Method for maintaining low-speed continuous impact by brushless wrench

Abstract

The invention relates to the technical field of nut locking robots, in particular to a low-speed continuous impact maintaining method for a brushless wrench. The technical scheme comprises a low-speed framework, the low-speed structure comprises a gear ring, a driven shaft located in the gear ring, a planetary gear connected to the outer wall of the driven shaft in a sleeving mode and meshed with the gear ring, a rotating shaft located in the center of the gear ring, a sun gear connected to the outer wall of the rotating shaft in a sleeving mode and meshed with the planetary gear, a planet carrier located on one side of the gear ring and rotationally installed with the driven shaft, and a machining shaft located on one side of the planet carrier. The second spring is located at one end of the planet carrier, and the butt joint column and the stress ring are located on one side of the second spring. The buffering structure comprises an oil cavity, a piston installed in the oil cavity in a sliding mode, a first spring located between the piston and the inner wall of the oil cavity, a piston rod located at the upper end of the piston and an oil gap located between the outer side of the piston and the oil cavity. By means of continuous impact and continuous reduction of the impact force applied to the hands of a user, the part dismounting effect is improved, and the use comfort is improved.

Description

Technical Field

[0001] The invention relates to the technical field of locking nut robots, and in particular to a method for maintaining low-speed continuous impact of a brushless wrench. Background Art

[0002] With the increasing degree of mechanization, bolt fastening has become an important connection method. During the processing and assembly process, most nuts need to be tightened one by one by operators. During the operation, not only does it consume a lot of manpower costs, but it also has low processing efficiency and affects assembly production capacity. To solve this problem, nut locking robots have emerged.

[0003] Publication number CN106346240A discloses a new type of automatic screw-locking robot, comprising a mounting plate, a four-axis robot mounted on one end of the mounting plate, a lifting mechanism mounted on the other end of the mounting plate, and a screw-locking mechanism driven by the lifting mechanism. The lifting mechanism comprises a first motor, a lead screw fixedly connected to the output shaft of the first motor, a lead screw nut mounted on the lead screw, and two limit blocks positioned above and below the lead screw nut. The lead screw nut is fixedly connected to the screw-locking mechanism and moves up and down synchronously with the lead screw nut. The robot can automatically tighten hexagon socket screws of different specifications and lengths. The screws are delivered to the beak at the front of the robot via a vibrating plate. The robot then drives a servo motor and / or electric screwdriver to tighten the screws. The robot achieves fast screw-locking speed, low cost, and excellent versatility. It can meet the tightening requirements of screws of different specifications and facilitates production line automation.

[0004] Existing screwdriving robots often experience continuous impact due to overload or design flaws, leading to vibration fatigue and numbness in the user's hands. This can lead to occupational health hazards over time and affect operational accuracy and equipment life. Therefore, those skilled in the art have developed a method for maintaining low-speed continuous impact with a brushless wrench and the brushless wrench itself to address the issues raised in the background art. Summary of the Invention

[0005] The purpose of the present invention is to address the problems existing in the background technology and to propose a method for maintaining low-speed continuous impact of a brushless wrench and a brushless wrench thereof.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a locking nut wrench industrial robot, comprising an industrial robot body, a lubrication structure and a manipulator, the manipulator comprising a base, an X-axis servo linear module being installed on the base, the X-axis servo linear module driving a first movable seat to move back and forth, the first movable seat being installed with a Y-axis servo linear module, the Y-axis servo linear module driving a second movable seat to move back and forth, the second movable seat being installed with a Z-axis servo linear module, the Z-axis servo linear module driving the industrial robot body to move up and down, the industrial robot body comprising a driving member, a mounting shaft located at one end of a docking ring, a locking nut sleeve located at one end of the mounting shaft, a support arm located below the driving member, a battery module located at the lower end of the support arm, and a button located at one end of the support arm;

[0007] The low-speed structure includes a ring gear, a driven shaft arranged in an annular array inside the ring gear, planetary gears sleeved on the outer wall of the driven shaft and meshing with the ring gear, a rotating shaft located at the center of the ring gear, a sun gear sleeved on the outer wall of the rotating shaft and meshing with the planetary gears, a planetary carrier located on one side of the ring gear and rotatably mounted with the driven shaft, a processing shaft located on one side of the planetary carrier, a second spring located at one end of the planetary carrier, and a docking column and a force ring located on one side of the second spring;

[0008] The buffer structure includes an oil chamber, a piston slidably mounted inside the oil chamber, a spring located between the piston and the inner wall of the oil chamber, a plug rod located at the upper end of the piston, and an oil gap between the outer side of the piston and the oil chamber.

[0009] Preferably, a sealing ring 1 is provided on the inner wall of the upper end of the oil chamber, and the upper end of the plug rod is slidably mounted inside the sealing ring 1. The sealing ring 1 provides sliding support for the plug rod and prevents the hydraulic oil inside the oil chamber from leaking to the outside.

[0010] Preferably, a support ring is provided at one end of the second spring. A retaining frame arranged in an annular array and sleeved onto the outside of the processing shaft is provided between the support ring and the docking post. The outer wall of the processing shaft is provided with two rolling grooves arranged in an annular array. Two balls are rotatably mounted within the second retaining frame, rollingly engaging the second rolling grooves. The support ring and the planetary carrier are elastically supported by the second spring, so that when the docking post is subjected to a force greater than that of the second spring, the second spring is squeezed and contracted. The second balls slide within the second rolling grooves, guiding the second spring during its expansion and contraction, preventing it from deflecting outward. Simultaneously, the docking post is guided for sliding, improving stability during movement.

[0011] Preferably, one end of the docking post is provided with symmetrically distributed docking blocks, and one end of the force-bearing ring is provided with symmetrically distributed docking grooves that slide and engage with the docking blocks. When the docking blocks are docked with the docking grooves, the rotational force of the docking post acts on the docking ring. When the docking blocks are disengaged from the docking grooves, the rotational force of the docking post cannot act on the docking ring.

[0012] The lubrication structure includes a mounting shell, lubricating oil filled in the mounting shell, a partition located at one end of the mounting shell, oil filling holes and oil drain holes opened in the upper and lower ends of the mounting shell, and oil plugs located in the oil filling holes and oil drain holes.

[0013] Preferably, a sealed bearing 1 is embedded and mounted inside the partition, a sealed bearing 2 is embedded and mounted inside one end of the mounting housing, and the mounting shaft is rotatably mounted inside the sealed bearing 2. The sealed bearing 1 rotatably supports the rotating shaft, allowing the rotating shaft to rotate inside the partition. At the same time, the sealed bearing rotatably supports the mounting shaft, while preventing lubricating oil inside the mounting housing from leaking to the outside.

[0014] Preferably, a second sealing ring is embedded in the mounting shell, and a wiring groove is provided in the support arm. The second sealing ring provides sliding support for the docking column within the mounting shell, and the bearing groove allows for concealed wiring when connecting the battery module's power to the driver.

[0015] Preferably, the driver is sheathed with a housing connected to the partition, the housing having evenly spaced heat dissipation holes formed therein, and a support plate connected to the upper end of the plug rod disposed at the lower end of the housing. The housing supports and protects the driver, dissipates heat from the driver through the heat dissipation holes, and displaces the outside air with the air inside the housing.

[0016] Preferably, the outer side of the upper end of the support arm is sleeved with a ring-shaped array of rolling grooves, the lower end of the support plate is provided with a ring-shaped array of rotating seats, and a ball bearing is rotatably mounted inside the rotating seat, which is rolled and fitted with the rolling grooves. The side of the lower end of the support plate is provided with a sleeve that sleeves the outer side of the rotating seat. The support plate supports the upper end of the plug rod and is connected to the housing. The support arm is grasped to enable the use of the brushless wrench. When the support plate is displaced by the plug rod, the ball bearing slides inside the rolling grooves, providing a sliding guide. The movement stability of the support plate and the plug rod is improved, and the sleeve shields the rotating seat and ball bearing.

[0017] A method for maintaining low-speed continuous impact of a locking nut wrench industrial robot, using the locking nut wrench industrial robot, includes the following steps:

[0018] S1: Because the sun gear is meshed with the planet gears, the sun gear rotates to push the planet gears to rotate. At the same time, the idle planet gears revolve inside the ring gear. The rotational force of the driven shaft acts on the inside of the planet carrier. The revolving force of the planet gears drives the planet carrier to rotate. At this time, the speed of the sun gear is greatly reduced, which can reduce the speed of the rotating shaft and amplify the torque to achieve a continuous low speed.

[0019] S2: At the same time, the processing axis rotates with the planetary carrier, and the second ball and the second rolling groove can only slide horizontally. Under the action of the rotational force, the docking column is driven to rotate. The rotational force acts on the docking block through the docking column, and the docking block acts on the docking groove. The docking groove drives the docking column to rotate, and then acts on the screwed bolt or nut. When the nut or bolt is very tight, the impact force has not yet overcome the maximum static friction, and the docking block will be separated from the docking groove. The docking column is instantly bounced and squeezed. Spring 2, and it may not even have time to engage in the next rotation. After the spring is charged, the docking block docks with the docking groove during the subsequent rotation process, and the spring is simultaneously The elastic force accumulated by the spring impacts the docking ring, and when the docking block is bounced off, it will cause idling with a click. The low-speed impact can keep the hammer block and the anvil in better contact, ensuring that each impact is effectively transmitted. When encountering resistance, the "storage-impact-release" cycle begins, generating a huge impact force to be transmitted to the nut or bolt being removed. The most difficult thing for a rusted and stuck bolt or nut is to stop moving completely and start moving. At the beginning, the static friction is the largest. The effect is more easily accumulated through continuous, stable, and slightly longer-acting impact than through short and rapid impact. Once this critical point is broken, the driver can output very large torque at a low speed.

[0020] S3: Due to continuous impact, the vibration force will act on the user's hands. During this process, the piston squeezes spring 1, and spring 1 contracts under force. At the same time, the piston squeezes the hydraulic oil on the inner wall of the oil chamber. When the hydraulic oil passes through the oil gap, the smaller oil channel exerts resistance on the piston, so that spring 1 exerts a damping effect during the expansion and contraction process. A hydraulic chamber is added between the drive shaft and the planetary gear input shaft, and the interior is filled with silicone-based damping oil. An oil film shear layer is formed through the precise oil gap. The high-viscosity oil generates shear resistance, delaying power transmission. The hydraulic chamber absorbs the peak torque of the drive part, and the planetary gear builds a low-speed and high-torque foundation. The hydraulic system realizes energy timing optimization, and the vibration force acting on the hand is reduced.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The invention significantly reduces the impact of vibration during use through the synergistic effect of the innovative low-speed structure and buffer structure. The low-speed structure adopts a planetary gear reduction design to convert the high speed of the driving part into a low-speed, high-torque output, achieving continuous and stable low-speed impact. This impact method is more likely to have a cumulative effect, especially when dealing with rusted or stuck bolts. The "accumulation-impact-release" cycle can break through the maximum static friction and improve the efficiency of disassembly and assembly.

[0023] Secondly, the hydraulic damping design, consisting of the oil chamber, piston, spring, and precise oil gap in the buffer structure, delays power transmission through the shear resistance of the hydraulic oil, absorbs the peak torque of the driving component, and converts impact energy into a gentle damping force, significantly reducing vibration transmitted to the operator's hands, lowering the risk of occupational diseases caused by long-term use, while also improving operating accuracy and equipment life.

[0024] In addition, the present invention retains the core advantages of the drive parts: no carbon brush friction, long life, low noise, and low maintenance, and further enhances its applicability through structural optimization. It is particularly suitable for precision or high-intensity operation scenarios, and comprehensively solves the pain point of continuous impact of electric wrenches in the background technology, achieving high efficiency, low vibration, and durable technical effects, and solving the problem that continuous impact of electric wrenches easily causes hand vibration fatigue and occupational diseases. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the main three-dimensional structure of the present invention;

[0026] Figure 2 It is a bottom-up three-dimensional structural schematic diagram of the present invention;

[0027] Figure 3 This is a schematic diagram of the main cross-sectional three-dimensional structure of the present invention;

[0028] Figure 4 This is a schematic diagram of the main three-dimensional structure of the mounting shell and the interior of the housing of the present invention;

[0029] Figure 5 This is a schematic diagram of the main cross-sectional perspective structure of the mounting shell and the housing of the present invention;

[0030] Figure 6 For the present invention Figure 4 Side view of the three-dimensional structure;

[0031] Figure 7 This is a schematic side view of the three-dimensional structure of the gear ring of the present invention;

[0032] Figure 8 Schematic diagram of the three-dimensional structure of the spring of the present invention from two sides;

[0033] Figure 9 This is a schematic diagram of the main cross-sectional three-dimensional structure of the processing shaft of the present invention;

[0034] Figure 10 This is a schematic side view of the three-dimensional structure of the docking ring of the present invention;

[0035] Figure 11 This is a schematic diagram of the main three-dimensional structure of the support arm of the present invention;

[0036] Figure 12 This is a schematic diagram of the main cross-sectional three-dimensional structure of the plug rod of the present invention;

[0037] Figure 13 This is a schematic structural diagram of the present invention with a manipulator.

[0038] Reference numerals: 100, industrial robot body; 101, driving member; 102, support arm; 103, wiring trough; 104, battery module; 105, button; 106, mounting shaft; 107, lock nut sleeve; 108, housing; 109, partition; 110, heat dissipation hole;

[0039] 200, lubrication structure; 201, mounting housing; 202, oil filling hole; 203, oil drain hole; 204, sealed bearing 1; 205, sealing ring 1; 206, sealed bearing 2;

[0040] 300, buffer structure; 301, support plate; 302, rotating seat; 303, ball bearing 1; 304, rolling groove 1; 305, plug rod; 306, sealing ring 2; 307, piston; 308, oil gap; 309, oil chamber; 310, spring 1; 311, sleeve plate;

[0041] 400, low-speed structure; 401, ring gear; 402, rotating shaft; 403, sun gear; 404, planetary gear; 405, driven shaft; 406, machining shaft; 407, second rolling groove; 408, second spring; 409, support ring; 410, retaining rack; 411, second ball bearing; 412, docking post; 413, load-bearing ring; 414, docking block; 415, docking groove; 416, planetary carrier;

[0042] 500, robot arm; 501, base; 502, X-axis servo linear module; 503, first movable base; 504, Y-axis servo linear module; 505, second movable base; 506, Z-axis servo linear module. DETAILED DESCRIPTION

[0043] 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.

[0044] See also Figures 1 to 12 , the present invention provides three embodiments:

[0045] Example 1:

[0046] A locking nut wrench industrial robot includes a low-speed structure, wherein the low-speed structure 400 includes a ring gear 401, driven shafts 405 arranged in an annular array within the ring gear 401, planetary gears sleeved on the outer wall of the driven shaft 405 and meshing with the ring gear 401, a rotating shaft 402 located at the center of the ring gear 401, a sun gear sleeved on the outer wall of the rotating shaft 402 and meshing with the planetary gears, a planetary carrier 416 located on one side of the ring gear 401 and rotatably mounted with the driven shaft 405, a processing shaft 406 located on one side of the planetary carrier 416, a second spring 408 located at one end of the planetary carrier 416, and a docking post 412 and a force ring 413 located on one side of the second spring 408;

[0047] The buffer structure 300 includes an oil chamber 309, a piston 307 slidably mounted inside the oil chamber 309, a spring 310 located between the piston 307 and the inner wall of the oil chamber 309, a plug rod 305 located at the upper end of the piston 307, and an oil gap 308 located between the outer side of the piston 307 and the oil chamber 309;

[0048] The inner wall of the upper end of the oil chamber 309 is provided with a sealing ring 205, and the upper end of the plug rod 305 is slidably installed inside the sealing ring 205;

[0049] A support ring 409 is provided at one end of the second spring 408. A retainer 410 is provided between the support ring 409 and the docking post 412. The retainer 410 is arranged in an annular array and is sleeved on the outside of the processing shaft 406. The outer wall of the processing shaft 406 is provided with a second rolling groove 407 distributed in an annular array. A second ball 411 is rotatably mounted inside the retainer 410 and is in rolling contact with the second rolling groove 407.

[0050] One end of the docking column 412 is provided with symmetrically distributed docking blocks 414, and one end of the force ring 413 is provided with symmetrically distributed docking grooves 415 that are slidably docked with the docking blocks 414;

[0051] In this embodiment, the driving member 101 rotates at 20,000 rpm, driving the sun gear to rotate at high speed. It bites the three surrounding planetary gears, which are then clamped by the ring gear 401. At this time, the planetary gears are like walking through a maze, rotating on themselves and revolving around the sun gear. The term is called epicycle. Finally, the planetary gears drive the planet carrier 416 to output slowly, directly reducing the speed. This is specifically designed to deal with large rusted bolts, such as the M30 screws in truck tires.

[0052] When tightening a rusty bolt, the wrench will rebound and shake your hand. At this time, the piston 307 in the hydraulic oil chamber 309 starts to work. The spring 310 first supports the piston 307 and withstands the first wave of impact. The piston 307 squeezes the silicone-based hydraulic oil, and the oil squeezes through the gap to create huge resistance, converting part of the impact force into heat and dissipating it. The impact energy is delayed for tens of milliseconds and the time of a single impact is lengthened, which is equivalent to turning a slap in the face into pushing a sandbag. The hand will not be numb due to the continuous vibration. The hydraulic buffer allows each impact to be firmly hammered into the bolt and protects the drive component 101 from overloading.

[0053] Example 2:

[0054] The buffer structure 300 includes an oil chamber 309, a piston 307 slidably mounted inside the oil chamber 309, a spring 310 located between the piston 307 and the inner wall of the oil chamber 309, a plug rod 305 located at the upper end of the piston 307, and an oil gap 308 located between the outer side of the piston 307 and the oil chamber 309;

[0055] The inner wall of the upper end of the oil chamber 309 is provided with a sealing ring 205, and the upper end of the plug rod 305 is slidably installed inside the sealing ring 205;

[0056] A support ring 409 is provided at one end of the second spring 408. A retainer 410 is provided between the support ring 409 and the docking post 412. The retainer 410 is arranged in an annular array and is sleeved on the outside of the processing shaft 406. The outer wall of the processing shaft 406 is provided with a second rolling groove 407 distributed in an annular array. A second ball 411 is rotatably mounted inside the retainer 410 and is in rolling contact with the second rolling groove 407.

[0057] One end of the docking column 412 is provided with symmetrically distributed docking blocks 414, and one end of the force ring 413 is provided with symmetrically distributed docking grooves 415 that are slidably docked with the docking blocks 414;

[0058] The method and steps for maintaining low-speed continuous impact with a brushless wrench are as follows:

[0059] S1: Because the sun gear 403 is meshed with the planet gears 404, the sun gear 403 rotates, pushing the planet gears 404 to rotate. At the same time, the planet gears 404 revolve inside the ring gear 401. The rotational force of the driven shaft 405 acts on the inside of the planet carrier 416. The revolving force of the planet gears 404 drives the planet carrier 416 to rotate. At this time, the speed of the sun gear 403 is greatly reduced, which can reduce the speed of the rotating shaft 402 and amplify the torque to achieve a continuous low speed.

[0060] S2: At the same time, the processing shaft 406 rotates with the planetary carrier 416, and the ball roller 411 and the rolling groove 407 can only slide horizontally. Under the action of the rotational force, the docking column 412 is driven to rotate. The rotational force acts on the docking block 414 through the docking column 412, and the docking block 414 acts on the docking groove 415. The docking groove 415 drives the docking column 412 to rotate, and then acts on the screwed bolt or nut. When the nut or bolt is very tight, the impact force has not yet overcome the maximum static friction, and the docking block 414 will be separated from the docking groove 415. The docking column 412 is instantly bounced and squeezes the spring 408, and it does not even have time to bite during the next rotation. After the spring is charged, it will rotate in the subsequent rotation. The process makes the docking block 414 dock with the docking groove 415, and at the same time, the elastic force accumulated by the spring impacts the docking ring. When the docking block 414 is bounced off, it will cause idling with a click. The low-speed impact can keep the hammer block and the anvil in better contact, ensuring that each impact is effectively transmitted. When encountering resistance, the cycle of "storage-impact-release" begins, generating a huge impact force to be transmitted to the disassembled nut or bolt. The most difficult thing for a rusted and stuck bolt or nut is to stop moving completely and start moving. At the beginning, the static friction force is the largest. The effect is more easily accumulated through continuous, stable, and slightly longer-acting impact force than through short and rapid impact force. By breaking through this critical point, the driving member 101 can output a very large torque at a low speed.

[0061] S3: Due to continuous impact, the vibration force will act on the user's hands. During this process, the piston 307 squeezes the spring 1 310, and the spring 1 310 is forced to shrink. At the same time, the piston 307 squeezes the hydraulic oil on the inner wall of the oil chamber 309. When the hydraulic oil passes through the oil gap 308, the smaller oil channel exerts resistance on the piston 307, so that the spring 1 310 in the expansion and contraction process exerts a damping effect. A hydraulic chamber is added between the drive member 101 shaft and the planetary gear input shaft, and the interior is filled with silicon-based damping oil. An oil film shear layer is formed through the precision oil gap 308. The high-viscosity oil generates shear resistance, delaying power transmission. The hydraulic chamber absorbs the peak torque of the drive member 101, and the planetary gear builds a low-speed and high-torque foundation. The hydraulic system realizes energy timing optimization, and the vibration force acting on the hand is reduced.

[0062] In this embodiment, when using a brushless wrench, the buffer structure 300 and the low-speed structure 400 work together to provide an efficient and comfortable experience for the operation. As for the low-speed structure 400, when the brushless wrench is started, the sun gear 403 starts to rotate due to the engagement with the planetary gear 404, while pushing the planetary gear 404 to rotate, the planetary gear 404 revolves inside the ring gear 401, and the rotation force of the driven shaft 405 acts on the inside of the planetary carrier 416. The turnover force of the planetary gear 404 drives the planetary carrier 416 to rotate, greatly reducing the speed of the rotating shaft 402, and at the same time amplifying the torque to achieve a continuous low speed. In this process, the processing shaft 406 rotates with the planetary carrier 416, and the roller The second bead 411 slides laterally with the second rolling groove 407, and drives the docking post 412 to rotate under the action of the rotational force. When the screwed bolt or nut is very tight, the impact force cannot overcome the maximum static friction force, and the docking block 414 will disengage from the docking groove 415. The docking post 412 is instantly bounced and squeezes the second spring 408. After the spring accumulates force, the docking block 414 and the docking groove 415 are re-connected during the subsequent rotation process. At the same time, the accumulated elastic force of the spring impacts the docking ring, generating a "storage-impact-release" cycle. The continuous, stable, and slightly longer-acting impact force is more likely to break through the critical point of the bolt or nut, allowing the driver 101 to output a very large torque at a low speed.

[0063] The buffer structure 300 effectively solves the vibration problem. The vibration force generated by continuous impact will act on the user's hand. At this time, piston 307 squeezes spring 1 310, causing spring 1 310 to contract under force. At the same time, piston 307 squeezes the hydraulic oil on the inner wall of oil chamber 309. When the hydraulic oil passes through oil gap 308, the smaller oil channel exerts resistance on piston 307, causing spring 1 310 to have a damping effect during the expansion and contraction process. A hydraulic chamber is added between the drive member 101 shaft and the planetary gear input shaft, and is filled with silicone-based damping oil. An oil film shear layer is formed through the precision oil gap 308. The high-viscosity oil generates shear resistance, delaying power transmission. The hydraulic chamber absorbs the peak torque of the drive member 101, and the planetary gear creates a low-speed, high-torque foundation. The hydraulic system achieves energy timing optimization, and the vibration force acting on the hand is ultimately significantly reduced. This design not only improves operating accuracy, but also avoids occupational diseases caused by long-term vibration and extends the life of the equipment.

[0064] Example 3:

[0065] A locking nut wrench industrial robot includes an industrial robot body 100 and a lubrication structure 200. The industrial robot body 100 includes a driving member 101 (a brushless motor), a mounting shaft 106 located at one end of a docking ring, a locking nut sleeve 107 located at one end of the mounting shaft 106, a support arm 102 located below the driving member 101, a battery module 104 located at the lower end of the support arm 102, and a button 105 located at one end of the support arm 102.

[0066] The lubrication structure 200 includes a mounting shell 201, lubricating oil filled in the mounting shell 201, a partition 109 located at one end of the mounting shell 201, oil filling holes 202 and oil drain holes 203 provided in the upper and lower ends of the mounting shell 201, and oil plugs located in the oil filling holes 202 and the oil drain holes 203;

[0067] A sealed bearing 1 204 is embedded in the interior of the partition 109, a sealed bearing 206 is embedded in one end of the installation shell 201, and the installation shaft 106 is rotatably installed in the interior of the sealed bearing 206;

[0068] A second sealing ring 306 is embedded in the mounting shell 201, and a wiring groove 103 is provided inside the support arm 102;

[0069] The outer side of the driving member 101 is sleeved with a housing 108 connected to a partition 109. The interior of the housing 108 is provided with equidistantly distributed heat dissipation holes 110. The lower end of the housing 108 is provided with a support plate 301 connected to the upper end of the plug rod 305.

[0070] The outer side of the upper end of the support arm 102 is sleeved with a ring-shaped array of rolling grooves 304. The lower end of the support plate 301 is provided with a ring-shaped array of rotating seats 302. The rotating seats 302 are rotatably mounted with balls 303 that are rolled and fitted with the rolling grooves 304. The lower end of the support plate 301 is provided with a sleeve plate 311 that is sleeved on the outer side of the rotating seats 302.

[0071] like Figure 13 , including a manipulator 500, the manipulator 500 includes a base 501, the base 501 is equipped with an X-axis servo linear module 502, the X-axis servo linear module 502 drives the first movable seat 503 to move back and forth, the first movable seat 503 is equipped with a Y-axis servo linear module 504, the Y-axis servo linear module 504 drives the second movable seat 505 to move back and forth, the second movable seat 505 is equipped with a Z-axis servo linear module 506, the Z-axis servo linear module 506 drives the industrial robot body 100 to move up and down.

[0072] In this embodiment, the industrial robot body 100 and the lubrication structure 200 of the brushless wrench ensure the normal operation and convenient use of the equipment. In the industrial robot body 100, the driving member 101 serves as the power source, and drives the lock nut sleeve 107 to rotate through the mounting shaft 106 to achieve the screwing of the bolt or nut. The support arm 102 provides the operator with a gripping position for convenient force application. The battery module 104 provides power support for the driving member 101, and the button 105 is used to control the start and stop of the wrench. During use, the lubrication structure 200 plays an important role. The lubricating oil filled in the mounting shell 201 provides rotation support for the rotating shaft 402 and the mounting shaft 106 respectively through the sealing bearing 1 204 and the sealing bearing 2 206, while preventing the leakage of lubricating oil. The sealing ring 2 306 provides sliding support for the docking column 412 in the mounting shell 201, ensuring the smooth operation of each component.

[0073] In addition, the housing 108 on the outside of the driver 101 not only supports and protects it, but also achieves air replacement through the heat dissipation holes 110, helping the driver 101 to dissipate heat and ensure its stable performance under long-term operation. The wiring groove 103 on the support arm 102 can hide the connection lines between the battery module 104 and the driver 101, making the device look neater. The support plate 301 is connected to the housing 108 through the plug rod 305. When grasping the support arm 102, the support plate 301 is displaced by the plug rod 305, and the ball 1 303 slides in the rolling groove 1 304, providing guidance for the movement of the support plate 301 and the plug rod 305, improving the stability of movement. The sleeve 311 shields the rotating seat 302 and the ball 1 303 to protect the internal structure. This design makes the brushless wrench more stable and reliable during use, reducing failures caused by component wear or cluttered wiring.

[0074] The planetary gear set is immersed in lubricating oil inside the mounting shell 201, so that the planetary gear set is effectively lubricated, reducing the wear of the planetary gear set. The lubricating oil is output through the oil drain hole 203, and new lubricating oil is input through the oil filling hole 202 to replace the lubricating oil, ensuring low-wear rotation of the gear set and improving work efficiency and service life.

[0075] The above specific embodiments are only several preferred embodiments of the present invention. Based on the technical solutions of the present invention and the relevant inspirations of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

[0076] 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. A nut-locking wrench industrial robot, characterized by: The invention comprises an industrial robot body (100) and a manipulator (500), wherein the manipulator (500) comprises a base (501), wherein the base (501) is provided with an X-axis servo linear module (502), wherein the X-axis servo linear module (502) drives a first movable seat (503) to move back and forth, wherein the first movable seat (503) is provided with a Y-axis servo linear module (504), wherein the Y-axis servo linear module (504) drives a second movable seat (505) to move back and forth, wherein the second movable seat (505) is provided with a Y-axis servo linear module (504). A Z-axis servo linear module (506) is installed, and the Z-axis servo linear module (506) drives the industrial robot body (100) to move up and down. The industrial robot body (100) includes a driving member (101), a mounting shaft (106) located at one end of a docking ring, a locking nut sleeve (107) located at one end of the mounting shaft (106), and a support arm (102) located below the driving member (101); the driving member (101) drives the locking nut sleeve (107) to rotate forward and reverse, thereby disassembling and assembling the nut.

2. The nut-locking wrench industrial robot according to claim 1, characterized in that: The invention also includes a buffer structure (300), wherein the buffer structure (300) includes an oil chamber (309), a piston (307) slidably mounted inside the oil chamber (309), a spring (310) located between the piston (307) and the inner wall of the oil chamber (309), a plug rod (305) located at the upper end of the piston (307), and an oil gap (308) located between the outer side of the piston (307) and the oil chamber (309); a sealing ring (205) is provided on the inner wall of the upper end of the oil chamber (309), and the upper end of the plug rod (305) is slidably mounted inside the sealing ring (205); The invention comprises a low-speed structure, wherein the low-speed structure (400) comprises a ring gear (401), a driven shaft (405) arranged in an annular array inside the ring gear (401), planetary gears sleeved on the outer wall of the driven shaft (405) and meshing with the ring gear (401), a rotating shaft (402) located at the center of the ring gear (401), a sun gear sleeved on the outer wall of the rotating shaft (402) and meshing with the planetary gears, a planetary carrier (416) located on one side of the ring gear (401) and rotatably mounted with the driven shaft (405), a processing shaft (406) located on one side of the planetary carrier (416), a second spring (408) located at one end of the planetary carrier (416), a docking column (412) and a force ring (413) located on one side of the second spring (408).

3. The nut-locking wrench industrial robot according to claim 1, characterized in that: A support ring (409) is provided at one end of the second spring (408), and a retaining frame (410) is provided between the support ring (409) and the docking column (412), which is distributed in an annular array and is sleeved on the outside of the processing shaft (406). The outer wall of the processing shaft (406) is provided with a second rolling groove (407) distributed in an annular array, and a second ball (411) is rotatably installed inside the second retaining frame (410) and is in rolling contact with the second rolling groove (407).

4. The nut-locking wrench industrial robot according to claim 1, characterized in that: One end of the docking column (412) is provided with a symmetrically distributed docking block (414), and one end of the force ring (413) is provided with a symmetrically distributed docking groove (415) that is slidably docked with the docking block (414).

5. The nut-locking wrench industrial robot according to claim 1, characterized in that: The invention also includes a lubrication structure (200), wherein the lubrication structure (200) includes a mounting shell (201), lubricating oil filled in the mounting shell (201), a partition (109) located at one end of the mounting shell (201), an oil filling hole (202) and an oil drain hole (203) opened in the upper and lower ends of the mounting shell (201), and an oil plug located in the oil filling hole (202) and the oil drain hole (203).

6. The nut-locking wrench industrial robot according to claim 5, characterized in that: A sealing bearing 1 (204) is embedded and installed inside the partition (109), a sealing bearing 2 (206) is embedded and installed inside one end of the installation shell (201), and the installation shaft (106) is rotatably installed inside the sealing bearing 2 (206).

7. The nut-locking wrench industrial robot according to claim 6, characterized in that: A second sealing ring (306) is embedded and installed inside the installation shell (201), and a wiring groove (103) is provided inside the support arm (102).

8. The nut-locking wrench industrial robot according to claim 7, characterized in that: The outer side of the driving member (101) is sleeved with a housing (108) connected to a partition (109); the interior of the housing (108) is provided with equidistantly distributed heat dissipation holes (110); the lower end of the housing (108) is provided with a support plate (301) connected to the upper end of the plug rod (305).

9. The nut-locking wrench industrial robot according to claim 8, characterized in that: The outer side of the upper end of the support arm (102) is sleeved with a rolling groove (304) distributed in a ring array, the lower end of the support plate (301) is provided with a rotating seat (302) distributed in a ring array, and a ball (303) is rotatably installed inside the rotating seat (302) and is rolled and fitted with the rolling groove (304). The side of the lower end of the support plate (301) is provided with a sleeve plate (311) sleeved on the outer side of the rotating seat (302).

10. A method for maintaining low-speed continuous impact of a nut-locking wrench industrial robot, characterized in that: Using a nut-locking wrench industrial robot according to any one of claims 1 to 9, the method comprises the following steps: S1: Since the sun gear (403) is meshed with the planet gear (404), the sun gear (403) drives the planet gear (404) to rotate. At the same time, the idle planet gear (404) rotates inside the ring gear (401). The rotation force of the driven shaft (405) acts on the inside of the planet carrier (416). The rotation force of the planet gear (404) drives the planet carrier (416) to rotate. At this time, the rotation speed of the sun gear (403) is greatly reduced, and the rotation speed of the rotating shaft (402) can be reduced. At the same time, the torque is amplified to achieve a continuous low speed. S2: At the same time, the processing shaft (406) rotates following the planetary carrier (416), and the second ball (411) and the second rolling groove (407) can only slide horizontally. Under the action of the rotational force, the docking column (412) is driven to rotate. The rotational force acts on the docking block (414) through the docking column (412), and the docking block (414) acts on the docking groove (415). The docking groove (415) drives the docking column (412) to rotate, and then acts on the screwed bolt or nut. When the nut or bolt is very tight, because the impact force has not yet overcome the maximum static friction, the docking block (414) will be separated from the docking groove (415), and the docking column (412) will be instantly bounced and squeeze the second spring (408), and it will not even have time to bite in the next rotation. After the spring is charged, the docking block (414) is docked with the docking groove (415) during the subsequent rotation process. At the same time, the elastic force accumulated by the spring impacts the docking ring. When the docking block (414) is ejected, it will cause a click and idle rotation. The low-speed impact can keep the hammer block and the anvil in better contact, ensuring that each impact is effectively transmitted. When encountering resistance, the "charge-impact-release" cycle begins, generating a huge impact force to be transmitted to the disassembled nut or bolt. The most difficult thing for a rusty and stuck bolt or nut is to stop moving completely and start moving. At the beginning, the static friction force is the largest. Through continuous, stable, and slightly longer-acting impact force, it is easier to accumulate the effect than a short and rapid impact force. After breaking through this critical point, the driving member (101) can output a very large torque at a low speed. S3: Due to the continuous impact, the vibration force will act on the user's hand. During this process, the piston (307) squeezes the spring (310), and the spring (310) is forced to shrink. At the same time, the piston (307) squeezes the hydraulic oil on the inner wall of the oil chamber (309). When the hydraulic oil passes through the oil gap (308), the smaller oil channel exerts resistance on the piston (307), so that the spring (310) in the expansion and contraction process exerts a damping effect. A hydraulic chamber is added between the drive member (101) shaft and the planetary gear input shaft, and the interior is filled with silicon-based damping oil. Through the precise oil gap (308), an oil film shear layer is formed. The high-viscosity oil generates shear resistance, delaying power transmission. The hydraulic chamber absorbs the peak torque of the drive member (101). The planetary gear builds a low-speed high-torque foundation. The hydraulic system realizes energy timing optimization, and the vibration force acting on the hand is reduced.

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