Device and method for locking nut of fixed cutter assembly of chopper

Abstract

The invention provides a device and a method for locking a nut of a fixed cutter assembly of a chopper. A nut locking device for a fixed cutter assembly of a chopper comprises a rack, a torque control mechanism, a spring washer feeding mechanism, a nut feeding mechanism, a spring washer grabbing mechanism, a nut suction mechanism, a fixing tool and a torque sensor. The torque control mechanism, the spring washer feeding mechanism, the nut feeding mechanism, the spring washer grabbing mechanism and the fixing tool are all installed on the rack, and the nut suction mechanism and the torque sensor are both installed on the torque control mechanism.

Description

Technical Field

[0001] This invention relates to the field of chopper fixed blade assembly technology, and in particular to a nut locking device and method for chopper fixed blade assembly. Background Technology

[0002] In industries such as machinery manufacturing and automotive parts assembly, bolt-nut connections are one of the most widely used connection methods. For components with a large number of fastening points, such as the shredder blade assembly, the traditional assembly process mainly relies on manual or semi-automated equipment.

[0003] The core of well-known automated tightening technology is the servo tightening shaft (or servo torque motor). This technology uses a servo motor to precisely control the rotation angle and output torque, enabling precise control of the bolt tightening process and providing real-time torque feedback to ensure connection quality. Servo tightening shafts are typically integrated into multi-degree-of-freedom motion modules, such as X, Y, and Z-axis Cartesian coordinate robots (also known as three-axis mechanical gantry) driven by servo motors or stepper motors, to achieve precise positioning in three-dimensional space. In addition, vibratory feeders, as a well-known automated feeding device, are widely used for the orientation, sorting, and conveying of small, regular parts such as screws, nuts, and washers. Pneumatic technology, using cylinders as actuators, enables simple and rapid linear movements such as workpiece clamping, positioning, and pushing, and is also an indispensable component of automated equipment.

[0004] These well-known technologies (servo tightening, multi-axis motion control, vibration feeding, pneumatic control) together constitute the technological foundation of modern automated assembly equipment.

[0005] Although the aforementioned known technologies are quite mature, existing technologies still have significant shortcomings when it comes to efficient, fully automated assembly solutions for specific components such as the shredder blade assembly. The closest existing technology can be described as a "manually-led, semi-automated assembly method."

[0006] The specific solution and steps of the existing technology are as follows: Structural components: The core equipment of this method includes: a set of material boxes for holding bolts, spring washers and nuts, a set of manual operation workbench or simple clamps, a hand-held electric wrench, and a manual torque wrench for final inspection.

[0007] Assembly steps: 1. Manual placement: The operator first manually picks up the bolts one by one from the material box and inserts them into the corresponding mounting holes of the shredder fixed blade assembly bracket.

[0008] 2. Manual placement of washers and nuts: The operator then manually places the spring washers and nuts onto the bolts one by one.

[0009] 3. Manual pre-tightening: The operator needs to manually pre-tighten the nut onto the bolt to ensure that the nut will not fall off.

[0010] 4. Electric wrench tightening: The operator holds an electric wrench and tightens the nuts one by one. This process relies entirely on the operator's experience, as the electric wrench itself has no precise torque display or feedback function.

[0011] 5. Re-tightening: Because the tightening torque of an electric wrench is uncontrollable, to ensure product quality, another inspector or the same worker must use a manual torque wrench to check the tightening torque of all nuts one by one in subsequent processes. Nuts with unacceptable torque need to be adjusted or retightened.

[0012] The existing technical solution has the following significant drawbacks: 1. Extremely low production efficiency: All steps, including parts picking, placement, pre-tightening, locking, and inspection, heavily rely on manual operation, resulting in cumbersome and time-consuming processes. According to the provided data, only about 30 products can be produced per day (8-hour workday), which is extremely inefficient.

[0013] 2. Unstable product quality: The handheld electric wrench cannot accurately control the output torque, resulting in inconsistent nut tightening force and a low product qualification rate (approximately 85%). Although there is a torque inspection process afterward, this is a remedial measure and cannot fundamentally guarantee the quality of the initial tightening. Moreover, the inspection itself increases time and labor costs.

[0014] 3. High labor costs: The entire process requires workers to perform high-intensity, repetitive labor, requiring at least one operator and some inspection workers. Labor costs account for a high proportion of the total production costs.

[0015] 4. Safety hazards exist: When workers hold heavy, vibrating electric wrenches for extended periods, they are prone to fatigue injuries to their wrists, arms, and other parts of their bodies, posing a clear occupational health and safety hazard.

[0016] 5. Low level of automation and intelligence: Existing technical solutions have not achieved automatic feeding and tightening of nuts and washers, as well as online real-time monitoring and feedback of torque, and do not belong to true automated production.

[0017] Therefore, there is an urgent need for a specialized device that can achieve fully automated assembly of the shredder's fixed blade assembly in order to solve the aforementioned prominent issues regarding efficiency, quality, cost, and safety. Summary of the Invention

[0018] The technical problem to be solved by the present invention is to provide a locking device and method for the fixed blade assembly nut of a shredder, which addresses the shortcomings of the prior art.

[0019] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A nut locking device for a shredder fixed blade assembly includes: a frame, a torque control mechanism, a spring washer feeding mechanism, a nut feeding mechanism, a spring washer gripping mechanism, a nut suction mechanism, a fixing fixture, and a torque sensor. The torque control mechanism, the spring washer feeding mechanism, the nut feeding mechanism, the spring washer gripping mechanism, and the fixing fixture are all mounted on the frame, and the nut suction mechanism and the torque sensor are all mounted on the torque control mechanism.

[0020] The beneficial effects of adopting the technical solution of this invention are: It enables automatic feeding, automatic gripping, and automatic placement of spring washers and nuts; it enables automatic pre-tightening and final tightening of nuts, with real-time monitoring and feedback of torque values ​​during the tightening process to ensure that each tightening meets preset standards; it enables automatic positioning and clamping of workpieces; and it reduces labor intensity and eliminates safety hazards.

[0021] Furthermore, the torque control mechanism is a torque motor, the nut picking mechanism is a sleeve, the sleeve is equipped with a vacuum nozzle, the sleeve is mounted on the output shaft of the torque motor, the torque sensor is connected to the torque motor; the spring washer gripping mechanism is a robotic arm; and the fixed fixture is equipped with an unloading mechanism.

[0022] The beneficial effects of adopting the above-mentioned further technical solution are: the torque motor not only provides rotational power, but also enables real-time, high-precision control of the output torque and rotation angle. A replaceable sleeve is connected to the motor output for gripping and tightening the nut. This is key to achieving high-quality tightening; it can read the torque value in real time via a torque sensor during the tightening process. The unloading mechanism is used for automatic unloading after assembly. A robotic arm is used to grip the washer from the outlet of the spring washer feeder and accurately place it onto the bolt of the workpiece.

[0023] Furthermore, the torque motor is a servo torque motor; the manipulator is a pneumatic manipulator; the fixed fixture is a pneumatic clamp; and the unloading mechanism is a cylinder.

[0024] The beneficial effects of adopting the above-mentioned further technical solution are: the servo torque motor not only provides rotational power, but also enables real-time, high-precision control of the output torque and rotation angle. A three-axis pneumatic robot is used to grab washers from the outlet of the spring washer feeder and accurately place them onto the bolts of the workpiece. The robot is mounted at the end of the robot arm to perform the grabbing and releasing actions of the spring washers. This robot ensures the automation of washer placement. The fixing fixture uses pneumatic components such as bracket positioning cylinders to precisely fix the placed workpiece support and blades, preventing movement during assembly. After assembly, the cylinders within the fixture actuate, automatically lifting or pushing out the assembled assembly, achieving automatic unloading and facilitating the operator's removal of the finished product.

[0025] Furthermore, the torque control mechanism is mounted on the frame via a first three-axis linear module, or the torque control mechanism is mounted on the frame via a first multi-joint robot; the spring washer gripping mechanism is mounted on the frame via a second three-axis linear module, or the spring washer gripping mechanism is mounted on the frame via a second multi-joint robot.

[0026] The beneficial effects of adopting the above-mentioned further technical solution are as follows: A three-axis stepping mechanical gantry is installed above the frame. This gantry consists of three precision linear modules driven by stepper motors, which control the movement of the X, Y, and Z axes respectively. The three-axis system works in concert, enabling the servo tightening axis to be precisely positioned above any bolt on the workpiece that requires tightening. The three-axis pneumatic robot is used to grab a washer from the outlet of the spring washer feeder and accurately place it onto the bolt on the workpiece. It typically uses a combination of multiple cylinders to achieve multiple degrees of freedom of movement.

[0027] Furthermore, when the torque control mechanism is mounted on the frame via a first three-axis linear module, the first three-axis linear module is a three-axis linear module driven by a stepper motor or a three-axis linear module driven by a servo motor; when the spring washer gripping mechanism is mounted on the frame via a second three-axis linear module, the second three-axis linear module is a three-axis linear module driven by a cylinder or a three-axis linear module driven by a servo motor.

[0028] The beneficial effects of adopting the above-mentioned further technical solution are as follows: A three-axis stepping mechanical gantry is installed above the frame. This gantry consists of three precision linear modules driven by stepper motors, which control the movement of the X, Y, and Z axes respectively. The three-axis system works in concert, enabling the servo tightening axis to be precisely positioned above any bolt on the workpiece that requires tightening. The three-axis pneumatic robot is used to grab a washer from the outlet of the spring washer feeder and accurately place it onto the bolt on the workpiece. It typically uses a combination of multiple cylinders to achieve multiple degrees of freedom of movement.

[0029] Further, the first three-axis linear module includes: a first X-axis module, a first Y-axis module, and a first Z-axis module. The first X-axis module is mounted on the frame, the first Y-axis module is connected to the first X-axis module, and the first Z-axis module is connected to the first Y-axis module. The torque control mechanism is mounted on the first Z-axis module. The second three-axis linear module includes: a second X-axis module, a second Y-axis module, and a second Z-axis module. The second X-axis module is mounted on the frame, the second Y-axis module is connected to the second X-axis module, and the second Z-axis module is connected to the second Y-axis module. The spring washer gripping mechanism is mounted on the second Z-axis module.

[0030] The beneficial effects of adopting the above-mentioned further technical solution are as follows: The first X-axis module is installed across the worktable and is used to drive the entire Z-axis mechanism to move left and right in the horizontal plane to cover the nut tightening points at different positions on the workpiece. The first Y-axis module is connected to the first X-axis module and is used to set and change the running trajectory of the tightening mechanism in the length direction of the workpiece. The slider of the first Z-axis module is equipped with a core servo torque control mechanism. The first Z-axis module is responsible for driving the servo tightening axis to perform lifting and lowering movements to complete the gripping, pressing, and tightening actions of the nut. This three-axis system works in concert and can accurately position the servo tightening axis above any bolt on the workpiece that needs to be tightened. The second X-axis module and the second Y-axis module control the robot arm to move back and forth or left and right in the horizontal plane, moving the shim from the feed port to above the workpiece. The second Z-axis module controls the vertical movement of the robot arm to achieve downward gripping and lifting.

[0031] Furthermore, the frame is a frame; the spring washer feeding mechanism is a spring washer vibrating feeding disc with a direct vibration feeder, and the nut feeding mechanism is a nut vibrating feeding disc with a direct vibration feeder; the spring washer feeding mechanism is connected to a first material distribution mechanism; and the nut feeding mechanism is connected to a second material distribution mechanism.

[0032] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: Nut vibratory feeder and direct vibratory feeder: The nut vibratory feeder is used to automatically orient and sort large quantities of bulk nuts, and then the direct vibratory feeder transports the orderly nuts to the designated material distribution mechanism outlet to await grabbing. Spring washer vibratory feeder and direct vibratory feeder: Its function is similar to the nut feeding system, used for the automatic sorting and conveying of spring washers.

[0033] Furthermore, the torque control mechanism, the spring washer feeding mechanism, the nut feeding mechanism, the spring washer gripping mechanism, the nut suction mechanism, the fixing fixture, and the torque sensor are all connected to a controller, which is connected to a display screen with human-machine interaction function, a power supply, and an alarm device.

[0034] The beneficial effects of adopting the above-mentioned further technical solution are as follows: The controller is responsible for receiving signals from various sensors and, according to the preset program logic, issuing commands to actuators such as motor drivers, servo drivers, and solenoid valves to coordinate the automated operation of the entire device. The display screen is used for switching between automatic and manual modes, setting parameters, and monitoring. It allows users to flexibly set key parameters, giving the equipment a certain degree of adaptability and meeting the needs of fine-tuning different product specifications or processes.

[0035] Furthermore, the present invention also provides a method for locking the nut of a shredder fixed blade assembly. Based on the above-mentioned shredder fixed blade assembly nut locking device, the shredder fixed blade assembly nut locking method includes: S1, fixing the workpiece by a fixing fixture; S2, activating the spring washer feeding mechanism and the nut feeding mechanism; S3, grabbing the spring washer by the spring washer gripping mechanism and placing the spring washer on the bolt of the workpiece; S4, picking up the nut by the nut absorbing mechanism and moving the nut above the bolt on which the spring washer has been placed; S5, performing pre-tightening and fine tightening by the torque control mechanism, and detecting the real-time torque value by the torque sensor during the fine tightening process.

[0036] The beneficial effects of adopting the technical solution of this invention are: It enables automatic feeding, automatic gripping, and automatic placement of spring washers and nuts; it enables automatic pre-tightening and final tightening of nuts, with real-time monitoring and feedback of torque values ​​during the tightening process to ensure that each tightening meets preset standards; it enables automatic positioning and clamping of workpieces; and it reduces labor intensity and eliminates safety hazards.

[0037] Further, before step S1, the following steps are included: system initialization, each motion axis returning to zero; setting the torque value, tightening angle, and speed and position of the three-axis motion of the torque control mechanism through the display screen; after step S5, the following steps are included: S6, determining whether the real-time torque value is not less than the set value through the controller; S7, recording as qualified through the controller when the real-time torque value is not less than the set value; S8, issuing an alarm command to the alarm device through the controller when the real-time torque value is less than the set value; after step S7, the following steps are included: S9, releasing the workpiece through the fixing fixture after the nut tightening work is completed; S10, ejecting the workpiece through the unloading mechanism.

[0038] The beneficial effects of adopting the above-mentioned further technical solution are as follows: The torque value is read by a torque sensor and compared with the set value. If the value is not met, an alarm signal is issued. If the torque reaches the set value, tightening is successful, and the system records that the point is qualified. If the torque does not reach the set value, an abnormality is detected and an alarm is issued. The system can then attempt to tighten again or stop the cycle, prompting worker intervention. After all nuts are tightened and pass the inspection, the controller sends a signal to a dedicated pneumatic fixture. The automatic unloading cylinder in the fixture actuates, lifting the assembled shredder blade assembly for easy removal. This allows users to flexibly set key parameters, giving the equipment a certain degree of adaptability and meeting the needs of fine-tuning different product specifications or processes.

[0039] The advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is one of the structural schematic diagrams of the nut locking device for the shredder fixed blade assembly provided in an embodiment of the present invention.

[0042] Figure 2 This is the second schematic diagram of the nut locking device for the shredder fixed blade assembly provided in an embodiment of the present invention.

[0043] Figure 3 The circuit diagram of the nut locking device provided in the embodiment of the present invention is shown.

[0044] Figure 4 for Figure 3 One of the enlarged views of the circuit schematic shown.

[0045] Figure 5 for Figure 3 The second enlarged view of the circuit schematic shown.

[0046] Figure 6 for Figure 3 The third enlarged view of the circuit schematic shown.

[0047] Figure 7 for Figure 3 The fourth enlarged view of the circuit schematic shown.

[0048] Figure 8 for Figure 3 The fifth enlarged view of the circuit schematic shown.

[0049] Figure 9 for Figure 3 The sixth enlarged view of the circuit schematic shown.

[0050] Figure 10 for Figure 3 The seventh enlarged view of the circuit schematic shown.

[0051] Figure 11 for Figure 3 The eighth enlarged view of the circuit schematic shown.

[0052] Figure 12 for Figure 3 The ninth enlarged view of the circuit schematic shown.

[0053] Figure 13 for Figure 3 The tenth enlarged view of the circuit schematic shown.

[0054] Figure 14 for Figure 3 The circuit schematic shown is shown in part eleven of the enlarged views.

[0055] Figure 15 for Figure 3 The circuit schematic shown is shown in the twelfth enlarged view of a portion of the circuit diagram.

[0056] Figure 16 for Figure 3 The circuit schematic shown is shown in the thirteenth enlarged view of a portion of the circuit diagram.

[0057] Figure 17 for Figure 3 The fourteenth enlarged view of the circuit schematic shown.

[0058] Figure 18 for Figure 3 The circuit schematic shown is shown in enlarged view number fifteen.

[0059] Figure 19 This is one of the schematic flowcharts of the nut locking method for the shredder fixed blade assembly provided in the embodiments of the present invention.

[0060] Figure 20 This is the second schematic flowchart of the method for locking the nut of the shredder fixed blade assembly provided in an embodiment of the present invention.

[0061] The following are the reference numerals: 1. Frame; 2. Torque control mechanism; 3. Spring washer feeding mechanism; 4. Nut feeding mechanism; 5. Spring washer gripping mechanism; 6. Nut suction mechanism; 7. Fixture; 8. Torque sensor; 9. Vacuum nozzle; 10. Unloading mechanism; 11. Controller; 12. Display screen. Detailed Implementation

[0062] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments described are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0063] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0064] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0065] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0066] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0067] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0068] like Figure 1 and Figure 2 As shown, this embodiment of the invention provides a nut locking device for a shredder fixed blade assembly, comprising: a frame 1, a torque control mechanism 2, a spring washer feeding mechanism 3, a nut feeding mechanism 4, a spring washer gripping mechanism 5, a nut suction mechanism 6, a fixing fixture 7, and a torque sensor 8. The torque control mechanism 2, the spring washer feeding mechanism 3, the nut feeding mechanism 4, the spring washer gripping mechanism 5, and the fixing fixture 7 are all mounted on the frame 1, and the nut suction mechanism 6 and the torque sensor 8 are all mounted on the torque control mechanism 2.

[0069] The beneficial effects of adopting the technical solution of this invention are: It enables automatic feeding, automatic gripping, and automatic placement of spring washers and nuts; it enables automatic pre-tightening and final tightening of nuts, with real-time monitoring and feedback of torque values ​​during the tightening process to ensure that each tightening meets preset standards; it enables automatic positioning and clamping of workpieces; and it reduces labor intensity and eliminates safety hazards.

[0070] Based on the analysis of the closest prior art in the background section, the present invention aims to solve the following key technical problems existing in the prior art: 1. This solution addresses the problem of high production costs caused by the inefficiency of manually placing spring washers and nuts and manually pre-tightening nuts.

[0071] 2. Solve the problem of inconsistent nut tightening torque and low product qualification rate caused by using handheld electric wrenches without torque control.

[0072] 3. To address the issues of high labor intensity and potential safety hazards such as wrist sprains caused by manually operating electric wrenches.

[0073] 4. This solves the problem of needing to assign additional personnel or special procedures to perform torque testing, which increases production cycle and cost.

[0074] The purpose of this invention is to provide an automatic assembly device (chopper fixed blade assembly nut locking device) for a chopper fixed blade assembly. This device (chopper fixed blade assembly nut locking device) achieves the following objectives: 1. To achieve automatic feeding, automatic gripping, and automatic placement of spring washers and nuts.

[0075] 2. To achieve automatic pre-tightening and final tightening of nuts, and to monitor and provide feedback on torque values ​​in real time during the tightening process, ensuring that each tightening meets the preset standards.

[0076] 3. To achieve automatic positioning and clamping of the workpiece (fixed tool assembly bracket), as well as automatic unloading after assembly.

[0077] 4. The operator's work is simplified to simply placing bolts, workpiece supports, and blades, and then starting an automatic cycle, which greatly reduces labor intensity and eliminates safety hazards.

[0078] 5. Through fully automated processes and online torque control, production efficiency and first-pass yield are significantly improved, and overall production costs are reduced.

[0079] This invention provides a nut locking device for a shredder fixed blade assembly, which can be used as an automatic assembly device for the shredder fixed blade assembly. It may include: a mechanical frame (frame); a three-axis motion module mounted on the mechanical frame; a servo torque control mechanism mounted on the Z-axis slider of the three-axis motion module, the servo torque control mechanism including a servo torque motor and a sleeve for gripping the nut; an automatic nut feeding system for conveying the nut; an automatic spring washer feeding system for conveying spring washers; a three-axis pneumatic manipulator for gripping and placing spring washers onto workpiece bolts; a dedicated pneumatic tooling for positioning and clamping the workpiece fixed blade assembly bracket and automatically unloading the workpiece; and a programmable logic controller (PLC) electrically connected to the three-axis motion module, the servo torque control mechanism, the automatic nut feeding system, the three-axis pneumatic manipulator, and the dedicated pneumatic tooling.

[0080] 1. Save on labor costs Production costs are positively correlated with manual operation time and the number of operators. The original operation required manual completion of five main tasks: placing washers, placing nuts, pre-tightening nuts, tightening with an electric wrench, and torque checking. With the dedicated machine, operators only need to place bolts, workpieces, and blades; the remaining four tasks are completed automatically by the equipment.

[0081] 2. Improve product quality Product pass rate is positively correlated with the control precision and consistency of key process parameters (such as tightening torque). Previously, manual operation used handheld electric wrenches without torque displays, resulting in uncontrollable and inconsistent torque; the pass rate relied on post-production inspection and was only 85%. Specialized machine operation uses high-precision servo torque motors, ensuring precise control and real-time monitoring of the torque of each nut, achieving "inspection as manufacturing."

[0082] 3. Improve production efficiency Production efficiency is positively correlated with the number of qualified products produced per unit time. The original operation relied entirely on manual labor, resulting in a slow pace and producing only about 30 pieces in 8 hours. The dedicated automated machine can operate continuously, at high speed, and without interruption, eliminating the need for separate inspection time.

[0083] like Figure 1 and Figure 2 As shown, the torque control mechanism 2 is a torque motor, the nut suction mechanism 6 is a sleeve, a vacuum nozzle 9 is installed on the sleeve, the sleeve is installed on the output shaft of the torque motor, the torque sensor 8 is connected to the torque motor; the spring washer gripping mechanism 5 is a robotic arm; and the fixed fixture 7 is equipped with an unloading mechanism 10.

[0084] The beneficial effects of adopting the above-mentioned further technical solution are: the torque motor not only provides rotational power, but also enables real-time, high-precision control of the output torque and rotation angle. A replaceable sleeve is connected to the motor output for gripping and tightening the nut. This is key to achieving high-quality tightening; it can read the torque value in real time via a torque sensor during the tightening process. The unloading mechanism is used for automatic unloading after assembly. A robotic arm is used to grip the washer from the outlet of the spring washer feeder and accurately place it onto the bolt of the workpiece.

[0085] like Figure 1 and Figure 2 As shown, the torque motor is a servo torque motor; the manipulator is a pneumatic manipulator; the fixed fixture 7 is a pneumatic clamp; and the unloading mechanism 10 is a cylinder.

[0086] The beneficial effects of adopting the above-mentioned further technical solution are: the servo torque motor not only provides rotational power, but also enables real-time, high-precision control of the output torque and rotation angle. A three-axis pneumatic robot is used to grab washers from the outlet of the spring washer feeder and accurately place them onto the bolts of the workpiece. The robot is mounted at the end of the robot arm to perform the grabbing and releasing actions of the spring washers. This robot ensures the automation of washer placement. The fixing fixture uses pneumatic components such as bracket positioning cylinders to precisely fix the placed workpiece support and blades, preventing movement during assembly. After assembly, the cylinders within the fixture actuate, automatically lifting or pushing out the assembled assembly, achieving automatic unloading and facilitating the operator's removal of the finished product.

[0087] like Figure 1 and Figure 2 As shown, further, the torque control mechanism 2 is mounted on the frame 1 via a first three-axis linear module, or the torque control mechanism 2 is mounted on the frame 1 via a first multi-joint robot; the spring washer gripping mechanism 5 is mounted on the frame 1 via a second three-axis linear module, or the spring washer gripping mechanism 5 is mounted on the frame 1 via a second multi-joint robot.

[0088] The beneficial effects of adopting the above-mentioned further technical solution are as follows: A three-axis stepping mechanical gantry is installed above the frame. This gantry consists of three precision linear modules driven by stepper motors, which control the movement of the X, Y, and Z axes respectively. The three-axis system works in concert, enabling the servo tightening axis to be precisely positioned above any bolt on the workpiece that requires tightening. The three-axis pneumatic robot is used to grab a washer from the outlet of the spring washer feeder and accurately place it onto the bolt on the workpiece. It typically uses a combination of multiple cylinders to achieve multiple degrees of freedom of movement.

[0089] Alternatives to the motion actuator: Option 1: Replace the self-made three-axis stepping mechanical gantry with a multi-jointed industrial robot. Industrial robots offer greater flexibility and may be more suitable for scenarios where workpiece types change frequently.

[0090] Option 2: Replace the stepper motor drive in the three-axis gantry with a servo motor drive. Servo motors offer higher positioning accuracy and dynamic response.

[0091] like Figure 1 and Figure 2 As shown, further, when the torque control mechanism 2 is mounted on the frame 1 via the first three-axis linear module, the first three-axis linear module is a three-axis linear module driven by a stepper motor or a three-axis linear module driven by a servo motor; when the spring washer gripping mechanism 5 is mounted on the frame 1 via the second three-axis linear module, the second three-axis linear module is a three-axis linear module driven by a cylinder or a three-axis linear module driven by a servo motor.

[0092] The beneficial effects of adopting the above-mentioned further technical solution are as follows: A three-axis stepping mechanical gantry is installed above the frame. This gantry consists of three precision linear modules driven by stepper motors, which control the movement of the X, Y, and Z axes respectively. The three-axis system works in concert, enabling the servo tightening axis to be precisely positioned above any bolt on the workpiece that requires tightening. The three-axis pneumatic robot is used to grab a washer from the outlet of the spring washer feeder and accurately place it onto the bolt on the workpiece. It typically uses a combination of multiple cylinders to achieve multiple degrees of freedom of movement.

[0093] like Figure 1 and Figure 2 As shown, further, the first three-axis linear module includes: a first X-axis module, a first Y-axis module, and a first Z-axis module. The first X-axis module is mounted on the frame 1, the first Y-axis module is connected to the first X-axis module, and the first Z-axis module is connected to the first Y-axis module. The torque control mechanism 2 is mounted on the first Z-axis module. The second three-axis linear module includes: a second X-axis module, a second Y-axis module, and a second Z-axis module. The second X-axis module is mounted on the frame 1, the second Y-axis module is connected to the second X-axis module, and the second Z-axis module is connected to the second Y-axis module. The spring washer gripping mechanism 5 is mounted on the second Z-axis module.

[0094] The beneficial effects of adopting the above-mentioned further technical solution are as follows: The first X-axis module is installed across the worktable and is used to drive the entire Z-axis mechanism to move left and right in the horizontal plane to cover the nut tightening points at different positions on the workpiece. The first Y-axis module is connected to the first X-axis module and is used to set and change the running trajectory of the tightening mechanism in the length direction of the workpiece. The slider of the first Z-axis module is equipped with a core servo torque control mechanism. The first Z-axis module is responsible for driving the servo tightening axis to perform lifting and lowering movements to complete the gripping, pressing, and tightening actions of the nut. This three-axis system works in concert and can accurately position the servo tightening axis above any bolt on the workpiece that needs to be tightened. The second X-axis module and the second Y-axis module control the robot arm to move back and forth or left and right in the horizontal plane, moving the shim from the feed port to above the workpiece. The second Z-axis module controls the vertical movement of the robot arm to achieve downward gripping and lifting.

[0095] like Figure 1 and Figure 2 As shown, further, the frame 1 is a frame; the spring washer feeding mechanism 3 is a spring washer vibrating feeding disc with a direct vibration feeder, and the nut feeding mechanism 4 is a nut vibrating feeding disc with a direct vibration feeder; the spring washer feeding mechanism 3 is connected to a first material distribution mechanism; and the nut feeding mechanism 4 is connected to a second material distribution mechanism.

[0096] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: Nut vibratory feeder and direct vibratory feeder: The nut vibratory feeder is used to automatically orient and sort large quantities of bulk nuts, and then the direct vibratory feeder transports the orderly nuts to the designated material distribution mechanism outlet to await grabbing. Spring washer vibratory feeder and direct vibratory feeder: Its function is similar to the nut feeding system, used for the automatic sorting and conveying of spring washers.

[0097] like Figure 1 and Figure 2 As shown, further, the torque control mechanism 2, the spring washer feeding mechanism 3, the nut feeding mechanism 4, the spring washer gripping mechanism 5, the nut suction mechanism 6, the fixing fixture 7, and the torque sensor 8 are all connected to a controller 11. The controller 11 is connected to a display screen 12 with human-machine interaction function, a power supply, and an alarm device.

[0098] The beneficial effects of adopting the above-mentioned further technical solution are as follows: The controller is responsible for receiving signals from various sensors and, according to the preset program logic, issuing commands to actuators such as motor drivers, servo drivers, and solenoid valves to coordinate the automated operation of the entire device. The display screen is used for switching between automatic and manual modes, setting parameters, and monitoring. It allows users to flexibly set key parameters, giving the equipment a certain degree of adaptability and meeting the needs of fine-tuning different product specifications or processes.

[0099] like Figure 19 As shown, the present invention also provides a method for locking the nut of a shredder fixed blade assembly. Based on the above-mentioned shredder fixed blade assembly nut locking device, the shredder fixed blade assembly nut locking method includes: S1, fixing the workpiece by a fixing fixture; S2, activating the spring washer feeding mechanism and the nut feeding mechanism; S3, grabbing the spring washer by the spring washer gripping mechanism and placing the spring washer on the bolt of the workpiece; S4, picking up the nut by the nut suction mechanism and moving the nut above the bolt on which the spring washer has been placed; S5, performing pre-tightening and fine tightening by the torque control mechanism, and detecting the real-time torque value by the torque sensor during the fine tightening process.

[0100] The beneficial effects of adopting the technical solution of this invention are: It enables automatic feeding, automatic gripping, and automatic placement of spring washers and nuts; it enables automatic pre-tightening and final tightening of nuts, with real-time monitoring and feedback of torque values ​​during the tightening process to ensure that each tightening meets preset standards; it enables automatic positioning and clamping of workpieces; and it reduces labor intensity and eliminates safety hazards.

[0101] This invention provides a method for locking the nuts of a shredder fixed blade assembly, which can be used as an automatic assembly method for the shredder fixed blade assembly. The method includes the following steps: S1: System initialization, all motion axes return to zero; S2: Start the nut and spring washer feeding system; S3: Control the three-axis pneumatic manipulator to cyclically perform the action of gripping and placing spring washers, placing the washers one by one on the bolts of the workpiece; S4: Control the three-axis motion module to drive the servo torque control mechanism to move to the nut feeding port and pick up the nut; S5: Move the nut above the bolt with the washer placed, perform pre-tightening and fine tightening, and during the fine tightening process, the servo torque motor detects the torque value in real time. If the torque meets the standard, it is recorded as qualified; if the torque does not meet the standard, an alarm is triggered; S6: Repeat steps S4 and S5 until all nuts on all bolts are tightened; S7: Control the special pneumatic tooling to automatically unload the assembled assembly.

[0102] Further, before step S1, the following steps are included: system initialization, each motion axis returning to zero; setting the torque value, tightening angle, and speed and position of the three-axis motion of the torque control mechanism through the display screen; after step S5, the following steps are included: S6, determining whether the real-time torque value is not less than the set value through the controller; S7, recording as qualified through the controller when the real-time torque value is not less than the set value; S8, issuing an alarm command to the alarm device through the controller when the real-time torque value is less than the set value; after step S7, the following steps are included: S9, releasing the workpiece through the fixing fixture after the nut tightening work is completed; S10, ejecting the workpiece through the unloading mechanism.

[0103] The beneficial effects of adopting the above-mentioned further technical solution are as follows: The torque value is read by a torque sensor and compared with the set value. If the value is not met, an alarm signal is issued. If the torque reaches the set value, tightening is successful, and the system records that the point is qualified. If the torque does not reach the set value, an abnormality is detected and an alarm is issued. The system can then attempt to tighten again or stop the cycle, prompting worker intervention. After all nuts are tightened and pass the inspection, the controller sends a signal to a dedicated pneumatic fixture. The automatic unloading cylinder in the fixture actuates, lifting the assembled shredder blade assembly for easy removal. This allows users to flexibly set key parameters, giving the equipment a certain degree of adaptability and meeting the needs of fine-tuning different product specifications or processes.

[0104] This invention provides an automatic assembly device for the fixed blade assembly of a chopper (a nut locking device for the fixed blade assembly of a chopper), hereinafter referred to as "this device". Its mechanical structure, electrical control, and process flow will be described in detail below.

[0105] Overall Mechanical Structure: This device is an automated special-purpose machine integrating mechanical, pneumatic, and electrical control systems. It mainly consists of the following modules: Mechanical frame and three-axis motion module The skeleton of this device is a robust mechanical frame (rack) used to support and mount all other components. A three-axis stepper mechanical truss is mounted on top of the frame (rack). This truss consists of three precision linear modules driven by stepper motors, controlling the movement of the X-axis (horizontal movement left and right), Y-axis (horizontal movement forward and backward), and Z-axis (vertical movement up and down).

[0106] X-axis module: Mounted across the worktable, used to drive the entire Z-axis mechanism to move left and right in the horizontal plane to cover the nut tightening points at different locations on the workpiece.

[0107] Y-axis module: Connected to the X-axis module, used to set and change the running trajectory of the tightening mechanism in the length direction of the workpiece.

[0108] Z-axis module: Its slider is equipped with a core servo torque control mechanism. The Z-axis is responsible for driving the servo tightening axis to perform lifting and lowering movements to complete the gripping, pressing, and tightening actions of the nut. This three-axis system works in concert to precisely position the servo tightening axis above any bolt on the workpiece that needs to be tightened.

[0109] Servo torque control mechanism: Mounted on the Z-axis module slider, its core is a servo torque motor. This motor not only provides rotational power but also controls the output torque and rotation angle in real time with high precision. A replaceable sleeve is connected to the motor output for gripping and tightening the nut. This mechanism is crucial for achieving high-quality tightening; it reads the torque value in real time via a torque sensor during tightening and compares it with the set value. If the torque does not meet the requirements, an alarm signal is issued.

[0110] Automatic feeding system: It consists of two main parts: nut vibratory feeder and linear vibratory feeder. The nut vibratory feeder is used to automatically orient and sort large batches of bulk nuts, and then the linear vibratory feeder transports the orderly nuts to the designated sorting mechanism outlet to wait for them to be picked up.

[0111] Spring washer vibrating feeder and direct vibrating feeder: Their function is similar to that of the nut feeding system, used for the automatic sorting and conveying of spring washers.

[0112] Automatic Spring Washer Gripping Robot: This is a three-axis pneumatic robot used to grip washers from the outlet of a spring washer feeder and accurately place them onto bolts on workpieces. It typically uses a combination of multiple cylinders to achieve multiple degrees of freedom of movement. Lifting cylinder: controls the vertical movement of the robotic arm to achieve downward grasping and lifting.

[0113] Horizontal movement cylinder: controls the robot arm to move back and forth or left and right on the horizontal plane, moving the pad from the feed port to above the workpiece.

[0114] Clamping cylinder: Mounted at the end of the robotic arm, it performs the gripping and releasing actions of the spring washer. This robotic arm ensures the automation of washer placement.

[0115] Specialized pneumatic tooling: A set of tooling fixtures specially designed and manufactured according to the shape and dimensions of the shredder's fixed blade assembly support. It is installed in the center of the worktable and is mainly used for: Positioning and clamping: Pneumatic components such as bracket positioning cylinders are used to precisely fix the placed workpiece bracket and blade to prevent movement during assembly.

[0116] Automatic unloading: After assembly, the cylinder inside the tooling is activated to automatically lift or push out the assembled assembly components, achieving automatic unloading and making it convenient for the operator to take away the finished product.

[0117] Electrical Control System: The brain of this device is a self-designed electrical control system, the core of which is a programmable logic controller (PLC). This system is responsible for receiving signals from various sensors and, according to the preset program logic, issuing instructions to actuators such as motor drivers, servo drivers, and solenoid valves (which control cylinder movements), coordinating the automated operation of the entire device.

[0118] The control system is equipped with a human-machine interface with rich functionality, including: Automatic mode interface: Used to start a fully automatic production cycle with one click.

[0119] Manual mode interface: used for device debugging and single-step action testing.

[0120] Parameter setting interface: Used to set key process parameters such as the torque value of the servo tightening axis (adjustable within the range of 10-50 N.m), tightening angle, and the speed and position of the three-axis motion.

[0121] I / O monitoring interface: Used to display the status of all input / output points in real time, facilitating fault diagnosis and maintenance.

[0122] Figures 3 to 18 In the diagram, DR100-24 is the AC 220V to DC 24V power supply, TG765S-MT is the human-machine interface, FX3U-128m is the PLC, SB0 is the emergency stop button, x0-x43 are the PLC input points, SQ1-SQ43 are the proximity switches / magnetic switches, com0-com6 are the common output points, Y0-Y39 are the PLC output points, KA0-KA24 are the intermediate relays, KV1-KV20 are the solenoid valves, and HL0-HL3 are the indicator lights.

[0123] The human-machine interface (HMI) is a touchscreen controlling a PLC. The power supply provides 24V DC power to the PLC, HMI, solenoid valves, intermediate relays, and other electrical components. Buttons, proximity switches, magnetic switches, etc., are the PLC input points, corresponding to the PLC's input models. The PLC output points correspond to the intermediate relays. The intermediate relays control the solenoid valves, thereby controlling the cylinders and linear vibrators (linear conveyors). The corresponding proximity switches / magnetic switches input signals to the PLC, thus forming automated control based on the internal logic of the program.

[0124] The circuit wiring, component configuration, and signal interaction logic based on the FX5U-128MT PLC are divided into the following modules: 1. Power supply and power supply module Input side: AC power (L / N) is introduced through circuit breakers QS1, QS2, and QS3. The AC power is converted to 24V DC power by the DR100-24 switching power supply to power the PLC, touch screen (TG765S-NT), and various relays / solenoid valves.

[0125] Output side: The 24V power supply is split to the DC power supply terminal of the PLC (24V / S / 0V), and also provides power to the touch screen and external actuators.

[0126] 2. PLC core control module The model is FX5U-128MT. The diagram clearly shows the wiring assignments for its input terminals (X0-X48) and output terminals (Y0-Y39). The input terminals connect to the signal sources of the equipment, such as sensors and buttons, while the output terminals connect to the intermediate relay / contactor coil.

[0127] The PLC communicates with the touch screen (TG765S-NT) to enable human-machine interaction (parameter setting, status monitoring, and command issuance).

[0128] 3. Input / output signal distribution module Input signals (X end): Connect to limit / position sensors of X-axis, Y-axis, and Z-axis, material signal of vibratory feeder, magnetic switch of cylinder and other detection signals (such as X50 / X51 / X52 are shaft-related signals, X0-X48 cover various detection points).

[0129] Output signal (Y end): Through intermediate relays (KA0-KA25, KV1-KV20), it controls the vibratory feeder power supply / controller, cylinder solenoid valve, indicator light (HL2 / HL3) and other actuators. For example, Y0-Y9 controls KA series relays, and Y10-Y39 controls KV series relays and indicator lights.

[0130] 4. Actuator Control Module Vibratory feeder control: The power supply and controller of the gasket / nut vibratory feeder are controlled by KA0 / KA1 and KV1 / KV2 respectively, so as to realize the start and stop of the feeding mechanism.

[0131] Cylinder / Solenoid Valve Control: Relays such as KA2-KA25 and KV5-KV20 drive the solenoid valves of each cylinder (such as split spring, clamping spring, denominator cylinder, etc.) to complete the pneumatic action of the equipment.

[0132] Indicators and Auxiliaries: HL2 / HL3 and other indicator lights are used to display equipment status, and the normally open / normally closed contacts of various relays realize circuit interlocking and linkage.

[0133] The following describes in detail the fully automated work cycle of this device for assembling a shredder blade assembly. Please note that before the process begins, the operator must manually place the workpiece holder, blades, and bolts onto the dedicated pneumatic fixture.

[0134] like Figure 20 As shown, system initialization and startup: The operator presses the "Return to Zero Start" button on the HMI, and each axis (X, Y, Z) of the device performs a return to zero operation, returning to the mechanical origin.

[0135] The operator presses the "Start" button, and the automatic cycle officially begins.

[0136] Feeding system startup: The PLC controls the "shim vibratory feeder" and "nut vibratory feeder" to start, and begin sorting the spring washers and nuts.

[0137] The corresponding "direct vibration feeder" is activated, transporting the parts in an orderly manner to the sorting station.

[0138] Spring washer placement process: gripping: "The spring washer is clamped by the spring-gripping cylinder", and the pneumatic robotic arm grips the spring washer.

[0139] Transfer: The "split spring cylinder descends" resets the robot. Then, the "spring horizontal cylinder advances" moves the robot to the position of the corresponding bolt above the workpiece.

[0140] Placement: The robotic arm descends, places the spring washer on the bolt, then the cylinder releases, and the robotic arm returns to its original position, ready for the next gripping.

[0141] Nut gripping and placement process: Nut suction: After the servo tightening shaft moves above the nut feeding port, the "pneumatic suction valve is energized" and a nut is sucked up through the vacuum nozzle.

[0142] Material distribution confirmation: The "denominator cylinder advances" to distribute the material, ensuring that only one nut is supplied at a time. When a "material presence signal" is detected, the "denominator cylinder retracts".

[0143] Nut transfer: The three-axis gantry movement drives the servo tightening shaft and the nut it picks up. The movement value is input through the PLC, and the nut is precisely positioned directly above the bolt with the washer already placed.

[0144] Nut tightening process: Pre-tightening: The Z-axis descends, the nut is put onto the bolt and rotation begins, and preliminary pre-tightening is performed to ensure that the nut will not fall off.

[0145] Precision tightening and torque detection: The servo torque motor performs the final tightening according to the set torque and angle program. During this process, the motor reads the actual output torque in real time.

[0146] Result judgment: If the torque reaches the set value ("tightened in place"), the tightening is successful and the system records that the point is qualified.

[0147] If the torque does not reach the set value (for example, if the bolt strips), the servo drive will detect the abnormality and "alarm". The system can then attempt to tighten again or stop the cycle, prompting the worker to intervene.

[0148] Reset: After tightening is completed, the Z-axis rises, the "air suction valve is de-energized" to release the suction on the vacuum sleeve, and the servo tightening shaft connected to the lower part of the vacuum sleeve moves away, ready to tighten the next nut.

[0149] Coordinated motion of the three-axis gantry: Throughout the process, the X, Y, and Z axes move in the coordinate sequence of the tightening points preset in the PLC. Flowchart ( Figure 20 In the diagram, "Y-axis advance pulse" indicates that the Y-axis has moved to the next set position. The X and Z axes work together to perform positioning and tightening actions. After all points are tightened, the X and Z axes return to their initial positions.

[0150] Automatic unloading and cycle completion: After all nuts are tightened and pass inspection, the PLC sends a signal to the dedicated pneumatic fixture. The "automatic unloading" cylinder in the fixture actuates, lifting the assembled shredder blade assembly for easy removal. All components of the device return to the standby position, awaiting the operator to place new workpieces and bolts to begin the next cycle.

[0151] Figure 20 The presentation showcases the operational logic of an automated device, focusing on the entire process from initial homing to sequential action of each actuator and final reset. The content can be divided into the following modules: 1. Initial homing stage: The first step in starting the equipment is homing, which requires the X-axis, Y-axis, Z-axis and thread rotation axis to all return to zero. After successful homing, the formal start-up phase begins.

[0152] 2. Feeding mechanism start-up stage: After start-up, the shim vibratory feeder and nut vibratory feeder are triggered synchronously. After both output "material present signal", the corresponding direct vibration device is started to prepare for subsequent material handling.

[0153] 3. Cylinder and Shaft System Movement Stage: This is the core of the process, involving the coordinated movements of multiple sets of cylinders (spring splitting, spring clamping, spring up / down / horizontal movement, denominator rotation, feeding, lifting, shifting, etc.) and shaft systems (X, Y, Z axes). Each movement requires triggering a "position signal / material presence signal / necessary condition" before proceeding to the next stage. For example: After the spring-split cylinder rises to its position, the spring-clamping cylinder clamps it. After the Z-axis descends / ascends to the correct position, the air suction valve is energized / de-energized to suction and release the nut. After the Y-axis advances by one pulse (set station value), the rotary cylinder 2 performs a rotation action.

[0154] 4. Reset Cycle Phase: After each actuator completes its operation, the cylinder retraction and shaft return are triggered sequentially according to the reverse logic (e.g., retraction of the spring horizontal cylinder → leftward movement of the X-axis → leftward movement and tightening of the Z-axis → return of the Z-axis / X-axis, etc.), and finally return to the "return of the shift cylinder" stage. After receiving the "return to position signal", the process can be restarted in a cycle.

[0155] Figure 20In the process, 1. The shifting cylinder, which is a rotary cylinder, advances after counting once upon receiving the return signal, and returns after counting twice; 2. The Z-axis locking bolt count is adjustable, currently set to 32 locking bolts per cycle. After completion, the cycle stops, and the bracket positioning cylinder retracts. A restart is required to resume the cycle.

[0156] Overall, the diagram clearly shows the sequence of actions, triggering conditions, and signal interaction relationships of the various components of the equipment through arrows and signal labels. It is a schematic diagram of the action flow and logic control of the automated equipment.

[0157] In summary, the complete technical solution of this invention is: an automated assembly machine integrating a three-axis Cartesian coordinate system, a servo torque tightening system, an automatic nut and spring washer feeding system, a pneumatic washer gripping robot, a dedicated pneumatic clamp, and a PLC-based intelligent control system. This device, through precise program control, achieves full automation from feeding, gripping, and placing to tightening, inspection, and unloading, completely replacing the original manual operation mode.

[0158] Key Point 1: A Systematic Solution Integrating Multiple Technologies. This invention is not simply an application of a robotic arm or tightening shaft, but rather a seamless integration of multiple functional modules, including a three-axis mechanical gantry, servo torque control, vibratory feeding, pneumatic robotic arm, specialized pneumatic tooling, and PLC intelligent control, forming a complete system that works collaboratively. The key lies in the timing coordination, signal interaction, and logical interlocking between the modules (as shown in the flowchart), ensuring fully automated, unmanned operation throughout the entire process from feeding, gripping, and placing to tightening, inspection, and unloading.

[0159] Key Point Two: Online Quality Monitoring Based on Real-Time Torque Feedback. The use of a servo tightening shaft as the core execution and detection unit represents a significant leap forward in this invention. It not only replaces manual tightening but, more importantly, achieves "manufacturing as inspection." During the tightening process, the torque value is read and judged in real time; if it is unqualified, an alarm is immediately triggered, fundamentally replacing the post-processing manual torque inspection. This simplifies the process while ensuring quality (pass rate increased to over 99.6%).

[0160] Key Point 3: Specialized, low-cost design for specific workpieces. Compared to general industrial robots, this invention employs a self-made three-axis stepping mechanical gantry and a self-made dedicated pneumatic tooling. This design optimizes the spatial layout of the fastening points of the shredder's fixed blade assembly and the shape of the workpiece, significantly reducing manufacturing costs while meeting operational accuracy and functional requirements, making it particularly suitable for this type of dedicated machine application scenario with large batches and fixed processes.

[0161] Key Point Four: Flexible and Adjustable Control Strategy. The independently designed control system and its human-machine interface allow users to flexibly set key parameters (torque value adjustable from 10-50 N.m), giving the equipment a certain degree of adaptability and meeting the needs of fine-tuning different product specifications or processes.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cutter knife assembly nut lock for a chopper, comprising: The torque control mechanism, the spring washer feeding mechanism, the nut feeding mechanism, the spring washer grabbing mechanism, the nut sucking mechanism, the fixing tool and the torque sensor are all installed on the rack. The torque control mechanism is a torque motor, the nut sucking mechanism is a sleeve, a vacuum nozzle is installed on the sleeve, the sleeve is installed on the output shaft of the torque motor, and the torque sensor is connected with the torque motor; the spring washer grabbing mechanism is a mechanical hand; the fixing tool is provided with a discharging mechanism.

2. A cutter knife assembly nut lock for a mincer according to claim 1, wherein The torque motor is a servo torque motor, the mechanical hand is a pneumatic mechanical hand, the fixing tool is a pneumatic clamp, and the discharging mechanism is a pneumatic cylinder.

3. A cutter knife assembly nut lock for a mincer according to claim 2, wherein The torque control mechanism is installed on the rack through a first three-axis linear module or a first multi-joint robot; the spring washer grabbing mechanism is installed on the rack through a second three-axis linear module or a second multi-joint robot.

4. A cutter knife assembly nut lock for a mincer according to claim 1, wherein When the torque control mechanism is installed on the rack through the first three-axis linear module, the first three-axis linear module is a three-axis linear module driven by a stepping motor or a three-axis linear module driven by a servo motor; when the spring washer grabbing mechanism is installed on the rack through the second three-axis linear module, the second three-axis linear module is a three-axis linear module driven by a pneumatic cylinder or a three-axis linear module driven by a servo motor.

5. A cutter knife assembly nut lock for a mincer according to claim 4, wherein The first three-axis linear module comprises a first X-axis module, a first Y-axis module and a first Z-axis module, the first X-axis module is installed on the rack, the first Y-axis module is connected with the first X-axis module, the first Z-axis module is connected with the first Y-axis module, and the torque control mechanism is installed on the first Z-axis module; the second three-axis linear module comprises a second X-axis module, a second Y-axis module and a second Z-axis module, the second X-axis module is installed on the rack, the second Y-axis module is connected with the second X-axis module, the second Z-axis module is connected with the second Y-axis module, and the spring washer grabbing mechanism is installed on the second Z-axis module.

6. A cutter knife assembly nut lock for a mincer according to claim 5, wherein The rack is a frame, the spring washer feeding mechanism is a spring washer vibrating feeding disc with a straight vibrating feeder, the nut feeding mechanism is a nut vibrating feeding disc with a straight vibrating feeder, the spring washer feeding mechanism is connected with a first distributing mechanism, and the nut feeding mechanism is connected with a second distributing mechanism.

7. A cutter knife assembly nut lock for a mincer according to claim 1, wherein The torque control mechanism, the spring washer feeding mechanism, the nut feeding mechanism, the spring washer grabbing mechanism, the nut sucking mechanism, the fixing tool and the torque sensor are all connected with a controller, the controller is connected with a display screen with human-computer interaction function, a power supply and an alarm device.

8. A cutter knife assembly nut lock for a mincer according to claim 1, wherein ​ 9. A method of locking a cutter knife assembly nut for a chopper, characterized by, The nut locking device of the cutter fixed knife assembly according to any one of claims 1 to 8, and a nut locking method of the cutter fixed knife assembly, comprising: S1, fixing the workpiece by a fixing tool; S2, starting a spring washer feeding mechanism and a nut feeding mechanism; S3, grabbing the spring washer by a spring washer grabbing mechanism and placing the spring washer on the bolt of the workpiece; S4, sucking the nut by a nut sucking mechanism and moving the nut to above the bolt on which the spring washer is placed; S5, performing pre-tightening and fine-tightening by a torque control mechanism, and detecting a real-time torque value by a torque sensor during the fine-tightening.

10. A method of locking a cutter assembly nut for a chopper harvester according to claim 9, wherein, Before step S1, the system initialization, each motion axis zero reset, setting the torque value, tightening angle, and speed and position of three-axis motion through the display screen are included; After step S5, the following steps are included: S6, judging whether the real-time torque value is not less than the set value by the controller; S7, when the real-time torque value is not less than the set value, recording the pass by the controller; S8, when the real-time torque value is less than the set value, issuing an alarm instruction to the alarm device by the controller; After step S7, the following steps are included: S9, releasing the workpiece by the fixing tool after the nut locking work is completed; S10, ejecting the workpiece by an unloading mechanism.

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