Nut loosening and tightening device and boat correcting machine

Abstract

The utility model relates to the technical field of graphite boats, and particularly provides a nut loosening and tightening device and a boat calibration machine, the nut loosening and tightening device comprises a support plate, a linear driving module, a torque output mechanism and a pushing mechanism; the support plate is connected with the linear driving module, and the linear driving module is movably connected with the torque output mechanism; the torque output mechanism comprises a rotary driving assembly and a nut sleeve, and the rotary driving assembly is in transmission connection with the nut sleeve; the rotation driving assembly is used for driving the nut sleeve to rotate. The sleeving end of the nut sleeve is used for sleeving a nut at one end of the series rod. The pushing mechanism comprises a pushing module and a pushing rod, the nut sleeve, the driving rotating assembly and the pushing module are coaxially arranged, coaxial channels are formed in the nut sleeve and the rotating driving assembly, the pushing rod is movably connected in the channels in a sleeved mode, the first end of the pushing rod is connected with the pushing module, and the second end of the pushing rod is used for abutting against the tail end of the series connection rod. And the series connection rod can be fixed, and the nut can be tightened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of graphite boat, and particularly relates to a loose and tight nut device and a boat calibrating machine. BACKGROUND

[0002] The graphite boat is a carrier for carrying photovoltaic cells, which is formed by connecting a plurality of graphite boat pieces through a series of rods, and is fastened by threadedly connecting nuts at both ends of the series of rods. The graphite boat needs to operate in various environments during use. Different graphite boat pieces produce different internal stresses, and the internal stresses cause different degrees of deformation of the graphite boat pieces. Therefore, the graphite boat needs to be calibrated after being used for a period of time, for example, the spacing between the boat leaves and the perpendicularity of the boat leaves are calibrated.

[0003] The fastening nuts at both ends of the series of rods need to be loosened and tightened before and after the graphite boat is calibrated. Therefore, the present application provides a loose and tight nut device. CONTENT OF THE UTILITY MODEL

[0004] In view of the above problems, the present application provides a loose and tight nut device and a boat calibrating machine. The loose and tight nut device realizes the axial positioning of the series of rods and the loosening and tightening of the nuts through a torque output mechanism and a pushing mechanism.

[0005] To achieve the purpose of the present application, the present application provides the following technical solutions:

[0006] In a first aspect, the present application provides a loose and tight nut device, characterized in that the device comprises a support plate, a linear drive module, a torque output mechanism and a pushing mechanism.

[0007] The support plate is connected with the linear drive module, and the linear drive module is movably connected with the torque output mechanism.

[0008] The torque output mechanism comprises a rotary drive assembly and a nut sleeve, and the rotary drive assembly is in transmission connection with the nut sleeve. The rotary drive assembly is used to drive the nut sleeve to rotate, and the sleeving end of the nut sleeve is used to sleeve the nut at one end of the series of rods.

[0009] The pushing mechanism comprises a pushing module and a push rod. The nut sleeve, the driving rotary assembly and the pushing module are coaxially arranged. The nut sleeve and the rotary drive assembly are internally provided with a coaxial channel, and the push rod is movably sleeved in the channel. The first end of the push rod is connected with the pushing module, and the second end of the push rod is used to abut against the end of the series of rods.

[0010] In a possible implementation manner, the rotary drive assembly comprises a rotary motor, a driving wheel, a driven wheel, a belt, a guide sleeve and a guide shaft.

[0011] The output end of the rotary motor is connected with a driving wheel, the driving wheel is connected with a driven wheel through a belt transmission, the driven wheel is sleeved with the guide sleeve first end, the guide sleeve second end is sleeved with the guide shaft first end, the guide shaft second end is sleeved with the nut sleeve, the guide sleeve, the guide shaft and the nut sleeve are internally provided with coaxial channels, and the push rod is movably sleeved in the channels.

[0012] In a possible implementation, the loose nut device further comprises a first centering detection mechanism, which is configured to detect position information of the end of the series connection rod.

[0013] In a possible implementation, the first centering detection mechanism comprises a laser range finder, which is installed on the side of the support plate opposite to the linear drive module.

[0014] In a possible implementation, the loose nut device further comprises a three-axis linear motion mechanism, which is connected with the loose nut device and is configured to drive the loose nut device to move in XYZ three-axis directions.

[0015] In a second aspect, the application provides a boat aligning machine, which comprises a loose nut device and a three-axis linear motion mechanism.

[0016] The three-axis linear motion mechanisms are oppositely and spacedly arranged, and are connected with the loose nut device to drive the loose nut device to move in XYZ three-axis directions; and the loose nut device is configured to adjust the tightness of the nuts at the two ends of the series connection rod.

[0017] The loose nut device provided by the application realizes efficient loose and tight operation of the nut of the series connection rod through the cooperation of the pushing mechanism and the torque output mechanism. Specifically, through the connection of the movable end of the pushing module and the first end of the push rod, the synchronous movement of the torque output mechanism and the pushing mechanism driven by the linear drive module is matched, so that the second end of the push rod accurately abuts against the end of the series connection rod, and the nut sleeve accurately sleeves the nut at the end of the series connection rod at the same time, torque balance is achieved between the axial positioning of the pushing mechanism to the end of the series connection rod and the rotating action of the nut sleeve, and the problem of following rotation of the series connection rod during loose and tight nut operation is effectively inhibited. This double-acting mechanism improves the efficiency of loose and tight nut operation and avoids damage to the threads of the series connection rod or the nut due to rotation of the series connection rod. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, illustrate the application, and are used to explain the application together with the embodiments of the application, and do not constitute a limitation on the application.

[0019] Figure 1A structure schematic diagram of the loose nut device provided by the embodiment of the present application is shown in the figure;

[0020] Figure 2 A left view of the Figure 1

[0021] Figure 3 A zoomed-in schematic view of the A area in the Figure 1

[0022] Figure 4 A structure schematic diagram of the nut sleeve provided by the embodiment of the present application is shown in the figure;

[0023] Figure 5 A flowchart of the series connection rod centering regulation method based on the calibrated graphite boat provided by the embodiment of the present application is shown in the figure;

[0024] Figure 6 A flowchart of another series connection rod centering regulation method based on the calibrated graphite boat provided by the embodiment of the present application is shown in the figure;

[0025] Figure 7 A flowchart of another series connection rod centering regulation method based on the calibrated graphite boat provided by the embodiment of the present application is shown in the figure;

[0026] Illustration: 1, support plate; 2, linear drive module; 3, torque output mechanism; 31, rotary drive assembly; 311, rotary motor; 312, guide sleeve; 313, guide shaft; 32, nut sleeve; 321, sleeve; 322, inner sleeve joint end; 3221, first clamping layer; 3222, second clamping layer; 323, outer sleeve joint end; 3231, third clamping layer; 3232, fourth clamping layer; 33, shell; 4, pushing mechanism; 41, pushing module; 42, push rod; 5, first centering detection mechanism; 6, belt return detection mechanism; 61, emitting end; 62, receiving end; 7, second centering detection mechanism; 71, sensor; 72, trigger part. DETAILED DESCRIPTION

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

[0028] ​​In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0029] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of this application, unless otherwise stated, "multiple" means two or more.

[0030] Figure 1 This is a schematic diagram of the mechanism of the nut tightening device provided in the embodiments of this application; Figure 2 for Figure 1 The left view; Figure 3 for Figure 1 Enlarged view of region A in the middle; Figure 4 This is a schematic diagram of the structure of the nut sleeve provided in the embodiments of this application; Figure 5 A flowchart illustrating the cascade rod centering control method based on a calibrated graphite boat provided in this application embodiment; Figure 6 A flowchart illustrating another method for centering and adjusting a series rod based on a calibrated graphite boat, provided in this application embodiment; Figure 7 A flowchart illustrating another method for centering and adjusting a series rod based on a calibrated graphite boat, provided in this application embodiment, is shown below. Figures 1 to 7 The following embodiments illustrate the technical solutions of this application.

[0031] like Figures 1-4 As shown in the figure, this application provides a nut tightening and loosening device, including: a bracket plate 1, a linear drive module 2, a torque output mechanism 3, and a pushing mechanism 4.

[0032] The support plate 1 is connected to the linear drive module 2, and the linear drive module 2 is movably connected to the torque output mechanism 3. Specifically, the side of the support plate 1 is fixedly connected to the linear drive module 2, and the movable end of the linear drive module 2 is connected to the rotary drive assembly 31 of the torque output mechanism 3.

[0033] The torque output mechanism 3 comprises a rotary drive assembly 31 and a nut sleeve 32, the rotary drive assembly 31 is in transmission connection with the nut sleeve 32; the rotary drive assembly 31 is used for driving the nut sleeve 32 to rotate, and the sleeving end of the nut sleeve 32 is used for sleeving the nut at one end of the tandem rod.

[0034] The pushing mechanism 4 comprises a pushing module 41 and a push rod 42, the nut sleeve 32, the driving rotary assembly and the pushing module 41 are coaxially arranged, the nut sleeve 32 and the rotary drive assembly 31 are internally provided with coaxial channels, the push rod 42 is movably sleeved in the channels, the first end of the push rod 42 is connected with the pushing module 41, and the second end of the push rod 42 is used for abutting against the end of the tandem rod.

[0035] The linear drive module 2 is one of a linear motor, an electric push rod, an electric cylinder and a combination of a screw rod and a rotary motor, and the pushing module 41 is one of a gas cylinder, a screw rod and a combination of a rotary motor. Meanwhile, the pushing module 41 and the push rod 42 can be coaxially arranged with a preset distance, the movable end of the push rod 42 module is movably connected with the first end of the push rod 42, or the pushing module 41 and the push rod 42 are coaxially arranged without a spacing, and the movable end of the pushing module 41 is fixedly connected with the push rod 42.

[0036] The loosening and tightening operation of the tightening nuts at both ends of the tandem rod is achieved in the following way: the movable end of the pushing module 41 extends and is connected with the first end of the push rod 42, the linear drive module 2 drives the torque output mechanism 3 and the pushing mechanism 4 to move towards the graphite boat, until the pushing module 41 drives the second end of the push rod 42 to abut against the end of the tandem rod, and the linear drive module 2 drives the nut sleeve 32 to sleeve the nut at one end of the tandem rod; then, the rotary drive assembly 31 rotates to drive the nut sleeve 32 to rotate the nut at one end of the tandem rod. Through the abutment of the end of the tandem rod by the pushing mechanism 4, the tandem rod can be axially positioned, and the synchronous rotation of the tandem rod can be effectively inhibited when the nut is rotated, thereby effectively improving the nut loosening and tightening efficiency.

[0037] In some embodiments, the rotary drive assembly 31 comprises a rotary motor 311, a driving wheel, a driven wheel, a belt, a guide sleeve 312 and a guide shaft 313, specifically:

[0038] The output end of the rotary motor 311 is rotationally connected with the driving wheel, the driving wheel is in transmission connection with the driven wheel through the belt, the driven wheel is specifically sleeved with the first end of the guide sleeve 312 on the inner wall of the driven wheel, the second end of the guide sleeve 312 is specifically sleeved with the first end of the guide shaft 313 on the inner wall of the second end of the guide sleeve 312, the second end of the guide shaft 313 is sleeved with the nut sleeve 32, the guide sleeve 312, the guide shaft 313 and the nut sleeve 32 are internally provided with coaxial channels, and the push rod 42 is movably sleeved in the channels.

[0039] The rotating driving assembly 31 further comprises a shell 33, a cavity is arranged in the shell 33, a rotating motor 311, a driving wheel, a driven wheel and a belt are arranged in the cavity, two opposite through holes are formed in two opposite sides of the shell 33, the two through holes coincide with the central axis of the driven wheel, and a bearing is arranged in each through hole, the second end of the push rod 42 sequentially penetrates the bearing in one of the through holes of the shell 33, the channel of the driven wheel, the channel of the guide sleeve 312, the channel of the guide shaft 313 and the channel of the nut sleeve 32, and the bearing in the other through hole of the shell 33 sleeves the guide sleeve 312. Furthermore, the upper bottom surface of the shell 33 is connected with the movable end of the linear driving module 2.

[0040] It should be noted that the rotating driving assembly 31 drives the nut sleeve 32 to rotate in the following manner: the rotating motor 311 drives the driving wheel to rotate, the driven wheel rotates under the transmission of the belt, the guide sleeve 312 and the guide shaft 313 connected with the driven wheel are synchronously driven to rotate, and the nut sleeve 32 connected with the guide shaft 313 is synchronously driven to rotate, while the push rod 42 sleeved in the channel does not rotate, and the push rod 42 only moves linearly towards the graphite boat or away from the graphite boat under the pushing of the pushing module 41 or the series connecting rod.

[0041] On the basis of the above embodiment, a boat aligning machine is further provided, which comprises a tension nut device and a three-axis linear motion mechanism; the three-axis linear motion mechanisms are oppositely and spacedly arranged; the three-axis linear motion mechanisms are connected with the tension nut device and used for driving the tension nut device to move in XYZ three-axis directions; and the tension nut device is used for adjusting the tension degree of the nuts at two ends of the series connecting rod.

[0042] The tension nut device provided in the embodiment realizes efficient tension operation of the nut of the series connecting rod through the cooperation of the pushing mechanism 4 and the torque output mechanism 3. Specifically, through the connection between the movable end of the pushing module 41 and the first end of the push rod 42, the synchronous movement of the torque output mechanism 3 and the pushing mechanism 4 driven by the linear driving module 2 is matched, so that the second end of the push rod 42 accurately abuts against the end of the series connecting rod, and the nut sleeve 32 accurately sleeves the nut at the end of the series connecting rod, torque balance is achieved between the axial positioning of the pushing mechanism 4 to the end of the series connecting rod and the rotating action of the nut sleeve 32, and the problem of following rotation of the series connecting rod when the nut is tensioned is effectively inhibited. The double-acting mechanism improves the tension efficiency of the nut and avoids the damage of the threads of the series connecting rod or the nut caused by the rotation of the series connecting rod.

[0043] In some embodiments, in order to match nuts of different diameter specifications, a loose nut device is also provided, which is based on the features described in the above embodiments, and the nut sleeve 32 is provided as a synchronous variable-diameter sleeve of opposite clamping layers, which includes an inner sleeve connection end movably connected to the rotating drive assembly and an outer sleeve connection end movably connected to the inner sleeve connection end, so that the inner wall of the inner sleeve connection end is adapted to the outer wall of a type of nut, the outer wall of the outer sleeve connection end is adapted to the inner wall of another type of nut, and the inner wall of the outer sleeve connection end is adapted to the outer wall of another type of nut.

[0044] Specifically, as shown in Figure 4 The synchronous variable-diameter sleeve of opposite clamping layers includes a sleeve 321, an inner sleeve connection end 322, an outer sleeve connection end 323, and a first spring. The outer sleeve connection end 323 is axially connected to the sleeve 321 at an end away from the rotating drive assembly 31, and the inner sleeve connection end 322 is movably connected to the sleeve 321. The inner sleeve connection end 322 is coaxially sleeved in the outer sleeve connection end 323. The first spring is connected to the inner wall of the sleeve 321 at one end, and the other end of the first spring is connected to the inner wall of the sleeve 321.

[0045] The second end of the push rod 42 of the pushing mechanism 4 is coaxially and slidably connected to the rotating drive assembly 31, the first spring, the sleeve 321, and the inner sleeve connection end 322 in sequence.

[0046] The synchronous variable-diameter sleeve of opposite clamping layers of the present embodiment can be applied to nuts of various specifications. Specifically, the outer wall of the outer sleeve connection end 323 is sleeved with the inner wall of the first type of nut and can be loosened or tightened, the inner wall of the inner sleeve connection end 322 is sleeved with the outer wall of the second type of nut and can be loosened or tightened, and the inner wall of the outer sleeve connection end 323 is sleeved with the outer wall of the third type of nut and can be loosened or tightened. The outer diameter of the third type of nut is smaller than the inner diameter of the outer sleeve 321 and larger than the inner diameter of the inner sleeve 321.

[0047] It should be noted that the inner wall of the outer sleeve connection end 323 is sleeved with the outer wall of the third type of nut in the following way: the end face of the inner sleeve connection end 322 is pressed by the third type of nut towards the sleeve 321, the first spring is contracted to drive the inner sleeve connection end 322 to move towards the sleeve 321, and the inner wall of the outer sleeve connection end 323 is sleeved with the outer wall of the third type of nut.

[0048] Furthermore, a slot is formed in the sleeve 321 at one end, and the end of the inner sleeve connection end 322 connected to the sleeve 321 is matched in size with the slot and is nested in the slot. This allows the inner sleeve connection end 322 to move axially along the slot when it is pressed, and prevents the inner sleeve connection end 322 from being deflected circumferentially by the cooperation between the inner sleeve connection end 322 and the slot, thereby achieving torque transmission.

[0049] In some embodiments, as Figure 4As shown, the inner sleeve connecting end 322 comprises a base and a first clamping layer 3221 and a second clamping layer 3222 extending axially along the base, the base is nested in the groove at one end of the sleeve 321, the outer sleeve connecting end 323 comprises a third clamping layer 3231 and a fourth clamping layer 3232 extending axially along the sleeve 321, the first clamping layer and the third clamping layer 3231 form a first layer of the radial stacking surface of the sleeve 321, the second clamping layer 3222 and the fourth clamping layer form a second layer of the radial stacking surface of the sleeve 321, and the two groups of layer stacking surfaces are symmetrically distributed along the axis of the sleeve 321. The base is connected to one end of the first spring.

[0050] It should be noted that the outer wall of the opposite third clamping layer 3231 and the fourth clamping layer 3232 is connected to the inner wall of the first type of nut and can be tightened, the clamping space formed by the opposite first clamping layer 3221 and the second clamping layer 3222 is connected to the outer wall of the second type of nut and can be tightened, and the clamping space formed by the opposite third clamping layer 3231 and the fourth clamping layer 3232 is connected to the outer wall of the third type of nut and can be tightened. The first clamping layer 3221 and the second clamping layer 3222 are planar structures, the inner side of the third clamping layer 3231 and the fourth clamping layer 3232 near the inner sleeve connecting end 322 is a plane with the same size as the first clamping layer 3221 and the second clamping layer 3222, and the outer side of the third clamping layer 3231 and the fourth clamping layer is a curved surface with an arc, which can match the inner wall of the first type of nut.

[0051] In some embodiments, a torque output mechanism 3 of a loose nut device is also provided, which further comprises a second spring, one end of the second spring is connected to the rotating drive assembly 31 and the end of the nut sleeve 32 away from the sleeve connecting end, and the second end of the push rod 42 is sequentially connected to the rotating drive assembly 31, the second spring and the nut sleeve 32. For example, one end of the nut sleeve 32 is connected to one end of the second spring, and the other end of the second spring is sleeved in the guide shaft 313, which can reduce the stress when the nut sleeve 32 rotates the nut, and avoid damage to the surface of the nut.

[0052] In some embodiments, a torque output mechanism 3 of a loose nut device is also provided, which further comprises a second spring, a piezoelectric module and a control module; one end of the second spring close to the rotating drive assembly 31 is connected with the piezoelectric module.

[0053] The piezoelectric module is an example of a piezoelectric ceramic driving module, which is a device commonly used to control and adjust small mechanical movements. Its function is to cause the piezoelectric ceramic material to deform by changing the electric field, thereby producing mechanical displacement. In practical applications, piezoelectric ceramics are usually designed in the form of a sheet, and the sheet is bent or stretched by applying a voltage, thereby pushing the load connected to it to complete the movement.

[0054] It should be noted that the embodiment also provides a control module, which releases corresponding current stimulation to the piezoelectric module according to the depth data of the nut, so that the piezoelectric module deforms, which can cause the second spring to deform, that is, adjust the pre-tightening force of the second spring, so that the torque output mechanism 3 adapts to nuts of different depths.

[0055] At the same time, in order to obtain the depth information of the nut in real time, the embodiment also provides a first centering detection mechanism 5 which is in communication connection with the control module, and the first centering detection mechanism 5 is used for detecting the depth of the nut when aligning the nut, and feeding back the depth information to the control module. The first centering detection mechanism 5 can be installed on the side of the support plate 1 opposite to the linear drive module 2, or on the two opposite sides of the support plate 1 or the front end face of the support plate, or on other movable supports as appropriate, as long as the detection light of the first centering detection mechanism 5 is not blocked and can effectively capture the nut area of the graphite boat.

[0056] For example, the first centering detection mechanism 5 includes a laser range finder, and before collecting the position information of the end of the tandem rod or the depth of the nut, the detection light of the first centering detection mechanism 5 needs to be opposite to the tandem rod and the nut and coincide with the axis of the tandem rod.

[0057] On the basis of the above embodiment, a boat calibrating machine is also provided, which comprises a loose nut device and a three-axis linear motion mechanism; the three-axis linear motion mechanism is oppositely and spacedly arranged; the three-axis linear motion mechanism is connected with the loose nut device and is used to drive the loose nut device to move in XYZ three-axis directions; the loose nut device is used to adjust the tightness of the nuts at both ends of the tandem rod, and can also be used for nuts of different diameters and different depths.

[0058] The loose nut device described in the embodiment can fix the tandem rod and rotate the nut at the same time, and also realizes the rapid adaptation and reliable clamping of nuts of different diameters and depths through the synchronous variable diameter sleeve structure of the opposite clamping layer, cooperates with the built-in second spring-piezoelectric module. The inner sleeve joint end 322 of the loose nut device realizes elastic sleeve joint through the first spring, and the outer sleeve joint end 323 nests the inner sleeve joint end 322 to form a composite structure, which can automatically switch the sleeve joint mode according to the inner diameter or outer diameter size of the nut; at the same time, the intelligent adjustment system integrated with the second spring-piezoelectric module accurately matches nuts of different depths by pre-controlling the pre-tightening force of the second spring. This double adaptive mechanism enables the loose nut device to be compatible with nuts of a wide range of diameters and a wide range of depths, while ensuring stable clamping force and effectively avoiding damage to the surface of the nut. Moreover, the overall structure meets the multifunctional demand while maintaining compactness, which is suitable for nut assembly operations on automatic production lines and loose nut operations based on graphite boat calibration.

[0059] In actual graphite boat calibration operation, if the tandem rod is not kept in the center position, it may cause the length of the tandem rod to be abnormally long or short, thereby affecting the fastening effect of the nut. When the tandem rod is too long, it may cause the nut to be over-tightened due to uneven force, increasing the risk of thread damage or component deformation; and when the tandem rod is too short, it may not be tightly screwed due to insufficient effective contact with the nut, affecting the stability and sealing of the connection, so it is necessary to detect whether the tandem rod is centered to intervene or adjust the tandem rod in time. Therefore, in some embodiments, a detection system based on the above embodiments of the loose nut device is also provided, which comprises a first centering detection mechanism 5 and a control module. The first centering detection mechanism 5 is used to collect the position information of the end of the tandem rod, and the control module is used to determine whether the tandem rod is centered according to the position information fed back by the first centering detection mechanism 5.

[0060] Wherein the centering of the tandem rod means that the vertical distance between the two ends of the tandem rod to the corresponding side of the graphite boat is within a predetermined range, and the offset of the tandem rod means that the vertical distance between the two ends of the tandem rod to the corresponding side of the graphite boat is not within the predetermined range. For example, the first centering detection mechanism 5 can be installed on the side of the support plate 1 opposite the linear drive module 2. The first centering detection mechanism 5 comprises a laser range finder, and before collecting the position information of the end of the tandem rod, the detection light of the first centering detection mechanism 5 needs to be opposite to the tandem rod and coincide with the axis of the tandem rod.

[0061] In actual graphite boat calibration operation, the tandem rod may occasionally break. When the loose nut device completes the nut loosening / tightening operation, the broken residual part of the tandem rod is easily brought back by the torque output mechanism 3 by accident. In view of this situation, the detection system is provided with a back detection mechanism 6, as shown in Figure 2 The back detection mechanism 6 comprises a transmitting end 61 and a receiving end 62, and the transmitting end 61 and the receiving end 62 are installed on the side of the support plate 1 opposite the graphite boat and located on both sides of the torque output mechanism 3. The detection line formed by the transmitting end 61 and the receiving end 62 intersects and is perpendicular to the axis extension line of the pushing mechanism 4; the back detection mechanism 6 is used to detect whether the nut sleeve 32 carries the tandem rod after the linear drive module 2 completes the return stroke.

[0062] The back detection mechanism 6 detects whether the loose nut device carries the tandem rod in the following way: when the linear drive module 2 completes the return stroke, if the broken residual part of the tandem rod blocks the light transmission between the transmitting end 61 and the receiving end 62, the back detection mechanism 6 is triggered, and an alarm can be sent out by the control module and a safety protection program can be started. The back detection mechanism 6 is exemplified as a split type photoelectric sensor.

[0063] In some embodiments, a detection mechanism, i.e., a second centering detection mechanism 7, is also provided for detecting whether the tandem rod is centered. In order to cooperate with the second centering detection mechanism 7, it is necessary to ensure that the push module 41 of the pushing mechanism 4 is spaced apart from the first end of the push rod 42 by a predetermined distance, so that the push module 41 and the second end of the push rod 42 should be coaxially arranged at a predetermined distance, and the movable end of the push module 41 is movably connected to the first end of the push rod 42. Specifically, as shown in Figure 3 the second centering detection mechanism 7 includes a sensor 71 and a trigger portion 72. The trigger portion 72 is mounted on the axially movable push rod 42 of the pushing mechanism 4, and the sensor 71 is mounted on the movement path of the trigger portion 72. When the trigger portion 72 contacts the sensor 71, the control module determines that the tandem rod is offset.

[0064] The second centering detection mechanism 7 detects whether the tandem rod is centered in the following manner: during the movement of the linear drive module 2, the torque output mechanism 3 and the pushing mechanism 4 towards the graphite boat nut, if the tandem rod is in abutment with the push rod 42 of the pushing mechanism 4 and pushes the push rod to move away from the graphite boat nut, until the trigger portion 72 on the push rod 42 triggers the sensor 71, then the tandem rod is offset. For example, the sensor 71 of the second centering detection mechanism 7 is a slot photoelectric sensor 71, and the trigger portion 72 is a sensing sheet matched with the width of the slot photoelectric slot.

[0065] In some embodiments, the first centering detection mechanism 5 and the second centering detection mechanism 7 are redundantly arranged in the tension nut device, which effectively detects whether the tandem rod is centered, and avoids the occurrence of adverse conditions (such as insufficient tightening, over-tightening, etc.) during the nut locking process due to the problem that the offset of the tandem rod cannot be discovered in time.

[0066] In some embodiments, the control module is in communication connection with the first centering detection mechanism 5, the second centering detection mechanism 7 and the belt back detection mechanism 6. The control module is used to determine whether the tandem rod is centered according to the position information fed back by the first centering detection mechanism 5 and to alarm when the tandem rod is offset; is also used to control the linear drive module 2 and the push module 41 to move to correct the displacement when the tandem rod is offset, so that the tandem rod is centered, the push rod 42 of the push module 41 abuts against the end of the tandem rod, and the nut sleeve 32 of the torque output mechanism 3 sleeves the nut at one end of the tandem rod; is also used to drive the rotary drive assembly 31 to rotate to drive the nut sleeve 32 to rotate the nut at one end of the tandem rod; is also used to alarm when the second centering detection mechanism 7 is triggered; and is also used to alarm when the belt back detection mechanism 6 is triggered.

[0067] In some embodiments, the loose nut device further comprises a three-axis linear motion mechanism connected with the loose nut device, and the three-axis linear motion mechanism is used to drive the loose nut device to move in three-axis directions. For example, when the first centering detection mechanism 5 is installed on the support plate 1, the three-axis linear motion mechanism is driven to move close to the graphite boat until the first centering detection mechanism 5 is aligned with the tandem rod and the nut. After the first centering detection mechanism 5 collects relevant data, the three-axis linear motion mechanism is driven to move the loose nut device close to the graphite boat until the loose nut device is aligned with the tandem rod and the nut.

[0068] The three detection mechanisms described in the present embodiment achieve precise control of the tandem rod in all directions. The first centering detection mechanism 5 monitors the position of the end of the tandem rod in real time, ensuring that the initial positioning of the tandem rod before the loose nut operation is accurate. The control module can determine whether the tandem rod is in the centered position according to the position information detected by the first centering detection mechanism 5, and calculate the deviation data when there is a deviation to provide a basis for subsequent compensation control, thereby avoiding abnormal loose nut operation caused by the initial position deviation of the tandem rod from the source. The second centering detection mechanism 7 achieves dynamic monitoring of the centering of the tandem rod through a mechanical trigger design. When the tandem rod deviates during the advancement of the linear drive module 2, it will push the push rod 42 of the push mechanism 4 to move, causing the trigger part 72 on the push rod 42 to trigger the sensor 71, and forming complementary detection with the first centering detection mechanism 5. The take-back detection mechanism 6 uses a split optical sensor 71 to set a laser transmission detection area on the return path of the linear drive module 2. When the broken tandem rod residue blocks the light path, the take-back detection mechanism 6 is triggered. The take-back detection mechanism 6 forms a closed-loop control chain with the two aforementioned detection systems: the first centering detection mechanism 5 ensures the starting accuracy, the second centering detection mechanism 7 monitors the process state, and the take-back mechanism guarantees the safety of the end. Practical application shows that this three-in-one detection system reduces the failure rate, ensures the continuous operation of the loose nut operation, and reduces the product failure rate caused by abnormal position of the tandem rod.

[0069] In some embodiments, based on the above loose nut device and control system, the present embodiment further provides a tandem rod centering regulation method based on a calibrated graphite boat, as shown in Figure 5 The method comprises:

[0070] S510 detects the position information of the end of the tandem rod through the first centering detection mechanism 5;

[0071] S520 the control module receives the position information and determines whether there is a deviation between the position information and the preset position information;

[0072] S530, when the deviation exists between the position information and the preset position information and the deviation value is in the first preset deviation range, driving the movable end of the linear driving module 2 and the push module 41 to move in the direction of approaching the graphite boat by a first correction displacement and a second reference displacement respectively, so as to center the tandem rod, make the push rod 42 of the push module 41 abut against the end of the tandem rod, and make the nut sleeve 32 of the torque output mechanism 3 sleeve the nut at one end of the tandem rod;

[0073] S540, the control module drives the rotation driving assembly 31 of the torque output mechanism 3 to rotate, so as to drive the nut sleeve 32 to rotate the nut at one end of the tandem rod.

[0074] In some embodiments, on the basis of the above loose nut device and control system, this embodiment also provides another tandem rod centering regulation method based on calibrating the graphite boat, as shown in Figure 6 The method comprises:

[0075] S610, detecting the position information of the end of the tandem rod by the first centering detection mechanism 5;

[0076] S620, the control module receives the position information and judges whether there is a deviation between the position information and the preset position information;

[0077] S630, when the deviation exists between the position information and the preset position information and the deviation value is in the second preset deviation range, driving the movable end of the linear driving module 2 and the push module 41 to move in the direction of approaching the graphite boat by a first correction displacement and a second reference displacement respectively, so as to center the tandem rod, make the push rod 42 of the push module 41 abut against the end of the tandem rod, and make the nut sleeve 32 of the torque output mechanism 3 sleeve the nut at one end of the tandem rod;

[0078] S640, the control module drives the rotation driving assembly 31 of the torque output mechanism 3 to rotate, so as to drive the nut sleeve 32 to rotate the nut at one end of the tandem rod.

[0079] Wherein, the centering of the tandem rod means that the vertical distance between the two ends of the tandem rod to the corresponding side of the graphite boat is in a preset range, the preset position information means the position information of the end of the tandem rod when the tandem rod is centered, the second reference displacement is determined according to the distance between the end of the push rod 42 close to the push module 41 and the push module 41 when the push module 41 is in the initial state, the first correction displacement is the sum of the first reference displacement and the deviation value, and the minimum value of the second preset deviation range is greater than the maximum value of the first preset deviation range.

[0080] In some embodiments, on the basis of the above loose nut device and control system, this embodiment also provides another tandem rod centering regulation method based on calibrating the graphite boat, as shown in Figure 7 The method comprises:

[0081] S710 detecting position information of the end of the tandem rod by the first centering detection mechanism 5;

[0082] S720 receiving the position information by the control module, and determining whether there is a deviation between the position information and preset position information;

[0083] S730 when there is a deviation between the position information and the preset position information and the deviation value is in the third preset deviation range, driving the linear drive module 2 and the movable end of the push module 41 to move in the direction close to the graphite boat by a first reference displacement and a second reference displacement, so as to center the tandem rod, the push rod 42 of the push module 41 abuts against the end of the tandem rod, and the nut sleeve 32 of the torque output mechanism 3 sleeves the nut at one end of the tandem rod.

[0084] S740 driving the rotary drive assembly 31 of the torque output mechanism 3 to rotate to drive the nut sleeve 32 to rotate the nut at one end of the tandem rod.

[0085] In the above embodiment, the centering of the tandem rod means that the vertical distance between the two ends of the tandem rod to the corresponding side of the graphite boat is within a preset range, and the preset position information refers to the position information of the end of the tandem rod when the tandem rod is centered. The position information is obtained by laser calibration and stored in the control module. The position information can be the coordinates of the end of the tandem rod or the distance between the end of the tandem rod and the first centering detection mechanism.

[0086] The first reference displacement is determined according to the distance between the end of the tandem rod and the sleeved end when the tandem rod is centered and the linear drive module 2 is in the initial state. The second reference displacement is determined according to the distance between the end of the push rod 42 close to one end of the push module 41 and the push module 41 and the distance between the end of the push rod 42 close to the graphite boat and the end of the tandem rod when the push module 41 is in the initial state. The first correction displacement is the sum of the first reference displacement and the deviation value, and the second correction displacement is the sum of the second reference displacement and the deviation value.

[0087] The deviation value is the difference between the position information of the end of the tandem rod detected by the first detection mechanism and the preset position range. When the preset deviation range is required, the minimum value of the first preset deviation range should be greater than the maximum value of the second preset deviation range, and the minimum value of the second preset deviation range should be greater than the maximum value of the third preset deviation range.

[0088] The initial state in the present application covers two positioning references of the linear drive module 2 and the linear drive module 2: either the absolute zero position state of the module or the preset process starting position (i.e. the state of the moving end of the module being a specific distance away from the zero position). Regardless of the reference definition, the core constraint condition needs to be met: when the linear drive module 2 and the pushing module 41 cooperatively enter the initial state (i.e. the overall reset of the tension nut device), the front end of the nut sleeve 32 of the torque output mechanism 3 and the second end of the push rod 42 of the pushing module 41 must be strictly limited within the space range behind the front end face of the support plate 1. In particular, the determination criterion of "returning to the end" in the present application refers to the synchronous return of the linear drive module 2 and the pushing module 41 to the initial state (i.e. the overall reset of the tension nut device), and the spatial orientation of the front end face of the support plate 1 is always parallel to and opposite to the graphite boat installation reference surface.

[0089] The embodiment can detect the position state of the tandem rod in real time based on the tandem rod centering regulation method based on the calibrated graphite boat, and perform displacement compensation according to the detection result. Specifically, when it is detected that the tandem rod is offset, a compensation mechanism is automatically selected according to the offset amount: for a large offset (i.e. the deviation is outside the third preset deviation range and is within the first preset deviation range) exceeding the threshold, a linear drive module with a larger stroke range superimposes a compensation displacement on the reference displacement; for a small offset (i.e. the deviation is outside the third preset deviation range and is within the second preset deviation range) exceeding the threshold, a pushing module with higher precision performs fine adjustment compensation; when the tandem rod is in the centered state (i.e. the deviation is within the third preset deviation range), the linear drive module and the pushing module synchronously perform the preset reference displacement. The hierarchical control strategy reasonably allocates the compensation tasks of the two modules, which not only ensures the rapid response capability to large offsets, but also realizes high-precision correction to small deviations, thereby significantly improving the comprehensive performance of the centering control.

[0090] In some embodiments, a boat calibrating machine is also provided, which comprises the tension nut device and the three-axis linear motion mechanism as described in the above embodiments; the three-axis linear motion mechanisms are oppositely and spacedly arranged, and the spacing distance is determined according to the graphite boat placement station; the three-axis linear motion mechanisms are connected with the tension nut device and used to drive the tension nut device to move in the XYZ three-axis direction. The boat calibrating machine simultaneously tightens and loosens the nuts on both sides of the tandem rod through the tension nut device and the above tandem rod centering regulation method.

[0091] The application embodiment can achieve the beneficial effects: through the integration of mechanical structure and detection control system, the high-precision, high-adaptability full-automatic operation of the series connection rod nut tightness operation is realized. Specifically, at the mechanical execution level, the push mechanism and the torque output mechanism constitute a bidirectional positioning system, the former realizes the axial fixation of the series connection rod through the driven push rod, and the latter can automatically adapt to the diameter difference and thread depth change of the nut of various specifications by means of the synchronous variable diameter sleeve structure of the opposite clamping layer and the composite adjustment mechanism of the second spring-piezoelectric module, and ensure that the clamping force is stable within the process requirement range; at the detection control level, the first centering detection mechanism (such as a laser displacement sensor) and the second centering detection mechanism (such as a mechanical trigger photoelectric switch) can real-time feedback the spatial state data of the series connection rod, and the take-back detection mechanism (such as an infrared laser transmission sensor) can detect the broken rod take-back, and the three kinds of detection mechanisms jointly constitute a three-level monitoring network, and the PID algorithm of the control module dynamically adjusts the compensation displacement of the linear drive module and the push module, so as to center the series connection rod. The integrated system greatly improves the success rate of nut tightness operation and simultaneously meets the mixed line calibration requirements of different types of graphite boats, and solves the three technical problems of series connection rod positioning deviation, nut damage and broken rod residue in the traditional process.

[0092] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it. The present application is not limited to the exact structure described above and shown in the drawings, and the specific implementation of the present application cannot be limited to the above description. For ordinary skilled in the art to which the present application belongs, various changes and modifications made without departing from the concept of the present application should be considered to fall within the scope of protection of the present application.

Claims

1. A device for tightening and loosening nuts, characterized in that, The device includes: a support plate, a linear drive module, a torque output mechanism, and a pushing mechanism; The bracket plate is connected to the linear drive module, and the linear drive module is movably connected to the torque output mechanism; The torque output mechanism includes a rotary drive assembly and a nut sleeve, wherein the rotary drive assembly is throttle-connected to the nut sleeve; the rotary drive assembly is used to drive the nut sleeve to rotate, and the sleeve end of the nut sleeve is used to sleeve the nut at one end of the connecting rod; The pushing mechanism includes a pushing module and a push rod. The nut sleeve, the drive rotation assembly, and the pushing module are coaxially arranged. The nut sleeve and the rotation drive assembly have coaxial channels inside. The push rod is movably sleeved in the channel. The first end of the push rod is connected to the pushing module, and the second end of the push rod is used to abut against the end of the connecting rod.

2. The nut tightening and loosening device according to claim 1, characterized in that, The rotary drive assembly includes a rotary motor, a drive wheel, a driven wheel, a belt, a guide sleeve, and a guide shaft; The output end of the rotary motor is connected to the driving wheel, the driving wheel is connected to the driven wheel via belt drive, the driven wheel is sleeved on the first end of the guide sleeve, the second end of the guide sleeve is sleeved on the first end of the guide shaft, the second end of the guide shaft is sleeved on the nut sleeve, the guide sleeve, the guide shaft and the nut sleeve are provided with a coaxial channel inside, and the push rod is movably sleeved in the channel.

3. The nut tightening and loosening device according to claim 1, characterized in that, The tightening and loosening nut device also includes a first centering detection mechanism, which is used to detect the position information of the end of the connecting rod.

4. The nut tightening and loosening device according to claim 3, characterized in that, The first centering detection mechanism includes a laser rangefinder, which is installed on the side of the bracket plate opposite to the linear drive module.

5. The nut tightening and loosening device according to claim 1, characterized in that, The nut tightening and loosening device also includes a three-axis linear motion mechanism, which is connected to the nut tightening and loosening device and is used to drive the nut tightening and loosening device to move along the XYZ axes.

6. A boat-training machine, characterized in that, The boat-training machine includes a nut tightening and loosening device and a three-axis linear motion mechanism; The three-axis linear motion mechanisms are arranged opposite each other and at intervals; the three-axis linear motion mechanisms are connected to the tightening and loosening nut device and are used to drive the tightening and loosening nut device to move in the XYZ three-axis directions; the tightening and loosening nut device is used to adjust the tightness of the nuts at both ends of the connecting rod.

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