Self-fixing and dismounting device for loose screw

Abstract

The application discloses a self-fixing and dismounting device for a loose screw, relates to the field of mechanical arm end effectors, and comprises a driving mechanism for providing continuous power output, a ratchet reversing mechanism installed at the front end of the driving mechanism, a screw sleeve mechanism connected with the ratchet reversing mechanism, power output provided by the driving mechanism being transmitted to the screw sleeve mechanism through the ratchet reversing mechanism for transmission and reversing, a quick-change joint installed at the rear end of the driving mechanism, and a camera system installed at the lower end of the driving mechanism. The application can ensure that the screw is stably fixed before and after dismounting, and can prevent the screw from being accidentally loosened and the parts from being lost. The ratchet reversing mechanism and the planetary reducer are connected in series to increase the torque, high dismounting efficiency and high operation precision are achieved, dynamic closed-loop control is realized through real-time monitoring and a torque closed-loop algorithm, the clamping jaw engagement, torque increasing dismounting and loosening are accurately controlled, and the reliability and safety are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of end effector technology for robotic arms, and in particular to a self-fixing and disassembling device for a screw that cannot be loosened. Background Technology

[0002] In modern, confined spaces used for inspection and maintenance, robotic arm end effectors must not only precisely remove screws but also ensure they remain securely connected and do not loosen during the process. Existing screw fixing and removal devices are typically limited by structural size and motor torque output, making it difficult to handle the high torque demands of complex environments, and they also lack multi-dimensional feedback on the removal process.

[0003] On the one hand, operational vibrations, minor displacements, or load fluctuations often cause screws to loosen or become misaligned before disassembly, affecting the disassembly effect. On the other hand, relying solely on the positioning detection of mechanical switches is insufficient to promptly capture minute changes in torque and displacement, and cannot respond to jamming or abnormal reverse torque. Furthermore, replacing traditional disassembly heads is cumbersome, requiring multiple manual steps, which not only increases on-site operation time but also raises the risk of misoperation. Utility Model Content

[0004] The purpose of this invention is to provide a self-fixing and disassembling device for a screw that cannot be easily removed, especially an end device that enables the self-fixing and reliable disassembly of a screw that cannot be easily removed in a confined space.

[0005] The technical solution adopted by this utility model to solve the technical problem is as follows:

[0006] This utility model provides a self-locking and disassembling device for non-detachable screws, comprising:

[0007] Drive mechanism, used to provide continuous power output;

[0008] A ratchet reversing mechanism installed at the front end of the drive mechanism;

[0009] The screw sleeve mechanism, which is connected to the ratchet reversing mechanism, performs transmission and reversal through the ratchet reversing mechanism and transmits the power output provided by the drive mechanism to the screw sleeve mechanism.

[0010] Quick-connect coupling installed at the rear end of the drive mechanism;

[0011] A camera system installed at the lower end of the drive mechanism;

[0012] A control system connected to the drive mechanism, screw sleeve mechanism, and camera system.

[0013] Furthermore, the drive mechanism includes a sleeve, a motor and a planetary reducer installed in the sleeve, and a rear cover fixed to the rear end of the sleeve; the output shaft of the motor is connected to the planetary reducer.

[0014] Furthermore, the ratchet reversing mechanism includes an eccentric shaft base connected to a sleeve in the drive mechanism, a first fixed frame connected to the eccentric shaft base, an eccentric shaft, a transmission component, and a ratchet ring inserted into the first fixed frame, ratchet teeth and pawls installed at the upper end of the ratchet ring, and a reversing knob installed on the top of the ratchet ring; the eccentric shaft is located below the ratchet ring, the transmission component is located between the eccentric shaft and the ratchet ring, and the eccentric shaft and the ratchet ring are connected through the transmission component; the eccentric shaft is connected to the output shaft of the motor through a planetary reducer and a coupling; the ratchet head of the pawl is connected to a screw sleeve mechanism; the motor outputs power to the eccentric shaft through the planetary reducer and coupling, and the eccentric shaft drives the upper ratchet ring to reciprocate when rotating through the transmission component; the reversing knob is connected to the ratchet teeth through a limit pin.

[0015] Furthermore, the total reduction ratio of the ratchet head is 1:20, and the motor needs to provide a continuous output of not less than 1 / 20 of the required disassembly torque.

[0016] Furthermore, the screw sleeve mechanism includes: a second fixing frame fixed on the outer wall of the sleeve of the drive mechanism, a fixing sleeve cover and a base fixing sleeve both installed inside the second fixing frame, a transmission upper gear sleeve inserted into the base fixing sleeve, a first limiting spring fitted on the lower end of the transmission upper gear sleeve, and a limit switch, a pawl and a top pawl installed inside the lower end of the second fixing frame; the upper end of the transmission upper gear sleeve meshes with the ratchet head in the ratchet reversing mechanism; the upper end of the first limiting spring is fixed to the shoulder of the outer wall of the transmission upper gear sleeve, and the lower end is fixed to the base fixing sleeve.

[0017] Furthermore, the bottom inner wall of the second fixing frame is provided with a ring of square teeth that engage with the pawl; when the top pawl drives the pawl to extend, it engages with the square teeth to lock the pawl, and the device enters a self-locking state.

[0018] Furthermore, when the chuck extends, it triggers the limit switch to send a trigger signal to the control system. After receiving the trigger signal, the control system begins the loosening action. The motor rotates forward according to the preset number of revolutions and torque closed-loop algorithm. The combined torque output of the ratchet and planetary reducer is ≥12 N·m. The square teeth at the bottom of the second fixed frame mesh with the chuck to counteract the reverse torque, thus completing the loosening action of the screw.

[0019] Furthermore, the torque closed-loop algorithm includes the following steps:

[0020] (1) Initial positioning and self-locking;

[0021] The target screw is visually guided by a binocular camera, and the control device precisely approaches the target position. During the axial downward pressing of the screw sleeve mechanism, the top claw drives the chuck to extend and engage with the square teeth at the bottom of the second fixing frame, forming a mechanical self-locking structure to counteract the reverse torque during disassembly. At the same time, the limit switch 407 is triggered and sends a chuck engagement signal to the control system, which serves as a necessary condition for the start of closed-loop control.

[0022] (2) Torque setting and closed-loop control start-up;

[0023] After receiving the engagement signal, the control system sets the target torque value according to the specifications of the lock-up screw and the task parameters; the motor starts, and after the planetary reducer and ratchet reversing mechanism combine to increase the torque, the power is output to the screw sleeve mechanism; the torque closed-loop algorithm continuously compares the actual output torque with the target torque, and dynamically adjusts the motor drive command according to the deviation to achieve precise control of the output torque;

[0024] (3) Dynamic torque compensation and counter-torque cancellation;

[0025] During the loosening phase of the non-detachable screw, the meshing structure of the square teeth and the chuck continuously exerts a mechanical self-locking effect, counteracting the interference of the reverse torque on the system; the torque closed-loop algorithm adjusts the motor output in real time to ensure that the torque is stable within the target range;

[0026] (4) Determination of loosening and termination control;

[0027] When the system detects that the torque has reached the preset speed and achieved stable output, or when the torque drops significantly and the displacement of the lock-up screw reaches the set value, the control system determines that the lock-up screw has come loose. At this time, the motor output is stopped and the pawl is kept locked to prevent the lock-up screw from falling off after it comes loose.

[0028] (5) Safety and abnormality handling;

[0029] If an abnormal torque peak is detected during execution, the control system will stop output and issue an alarm; if the limit switch signal is lost or the chuck is not locked, the control system will prevent the closed-loop control from starting.

[0030] Furthermore, the camera system includes a camera base fixed to the lower end of the sleeve of the drive mechanism and a binocular camera fixed on the camera base; the central axis of the binocular camera is tilted at a certain pitch angle to the motor output shaft axis of the drive mechanism, which is used to transmit real-time images of the loose screw back to the control system and feed visual information back to the control system to realize observation and navigation during the operation.

[0031] Furthermore, the binocular camera uses an industrial-grade CMOS sensor.

[0032] The beneficial effects of this utility model are:

[0033] 1. Self-locking safety guarantee: This utility model uses a one-way self-locking structure composed of a claw and a top claw to ensure that the screw can be stably fixed before and after disassembly, preventing the screw from being accidentally loosened and the parts from being lost.

[0034] 2. High-efficiency high-torque output: This utility model utilizes a ratchet reversing mechanism and a planetary reducer connected in series to increase torque, continuously outputting torque ≥12N·m, with the speed controllable between 10rpm and 15rpm, balancing high disassembly efficiency and high operating precision.

[0035] 3. Multimodal closed-loop control: This invention uses a camera system for real-time visual monitoring and limit switches for real-time monitoring. Combined with a torque closed-loop algorithm, it achieves dynamic closed-loop control, accurately controlling each stage of jaw engagement, torque-increasing disassembly, and loosening confirmation, significantly improving the reliability and safety of the device.

[0036] 4. Visual navigation alignment: The central axis of the rear camera system is at a preset angle to the motor axis. Through a combination of image feedback and manual fine-tuning, precise alignment and navigation operation can be achieved in complex environments.

[0037] 5. Modular quick replacement: The quick-change connector adopts a one-click quick-change pin and positioning boss / groove design, which supports the replacement of M3 to M8 multi-specification disassembly heads in 5 seconds with one hand, which greatly improves the efficiency of on-site operation. Attached Figure Description

[0038] Figure 1 This is a structural schematic diagram of a self-fixing and disassembling device for a screw that cannot be easily removed, as provided by this utility model.

[0039] Figure 2 A top view of a self-locking and disassembling device for a screw that cannot be easily removed, as provided in this utility model.

[0040] Figure 3 An exploded view of a self-locking and disassembling device for a screw that cannot be easily removed, as provided in this utility model.

[0041] Figure 4 This is a schematic diagram of the screw sleeve mechanism.

[0042] Figure 5 This is a side view of the ratchet reversing mechanism.

[0043] Figure 6 This is a cross-sectional view of the ratchet reversing mechanism.

[0044] Figure 7 This is a front structural diagram of the ratchet reversing mechanism.

[0045] Figure 8This is a schematic diagram showing the meshing relationship between the square teeth on the inner wall of the bottom of the second fixing frame and the chuck.

[0046] Figure 9 This is a schematic diagram of the reversing knob assembly.

[0047] In the diagram, the components are: drive mechanism 1, sleeve 101, motor 102, rear cover 103, planetary reducer 104, ratchet reversing mechanism 2, ratchet ring 201, ratchet tooth 202, limit pin 203, pawl 204, transmission component 205, eccentric shaft 206, first fixed frame 207, eccentric shaft base 208, reversing knob 209, ratchet head 210, second limit spring 211, pawl pin 212, quick-change connector 3, screw sleeve mechanism 4, transmission upper gear sleeve 401, fixed sleeve cover 402, base fixed sleeve 403, first limit spring 404, spring 405, second fixed frame 406, square tooth 4061, limit switch 407, pawl 408, top pawl 409, captive screw 410, camera system 5, binocular camera 501, and camera base 502. Detailed Implementation

[0048] The present invention will be further described in detail below with reference to the accompanying drawings.

[0049] Combination Figures 1 to 9 As shown, the self-locking and disassembling device for a non-detachable screw provided by this utility model mainly consists of the following components:

[0050] The system comprises a drive mechanism 1, a ratchet reversing mechanism 2, a quick-change connector 3, a screw sleeve mechanism 4, a camera system 5, and a control system. The drive mechanism 1, screw sleeve mechanism 4, and camera system 5 are each connected to the control system.

[0051] The drive mechanism 1 is horizontally positioned. A ratchet reversing mechanism 2 and a screw sleeve mechanism 4 are connected to the front end of the drive mechanism 1. The drive mechanism 1 provides continuous power output to the ratchet reversing mechanism 2 according to the control commands of the control system. The ratchet reversing mechanism 2 and the screw sleeve mechanism 4 are connected. The ratchet reversing mechanism 2 is responsible for transmission and reversal, transmitting the power output from the drive mechanism 1 to the screw sleeve mechanism 4. The screw sleeve mechanism 4 can counteract the rotational tendency caused by the reverse torque during disassembly. The transmission upper gear sleeve 401 in the screw sleeve mechanism 4 is precisely coupled to the ratchet head 210 in the ratchet reversing mechanism 2. A limit switch 407 and a first limit spring 404 are provided in the screw sleeve mechanism 4 to detect the engagement state of the pawl 408 with the square teeth 4061 when the pawl 408 extends and to provide self-locking preload for the pawl 408. A quick-connect coupling 3 is connected to the rear end of the drive mechanism 1; a camera system 5 is connected to the lower rear end of the drive mechanism 1. The camera system 5 is located behind the screw sleeve mechanism 4, and its central axis is tilted at a certain pitch angle to the output shaft axis of the motor 102. This allows the camera system to transmit real-time images of the captive screw 410 back to the control system and provide visual information feedback, enabling observation and navigation during operation. The modules work together to achieve efficient and reliable closed-loop control of the entire process of self-fixing and disassembly of the captive screw 410.

[0052] Specifically, the pitch angle of the central axis of the camera system 5 relative to the output shaft axis of the motor 102 in the drive mechanism 1 is 15° to 20°; more preferably, it is 18° ± 2°.

[0053] According to this utility model, the drive mechanism 1 mainly consists of a sleeve 101, a motor 102, a rear cover 103, and a planetary reducer 104. The output shaft of the motor 102 is connected to the planetary reducer 104. Both the motor 102 and the planetary reducer 104 are installed in the sleeve 101, and their rear ends are fixed by the rear cover 103. The motor 102 is connected to the control system, and the motor 102 is controlled to run by the control system.

[0054] Specifically, the output shaft axis of the motor 102 of the drive mechanism 1 is perpendicular to the central axis of the captive screw 410 in the screw sleeve mechanism 4. The output shaft of the motor 102 is connected to the planetary reducer 104 and laterally connected to the ratchet reversing mechanism 2 via a coupling, providing continuous power according to the control commands in the control system. The ratchet reversing mechanism 2 is responsible for torque transmission and reversal, converting and amplifying the rotational motion output by the motor 102 to the screw sleeve mechanism 4. The screw sleeve mechanism 4 is fixedly installed below the ratchet reversing mechanism 2 and counteracts the rotational tendency caused by the disassembly reverse torque during operation. The camera system 5 is located behind the screw sleeve mechanism 4, and the central axis of the camera system 5 is tilted at a certain pitch angle to the output shaft axis of the motor 102, used to transmit real-time images of the captive screw 410 back to the control system, realizing observation and navigation during operation.

[0055] According to this utility model, the ratchet reversing mechanism 2 adopts a compact, modular design, mainly composed of a ratchet ring 201, ratchet teeth 202, a limiting pin 203, a pawl 204, a transmission component 205, an eccentric shaft 206, a first fixed frame 207, an eccentric shaft base 208, a reversing knob 209, a second limiting spring 211, and a pawl pin 212. The components work together precisely to achieve efficient and reliable torque transmission and reversing functions. The limiting pin 203, the reversing knob 209, and the second limiting spring 211 form the reversing knob assembly.

[0056] Specifically, during assembly, the eccentric shaft base 208 is fixedly connected to the front end of the sleeve 101 of the drive mechanism 1, and then the first fixing frame 207 is fixedly connected to the eccentric shaft base 208. The eccentric shaft 206, the transmission component 205, and the ratchet ring 201 are first inserted into the guide cavity of the first fixing frame 207, and axially positioned and locked using screws or pins. The eccentric shaft 206 is located below the ratchet ring 201, the transmission component 205 is located between the eccentric shaft 206 and the ratchet ring 201, and the eccentric shaft 206 and the ratchet ring 201 are connected through the transmission component 205. The ratchet head 210 of the pawl 204 is connected to the screw sleeve mechanism 4. The lower end of the eccentric shaft 206 is connected to the output shaft of the motor 102 through a planetary reducer 104 and a coupling. The motor 102 outputs power to the eccentric shaft 206 through the planetary reducer 104 and the coupling. When the eccentric shaft 206 rotates, it drives the ratchet ring 201 above to reciprocate through the transmission component 205. The ratchet ring 201 has a circular through hole at its upper end, with the inner wall of the hole serving as a meshing surface and equipped with meshing teeth. A ratchet 202 and a pawl 204 are then installed. The ratchet 202 passes through the pawl pin 212 of the pawl 204 and is fixedly connected to it. During installation, it is essential to ensure that the ratchet 202 precisely aligns with the meshing surface at the upper end of the ratchet ring 201. The ratchet 202 has a semi-circular structure with meshing teeth on its two curved sides. The meshing teeth of the ratchet 202 mesh with the meshing teeth at the upper end of the ratchet ring 201. Precision machining ensures the meshing accuracy between the ratchet ring 201 and the ratchet 202. The pawl 204 is installed in the circular through hole at the upper end of the ratchet ring 201. Under the oscillation action of the ratchet ring 201, the ratchet 202 pushes the pawl 204 to rotate unidirectionally, achieving a gain transmission of torque. Finally, install the reversing knob 209, which is mounted on top of the ratchet ring 201 and connected to the ratchet tooth 202 via a limiting pin 203. Rotating the reversing knob 209 pushes the limiting pin 203 to change the relative meshing direction between the ratchet ring 201 and the ratchet tooth 202, thereby realizing the forward or reverse rotation function of the pawl 204. The second limiting spring 211 ensures stable positioning of the reversing knob 209 after adjustment. The reversing knob 209 is mainly used to control the relative meshing direction between the ratchet ring 201 and the ratchet tooth 202, realizing rapid switching and positioning of the output rotation direction. For example, as... Figure 6 As shown, the initial position is: the left side of ratchet 202 is not engaged with the meshing teeth of ratchet ring 201, while the right side of ratchet 202 is engaged with the meshing teeth of ratchet ring 201. At this time, ratchet 202 pushes pawl 204 to rotate clockwise (forward rotation) under the swing action of ratchet ring 201. When pawl 204 needs to rotate counterclockwise (reverse rotation), the limit pin 203 can be pushed by rotating the reversing knob 209 to make the left side of ratchet 202 engage with the meshing teeth of ratchet ring 201, while the right side of ratchet 202 is not engaged with the meshing teeth of ratchet ring 201. At this time, ratchet 202 pushes pawl 204 to rotate counterclockwise (reverse rotation) under the swing action of ratchet ring 201.

[0057] Through the structural design of the ratchet reversing mechanism 2, the device can achieve high torque (≥12N·m) stable output, reliable self-locking, and quick-switching reversing operation in a confined space. It is particularly suitable for high-requirement tasks such as self-fixing and disassembling of the non-detachable screw 410 in complex working environments.

[0058] Preferably, the total reduction ratio of the ratchet head 210 of the ratchet ring 201 is calculated to be approximately 1:20, and the motor 102 needs to provide a continuous output of not less than 1 / 20 of the required disassembly torque. Therefore, in this utility model, a brushless motor (motor 102) with a diameter of 32mm and a rated torque of 0.6N·m and a corresponding reducer (planetary reducer 104) are selected. When powered by 24V, the transmission upper gear sleeve 401 in the screw sleeve mechanism 4 can obtain a rotational speed of 12rpm and an output torque of ≥12N·m.

[0059] According to this utility model, the quick-change connector 3 adopts a one-button quick-change pin and positioning boss / groove design, which supports the replacement of M3 to M8 multi-specification disassembly heads with one hand within 5 seconds, greatly improving on-site operation efficiency.

[0060] According to this utility model, the screw sleeve mechanism 4 mainly consists of a transmission upper gear sleeve 401, a fixed sleeve cover 402, a base fixed sleeve 403, a first limit spring 404, a spring 405, a second fixing frame 406, a limit switch 407, a pawl 408, a top pawl 409, and a non-removable screw 410; the second fixing frame 406 is fixed on the outer wall of the sleeve 101 of the drive mechanism 1; the upper end of the transmission upper gear sleeve 401 is precisely engaged with the ratchet head 210 in the ratchet reversing mechanism 2, and the transmission upper gear sleeve 401 is driven to rotate by the ratchet reversing mechanism 2; the lower end of the transmission upper gear sleeve 401 is inserted into the installation space at the upper end of the base fixed sleeve 403, and the fixed sleeve cover 402 is fixed at the upper end of the base fixed sleeve 403, which can adjust the transmission upper gear sleeve 401. 1. The upper end is limited; the fixed sleeve cover 402 and the base fixed sleeve 403 are both installed inside the second fixed frame 406; the first limit spring 404 is fitted on the lower end of the transmission upper gear sleeve 401 and the first limit spring 404 is located in the installation space at the upper end of the base fixed sleeve 403. The upper end of the first limit spring 404 is fixed to the shoulder of the outer wall of the transmission upper gear sleeve 401, and the lower end of the first limit spring 404 is fixed to the base fixed sleeve 403; the spring 405 is fitted and fixed on the captive screw 410. The spring 405 is a component of the captive screw 410 itself; the limit switch 407 is installed on the lower inner wall of the second fixed frame 406. The limit switch 407 is located between the inner wall of the second fixed frame 406 and the outer wall of the base fixed sleeve 403. Both the chuck 408 and the top claw 409 are installed inside the lower end of the second fixed frame 406. The top claw 409 can drive the chuck 408 to extend or reset. The chuck 408 can be a trapezoidal chuck, and the top claw 409 can be a positioning pin. The chuck 408 and the top claw 409 form a one-way self-locking structure. The limit switch 407 is connected to the control system.

[0061] The working process of the screw sleeve mechanism 4 is as follows: When the moving device moves the screw sleeve mechanism 4 to directly above the locked screw 410, the camera system 5 activates the visual alignment function. The binocular camera 501 transmits the real-time image of the locked screw 410 back to the control system and feeds back the visual information to the control system. The control system controls the motor 102 to make fine adjustments in the X / Y directions until the image center coincides with the head of the locked screw 410. The motor 102 drives the ratchet reversing mechanism 2 to work. The ratchet reversing mechanism 2 drives the transmission upper gear sleeve 401 to rotate. The compression and fixing action of the first limit spring 404 drives the base fixing sleeve 403 to move. The device rotates slowly while the moving device lowers the entire device. When the base fixing sleeve 403 is aligned with the outer side of the captive screw 410, the base fixing sleeve 403 stops rotating. At the same time, the top claw 409 pushes out the chuck 408. The transmission upper gear sleeve 401 continues to rotate and, through the squeezing and fixing action of the first limit spring 404, drives the base fixing sleeve 403 to rotate until the captive screw 410 is fitted in. The interior of the base fixing sleeve 403 is long enough to accommodate the upward space of the captive screw 410. To overcome the reverse torque caused by loosening the captive screw 410, the inner wall of the bottom of the second fixing frame 406 is provided with a ring of square teeth 4061 that mesh with the chuck 408. Figure 8 When the chuck 408 extends, it engages with the square teeth 4061 to lock the chuck 408. At this time, the device enters a self-locking state. The engagement between the chuck 408 and the square teeth 4061 can overcome the reverse torque, ensuring end-effector stability and safety. To determine the start time of the release action, a limit switch 407 is installed on the second fixed frame 406, and the limit switch 407 is located between the inner wall of the second fixed frame 406 and the outer wall of the base fixing sleeve 403. When the chuck 408 extends, it triggers the limit switch 407 to send a trigger signal to the control system. The control system receives the trigger signal. Then the loosening action can begin. The motor 102 rotates forward according to the preset number of revolutions and torque closed-loop algorithm. The ratchet ring 201 and the planetary reducer 104 combine to increase the torque output to ≥12 N·m. The square teeth 4061 at the bottom of the second fixed bracket 406 mesh with the pawl 408 to counteract the reverse torque, completing the loosening action of the non-detachable screw 410. After the motor 102 rotates to the preset number of revolutions to complete the loosening action, the relative meshing direction of the ratchet ring 201 and the ratchet teeth 202 is controlled by the reversing knob 209 to switch the output rotation direction, thereby causing the transmission upper gear sleeve 401 to rotate in the opposite direction and move the screw sleeve mechanism 4 upward. Finally, the motor 102 rotates slightly by 2° to reset the pawl 408. When the screw sleeve mechanism 4 rises, the quick-change connector 3 can be released to complete the replacement of the quick-change connector 3.

[0062] Preferably, the limit switch 407 has an operating torque of 15gf±5gf and a stroke of 0.2mm±0.05mm, ensuring sensitive triggering and durability.

[0063] According to this utility model, the camera system 5 mainly consists of a binocular camera 501 and a camera base 502. The binocular camera 501 is fixed on the camera base 502, and the camera base 502 is fixed to the lower end of the sleeve 101. The binocular camera 501 is connected to the control system. The central axis of the binocular camera 501 is tilted at a certain pitch angle to the output shaft axis of the motor 102, which is used to transmit the real-time image of the non-removable screw 410 back to the control system and to feed back visual information to the control system, so as to realize observation and navigation during the operation.

[0064] Preferably, the binocular camera 501 uses an industrial-grade CMOS sensor, supports a real-time image frame rate of ≥30fps, and can work stably under lighting conditions from -5 lux to 5000 lux.

[0065] This utility model provides a self-locking and disassembling device for a captive screw, which integrates self-locking captive screw 410, torque-enhancing disassembly, and visual and torque multimodal detection. As a preferred embodiment, the overall envelope dimensions of the device (excluding the 5mm covering layer) are: length 185mm, width 44mm, and height 85mm.

[0066] This invention utilizes a torque closed-loop algorithm to achieve precise management of the entire disassembly process of the capless screw 410 through real-time monitoring and dynamic control of three stages: jaw engagement 408, torque-increasing disassembly, and loosening confirmation. This torque closed-loop algorithm maintains stable system operation and high-precision operation under conditions of high torque, confined spaces, and reverse torque interference, significantly improving the safety and reliability of the operation.

[0067] According to this utility model, the specific implementation process of the torque closed-loop algorithm is as follows:

[0068] (1) Initial positioning and self-locking;

[0069] The target screw 410 is visually guided by a binocular camera 501, allowing the control device to precisely approach the target position. During the axial downward pressing of the screw sleeve mechanism 4, the top claw 409 drives the chuck 408 to extend and engage with the square teeth 4061 at the bottom of the second fixing bracket 406, forming a mechanical self-locking structure to effectively counteract the reverse torque during disassembly. Simultaneously, the limit switch 407 is triggered and sends a "chuck engaged" signal to the control system, which serves as a necessary condition for starting closed-loop control.

[0070] (2) Torque setting and closed-loop control start-up;

[0071] Upon receiving the engagement signal, the control system sets a target torque value (not less than 12 N·m) based on the specifications of the captive screw 410 and the task parameters. The motor 102 starts, and after torque amplification via the planetary reducer 104 and the ratchet reversing mechanism 2, the power is output to the screw sleeve mechanism 4. During this process, the torque closed-loop algorithm continuously compares the actual output torque with the target torque and dynamically adjusts the motor drive command based on the deviation, thereby achieving precise control of the output torque.

[0072] (3) Dynamic torque compensation and counter-torque cancellation;

[0073] During the loosening phase of the captive screw 410, the meshing structure of the square teeth 4061 and the chuck 408 continuously exerts a mechanical self-locking effect, counteracting the interference of the reverse torque on the system. During this period, the torque closed-loop algorithm adjusts the output of the motor 102 in real time to ensure that the torque is stable within the target range, avoiding torque fluctuations caused by changes in friction or thread engagement, and ensuring a smooth and efficient disassembly process.

[0074] (4) Determination of loosening and termination control;

[0075] When the system detects that the torque has reached the preset speed and achieved stable output, or when the torque drops significantly and the displacement of the captive screw 410 reaches the set value, the control system determines that the captive screw 410 has loosened. At this time, the output of the motor 102 is immediately stopped, and the chuck 408 is kept locked to prevent the captive screw 410 from accidentally falling off after loosening.

[0076] (5) Safety and abnormality handling;

[0077] During execution, if an abnormal torque peak (exceeding the safety threshold) is detected, the control system will immediately stop output and issue an alarm. If the limit switch 406 signal is lost or the chuck 408 is not locked, the control system will prohibit the start of closed-loop control. In addition, even in the event of task interruption or power failure, the mechanical self-locking mechanism can still maintain the fixed state of the non-removable screw 410, ensuring the safety of the operation process and the recoverability of the task.

[0078] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "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 used to facilitate the description of this utility model and to simplify 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 limiting the scope of protection of this utility model.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A self-locking and disassembling device for a non-detachable screw, characterized in that, include: Drive mechanism, used to provide continuous power output; A ratchet reversing mechanism installed at the front end of the drive mechanism; The screw sleeve mechanism, which is connected to the ratchet reversing mechanism, performs transmission and reversal through the ratchet reversing mechanism and transmits the power output provided by the drive mechanism to the screw sleeve mechanism. Quick-connect coupling installed at the rear end of the drive mechanism; A camera system installed at the lower end of the drive mechanism; Control system connected to the drive mechanism, screw sleeve mechanism and camera system; The drive mechanism includes a sleeve, a motor and a planetary reducer installed in the sleeve, and a rear cover fixed to the rear end of the sleeve; the output shaft of the motor is connected to the planetary reducer. The ratchet reversing mechanism includes an eccentric shaft base connected to a sleeve in the drive mechanism, a first fixed frame connected to the eccentric shaft base, an eccentric shaft, a transmission component, and a ratchet ring inserted into the first fixed frame, ratchet teeth and pawls installed at the upper end of the ratchet ring, and a reversing knob installed on the top of the ratchet ring. The eccentric shaft is located below the ratchet ring, the transmission component is located between the eccentric shaft and the ratchet ring, and the eccentric shaft and the ratchet ring are connected through the transmission component. The eccentric shaft is connected to the output shaft of the motor through a planetary reducer and a coupling. The ratchet head of the pawl is connected to a screw sleeve mechanism. The motor outputs power to the eccentric shaft through the planetary reducer and coupling. When the eccentric shaft rotates, it drives the ratchet ring above it to reciprocate through the transmission component. The reversing knob is connected to the ratchet teeth through a limit pin.

2. The self-locking and disassembling device for a non-detachable screw according to claim 1, characterized in that, The total reduction ratio of the ratchet head is 1:20, and the motor needs to provide a continuous output of not less than 1 / 20 of the required disassembly torque.

3. The self-locking and disassembling device for a non-detachable screw according to claim 1, characterized in that, The screw sleeve mechanism includes: a second fixing frame fixed on the outer wall of the sleeve of the drive mechanism; a fixing sleeve cover and a base fixing sleeve both installed inside the second fixing frame; a transmission upper gear sleeve inserted into the base fixing sleeve; a first limiting spring fitted on the lower end of the transmission upper gear sleeve; and a limit switch, a pawl, and a top pawl installed inside the lower end of the second fixing frame. The upper end of the transmission upper gear sleeve meshes with the ratchet head in the ratchet reversing mechanism. The upper end of the first limiting spring is fixed to the shoulder of the outer wall of the transmission upper gear sleeve, and the lower end is fixed to the base fixing sleeve.

4. The self-locking and disassembling device for a non-detachable screw according to claim 3, characterized in that, The bottom inner wall of the second fixing frame is provided with a ring of square teeth that engage with the pawl; when the top pawl drives the pawl to extend, it engages with the square teeth to lock the pawl, and the device enters a self-locking state.

5. The self-locking and disassembling device for a non-detachable screw according to claim 1, characterized in that, The camera system includes a camera base fixed to the lower end of the sleeve of the drive mechanism and a binocular camera fixed on the camera base; the central axis of the binocular camera is tilted at a certain pitch angle to the motor output shaft axis of the drive mechanism, which is used to transmit real-time images of the loose screws back to the control system and to feed back visual information to the control system, so as to realize observation and navigation during the operation.

6. The self-locking and disassembling device for a non-detachable screw according to claim 5, characterized in that, The binocular camera uses an industrial-grade CMOS sensor.

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