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 movably connected with the torque output mechanism through the linear driving module. 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 pushing mechanism coaxially penetrates out and is in sliding connection with the rotation driving assembly and the nut sleeve, and the nut sleeve is arranged to be an opposite clamping layer synchronous reducing sleeve so as to be matched with nuts of different specifications. The opposite clamping layer synchronous reducing sleeve comprises an inner sleeving end movably connected with the rotary driving assembly and an outer sleeving end connected with the inner sleeving end in a sleeving mode, sleeving modes can be automatically switched according to the inner diameter or the outer diameter of the nut, and the opposite clamping layer synchronous reducing sleeve can be matched with nuts of different specifications.

Description

Technical Field

[0001] This application relates to the field of graphite boat technology, and more particularly to a nut tightening device and a boat calibrator. Background Technology

[0002] A graphite boat is a carrier used to support photovoltaic cells. It consists of several graphite boat sheets connected in series by connecting rods, with nuts at both ends of the connecting rods for fastening. Graphite boats need to operate in various environments during use. Different graphite boat sheets generate different internal stresses, which cause varying degrees of deformation. Therefore, a calibration machine is needed to calibrate the graphite boat after a period of use.

[0003] The calibration machine is equipped with a nut tightening device to adjust the tightness of the nuts at both ends of the graphite boat connecting rod, so as to facilitate subsequent calibration of the graphite boat, such as calibrating the boat blade spacing and boat blade verticality.

[0004] However, the rotating nut end of existing nut tightening devices is mostly designed for a single specification. When dealing with nuts of various specifications with different outer diameters, inner diameters and depths, it is often necessary to frequently change the clamping parts or adjust the tool head, which results in cumbersome operation and low efficiency. Utility Model Content

[0005] To address the aforementioned issues, this application provides a nut tightening / loosening device and a boat alignment machine. This nut tightening / loosening device achieves the function of matching nuts of different specifications through opposing clamping layers and synchronously changing diameter sleeves.

[0006] To achieve the objectives of this application, the following technical solution is provided:

[0007] In a first aspect, this application provides a nut tightening and loosening device, characterized in that it includes: a support plate, a linear drive module, a torque output mechanism, and a pushing mechanism;

[0008] The support plate is movably connected to the torque output mechanism via a linear drive module;

[0009] The torque output mechanism includes a rotary drive assembly and a nut sleeve. The rotary drive assembly is connected to the nut sleeve in a driving connection. The rotary drive assembly is used to drive the nut sleeve to rotate. The jacking mechanism extends coaxially and slides through and connects the rotary drive assembly and the nut sleeve. The nut sleeve is configured as a synchronously variable diameter sleeve with opposing clamping layers to match nuts of different specifications.

[0010] The opposing clamping layer synchronous variable diameter sleeve includes an inner sleeve end that is movably connected to the rotary drive assembly and an outer sleeve end that is movably fitted onto the inner sleeve end.

[0011] In one possible implementation, the opposing clamping layer synchronous variable diameter sleeve includes a sleeve, the inner sleeve end, the outer sleeve end, and a first spring;

[0012] The sleeve is axially connected to an outer sleeve end and a movable inner sleeve end at the end furthest from the rotary drive assembly. The inner sleeve end is coaxially sleeved within the outer sleeve end. A first spring is connected to the end of the inner sleeve end near the sleeve, and the other end of the first spring is connected to the inner wall of the sleeve.

[0013] In one possible implementation, the inner sleeve end includes a base and a first clamping layer and a second clamping layer extending axially along the base, and the outer sleeve end includes a third clamping layer and a fourth clamping layer extending axially along the sleeve. The first clamping plane and the third clamping layer form a first stacked mating surface in the radial direction of the sleeve, and the second clamping layer and the fourth clamping layer form a second stacked mating surface in the radial direction of the sleeve. The two sets of stacked mating surfaces are symmetrically distributed along the sleeve axis.

[0014] In one possible implementation, the torque output mechanism further includes a second spring, with its two ends connected to the rotary drive assembly and the end of the nut sleeve facing away from the sleeve end, respectively. The second end of the push rod passes through and slides through the rotary drive assembly, the second spring, and the nut sleeve in sequence.

[0015] In one possible implementation, a piezoelectric module and a control module are also included; the piezoelectric module is connected to one end of the second spring near the rotary drive assembly, and the control module controls the piezoelectric module to compress the second spring according to the depth data of the nut to adjust the preload of the second spring, so that the torque output mechanism can adapt to nuts of different depths.

[0016] In one possible implementation, the pushing mechanism includes a pushing module and the push rod arranged coaxially at intervals, with the first end of the push rod connected to the movable end of the pushing module; the pushing module is used to abut against the first end of the push rod when the second end of the push rod abuts against the end of the connecting rod.

[0017] Secondly, this application provides a boat-aligning machine, which includes a nut-tightening device and a three-axis linear motion mechanism;

[0018] 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 graphite boat connecting rod.

[0019] The nut tightening and loosening device provided in this application can fix the connecting rod and rotate the nut simultaneously. It also features a synchronously variable diameter sleeve structure with opposing clamping layers; the inner sleeve end is elastically engaged via a first spring, while the outer sleeve end nests within the inner sleeve end to form a composite structure. This allows for automatic switching of the engagement mode based on the inner or outer diameter of the nut. Furthermore, it integrates an intelligent adjustment system with a second spring-piezoelectric module, precisely matching nuts of different depths by real-time control of the second spring preload. This dual adaptive mechanism enables the nut tightening and loosening device to accommodate nuts with a wide range of diameters and depths, effectively preventing damage to the nut surface while ensuring stable clamping force. Moreover, the overall structure maintains a compact design while meeting multifunctional requirements, making it suitable for nut assembly operations on automated production lines and nut tightening and loosening operations based on graphite boat calibration. Attached Figure Description

[0020] The accompanying drawings are provided to further understand this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof.

[0021] Figure 1 This is a schematic diagram of the structure of the nut tightening device provided in the embodiments of this application;

[0022] Figure 2 for Figure 1 The left view;

[0023] Figure 3 for Figure 1 Enlarged view of region A in the middle;

[0024] Figure 4 This is a schematic diagram of the structure of the nut sleeve provided in the embodiments of this application;

[0025] Figure 5 A flowchart illustrating the cascade rod centering control method based on a calibrated graphite boat provided in this application embodiment;

[0026] 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;

[0027] 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;

[0028] Illustrations: 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 end; 3221. First clamping layer; 3222. Second clamping layer; 323. Outer sleeve end; 3231. Third clamping layer; 3232. Fourth clamping layer; 33. Outer shell; 4. Pushing mechanism; 41. Pushing module; 42. Push rod; 5. First centering detection mechanism; 6. Retraction detection mechanism; 61. Through-beam end; 62. Receiver end; 7. Second centering detection mechanism; 71. Sensor; 72. Trigger unit. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] 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.

[0031] 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.

[0032] 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 5A 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.

[0033] 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.

[0034] 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.

[0035] The torque output mechanism 3 includes a rotary drive assembly 31 and a nut sleeve 32. The rotary drive assembly 31 is connected to the nut sleeve 32 in a transmission manner. The rotary drive assembly 31 is used to drive the nut sleeve 32 to rotate. The sleeve end of the nut sleeve 32 is used to sleeve the nut at one end of the connecting rod.

[0036] The pushing mechanism 4 includes a pushing module 41 and a push rod 42. The nut sleeve 32, the drive rotation assembly and the pushing module 41 are coaxially arranged. The nut sleeve 32 and the rotation drive assembly 31 are provided with a coaxial channel. The push rod 42 is movably sleeved in the channel. The first end of the push rod 42 is connected to the pushing module 41 and the second end of the push rod 42 is used to abut against the end of the connecting rod.

[0037] The linear drive module 2 is exemplified by a linear motor, an electric actuator, an electric cylinder, or a combination of a lead screw and a rotary motor. The push module 41 is exemplified by a combination of a cylinder, a lead screw, and a rotary motor. The push module 41 and the push rod 42 can be coaxially arranged at a preset distance, with the movable end of the push rod 42 module movably connected to the first end of the push rod 42. Alternatively, the push module 41 and the push rod 42 can be coaxially arranged without any distance, and the movable end of the push module 41 can be fixedly connected to the push rod 42.

[0038] The tightening and loosening device provided in this embodiment achieves the tightening and loosening operation of the fastening nuts at both ends of the series rod as follows: the movable end of the pushing module 41 extends and connects to 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 series rod, and the linear drive module 2 drives the nut sleeve 32 to fit onto the nut at one end of the series rod; then, the rotation drive assembly 31 rotates, driving the nut sleeve 32 to rotate the nut at one end of the series rod. The pushing mechanism 4 abuts against the end of the series rod, which axially positions the series rod, thereby effectively suppressing synchronous rotation of the series rod when the nut is rotated, effectively improving the tightening and loosening efficiency of the nut.

[0039] In some embodiments, the rotary drive assembly 31 includes a rotary motor 311, a driving wheel, a driven wheel, a belt, a guide sleeve 312, and a guide shaft 313, specifically:

[0040] The output end of the rotary motor 311 is rotatably connected to the driving wheel, which is connected to the driven wheel via a belt drive. Specifically, the driven wheel is fitted 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 fitted 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 fitted with the nut sleeve 32. The guide sleeve 312, the guide shaft 313 and the nut sleeve 32 are provided with a coaxial channel inside, and the push rod 42 is movably fitted in the channel.

[0041] The rotary drive assembly 31 also includes a housing 33, within which a cavity is provided. The cavity houses a rotary motor 311, a drive wheel, a driven wheel, and a belt. Two opposing through holes are formed on two opposite sides of the housing 33. These two through holes coincide with the central axis of the driven wheel, and each through hole contains a bearing. The second end of the push rod 42 passes sequentially through the bearing in one of the through holes of the housing 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. The bearing in the other through hole of the housing 33 is fitted onto the guide sleeve 312. Furthermore, the upper bottom surface of the housing 33 is connected to the movable end of the linear drive module 2.

[0042] It should be noted that the rotation drive assembly 31 drives the nut sleeve 32 to rotate as follows: the rotary motor 311 drives the drive wheel to rotate, and the driven wheel rotates under the transmission of the belt, which synchronously drives the guide sleeve 312 and guide shaft 313 connected to the driven wheel to rotate, and then synchronously drives the nut sleeve 32 connected to the guide shaft 313 to rotate. The push rod 42 sleeved in the channel does not rotate with it. The push rod 42 only moves linearly in the direction closer to or away from the graphite boat under the push of the push module 41 or the push of the connecting rod.

[0043] Based on the above embodiments, a boat-aligning machine is also provided. The boat-aligning machine includes a nut-tightening device and a three-axis linear motion mechanism. The three-axis linear motion mechanism is arranged opposite to each other and spaced apart. The three-axis linear motion mechanism is connected to the nut-tightening device and is used to drive the nut-tightening device to move in the XYZ three-axis directions. The nut-tightening device is used to adjust the tightness of the nuts at both ends of the connecting rod.

[0044] The nut tightening and loosening device provided in this embodiment achieves efficient tightening and loosening of the nut on the connecting rod through the coordinated operation of the pushing mechanism 4 and the torque output mechanism 3. Specifically, by connecting the movable end of the pushing module 41 to the first end of the push rod 42, and coordinating the synchronous movement of the torque output mechanism 3 driven by the linear drive module 2 and the pushing mechanism 4, the second end of the push rod 42 accurately abuts against the end of the connecting rod, while the nut sleeve 32 accurately engages the nut at the end of the connecting rod. This achieves torque balance between the axial positioning of the end of the connecting rod by the pushing mechanism 4 and the rotational action of the nut sleeve 32, effectively suppressing the problem of the connecting rod rotating during nut tightening and loosening. This dual-action mechanism improves the nut tightening and loosening efficiency and avoids thread damage to the connecting rod or nut caused by the rotation of the connecting rod.

[0045] In some embodiments, in order to match nuts of different diameters, a nut tightening device is also provided. Based on the features described in the above embodiments, the nut sleeve 32 of this nut tightening device is configured as a counter-clamping layer synchronous variable diameter sleeve. The counter-clamping layer synchronous variable diameter sleeve includes an inner sleeve end that is movably connected to a rotary drive assembly and an outer sleeve end that is movably sleeved on the inner sleeve end. This enables the inner wall of the inner sleeve end to be adapted to fit the outer wall of one type of nut, the outer wall of the outer sleeve end to fit the inner wall of another type of nut, and the inner wall of the outer sleeve end to fit the outer wall of yet another type of nut.

[0046] Specifically, such as Figure 4 As shown, the opposing clamping layer synchronous variable diameter sleeve includes a sleeve 321, an inner sleeve end 322, an outer sleeve end 323, and a first spring. The end of the sleeve 321 away from the rotation drive assembly 31 is axially connected to the outer sleeve end 323 and the inner sleeve end 322. The inner sleeve end 322 is coaxially sleeved inside the outer sleeve end 323. The end of the inner sleeve end 322 near the sleeve 321 is connected to the first spring, and the other end of the first spring is connected to the inner wall of the sleeve 321.

[0047] Among them, the second end of the push rod 42 of the push mechanism 4 passes through the rotary drive assembly 31, the first spring, the sleeve 321 and the inner sleeve end 322 in sequence and is slidably connected.

[0048] The opposing clamping layer synchronous variable diameter sleeve of this embodiment can be used for nuts of various specifications. Specifically: the outer wall of the outer sleeve end 323 is sleeved on the inner wall of the first type of nut and can be tightened or loosened; the inner wall of the inner sleeve end 322 is sleeved on the outer wall of the second type of nut and can be tightened or loosened; the inner wall of the outer sleeve end 323 is sleeved on the outer wall of the third type of nut and can be tightened or loosened. The outer diameter of the third type of nut is smaller than the inner diameter of the outer sleeve end and larger than the inner diameter of the inner sleeve end.

[0049] It should be noted that the inner wall of the outer sleeve end 323 is fitted onto the outer wall of the third-type nut in the following way: the end face of the inner sleeve end 322 is subjected to pressure from the third-type nut toward the sleeve 321, and the first spring contracts to drive the inner sleeve end 322 to move toward the sleeve 321 until the inner wall of the outer sleeve end 323 is fitted onto the outer wall of the third-type nut.

[0050] Furthermore, in this embodiment, a groove is opened at one end of the sleeve 321 to pass through it. The end of the inner sleeve 322 connected to the sleeve 321 matches the size of the groove and is nested in the groove. This allows the inner sleeve 322 to move along the groove axis when it is pressed, and also prevents the inner sleeve 322 from circumferentially deflecting through the cooperation between the inner sleeve 322 and the groove, thus realizing torque transmission.

[0051] In some embodiments, such as Figure 4 As shown, the inner sleeve end 322 includes a base and a first clamping layer 3221 and a second clamping layer 3222 extending axially along the base. The base is nested in a groove at one end of the sleeve 321. The outer sleeve end 323 includes a third clamping layer 3231 and a fourth clamping layer 3232 extending axially along the sleeve 321. The first clamping plane and the third clamping layer 3231 form a first stacked mating surface in the radial direction of the sleeve 321. The second clamping layer 3222 and the fourth clamping layer form a second stacked mating surface in the radial direction of the sleeve 321. The two sets of stacked mating surfaces are symmetrically distributed along the axis of the sleeve 321. The base can be connected to one end of the first spring.

[0052] It should be noted that the outer walls of the relative third clamping layer 3231 and fourth clamping layer 3232 are fitted onto the inner wall of the first type of nut and can be tightened or loosened. The clamping space formed by the relative first clamping layer 3221 and second clamping layer 3222 is fitted onto the outer wall of the second type of nut and can be tightened or loosened. The clamping space formed by the relative third clamping layer 3231 and fourth clamping layer 3232 is fitted onto the outer wall of the third type of nut and can be tightened or loosened. The first clamping layer 3221 and second clamping layer 3222 are planar structures. The inner surfaces of the third clamping layer 3231 and fourth clamping layer 3232 near the inner sleeve end 322 are planes with the same dimensions as the first clamping layer 3221 and second clamping layer 3222. The outer surfaces of the third clamping layer 3231 and fourth clamping layer are curved surfaces that can match the inner wall of the first type of nut.

[0053] In some embodiments, a nut tightening / loosening device is also provided. The torque output mechanism 3 of the nut tightening / loosening device further includes a second spring. The two ends of the second spring are respectively connected to the rotary drive assembly 31 and the end of the nut sleeve 32 facing away from the sleeve end. The second end of the push rod 42 passes through and slides through the rotary 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 nut surface.

[0054] In some embodiments, a nut tightening device is also provided, which further includes a second spring, a piezoelectric module, and a control module; the piezoelectric module is connected to one end of the second spring near the rotary drive assembly 31.

[0055] The example piezoelectric module is a piezoelectric ceramic drive module, a device commonly used to control and regulate minute mechanical movements. Its function is to deform the piezoelectric ceramic material by changing the electric field, thereby generating mechanical displacement. In practical applications, piezoelectric ceramics are typically designed in a sheet-like shape. Applying voltage causes the sheet to bend or stretch, which in turn drives the load connected to it to complete the movement.

[0056] It should be noted that this embodiment also includes a control module. The control module releases a corresponding current stimulus to the piezoelectric module according to the depth data of the nut, causing the piezoelectric module to deform. This deformation can cause the second spring to deform, that is, adjust the preload of the second spring so that the torque output mechanism 3 can be adapted to nuts of different depths.

[0057] Meanwhile, to obtain the depth information of the nut in real time, this embodiment also includes a first centering detection mechanism 5 that is communicatively connected to the control module. The first centering detection mechanism 5 is used to detect the depth of the nut when aligning it and feeds the depth information back 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 two opposite sides of the support plate 1, or on the front end of the support plate, or on other suitable movable supports, 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.

[0058] For example, the first centering detection mechanism 5 includes a laser rangefinder. Before collecting the position information of the end of the connecting rod or the depth of the nut, the detection light of the first centering detection mechanism 5 must be opposite to the connecting rod and the nut and coincide with the axis of the connecting rod.

[0059] Based on the above embodiments, a boat-aligning machine is also provided. The boat-aligning machine includes a nut-tightening device and a three-axis linear motion mechanism. The three-axis linear motion mechanism is arranged opposite to each other and spaced apart. The three-axis linear motion mechanism is connected to the nut-tightening device and is used to drive the nut-tightening device to move in the XYZ three-axis directions. The nut-tightening device is used to adjust the tightness of the nuts at both ends of the connecting rod, and can also accommodate nuts of different diameters and different depths.

[0060] The nut tightening and loosening device described in this embodiment can fix the connecting rod and rotate the nut simultaneously. It also achieves rapid adaptation and reliable clamping of nuts of different diameters and depths through a synchronously variable diameter sleeve structure with opposing clamping layers and a built-in second spring-piezoelectric module. The inner sleeve end 322 of the nut tightening and loosening device achieves elastic engagement through a first spring, and the outer sleeve end 323 nests within the inner sleeve end 322 to form a composite structure, which can automatically switch the engagement mode according to the inner or outer diameter of the nut. Simultaneously, the integrated intelligent adjustment system of the second spring-piezoelectric module precisely matches nuts of different depths by pre-adjusting the preload of the second spring. This dual adaptive mechanism enables the nut tightening and loosening device to be compatible with a wide range of nuts in diameter and depth, effectively avoiding damage to the nut surface while ensuring stable clamping force. Moreover, the overall structure maintains a compact design while meeting multifunctional requirements, making it suitable for nut assembly operations on automated production lines and nut tightening and loosening operations based on graphite boat calibration.

[0061] In actual graphite boat calibration operations, if the connecting rod is not kept in a centered position, its extension length beyond the graphite boat may be abnormal, such as being too long or too short, thus affecting the tightening effect of the nut. When the connecting rod extends too far, uneven force may cause the nut to be over-tightened, increasing the risk of thread damage or component deformation; while if it extends too short, insufficient effective contact with the nut may result in incomplete tightening, affecting the stability and sealing of the connection. Therefore, it is necessary to detect whether the connecting rod is centered so that intervention or adjustment can be made as needed to center the connecting rod. Therefore, in some embodiments, a detection system for the nut tightening device described in the above embodiments is also provided. This detection system includes 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 connecting rod, and the control module is used to determine whether the connecting rod is centered based on the position information fed back by the first centering detection mechanism 5.

[0062] The term "centering the connecting rod" refers to the vertical distance from both ends of the connecting rod to the corresponding side of the graphite boat being within a preset range, while "offsetting the connecting rod" refers to the vertical distance from both ends of the connecting rod to the corresponding side of the graphite boat being outside the preset range. For example, the first centering detection mechanism 5 can be installed on the side of the support plate 1 opposite to the linear drive module 2. The first centering detection mechanism 5 includes a laser rangefinder. Before collecting the position information of the ends of the connecting rods, the detection beam of the first centering detection mechanism 5 must be opposite to the connecting rod and coincide with its axis.

[0063] In actual graphite boat calibration operations, occasional breakage of the connecting rod occurs. When the nut tightening / loosening device completes the nut tightening / loosening operation, and the linear drive module 2 performs its return stroke, the broken connecting rod remnant can easily be accidentally pulled back by the torque output mechanism 3. To address this, the detection system is equipped with a return detection mechanism 6, such as... Figure 2 As shown, the return detection mechanism 6 includes a shooting end 61 and a receiving end 62. The shooting end 61 and the receiving end 62 are installed on the end of the support plate 1 opposite to the graphite boat and located on both sides of the torque output mechanism 3. The detection line formed by the shooting end 61 and the receiving end 62 intersects and is perpendicular to the extension line of the axis of the pushing mechanism 4. The return detection mechanism 6 is used to detect whether the nut sleeve 32 carries the connecting rod after the linear drive module 2 has completed its return stroke.

[0064] The detection mechanism 6 detects whether the loosening / tightening nut device has brought back the connecting rod as follows: When the linear drive module 2 completes its return stroke, if the broken connecting rod fragment blocks the light transmission between the transmitting end 61 and the receiving end 62, the detection mechanism 6 is triggered. This triggers an alarm and activates the safety protection program via the control module. An example of the detection mechanism 6 is a split-type photoelectric sensor.

[0065] In some embodiments, a detection mechanism for detecting whether the connecting rod is centered is also provided, namely a second centering detection mechanism 7. To cooperate with the second centering detection mechanism 7, a preset distance must be maintained between the pushing module 41 of the pushing mechanism 4 and the first end of the push rod 42. Therefore, the pushing module 41 and the second end of the push rod 42 should be coaxially arranged with a preset distance between them, and the movable end of the pushing module 41 is movably connected to the first end of the push rod 42. Specifically: [The text abruptly ends here, so the translation stops here as well.] Figure 3 As shown, the second centering detection mechanism 7 includes a sensor 71 and a trigger 72. The trigger 72 is mounted on the axially moving push rod 42 of the pushing mechanism 4, and the sensor 71 is mounted on the movement path of the trigger 72. When the trigger 72 contacts the sensor 71, the control module determines that the connecting rod is offset.

[0066] The second centering detection mechanism 7 detects whether the connecting rod is centered as follows: During the movement of the linear drive module 2, which drives the torque output mechanism 3 and the pushing mechanism 4 towards the graphite boat nut, if the connecting rod engages with the push rod 42 of the pushing mechanism 4 and pushes the push rod away from the graphite boat nut, until the trigger part 72 on the push rod 42 triggers the sensor 71, then the connecting rod deviates. For example, the sensor 71 of the second centering detection mechanism 7 is a slot-type photoelectric sensor 71, and the trigger part 72 is a sensing element that matches the slot width of the slot-type photoelectric sensor.

[0067] In some embodiments, the first centering detection mechanism 5 and the second centering detection mechanism 7 are redundantly arranged in the tightening and loosening nut device to effectively detect whether the connecting rod is centered, and avoid the failure to detect the misalignment of the connecting rod in time, which may lead to adverse conditions (such as insufficient tightening or over-tightening) during the nut tightening process.

[0068] In some embodiments, the control module is communicatively connected to the first centering detection mechanism 5, the second centering detection mechanism 7, and the return detection mechanism 6, respectively. The control module is used to determine whether the connecting rod is centered based on the position information received from the first centering detection mechanism 5 and to issue an alarm when the connecting rod deviates; it is also used to control the linear drive module 2 and the push module 41 to move and correct the displacement when the connecting rod deviates, so as to center the connecting rod, make the push rod 42 of the push module 41 abut against the end of the connecting rod, and make the nut sleeve 32 of the torque output mechanism 3 fit onto the nut at one end of the connecting rod; it is also used to drive the rotary drive assembly 31 to rotate, so as to rotate the nut sleeve 32 at one end of the connecting rod; it is also used to issue an alarm when the second centering detection mechanism 7 is triggered; and it is also used to issue an alarm when the return detection mechanism 6 is triggered.

[0069] In some embodiments, the nut tightening / loosening device further includes a three-axis linear motion mechanism connected to the nut tightening / loosening device. The three-axis linear motion mechanism is used to drive the nut tightening / loosening device to move along three axes. For example, when the first centering detection mechanism 5 is mounted on the support plate 1, the three-axis linear motion mechanism is driven to approach the graphite boat until the first centering detection mechanism 5 aligns with the connecting rod and the nut. After the first centering detection mechanism 5 collects relevant data, it drives the three-axis linear motion mechanism to move the nut tightening / loosening device closer to the graphite boat until the nut tightening / loosening device aligns with the connecting rod and the nut.

[0070] The triple detection mechanism described in this embodiment achieves comprehensive and precise control of the connecting rod. The first centering detection mechanism 5 monitors the position of the end of the connecting rod in real time, ensuring accurate initial positioning of the connecting rod before tightening and loosening the nut. The control module can determine whether the connecting rod is in the center position based on the position information detected by the first centering detection mechanism 5, and calculates the deviation data when there is a deviation, providing a basis for subsequent compensation control, thus avoiding abnormal tightening and loosening of the nut due to the initial position deviation of the connecting rod. The second centering detection mechanism 7 achieves dynamic monitoring of the centering status of the connecting rod through a mechanical trigger design. When the connecting 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, forming a complementary detection with the first centering detection mechanism 5. The return detection mechanism 6 uses a split photoelectric sensor 71 to set a laser beam detection area in the return path of the linear drive module 2. When the broken connecting rod remnant blocks the light path, the return detection mechanism 6 is triggered. The return inspection mechanism 6 forms a closed-loop control chain with the aforementioned two inspection systems: the first central inspection mechanism 5 ensures initial accuracy, the second central inspection mechanism 7 monitors the process status, and the return mechanism ensures final safety. Practical application shows that this three-in-one inspection system reduces the failure rate, ensures continuous tightening and loosening of nuts, and reduces the product defect rate caused by abnormal positioning of the connecting rod.

[0071] In some embodiments, based on the above-described nut tightening and loosening device and control system, this embodiment also provides a method for centering and adjusting a series rod based on a calibrated graphite boat, such as... Figure 5 As shown, the method includes:

[0072] S510 detects the position information of the end of the connecting rod through the first central detection mechanism 5;

[0073] The S520 control module receives position information and determines whether there is a deviation between the position information and the preset position information;

[0074] S530 When there is a deviation between the position information and the preset position information and the deviation value is within the first preset deviation range, the active ends of the drive linear drive module 2 and the push module 41 move towards the graphite boat by the first correction displacement and the second reference displacement, respectively, so that the connecting rod is centered, the push rod 42 of the push module 41 abuts against the end of the connecting rod, and the nut sleeve 32 of the torque output mechanism 3 is sleeved on the nut at one end of the connecting rod.

[0075] The S540 control module drives the rotation drive assembly 31 of the torque output mechanism 3 to rotate, thereby causing the nut sleeve 32 to rotate the nut at one end of the connecting rod.

[0076] In some embodiments, based on the above-described nut tightening and loosening device and control system, this embodiment also provides another method for centering and adjusting the tandem rods based on a calibrated graphite boat, such as... Figure 6 As shown, the method includes:

[0077] S610 detects the position information of the end of the connecting rod through the first central detection mechanism 5;

[0078] The S620 control module receives position information and determines whether there is a deviation between the position information and the preset position information;

[0079] When there is a deviation between the position information and the preset position information and the deviation value is within the second preset deviation range, the active ends of the drive linear drive module 2 and the push module 41 move towards the graphite boat by the first reference displacement and the second correction displacement, respectively, so that the connecting rod is centered, the push rod 42 of the push module 41 abuts against the end of the connecting rod, and the nut sleeve 32 of the torque output mechanism 3 is sleeved on the nut at one end of the connecting rod.

[0080] The S640 control module drives the rotation drive assembly 31 of the torque output mechanism 3 to rotate, thereby causing the nut sleeve 32 to rotate the nut at one end of the connecting rod.

[0081] Among them, centering the connecting rod means that the vertical distance from the two ends of the connecting rod to the corresponding side of the graphite boat is within a preset range. The preset position information refers to the position information of the end of the connecting rod when the connecting rod is centered. The second reference displacement is determined based on 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. The minimum value of the second preset deviation range is greater than the maximum value of the first preset deviation range.

[0082] In some embodiments, based on the above-described nut tightening and loosening device and control system, this embodiment also provides another method for centering and adjusting the tandem rods based on a calibrated graphite boat, such as... Figure 7 As shown, the method includes:

[0083] S710 detects the position information of the end of the connecting rod through the first central detection mechanism 5;

[0084] The S720 control module receives position information and determines whether there is a deviation between the position information and the preset position information;

[0085] When there is a deviation between the position information and the preset position information and the deviation value is within the third preset deviation range, the active ends of the drive linear drive module 2 and the push module 41 move towards the graphite boat by the first reference displacement and the second reference displacement, so that the connecting rod is centered, the push rod 42 of the push module 41 abuts against the end of the connecting rod, and the nut sleeve 32 of the torque output mechanism 3 is sleeved on the nut at one end of the connecting rod.

[0086] The S740 control module drives the rotation drive assembly 31 of the torque output mechanism 3 to rotate, thereby causing the nut sleeve 32 to rotate the nut at one end of the connecting rod.

[0087] In the above embodiments, centering the connecting rod means that the vertical distance from the two ends of the connecting rod to the corresponding side of the graphite boat is within a preset range. The preset position information refers to the position information of the end of the connecting rod when it is centered. This position information is obtained through laser calibration and stored in the control module. This position information can be the coordinates of the end of the connecting rod or the distance between the end of the connecting rod and the first centering detection mechanism.

[0088] The first reference displacement is determined based on the distance between the end of the series rod and the sleeve end when the series rod is centered and the linear drive module 2 is in its initial state. The second reference displacement is determined based on the distance between the end of the push rod 42 closest to the push module 41 and the push module 41, and the distance between the end of the push rod 42 closest to the graphite boat and the end of the series rod, when the push module 41 is in its 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.

[0089] The deviation value is the difference between the position information of the end of the connecting rod detected by the first detection mechanism and the preset position range. Within the preset deviation range, it is necessary to ensure that the minimum value of the first preset deviation range is greater than the maximum value of the second preset deviation range, and the minimum value of the second preset deviation range is greater than the maximum value of the third preset deviation range.

[0090] The initial state in this application encompasses both the linear drive module 2 and two positioning references for it: either the absolute zero position of the module or a preset process start position (i.e., the state where the moving end of the module is a specific distance from the zero position). Regardless of the reference definition used, the core constraint must be met—when the linear drive module 2 and the push module 41 collaboratively enter the initial state (i.e., the overall reset of the nut tightening and loosening device), the foremost end of the nut sleeve 32 of the torque output mechanism 3 and the second end of the push rod 42 of the push module 41 must be strictly limited to the space behind the front end face of the support plate 1. In particular, the criterion for "return complete" in this document refers to the linear drive module 2 and the push module 41 synchronously returning to this initial state (i.e., the overall reset of the nut tightening and loosening device), and the spatial orientation of the front end face of the support plate 1 always remaining parallel to the graphite boat mounting reference plane and relative to the graphite boat.

[0091] This embodiment utilizes a tandem rod centering control method based on a calibrated graphite boat to detect the position of the tandem rod in real time and perform displacement compensation based on the detection results. Specifically, when a displacement of the tandem rod is detected, a compensation mechanism is automatically selected according to the magnitude of the displacement. For large displacements exceeding a threshold (i.e., the deviation exceeds the third preset deviation range but is within the first preset deviation range), the linear drive module with a larger stroke range superimposes the compensation displacement on top of the reference displacement. For small displacements exceeding the threshold (i.e., the deviation value exceeds the third preset deviation range but is within the second preset deviation range), the more precise push module performs fine-tuning compensation. When the tandem rod is in a centered state (i.e., the deviation value is within the third preset deviation range), the linear drive module and the push module synchronously execute the preset reference displacement. This hierarchical control strategy, by rationally allocating the compensation tasks of the two modules, ensures both rapid response to large displacements and high-precision correction of small deviations, thereby significantly improving the overall performance of the centering control.

[0092] In some embodiments, a boat alignment machine is also provided, comprising a nut tightening / loosening device as described in the above embodiments and a three-axis linear motion mechanism; the three-axis linear motion mechanism is arranged opposite to each other and spaced apart, the spacing being determined according to the graphite boat placement position; the three-axis linear motion mechanism is connected to the nut tightening / loosening device and is used to drive the nut tightening / loosening device to move in the XYZ three-axis directions. This boat alignment machine simultaneously tightens / loosens the nuts on both sides of the connecting rod by combining the nut tightening / loosening device with the above-described connecting rod centering adjustment method.

[0093] The beneficial effects achievable by the embodiments of this application are as follows: By integrating the mechanical structure and the detection and control system, high-precision, highly adaptable, and fully automated operation of the nut tightening and loosening of the series rod is realized. Specifically, at the mechanical execution level, the jacking mechanism and the torque output mechanism constitute a bidirectional positioning system. The former achieves axial fixation of the series rod through the driven push rod, while the latter, with the help of the synchronous variable diameter sleeve structure of the opposing clamping layer and the composite adjustment mechanism of the second spring-piezoelectric module, can automatically adapt to the diameter differences and thread depth changes of various nut specifications, ensuring that the clamping force is stable within the process requirements. At the detection and control level, the first centering detection mechanism (such as a laser displacement sensor) and the second centering detection mechanism (such as a mechanically triggered photoelectric switch) can provide real-time feedback on the spatial state data of the series rod, and the return detection mechanism (such as an infrared laser beam sensor) can detect the mistaken return of a broken rod. The three-level monitoring network formed by these three detection mechanisms, combined with the PID algorithm of the control module, dynamically adjusts the compensation displacement of the linear drive module and the push module to center the series rod. This integrated system greatly improves the success rate of nut tightening and loosening operations while being compatible with the mixed-line calibration requirements of different graphite boat models. It solves three major technical problems in traditional processes: positioning deviation of the connecting rod, nut damage, and broken rod residue.

[0094] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. This application is not limited to the exact structures described above and illustrated in the accompanying drawings, and it should not be considered that the specific implementation of this application is limited to these descriptions. For those skilled in the art, various changes and modifications made without departing from the concept of this application should be considered to fall within the protection scope of this application.

Claims

1. A device for tightening and loosening nuts, characterized in that, include: Support plate, linear drive module, torque output mechanism and jacking mechanism; The support plate is movably connected to the torque output mechanism via a linear drive module; The torque output mechanism includes a rotary drive assembly and a nut sleeve. The rotary drive assembly is connected to the nut sleeve in a driving connection. The rotary drive assembly is used to drive the nut sleeve to rotate. The jacking mechanism extends coaxially and slides through and connects the rotary drive assembly and the nut sleeve. The nut sleeve is configured as a synchronously variable diameter sleeve with opposing clamping layers to match nuts of different specifications. The opposing clamping layer synchronous variable diameter sleeve includes an inner sleeve end that is movably connected to the rotary drive assembly and an outer sleeve end that is movably fitted onto the inner sleeve end.

2. The nut tightening and loosening device according to claim 1, characterized in that, The opposing clamping layer synchronous variable diameter sleeve includes a sleeve, the inner sleeve end, the outer sleeve end, and a first spring; The sleeve is axially connected to an outer sleeve end and a movable inner sleeve end at the end furthest from the rotary drive assembly. The inner sleeve end is coaxially sleeved within the outer sleeve end. A first spring is connected to the end of the inner sleeve end near the sleeve, and the other end of the first spring is connected to the inner wall of the sleeve.

3. The nut tightening and loosening device according to claim 2, characterized in that, The inner sleeve end includes a base and a first clamping layer and a second clamping layer extending axially along the base. The outer sleeve end includes a third clamping layer and a fourth clamping layer extending axially along the sleeve. The first clamping plane and the third clamping layer form a first stacked mating surface in the radial direction of the sleeve. The second clamping layer and the fourth clamping layer form a second stacked mating surface in the radial direction of the sleeve. The two sets of stacked mating surfaces are symmetrically distributed along the sleeve axis.

4. The nut tightening and loosening device according to claim 2 or 3, characterized in that, The torque output mechanism further includes a second spring, with its two ends connected to the rotary drive assembly and the end of the nut sleeve facing away from the sleeve end, respectively. The second end of the push rod passes through and slides through the rotary drive assembly, the second spring, and the nut sleeve in sequence.

5. The nut tightening and loosening device according to claim 4, characterized in that, It also includes a piezoelectric module and a control module; the piezoelectric module is connected to one end of the second spring near the rotary drive assembly, and the control module controls the piezoelectric module to compress the second spring according to the depth data of the nut to adjust the preload of the second spring, so that the torque output mechanism can be adapted to nuts of different depths.

6. The nut tightening and loosening device according to claim 4, characterized in that, The pushing mechanism includes a pushing module arranged coaxially at intervals, and the first end of the push rod is connected to the movable end of the pushing module; the pushing module is used to abut against the first end of the push rod when the second end of the push rod abuts against the end of the connecting rod.

7. 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 graphite boat connecting rod.

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