Bolt penetrating and screwing integrated operation device

Abstract

The utility model relates to steel box girder high-strength bolt screwing construction operation, in particular to a bolt penetrating and screwing integrated operation device which comprises a supporting frame, a feeding assembly and a penetrating and screwing assembly. The supporting frame is used for being arranged on the multi-axis moving support. The feeding assembly is arranged on the upper side of the supporting frame and comprises a bearing guide unit. The penetrating and screwing assembly comprises a sliding seat and a clamping part; the sliding seat is arranged on the multi-axis moving support in a sliding manner, and the clamping part is connected to the sliding seat in a sliding manner; the bottom end or the lower section of the bearing guide unit is provided with a limiting boss used for forming the sliding stroke limiting the bolt, after the limiting boss supports the bolt, the clamping part can capture the bolt on the limiting boss when moving in the length direction of the sliding base, and the device improves the continuity of the bolt in the conveying and screwing process.

Description

TECHNICAL FIELD

[0001] The utility model relates to steel box girder high -strength bolt tightening construction operation, concretely relates to a bolt threading and screwing integrated operation device. BACKGROUND

[0002] Under the background that high-strength bolt connection technology is widely used in large-span steel box girder bridge construction, a large number of bolt threading and tightening operations on the construction site not only have great labor intensity, but also have very high operation precision requirements. The existing bolt construction equipment mostly focuses on the tightening process at the rear end, and for the feeding and threading link at the front end, there is often a lack of compact and efficient integrated solution. In the current automatic equipment, the feeding system and the threading execution link are usually separate, which leads to a long material transfer path between the feeding and the execution end, multiple transfer links, and difficulty in ensuring the continuity and synergy efficiency of the bolts in the transmission process. In the prior art, the applicant has made inventions and creations for the current high-strength bolt tightening problem, such as the high-strength bolt automatic tightening machine and tightening method based on machine vision positioning disclosed in CN120115971A, which realizes the full-process automation of bolt identification, positioning and tightening, solves the problems of low efficiency and large error of manual operation, but the threading problem of fasteners still needs to be solved. SUMMARY

[0003] In view of the above technical problems, the purpose of the utility model is to provide a bolt automatic tightening device that completes the threading and tightening of the bolt in one step. The device can replace manual threading and tightening of the bolt, thereby effectively reducing labor intensity and operation risk and improving the efficiency of the tightening process.

[0004] The utility model provides a bolt threading and screwing integrated operation device for setting on a multi-axis mobile support of a high-strength bolt threading and screwing integrated machine. The bolt threading and screwing integrated device comprises a support frame, a feeding assembly and a threading and screwing assembly. The support frame is arranged on the multi-axis mobile support. The feeding assembly is arranged on the upper side of the support frame. The feeding assembly comprises a receiving and guiding unit for allowing the bolt to slide in the direction of gravity. The threading and screwing assembly comprises a sliding seat and a clamping part. The sliding seat is slidingly arranged on the support frame. The clamping part is slidingly connected to the sliding seat and is movable along the length direction of the sliding seat. The bottom end or lower section of the receiving and guiding unit is provided with a limiting boss for limiting the sliding stroke of the bolt. When the clamping part moves along the length direction of the sliding seat after the limiting boss supports the bolt, the clamping part can capture the bolt on the limiting boss.

[0005] In view of the technical problems of poor connection between automatic bolt feeding and end grasping, loose equipment structure and poor dynamic transfer stability in the prior art, the utility model adopts an integrated structure design of feeding assembly and threading assembly on a unified support frame, realizes efficient gravity sliding of the bolt by using a receiving and guiding unit, and specially provides a limiting boss as a physical stop and support reference for the sliding end point; the technical scheme forcibly limits the sliding stroke of the bolt and supports its weight through the limiting boss, converts the unstable dynamic sliding state of the bolt into a determined static state, cooperates with the stable capture of the clamping part moving along the sliding seat on the limiting boss, effectively reduces the risk of grasping failure caused by inertia overshoot or position deviation of the bolt, and improves the continuity and reliability of material transfer, i.e. feeding and threading.

[0006] In some embodiments, the feeding assembly further comprises a conveying unit for conveying the bolt; the receiving and guiding unit is arranged on the lower side of the conveying unit, the receiving and guiding unit comprises two oppositely arranged guiding pieces, a gap is left between the two guiding pieces to form a guiding channel for the sliding of the bolt; the upper end of the guiding piece is rotationally connected with the conveying unit, and the lower side of the conveying unit is further provided with a fourth driving assembly, which is in transmission connection with the two guiding pieces to drive the two guiding pieces to make opposite or opposite opening and closing swinging actions for adjusting the distance between the two guiding pieces to open the guiding channel.

[0007] By controlling the relative positions of the two guiding pieces, a guiding channel with variable spacing is constructed, and a stable closed or semi-closed sliding path is formed by the closed or retracted state of the guiding piece, so as to ensure that the bolt slides to the transfer point in a controlled manner, and after the threading assembly reliably clamps the bolt, the guiding piece is driven to swing away to completely open the channel, realizing seamless switching of limiting sliding and interference-free release, and effectively solving the interference contradiction between the feeding guiding mechanism and the screwing execution mechanism in space.

[0008] In some embodiments, the conveying unit comprises a stationary support member and a rotating conveying member; the stationary support member is provided with a discharging port penetrating through the thickness direction thereof, and the stationary support member is arranged on the support frame; the rotating conveying member is stacked on the stationary support member and can rotate around its axis, a plurality of upper and lower accommodating grooves are arranged on the rotating conveying member in a circumferential direction, and the accommodating grooves are configured to accommodate the bolts on the bottom of the stationary support member.

[0009] In view of the fact that the existing bolt continuous conveying process is prone to material arrangement disorder, unstable conveying posture and low control precision of the falling position, a laminated disc structure design of a stationary supporting member and a rotating conveying member is adopted, the bolts are horizontally limited and orderly separated by the circumferentially distributed accommodating grooves of the rotating conveying member, and the accommodating groove bottom is blocked and supported by the solid plate surface of the stationary supporting member; the relative movement of the mechanical structure realizes the constrained conveying of the material, the bolts are forced to maintain a stable posture during sliding, and the gravity falls only when the accommodating groove and the discharge opening are physically coincident, which realizes the automatic alignment and continuous feeding of the batch of bolts, improves the precision of the timing and position of each discharge without complex electronic sensors, greatly simplifies the control logic and improves the reliability of the feeding system.

[0010] In some embodiments, the rotating conveying member is an annular member, and the accommodating grooves are arranged on the outer side of the rotating conveying member, so that the outer side of the rotating conveying member is gear-shaped. Here, the rotating conveying member is designed as an annular member with spaced accommodating grooves on the outer side (gear-shaped); this technical solution significantly reduces the weight and rotational inertia of the moving parts through the annular structure, reduces the driving load, and at the same time uses the open tooth-shaped accommodating groove structure on the outer side, so that the bolts can be easily slid in or grabbed from the side, and the bolt shaft can be easily extended outward, optimizing the spatial layout of the special-shaped fastener during the conveying process.

[0011] In some embodiments, the stationary supporting member is a disc or plate member, and the stationary supporting member is provided with a discharge opening penetrating through the thickness direction thereof, so that when the rotating conveying member rotates, the accommodating groove and the discharge opening coincide vertically at a certain moment, so that the bolt in the accommodating groove can fall from the discharge opening.

[0012] By providing a discharge opening through the stationary supporting member, the rotating conveying member is used to realize the periodic coincidence of the accommodating groove and the discharge opening; this technical solution ingeniously uses the coincidence of the mechanical position as a physical switch, and forces the bolt to be separated from the conveying plane under the action of gravity only when it reaches a certain phase, realizing the absolute synchronization of the discharging timing and the rotation angle, and improving the accuracy and repeatability of the discharging position without additional power elements.

[0013] In some embodiments, the rotating conveying member is an annular member, and the inner side of the rotating conveying member is circumferentially arranged with teeth, so that the inner side of the rotating conveying member is internally toothed. In this way, the driving transmission chain (such as a driving pinion) is hidden and arranged in the internal space of the annular member, effectively releasing the space around the rotating member for arranging the accommodating grooves and the material, realizing the compact design of the structure, avoiding mechanical interference between the transmission components and the bolts on the outer side, and improving the safety and integration of the system.

[0014] In some embodiments, the fourth driving assembly includes a mounting support and a driving gear. The mounting support is arranged on the bottom surface of the stationary support member and adjacent to one side of the discharging port. The driving gear is rotatably arranged on the mounting support, and at least two spaced-apart connecting pins are arranged on the disc surface of the driving gear. The upper portion of the guide member is fixed to one side of the disc surface of the driving gear by inserting the connecting pins, so that the guide member swings around the axis of the driving gear when the driving gear rotates.

[0015] The driving gear with protruding pins is used to drive the guide member to rotate and swing in this embodiment. The planar rotation is converted into swinging around the axis to open and close. The pin and guide member are inserted and matched to form a simple and reliable transmission. The structure is simple and can flexibly adjust the width of the guide channel and quickly open in a small space.

[0016] In some embodiments, the feeding assembly further includes a vertical limiting baffle. The limiting baffle is connected to the bottom surface of the stationary support member and located on one side of the discharging port. A head limiting gap for accommodating the head of the bolt is formed between the limiting baffle and the plane where the two guide members are located. The vertical limiting baffle and the guide member form a bolt head channel. The limiting baffle abuts against the top surface of the bolt head, and the guide member supports the stepped surface of the bolt head to limit the freedom degree of the bolt head, prevent deflection, and ensure that the bolt falls to the limiting boss in a horizontal posture, which is convenient for the clamping part to capture.

[0017] In some embodiments, the threading assembly includes a sliding seat, a clamping part, a first driving unit, and a third driving unit. The sliding seat is arranged on the lower side of the support frame. The clamping part is movably arranged on the sliding seat. The first driving unit is in transmission connection with the clamping part for controlling the clamping part to perform the action of clamping or releasing the bolt or nut according to the instruction. The third driving unit is in transmission connection with the clamping part for driving the clamping part to move forward with the captured bolt when the guide channel is open according to the instruction or program.

[0018] The first driving unit controls the clamping part to open and close to grasp, and the third driving unit drives the sliding seat to move linearly, realizing motion decoupling. The threading assembly can independently thread without guidance obstruction, improving the coherence of threading operation and force transmission.

[0019] In some embodiments, the feeding assembly further includes a storage bin. The storage bin is arranged above the rotating conveying member and located on the opposite side of the circumferential position of the discharging port. The storage bin is used to stack and store bolts, and the bottom is provided with a discharging end. The rotating conveying member is configured to align the empty accommodating groove with the discharging end during rotation, so as to make the bottommost bolt in the storage bin fall into the accommodating groove and rotate out with the rotating conveying member.

[0020] The rotating conveying piece is used as a material distributing component. When the empty accommodating groove rotates to the position below the storage bin, the bolts are automatically filled under the action of gravity, realizing automatic feeding with rotation and filling, ensuring that there are always bolts to be fed on the rotating conveying piece, and avoiding the conflict between feeding and discharging through the spatial staggered design, thereby significantly improving the continuous operation capacity of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Fig. 1 is a schematic view of a bolt feeding and threading integrated device arranged on a multi-axis moving support of a high-strength bolt feeding and threading integrated machine for illustrating an embodiment in the present application;

[0022] Figure 2 Fig. 2 is a structural schematic view of the bolt feeding and threading integrated device and the nut side cooperation of the high-strength bolt feeding and threading integrated machine for illustrating an embodiment in the present application;

[0023] Figure 3 Fig. 3 is a structural schematic view of the bolt side of the bolt feeding and threading integrated device for illustrating an embodiment in the present application;

[0024] Figure 4 Fig. 4 is a structural schematic view of the bolt feeding and threading integrated device and the nut side cooperation of the high-strength bolt feeding and threading integrated machine for illustrating an embodiment in the present application;

[0025] Figure 5 Fig. 5 is a schematic view of a storage bin of a feeding assembly for illustrating an embodiment in the present application;

[0026] 100-support frame; 200-feeding assembly; 210-conveying unit; 220-accepting and guiding unit; 221-guiding piece; 222-fourth driving assembly; 223-limiting boss; 230-stationary supporting piece; 231-discharging port; 240-rotating conveying piece; 241-accommodating groove; 241a-gap; 250-storage bin; 251-discharging end; 300-threading assembly; 310-sliding seat; 320-clamping part; 322-clamping head; 330-first driving unit; 350-third driving unit. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0028] It should be noted that in the description of the present application, the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0029] In addition, it should be understood that, for the convenience of description, the sizes of various components shown in the drawings are not drawn in accordance with the actual proportional relationship, for example, the thickness or width of certain layers can be exaggerated relative to other layers.

[0030] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined or described in one drawing, it will not need to be further specifically discussed and described in the description of subsequent drawings.

[0031] Example 1, as Figures 1 to 5 A bolt threading integrated operation device is used for being arranged on a multi-axis moving support of a high-strength bolt threading integrated machine, and the bolt threading integrated device comprises a support frame 100, a feeding assembly 200 and a threading assembly 300; the support frame 100 is arranged on the multi-axis moving support; the feeding assembly 200 is arranged on the upper side of the support frame 100, and the feeding assembly 200 comprises a receiving and guiding unit 220 for enabling bolts to slide in the direction of gravity; the threading assembly 300 is arranged on the support frame 100, and the threading assembly 300 comprises a sliding seat 310 and a clamping part 320; the sliding seat 310 is slidingly arranged on the multi-axis moving support, and the clamping part 320 is slidingly connected to the sliding seat 310 and is movable along the length direction of the sliding seat 310; wherein the bottom end or lower section of the receiving and guiding unit 220 is provided with a limiting boss 223 for forming a limiting bolt sliding stroke, and after the limiting boss 223 supports the bolt, the clamping part 320 is movable along the length direction of the sliding seat 310, and the clamping part 320 can capture the bolt on the limiting boss 223.

[0032] Due to the problems existing in the current technology, such as the inharmonious connection between the automatic bolt feeding and the end grasping, the loose structure of the equipment, and the poor dynamic transfer stability, etc., the integrated structure design of the feeding assembly 200 and the threading assembly 300 on the unified support frame 100 is adopted in the embodiment. With the help of the receiving and guiding unit 220, the bolt can slide down efficiently by gravity, and the limiting boss 223 is specially arranged as the physical stop and support reference of the sliding end point. The technical scheme forcibly limits the sliding stroke of the bolt and bears its weight through the limiting boss 223, so that the bolt is changed from the unstable dynamic sliding state to the determined static state. The stable capture on the limiting boss 223 is completed by the clamping part 320 moving along the sliding seat 310, which effectively avoids the risk of grasping failure caused by the inertial overshoot or position deviation of the bolt. Both the high reliability and precision of the material transfer are ensured, and the adaptability of the device in narrow space is greatly improved through the compact integrated layout. Of course, the embodiment is for the threading work of the bolt, and if the bolt is replaced by a nut, the same can also be implemented, such as configuring the channel of the receiving and guiding unit 220 to be adapted to the nut (the parallel posture of the bolt axis and the screw hole axis), and the limiting boss 223 is the same. The clamping head 322 (the directly clamped part) of the clamping part 320 described above can adopt a mechanical hand, an automatic rotary chuck, etc., to realize release, clamping and rotation.

[0033] Further, the specific structure of the limiting boss 223 is configured as a part of the profiled groove or L-shaped stop block matched with the bolt head profile, and the other part is adapted to the screw part, and the surface of the limiting boss 223 is optionally covered with a very thin wear-resistant layer. At the same time, the support frame 100 can be made of high-strength aluminum alloy or steel material by bolt connection or welding, and then rigidly fixed on the end flange or connecting sleeve of the multi-axis mobile support through bolt connection or quick clamp, etc., to ensure that the relative position accuracy between the feeding and threading assembly 300 is not affected by vibration when the multi-axis mobile support drives the whole device to move in a large range of space.

[0034] In addition, in terms of action execution, the sliding seat 310 of the threading assembly 300 is drivingly connected with a servo motor through a screw nut pair or a linear module to realize high-precision axial displacement control; the clamping part of the clamping part 320 can be a mechanical hand, an automatic clamp, an automatic clamp, etc. Preferably, an optical sensor or a micro switch is integrated near the limiting boss 223 for real-time detection of whether the bolt has slid down and abuts against the limiting boss 223; the control system only instructs the sliding seat 310 to drive the clamping part 320 to move forward to perform the capture action after receiving the in-place signal, thereby constructing a closed-loop control logic of in-place detection-confirmation-capture, and further avoiding the mechanical hand empty grasping or collision accident caused by the feeding jam.

[0035] In the above embodiment 1, the feeding assembly 200 further comprises a conveying unit 210 for conveying the bolt; the receiving and guiding unit 220 is arranged on the lower side of the conveying unit 210, and comprises two oppositely arranged guiding members 221, and a gap is left between the two guiding members 221 to form a guiding channel for the bolt to slide; the upper end of each guiding member 221 is rotationally connected to the conveying unit 210, and the lower side of the conveying unit 210 is further provided with a fourth driving assembly 222, which is drivingly connected to the two guiding members 221 to drive the two guiding members 221 to swing away from or towards each other to adjust the gap between the two guiding members 221 to open the guiding channel.

[0036] By controlling the relative positions of the two guiding members 221, a guiding channel with variable gap is formed, and the stable closed or semi-closed sliding path is formed by the closed or retracted state of the guiding members 221, so as to ensure that the bolt slides to the transfer point in a controlled manner, and after the bolt is reliably clamped by the screwing assembly 300, the guiding members 221 are driven to swing away from each other to completely open the channel, realizing seamless switching between the limited sliding and interference-free release, and effectively solving the interference contradiction between the feeding and guiding mechanism and the screwing execution mechanism in space.

[0037] In the specific structure, the two guiding members 221 are preferably in the form of elongated rods or plates, and when the two guiding members 221 form the guiding channel, the two guiding members 221 are in parallel or nearly parallel state, and the opposite inner sides thereof are processed with smooth guiding grooves or friction-reducing coating to reduce the frictional resistance in the process of the bolt sliding down and prevent the thread from being scratched; the initial gap width of the guiding channel is set to be slightly larger than the diameter of the bolt shank and smaller than the diameter of the bolt head, so that the bolt can move stably in a vertical hanging posture with the bolt head hanging above the guiding members 221 and the bolt shank suspended in the channel, or in a horizontal sliding posture with the bolt head and the bolt shank being entirely limited in the channel. The fourth driving assembly 222 can be connected to the guiding members 221 through an eccentric mechanism, a connecting rod set or a micro gear and rack pair, so that the two guiding members 221 can be synchronously swung away from or towards each other.

[0038] Further, in order to optimize the seamless switching logic, the swing axis of the guide 221 is arranged close to the discharge port of the conveying unit 210, so that when the guide 221 swings in opposite directions, the displacement of the bottom end of the guide 221 is maximized, and at the moment when the threading assembly 300 captures the bolt, the guide 221 can quickly withdraw from the working space of the threading assembly 300. The control system confirms the stable clamping by detecting the torque feedback or position closed loop of the first driving unit 330, and then immediately triggers the fourth driving assembly 222 to act, so that the guide 221 opens to both sides to a preset fully open angle (for example, unilateral swing 30°-90°); At this time, the guide channel that originally binds the bolt completely disappears, which clears the physical obstacles for the threading assembly 300 to carry the bolt along the axis to perform the threading action forward, ensures the efficient conversion between the vertical direction gravity feeding and the horizontal direction power threading, and avoids mechanical collision between mechanisms.

[0039] In embodiment 3, on the basis of any of the above embodiments, the conveying unit 210 comprises a stationary support 230 and a rotating conveying member 240; the stationary support 230 is provided with a discharge port 231 penetrating through the thickness direction thereof, and the stationary support 230 is arranged on the support frame 100; the rotating conveying member 240 is arranged on the stationary support 230 and can rotate around its axis, and a plurality of upper and lower accommodating grooves 241 are arranged on the rotating conveying member 240 in a circumferential direction, and the accommodating grooves 241 are configured to accommodate bolts below the bottom of the stationary support 230. The rotating conveying member 240 is configured to drive the bolts or nuts in the accommodating grooves 241 to slide on the surface of the stationary support 230, and when the accommodating grooves 241 coincide with the discharge port 231, the bolts or nuts fall to the transfer node through the discharge port 231.

[0040] In view of the unordered arrangement, unstable posture and low control precision of the material in the existing continuous bolt conveying, the laminated disc structure design of the stationary support 230 and the rotating conveying member 240 is adopted. The accommodating grooves 241 distributed in the circumferential direction of the rotating conveying member 240 horizontally limit and separate the bolts, and the stationary support 230 blocks the bottom of the accommodating grooves 241. The conveying material is constrained by the relative motion of the mechanical structure, and the bolts are forced to maintain a stable posture when sliding. When the accommodating grooves 241 coincide with the discharge port 231, gravity falling is triggered. This design realizes automatic alignment and continuous feeding of batches of bolts, ensures accurate timing and position of discharging without complex electronic sensors, simplifies the control logic, and improves the reliability of the feeding system.

[0041] Further, the rotating conveying member 240 is an annular member, and the accommodating grooves 241 are arranged on the outer side of the rotating conveying member 240, so that the outer side of the rotating conveying member 240 is in the form of a gear. In this embodiment, the accommodating grooves 241 are annularly arranged gaps 241a. The rotating conveying member 240 is designed as an annular member (in the form of a gear) with accommodating grooves 241 arranged on the outer side. This technical solution reduces the weight and moment of inertia of the rotating member by virtue of the annular structure, reduces the driving load, and at the same time, the open-tooth accommodating grooves 241 on the outer side are used to enable the bolts to be inserted from the side or grabbed, so that the bolt shanks can be extended outward, and the space layout of the special-shaped fastener conveying device is optimized.

[0042] Specifically, the annular rotating conveying member 240 is preferably made of lightweight high-strength aviation aluminum alloy or wear-resistant engineering plastic (such as polyoxymethylene POM or nylon) to minimize the mass of the rotating member. The "tooth-shaped" accommodating grooves 241 arranged on the outer side are not simple rectangular gaps, but are configured as outwardly open U-shaped or semicircular grooves, and a guide chamfer is arranged at the groove opening to facilitate smooth sliding of the bolt. The depth of the accommodating groove 241 is designed to match the height or opposite side width of the bolt head, so that the bolt head can be completely submerged in the groove, and the groove width is slightly larger than the diameter of the bolt shank but smaller than the diagonal size of the head. This design ensures that when the bolt head is clamped in the groove, the rotating conveying member 240 can exert a tangential thrust on the bolt head through the groove wall, thereby stably driving the bolt to move along the circumference, while avoiding the jamming phenomenon caused by the tight gap.

[0043] Further, this design of the outer accommodating groove 241 ingeniously utilizes the structural characteristics of the high-strength bolt head and long shank, and adopts an inner clamping head and exposed shank conveying posture. That is, only the relatively small bolt head is accommodated within the radial range of the rotating ring, and the long bolt shank is allowed to hang and extend outward from the outer edge of the annular member. This layout greatly reduces the overall diameter of the feeding assembly 200, so that the equipment can be compatible with conveying of ultra-long bolts without increasing the size of the chassis. In addition, in order to prevent the bolt from slipping outward due to centrifugal force or vibration during conveying, the bottom or sidewall of the accommodating groove 241 is optionally embedded with a micro-magnet (for carbon steel bolts) or provided with a friction damping pad, which provides a weak auxiliary adsorption force to ensure that the bolt maintains a stable posture of pointing radially during the conveying process before reaching the discharge port 231.

[0044] Further, the stationary supporting member 230 is a disc-shaped or plate-shaped member, and the stationary supporting member 230 is provided with a discharge port 231 penetrating through the thickness direction thereof. When the rotating conveying member 240 rotates, the accommodating grooves 241 will coincide with the discharge port 231 at a time, so that the bolt in the accommodating groove 241 can fall from the discharge port 231.

[0045] By setting the through hole 231 on the stationary support 230, the containing groove 241 is periodically coincided with the through hole 231 by rotating the rotating conveying member 240; this technology uses mechanical position coincidence as a physical switch, forces the bolt to be separated from the conveying plane under the action of gravity at a specific phase, realizes the coordination of the discharging timing and the rotation angle, and ensures the accuracy and repeatability of the discharging position without additional power elements.

[0046] Further, the rotating conveying member 240 is an annular member, and the inner side of the rotating conveying member 240 is arranged with teeth in a circumferential direction, so that the inner side of the rotating conveying member 240 is in a gear shape. In this way, the driving transmission chain (such as a driving pinion) is hidden and arranged in the internal space of the annular member, effectively releasing the space on the periphery of the rotating member for arranging the containing groove 241 and the material, which not only realizes the compact design of the structure, but also avoids the mechanical interference between the transmission components and the bolts on the outside of the conveying, and improves the safety and integration of the system.

[0047] In embodiment 4, on the basis of any of the above embodiments, the fourth driving assembly 222 includes a mounting support and a driving gear, the mounting support is arranged on the bottom surface of the stationary support 230 and adjacent to one side of the discharging hole 231; the driving gear is rotatably arranged on the mounting support, and at least two spaced-apart connecting pin columns are protruded on the disc surface of the driving gear; the upper part of the guide member 221 is fixed to one side of the disc surface of the driving gear by inserting the connecting pin columns, so that the guide member 221 swings around the axis of the driving gear with the rotation of the driving gear.

[0048] In order to solve the problems of large space occupation and difficulty in achieving precise swing angle control caused by the opening and closing action of the guide member 221 usually driven by a linear cylinder or a complex linkage mechanism, the embodiment uses the driving gear with protruding pin columns to drive the guide member 221 inserted therein to rotate and swing, directly converts the plane rotation of the driving gear into the swing opening and closing of the guide member 221 around the axis, and uses the insertion of the pin columns and the guide member 221 to form a simple and reliable lever transmission mechanism, which is extremely simplified in structure and can realize flexible adjustment and rapid opening of the width of the guide channel in a smaller space.

[0049] In a specific mechanical implementation, the drive gears are preferably driven by high-precision servo motors in a direct drive manner, or can be driven by moving up and down between two drive gears, etc. The connecting pin column is made of high-strength alloy steel, and is fixed with the drive gear disc surface by interference fit or welding, and the upper part of the guide 221 is provided with corresponding precision pin hole or U-shaped clamping groove. Compared with the traditional bolt fastening, this pin column insertion connection can withstand greater shear force, and has automatic positioning function during assembly, greatly simplifying the disassembly and maintenance process of the guide 221. Preferably, multiple pin holes can be arranged on the drive gear disc surface, and the position of the pin column can be adjusted according to the size of the bolt to be conveyed, so as to adjust the gap size between the two guides 221.

[0050] Further, in order to realize the synchronous symmetrical opening and closing of the two guides 221, the fourth driving assembly 222 is preferably configured to include two intermeshing drive gears (or through intermediate idler linkage), respectively connected to the left and right two guides 221. When the driving force source drives one of the gears to rotate, the other gear rotates in the opposite direction at the same speed, thereby driving the two guides 221 to precisely close or open away from each other with the central vertical line as the symmetry axis. The control system can accurately control the rotation angle of the drive gear to 0.1 degree level by reading the encoder value of the drive motor, so that the opening width of the guide channel bottom can be adjusted steplessly to millimeter level. The operator does not need to manually replace the hardware, and only needs to modify the parameters on the system interface, so that the device can quickly adapt to the guiding requirements of bolts with different diameters such as M16 to M36.

[0051] Further, the feeding assembly 200 further comprises a vertical limiting baffle connected to the bottom surface of the stationary support 230 and located on one side of the discharge port 231; the limiting baffle and the planes where the two guides 221 are located form a head limiting gap for adapting the bolt head. The limiting baffle is configured to limit the end surface of the bolt head away from the screw, and the two guides 221 are configured to limit the stepped surface of the bolt head connected to the screw, so as to limit the deflection angle of the bolt relative to the horizontal plane during the process of sliding the bolt along the guide channel to the limiting boss 223. By adding a vertical limiting baffle, a limiting gap for accommodating the bolt head is constructed by cooperating with the guide 221 to realize a special head channel, that is, the limiting baffle abuts against the top surface of the bolt head, and the guide 221 holds the stepped surface of the bolt head, which forcibly limits the degree of freedom of the bolt head during the sliding process, effectively prevents the bolt from being deflected at any angle relative to the horizontal plane, and ensures that the bolt can smoothly slide to the limiting boss 223 in a standard horizontal posture, which can be more conveniently captured by the subsequent clamping part.

[0052] In any of the above embodiments, the screwing assembly 300 further comprises a sliding seat 310, a clamping part 320, a first driving unit 330 and a third driving unit 350. The sliding seat 310 is arranged on the lower side of the support frame 100. The clamping part 320 is movably arranged on the sliding seat 310. The first driving unit 330 is in transmission connection with the clamping part 320, and is used to control the clamping part 320 to perform the action of clamping or releasing the bolt or nut according to the instruction. The third driving unit 350 is in transmission connection with the clamping part 320, and is used to drive the clamping part 320 to move forward with the captured bolt when the guide channel is open.

[0053] The modular design of separating the clamping action from the feeding action focuses on controlling the opening and closing of the clamping part 320 by the first driving unit 330, and drives the sliding seat 310 to carry out linear displacement by the third driving unit 350. That is, the scheme realizes the motion decoupling of stable grasping and axial feeding, so that the screwing assembly 300 can independently perform the forward screwing action after completing the capture of the bolt, and is not hindered by the guide mechanism (cooperating with the open guide channel), thereby ensuring the continuity and force transmission of the bolt screwing operation.

[0054] In specific implementation, the third driving unit 350 preferably adopts a combination of a servo motor and a ball screw or a linear motor module as the power core, and is arranged in the internal space of the bottom side of the support frame 100. This arrangement not only utilizes the structural cavity of the support frame 100 to reduce the height of the center of gravity of the whole machine, but also ensures that the action line of the propulsion force is highly coincident with the axis of the bolt, thereby avoiding the overturning moment caused by eccentric driving and ensuring the straightness of the screwing action. The clamping part 320 here can be designed as a parallel opening and closing gripper or a mechanical hand or an automatic opening and closing chuck with self-centering function, and the inner side of the jaw is provided with a V-shaped positioning groove matched with the hexagonal head or the torx head of the high-strength bolt and an anti-slip texture or is directly provided as a round hole type with an anti-slip texture. The first driving unit 330 (such as a servo motor and a ball screw) provides adjustable clamping force to ensure that the bolt does not loosen or rotate during high-speed movement, and can quickly respond to the release instruction after the screwing is completed.

[0055] Further, in the initial stroke of the clamping part 320 carrying the bolt away from the guide channel and approaching the target hole, the third driving unit 350 operates in a high-speed and low-torque mode to realize rapid approach; when the end of the bolt is about to contact the plate wall of the steel box girder, it is automatically switched to a low-speed and high-sensitivity torque mode. Once an abnormal sudden increase in pushing resistance is monitored (indicating that the end of the bolt is not aligned with the hole and is pressed against the plate wall), the third driving unit 350 immediately stops feeding or performs a slight back-off action, and cooperates with the fine adjustment of the multi-axis moving support to perform secondary centering.

[0056] In any of the above embodiments, the feeding assembly 200 further comprises a storage bin 250, which is arranged above the rotating conveyor 240 and at a position opposite to the discharging port 231 in the circumferential direction. The storage bin 250 is used to stack and store bolts, and is provided with a discharging end 251 at the bottom. The rotating conveyor 240 is configured to align the empty accommodating groove 241 with the discharging end 251 during rotation, so as to make the bottommost bolt in the storage bin 250 fall into the accommodating groove 241 and be conveyed out by the rotating conveyor 240.

[0057] By using the rotating conveyor 240 as a dispensing component, the bottommost bolt is automatically filled under the action of gravity when the empty accommodating groove 241 is rotated to below the storage bin 250, thereby realizing the automatic feeding logic of feeding while rotating, ensuring that there are always bolts to be fed on the rotating conveyor 240, and avoiding the conflict between feeding and discharging through the spatial staggered design, thereby significantly improving the continuous operation capacity of the device.

[0058] Further, the storage bin 250 is preferably designed in a funnel shape or a cylindrical shape, and the discharging end 251 of the storage bin 250 is designed to release only one bolt at a time. Specifically, the capacity of the storage bin 250 can be designed to accommodate multiple bolts in an annular cabin (bolts arranged in a ring shape) according to production requirements, and the inner side of the wall surface can be optionally coated with a low-friction coating (such as polytetrafluoroethylene) to reduce the resistance of the bolts during the falling process under gravity. Meanwhile, a detachable cover plate is arranged at the top of the bin body to facilitate batch replenishment of materials. This design not only enhances the automatic sorting function of the storage bin 250, but also realizes an uninterrupted bolt replenishment process by synchronizing with the rotation of the rotating conveyor 240.

[0059] Further, an optoelectronic detector can be optionally added near the bottom of the storage bin 250 to monitor the number of remaining bolts in real time and issue an alarm to the operator when the material level is low. This closed-loop feedback mechanism effectively prevents the interruption of feeding caused by empty storage bins, ensures the reliability of the device during long-term continuous operation, and minimizes the potential risk of mechanical conflict through spatial staggered layout.

[0060] During initialization, the multi-axis mobile support positions the device, the storage bin 250 is filled with bolts, the rotating conveying member 240 is rotated to make the bolts fall into the accommodating groove 241 and slide to the discharge port 231 to fall; the bolts are guided to the limiting boss 223 through the guide member 221, after being in place, the third driving unit 350 drives the sliding seat 310 to advance, and the clamping part 320 captures the bolt; the fourth driving assembly 222 opens the guide member 221, after detection by the camera and the distance sensor, the clamping part 320 is aligned with the bolt hole, and then the third driving unit 350 pushes, the bolt is penetrated, the clamping part 320 applies torque to fasten, and after completion, the clamping part 320 is released and recycled. The closed-loop logic integrates sensor feedback to prevent jamming. The action and functional components of the screwing can be seen in the high-strength bolt automatic tightening machine and the screwing method mentioned in the background art, that is, the tail end of the entire clamping head 322 is provided with a motor driving the entire clamping head 322 to rotate, and the motor can be provided with a torque sensor connected with a controller to obtain torque information in real time.

Claims

1. A bolt insertion and tightening integrated operation device, characterized in that, For mounting on a multi-axis movable support of a high-strength bolt threading and tightening integrated machine, the bolt threading and tightening integrated device includes: A support frame for mounting on the multi-axis movable support; A feeding assembly is disposed on the upper side of the support frame, and the feeding assembly includes a receiving guide unit for causing the bolts to slide down in the direction of gravity; A threading and tightening assembly, comprising a slide and a clamping part; the slide is slidably disposed on the support frame, and the clamping part is slidably connected to the slide, for the clamping part to be movable along the length direction of the slide; The bottom or lower section of the receiving guide unit is provided with a limiting boss for forming a limiting bolt sliding stroke. When the clamping part moves along the length direction of the slide after the limiting boss supports the bolt, the clamping part can capture the bolt on the limiting boss.

2. The bolt threading and tightening integrated operation device according to claim 1, characterized in that, The feeding assembly also includes a conveying unit for conveying bolts; The receiving and guiding unit is located on the lower side of the conveying unit. The receiving and guiding unit includes two guide members arranged opposite to each other, with a gap between the two guide members to form a guide channel for the bolt to slide. The upper end of the guide member is rotatably connected to the conveying unit. A fourth drive assembly is also provided on the lower side of the conveying unit. The fourth drive assembly is connected to the two guide members in a transmission manner to drive the two guide members to perform opposite or opposite opening and closing swinging actions, which is used to adjust the distance between the two to open the guide channel.

3. The bolt threading and tightening integrated operation device according to claim 2, characterized in that, The conveying unit includes: A stationary support component, wherein the stationary support component is provided with a discharge port extending through its thickness direction, and the stationary support component is mounted on a support frame; A rotating conveyor is stacked on top of the stationary support and can rotate about its own axis. The rotating conveyor has multiple vertically penetrating receiving slots spaced apart along its circumference. The receiving slots are configured to receive bolts under the bottom sealing of the stationary support.

4. The bolt threading and tightening integrated operation device according to claim 3, characterized in that, The rotating conveyor is an annular component, and the receiving grooves are arranged on the outside of the rotating conveyor, making the outside of the rotating conveyor gear-shaped.

5. A bolt threading and tightening integrated operating device according to claim 3 or 4, characterized in that, The stationary support is a disc-shaped or plate-shaped component, and a discharge port is provided on the stationary support through its thickness direction. When the rotating conveyor rotates, the receiving groove will overlap with the discharge port at a certain moment, so that the bolt in the receiving groove can fall from the discharge port.

6. The bolt threading and tightening integrated operation device according to claim 3, characterized in that, The rotating conveyor is a ring-shaped component with teeth arranged circumferentially on its inner side, making the inner side of the rotating conveyor resemble an internal gear.

7. The bolt threading and tightening integrated operation device according to claim 3, characterized in that, The fourth driving component includes: Mounting support, the mounting support is disposed on the bottom surface of the stationary support and on the side adjacent to the discharge port; A drive gear is rotatably mounted on the mounting bracket, and at least two spaced connecting pins are protruding from the disc surface of the drive gear. The upper part of the guide is fixed to one side of the drive gear disk by inserting the connecting pin, so that the guide swings around the axis of the drive gear as the drive gear rotates.

8. The bolt threading and tightening integrated operation device according to claim 3, characterized in that, The feeding assembly also includes a vertically arranged limiting baffle, which is connected to the bottom surface of the stationary support and located on one side of the discharge port; a head limiting gap for fitting the bolt head is formed between the limiting baffle and the plane where the two guides are located.

9. The bolt threading and tightening integrated operation device according to claim 3, characterized in that, The threading and twisting assembly includes: A slide block, which is located on the lower side of the support frame; A clamping part is movably disposed on the slide; A first drive unit is connected to the clamping part for controlling the clamping part to perform clamping or releasing of bolts or nuts according to instructions. The third drive unit, which is connected to the clamping part in a transmission manner, is used to drive the clamping part to move forward with the captured bolt according to an instruction or program when the guide channel is open.

10. The bolt threading and tightening integrated operation device according to claim 9, characterized in that, The feeding assembly also includes a storage bin; The storage bin is located above the rotary conveyor and on the opposite side of the discharge port along the circumferential direction. The storage bin is used to stack and store bolts, and has a discharge end at the bottom; The rotary conveyor is configured to align the empty receiving slot with the discharge end during rotation, so that the bottom bolt in the storage bin falls into the receiving slot and rotates out with the rotary conveyor.

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