the base 413 are rotatably connected, the annular support 411 and the base 413 are rotatably connected, the eccentric locking assembly 42 includes an eccentric cam block 421, a locking rod 422, an electromagnetic block 423, an elastic locking member 424 and a magnetic block 425, the eccentric cam block 421 and the locking rod 422 is hinged, the magnetic block 425 and the locking rod 422 are fastened together, the electromagnetic block 423 and the magnetic block 425 are attracted to each other for transmission, the elastic locking piece 424 and the electromagnetic block 423 are fastened together, the elastic locking piece 424 and the magnetic block 425 are fastened together, the electromagnetic block 423 and the base 413 are fastened together, the angle calibration assembly 43 includes a circular dial 431 and a photoelectric sensor 432, the circular dial 431 and the base 413 are fastened together, and the photoelectric sensor 432 and the annular support 411 are magnetically connected.

[0055] By adopting the above technical solution, the angle adjustment mechanism includes a rotating support assembly 41, an eccentric locking assembly 42 and an angle calibration assembly 43. The annular support 411 in the rotating support assembly 41 is arranged in a roller bearing 412 on the base 413 through a central shaft sleeve. The support can rotate around the axis to achieve multi-angle adjustment; the eccentric locking assembly 42 includes an eccentric cam block 421, a locking rod 422, an electromagnetic block 423, an elastic locking member 424 and a magnetic block 425. The cam block is hingedly connected to the locking rod 422, and the magnetic block 425 is connected to the locking rod 422 by a screw; there is a space between the electromagnetic block 423 and the magnetic block 425. There are mutually attractive magnetic poles, forming a magnetic pole attraction transmission structure; the elastic locking piece 424 connects the electromagnetic block 423 and the magnetic block 425 to provide a reset elastic force. The whole assembly is installed on the base 413, and quick release and locking are achieved by switching the magnetic polarity, thereby improving the convenience and safety of adjustment; the angle calibration assembly 43 includes a circular dial 431 and a photoelectric sensor 432. The dial is fastened to the rotating part of the base 413 by screws and an angle mark is etched. The photoelectric sensor 432 is installed on the annular support 411 by magnetic attraction, and reads the rotation angle in real time and transmits it to the display module to achieve high-precision angle positioning function.

[0056] Furthermore, the supporting and guiding mechanism 5 includes a base 51, a telescopic guide rod assembly 52 and a bubble level 53. The base 51 and the telescopic guide rod assembly 52 are fastened together. The bubble level 53 and the telescopic guide rod assembly 52 are fastened together. The telescopic guide rod assembly 52 includes a telescopic guide column 521, a coaxial sleeve 522 and an electric control block 523. The telescopic guide column 521 and the coaxial sleeve 522 are slidingly connected. The telescopic guide column 521 and the electric control block 523 are magnetically repelled. The bubble level 53 and the electric control block 523 are electrically connected. The telescopic guide column 521 and the base 51 are hinged through a ball head.

[0057] By adopting the above technical solution, the support and guide mechanism 5 includes a base 51, a telescopic guide rod assembly 52 and a bubble level 53. The base 51 is connected to the telescopic guide rod assembly 52 by screws, and the bubble level 53 is fixed to the surface of the guide rod assembly by a clamping structure to assist in verticality correction; the telescopic guide rod assembly 52 includes a telescopic guide column 521, a coaxial sleeve 522 and an electronic control block 523. The guide column is cylindrical and achieves high-precision linear sliding through rollers or sliding bearings and the sleeve; the electronic control block 523 forms a non-contact repulsive force with the telescopic guide column 521 through magnetic pole repulsion, and the electronic control block 523 is then electrically connected to the bubble level 53 to form an adjustable feedback control loop; the bottom end of the guide column is connected to the base 51 through a ball head hinge structure, which improves the flexibility and centering adjustment capability of the support device, and significantly improves the rigidity and positioning accuracy of the whole machine.

[0058] Furthermore, the nut clamping assembly 11 includes an elastic limiting claw 111 and a nut supporting plate 112. The elastic limiting claw 111 is symmetrically arranged on both sides of the nut supporting plate 112. The elastic limiting claw 111 is hinged to the nut supporting plate 112 through a rotating shaft. When the push plate 122 is pushed, the elastic limiting claw 111 is controlled to open or close, and the nut supporting plate 112 is a V-groove structure.

[0059] By adopting the above technical solution, the nut clamping assembly 11 includes an elastic limiting claw 111 and a nut supporting plate 112. The limiting claws are arranged on both sides of the supporting plate and are hinged by a pin shaft; when the push plate 122 is pushed, the limiting claws are opened by the thrust, and can adapt to different nut diameters in the clamping state and reset and close at the end of pushing; the supporting plate has a V-shaped groove structure, and its groove angle is controlled within the range of 45°±2°, providing stable support and anti-rolling function with the optimal contact surface angle, thereby ensuring that the spatial posture of the nut remains consistent during transportation and initial positioning, greatly improving reliability and adaptability.

[0060] Furthermore, three radially distributed elastic guide rails 2124 are provided on the inner side of the conical guide port 2121. Each elastic guide rail 2124 is crescent-shaped. The elastic guide rail 2124 and the nut sleeve 212 are fixed by a snap connection. The opening angle of the conical guide port 2121 is 60 degrees ± 3 degrees. The conical guide port 2121 is used to guide the nut to be concentrically screwed into the bolt.

[0061] By adopting the above technical solution, three radially distributed elastic guide rails 2124 are provided on the inner side of the conical guide opening 2121. The cross-section of each elastic guide rail 2124 is crescent-shaped and is evenly distributed on the inner circumference of the guide opening. It is fixed to the inner wall of the nut sleeve 212 by a snap-fit ​​method, so that it can adapt to different nut shape tolerances in an elastic state; the conical guide opening 2121 has a conical structure as a whole, and its opening angle is controlled at 60°±3°, which can effectively guide the nut to be screwed into the main bolt in a coaxial manner, reduce eccentricity, jamming and other phenomena, and achieve a high-tolerance, automatic deviation-correcting guide assembly effect.

[0062] Furthermore, the universal joint assembly 33 includes a cross universal joint 331, a steel ball 332 and a double bearing support frame 333. The cross universal joint 331 and the output shaft of the reducer 32 are connected through a spline sleeve. The double bearing support frame 333 and the outer shell of the reducer 32 are fastened together. The double bearing support frame 333 is provided with two groups of radial steel balls 332, which are used to reduce the radial offset of the universal joint.

[0063] By adopting the above technical solution, the universal joint assembly 33 includes a cross universal joint 331, a steel ball 332 and a double-bearing support frame 333. The cross universal joint 331 is connected to the output shaft of the reducer 32 through a spline sleeve transmission, which can effectively absorb slight installation deviations; the double-bearing support frame 333 is composed of a rigid shell and two groups of high-precision radial steel balls 332, which are fastened to the reducer 32 housing by screws. The steel balls 332 provide full-circle support for the universal joint, which can limit its radial displacement and buffer torque impact, thereby ensuring long life, low wear and high-precision transmission of the coupling.

[0064] Furthermore, an etched angle mark 4311 is provided on the circular scale plate 431, and a photoelectric sensor 432 reads the angle change and is connected to the display screen via a cable.

[0065] By adopting the above technical solution, an etched angle mark 4311 is provided on the circular dial 431, forming a high-contrast angle identification track; when the photoelectric sensor 432 reads the angle change, it obtains the angle data by sensing the change in the spacing between the scale lines, and connects the signal to the upper display module through a cable, realizing a high-precision, digital real-time angle monitoring and feedback function, making the angle adjustment operation visible.

[0066] Working principle of the present invention:

[0067] The nut clamping assembly 11 and the pushing assembly 12 in this device are slidably connected via a dovetail guide rail 14. The clamping assembly utilizes a V-groove support plate and an elastic limiting claw 111. The limiting claw is hingedly mounted on both sides of the support plate via a rotating shaft and automatically opens and closes under the thrust of the push plate 122 to accommodate nuts of varying diameters. The push plate 122 is threadedly connected to the push rod 121, and a buffer assembly 13, consisting of an elastic member 131 and a hydraulic buffer 132 in parallel, is introduced. This effectively absorbs impact forces at the moment of pushing, preventing the nut from bouncing or getting stuck, and achieving highly reliable flexible clamping and stable feeding. This structure achieves a combination of high versatility and precise control through dual-stage buffering and automatic clamping, resulting in a simple yet robust structure. The nut sleeve 212 in the initial positioning mechanism 2 features a tapered guide opening 2121 at the front end and three radial elastic guide rails 2124 within. The guide rails are crescent-shaped and fixed to the inner wall of the cylinder by snaps. They have an elastic adaptability function and can automatically correct the nut's posture in the event of eccentricity, burrs, or initial angle deviation in the main bolt thread, achieving smooth engagement and pre-screwing. Combined with the wear-resistant strips 214 in the spiral grooves on the sleeve's inner wall and the axial elastic loading structure formed by the compression spring and limit ring 232, the nut receives preload support during the initial screw-in phase. This structure significantly improves the success rate of highly tolerant automatic screwing, representing a breakthrough in traditional mechanical positioning methods. The angle adjustment mechanism in this device utilizes a four-stage control mechanism consisting of a rotating support, roller bearing 412, eccentric cam locking, and electromagnetic attraction. This mechanism achieves controlled state switching through magnetic attraction between electromagnetic block 423 and magnetic block 425, enabling rapid release and high-strength locking without relying on external fasteners. In angle calibration assembly 43, an etched circular dial 431 and a magnetic photoelectric sensor 432 provide contactless measurement of rotation angle, enabling low-interference, real-time, digital feedback control. This combined structure transitions from mechanical angle adjustment to precise electronic feedback adjustment, balancing structural stability with digital operability, making it suitable for repetitive positioning operations in high-precision applications such as reactors.

[0068] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An angle-adjustable nut feeding device for a reactor bolt tensioner, characterized by: The feeding device comprises a feeding mechanism (1), an initial positioning mechanism (2), a fine positioning screwing mechanism (3), an angle adjustment mechanism (4) and a support guide mechanism (5); the feeding mechanism (1) and the support guide mechanism (5) are fastened together; the feeding mechanism (1) is located above the support guide mechanism (5); the initial positioning mechanism (2) and the feeding mechanism (1) are connected in a transmission manner; the initial positioning mechanism (2) is coaxially connected to the front end of the feeding mechanism (1); the fine positioning screwing mechanism (3) and the initial positioning mechanism (2) are connected in a transmission manner; the fine positioning screwing mechanism (3) is coaxially connected to the initial positioning mechanism (2); and the angle adjustment mechanism (4) and the feeding mechanism (1) are hinged; The feeding mechanism (1) comprises a nut clamping assembly (11), a pushing assembly (12) and a buffer assembly (13); the nut clamping assembly (11) and the pushing assembly (12) are slidably connected; a dovetail slide rail (14) is provided between the nut clamping assembly (11) and the pushing assembly (12); the pushing assembly (12) comprises a push rod (121), a push plate (122), a linear guide rail (123) and a pushing motor (124); the push plate (122) and the linear guide rail (123) are connected to each other; 3) Sliding connection, the push rod (121) and the push plate (122) are threadedly connected, the buffer assembly (13) is located between the push plate (122) and the push rod (121), the buffer assembly (13) includes an elastic member (131) and an oil pressure buffer (132), the elastic member (131) is coaxially sleeved outside the push rod (121), the push motor (124) and the angle adjustment mechanism (4) are fastened, and the push motor (124) and the push rod (121) are transmission-connected; The initial positioning mechanism (2) comprises a screw-on start assembly (21), a thread guide assembly (22) and an elastic pre-tightening assembly (23); the screw-on start assembly (21) comprises a pinion gear set (211), a nut sleeve (212) and a rotating shaft (213); the pinion gear set (211) is sleeved on the rotating shaft (213) via a key connection; the nut sleeve (212) is a cylindrical structure; the front end of the nut sleeve (212) is provided with a conical guide opening (2121); the rear end of the nut sleeve (212) is provided with a multi-tooth internal spline (2122); the pinion gear set (211) is sleeved on the rotating shaft (213) via a key connection; the nut sleeve (212) is a cylindrical structure; the front end of the nut sleeve (212) is provided with a conical guide opening (2121); the rear end of the nut sleeve (212) is provided with a multi-tooth internal spline (2122); (211) and the nut sleeve (212) are transmission-connected, the threaded guide assembly (22) is arranged on the inner side of the nut sleeve (212), the nut sleeve (212) is provided with a coaxial spiral groove (2123), the coaxial spiral groove (2123) is fixed with a wear-resistant strip (214) by gluing, the elastic pre-tightening assembly (23) includes an axial compression spring (231) and a limiting ring (232), the axial compression spring (231) is sleeved on the outer periphery of the coaxial spiral groove (2123), and the limiting ring (232) is connected to the inner wall of the nut sleeve (212) through a retaining spring; The precise positioning screwing mechanism (3) comprises a servo motor (31), a reducer (32), a universal joint assembly (33) and an annular torque sensor (34); the servo motor (31) and the support guide mechanism (5) are tightly connected; the reducer (32) and the output shaft of the servo motor (31) are transmission-connected; the universal joint assembly (33) and the output shaft of the reducer (32) are key-connected; the universal joint assembly (33) and the nut sleeve (212) are key-connected; the annular torque sensor (34) is arranged in the universal joint assembly (33); and the annular torque sensor (34) and the universal joint assembly (33) are tightly connected; The angle adjustment mechanism (4) includes a rotating support assembly (41), an eccentric locking assembly (42) and an angle calibration assembly (43), wherein the rotating support assembly (41) includes an annular support (411), a roller bearing (412) and a base (413), wherein the roller bearing (412) and the base (413) are rotatably connected, and the annular support (411) and the base (413) are rotatably connected, and the eccentric locking assembly (42) includes an eccentric cam block (421), a locking rod (422), an electromagnetic block (423), an elastic locking member (424) and a magnetic block (425), wherein the eccentric cam block (421) and the locking rod (423) are 2) hinged, the magnetic block (425) and the locking rod (422) are fastened together, the magnetic poles of the electromagnetic block (423) and the magnetic block (425) are attracted to each other for transmission, the elastic locking member (424) and the electromagnetic block (423) are fastened together, the elastic locking member (424) and the magnetic block (425) are fastened together, the electromagnetic block (423) and the base (413) are fastened together, the angle calibration assembly (43) includes a circular scale (431) and a photoelectric sensor (432), the circular scale (431) and the base (413) are fastened together, and the photoelectric sensor (432) and the annular support (411) are magnetically connected.

2. The angle-adjustable nut feeding device for a reactor bolt tensioner according to claim 1, characterized in that: The support and guide mechanism (5) comprises a base (51), a telescopic guide rod assembly (52) and a bubble level (53); the base (51) and the telescopic guide rod assembly (52) are fastened together; the bubble level (53) and the telescopic guide rod assembly (52) are fastened together; the telescopic guide rod assembly (52) comprises a telescopic guide column (521), a coaxial sliding sleeve (522) and an electric control block (523); the telescopic guide column (521) and the coaxial sliding sleeve (522) are slidably connected; the telescopic guide column (521) and the electric control block (523) are magnetically repelled by each other; the bubble level (53) and the electric control block (523) are electrically connected; and the telescopic guide column (521) and the base (51) are hinged via a ball head.

3. The angle-adjustable nut feeding device for a reactor bolt tensioner according to claim 2, characterized in that: The nut clamping assembly (11) comprises an elastic limiting claw (111) and a nut supporting plate (112), wherein the elastic limiting claw (111) is symmetrically arranged on both sides of the nut supporting plate (112), and the elastic limiting claw (111) is hinged to the nut supporting plate (112) via a rotating shaft, and the elastic limiting claw (111) controls the opening or closing when the push plate (122) is pushed, and the nut supporting plate (112) has a V-shaped groove structure.

4. The angle-adjustable nut feeding device for a reactor bolt tensioner according to claim 3, characterized in that: Three radially distributed elastic guide rails (2124) are provided on the inner side of the tapered guide opening (2121), each of the elastic guide rails (2124) being crescent-shaped, and the elastic guide rails (2124) and the nut sleeve (212) being fixed by a snap connection. The opening angle of the tapered guide opening (2121) is 60 degrees ± 3 degrees, and the tapered guide opening (2121) is used to guide the nut to be concentrically screwed into the bolt.

5. The angle-adjustable nut feeding device for a reactor bolt tensioner according to claim 4, characterized in that: The universal joint assembly (33) comprises a cross universal joint (331), steel balls (332) and a double-bearing support frame (333); the cross universal joint (331) and the output shaft of the reducer (32) are connected via a spline sleeve; the double-bearing support frame (333) and the outer shell of the reducer (32) are fastened together; the double-bearing support frame (333) is provided with two groups of radial steel balls (332); the steel balls (332) are used to reduce radial offset of the universal joint.

6. The angle-adjustable nut feeding device for a reactor bolt tensioner according to claim 5, characterized in that: The circular scale plate (431) is provided with an etched angle mark (4311), and the photoelectric sensor (432) reads the angle change and is connected to the display screen via a cable.

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