CN120347691A - Flexible split type moment fastening device suitable for narrow and small parts - Google Patents
Flexible split type moment fastening device suitable for narrow and small partsInfo
- Publication number
- CN120347691A CN120347691A CN202510837376.6A CN202510837376A CN120347691A CN 120347691 A CN120347691 A CN 120347691A CN 202510837376 A CN202510837376 A CN 202510837376A CN 120347691 A CN120347691 A CN 120347691A
- Authority
- CN
- China
- Prior art keywords
- torque
- output terminal
- controller
- flexible
- fastener
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
- B25B21/004—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose of the ratchet type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
本发明公开了一种适用狭小部位的柔性分体式力矩紧固装置。所述装置包括拧紧枪、柔性传动机构、扭矩输出终端。拧紧枪的内部包含控制器，经过处理、计算力矩后启动内部电机，经过柔性传动机构将扭矩传输到扭矩输出终端，从而控制螺栓的松紧，同时扭矩输出终端可将当前扭矩大小反馈至控制器。本发明装置有可拆分、高精度的特点，不仅能够灵活适应各种狭小空间，还能精准控制紧固力矩。
The present invention discloses a flexible split torque tightening device suitable for narrow places. The device includes a tightening gun, a flexible transmission mechanism, and a torque output terminal. The tightening gun contains a controller inside, which starts the internal motor after processing and calculating the torque, and transmits the torque to the torque output terminal through the flexible transmission mechanism, thereby controlling the tightness of the bolt. At the same time, the torque output terminal can feed back the current torque size to the controller. The device of the present invention has the characteristics of being detachable and high-precision. It can not only flexibly adapt to various narrow spaces, but also accurately control the tightening torque.
Description
Technical Field
The invention relates to the field of electromechanical equipment, in particular to a flexible split type torque fastening device applicable to a narrow part.
Background
In the field of industrial assembly, the accuracy and reliability of the bolt tightening process directly affect the tightness, structural stability and service life of the equipment. The traditional manual or pneumatic tightening tool has the defects of large torque output deviation, insufficient space adaptability, lack of real-time feedback and the like, and particularly when working in a narrow space (such as a flange clearance, an engine compartment or the inside of precision electronic equipment), the conventional tool often causes torque loss or bolt sliding teeth due to structural interference. The unidirectional drive of traditional ratchet spanner relies on artifical frequent switching-over, and inefficiency, and sleeve change loaded down with trivial details, skid resistance performance not enough scheduling problem has further restricted assembly quality and efficiency.
Disclosure of Invention
Aiming at the defects of large torque deviation and poor space adaptability of the traditional bolt tightening tool, the invention provides the flexible split type torque tightening device applicable to a narrow part.
The invention comprises the following steps:
the tightening gun comprises a controller and a power source, wherein the controller is used for receiving a target torque value and controlling the power source to output corresponding power;
a flexible transmission mechanism connecting the tightening gun and the torque output terminal for transmitting power of the tightening gun to the torque output terminal, the flexible transmission mechanism comprising a flexible force transfer member capable of transferring torque in a narrow or tortuous space and allowing bending of a torque transfer path;
The torque output terminal is connected with the flexible transmission mechanism and used for converting power transmitted by the flexible transmission mechanism into torque and applying the torque to the fastened piece, the torque output terminal comprises a torque feedback device, the torque feedback device is used for measuring actual acting torque and feeding back a signal to the controller, and the controller adjusts the output of the power source according to the feedback signal so as to realize accurate control of the torque.
The invention has the beneficial effects that the technical upgrading is realized through the innovatively developed modularized high-precision torque output system, the device innovatively integrates the ratchet mechanism, the dynamic servo closed-loop control assembly and the steel wire rope flexible rope force transmission mechanism, realizes the accurate output of the directional torque in a narrow space through the rigid-flexible coupling transmission mechanism, simultaneously supports the quick replacement of the sleeve, remarkably improves the assembly efficiency and the reliability, and is suitable for precise industrial scenes such as large transformers, aviation and the like.
Drawings
FIG. 1 is a view of a tightening gun end structure;
FIG. 2 is a block diagram of a torque output terminal;
FIG. 3 is a block diagram of a flexible drive mechanism;
FIG. 4 is a torque transfer graph;
FIG. 5 is a diagram of the overall structure of the device;
FIG. 6 is a device system workflow diagram;
FIG. 7 is a flow chart of a torque control algorithm.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings. The description herein describes specific embodiments, by way of illustration and not limitation, consistent with the principles of the present invention, which are described in sufficient detail to enable those skilled in the art to practice the invention, other embodiments may be utilized and the structure of elements may be changed and/or replaced without departing from the scope and spirit of the invention. The following detailed description is, therefore, not to be taken in a limiting sense.
The application provides a flexible split type torque fastening device applicable to a narrow part. The internal of the tightening gun comprises a controller, an internal motor is started after the torque is processed and calculated, and the torque is transmitted to a torque output terminal through a flexible transmission mechanism, so that the tightness of a bolt is controlled, and meanwhile, the current torque can be fed back to the controller through the torque output terminal. Different from the traditional torque wrench, the device has the characteristics of being detachable and high in precision, not only can be flexibly adapted to various narrow spaces, but also can accurately control the fastening moment.
The tightening gun is a core control and power unit of the device, the controller and the gear motor are integrated inside the tightening gun, and high-precision torque output is realized through an intelligent closed-loop system. The controller is used as a brain and comprises a microprocessor and a communication module, can receive a target torque value set by a user and run a real-time control algorithm, establishes a data interaction channel with a sensor of a torque output terminal, also comprises a limit protection function, immediately triggers a signal when the retraction of the transmission mechanism reaches a preset travel limit, and stops the motor to operate so as to avoid overload strain on the transmission mechanism or the mechanism to be blocked. The speed reducing motor unit consists of a servo motor and a gear reducer, converts high-speed low torque of the motor into low-speed high torque output, and is adaptive to the power characteristic required by bolt fastening.
In a preferred embodiment, as shown in fig. 1, the tightening gun end is formed as a functional assembly of a tightening gun 11, a first sleeve 12, a first spool 13, a limiting mechanism 14, a top plate 15, and a bottom plate 16. Specifically, the output end of the tightening gun 11 adopts a quadrangular shaft structure, zero clearance transition fit is formed between the quadrangular shaft structure and the quadrangular inner cavity of the first sleeve 12, and zero clearance fit is realized between the first sleeve 12 and a quadrangular boss of a driving shaft of the first winding drum 13. The first reel 13 is supported via a rolling bearing group in a rigid frame composed of a top plate 15 and a bottom plate 16, the frame is vertically positioned by a copper column and nut assembly, and a limiting mechanism 14 is fastened above the top plate via a bolt-nut pair and functions to restrict a torque transmission path.
The power system of the device is integrated with a servo controller and a speed reduction motor unit, and a mechanical transmission chain is established with a first winding drum 13 through a first sleeve 12 on the body of the tightening gun 11. Inside the first reel 13 two wires 21 are arranged in opposite directions. When the executing mechanism is started, the speed reducing motor drives the first sleeve 12 to rotate, so that the first winding drum 13 is driven to perform bidirectional winding operation. The specially designed mechanical limiting mechanism 14 effectively inhibits angular displacement deviation of the tightening gun 11 body caused by reactive torque generated when the first winding drum 13 acts through a physical interference mode.
The torque output terminal is a core execution unit which precisely applies the torque transmitted by the flexible transmission mechanism to the bolt and realizes torque feedback, and the structure of the torque output terminal consists of a ratchet mechanism, a second sleeve and a torque sensor.
The ratchet main body is made of steel, a bidirectional pawl is integrated in the ratchet main body, and when the flexible transmission mechanism drives the ratchet input shaft to rotate through the second winding drum, a meshing mechanism (such as clockwise locking/anticlockwise idling) of the pawl and the tooth slot ensures continuous unidirectional output of torque in the bolt tightening process, and rollback looseness is prevented.
The second sleeve is connected with the ratchet output shaft through a hexagonal magnetic interface and supports quick replacement of bolt heads with various specifications.
The torque sensor is positioned on the limiting device based on the strain gauge or piezoelectric principle, and when the second sleeve drives the bolt to rotate, the generated reaction force acts on the limiting device, so that the actual acting moment is measured in real time, and a signal is fed back to the tightening gun controller to form an output-monitoring-calibration closed loop.
In a preferred embodiment, as shown in fig. 2, the torque output terminal is formed as a core assembly of a second spool 31, a driving gear 32, a driven gear 33, a second sleeve 34, a pawl 35, a stopper 36, an upper carrier plate 37, and a lower base plate 38. Two symmetrically distributed pre-tightening steel wire ropes 21 are integrated in the second winding drum 31, the rotation axis of the pre-tightening steel wire ropes realizes a double-plate supporting structure through a bearing group, and the upper bearing plate and the lower base plate are rigidly fixed through a bolt group. The driving gear 32 is coupled with the second drum 31 in zero clearance fit, and forms an orthogonal axis gear pair with the driven gear 33. The output end of the driven gear 33 is a quadrangular driving shaft, and forms zero clearance fit with the inner cavity of the second sleeve 34. The end of the second sleeve 34 can be provided with a thread pair joint surface, the rotation freedom degree of the thread pair joint surface is limited by a ratchet mechanism, the pawl 35 is of a symmetrical double-pawl structure, when the pawl 35 is not meshed with a tooth slot of the driving gear 32, the torque of the second drum 31 is transmitted to the second sleeve 34 through the gear pair to drive the thread pair to rotate, when the pawl 35 system enters a unilateral meshing state, the second sleeve 34 is limited by the ratchet mechanism to only keep the unilateral freedom degree, and under bilateral meshing, the second sleeve 34 enters a bilateral self-locking state.
The stopper 36 is fixed to the bottom surface of the lower base plate 38 by bolts, and adopts a hardened alloy steel stopper structure, and suppresses reaction torque during the screw pair actuation by mechanical interference. The system power transmission path is that the steel wire rope 21 drives the second winding drum 31 to rotate, and the second winding drum is transmitted to the second sleeve 34 through the driving gear 32 and the driven gear 33 and finally acts on the screw pair to form a closed-loop torque output system.
The flexible transmission mechanism is responsible for realizing flexible transmission and direction conversion of torque in a narrow or tortuous space, and the structure of the flexible transmission mechanism is composed of a bidirectional winding steel wire rope component and a winding drum system.
The main body adopts two high-strength steel wire ropes, the surface of the main body is wrapped with a wear-resistant rubber sleeve, so that not only is the generation of scraps caused by metal friction prevented, but also the rigidity resistance during bending is reduced, and the two steel wire ropes are respectively wound on two groups of winding drums at the tightening gun end and the torque output terminal in opposite directions (clockwise/anticlockwise), so that a symmetrical tension structure is formed, and the stability of torque transmission during forward and reverse rotation is ensured. When the speed reducing motor of the tightening gun drives the gun end winding drum to rotate, the steel wire rope generates traction force through winding and unwinding and drives the terminal winding drum to synchronously rotate, so that torque is transmitted to the terminal executing mechanism in a lossless manner.
In a preferred embodiment, as shown in fig. 3, the flexible transmission mechanism mainly comprises two wires 21, an outer protective sheath for the wires, and a first reel 13 and a second reel 31. The first reel 13 and the second reel 31 are respectively positioned at the tightening gun and the torque output terminal, one end of each of the two steel wire ropes is reversely wound on the reel, the other end of each of the two steel wire ropes is reversely wound on the other reel, when one of the reels starts to rotate, the reels can drive one of the steel wire ropes to shrink, and the other reel releases, and corresponds to the other reel, namely one of the steel wire ropes is released, and the other reel contracts. The flexible drive couples the input and output ends together, and the torque transfer graph of fig. 4 shows a graph of input (horizontal axis) and output (vertical axis) torque as they approximate a hysteresis loop as the input end gear motor periodically rotates back and forth.
Further, due to the fact that two high-strength steel wires in the flexible transmission mechanism are wrapped on the surfaces of the two high-strength steel wires, the ropes can be subjected to friction force in the rubber sleeve, and due to the fact that the bending degrees of the ropes are different, the friction force is also non-fixed and nonlinear, and the tensile force is transmitted in the rubber sleeve to generate loss. The steel wire rope is also non-ideal rigid body in the axial direction and has spring effect, and the steel wire rope is regarded as the rigidityIs arranged on the rope when the rope is in a stretched stateTension in positionAnd (3) withDeformation of positionThe relationship of (2) is as follows:
the input and output displacements are not exactly the same. On ropes at will Tension in positionCan be calculated from the following formula:
In the formula, Is thatThe pulling force of the point is such that,In the form of a coefficient of coulomb friction,Is in the rope formThe radius of curvature of the point is such that,Is thatAt a speed.
On ropes at willDisplacement of positionCan be calculated from the following formula:
The above formula is derived from physical modeling, and is calculated by discretizing calculation in computer control field, and in practical controller, the rope is arbitrary Tension in positionCan be calculated from the following formula:
on ropes at will Displacement of positionCan be calculated from the following formula:
wherein, the ,,。
It follows that when the radius of curvature of the rope bend is fixed, the tension decays exponentially.
In actual use, due to the limitation of an operation space, the arrangement and curling modes of the steel wire rope are random for the simplicity of operation, namely, the curvature radius is uncertain, the tension attenuation of the system is difficult to calculate accurately, and the open loop control is used, so that the output of the system has no influence on the control action, and the control action is not changed even if the output is deviated. Therefore, closed-loop control is adopted, the output is fed back to the input end through the feedback link and is compared with the reference input to form a deviation signal, and the control system continuously adjusts the output according to the deviation until the deviation is eliminated or reduced to be within an allowable range, so that accurate control of the moment is realized. The mathematical expression for closed loop control is as follows:
In the middle of For the sample sequence number,=0、1、2,......,Is the firstThe controller output value at the sub-sampling instant,Is the firstThe offset value input at the sub-sampling instant,Is a coefficient of proportionality and is used for the control of the power supply,Is an integral coefficient.
Fig. 5 is a whole structure diagram of the flexible split type torque fastening device applicable to a narrow part, and the operation flow is based on a working flow chart of the flexible split type torque fastening device applicable to the narrow part in fig. 6, so that cooperation of all components is realized:
The operator can quickly change the sleeve specification through the magnetic interface, sleeve the bolt in a narrow space, set a target torque, start the device, screw up the gun to drive the lower winding drum to rotate forward/backward, and transmit power through two steel wire ropes (rubber sleeves) which are wound in opposite directions. When the bottom ratchet wheel is meshed with the tooth grooves, if the winding drum rotates clockwise, the driving sleeve outputs torque clockwise.
The two limiting devices are mechanical stop blocks, so that the reaction force generated when the bolt is rotated is prevented from rotating to tighten the gun and the torque output terminal, the transmission path can be freely bent along with the shape of the operation space (such as bypassing an obstacle or passing through an S-shaped pipeline), and meanwhile, the symmetrical pulling force of the bidirectional steel wire rope is used for counteracting the unilateral stress deformation, so that the accuracy and the reliability of torque transmission in a narrow space are ensured. Meanwhile, the torque sensor is positioned on the limiting device based on the strain gauge or piezoelectric principle, and when the sleeve drives the bolt to rotate, the generated reaction force acts on the limiting device, so that the actual acting moment is measured in real time, and a signal is fed back to the tightening gun controller to finish high-precision tightening.
FIG. 7 is a flowchart of a torque control algorithm, after a target torque is set, the controller starts the gear motor and begins to monitor the output torque in real time. The system compares the target torque with the actual output torque and calculates an error signal. The error signal is processed through proportional control and integral control links respectively. The proportional control adjusts the control signal in real time according to the magnitude of the error, the output of the proportional control signal is in direct proportion to the error, the integral control carries out integral operation on the error and outputs a signal in direct proportion to the integral of the error so as to eliminate steady-state error. The processed control signals are added to drive a gear motor to adjust the output torque. Meanwhile, the feedback device monitors output torque in real time and transmits the output torque back to the control system to form closed-loop control.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (10)
1. A flexible split type moment fastener suitable for narrow and small position, characterized by comprising:
the tightening gun comprises a controller and a power source, wherein the controller is used for receiving a target torque value and controlling the power source to output corresponding power;
a flexible transmission mechanism connecting the tightening gun and the torque output terminal for transmitting power of the tightening gun to the torque output terminal, the flexible transmission mechanism comprising a flexible force transfer member capable of transferring torque in a narrow or tortuous space and allowing bending of a torque transfer path;
The torque output terminal is connected with the flexible transmission mechanism and used for converting power transmitted by the flexible transmission mechanism into torque and applying the torque to the fastened piece, the torque output terminal comprises a torque feedback device, the torque feedback device is used for measuring actual acting torque and feeding back a signal to the controller, and the controller adjusts the output of the power source according to the feedback signal so as to realize accurate control of the torque.
2. The torque fastener of claim 1, wherein said tightening gun further comprises a limit guard for triggering a signal to stop operation of said power source by said controller when movement of said flexible drive mechanism reaches a predetermined travel limit to prevent overload or jamming of the drive mechanism.
3. The torque fastener according to claim 1 or 2, wherein the power source is a combination of a servo motor and a gear reducer, the servo motor converting high-speed low-torque power into low-speed high-torque output, and adapting the power characteristics required for bolt fastening.
4. The moment fastening device according to claim 1, wherein the flexible force-transmitting component of the flexible transmission mechanism is a bi-directionally wound wire rope assembly, and the surface of the wire rope assembly is wrapped with a wear-resistant rubber sleeve to reduce debris generated by metal friction and rigid resistance during bending.
5. The torque fastener of claim 4, wherein said wire rope assembly comprises two high strength wire ropes wound in opposite directions around said tightening gun end and said torque take-off terminal spool, respectively, to form a symmetrical tension structure to ensure stability of torque transfer during forward and reverse rotation.
6. The torque fastener of claim 1, wherein said torque output terminal further comprises a ratchet mechanism for ensuring one-way output of torque during tightening of the bolt to prevent back-out loosening.
7. The torque fastener of claim 6, wherein said second sleeve of said torque output terminal is coupled to said ratchet mechanism via a magnetic interface to support quick replacement of multiple gauge bolt heads.
8. A torque fastener according to claim 6 or 7, wherein the torque feedback means is a strain gauge or piezo-electric principle based torque sensor located on the limit means of the torque output terminal for real time measurement of the actual applied torque and feedback to the controller.
9. The torque fastener of claim 8, wherein the controller employs a closed loop control algorithm, and the controller compares the output to the input via a feedback link to form a deviation signal, and adjusts the output based on the deviation signal until the deviation is eliminated or reduced to within an allowable range, thereby achieving accurate torque control.
10. The torque fastener of claim 1, further comprising a limiting device for preventing a reaction force upon rotation of the bolt from rotating the tightening gun and the torque output terminal, ensuring accuracy and reliability of torque transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510837376.6A CN120347691B (en) | 2025-06-23 | 2025-06-23 | Flexible split type moment fastening device suitable for narrow and small parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510837376.6A CN120347691B (en) | 2025-06-23 | 2025-06-23 | Flexible split type moment fastening device suitable for narrow and small parts |
Publications (2)
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| CN120347691A true CN120347691A (en) | 2025-07-22 |
| CN120347691B CN120347691B (en) | 2025-08-29 |
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| CN202510837376.6A Active CN120347691B (en) | 2025-06-23 | 2025-06-23 | Flexible split type moment fastening device suitable for narrow and small parts |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11138457A (en) * | 1997-11-10 | 1999-05-25 | Honda Motor Co Ltd | Nut tightening device |
| JP2009113191A (en) * | 2007-11-09 | 2009-05-28 | Toyota Motor Corp | Bolt or nut tightening tool |
| WO2012051989A2 (en) * | 2010-10-11 | 2012-04-26 | Schuele Robert | Screwdriver |
| US20120240694A1 (en) * | 2009-12-16 | 2012-09-27 | Hiroshi Isobe | Flexible wire |
| CN104148927A (en) * | 2014-07-23 | 2014-11-19 | 九江学院 | Fastening member assembling machine capable of automatically controlling various torque values |
| CN113133806A (en) * | 2021-03-15 | 2021-07-20 | 北京航空航天大学 | Flexible surgical instrument |
| CN118050105A (en) * | 2024-02-27 | 2024-05-17 | 西安交通大学 | A cantilever beam detection device for torque during the working process of thread automatic tightening equipment |
| CN119858025A (en) * | 2025-03-25 | 2025-04-22 | 苏州海通机器人系统有限公司 | Device and method for tightening and loosening blind cavity nut |
-
2025
- 2025-06-23 CN CN202510837376.6A patent/CN120347691B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11138457A (en) * | 1997-11-10 | 1999-05-25 | Honda Motor Co Ltd | Nut tightening device |
| JP2009113191A (en) * | 2007-11-09 | 2009-05-28 | Toyota Motor Corp | Bolt or nut tightening tool |
| US20120240694A1 (en) * | 2009-12-16 | 2012-09-27 | Hiroshi Isobe | Flexible wire |
| WO2012051989A2 (en) * | 2010-10-11 | 2012-04-26 | Schuele Robert | Screwdriver |
| CN104148927A (en) * | 2014-07-23 | 2014-11-19 | 九江学院 | Fastening member assembling machine capable of automatically controlling various torque values |
| CN113133806A (en) * | 2021-03-15 | 2021-07-20 | 北京航空航天大学 | Flexible surgical instrument |
| CN118050105A (en) * | 2024-02-27 | 2024-05-17 | 西安交通大学 | A cantilever beam detection device for torque during the working process of thread automatic tightening equipment |
| CN119858025A (en) * | 2025-03-25 | 2025-04-22 | 苏州海通机器人系统有限公司 | Device and method for tightening and loosening blind cavity nut |
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| CN120347691B (en) | 2025-08-29 |
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