Variable-posture fastener penetrating and screwing device

Abstract

The utility model relates to steel box girder high-strength bolt operation, in particular to a variable-posture fastener penetrating and screwing device which is used for being arranged on a multi-shaft moving support of a high-strength bolt penetrating and screwing all-in-one machine, and the bolt penetrating and screwing all-in-one device comprises a supporting frame, a feeding assembly, a penetrating and screwing assembly and a first driving unit. The clamping part comprises a base, a clamping head, a first driving unit and a second driving unit; and the second driving unit is in transmission connection with the clamping head and is used for enabling the clamping central axis of the clamping head to generate angular deflection relative to the base, so that the clamping head is switched between a first angular position facing the feeding assembly and a second angular position facing the working face to be twisted. According to the clamping head, the material receiving state and the screwing state can be flexibly switched, the convenience of gravity material supply is utilized, the side screwing requirement is met, the equipment structure is simplified, and efficient space connection of the material supply end and the operation end is achieved.

Description

Technical Field

[0001] This utility model relates to the operation of high-strength bolts for steel box girders, specifically to a device for threading and tightening variable-position fasteners. Background Technology

[0002] With the widespread application of high-strength bolt connection technology in the construction of long-span steel box girder bridges, the installation of a large number of fasteners (nuts or bolts) is the most arduous and critical process in construction. Currently, the work relies entirely on manual labor, requiring workers to carry heavy fasteners on the steel box girders for high-intensity, continuous work. The manual operation is cumbersome, requiring workers to manually remove the nuts or bolts, align them with the bolt holes on the plate wall, and then thread and tighten the bolts. This method is not only extremely labor-intensive and inefficient, but also, due to the limited work space, workers are prone to fatigue from prolonged periods in abnormal postures, which can affect the tightening quality and even pose significant safety hazards. Therefore, it is crucial to design a compact device that mechanizes the manual material handling and tightening process to reduce safety hazards and improve tightening efficiency. Utility Model Content

[0003] To address the aforementioned technical problems, this utility model provides a variable-position fastener threading and tightening device. This device can effectively replace manual labor in threading and tightening nuts and bolts, thereby reducing manual labor intensity and operational risks, and improving tightening efficiency.

[0004] This utility model provides a variable-posture fastener threading and tightening device, which is installed 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, a feeding assembly, a threading and tightening assembly, and a first drive unit. The support frame is mounted on the multi-axis movable support. The feeding assembly is located on the upper side of the support frame and is used to feed nuts or bolts along a preset path. The threading and tightening assembly is mounted on the support frame and includes a slide and a clamping part. The slide is slidably mounted on the support frame, and the clamping part is slidably connected to the slide, allowing the clamping part to move along the length direction of the slide. The first drive unit is drively connected to the clamping part. This device is used to drive the clamping part to perform the action of clamping or releasing bolts or nuts; wherein, the clamping part includes a base, a clamping head, a first drive unit and a second drive unit; the base is disposed on the slide; the clamping head is rotatably connected to the base through a rotating mechanism; the first drive unit is drivenly connected to the clamping head and is used to drive the clamping head to perform the action of clamping or releasing bolts or nuts; the second drive unit is drivenly connected to the clamping head and is used to cause the clamping center axis of the clamping head to deflect at an angle relative to the base, thereby switching the clamping head between a first angular position toward the feeding assembly and a second angular position toward the working surface to be tightened.

[0005] To address the technical problem in existing technologies where the feeding and tightening directions are not aligned, requiring the use of large robotic arms or complex flipping mechanisms for connection, this invention adopts a design where a base is mounted on a slide and a clamping head is connected via a rotating mechanism. A second drive unit enables the clamping head to deflect at an angle. This, combined with an independent degree of freedom for attitude transformation at the execution end on a single linear motion platform, allows the clamping head to flexibly switch between receiving and tightening working states. This fully utilizes the convenience of gravity feeding while meeting the requirements of lateral tightening operations, significantly simplifying the equipment structure and achieving efficient spatial connection between the feeding and operating ends.

[0006] In some embodiments, the feeding assembly includes: a stationary support and a rotary conveyor; the stationary support has a discharge port extending through its thickness direction and is disposed on a support frame; the rotary conveyor is stacked on the stationary support and can rotate about its own axis, and the rotary conveyor has a plurality of vertically penetrating receiving grooves spaced apart along its circumference, the receiving grooves being configured to receive nuts or bolts under the bottom sealing of the stationary support.

[0007] This design employs a layered structure of static support and rotary conveying. The static support blocks the bottom of the receiving trough to support the material, while the rotary conveying component rotates to move the material. The material is conveyed under constraint through the relative motion of the mechanical structure, which forces the nut or bolt to maintain a relatively stable position during the sliding process. It is triggered to fall only when the physical position is aligned. This design ensures that the material arrives at the junction point with a relatively accurate rhythm and position without the need for complex electronic sensors.

[0008] In some embodiments, the rotary conveyor is an annular component, and the receiving grooves are arranged on the plate surface of the rotary conveyor. This annular structure effectively reduces the weight of the moving parts and the drive load, while the receiving grooves on the plate surface provide a large area of ​​bottom support for flat parts such as nuts.

[0009] In some embodiments, the aforementioned stationary support is a disc-shaped or plate-shaped component, which has a discharge port extending through its thickness. This port is used so that when the rotating conveyor rotates, the receiving groove and the discharge port will overlap vertically, allowing the nut or bolt in the receiving groove to fall through the discharge port. By cleverly utilizing the positional overlap caused by the rotational motion as a mechanical switch, an automated logic of immediate dropping upon reaching the designated position is achieved. This ensures that each dropping occurs at a specific spatial coordinate point, providing positional assurance for the precise receiving of the material by the lower clamping head.

[0010] In some embodiments, the rotary conveyor is an annular member, and the inner side of the rotary conveyor is circumferentially arranged with teeth, so that the inner side of the rotary conveyor is in the shape of an internal gear.

[0011] In some embodiments, at least a portion of the rotary conveyor passes through a support frame, the inner side of which is provided with an internal gear that meshes with the inner teeth of the rotary conveyor, and a motor that drives the internal gear is provided on the support frame.

[0012] To address the technical problem of limited external space for the feeding assembly and the potential for external gear transmission to encroach on storage bin space or cause mechanical interference, this paper proposes an internal gear transmission by arranging gear teeth on the inner side of the rotating conveyor. This hides the transmission chain within the inner ring space of the annular component, effectively freeing up space around the rotating component. This allows for more flexible placement of storage bins or observation windows on the outside, while also protecting the meshing parts of the transmission.

[0013] In some embodiments, the lower side plate of the aforementioned stationary support is provided with a guide pipe corresponding to the discharge port. By providing a guide pipe below the discharge port, a physical constraint channel is provided for the freely falling fastener, which can eliminate the horizontal component velocity during the falling process and ensure that the fastener can fall vertically and accurately into the clamping head waiting below, thus effectively reducing the possibility of fasteners flying or bouncing during handover.

[0014] In some embodiments, the radial inner cross-section of the guide pipe is circular or hexagonal.

[0015] In some embodiments, the feeding assembly further 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 bolt at the bottom of the storage bin falls into the receiving slot and rotates out with the rotary conveyor.

[0016] This solution employs a vertical storage bin located above the opposite side of the discharge port. Gravity feeding is achieved by aligning the empty slots of the rotary conveyor. The rotating ring acts as a dividing plate, enabling a continuous cycle of opposite-side feeding, rotary conveying, and fixed-point discharge. This achieves automated and efficient feeding while avoiding the risk of materials directly passing through the discharge port through spatial misalignment, thus ensuring a reliable feeding process.

[0017] In some embodiments, the base is provided with a third drive unit, which is used to drive the base to perform displacement on the slide according to instructions or programs.

[0018] In some embodiments, the inner cavity of the clamping head is countersunk after it is closed. The countersunk step surface effectively supports the end face of the nut or the head of the bolt, providing support during material receiving and a stable axial force point during tightening. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating a variable-post fastener threading and tightening device arranged on a multi-axis movable support of a high-strength bolt threading and tightening machine in an embodiment.

[0020] Figure 2 This is a structural schematic diagram illustrating a variable-position fastener threading and tightening device in the embodiments.

[0021] Figure 3 This is a schematic diagram illustrating the structure of a variable-posture fastener threading and tightening device and a high-strength bolt threading and tightening integrated machine deployed on the bolt side in an illustrative embodiment.

[0022] Figure 4 This is a schematic diagram illustrating the structure of a variable-posture fastener threading and tightening device and a high-strength bolt threading and tightening integrated machine deployed on the bolt side in an illustrative embodiment.

[0023] Figure 5 This is a schematic diagram of the storage bin for illustrating the feeding component in the embodiment;

[0024] 100-Support frame; 200-Feeding assembly; 230-Stationary support; 231-Discharge port; 232-Guide pipe; 240-Rotating conveyor; 241-Receiving groove; 241b-Round hole; 250-Storage bin; 251-Discharge end; 300-Threading assembly; 310-Slide; 320-Clamping part; 321-Base; 322-Clamping head; 330-First drive unit; 340-Second drive unit; 350-Third drive unit. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] It should be noted that in the description of this utility model, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0027] Furthermore, it should be understood that, for ease of description, the dimensions of the various components shown in the accompanying drawings are not drawn to actual scale; for example, the thickness or width of some layers may be exaggerated relative to other layers.

[0028] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined or described in one figure, it will not need to be discussed or described in detail in the description of the subsequent figures.

[0029] Example 1, as Figures 1 to 5A variable-posture fastener threading and tightening device is used to be installed on a multi-axis movable support of a high-strength bolt threading and tightening integrated machine. The bolt threading and tightening integrated machine includes a support frame 100, a feeding assembly 200, and a threading and tightening assembly 300. The support frame 100 is mounted on the multi-axis movable support. The feeding assembly 200 is disposed on the upper side of the support frame 100 and is used to feed nuts or bolts according to a preset path. The threading and tightening assembly 300 is disposed on the support frame 100 and includes a slide 310 and a clamping part 320. The slide 310 is slidably disposed on the support frame 100, and the clamping part 320 is slidably connected to the slide 310, allowing the clamping part 320 to move along the length direction of the slide 310. The clamping unit 320 includes a base 321, a clamping head 322, a first drive unit 330, and a second drive unit 340. The base 321 is mounted on the slide 310. The clamping head 322 is rotatably connected to the base 321 via a rotating mechanism. The first drive unit 330 is driven by the clamping head 322 and is used to drive the clamping head 322 to perform clamping or releasing bolts or nuts. The second drive unit 340 is driven by the clamping head 322 and is used to cause the clamping center axis of the clamping head 322 to deflect at an angle relative to the base 321, thereby switching the clamping head 322 between a first angular position facing the feeding assembly 200 and a second angular position facing the working surface to be tightened. The working surface to be tightened is the plane containing the steel plate surface on which the bolt is to be tightened. The drive unit can be a servo motor, cylinder, etc., and the various drive units and power sources described below can all be servo motors, cylinders, etc., to perform the actions according to actual needs.

[0030] This embodiment proposes a feeding and tightening scheme for nuts or bolts. It fully leverages the convenience of gravity feeding while effectively meeting the tightening requirements. This design improvement not only greatly simplifies the overall structure of the equipment but also successfully achieves efficient spatial connection between the feeding end and the working end, effectively solving the problem of previously relying on complex mechanical structures for connection.

[0031] In the specific structural layout, the aforementioned support frame 100 serves as the skeleton of the entire machine. Its bottom can be equipped with a mounting flange or other connecting plate adapted to the end interface of the multi-axis moving support, using high-strength bolts for rigid connection to ensure structural stability under high-speed movement and high-torque tightening conditions. The aforementioned slide 310 preferably employs a high-precision linear guide pair, driven by a servo motor via a lead screw and nut pair or a synchronous belt mechanism, causing the aforementioned clamping part 320 to reciprocate linearly along the horizontal axis, thereby achieving stroke compensation between the clamping head 322 and the target screw hole at the intersection point. Specifically, the aforementioned rotating mechanism can be constructed as a horizontal rotating shaft passing through the aforementioned base 321 and the clamping head 322, supported by a deep groove ball bearing or a radial thrust bearing to reduce friction and improve rotational accuracy during attitude switching.

[0032] The second drive unit 340 here can be a servo motor or rotary cylinder with a self-locking function, and is set in the side or internal cavity of the base 321. The transmission connection method includes, but is not limited to, transmitting power to the rotating shaft of the clamping head 322 through gear meshing, linkage mechanism or synchronous belt drive. In this embodiment, the first angle position (material receiving posture) is set so that the opening of the clamping head 322 is vertically upward, so that its axis coincides with the feeding trajectory of the feeding component 200, which is convenient for receiving fasteners that slip down due to gravity; the second angle position (tightening posture) is set so that the clamping head 322 rotates 90 degrees around the rotating shaft, so that its axis is parallel to the moving direction of the slide 310, thereby aligning with the horizontally set target screw hole. In order to ensure the accuracy of posture switching, a hard limit block or position detection sensor (such as Hall sensor or proximity switch) is also provided on the base 321 to limit the rotation range, so that the clamping head 322 can be accurately locked in the preset angle position after each rotation, effectively avoiding tightening interference caused by angle deviation.

[0033] Preferably, the base 321 is equipped with a third drive unit 350, which is used to drive the base 321 to perform displacement on the slide 310 according to instructions or programs. The aforementioned third drive unit 350 can be disposed on a multi-axis movable support, on the base 321, or on the slide 310.

[0034] In Example 2, based on Example 1, the feeding assembly 200 includes a stationary support 230 and a rotary conveyor 240. The stationary support 230 is provided with a discharge port 231 extending through its thickness direction and is mounted on the support frame 100. The rotary conveyor 240 is stacked on the stationary support 230 and can rotate around its own axis. The rotary conveyor 240 is provided with a plurality of vertically penetrating receiving grooves 241 spaced apart along its circumference. The receiving grooves 241 are configured to receive nuts or bolts under the bottom sealing of the stationary support 230.

[0035] This structure employs a stacked structure of static support and rotary conveying. The static support component 230 seals the bottom of the receiving trough 241 to support the material, while the rotary conveying component 240 rotates to drive the material to slide. The material is conveyed by mechanical structure relative motion constraint, and the nut or bolt is forced to maintain a relatively stable position when sliding. It only falls when the physical position is aligned. Without the need for complex electronic sensors, it can ensure that the material arrives at the junction point with a relatively accurate rhythm and position.

[0036] In specific manufacturing and assembly, the aforementioned stationary support component 230 is preferably made of stainless steel with good wear resistance or alloy steel that has undergone surface hardening treatment. Its upper surface (i.e., the sliding surface in contact with the nut or bolt) is finely ground and polished or coated with a Teflon (PTFE) low-friction coating to reduce the frictional resistance of the fastener during the sliding process with the rotating conveyor component 240, and to prevent the fastener from rolling or wearing due to excessive friction. The aforementioned rotating conveyor component 240 is supported on the aforementioned stationary support component 230 or support frame 100 by a central bearing or circumferentially arranged rollers, ensuring that a constant small axial gap (e.g., 0.1mm-0.5mm) is maintained between the two. This gap can ensure smooth rotation and prevent the fastener's washer or thin nut from getting stuck in the gap.

[0037] To prevent material from getting stuck during discharge, the edge of the discharge port 231 can be designed with a guide chamfer or rounded corner transition, and the diameter of the discharge port 231 is designed to be equal to or slightly larger than the inner contour of the receiving groove 241. The inner wall shape of the receiving groove 241 is adapted to the outer contour (e.g., hexagon) of the nut or bolt to be conveyed, and appropriate fitting tolerances (e.g., 0.5mm-1mm on one side) are maintained to allow the material to enter smoothly. Of course, to reduce complexity, the receiving groove 241 can be directly set as a circular hole 241b to reduce unnecessary interference.

[0038] In Example 3, based on Example 2, the rotary conveyor 240 is an annular component, and the receiving grooves 241 are arranged on the plate surface of the rotary conveyor 240. The annular structure reduces the weight of the moving parts and the driving load, while the receiving grooves 241 on the plate surface provide a large area of ​​bottom support for flat parts such as nuts.

[0039] The thickness of the plate of the aforementioned annular rotary conveyor 240 is set to be slightly less than or equal to the height of the nut to be conveyed (or the thickness of the bolt head). The shape of the aforementioned receiving groove 241 is preferably circular or a hexagonal or dodecagonal through hole similar to the shape of the nut, and the hole diameter is reserved with an appropriate gap (such as 0.5mm). A C-shaped chamfer can also be processed on the upper edge of the groove opening so that the nut in the storage bin 250 can be smoothly guided into the groove and eliminate the risk of jamming.

[0040] To ensure the concentricity and stability of the annular component during high-speed rotation, several limiting rollers or annular guide rails can be distributed along the inner circumference (not shown in the figure) or outer circumference of the annular component on the surface of the stationary support 230 or the support frame 100. (Here, the guide rail can be simplified to an upwardly extending convex ring on the outer circumference of the stationary support 230 for radial limiting.) These guiding elements radially constrain the annular component, ensuring that the movement trajectory of the receiving groove 241 always accurately passes directly above the discharge port 231. Of course, to reduce complexity, the stationary support 230 can also directly slide in contact with the annular rotary conveyor 240, thus omitting the rollers. In addition, considering that various specifications (such as M20, M24, M30) of fasteners may be involved in the construction of the steel box girder, the rotary conveyor 240 is designed as a modular component that can be quickly disassembled. When it is necessary to switch operating specifications, operators do not need to replace the expensive drive motor or base 321. They only need to loosen the clips or screws and replace the annular conveyor plate with the corresponding aperture, which improves the versatility of the device for different construction tasks.

[0041] In Example 4, based on Examples 2 or 3 above, the stationary support 230 is a disc-shaped or plate-shaped component. This stationary support 230 has a discharge port 231 extending through its thickness. When the rotating conveyor 240 rotates, the receiving groove 241 and the discharge port 231 will overlap vertically, allowing the nut or bolt in the receiving groove 241 to fall through the discharge port 231. By cleverly utilizing the positional overlap caused by the rotational motion as a mechanical switch, an automated logic of immediate dropping upon reaching the designated position is achieved, ensuring that each dropping occurs at a specific spatial coordinate point, providing positional assurance for the precise receiving of the material by the lower clamping head 322.

[0042] The discharge port 231 on the aforementioned stationary support 230 can be configured as a non-simple through hole. Its inner diameter can be designed to be slightly larger than the inscribed circle diameter of the receiving groove 241 of the rotary conveyor 240 (e.g., 5%-10% larger). The upper edge of the discharge port 231 (i.e., the edge in contact with the bottom surface of the rotary conveyor 240) is machined with a smooth guide radius or C-shaped chamfer. This flared design has a fault-tolerant function, ensuring that even if the rotary conveyor 240 has a slight rotational error or vibration, the nuts or bolts in the receiving groove 241 will reach the overlapping area. At the same time, the axial position of the discharge port 231 is precisely calibrated relative to the material receiving posture (first angular position) of the threading assembly 300 (i.e., the position of the control clamping head 322's travel), or coaxial with the inlet of the lower guide pipe 232, thereby constructing an unobstructed vertical material dropping channel and minimizing the impact of the horizontal velocity component on the dropping point accuracy.

[0043] Example 5: Based on Example 2, 3 or 4 above, the rotary conveyor 240 is an annular component, and the inner side of the rotary conveyor 240 is circumferentially arranged with teeth, so that the inner side of the rotary conveyor 240 is in the shape of an internal gear.

[0044] Preferably, at least a portion of the rotary conveyor 240 passes through the support frame 100, and the support frame 100 is provided with an internal gear that meshes with the inner teeth of the rotary conveyor 240, and a motor that drives the internal gear is provided on the support frame 100.

[0045] To address the technical problem of limited external space for the feeding assembly 200 and the potential for external gear transmission to encroach on the storage bin 250 or cause mechanical interference, an internal gear transmission is formed by arranging gear teeth on the inner side of the rotating conveyor 240. This hides the transmission chain within the inner ring space of the annular component, effectively freeing up space around the rotating component. This allows for more flexible placement of the storage bin 250 or observation window, while also protecting the meshing parts of the transmission.

[0046] In the specific mechanical structure, the rotary conveyor 240 of this embodiment essentially constitutes a large-diameter internal gear ring. Part of the support frame 100 is configured as a frame structure, with part of the rotary conveyor 240 passing through its inner side. Meanwhile, the stationary support 230 is fixed to the support frame 100 via flanges or bolts. For driving, the aforementioned motor can have a small-module driving spur gear (i.e., the gear that meshes with the inner gear) mounted on its shaft. This small gear driving a large gear ring reduction transmission structure can provide a huge torque output without the need for an additional gearbox.

[0047] Meanwhile, since the motor and transmission components are all housed within the projected area of ​​the annular conveyor (i.e., the inner ring space), and there are no protruding mechanical parts on the outer periphery of the rotating conveyor 240, the discharge port of the storage bin 250 can be arranged infinitely close to the outer edge of the rotating ring, ensuring compactness.

[0048] In Example 6, based on any of the solutions in Examples 2 to 5 above, a guide pipe 232 corresponding to the discharge port 231 is provided on the lower side plate of the stationary support 230. By providing the guide pipe 232 below the discharge port 231, a physical constraint channel is provided for the freely falling fastener, which can eliminate the horizontal component velocity during the falling process and ensure that the fastener can fall vertically and accurately into the waiting clamping head 322 below, thus reducing the possible flying or bouncing phenomenon of fasteners during handover. Preferably, the radial inner cross-section of the guide pipe 232 is circular or hexagonal. After the clamping head 322 is closed, its inner cavity is countersunk. The countersunk step surface effectively supports the end face of the nut or the head of the bolt, providing support during receiving and a stable axial force point during tightening and pushing.

[0049] In the specific structural implementation, to construct a closed-loop material feeding control logic, non-contact detection sensors (such as ring-shaped inductive proximity switches or through-beam fiber optic sensors) are integrated on the wall or at the inlet and outlet of the aforementioned guide pipe 232 during layout. When the nut or bolt passes through the guide pipe 232, the sensor generates a pulse signal that is fed back to the control system. Based on this, the system confirms that the material has successfully fallen and then instructs the gripping head 322 below to perform a closing gripping action. The outlet end face of the guide pipe 232 is designed to be as close as possible to the end face of the gripping head 322 in the material receiving posture (the gap is controlled within 1mm-3mm). The end of the guide pipe 232 can also be designed as a telescopic structure or have a flexible skirt, forming a closed tunnel from the discharge port 231 directly to the inside of the gripping head 322 at the moment of material falling.

[0050] In Example 7, based on any of the above embodiments, the feeding assembly 200 further includes a storage bin 250; the storage bin 250 is located above the rotary conveyor 240 and on the opposite side of the discharge port 231 along the circumferential direction; the storage bin 250 is used to stack and store bolts, and has a discharge end 251 at the bottom; the rotary conveyor 240 is configured to align the empty receiving groove 241 with the discharge end 251 during rotation, so that the bolt at the bottom of the storage bin 250 falls into the receiving groove 241 and rotates out with the rotary conveyor 240.

[0051] This solution employs a vertical storage bin 250 located above the opposite side of the discharge port 231. Gravity feeding is achieved by aligning the empty slots of the rotary conveyor 240. The rotating ring acts as a dividing plate, enabling a continuous cycle of opposite-side feeding, rotary conveying, and fixed-point feeding. This achieves automated and efficient feeding while avoiding the risk of materials directly passing through the discharge port 231 through spatial misalignment, thus ensuring a reliable feeding process.

[0052] The inner cross-section of the storage bin 250 is designed as a hexagon or rounded rectangle to match the shape of the nuts, serving as a aligning element to ensure that the stacked nuts maintain a uniform horizontal angle during gravity-induced descent and prevent rotational misalignment within the bin. Furthermore, the side wall of the storage bin 250 can be equipped with a vertical, elongated observation window (made of transparent acrylic) or a photoelectric liquid level sensor. When the remaining material level in the bin falls below a preset warning line, the system automatically triggers an audible and visual alarm to prompt manual replenishment, or sends a low-material signal to the host computer, ensuring the machine's long-term continuous operation capability in an unattended state.

[0053] After the variable-posture fastener threading device enters the working state, the nut (or bolt) at the bottom of the storage bin 250 is filled into the receiving groove 241 aligned with the rotating conveyor 240 under the action of gravity. As the rotating conveyor 240 rotates and is blocked by the stationary support 230, it is horizontally conveyed until the receiving groove 241 rotates to align vertically with the discharge port 231 and guide pipe 232 of the stationary support 230. At this time, the nut is released from the support and falls vertically down the guide pipe 232. Meanwhile, the threading assembly 300 below is pre-adjusted to an upward-facing receiving posture (first angle position). When the nut accurately falls into the inner cavity of the clamping head 322 and is clamped by the clamping head 322, the second drive unit 340... In other words, the action drives the clamping head 322 to rotate relative to the base 321 around the rotating mechanism (e.g., rotate 90 degrees), switching the nut from a vertically retracted state to a horizontal tightening posture (second angle position). Then, the slide block 310 moves the entire clamping part 320 forward along the support frame 100, accurately delivering and aligning the nut, which has been adjusted in posture, to the target bolt hole on the steel box girder plate wall to perform the tightening operation (a bolt is inserted on the other side), thus completing a complete automated cycle from material supply to operation (the torque application and tightening of the clamping part 320, the drive and power source for tightening the nut can be found in the published patent documents, the bolt and nut tightening in patent number CN2025106078474, which will not be described in detail here).

Claims

1. A variable attitude fastener driving apparatus, comprising: A bolt threading device is arranged on a multi-axis moving support of a high-strength bolt threading integrated machine, and comprises: a support frame arranged on the multi-axis moving support; a feeding assembly arranged on the upper side of the support frame and used for conveying nuts or bolts along a preset path; a threading assembly arranged on the support frame, the threading assembly comprising a sliding base and a clamping head, the sliding base being slidingly arranged on the support frame, and the clamping head being slidingly connected to the sliding base and being movable along the length direction of the sliding base; wherein the clamping head comprises: a base arranged on the sliding base; a clamping head rotatably connected to the base through a rotating mechanism; a first driving unit in transmission connection with the clamping head and used for driving the clamping head to perform the action of clamping or releasing the bolt or nut; a second driving unit in transmission connection with the clamping head and used for causing the clamping center axis of the clamping head to be angularly deflected relative to the base, so as to switch the clamping head between a first angular position facing the feeding assembly and a second angular position facing a work surface to be threaded.

2. The bolt threading device according to claim 1, wherein the feeding assembly comprises: a stationary supporting member provided with a discharging opening penetrating through the thickness direction of the stationary supporting member, the stationary supporting member being arranged on the support frame; a rotating conveying member stacked on the stationary supporting member and being rotatable about the axis thereof, the rotating conveying member being provided with a plurality of accommodating grooves penetrating through the upper and lower sides thereof and being arranged at intervals in the circumferential direction of the rotating conveying member, the accommodating grooves being configured to accommodate the nuts or bolts at the bottom of the stationary supporting member.

3. The bolt threading device according to claim 2, wherein the rotating conveying member is an annular member, and the accommodating grooves are arranged on the surface of the annular member.

4. The bolt threading device according to claim 2 or 3, wherein the stationary supporting member is a disc-shaped or plate-shaped member, and the stationary supporting member is provided with a discharging opening penetrating through the thickness direction thereof, so that, when the rotating conveying member rotates, the accommodating grooves coincide with the discharging opening at a time, so that the nuts or bolts in the accommodating grooves can fall from the discharging opening.

5. The bolt threading device according to claim 2, wherein the rotating conveying member is an annular member, and the inner side of the rotating conveying member is provided with teeth arranged in the circumferential direction, so that the inner side of the rotating conveying member is in the form of an internal gear.

6. The bolt threading device according to claim 2, wherein at least a part of the rotating conveying member penetrates through the support frame, the inner side of the support frame is provided with an internal gear in meshing connection with the internal teeth of the rotating conveying member, and the support frame is provided with a motor driving the internal gear.

7. The bolt threading device according to claim 2, wherein the lower side of the stationary supporting member is provided with a guide pipe corresponding to the discharging opening.

8. The bolt threading device according to claim 7, wherein ​ ​ ​ ​ ​ ​ The radial inner hole section of the guide pipe is circular or hexagonal.

9. The device of claim 2, wherein the device further comprises a third drive unit configured to drive the base to move along the slide according to a command or a program. The feeding assembly further comprises a storage bin. The storage bin is arranged above the rotary conveying member and located at a position opposite to the circumferential position of the discharge port. The storage bin is used for stacking and storing bolts, and the bottom is provided with a discharge end. The rotary conveying member is configured to align the empty receiving groove with the discharge end during rotation, so that the bottommost bolt in the storage bin falls into the receiving groove and is rotated out with the rotary conveying member.

10. The device of claim 1, wherein the base is configured with a third drive unit configured to drive the base to move along the slide according to a command or a program. ​

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