Method for maintaining low-speed continuous impact with a brushless wrench

Abstract

This invention relates to the field of nut-locking robot technology, and more particularly to a method for maintaining low-speed continuous impact with a brushless wrench. The technical solution includes a low-speed structure comprising a gear ring, a driven shaft located inside the gear ring, planetary teeth sleeved on the outer wall of the driven shaft and meshing with the gear ring, a rotating shaft located at the center of the gear ring, a sun tooth sleeved on the outer wall of the rotating shaft and meshing with the planetary teeth, a planetary carrier located on one side of the gear ring and rotatably mounted to the driven shaft, a machining shaft located on one side of the planetary carrier, a second spring located at one end of the planetary carrier, a connecting post located on one side of the second spring, and a force-bearing ring; the buffer structure includes an oil chamber, a piston slidably mounted inside the oil chamber, a first spring located between the piston and the inner wall of the oil chamber, a stopper rod located at the upper end of the piston, and an oil gap located between the outer side of the piston and the oil chamber. This invention improves the disassembly effect of parts and enhances user comfort by continuously impacting and reducing the force exerted on the user's hand.

Description

Technical Field

[0001] This invention relates to the field of nut-locking robot technology, and more particularly to a method for maintaining low-speed continuous impact with a brushless wrench. Background Technology

[0002] With the increasing level of mechanization, bolt fastening is an important connection method. During processing and assembly, nuts mostly need to be tightened one by one by operators. This not only consumes a lot of labor costs but also results in low processing efficiency, affecting assembly capacity. To solve the above problems, nut-locking robots have emerged.

[0003] A novel automatic screw-locking robot, disclosed in publication number CN106346240A, includes a mounting plate, a four-axis robot at one end of the mounting plate, a lifting mechanism at the other end of the mounting plate, and a screw-locking mechanism driven by the lifting mechanism. The lifting mechanism includes a first motor, a lead screw axially fixedly connected to the output shaft of the first motor, a lead screw nut sleeved on the lead screw, and two limiting blocks located 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. This robot can automatically lock hexagonal screws of different specifications and lengths. The screws are fed to the beak-like position at the front of the robot via a vibratory feeder, and the robot drives a servo motor / or electric screwdriver to perform the locking action. It offers fast screw-locking speed, low cost, and good versatility, meeting the locking needs of screws of different specifications and facilitating production line automation.

[0004] Existing screw-locking robots often suffer from continuous impact due to overload or design flaws, leading to hand fatigue and numbness for users, potentially causing occupational diseases in the long term, and affecting operational accuracy and equipment lifespan. Therefore, those skilled in the art have provided a method for maintaining low-speed continuous impact with a brushless wrench and a brushless wrench thereof to address the problems mentioned in the background art. Summary of the Invention

[0005] The purpose of this invention is to address the problems existing in the background art by proposing a method for maintaining low-speed continuous impact with a brushless wrench and a brushless wrench thereof.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an industrial robot for locking nuts and wrenches, comprising an industrial robot body, a lubrication structure, and a manipulator. The manipulator includes a base, on which an X-axis servo linear module is mounted. The X-axis servo linear module drives a first moving seat to reciprocate. The first moving seat is mounted with a Y-axis servo linear module, which drives a second moving seat to reciprocate. The second moving seat is mounted with a Z-axis servo linear module, which drives the industrial robot body to move up and down. The industrial robot body includes a drive component, 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 drive component, 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 system includes a low-speed architecture, comprising a gear ring, driven shafts arranged in a ring array inside the gear ring, planetary teeth fitted onto the outer wall of the driven shaft and meshing with the gear ring, a rotating shaft located at the center of the gear ring, a sun tooth fitted onto the outer wall of the rotating shaft and meshing with the planetary teeth, a planet carrier located on one side of the gear ring and rotatably mounted to the driven shaft, a machining shaft located on one side of the planet carrier, a second spring located at one end of the planet carrier, a docking post located on one side of the second spring, and a force-bearing ring.

[0008] The buffer structure includes an oil chamber, a piston slidably installed inside the oil chamber, a spring located between the piston and the inner wall of the oil chamber, 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 chamber.

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

[0010] Preferably, one end of the second spring is provided with a support ring, and a retainer arranged in a circular array and sleeved on the outside of the machining shaft is provided between the support ring and the docking post. The outer wall of the machining shaft is provided with a circular array of grooves, and a ball bearing is rotatably mounted inside the retainer to roll and fit against the 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 higher than the elastic force of the second spring, the second spring is compressed and contracts. The ball bearing slides inside the grooves, guiding the second spring during the expansion and contraction process and preventing the second spring from shifting outward. At the same time, the docking post is slidably guided, improving the stability of the movement process.

[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 engage with the docking grooves, the rotational force of the docking post acts on the docking ring. When the docking blocks disengage 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 inside the mounting shell, a partition located at one end of the mounting shell, an oil injection hole and an oil drain hole opened inside the upper and lower ends of the mounting shell, and an oil plug located inside the oil injection hole and the oil drain hole.

[0013] Preferably, a first sealed bearing is embedded inside the partition, and a second sealed bearing is embedded inside one end of the mounting housing. The mounting shaft is rotatably mounted inside the second sealed bearing. The first sealed bearing provides rotational support for the shaft, allowing it to rotate inside the partition. Simultaneously, the sealed bearings provide rotational support for the mounting shaft while preventing lubricating oil inside the mounting housing from leaking to the outside.

[0014] Preferably, a second sealing ring is embedded inside the mounting housing, and a wiring groove is provided inside the support arm. The second sealing ring provides sliding support for the docking post inside the mounting housing, and the bearing groove allows for concealed wiring arrangements when the battery module's power is connected to the drive component.

[0015] Preferably, the drive component is fitted with a housing connected to a partition plate. The housing has equidistantly distributed heat dissipation holes inside, and a support plate connected to the upper end of the piston rod is located at the lower end of the housing. The housing supports and protects the drive component, dissipates heat through the heat dissipation holes, and allows for the exchange of outside air with the air inside the housing.

[0016] Preferably, the upper outer side of the support arm is fitted with a ring-shaped array of roller grooves, and the lower end of the support plate is provided with a ring-shaped array of rotating seats. Inside the rotating seats, a ball bearing is rotatably mounted and rolled in contact with the roller grooves. A sleeve plate is provided on the lower side of the support plate, fitted onto the outer side of the rotating seat. The support plate supports the upper end of the stopper rod and connects to the housing. Gripping the support arm enables the use of the brushless wrench. When the support plate moves along the stopper rod, the ball bearing slides within the roller grooves, providing sliding guidance. This improves the stability of the support plate and stopper rod movement. The sleeve plate shields the rotating seat and the ball bearing.

[0017] A method for maintaining low-speed continuous impact using an industrial robot for locking nuts and nut wrenches, comprising the following steps:

[0018] S1: Because the sun gear meshes with the planet gears, the rotation of the sun gear drives the planet gears to rotate. At the same time, the idler planet gears rotate inside the gear ring. The rotational force of the driven shaft acts on the planet carrier. The rotational 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 shaft and amplify the torque to achieve a continuous low speed.

[0019] S2: Simultaneously, the machining shaft rotates with the planetary carrier. Ball bearing two and groove two can only slide laterally. Under the action of rotational force, the mating post rotates. This rotational force acts on the mating block through the mating post, which in turn acts on the mating groove. The mating groove drives the mating post to rotate, subsequently acting on the tightened bolt or nut. When the nut or bolt is very tight, because the impact force has not yet overcome the maximum static friction, the mating block will disengage from the mating groove. The mating post is instantly bounced back, compressing spring two. It may not even have time to engage in the next rotation. After the spring stores its force, it causes the mating block to engage with the mating groove during subsequent rotations, while simultaneously springing back... The elastic force stored in the spring impacts the mating ring. When the mating block is bounced away, it causes a clicking sound as it spins freely. The low-speed impact allows the hammer and anvil to maintain better contact, ensuring that each impact is effectively transmitted. When resistance is encountered, the cycle of "storage-impact-release" begins, generating a huge impact force that is transmitted to the disassembled nut or bolt. The most difficult part for rusted and stuck bolts or nuts is getting them from being completely still to starting to move. Initially, the static friction is at its maximum. A continuous, stable impact force with a slightly longer duration is more effective than a short, rapid impact force in accumulating its effect. Once this critical point is broken, the drive component can output a very large torque at low speeds.

[0020] S3: Due to the continuous impact, the vibration force will act on the user's hand. During this process, the piston squeezes the first spring, and the first spring 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 applies resistance to the piston, so that the first spring applies a damping effect during the extension and contraction process. A hydraulic chamber is added between the drive shaft and the planetary gear input shaft, which is filled with silicon-based damping oil. Through the precision oil gap, an oil film shear layer is formed. The high viscosity oil generates shear resistance, delaying the power transmission. The hydraulic chamber absorbs the peak torque of the drive component. The planetary gear builds a low-speed, high-torque foundation. The hydraulic system achieves energy timing optimization, reducing the vibration force acting on the hand.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] This invention significantly reduces the impact of vibration during use through the synergistic effect of an innovative low-speed architecture and a buffer structure. The low-speed architecture adopts a planetary gear reduction design, which converts the high speed of the drive component into a low speed and high torque output, achieving continuous and stable low-speed impact. This impact method is more likely to accumulate effects, especially when dealing with rusty or stuck bolts. It can break through the maximum static friction through the cycle of "energy storage-impact-release", improving disassembly and assembly efficiency.

[0023] Secondly, the hydraulic damping design, consisting of an oil chamber, piston, spring, and precision oil gap in the buffer structure, delays power transmission through the shear resistance of hydraulic oil, absorbs the peak torque of the driving components, and converts impact energy into a gentle damping force. This significantly reduces the vibration transmitted to the operator's hands, lowers the risk of occupational diseases caused by long-term use, and improves operating accuracy and equipment lifespan.

[0024] In addition, this invention retains the core advantages of the drive component, namely 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 work scenarios, and comprehensively solves the pain point of continuous impact of electric wrenches in the background technology. It achieves the technical effects of high efficiency, low vibration, and durability, and solves the problem that continuous impact of electric wrenches can easily cause hand vibration fatigue and occupational diseases. Attached Figure Description

[0025] Figure 1 This is a front-view three-dimensional structural schematic diagram of the present invention;

[0026] Figure 2 This is a bottom-view three-dimensional structural 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 front-view perspective view of the internal structure of the mounting shell and housing of the present invention;

[0029] Figure 5 This is a schematic diagram of the main cross-sectional three-dimensional 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 side view of the three-dimensional structure of the gear ring of the present invention;

[0032] Figure 8 This is a two-sided perspective view of the three-dimensional structure of the spring of the present invention;

[0033] Figure 9 This is a three-dimensional structural schematic diagram of the main cross-section of the machining shaft of the present invention;

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

[0035] Figure 11 This is a front-view perspective three-dimensional structural diagram of the support arm of the present invention;

[0036] Figure 12 This is a schematic diagram of the three-dimensional structure of the plug rod in the present invention (main cross-section).

[0037] Figure 13 This is a schematic diagram of the structure of the present invention when it is equipped with a robotic arm.

[0038] Reference numerals: 100, Industrial robot body; 101, Drive unit; 102, Support arm; 103, Cable routing channel; 104, Battery module; 105, Button; 106, Mounting shaft; 107, Locking nut sleeve; 108, Housing; 109, Partition plate; 110, Heat dissipation hole;

[0039] 200. Lubrication structure; 201. Mounting housing; 202. Oil injection hole; 203. Oil drain hole; 204. Sealed bearing one; 205. Sealing ring one; 206. Sealed bearing two;

[0040] 300. Buffer structure; 301. Support plate; 302. Rotating seat; 303. Ball bearing 1; 304. Groove 1; 305. Plug rod; 306. Sealing ring 2; 307. Piston; 308. Oil gap; 309. Oil cavity; 310. Spring 1; 311. Sleeve plate;

[0041] 400. Low-speed structure; 401. Gear ring; 402. Rotating shaft; 403. Sun gear; 404. Planet gears; 405. Driven shaft; 406. Machining shaft; 407. Second groove; 408. Second spring; 409. Support ring; 410. Cage; 411. Second ball bearing; 412. Connecting post; 413. Force-bearing ring; 414. Connecting block; 415. Connecting groove; 416. Planetary carrier;

[0042] 500. Robotic arm; 501. Base; 502. X-axis servo linear module; 503. First moving seat; 504. Y-axis servo linear module; 505. Second moving seat; 506. Z-axis servo linear module. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Please see Figures 1 to 12 The present invention provides three embodiments:

[0045] Example 1:

[0046] An industrial robot for locking nuts and wrenches includes a low-speed structure 400, which includes a gear ring 401, driven shafts 405 arranged in a ring array inside the gear ring 401, planetary teeth sleeved on the outer wall of the driven shafts 405 and meshing with the gear ring 401, a rotating shaft 402 located at the center of the gear ring 401, a sun tooth sleeved on the outer wall of the rotating shaft 402 and meshing with the planetary teeth, a planet carrier 416 located on one side of the gear ring 401 and rotatably mounted with the driven shafts 405, a processing shaft 406 located on one side of the planet carrier 416, a second spring 408 located at one end of the planet carrier 416, a docking post 412 located on one side of the second spring 408, and a force-receiving ring 413.

[0047] The buffer structure 300 includes an oil chamber 309, a piston 307 slidably installed inside the oil chamber 309, a spring 310 located between the piston 307 and the inner wall of the oil chamber 309, a stopper 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] A sealing ring 205 is provided on the inner wall of the upper end of the oil cavity 309, 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 spring 408. A retainer 410 is provided between the support ring 409 and the docking post 412 in a ring array and sleeved on the outside of the machining shaft 406. The outer wall of the machining shaft 406 is provided with a roller groove 407 in a ring array. A ball 411 that rolls and fits against the roller groove 407 is rotatably installed inside the retainer 410.

[0050] One end of the docking post 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 slide and dock with the docking blocks 414.

[0051] In this embodiment, the drive component 101 rotates at a speed of 20,000 revolutions per minute, which drives the sun tooth to rotate at high speed. It bites the three planetary teeth around it, and the planetary teeth are held by the gear ring 401. At this time, the planetary teeth are like walking in a maze, both rotating on their own axis and revolving around the sun tooth. This is called rotation. Finally, it slowly outputs the planet carrier 416, and the speed is directly reduced. This is specifically designed to deal with large rusted bolts, such as M30 bolts on truck tires.

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

[0053] Example 2:

[0054] The buffer structure 300 includes an oil chamber 309, a piston 307 slidably installed inside the oil chamber 309, a spring 310 located between the piston 307 and the inner wall of the oil chamber 309, a stopper 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] A sealing ring 205 is provided on the inner wall of the upper end of the oil cavity 309, 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 spring 408. A retainer 410 is provided between the support ring 409 and the docking post 412 in a ring array and sleeved on the outside of the machining shaft 406. The outer wall of the machining shaft 406 is provided with a roller groove 407 in a ring array. A ball 411 that rolls and fits against the roller groove 407 is rotatably installed inside the retainer 410.

[0057] One end of the docking post 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 slide and dock with the docking blocks 414.

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

[0059] S1: Because the sun gear 403 meshes with the planet gear 404, when the sun gear 403 rotates, it drives the planet gear 404 to rotate. At the same time, the planet gear 404 rotates inside the gear ring 401. The rotational force of the driven shaft 405 is applied to the planet carrier 416. The rotational force of the planet gear 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 shaft 402 and amplify the torque to achieve a continuous low speed.

[0060] S2: Simultaneously, the machining shaft 406 rotates with the planetary carrier 416. The second ball bearing 411 and the second groove 407 can only slide laterally. Under the action of rotational force, the mating post 412 rotates. The rotational force is transmitted through the mating post 412 to the mating block 414, which in turn acts on the mating groove 415. The mating groove 415 drives the mating post 412 to rotate, subsequently acting on the tightened bolt or nut. When the nut or bolt is very tight, because the impact force has not yet overcome the maximum static friction, the mating block 414 will disengage from the mating groove 415. The mating post 412 is instantly bounced back, compressing the second spring 408. It may not even have time to engage in the next rotation. After storing its force, the spring... The process allows the docking block 414 to dock with the docking groove 415. At the same time, the elastic force stored in the spring impacts the docking ring. When the docking block 414 is bounced away, it will cause a click and spin freely. The low-speed impact allows the hammer and anvil to maintain better contact, ensuring that each impact is effectively transmitted. When resistance is encountered, the cycle of "storage-impact-release" begins, generating a huge impact force that is transmitted to the disassembled nut or bolt. The most difficult part for rusted and stuck bolts or nuts is from being completely still to starting to move. At the beginning, the static friction is the greatest. Through continuous, stable, and slightly longer impact force, it is easier to accumulate the effect than a short and rapid impact force. By breaking through this critical point, the drive component 101 can output a very large torque at low speed.

[0061] S3: Due to the continuous impact, the force of vibration will act on the user's hand. During this process, piston 307 squeezes spring 310, and spring 310 contracts 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 applies resistance to piston 307, so that spring 310 applies a damping effect during the extension and retraction process. A hydraulic chamber is added between the drive component 101 shaft and the planetary gear input shaft, which is filled with silicon-based damping oil. Through the precision 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 drive component 101. The planetary gear builds a low-speed, high-torque foundation. The hydraulic system achieves energy timing optimization, reducing the vibration force acting on the hand.

[0062] In this embodiment, when using the brushless wrench, the buffer structure 300 and the low-speed structure 400 work together to provide an efficient and comfortable operating experience. Regarding the low-speed structure 400, when the brushless wrench is started, the sun gear 403 begins to rotate due to meshing with the planet gears 404. This drives the planet gears 404 to rotate, and simultaneously, the planet gears 404 revolve inside the gear ring 401. The rotational force of the driven shaft 405 acts on the planet carrier 416, and the rotational force of the planet gears 404 drives the planet carrier 416 to rotate, significantly reducing the rotational speed of the shaft 402 while amplifying the torque, achieving a sustained low speed. During this process, the machining shaft 406 rotates with the planet carrier 416, rolling... The second bead 411 and the second groove 407 slide laterally, and under the action of rotational force, they drive the docking post 412 to rotate. When the tightened bolt or nut is very tight, the impact force does not 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 stores the force, it causes the docking block 414 to re-connect with the docking groove 415 in the subsequent rotation process. At the same time, the elastic force stored by the spring impacts the docking ring, generating a cycle of "storage-impact-release". The continuous, stable, and longer-lasting impact force is more likely to break through the critical point of the bolt or nut, so that the drive component 101 outputs a very large torque at 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 hands. At this time, the piston 307 compresses the spring 310, and the spring 310 contracts under force. At the same time, the piston 307 compresses 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 applies resistance to the piston 307, so that the spring 310 produces a damping effect during the extension and contraction process. A hydraulic chamber is added between the drive component 101 shaft and the planetary gear input shaft. The chamber 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 component 101. The planetary gear builds a low-speed, high-torque foundation. The hydraulic system achieves energy timing optimization. Finally, the vibration force acting on the hands is greatly reduced. This design not only improves the operating accuracy, but also avoids occupational diseases caused by long-term vibration and extends the service life of the equipment.

[0064] Example 3:

[0065] An industrial robot for locking nuts and wrenches includes an industrial robot body 100 and a lubrication structure 200. The industrial robot body 100 includes a drive component 101 (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 drive component 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 housing 201, lubricating oil filled inside the mounting housing 201, a partition 109 located at one end of the mounting housing 201, an oil injection hole 202 and an oil drain hole 203 opened inside the upper and lower ends of the mounting housing 201, and an oil plug located inside the oil injection hole 202 and the oil drain hole 203.

[0067] A first sealed bearing 204 is embedded inside the partition 109, and a second sealed bearing 206 is embedded inside one end of the mounting housing 201. The mounting shaft 106 is rotatably mounted inside the second sealed bearing 206.

[0068] A sealing ring 306 is embedded inside the mounting housing 201, and a wiring groove 103 is provided inside the support arm 102.

[0069] The drive unit 101 is sleeved with a housing 108 connected to the partition 109. The housing 108 has equidistantly distributed heat dissipation holes 110 inside. The lower end of the housing 108 is provided with a support plate 301 connected to the upper end of the stopper rod 305.

[0070] The upper outer side of the support arm 102 is fitted with a roller groove 304 arranged in a ring array. The lower end of the support plate 301 is provided with a rotating seat 302 arranged in a ring array. The rotating seat 302 is rotatably installed with a ball bearing 303 that is rolled and fitted with the roller groove 304. The lower side of the support plate 301 is provided with a sleeve plate 311 that is fitted onto the outside of the rotating seat 302.

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

[0072] In this embodiment, the industrial robot body 100 and lubrication structure 200 of the brushless wrench ensure the normal operation and convenient use of the equipment. In the industrial robot body 100, the drive component 101 serves as the power source, driving the locking nut sleeve 107 to rotate via the mounting shaft 106, thereby turning the bolt or nut. The support arm 102 provides a gripping part for the operator, facilitating the application of force. The battery module 104 provides power support for the drive component 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 rotational support for the rotating shaft 402 and the mounting shaft 106 respectively through the first sealing bearing 204 and the second sealing bearing 206, while preventing lubricating oil leakage. The second sealing ring 306 provides sliding support for the docking post 412 within the mounting shell 201, ensuring smooth operation of all components.

[0073] Furthermore, the outer casing 108 of the drive component 101 not only supports and protects it, but also facilitates air exchange through the heat dissipation holes 110, helping to dissipate heat from the drive component 101 and ensuring its stable performance during long-term operation. The wiring groove 103 on the support arm 102 can conceal the connection lines between the battery module 104 and the drive component 101, making the device look cleaner. The tray 301 is connected to the casing 108 through the stop rod 305. When gripping the support arm 102, the tray 301 is displaced by the stop rod 305, and the ball bearing 303 slides in the groove 304, providing guidance for the movement of the tray 301 and the stop rod 305 and improving movement stability. The sleeve 311 shields the rotating seat 302 and the ball bearing 303, protecting the internal structure. This design makes the brushless wrench more stable and reliable during use, reducing malfunctions caused by component wear or messy wiring.

[0074] The planetary gear set is immersed in lubricating oil inside the mounting housing 201, which effectively lubricates the planetary gear set, reduces the wear of the planetary gear set, and outputs the lubricating oil through the oil drain hole 203 and inputs new lubricating oil through the oil injection hole 202 to replace the lubricating oil, ensuring low-wear rotation of the gear set, and improving working efficiency and service life.

[0075] The above specific embodiments are merely several preferred embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings 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 implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An industrial robot for locking nuts and bolts, characterized in that: The system includes an industrial robot body (100) and a robotic arm (500). The robotic arm (500) includes a base (501) on which an X-axis servo linear module (502) is mounted. The X-axis servo linear module (502) drives a first moving base (503) to reciprocate. The first moving base (503) is equipped with a Y-axis servo linear module (504), which drives a second moving base (505) to reciprocate. The second moving base (505) is equipped with... There is a Z-axis servo linear module (506), which drives the industrial robot body (100) to move up and down. The industrial robot body (100) includes a drive component (101), a mounting shaft (106) located at one end of the force ring (413), a locking nut sleeve (107) located at one end of the mounting shaft (106), and a support arm (102) located below the drive component (101). The drive component (101) drives the locking nut sleeve (107) to rotate forward and backward, thereby disassembling and assembling the nut. It also includes a buffer structure (300), which includes an oil chamber (309), a piston (307) slidably installed inside the oil chamber (309), a spring (310) located between the piston (307) and the inner wall of the oil chamber (309), a piston 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 piston rod (305) is slidably installed inside the sealing ring (205); The system includes a low-speed structure (400), which includes a gear ring (401), a driven shaft (405) arranged in a ring array inside the gear ring (401), planetary teeth sleeved on the outer wall of the driven shaft (405) and meshing with the gear ring (401), a rotating shaft (402) located at the center of the gear ring (401), a sun tooth sleeved on the outer wall of the rotating shaft (402) and meshing with the planetary teeth, a planet carrier (416) located on one side of the gear ring (401) and rotatably mounted with the driven shaft (405), a machining shaft (406) located on one side of the planet carrier (416), a second spring (408) located at one end of the planet carrier (416), a docking post (412) located on one side of the second spring (408), and a force-bearing ring (413). One end of the second spring (408) is provided with a support ring (409). Between the support ring (409) and the docking post (412), there is a retainer (410) arranged in a ring array and sleeved on the outside of the processing shaft (406). The outer wall of the processing shaft (406) is provided with a second groove (407) arranged in a ring array. The second retainer (410) is rotatably installed with a second ball (411) that rolls and fits against the second groove (407). The docking post (412) has symmetrically distributed docking blocks (414) at one end, and the force ring (413) has symmetrically distributed docking grooves (415) at one end that slide and dock with the docking blocks (414).

2. The industrial robot for locking nuts and bolts according to claim 1, characterized in that: It also includes a lubrication structure (200), which includes a mounting shell (201), lubricating oil filled inside the mounting shell (201), a partition (109) located at one end of the mounting shell (201), an oil injection hole (202) and an oil drain hole (203) opened inside the upper and lower ends of the mounting shell (201), and an oil plug located inside the oil injection hole (202) and the oil drain hole (203).

3. The industrial robot for locking nuts and bolts according to claim 2, characterized in that: A first sealed bearing (204) is embedded inside the partition (109), and a second sealed bearing (206) is embedded inside one end of the mounting shell (201). The mounting shaft (106) is rotatably mounted inside the second sealed bearing (206).

4. The industrial robot for locking nuts and bolts according to claim 3, characterized in that: The mounting housing (201) has a sealing ring 2 (306) embedded inside, and the support arm (102) has a wiring groove (103) inside.

5. The industrial robot for locking nuts and bolts according to claim 4, characterized in that: The drive unit (101) is sleeved with a housing (108) connected to the partition (109). The housing (108) has equidistantly distributed heat dissipation holes (110) inside. The lower end of the housing (108) is provided with a support plate (301) connected to the upper end of the stopper rod (305).

6. The industrial robot for locking nuts and bolts according to claim 5, characterized in that: The upper outer side of the support arm (102) is fitted with a roller groove (304) arranged in a ring array. The lower end of the support plate (301) is provided with a rotating seat (302) arranged in a ring array. The rotating seat (302) is rotatably installed with a ball bearing (303) that is rolled and fitted with the roller groove (304). The lower side of the support plate (301) is provided with a sleeve plate (311) fitted to the outside of the rotating seat (302).

7. A method for maintaining low-speed continuous impact in an industrial robot for locking nuts and bolts, characterized in that: The use of the industrial robot for locking a nut wrench according to claim 6 includes the following steps: S1: Because the sun gear (403) meshes with the planet gear (404), when the sun gear (403) rotates, it drives the planet gear (404) to rotate. At the same time, the planet gear (404) rotates inside the gear ring (401). The rotational force of the driven shaft (405) acts on the planet carrier (416). The rotational force of the planet gear (404) drives the planet carrier (416) to rotate. At this time, the speed of the sun gear (403) decreases, which reduces the speed of the shaft (402). At the same time, the torque is amplified to achieve a continuous low speed. S2: At the same time, the machining shaft (406) rotates with the planetary carrier (416), and the second ball (411) and the second groove (407) can only slide laterally. Under the action of the rotational force, the docking column (412) is driven to rotate. The rotational force is applied to the docking block (414) through the docking column (412), and the docking block (414) is applied to the docking groove (415). The docking groove (415) drives the mounting shaft (106) to rotate, and then applies to the screwed bolt or nut. When the nut or bolt is tightened, because the impact force has not yet overcome the maximum static friction force, the docking block (414) will disengage from the docking groove (415), the docking column (412) is bounced open, and squeezes the second spring (408), and cannot be engaged in the next rotation. During the rotation process after the spring is charged, the docking block (414) is connected to the docking groove (415). At the same time, the elastic force stored by the spring impacts the force ring (413). When the docking block (414) is bounced open, it will cause free rotation. S3: Due to the continuous impact, the force of vibration will act on the user's hands. During this process, the piston (307) squeezes the spring (310), and the spring (310) contracts under force. 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 oil passage applies resistance to the piston (307), so that the spring (310) applies a damping effect during the extension and retraction process. A hydraulic chamber is added between the drive component (101) and the planetary gear input shaft, and the interior is filled with silicon-based damping oil. Through the oil gap (308), an oil film shear layer is formed.

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