Automatic screwing device for elastomeric bottom

Abstract

The application discloses a kind of automatic screwing equipment of elastic body bottom screw, including rotary handling mechanism, translation clamping mechanism, screwing mechanism and visual guidance mechanism, and elastic body is gripped from feeding station by rotary handling mechanism and is transferred to translation clamping mechanism, and translation clamping mechanism clamps elastic body and is transported to screwing station, and visual guidance mechanism identifies the attitude of the slot of elastic body bottom screw, and guides the accurate alignment of the screwing head of screwing mechanism;After alignment is completed, screwing mechanism automatically screws bottom screw on elastic body.The application adopts modular design and system integration, realizes the automatic feeding of elastic body, accurate positioning, visual alignment and the full automation of bottom screw screwing, realizes efficient production;The equipment is compact in structure, stable in operation, convenient to maintain, and can be suitable for the automatic assembly needs of various specifications of elastic body, effectively guaranteeing production rhythm and product quality.

Description

Technical Field

[0001] This invention relates to the field of detonation device assembly technology, and in particular to an automatic tightening device for tightening the base screw to the tail of the projectile. Background Technology

[0002] The base plug, also known as the base cap, is a crucial component located at the bottom of the projectile, connecting the fuze to the projectile body. It seals the projectile, secures the fuze, and ensures launch safety and detonation reliability. Typically, the base plug is screwed into the tail of the projectile through its own threads to achieve a seal, preventing the leakage of high-temperature, high-pressure propellant gases from the bottom during launch. This ensures that the propellant gases can propel the projectile out of the barrel while maintaining stable pressure within the chamber.

[0003] Currently, the tightening and assembly of the base screw and the projectile body still generally adopts a manual method combined with an electric screwdriver. The specific operation process is as follows: first, the base screw is pre-tightened, then the workpiece is unloaded and transferred manually, and the fixture is clamped and positioned. Finally, the operator uses an electric screwdriver to lock and fix the base screw. Therefore, the current assembly cycle is slow and the operation efficiency is low, which makes it difficult to meet the needs of large-scale and batch production. Summary of the Invention

[0004] To overcome the above-mentioned defects, the present invention provides an automatic screw tightening device for projectile base screws, which has a compact structure, stable operation, convenient maintenance, and can be applied to the efficient and reliable automated assembly of projectiles of various specifications.

[0005] The technical solution adopted by this invention to solve its technical problem is: an automatic tightening device for the base screw of a projectile, comprising:

[0006] A rotary conveying mechanism includes two opposing gripping components and a rotary module for driving the two gripping components to exchange positions between a loading station and a transfer station. The two gripping components are configured to be connected to the rotary module via a lifting module, respectively.

[0007] A translation clamping mechanism, which interfaces with a rotary conveying mechanism, includes a translation plate, a translation module for driving the translation plate to reciprocate between a transfer station and a tightening station, and a positioning module buoyantly mounted on the translation plate. The positioning module includes a floating plate mounted on the translation plate via a floating structure, a pneumatic chuck mounted on the floating plate, and a through-shaft fixedly connected to the floating plate along the central axis of the pneumatic chuck. The pneumatic chuck has three secondary jaws arranged circumferentially around the through-shaft. The three secondary jaws move synchronously radially along the pneumatic chuck to form a positioning space for clamping the spring. The positioning space is conical with a cone angle of 39.3°. A clearance hole is provided on the translation plate for the lower end of the through-shaft to pass through. A support block is provided at the tightening station to support the through-shaft during the tightening of the bottom screw.

[0008] A tightening mechanism, located at a tightening station, includes a tightening assembly configured to rotate about an axial direction and a feed drive assembly for driving the tightening assembly to feed toward one side of the projectile; the tightening assembly includes a tightening head and a servo drive module for driving the tightening head to rotate, and the tightening head is fitted with an axial force decoupling bearing assembly; the feed drive assembly includes a drive mechanism, a floating joint located on the output end of the drive mechanism and connected to the tightening assembly, and a first through-beam fiber optic sensor for detecting the downward termination position of the floating joint;

[0009] The vision guidance mechanism, located next to the tightening mechanism, is used to identify the posture of the slot on the bottom screw and guide the servo drive module to drive the tightening head to rotate until it is aligned with the slot of the bottom screw.

[0010] As a further improvement of the present invention, the rotating module includes a support base and a hollow rotating platform disposed on the top of the support base. A rotating plate is provided on the disk surface of the hollow rotating platform, and a tripod is provided at each end of the rotating plate along the length direction.

[0011] Each of the tripods is equipped with a lifting module, which includes a linear module and a slide cylinder. The gripping component is connected to the linear module, and the slide cylinder is used to drive the linear module and drive the gripping component to perform linear reciprocating motion in the vertical direction.

[0012] The gripping assembly includes a parallel finger-gripping cylinder, and V-shaped grooves are respectively provided on the opposite sides of the two grippers of the parallel finger-gripping cylinder.

[0013] As a further improvement of the present invention, the rotary conveying mechanism further includes a limiting structure, the limiting structure including a stop block and a stop bar, two stop blocks are provided, the two stop blocks are respectively provided on the top two sides of the support base, and are correspondingly arranged at the loading station and the transfer station; the stop bar is vertically installed on the bottom of the rotating plate and arranged on the same side as one of the gripping components.

[0014] As a further improvement of the present invention, the translation module includes a base arranged along the direction of the transfer station and the tightening station. The base is provided with two parallel and spaced linear guide rails. A rodless cylinder is provided on the side of one of the linear guide rails. The translation plate is arranged on the linear guide rail. The support block is arranged on the base and located between the two linear guide rails. When the rodless cylinder drives the translation plate to move the positioning module to the tightening station, the through shaft is positioned directly above the support block.

[0015] A second through-beam fiber optic sensor is provided on one side of the top of the floating plate to detect whether the pneumatic chuck is holding a projectile.

[0016] As a further improvement of the present invention, the floating structure includes:

[0017] The floating guide assembly includes four components, which are distributed at the four corners of the floating plate. Each floating guide assembly includes a linear bearing mounted on the floating plate and a guide shaft that is slidably fitted to the linear bearing and whose lower end is fixedly connected to the translation plate.

[0018] There are four springs, which are located between the floating plate and the translation plate, and are arranged in a one-to-one correspondence with the four floating guide components.

[0019] As a further improvement of the present invention, the translation clamping mechanism further includes a buffer limiting component, which includes a baffle disposed at the bottom of the translation plate and a buffer disposed on the base and arranged corresponding to the transfer station and tightening station positions respectively.

[0020] As a further improvement of the present invention, the tightening mechanism is fixedly mounted on the tightening station via a base, the driving mechanism is vertically mounted on the top of the base, and its driving end is connected to the floating joint; a linear slide rail is provided on the side of the base facing the translation clamping mechanism, the tightening assembly is slidably connected to the linear slide rail via a feed plate, a U-shaped part is provided on the side of the feed plate facing the linear slide rail, and the floating joint is slidably fitted onto the U-shaped part.

[0021] As a further improvement of the present invention, the axial force decoupling bearing assembly consists of an angular contact ball bearing and a thrust needle roller bearing arranged vertically, and is mounted on the feed plate by a bearing positioning block. The upper part of the tightening head passes through the inner rings of the thrust needle roller bearing and the angular contact ball bearing from bottom to top, and is connected upward to the servo drive module. The bottom of the tightening head is detachably equipped with a bit that matches the slot of the bottom screw.

[0022] As a further improvement of the present invention, the servo drive module is fixedly mounted on the feed plate by a motor bracket, and includes a drive component. The power end of the drive component is connected in sequence to a reducer, an upper coupling, a torque sensor and a lower coupling in the vertical direction and then connected to the upper part of the tightening head.

[0023] The base is equipped with a third through-beam fiber optic sensor on the side facing the tightening head for detecting whether the bit is damaged.

[0024] As a further improvement of the present invention, the visual guidance mechanism is located on the side of the tightening mechanism via a positioning seat, and includes a horizontal linear drive module on the positioning seat, a vertical linear drive module on the moving platform of the horizontal linear drive module, and a camera assembly on the execution end of the horizontal linear drive module.

[0025] The beneficial effects of this invention are:

[0026] ① By modularly designing and integrating the rotary conveying mechanism, translational clamping mechanism, tightening mechanism and visual guidance mechanism, the fully automated operation of automatic feeding, visual alignment, precise positioning and bottom screw tightening of the projectile is realized.

[0027] ② The positioning module of the translation clamping mechanism adopts a floating setting, so that when the tightening head initially contacts the product, the floating design can immediately buffer and absorb the impact stress, avoiding damage to the spring and the bottom screw from rigid impact.

[0028] ③ The modular design allows for flexible adjustment of the installation location according to the actual production line layout, improving the adaptability and ease of operation of the equipment.

[0029] ④ This equipment improves assembly efficiency and tightening consistency. It has a compact structure, stable operation, and convenient maintenance. It can meet the automated assembly needs of bottom screws for various specifications of projectiles, effectively ensuring production cycle and product quality. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the present invention;

[0031] Figure 2 This is a structural schematic diagram from another perspective of the present invention;

[0032] Figure 3 This is a schematic diagram of the structure of the first embodiment of the translation clamping mechanism of the present invention;

[0033] Figure 4 The present invention provides a translational clamping mechanism. Figure 3 A schematic diagram of the cross-sectional structure;

[0034] Figure 5 This is a schematic diagram of the positioning space of the present invention;

[0035] Figure 6 This is a schematic diagram of the structure of the feed drive assembly of the present invention;

[0036] Figure 7 This is a schematic diagram of the tightening assembly of the present invention;

[0037] Figure 8 This is a schematic diagram of the visual guidance mechanism of the present invention;

[0038] Figure 9 This is a cross-sectional structural diagram of the visual guidance mechanism of the present invention.

[0039] Referring to the accompanying drawings, the following explanations are provided:

[0040] 1. Rotary conveying mechanism; 11. Gripping assembly; 111. Parallel gripper cylinder; 112. Gripper; 1121. V-groove; 12. Rotary module; 121. Support base; 122. Hollow rotary platform; 123. Rotating plate; 124. Tripod; 13. Lifting module; 131. Linear module; 132. Slide cylinder; 14. Limiting structure; 141. Stop block; 142. Stop bar; 2. Translation clamping mechanism; 20. Floating plate; 21. Fixed... Positioning module; 211, pneumatic chuck; 212, through shaft; 213, secondary jaw; 214, positioning space; 22, translation module; 221, base; 222, linear guide; 224, rodless cylinder; 23, buffer limit assembly; 231, baffle; 232, buffer; 24, translation plate; 241, clearance hole; 25, floating guide assembly; 251, linear bearing; 252, guide shaft; 26, spring; 27, support block; 3, tightening mechanism; 31. Tightening assembly; 311. Tightening head; 3111. Screwdriver bit; 312. Axial force decoupling bearing assembly; 3121. Angular contact ball bearing; 3122. Thrust needle roller bearing; 3123. Bearing locating block; 313. Servo drive module; 3131. Drive component; 3132. Reducer; 3133. Upper coupling; 3134. Torque sensor; 3135. Lower coupling; 314. Feed plate; 315. U-shaped component; 316. Motor bracket 32. Feed drive assembly; 321. Drive mechanism; 322. Floating joint; 33. Base; 34. Linear slide rail; 4. Vision guidance mechanism; 41. Positioning seat; 42. Horizontal linear drive module; 43. Vertical linear drive module; 44. Camera assembly; 441. Information processing unit; 442. Prism; 443. Ring light source; 51. First through-beam fiber optic sensor; 52. Second through-beam fiber optic sensor; 53. Third through-beam fiber optic sensor. Detailed Implementation

[0041] The preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0042] Please see Figures 1 to 9 The present invention provides an automatic screw tightening device for projectile bottom screws, including a rotary conveying mechanism 1, a translational clamping mechanism 2, a tightening mechanism 3 and a vision guidance mechanism 4. Each mechanism achieves motion coordination and logic control through a control system to realize projectile conveying, positioning and screw tightening operations, ensuring the reliability and efficiency of the production process.

[0043] It should be noted that this invention primarily innovates the mechanical structure of the automatic tightening device for the projectile's base screw, while its control system employs mature conventional control technologies such as programmable logic controllers. Given that this part falls within the scope of existing technology, it will not be described in detail here.

[0044] The specific characteristics of each institution will be described in detail below.

[0045] Please see Figure 1 and Figure 2 Regarding the rotary conveying mechanism 1, it can efficiently complete the conveying of the projectile at different workstations.

[0046] The rotary conveying mechanism 1 includes two gripping components 11 arranged opposite to each other, and a rotary module 12 for driving the two gripping components 11 to exchange positions between the loading station and the transfer station. The two gripping components 11 are configured to be connected to the rotary module 12 through a lifting module 13 respectively.

[0047] The rotating module 12 includes a support base 121 and a hollow rotating platform 122 disposed on top of the support base 121. A rotating plate 123 is provided on the surface of the hollow rotating platform 122, and tripods 124 are respectively provided at both ends of the rotating plate 123 along its length. The hollow rotating platform 122 is electrically connected to an explosion-proof servo motor, which drives the surface to rotate around its central axis, thereby switching the positions of the two sets of gripping components 11: when one set of gripping components is located at the loading station gripping the projectile, the other set is located at the transfer station unloading the projectile to the translation clamping mechanism 2. Through a simple structure, the two sets of gripping components achieve mutual independence in their actions, effectively improving the production cycle.

[0048] Each of the tripods 124 is equipped with a lifting module 13. The lifting module 13 includes a linear module 131 and a slide cylinder 132. The gripping component 11 is connected to the linear module 131. The slide cylinder 132 is used to drive the linear module 131 and drive the gripping component 11 to perform linear reciprocating motion in the vertical direction. The slide cylinder 132 is vertically arranged, and its piston end is connected to the slide of the linear module 131 through a connector. The extension and retraction of the piston drives the slide to perform linear reciprocating motion in the vertical direction, thereby driving the gripping component 11 to rise and fall, so as to ensure the stability of the gripping component during the lifting and falling process.

[0049] The gripping assembly 11 includes a parallel gripping cylinder 111, on which V-shaped grooves 1121 are respectively provided on the opposite sides of the two grippers 112 of the parallel gripping cylinder 111. The projectile has an arc-shaped outer contour. When the parallel gripping cylinder 111 drives the two grippers 112 to move towards each other, the V-shaped grooves 1121 on them form a gripping configuration equivalent to the inscribed circle of a square, which grips the projectile at four points symmetrical to each other in the circumference, thereby achieving self-centering clamping and reliable fixation of the projectile.

[0050] Furthermore, to further ensure that the two sets of gripping components 11 can accurately stop at the loading station or transfer station after rotation, the rotary conveying mechanism 1 is also equipped with a mechanical limiting structure. The limiting structure 14 includes a stop block 141 and a stop bar 142. There are two stop blocks 141, which are respectively located on the top sides of the support base 121 and are correspondingly arranged at the loading station and the transfer station. The stop bar 142 is vertically installed on the bottom of the rotating plate 123 and is arranged on the same side as one of the gripping components 11. When the rotating module 12 drives the rotating plate 123 to rotate 180°, the stop bar 142 moves with the rotating plate 123 and contacts the stop block 141 at the corresponding position to form a physical stop, thereby achieving precise positioning of the two sets of gripping components 11 at the target station. Compared with position control relying on sensors or servo systems, this mechanical limiting method has higher repeatability and reliability, and can effectively avoid stopping deviations caused by electronic signal delays or control errors.

[0051] Please see Figure 1 , Figure 3 , Figure 4 and Figure 5 The translation clamping mechanism 2 docks with the rotary conveying mechanism 1 to receive and fix the projectile from the transfer station, and then transport the projectile to the tightening station.

[0052] The translation clamping mechanism 2 includes a translation plate 24, a translation module 22 for driving the translation plate 24 to reciprocate between the transfer station and the tightening station, and a positioning module 21 buoyantly mounted on the translation plate 24. The positioning module 21 includes a floating plate 20 mounted on the translation plate 24 via a floating structure, a pneumatic chuck 211 mounted on the floating plate 20, and a through shaft 212 arranged along the central axis of the pneumatic chuck 211 and fixedly connected to the floating plate 20. The pneumatic chuck 211 has three auxiliary claws arranged circumferentially around the through shaft 212. 213. Three auxiliary claws 213 move synchronously along the radial direction of the pneumatic chuck 211 to form a positioning space 214 for clamping the projectile. The positioning space 214 is conical with a cone angle of 39.3°. The through-shaft 212 is fixedly connected to the floating plate 20 via a flange. The translation plate 24 has a clearance hole 241 for the lower end of the through-shaft 212 to pass through, and the inner diameter of the clearance hole 241 is larger than the outer diameter of the lower end of the through-shaft 212. The lower end of the through-shaft 212 extends downward through the clearance hole 241 to ensure that the through-shaft floats in the vertical direction. A support block 27 is provided at the tightening station. The support block 27 is used to support the through-shaft 212 during the tightening of the bottom screw, ensuring that the through-shaft is stably supported during the tightening of the bottom screw and ensuring the stability of the projectile.

[0053] During operation, the gripping assembly 11, located at the intermediate station, vertically inserts the projectile into the pneumatic chuck 211. The through-shaft 212 provides guidance along the projectile's axial direction, guiding it smoothly into the clamping area of ​​the pneumatic chuck 211. Subsequently, the pneumatic chuck 211 drives the three auxiliary claws 213 to simultaneously retract downwards and inwards, forming the positioning space 214 to complete the clamping. This clamping action is a standard function of the pneumatic chuck and will not be described in detail here.

[0054] In particular, the positioning space 214 of this invention is conical with a cone angle of 39.3°. This conical positioning space 214 matches the outer contour of the projectile. Unlike the point contact method used in the prior art for clamping curved outer contour parts, this embodiment uses a surface contact clamping method, which can effectively prevent the projectile from shifting during clamping, thereby achieving stable and accurate positioning of the projectile by the secondary claw 213. At the same time, the positioning module is driven by the translation module to perform linear reciprocating motion between the transfer station and the tightening station, which not only ensures the stability of the projectile during transportation, but also ensures reliable fixation during the bottom screw tightening operation.

[0055] Furthermore, the translation module 22 includes a base 221 arranged along the direction of the transfer station and the tightening station. The base 221 is equipped with linear guide rails 222 and rodless cylinders 224. Two sets of linear guide rails 222 are parallel to each other and spaced apart on the base 221. The translation plate 24 is mounted on the linear guide rails 222. The rodless cylinder 224 is located on one side of the linear guide rails 222 and is used to drive the translation plate 24 to reciprocate between the transfer station and the tightening station. A second through-beam fiber optic sensor 52 is provided on one side of the top of the floating plate 20 to detect in real time whether the pneumatic chuck 211 has clamped the projectile, providing a positioning and material presence signal to the control system. This translation clamping mechanism 2 has a compact overall structure, occupies little space, requires no additional splicing equipment, is suitable for embedding in other production lines, and has high applicability.

[0056] In addition, the floating plate 20 is configured to float so that the positioning module 21 can float vertically within a set range relative to the horizontal plane. Thus, when the tightening head 311 initially contacts the product, the floating design can immediately buffer and absorb the impact stress, preventing the spring and the bottom screw from being damaged by rigid impact.

[0057] Specifically, the floating structure includes floating guide components 25 and springs 26. Four floating guide components 25 are provided, distributed at the four corners of the floating plate 20. Each floating guide component 25 includes a linear bearing 251 mounted on the floating plate 20, and a guide shaft 252 slidably fitted to the linear bearing 251 and fixedly connected at its lower end to the translation plate 24; ensuring the stability of the floating plate 20's vertical movement.

[0058] Four springs 26 are also provided, which are disposed between the floating plate 20 and the translation plate 24, and are arranged one-to-one with the four floating guide components 25. The upper and lower ends of each spring elastically abut against the floating plate 20 and the translation plate 24 respectively, to provide floating restoring force, and cooperate with the floating guide components 25 to achieve buffering and tolerance compensation.

[0059] To further improve positioning accuracy and operational stability, the translation clamping mechanism 2 is also equipped with a buffer limiting component 23. The buffer limiting component 23 includes a baffle 231 located at the bottom of the translation plate 24 and buffers 232 located on the base 221 and respectively corresponding to the transfer station and tightening station positions. When the translation plate 24 moves the positioning module to the target station, the baffle 231 contacts the buffer 232 at the corresponding position, absorbing the kinetic energy of the movement through elastic damping, suppressing impact vibration, and ensuring that the positioning module 21 carrying the projectile can be smoothly stopped at the corresponding station, avoiding projectile deviation due to inertia, thereby ensuring the reliability of subsequent visual recognition and tightening operations.

[0060] Please see Figure 1 , Figure 2 , Figure 6 and Figure 7 Regarding the tightening mechanism 3, it is located at the tightening station and is used to tighten the bottom screw onto the projectile.

[0061] The tightening mechanism 3 includes a tightening assembly 31 configured to rotate about an axial direction, and a feed drive assembly 32 for driving the tightening assembly 31 to feed toward one side of the projectile. The tightening assembly 31 includes a tightening head 311 and a servo drive module 313 for driving the tightening head 311 to rotate. The tightening head 311 is fitted with an axial force decoupling bearing assembly 312. In this embodiment, the diameter of the bottom screw is 1.5 mm, and the required tightening force is 25 N·m. By setting the axial force decoupling bearing assembly, the axial load and rotational torque can be separated, ensuring the stability and reliability of the tightening head 311 during the rotational feed process. The feed drive assembly 32 includes a drive mechanism 321, a floating joint 322 connected to the tightening assembly 31 at the output end of the drive mechanism 321, and a first through-beam fiber optic sensor 51 for detecting the termination position of the downward movement of the floating joint 322. The floating amount of the floating joint is greater than the height of a bottom screw, which can be adapted to multiple specifications of products with different heights of bottom screw and projectile. It can complete the tightening operation of different workpieces without changing the mechanism, and has strong versatility.

[0062] Furthermore, the tightening mechanism 3 is fixedly mounted on the tightening station via the base 33, and the driving mechanism 321 is vertically mounted on the top of the base 33, with its driving end connected to the floating joint 322. A linear slide rail 34 is provided on the side of the base 33 facing the translation clamping mechanism 2, and the tightening assembly 31 is slidably connected to the linear slide rail 34 via the feed plate 314. A U-shaped part 315 is provided on the side of the feed plate 314 facing the linear slide rail 34, and the floating joint 322 is slidably fitted onto the U-shaped part 315, thereby transmitting the linear driving force output by the driving mechanism 321 to the feed plate 314 to realize the axial feeding movement of the tightening assembly 31.

[0063] The axial force decoupling bearing assembly 312 consists of an angular contact ball bearing 3121 and a thrust needle roller bearing 3122 arranged vertically, which ensures both the stability of rotational tightening and improves the accuracy of torque. The axial force decoupling bearing assembly 312 is mounted on the feed plate 314 via a bearing positioning block 3123. The upper part of the tightening head 311 passes through the inner rings of the thrust needle roller bearing 3122 and the angular contact ball bearing 3121 from bottom to top, and is connected upward to the servo drive module 313. The bottom of the tightening head 311 is detachably equipped with a screwdriver bit 3111 that matches the slot of the bottom screw.

[0064] The servo drive module 313 is fixedly mounted on the feed plate 314 via a motor bracket 316, and includes a drive component 3131, which is an explosion-proof servo motor. The power end of the drive component 3131 is vertically connected downwards to a reducer 3132, an upper coupling 3133, a torque sensor 3134, and a lower coupling 3135, finally connecting to the upper part of the tightening head 311. A third through-beam fiber optic sensor 53 for detecting whether the screwdriver bit 3111 is damaged is provided on the side of the base 33 facing the tightening head 311. Before each tightening operation, the screwdriver bit 3111 moves with the tightening head 311 to the detection range of the third through-beam fiber optic sensor 53 and rotates one revolution. The change in the through-beam signal determines whether the screwdriver bit is intact before the operation. Furthermore, during the tightening process, the torque sensor 3134 monitors the screwdriver bit for damage in real time by detecting torque changes. This dual monitoring before and during the operation ensures the reliability and safety of the bottom screw tightening process.

[0065] Specifically, after the bit 3111 is identified and adjusted, the feed drive assembly 32 moves the bit 3111 into the slot of the bottom screw. When the first through-beam fiber optic sensor 51 detects that the floating connector 322 has reached the preset position, the vertical feed motion stops, and the drive component 3131 drives the tightening head to rotate, tightening the bottom screw to the spring. Tightening stops when the torque sensor 3134 detects that the torque has reached the set value. The torque sensor monitors the tightening torque, which is adjustable between 10 N·m and 25 N·m, and the tightening torque can be uploaded to the control system.

[0066] Please see Figure 1 , Figure 2 , Figure 8 and Figure 9 Regarding the visual guidance mechanism 4, it guides the screwdriver bit of the tightening mechanism to correspond to the slot on the bottom screw, ensuring the accuracy of the tightening operation.

[0067] Specifically, the visual guidance mechanism is located on the side of the tightening mechanism 3. It is used to identify the position of the slot on the bottom screw and feed the position information back to the control system to guide the servo drive module 313 to drive the tightening head 311 to rotate, so that the bit 3111 is accurately aligned with the bottom screw slot, thereby ensuring the accuracy and reliability of the tightening operation and avoiding bit slippage, slot damage or tightening failure caused by angular deviation.

[0068] The visual guidance mechanism 4 is located beside the tightening mechanism 3 via a positioning seat 41. It includes a horizontal linear drive module 42 mounted on the positioning seat 41, a vertical linear drive module 43 mounted on the moving platform of the horizontal linear drive module 42, and a camera assembly 44 mounted on the execution end of the horizontal linear drive module 42. Both the horizontal linear drive module 42 and the vertical linear drive module 43 employ slide cylinders, which respectively drive the camera assembly 44 to move horizontally and vertically, adjusting its relative spatial position to the projectile's base screw, thereby enabling the acquisition of complete surface information of the base screw.

[0069] The camera assembly 44 includes an image acquisition unit and an information processing unit 441. The image acquisition unit consists of a prism 442 and a ring light source 443, and is mounted on the moving end of the vertical linear drive module 43. The ring light source 443 is located below the prism 442, providing uniform illumination to the bottom screw area. The prism 442 refracts the reflected light from the bottom screw slot by 90°, guiding it to the information processing unit 441, which is fixedly mounted on the positioning base 41. The information processing unit 441 has a built-in image sensor and processing module, used to receive and analyze the visual signals reflected by the prism 442, identify the spatial posture of the bottom screw slot in real time, and feed back the alignment deviation to the control system to drive the tightening mechanism 3 for angle compensation.

[0070] Specifically, the vertical height of the imaging surface of the prism 442 matches the stroke of the vertical linear drive module 43. Therefore, when the vertical linear drive module 43 moves the image acquisition unit up and down to accommodate projectiles of different heights, the reflected light from the bottom screw area always enters the effective field of view of the prism 442 completely and is reliably fed into the information processing unit 441. Simultaneously, the focal length of the information processing unit 441 matches the stroke range of the prism 442, thus ensuring high-precision visual guidance for projectiles of different specifications, guaranteeing a high success rate and efficient operation for bottom screw tightening.

[0071] In summary, the automatic screw tightening device for projectile base screws provided by this invention achieves fully automated operation of automatic projectile feeding, precise positioning, visual alignment, and screw tightening by modular design and system integration of the rotary conveying mechanism, translational clamping mechanism, tightening mechanism, and visual guidance mechanism. The modular design allows for flexible adjustment of the installation position according to the actual production line layout, improving the adaptability and ease of operation of the equipment. This equipment improves assembly efficiency and tightening consistency, has a compact structure, stable operation, and convenient maintenance, and can meet the automated assembly needs of projectiles of various specifications, effectively ensuring production cycle and product quality.

[0072] Many specific details have been set forth in the foregoing description to provide a thorough understanding of the present invention. However, the above description is merely a preferred embodiment of the present invention, and the present invention can be implemented in many other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed above. Furthermore, any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the content of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. An automatic tightening device for the base screw of a projectile, characterized in that, include: A rotary conveying mechanism (1) includes two opposing gripping components (11) for driving the two gripping components (11) to pick up and place projectiles at the loading station and the transfer station. The two gripping components (11) are configured to be connected to the rotary module (12) respectively through a lifting module (13). The lifting module (13) includes a linear module (131) and a slide cylinder (132). The gripping components (11) are connected to the linear module (131). The slide cylinder (132) is used to drive the linear module (131) and drive the gripping components (11) to make linear reciprocating motion in the vertical direction. The translation clamping mechanism (2) is connected to the rotary conveying mechanism (1), and includes a translation plate (24), a translation module (22) for driving the translation plate (24) to reciprocate between the transfer station and the tightening station, and a positioning module (21) that is floatingly set on the translation plate (24). The positioning module (21) includes a floating plate (20) set on the translation plate (24) by a floating structure, a pneumatic chuck (211) set on the floating plate (20), and a through shaft (212) set along the central axis of the pneumatic chuck (211) and fixedly connected to the floating plate (20). The pneumatic chuck (211) has three secondary claws (213) arranged circumferentially around the through shaft (212). The three secondary claws (213) move synchronously in the radial direction of the pneumatic chuck (211) to form a positioning space (214) for clamping the projectile. The positioning space (214) is conical with a cone angle of 39.3°. The translation plate (24) has a clearance hole (241) for the lower end of the through shaft (212) to pass through. A support block (27) is provided at the tightening station. The support block (27) is used to support the through shaft (212) during the tightening of the bottom screw. The tightening mechanism (3), located at the tightening station, includes a tightening assembly (31) configured to rotate about the axial direction, and a feed drive assembly (32) for driving the tightening assembly (31) to feed toward one side of the projectile; the tightening assembly (31) includes a tightening head (311) and a servo drive module (313) for driving the tightening head (311) to rotate, and the tightening head (311) is fitted with an axial force decoupling bearing assembly (312); the feed drive assembly (32) includes a drive mechanism (321), a floating joint (322) connected to the tightening assembly (31) at the output end of the drive mechanism (321), and a first through-beam fiber optic sensor (51) for detecting the downward termination position of the floating joint (322). The visual guidance mechanism (4) is located next to the tightening mechanism (3) and is used to identify the position of the slot on the bottom screw and guide the servo drive module (313) to drive the tightening head (311) to rotate to align with the slot of the bottom screw.

2. The automatic tightening device for the base screw of the projectile according to claim 1, characterized in that: The rotating module (12) includes a support base (121) and a hollow rotating platform (122) located on the top of the support base (121). A rotating plate (123) is provided on the disk surface of the hollow rotating platform (122), and a tripod (124) is provided at both ends of the rotating plate (123) along the length direction. Each of the tripods (124) is equipped with a lifting module (13), and the gripping component (11) includes a parallel finger-gripping cylinder (111). V-shaped grooves (1121) are respectively provided on the opposite side of the two grippers (112) of the parallel finger-gripping cylinder (111).

3. The automatic tightening device for the base screw of the projectile according to claim 2, characterized in that: The rotary conveying mechanism (1) further includes a limiting structure (14), which includes a stop block (141) and a stop bar (142). There are two stop blocks (141), which are respectively located on the top sides of the support base (121) and are arranged in the loading station and the transfer station respectively. The stop bar (142) is vertically installed on the bottom of the rotating plate (123) and arranged on the same side as one of the gripping components (11).

4. The automatic tightening device for the base screw of the projectile according to claim 1, characterized in that: The translation module (22) includes a base (221) arranged along the direction of the transfer station and the tightening station. The base (221) is provided with two parallel and spaced linear guides (222). A rodless cylinder (224) is provided on the side of one of the linear guides (222). The translation plate (24) is provided on the linear guide (222). The support block (27) is provided on the base (221) and located between the two linear guides (222). When the rodless cylinder (224) drives the translation plate (24) to move the positioning module (21) to the tightening station, the through shaft (212) is placed directly above the support block (27). A second through-beam fiber optic sensor (52) is provided on one side of the top of the floating plate (20) for detecting whether the projectile is clamped on the pneumatic chuck (211).

5. The automatic tightening device for the base screw of the projectile according to claim 4, characterized in that: The floating structure includes: There are four floating guide components (25), which are distributed at the four corners of the floating plate (20). Each floating guide component (25) includes a linear bearing (251) on the floating plate (20) and a guide shaft (252) that is slidably fitted to the linear bearing (251) and whose lower end is fixedly connected to the translation plate (24). There are four springs (26), which are located between the floating plate (20) and the translation plate (24) and are arranged in a one-to-one correspondence with the four floating guide components (25).

6. The automatic tightening device for the base screw of the projectile according to claim 5, characterized in that: The translation clamping mechanism (2) further includes a buffer limiting component (23), which includes a baffle (231) disposed at the bottom of the translation plate (24) and a buffer (232) disposed on the base (221) and arranged corresponding to the transfer station and tightening station positions respectively.

7. The automatic tightening device for the base screw of the projectile according to claim 1, characterized in that: The tightening mechanism (3) is fixedly installed at the tightening station via the base (33). The driving mechanism (321) is vertically installed on the top of the base (33), and its driving end is connected to the floating joint (322). The base (33) is provided with a linear slide rail (34) on the side facing the translation clamping mechanism (2). The tightening assembly (31) is slidably connected to the linear slide rail (34) via the feed plate (314). The feed plate (314) is provided with a U-shaped part (315) on the side facing the linear slide rail (34). The floating joint (322) is slidably fitted onto the U-shaped part (315).

8. The automatic tightening device for the base screw of the projectile according to claim 7, characterized in that: The axial force decoupling bearing assembly (312) consists of an angular contact ball bearing (3121) and a thrust needle roller bearing (3122) arranged vertically, and is mounted on the feed plate (314) via a bearing positioning block (3123). The upper part of the tightening head (311) passes through the inner rings of the thrust needle roller bearing (3122) and the angular contact ball bearing (3121) from bottom to top, and is connected upward to the servo drive module (313). The bottom of the tightening head (311) is detachably equipped with a bit (3111) that matches the slot of the bottom screw.

9. The automatic tightening device for the base screw of the projectile according to claim 8, characterized in that: The servo drive module (313) is fixedly mounted on the feed plate (314) via a motor bracket (316), and includes a drive component (3131). The power end of the drive component (3131) is connected in sequence to a reducer (3132), an upper coupling (3133), a torque sensor (3134), and a lower coupling (3135) in the vertical direction and then connected to the upper part of the tightening head (311). The base (33) is provided with a third through-beam fiber optic sensor (53) on the side facing the tightening head (311) for detecting whether the bit (3111) is damaged.

10. The automatic tightening device for the base screw of the projectile according to claim 1, characterized in that: The visual guidance mechanism (4) is located on the side of the tightening mechanism (3) via a positioning seat (41), and includes a horizontal linear drive module (42) on the positioning seat (41), a vertical linear drive module (43) on the moving platform of the horizontal linear drive module (42), and a camera assembly (44) on the execution end of the horizontal linear drive module (42).

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