A screwing end effector and screwing operating robot

Abstract

The application discloses a screwing end execution element and a screwing operation robot, and relates to the technical field of robots, which comprises a center sleeve provided with a screwing hole, the outer peripheral wall of the center sleeve is provided with a gear ring, a first driving mechanism, the first driving mechanism comprises a first motor in driving connection with the center sleeve, a second driving mechanism, the second driving mechanism comprises a second motor, a rocker arm and a switching assembly, the second motor is fixedly connected with the rocker arm, the output end of the second motor is provided with a gear, the gear is in meshing connection with a fixedly arranged arc-shaped gear rack, the rocker arm is provided with the switching assembly, the switching assembly comprises a tooth block and a telescopic mechanism, the telescopic mechanism controls the tooth block to extend and meshingly drive the gear ring or to retract and disconnect the driving of the gear ring, the output torque of the second driving mechanism is greater than that of the first driving mechanism, the application integrates a large-torque output mode and a small-torque output mode, improves the dismounting and mounting efficiency, and two motors share one center sleeve, so that the overall volume is small and the application is suitable for limited spaces.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a screwing end actuator and a screwing operation robot. Background Technology

[0002] In the maintenance, assembly, and repair of industrial equipment, robots are often required to enter confined spaces such as flange gaps, pipe perimeters, and interior cavities to identify, align, and manipulate nuts, bolts, valve connections, positioning holes, or other regular structural components. Unlike open-space operations, confined spaces typically present challenges such as limited operating space, target obstruction by surrounding structures, and restricted approach directions for the end effector. Therefore, the robot's end effector not only needs target recognition and positioning capabilities, but also requires stable contact and precise manipulation within a limited space.

[0003] Tightening actuators are generally used for the installation and removal of nuts. The applicant's known tightening actuator is a single-motor drive element. This motor maintains a large torque output throughout the installation and removal process so that the nut can be tightened using high torque in the later stages of installation and the early stages of removal. However, this also means that the motor cannot quickly install or remove the nut when high torque is not required, resulting in low installation and removal efficiency. However, setting up a small-torque tightening actuator and a large-torque tightening actuator presents the problem of time-consuming switching between tightening actuators.

[0004] Therefore, there is an urgent need for a mechanism that integrates both high-torque and low-torque output modes, sharing a single output end, to reduce the overall size and adapt to the screw-end actuator operating in confined spaces. Summary of the Invention

[0005] The purpose of this invention is to provide a screwing end actuator and a screwing operation robot to solve the problems existing in the prior art. It is designed with two motors that output small torque and large torque respectively, and the two motors share a central sleeve. The torque switching is realized by using a switching component. It not only integrates large torque output and small torque output modes to improve disassembly and assembly efficiency, but also has a small overall size and can be used in confined spaces.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides a screwing end actuator, comprising: A central sleeve, wherein a toothed ring is provided on the outer peripheral wall of the central sleeve, and a screwing hole for screwing operation is provided at the end of the central sleeve; A first driving mechanism, the first driving mechanism including a first motor, the first motor being drivenly connected to the central sleeve; The second drive mechanism includes a second motor, a rocker arm, and a switching assembly. The second motor is fixedly connected to the rocker arm. A gear is provided at the output end of the second motor. The gear meshes with a fixedly provided arc-shaped rack. The switching assembly is provided on the rocker arm. The switching assembly includes a toothed block and a telescopic mechanism. The telescopic mechanism controls the toothed block to extend or retract toward or away from the central sleeve. When the toothed block extends, it meshes with the gear ring for transmission. When the toothed block retracts, it disconnects from the gear ring for transmission. The output torque of the second drive mechanism is greater than the output torque of the first drive mechanism.

[0007] In one embodiment, the rocker arm has a groove near the end of the central sleeve, and the toothed block is slidably disposed within the groove.

[0008] In one embodiment, the telescopic mechanism includes a third motor, a winding reel, and a flexible cable. The third motor is connected to the winding reel, which is rotatably mounted on the rocker arm. One end of the flexible cable is wound around the winding reel, and the other end is connected to the toothed block. A spring is provided between the end of the toothed block away from the central sleeve and the rocker arm. When the flexible cable is relaxed, the spring pushes the toothed block into the tooth groove of the toothed ring.

[0009] In one embodiment, multiple tooth blocks are provided, and the multiple tooth blocks are distributed in an arc around the tooth ring. The rocker arm is provided with a number of guide posts corresponding to the number of tooth blocks, and the flexible cable passes around the guide posts and connects to the tooth blocks.

[0010] In one embodiment, a fixing member is provided above or below the rocker arm, and a slide rail and groove mechanism for guiding the movement of the rocker arm is provided between the fixing member and the rocker arm.

[0011] In one embodiment, an upper outer shell and a lower outer shell that interlock with each other are respectively provided above and below the rocker arm, and the central sleeve is rotatably connected to the upper outer shell and the lower outer shell through a first fixed bearing and a second fixed bearing, respectively.

[0012] In one embodiment, the first motor and the second motor are disposed on the same side relative to the central sleeve.

[0013] In one embodiment, the screwing end actuator further includes a vision positioning module.

[0014] In one embodiment, the second motor is connected to the gear transmission via a reducer.

[0015] The present invention also provides a screwing operation robot using the above-mentioned screwing end actuator, including a robotic arm and the screwing end actuator, wherein the end of the robotic arm is connected to the screwing end actuator, and a torque sensing module is provided at the end of the robotic arm.

[0016] The present invention achieves the following main technical effects compared to the prior art: During disassembly and assembly, when a large torque output is required, the toothed block of the switching component engages with the gear ring to achieve a large torque output from the central sleeve. When a small torque output is required, the locking block of the switching component disengages from the gear ring, and the first motor is used to achieve a small torque output from the central sleeve. In other words, this device integrates both large and small torque output modes, which helps improve disassembly and assembly efficiency. Moreover, since the first motor and the second motor share a central sleeve as the output end, the overall structural volume can be effectively reduced, making this device suitable for disassembly and assembly work in confined spaces and expanding its applicability.

[0017] Other solutions of the present invention achieve the following technical effects compared with the prior art: The fact that the first and second motors are positioned on the same side means that the central sleeve protrudes laterally in the overall structure. In actual use, only the central sleeve needs to be inserted into the operating space for operation, which effectively reduces the space occupied by the device in the operating space and further improves the applicability of the device. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the screwing robot in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the screwing end actuator in an embodiment of the present invention; Figure 3 This is an exploded view of the screwing end actuator in an embodiment of the present invention; Figure 4 This is a schematic diagram of the switching component in an embodiment of the present invention; Figure 5 This is a top view of the switching component in an embodiment of the present invention; Figure 6 This is a schematic diagram of the rocker arm swinging in an embodiment of the present invention; The components include: 1. Robotic arm; 2. Torque sensing module; 3. Connecting plate; 4. Vision positioning module; 5. Twisting end actuator; 5-1. Upper outer shell; 5-2. First fixed bearing; 5-3. Central sleeve; 5-4. Driven wheel; 5-5. Synchronous belt; 5-6. Second fixed bearing; 5-7. Right support block; 5-8. Left support block; 5-9. Front part of lower outer shell; 5-10. Rear part of lower outer shell; 5-11. Second motor; 5-12. Reducer; 5-13. Third motor; 5-14. Steering wheel. 5-15. Winding reel; 5-16. Guide plate; 5-17. Tooth block; 5-18. Spring; 5-19. Guide post; 5-20. Flexible cable; 5-21. Rocker arm; 5-22. Rear slider; 5-23. Front slider; 5-24. Drive wheel; 5-25. First motor; 5-26. Front slide rail; 5-27. Gear; 5-28. Arc rack; 5-29. Rear slide rail; 5-30. Fixing part; 5-31. Detachable reaction arm module; 6. Confined space fixing structure; 7. Target fastener. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The purpose of this invention is to provide a screwing end actuator and a screwing operation robot to solve the problems existing in the prior art. It is designed with two motors that output small torque and large torque respectively, and the two motors share a central sleeve. The torque switching is realized by using a switching component. It not only integrates large torque output and small torque output modes to improve disassembly and assembly efficiency, but also has a small overall size and can be used in confined spaces.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Please refer to the following: Figures 1-6As shown, a screwing actuator 5 is provided, including: a central sleeve 5-3, a first drive mechanism, and a second drive mechanism. The outer peripheral wall of the central sleeve 5-3 is provided with a gear ring, and the end of the central sleeve 5-3 is provided with a screwing hole for screwing operations. The shape of the screwing hole can be designed according to the shape of the object to be screwed. When a hexagonal nut needs to be screwed, the screwing hole is a matching hexagonal prism through hole. The first drive mechanism includes a first motor 5-25, which is connected to the central sleeve 5-3 via a transmission connection, such as a coupling drive, gear drive, or belt drive. The second drive mechanism includes a second motor... The system includes a second motor 5-11, a rocker arm 5-21, and a switching assembly. The second motor 5-11 is fixedly connected to the rocker arm 5-21. The output end of the second motor 5-11 is equipped with a gear 5-27, which meshes with a fixedly mounted arc-shaped rack 5-28. When the gear 5-27 rotates, it drives the rocker arm 5-21 to perform an arc-shaped motion (the center line of the arc-shaped motion of the rocker arm 5-21 is the axis of the central sleeve 5-3). The rocker arm 5-21 is equipped with a switching assembly, which includes a gear block 5-17 and a telescopic mechanism. The telescopic mechanism controls the gear block 5-17 to extend or retract towards or away from the central sleeve 5-3. 7. The toothed block 5-17 extends and engages with the gear ring for transmission, and retracts to disengage from the gear ring for transmission. The output torque of the second drive mechanism is greater than that of the first drive mechanism. The first drive mechanism is used for low torque output mode, and the second drive mechanism is used for high torque output mode. The principle of high torque output is as follows: Since the motion output by the second motor 5-11 drives the rocker arm 5-21, the rocker arm 5-21 can use the lever principle to amplify the low torque output by the second motor 5-11 into a high torque output. During the disassembly and assembly of this device, when a high torque output is required, the toothed block 5-17 of the switching component is engaged in the gear ring. The central sleeve 5-3 currently provides high torque output (the first motor 5-25 needs to output corresponding motion according to the swing of the rocker arm 5-21). When a low torque output is required, the locking block of the switching component disengages from the gear ring, and the first motor 5-25 is used to achieve a low torque output from the central sleeve 5-3. That is, this device integrates both high torque output and low torque output modes, which is beneficial to improving disassembly and assembly efficiency. Moreover, since the first motor 5-25 and the second motor 5-11 share a central sleeve 5-3 as the output end, the overall structural volume can be effectively reduced, making this device suitable for disassembly and assembly work in confined spaces and improving the applicability of the device.

[0024] To facilitate the entry of tooth block 5-17 into the tooth groove of the gear ring, the end of tooth block 5-17 near the gear ring is rounded, and the radius of the rounded arc is designed based on Hertzian contact theory.

[0025] In one embodiment, the rocker arm 5-21 is provided with a groove near the end of the central sleeve 5-3, and the toothed block 5-17 is slidably disposed in the groove. The side of the groove near the central sleeve 5-3 is open, allowing the toothed block 5-17 to slide out and engage with the gear ring. The design of the groove can guide the movement of the toothed block 5-17, making it easier for it to engage stably with the gear ring.

[0026] In one embodiment, the telescopic mechanism may include a third motor 5-13, a reel 5-15, and a flexible cable 5-20. The third motor 5-13 is driven by the reel 5-15, which is rotatably mounted on the rocker arm 5-21. Specifically, the rocker arm 5-21 is provided with a guide plate 5-16, and a rotating hole is provided in the middle of the guide plate 5-16. The bottom shaft of the reel 5-15 is rotatably mounted in the rotating hole, and the top of the reel 5-15 is provided with a rudder disc 5-14 that is driven by the third motor 5-13; the flexible cable 5- One end of the cable 5-20 is wound around the reel 5-15, and the other end is fixedly connected to the toothed block 5-17. A spring 5-18 is provided between the end of the toothed block 5-17 away from the central sleeve 5-3 and the rocker arm 5-21. When the flexible cable 5-20 is relaxed, the spring 5-18 pushes the toothed block 5-17 into the tooth groove of the toothed ring. In actual control, the movement of the reel 5-15 is controlled by the third motor 5-13 to realize the opening and tightening of the flexible cable 5-20, thereby cooperating with the spring 5-18 to realize the pushing out and retracting of the toothed block 5-17.

[0027] Multiple toothed blocks 5-17 can be provided, and the multiple toothed blocks 5-17 are distributed in an arc around the toothed ring so that they can be inserted into different toothed grooves of the toothed ring. The rocker arm 5-21 is provided with a number of guide posts 5-19 corresponding to the toothed blocks 5-17. The flexible cable 5-20 passes around the guide posts 5-19 and connects to the toothed blocks 5-17. The design of the guide posts 5-19 can make the end of the flexible cable 5-20 as parallel as possible to the direction of movement of the toothed blocks 5-17, reducing the pulling force.

[0028] In one embodiment, the telescopic mechanism can also be an electric telescopic rod, with the telescopic end of the electric telescopic rod connected to the toothed block 5-17 to realize the extension and retraction of the toothed block 5-17.

[0029] In one embodiment, the third motor 5-13 and the winding reel 5-15 can also be replaced by an electric telescopic rod, which is used to release and tighten the flexible cable 5-20.

[0030] In one embodiment, a fixing member is provided above or below the rocker arm 5-21. This structure exists as a base. A slide rail and slide groove mechanism for guiding the movement of the rocker arm 5-21 is provided between the fixing member and the rocker arm 5-21. The slide rail and slide groove mechanism is arc-shaped. The slide rail and the slider are respectively provided between the fixing member and the rocker arm 5-21. The slide rail and the slider can be interchanged. The existence of the slide rail and slider mechanism can provide high rigidity for the rocker arm 5-21. Based on this device, a specific sliding guide scheme is given: a fixing member is provided below the rocker arm 5-21. A front slide rail 5-26 and a rear slide rail 5-29 are provided on the fixing member. A front slider 5-23 and a rear slider 5-22 are provided at the bottom end of the rocker arm 5-21. The front slide rail 5-26 cooperates with the front slider 5-23, and the rear slide rail 5-29 cooperates with the rear slider 5-22.

[0031] In one embodiment, an upper outer shell 5-1 and a lower outer shell are respectively provided above and below the rocker arm 5-21 to protect the internal components. The upper outer shell 5-1 and the lower outer shell can be used as fixing members. The central sleeve 5-3 is rotatably connected to the upper outer shell 5-1 and the lower outer shell through the first fixed bearing 5-2 and the second fixed bearing 5-6 respectively to ensure the stable rotation of the central sleeve 5-3. The lower outer shell is divided into a front part 5-9 and a rear part 5-10. The rear part 5-10 is used to set the front slide rail 5-26, the rear slide rail 5-29 and the arc-shaped rack 5-28. The front part 5-9 is used to set the second fixed bearing 5-6.

[0032] The front part 5-9 of the lower housing is provided with a right support block 5-7 and a left support block 5-8 on both sides corresponding to the second fixed bearing 5-6. These are used to fill the gap between the front part 5-9 of the lower housing and the upper housing 5-1, and improve the reliability of the connection.

[0033] In one embodiment, because the tool experiences a reaction torque during high-torque tightening (e.g., when the tool turns right to tighten the nut, it experiences a reaction torque that causes it to rebound to the left), a mechanism is needed to hold the surrounding fixed fixture / workpiece and unload the reaction torque. Therefore, a detachable reaction arm module 5-31 is provided at the end of the upper housing 5-1. The detachable reaction arm module 5-31 is equivalent to a groove, which has only one inner wall, and this inner wall has a shape that matches the confined space fixing structure 6 (the confined space fixing structure 6 is the fixing structure for installing the target fastener 7). For example, if the edge shape of the confined space fixing structure 6 is arc-shaped, then the detachable reaction arm module 5-31... The inner wall of the reaction arm module 5-31 is an arc-shaped surface that matches the confined space fixing structure 6. During actual screwing, this arc-shaped surface is pressed against the cylinder of the confined space fixing structure 6, which can provide stable support. In this way, when a large torque is applied, the force / torque is transmitted between the confined space fixing structure 6 and the screwing end actuator 5, preventing the robotic arm 1 from being damaged by a huge reaction torque. The detachable reaction arm module 5-31 can be bolted to the upper outer shell 5-1. Different shapes of detachable reaction arm modules 5-31 can be designed so that different detachable reaction arm modules 5-31 can be replaced according to the shape of the confined space fixing structure 6.

[0034] In one embodiment, the first motor 5-25 is driven by a gear or belt to drive the central sleeve 5-3 (the first motor 5-25 drives the driving wheel 5-24 to rotate, the driven wheel 5-4 is fixedly connected to the central sleeve 5-3, and a synchronous belt 5-5 is sleeved between the driven wheel 5-4 and the driving wheel 5-24). The first motor 5-25 and the second motor 5-11 are arranged on the same side as the central sleeve 5-3. The same side here means that the central sleeve 5-3 is divided into two halves along the vertical plane of the axis of the central sleeve 5-3, and the two halves represent the two sides respectively. Under this design, the central sleeve 5-3 exists in the form of a side protrusion in the overall structure. In actual use, only the central sleeve 5-3 can be inserted into the operating space for operation, which further reduces the space ratio of the device in the operating space and further improves the applicability of the device.

[0035] In one embodiment, since the robot generally needs to perform visual positioning during the twisting process, and the twisting actuator needs to extend into the operating space, a visual positioning module 4 can be set on the twisting actuator 5. Specifically, a connecting plate 3 can be connected to the bottom of the lower housing, and the end of the connecting plate 3 is connected to the fixing part 5-30 of the visual positioning module 4 to realize the integration of the twisting actuator and the visual positioning module 4.

[0036] In one embodiment, the second motor 5-11 can be designed to be connected to the gear 5-27 via a reducer 5-12 to further improve torque output.

[0037] When actually performing a large torque output over a long twisting distance, the reciprocating motion of the rocker arm 5-21 can be controlled by the forward and reverse output of the second motor 5-11. The movement in one direction is the twisting output, and the movement in the other direction is the return. During the return process, the tooth block 5-17 needs to disengage from the tooth groove of the tooth ring.

[0038] The present invention also provides a screwing operation robot using the above-mentioned screwing end actuator 5, including a robotic arm 1 and a screwing end actuator 5. The end of the robotic arm 1 is connected to the screwing end actuator 5. A torque sensing module 2 is provided at the end of the robotic arm 1. The movement of the robotic arm 1 drives the screwing end actuator 5 to perform screwing operation on the target fastener 7 on the fixed structure 6 in the confined space.

[0039] The actual operation of the screwing robot includes the following steps: (1) Visual positioning steps Step 1: The robotic arm 1, carrying the screwing end actuator 5, moves to a large tilt angle observation position near the fixed structure 6 in the confined space. The visual positioning module 4 acquires image information of the target fastener 7 and its surrounding structure.

[0040] Step 2: The visual positioning module 4 acquires images or depth images of the target fastener 7 and sends the image information to the controller. The controller identifies and estimates the pose of the target fastener 7 based on the acquired image information, and obtains stable and high-precision pose information of the target fastener 7 relative to the visual positioning module 4, the screwing end actuator 5, or the robotic arm 1.

[0041] Step 3: When the target fastener 7 is a regular fastener with rotational symmetry, such as a hexagonal nut, a stable target pose is obtained by constructing a visual detection framework of "YOLOv11 coarse localization, FoundationPose calculation, Lie group constraints, and multi-frame smoothing" (using four algorithms in series, each of which is an existing algorithm and will not be elaborated on here). Specifically, YOLOv11 detects the two-dimensional position of the nut in the entire image, obtaining the RGB image and depth map of the nut. This information is passed to the FoundationPose algorithm to calculate the 6-dimensional pose of the hexagonal nut. To be suitable for robotic arm grasping tasks, the pose calculated by FoundationPose is transformed into the camera coordinate system by combining Lie group symmetry constraints. In this way, no matter which angle is observed, the calculated 6-dimensional pose of the hexagonal nut will be a stable value that conforms to the robotic arm grasping posture. Finally, to improve the accuracy of the 6-dimensional pose result, the result calculated from multiple frames is smoothed and filtered.

[0042] Step 4: After visual positioning is completed, the controller saves the pose information of the target fastener 7 and generates the approach path of the robotic arm 1 and the initial alignment pose of the screwing end actuator 5 based on the pose information. The visual positioning module 4 is mainly used for offline pose acquisition before or at the beginning of the operation. In the subsequent contact fitting and disassembly process, the target fastener 7 is not relied upon for real-time closed-loop observation.

[0043] (2) Forceful compliant centering and joining steps Step 1: The robotic arm 1, carrying the screwing end actuator 5, approaches the target fastener 7, and the torque sensing module 2 acquires the interaction force and interaction torque; Step Two: Considering system positioning errors such as visual inspection errors, hand-eye calibration errors, and machining errors, the robotic arm 1 drives the screwing end actuator 5 to perform small-range active search and passive fine-tuning movements through compliant control to achieve flexible assembly. If the target fastener 7 is a hexagonal nut, when disassembling the hexagonal nut, the central sleeve 5-3 is fitted onto the hexagonal nut through "Z-axis constant force compliance - active spiral search - passive chamfering guidance - hexagonal shape matching (Z-axis is the axis of the hexagonal nut)" (existing steps, which will not be elaborated here). When installing the hexagonal nut, the central sleeve 5-3, carrying the hexagonal nut, is fitted onto the bolt through the same steps. In the above processes, the central sleeve 5-3 is driven by the first motor 5-25.

[0044] Step 3: Once the connection is detected as being in place or the preset contact force condition is met, proceed to the tightening stage.

[0045] (3) Disassembly and assembly stage of target fastener 7 The aforementioned screw-on actuator 5 is used for both small-torque rapid screwing and large-torque reciprocating final screwing. If the target fastener 7 is a hexagonal nut, a similar process is used for disassembling and installing the hexagonal nut. During disassembly, after the central sleeve 5-3 is fitted with the hexagonal nut, the third motor 5-13 releases the flexible cable 5-20. The toothed block 5-17, under the elastic force of the spring 5-18, inserts into the tooth groove of the toothed ring of the central sleeve 5-3. The rocker arm 5-21 rotates, driving the central sleeve 5-3 to rotate. Under compliant control, the gap between the detachable reaction arm module 5-31 and the appropriate part of the confined space fixing structure 6 is slowly eliminated and finally stabilized to form a stable torque closed loop. Through the engagement and disengagement of the toothed block 5-17, the rocker arm 5-21 swings back and forth, outputting a large torque to remove the hexagonal nut. Then, the first motor 5-25 drives the central sleeve 5-3 to rotate rapidly to unscrew the hexagonal nut from the bolt. During installation, after the central sleeve 5-3 with the hexagonal nut is fitted onto the bolt, the first motor 5-25 drives the central sleeve 5-3 to rotate rapidly. The hexagonal nut is then rotated and finally stably fits against the confined space fixing structure 6. Then, through the engagement and disengagement of the toothed block 5-17, the rocker arm 5-21 swings back and forth, outputting a large torque to tighten the hexagonal nut to the target torque.

[0046] Any adaptive changes made according to actual needs are within the scope of protection of this invention.

[0047] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0048] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A screw-end actuator, characterized in that, include: A central sleeve, wherein a toothed ring is provided on the outer peripheral wall of the central sleeve, and a screwing hole for screwing operation is provided at the end of the central sleeve; A first driving mechanism, the first driving mechanism including a first motor, the first motor being drivenly connected to the central sleeve; The second drive mechanism includes a second motor, a rocker arm, and a switching assembly. The second motor is fixedly connected to the rocker arm. A gear is provided at the output end of the second motor. The gear meshes with a fixedly provided arc-shaped rack. The switching assembly is provided on the rocker arm. The switching assembly includes a toothed block and a telescopic mechanism. The telescopic mechanism controls the toothed block to extend or retract toward or away from the central sleeve. When the toothed block extends, it meshes with the gear ring for transmission. When the toothed block retracts, it disconnects from the gear ring for transmission. The output torque of the second drive mechanism is greater than the output torque of the first drive mechanism.

2. The screw-end actuator according to claim 1, characterized in that, The rocker arm has a groove near the end of the central sleeve, and the toothed block is slidably disposed in the groove.

3. The screw-end actuator according to claim 1, characterized in that, The telescopic mechanism includes a third motor, a winding reel, and a flexible cable. The third motor is connected to the winding reel, which is rotatably mounted on the rocker arm. One end of the flexible cable is wound around the winding reel, and the other end is connected to the toothed block. A spring is provided between the end of the toothed block away from the central sleeve and the rocker arm. When the flexible cable is relaxed, the spring pushes the toothed block into the tooth groove of the toothed ring.

4. The screwing end actuator according to claim 3, characterized in that, The toothed blocks are provided in multiple ways, and the multiple toothed blocks are distributed in an arc around the toothed ring. The rocker arm is provided with a number of guide posts corresponding to the number of toothed blocks, and the flexible cable passes around the guide posts and connects to the toothed blocks.

5. The screw-end actuator according to claim 1, characterized in that, A fixing member is provided above or below the rocker arm, and a slide rail and groove mechanism for guiding the movement of the rocker arm is provided between the fixing member and the rocker arm.

6. The screw-end actuator according to claim 1, characterized in that, The rocker arm is provided with an upper outer shell and a lower outer shell that are interlocked with each other. The central sleeve is rotatably connected to the upper outer shell and the lower outer shell through a first fixed bearing and a second fixed bearing, respectively.

7. The screw-end actuator according to claim 1, characterized in that, The first motor and the second motor are arranged on the same side relative to the central sleeve.

8. The screw-end actuator according to claim 1, characterized in that, The screwing end actuator also includes a vision positioning module.

9. The screw-end actuator according to claim 1, characterized in that, The second motor is connected to the gear transmission via a reducer.

10. A screwing robot, characterized in that, The application of the rotary end actuator as described in any one of claims 1-9 includes a robotic arm and the rotary end actuator, wherein the end of the robotic arm is connected to the rotary end actuator, and the end of the robotic arm is provided with a torque sensing module.

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