CN109659655B - Tuning tool bit device, cavity filter tuning equipment and method - Google Patents

Abstract

The embodiment of the invention provides a tuning tool bit device, cavity filter tuning equipment and a method, relates to the technical field of filters, and is used for reducing the size and weight of the tuning tool bit device. This harmonious tool bit device includes screw shaft motor, screw shaft reduction gear, screw shaft gear train, screw shaft, screwdriver, nut axle motor, nut axle reduction gear, nut axle gear train, sleeve switching mechanism and nut sleeve, wherein: the screw shaft speed reducer is respectively connected with a screw shaft motor and a first driving gear, the nut shaft speed reducer is respectively connected with a nut shaft motor and a second driving gear, a first driven gear and a second driven gear are opposite, and the center lines of shaft holes are superposed; the sleeve switching mechanism is respectively connected with the second driven gear and the nut sleeve, the screw shaft penetrates through the nut sleeve, the second driven gear and the first driven gear, and the screw shaft is in key connection with the first driven gear; the upper end of the screw shaft is provided with an anti-drop piece, and the lower end of the screw shaft is provided with a screwdriver.

Description

Tuning tool bit device, cavity filter tuning equipment and method

Technical Field

The invention relates to the technical field of filters, in particular to a tuning tool bit device, cavity filter tuning equipment and a cavity filter tuning method.

Background

The cavity Filter has the advantages of firm structure, stable performance, small volume, moderate Q value and the like, and is widely applied to Radio base stations such as a Radio Remote Unit (RRU), a Radio frequency Filter Unit (RFU) Active Antenna System (AAS). As shown in fig. 1, the cavity filter generally includes a cavity 10, a cover plate 11, a locking washer 12, a nut 13 and a tuning screw 14, wherein the cover plate 11 covers an opening of the cavity 10, the tuning screw 14 is in threaded connection with the cover plate 11, an upper end of the tuning screw 14 is located outside the cavity 10, a lower end of the tuning screw 14 is located inside the cavity 10, the locking washer 12 and the nut 13 are disposed on a portion of the tuning screw 14 located outside the cavity 10, and the locking washer 12 and the tuning screw 14 can be fixed on the cover plate 11 by the nut 13. After the cavity filter is assembled, the cavity filter needs to be tuned, and usually the length of the tuning screw 14 in the cavity 10 is adjusted to adjust the resonant frequency of the cavity filter, so that the cavity filter reaches the required performance index.

Currently, the method of adjusting the length of the tuning screw 14 in the cavity 10 generally includes manual adjustment and automatic adjustment of the cavity filter tuning device, but the manual adjustment method requires a skill of a technician and is time-consuming, so that the automatic adjustment of the cavity filter tuning device is becoming mainstream. The cavity filter tuning apparatus generally comprises a robot and a tuning bit device, wherein the robot controls the tuning bit device to move and tune the cavity filter, as shown in fig. 2, the tuning bit device comprises a nut shaft motor 51, a torque sensor 44, a nut shaft reduction gear set 45, a pneumatic sleeve switching mechanism 40 and a nut sleeve 30, which are connected in sequence, and a screw shaft motor 50, a screw shaft reduction gear set 42, a screw shaft brake mechanism 41 and a screw shaft 20, which are connected in sequence, wherein a screw driver 21 is installed at the front end of the screw shaft 20, and the screw driver 21 is coaxial with the nut sleeve 30 sleeved on the screw driver.

When the tuning head device is used for adjusting the length of the tuning screw 14 in the cavity 10, the adjustment process is roughly as follows: firstly, the tuning tool bit device is controlled by a robot to move above the cavity filter, and the nut sleeve 30 is meshed with the nut 13, and the screwdriver 21 is meshed with the screwdriver hole of the tuning screw 14; then, the nut socket 30 is rotated by the nut shaft motor 51 to loosen the nut 13; next, the screwdriver 21 is driven by the screw shaft motor 50 to rotate, and the length of the tuning screw 14 in the cavity 10 is adjusted, so that the cavity filter reaches the required performance index; after the tuning screw 14 is adjusted, the screw shaft brake mechanism 41 is acted to keep the screwdriver 21 stationary, so that the screwdriver 21 provides a holding force to immobilize the tuning screw 14, and simultaneously, the torque sensor 44 is used to lock the nut 13 through the nut sleeve 30 by using a torque of a preset specification, so that the tuning screw is fixed at the current position, and the cavity filter achieves the required performance index.

However, in the above-described tuning bit device, the torque accuracy of the locking nut is controlled by the torque sensor 44, and the holding force provided by the screwdriver 21 is dependent on the screw shaft brake mechanism 41, so that the tuning bit device is large in volume and weight, resulting in low stability of the tuning bit device.

Disclosure of Invention

The embodiment of the invention provides a tuning tool bit device and cavity filter tuning equipment, which are used for reducing the volume and the weight of the tuning tool bit device and improving the stability of the tuning tool bit device.

In a first aspect, an embodiment of the present invention provides a tuning tool bit device, including a screw shaft motor, a screw shaft reducer, a screw shaft gear set, a screw shaft, a screwdriver, a nut shaft motor, a nut shaft reducer, a nut shaft gear set, a sleeve switching mechanism, and a nut sleeve, wherein:

the screw shaft gear set comprises a first driving gear and a first driven gear which are meshed with each other, and the nut shaft gear set comprises a second driving gear and a second driven gear which are meshed with each other;

the screw shaft reducer is respectively connected with the screw shaft motor and the first driving gear, the nut shaft reducer is respectively connected with the nut shaft motor and the second driving gear, the first driven gear and the second driven gear are oppositely arranged, and the shaft hole central line of the first driven gear is superposed with the shaft hole central line of the second driven gear;

the sleeve switching mechanism is respectively connected with the second driven gear and the nut sleeve, and drives the nut sleeve to rotate when the sleeve switching mechanism rotates along with the second driven gear;

the screw shaft penetrates through an inner hole of the nut sleeve, a shaft hole of the second driven gear and a shaft hole of the first driven gear, and the screw shaft is in key connection with the shaft hole of the first driven gear; the upper end of the screw shaft is provided with an anti-drop piece, and the lower end of the screw shaft is provided with the screwdriver which is coaxial with the screw shaft and the nut sleeve respectively.

Compared with the prior art, the tuning tool bit device provided by the embodiment of the invention has the following advantages:

in the tuning tool bit device provided by the embodiment of the invention, the rotation angles of the screw shaft and the screwdriver are controlled by using the screw shaft motor, the screw shaft reducer and the screw shaft gear set, and the holding force for keeping the tuning screw at a tuned position is provided by using the matching of the screw shaft motor and the screw shaft reducer after tuning is finished; meanwhile, a nut shaft motor, a nut shaft speed reducer and a screw shaft gear set are used for driving a sleeve switching mechanism to rotate, so that the sleeve switching mechanism drives a nut sleeve to rotate, and a nut, a check washer and a tuning screw are fixed on a cover plate; and in the process of locking the nut through the nut sleeve, under the condition of not using the feedback of a torque sensor, the breakthrough of +/-5% precision of the nut locking torque is realized through a tail end stepping approach mode. In addition, when the sleeve switching mechanism switches the nut sleeve, the nut shaft motor is used for driving the sleeve switching mechanism to realize the switching of the nut sleeve, and a power source for driving the sleeve switching mechanism does not need to be arranged independently. Therefore, compared with the prior art that a screw shaft brake mechanism, a torque sensor and a power source for driving the sleeve switching mechanism to switch the nut sleeve are additionally arranged, the embodiment of the invention does not need to arrange the screw shaft brake mechanism, the torque sensor and the power source for driving the sleeve switching mechanism to switch the nut sleeve, so that the volume and the weight of the tuning tool bit device are obviously reduced, and the stability of the tuning tool bit device is improved.

In addition, a screw shaft brake mechanism and a torque sensor are not needed to be arranged, and a power source for driving the sleeve switching mechanism to switch the nut and the sleeve is not needed to be arranged independently, so that the manufacturing cost of the tuning tool bit device is reduced. Moreover, the weight of the tuning tool bit device is reduced, and the requirements of the transportable weight specification of the robot are correspondingly reduced, so that the overall size of the cavity filter tuning device is reduced, and the cost of the robot is correspondingly reduced due to the reduction of the requirements of the transportable weight specification of the robot.

With reference to the first aspect, in a first possible implementation manner of the first aspect, the screw shaft is a spline shaft, and the shaft hole of the first driven gear is a spline shaft hole adapted to the screw shaft.

With reference to the first aspect, in a second possible implementation manner of the first aspect, the screw shaft includes a spline section, the spline section extends to an upper end of the screw shaft, and the shaft hole of the first driven gear is a spline shaft hole adapted to the spline section.

With reference to the first aspect and the first and second possible implementation manners of the first aspect, in a third possible implementation manner of the first aspect, a first compression spring is sleeved on the screw shaft, and two ends of the first compression spring are respectively abutted against an end surface of the first driven gear and a stopper arranged on the screw shaft;

and when the screwdriver head is not in contact with the tuning screw, the screwdriver head extends out of the nut sleeve.

With reference to the first aspect and the first to third possible implementation manners of the first aspect, in a fourth possible implementation manner of the first aspect, the sleeve switching mechanism includes a cylindrical sleeve and a second compression spring, where:

the upper end of the cylindrical sleeve is connected with the second driven gear, and at least two convex teeth are arranged on the inner side of the lower end of the cylindrical sleeve;

the upper end of the nut sleeve is positioned in the cylindrical sleeve, the lower end of the nut sleeve is positioned outside the lower end of the cylindrical sleeve, a first annular limiting plate and a second annular limiting plate are sequentially stacked at the upper end of the nut sleeve, at least two first guide grooves and at least two first locking grooves are formed in the outer edge of the first annular limiting plate, and the first guide grooves and the first locking grooves penetrate through two end faces of the first annular limiting plate; the outer edge of the second annular limiting plate is provided with at least two second guide grooves, the second guide grooves penetrate through two end faces of the second annular limiting plate, and the second guide grooves are opposite to the first guide grooves;

each convex tooth is connected with one first locking groove in a clamping mode, and when the nut sleeve is switched, the convex tooth is separated from the corresponding first locking groove and released through the first guide groove and the second guide groove;

the second compression spring is sleeved on the screw shaft, and two ends of the second compression spring are respectively abutted to the second circular ring limiting plate and the end face of the second driven gear.

With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the teeth are distributed at equal intervals, the first locking grooves are distributed at equal intervals, and the first guide grooves are distributed at equal intervals;

the number of the first locking grooves and the number of the first guide grooves are positive integer multiples of the number of the convex teeth.

With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the number of the convex teeth, the number of the first locking grooves, and the number of the first guide grooves are the same, and the first locking grooves and the first guide grooves are alternately distributed.

With reference to the fourth to sixth possible implementation manners of the first aspect, in a seventh possible implementation manner of the first aspect, the sleeve switching mechanism further includes a transfer shaft, a first bearing, a second bearing, a bearing washer, a bearing cap, a spring seat, and a bearing seat, where:

a shaft shoulder is arranged on the outer circumferential surface of the adapter shaft, a stepped shaft hole is formed in the adapter shaft, and the adapter shaft is sleeved on the screw shaft; the upper end of the transfer shaft is connected with the end face of the second driven gear, and the lower end of the transfer shaft is inserted into the cylindrical sleeve from the upper end of the cylindrical sleeve and is fixedly connected with the cylindrical sleeve;

the inner ring of the first bearing is sleeved on the transfer shaft and is positioned between the shaft shoulder and the upper end of the transfer shaft; the outer ring of the first bearing is arranged in a bearing hole of the supporting plate, and the bearing washer and the bearing cover are respectively arranged at two ends of the first bearing;

the second bearing, the second compression spring, the spring seat and the bearing seat are sleeved on the screw shaft, and the bearing seat is positioned between the convex teeth and the upper end of the cylindrical sleeve and can slide in the cylindrical sleeve under the pushing of the upper end of the nut sleeve; the outer ring of the second bearing is installed in the bearing seat, the inner ring of the second bearing is sleeved on the spring seat, and two ends of the second compression spring are respectively abutted against the spring seat and the step of the stepped shaft hole.

With reference to the seventh possible implementation manner of the first aspect, in an eighth possible implementation manner of the first aspect, at least two edge cutting surfaces are arranged on the lower end of the transfer shaft to the outer circumferential surface of the transfer shaft between the shaft shoulders, each edge cutting surface is provided with a jackscrew groove, the cylindrical sleeve is provided with a corresponding number of jackscrew holes, and the transfer shaft and the cylindrical sleeve are fixed by jackscrews inserted into the jackscrew holes and the jackscrew grooves.

With reference to the fourth to eighth possible implementation manners of the first aspect, in a ninth possible implementation manner of the first aspect, the tuning bit device further includes a sleeve magazine used in cooperation with the sleeve switching mechanism, where the sleeve magazine includes:

the top surface is provided with a plurality of limiting bases with limiting grooves;

the support base is fixed on the top surface of the limiting base and provided with a plurality of nut sleeve jacks for storing nut sleeves of different specifications, and the nut sleeve jacks are communicated with the limiting grooves in a one-to-one correspondence manner;

and the sensor is arranged beside the limit groove and used for detecting whether the corresponding limit groove is provided with the nut sleeve or not.

With reference to the first aspect, in a tenth possible implementation manner of the first aspect, the screw shaft motor and the nut shaft motor are disposed on both sides of the screw shaft, and an output shaft of the screw shaft motor is directed opposite to an output shaft of the nut shaft motor.

With reference to the first aspect, in an eleventh possible implementation manner of the first aspect, the screwdriver head is a quincuncial screwdriver head, and the screwdriver hole of the tuning screw is a quincuncial hole.

In a second aspect, an embodiment of the present invention provides a cavity filter tuning apparatus, including: the tuning tool bit device of the first aspect and the first to eleventh possible modes, and a robot connected to the tuning tool bit device for controlling the operation of the tuning tool bit device.

Since the cavity filter tuning device provided by the embodiment of the present invention includes the tuning bit device described in the above embodiment, the advantages of the cavity filter tuning device provided by the embodiment of the present invention and the advantages of the tuning bit device described above with respect to the prior art are the same, and are not described herein again.

In a third aspect, an embodiment of the present invention provides a cavity filter tuning method, including:

the tool bit of the screwdriver is meshed with the screwdriver hole of the tuning screw to be tuned;

the nut shaft motor drives the nut sleeve to separate the nut from the anti-loosening gasket according to a nut loosening command sent by the robot;

the screw shaft motor drives the screwdriver according to a tuning instruction sent by the robot, so that the tuning screw rotates by a specified angle to finish tuning of the tuning screw;

the screw shaft motor provides a holding torque to fix the tuning screw at the tuned position in the previous step;

the nut shaft motor locks the nut, the tuning screw and the anti-loosening gasket on the cover plate at a moment of a preset specification according to a nut locking command sent by the robot.

Compared with the prior art, the tuning method of the cavity filter provided by the embodiment of the invention has the following advantages that:

the embodiment of the invention can realize the precision breakthrough of the nut locking torque of +/-5% by a tail end stepping approximation algorithm under the condition of not using the feedback of a torque sensor, and breaks through the cognition that the torque precision of the servo motor in the industry is difficult to reduce to +/-10%; meanwhile, the extremely high locking speed is ensured, and the locking efficiency is obviously improved compared with a tuning method with a torque sensor. In addition, a control mode of replacing torque sensor feedback with a tail end stepping approximation algorithm simplifies the structure of the tuning tool bit device, greatly reduces the weight of the tuning tool bit device and reduces the cost.

With reference to the third aspect, in a first possible implementation manner of the third aspect, the step of engaging the screwdriver bit with the screwdriver hole of the tuning screw to be tuned includes:

the tuning tool bit device moves to a position right above a tuning screw rod to be tuned under the control of the robot, and descends by a first set height, so that the tool bit of the screwdriver is in contact with the upper end of the tuning screw rod;

the screw shaft motor drives the screwdriver to rotate by a preset angle at a first preset rotating speed according to a tool setting instruction sent by the robot;

and when the rotation angle of the screwdriver does not reach a preset angle, the load current of the screw shaft motor reaches a first preset value, determining that the screwdriver head of the screwdriver is successfully meshed with the screwdriver hole of the tuning screw, and feeding back a signal indicating that the screwdriver is successfully meshed with the tuning screw to the robot.

With reference to the third aspect, in a second possible implementation manner of the third aspect, the step of driving the nut sleeve to separate the nut from the anti-loose washer according to a nut loosening command sent by the robot by the nut shaft motor comprises:

the nut shaft motor drives the nut sleeve to rotate according to a nut loosening command sent by the robot;

when the load current of the nut shaft motor reaches a second preset value, the nut sleeve is determined to be successfully meshed with the nut, and a signal indicating that the nut sleeve is successfully meshed with the nut is fed back to the robot;

and the robot continues to drive the nut sleeve to rotate for a specified angle according to the signal that the nut sleeve is successfully meshed with the nut and by taking the position of the nut sleeve as a reference, so that the nut rises for a specified height relative to the anti-loosening gasket.

With reference to the third aspect, in a third possible implementation manner of the third aspect, the step of locking the nut, the tuning screw and the anti-loose washer on the cover plate by the nut shaft motor with a torque of a preset specification according to a nut locking command sent by the robot includes:

setting the rotating speed of a nut shaft motor in a no-load stage as a first rotating speed, setting the load current as a first limiting current and setting a first skip current when the nut shaft motor is switched from the no-load stage to the load stage according to the target torque;

when the load current of the nut shaft motor reaches the first jump current, refreshing the second jump current when the nut shaft motor is switched from the load stage to the holding stage, wherein the rotating speed of the nut shaft motor in the load state is a second rotating speed, the load current is a second limiting current, and the nut shaft motor is switched from the load stage to the holding stage;

when the load current of the nut shaft motor reaches a second limiting current, the load current is made to approach a second jump current in a stepping approximation mode until the load current after stepping accumulation reaches the second jump current;

when the load current of the nut shaft motor reaches the second jump current, the rotating speed of the refreshing nut column motor is a third rotating speed, and the load current is a third limiting current;

when the load current of the nut shaft motor reaches a third limit current, the nut shaft motor is maintained at the third limit current for a preset time.

With reference to the third possible implementation manner of the third aspect, in a fourth possible implementation manner of the third aspect, in the process of locking the nut, the tuning screw and the anti-loose washer on the cover plate by the nut shaft motor at a preset specification torque according to a lock nut command sent by the robot:

when the rotation angle of the nut sleeve exceeds a preset locking angle and the load current of the nut shaft motor does not reach a third limiting current, judging that the nut has abnormal sliding teeth;

or when the load current of the nut shaft motor reaches the third limiting current and the rotation angle of the nut sleeve exceeds the locking error angle, judging that the nut has abnormal sliding teeth;

or when the load current of the nut shaft motor is reduced after exceeding the first jump current, judging that the nut has the tooth breaking abnormality.

With reference to the third aspect, in a fifth possible implementation manner of the third aspect, during the process that the screw shaft motor drives the screwdriver according to the tuning command sent by the robot, so that the tuning screw rotates by a specified angle, so as to complete tuning of the tuning screw:

when the load current of the screw shaft motor is larger than the screw shaft rotating current threshold value, judging that the tuning screw is clamped abnormally;

or, in the process that the nut shaft motor locks the nut, the tuning screw and the anti-loosening gasket on the cover plate by the torque of a preset specification according to a nut locking instruction sent by the robot, when the load current of the screw shaft motor is greater than the screw shaft locking current threshold, it is judged that the tuning screw is clamped abnormally;

the tuning screw rod is stuck abnormally and comprises: the tuning screw is clamped with the nut, and/or the tuning screw is clamped with the cover plate.

With reference to the third aspect and the first to fifth possible implementation manners, in a sixth possible implementation manner of the third aspect, when it is necessary to switch the nut sleeve, the cavity filter tuning method further includes:

the tuning tool bit device moves to the upper part of the sleeve warehouse under the control of the robot, and the nut sleeve with the current model is placed in the corresponding nut sleeve jack;

the tuning tool bit device moves to the position above the nut sleeve of the target model under the control of the robot, so that the screwdriver and the nut sleeve of the target model are coaxial, and the convex teeth of the cylindrical sleeve are respectively aligned to the second guide grooves on the nut sleeve of the target model;

the robot controls the tuning head device to descend, the convex teeth slide along the second guide groove and the first guide groove, and the second compression spring is compressed by the nut sleeve of the target model;

when the convex teeth slide out of the first guide grooves for a set distance, the nut shaft motor drives the cylindrical sleeve to rotate for a set angle, so that each convex tooth is aligned with one first locking groove;

the robot controls the tuning tool bit device to ascend, and each protrusion is clamped with the corresponding first locking groove;

and the robot controls the tuning tool bit device to continuously rise, so that the nut sleeve with the target model is separated from the nut sleeve jack.

In addition to the technical problems addressed by the embodiments of the present invention, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems that can be solved by the tuning bit device, the cavity filter tuning apparatus and the method provided by the embodiments of the present invention, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a prior art cavity filter;

FIG. 2 is a schematic diagram of a prior art tuned cutter head assembly;

FIG. 3 is a schematic diagram of a tuned cutter head assembly in accordance with an embodiment of the present invention;

FIG. 4 is a cross-sectional view of the sleeve switching mechanism of FIG. 3;

FIG. 5 is an exploded view of the nut-sleeve and sleeve-switching mechanism of FIG. 3;

FIG. 6 is a schematic structural diagram of a cartridge library according to an embodiment of the present invention;

FIG. 7 is a schematic view of a screwdriver in accordance with an embodiment of the present invention prior to engagement with a tuning screw;

FIG. 8 is a schematic view of the nut sleeve after the nut is tightened to the nut in an embodiment of the present invention;

FIG. 9 is a flow chart of a cavity filter tuning method according to an embodiment of the present invention;

FIG. 10 is a flowchart illustrating the execution of step 200 of FIG. 9;

FIG. 11 is a flowchart illustrating the execution of step 210 of FIG. 9;

FIG. 12 is a flowchart illustrating the execution of step 240 in FIG. 9;

FIG. 13 is a schematic representation of the characteristics of the nut shaft motor during the nut tightening process in an embodiment of the present invention;

FIG. 14 is a flow chart of the switching of the nut socket in an embodiment of the present invention.

Description of reference numerals:

10-cavity, 11-cover plate, 12-anti-loose washer,

13-nut, 14-tuning screw, 20-screw shaft,

21-screwdriver, 22-anti-slip piece, 30-nut sleeve,

31-a first circular ring-shaped limiting plate, 311-a first guide groove, 312-a first locking groove,

32-a second circular limiting plate, 321-a first guide groove, 33-an inner hexagonal counter bore,

40-a pneumatic sleeve switching mechanism, 41-a screw shaft brake mechanism, 42-a screw shaft reduction gear set,

43-an air supply pipeline, 44-a torque sensor, 45-a nut shaft speed reduction gear set,

50-screw shaft motor, 51-nut shaft motor, 60-screw shaft gear set,

60 a-a first driving gear, 60 b-a first driven gear, 61-a screw shaft reducer,

62-a first compression spring, 63-a stop, 64-a nut shaft reducer,

70-connecting block, 80-nut shaft gear set, 80 a-second driving gear,

80 b-a second driven gear, 90-a sleeve switching mechanism, 91-a cylindrical sleeve,

911-jackscrew hole, 92-convex tooth, 94-adapting shaft,

95-support plate, 96-first bearing, 97-bearing cap,

98-second compression spring, 99-bearing seat, 100-bearing washer,

101-spring seat, 102-second bearing, 941-jackscrew groove,

110-limit base, 111-limit groove, 112-sensor,

120-support base, 121-nut socket insertion hole, 34-chamfered surface.

Detailed Description

In order to make the aforementioned objects, features and advantages of the embodiments of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 3 to 8, a tuning bit device according to an embodiment of the present invention includes a screw shaft motor 50, a screw shaft reducer 61, a screw shaft gear set 60, a screw shaft 20, a screwdriver 21, a nut shaft motor 51, a nut shaft reducer 64, a nut shaft gear set 80, a sleeve switching mechanism 90, and a nut sleeve 30, wherein:

the screw shaft gear set 60 includes a first driving gear 60a and a first driven gear 60b which are engaged, and the nut shaft gear set 80 includes a second driving gear 80a and a second driven gear 80b which are engaged; the screw shaft reducer 61 is respectively connected with the screw shaft motor 50 and the first driving gear 80a, the nut shaft reducer 64 is respectively connected with the nut shaft motor 51 and the second driving gear 80a, the first driven gear 60b and the second driven gear 80b are oppositely arranged, and the shaft hole central line of the first driven gear 60b is superposed with the shaft hole central line of the second driven gear 80 b;

the socket switching mechanism 90 is connected to the second driven gear 80b and the nut socket 30, respectively; the screw shaft 20 passes through the inner hole of the nut socket 30, the shaft hole of the second driven gear 80b and the shaft hole of the first driven gear 60b, and the screw shaft 20 is in key connection with the shaft hole of the first driven gear 60 b; the upper end of the screw shaft 20 is provided with a separation preventing member 22, and the lower end of the screw shaft 20 is provided with a screw driver 31 coaxial with the screw shaft 20 and the nut socket 30, respectively.

In specific implementation, the screw shaft motor 50 and the nut shaft motor 51 are usually servo motors, and the servo motors usually include a motor, a driver and an encoder, wherein the driver receives a driving command sent by the robot to control the rotation of the motor, and compares a feedback value with a target value according to a feedback signal of the encoder to adjust the rotation speed or rotation angle of the motor. In order to reduce the space occupied by the screw shaft motor 50 and the nut shaft motor 51, in a preferred embodiment, the screw shaft motor 50 and the nut shaft motor 51 are symmetrically arranged in opposite directions with respect to the screw shaft 20, as shown in fig. 3, i.e., the screw shaft motor 50 and the nut shaft motor 51 are disposed on both sides of the screw shaft 20, and the output shaft of the screw shaft motor 50 is directed in the opposite direction to the output shaft of the nut shaft motor 51.

The screw shaft reducer 61 and the nut shaft reducer 64 are generally planetary reducers, and the output rotation speeds of the screw shaft motor 50 and the nut shaft motor 51 can be reduced to desired rotation speeds by using the planetary reducers, and in addition, the installation space occupied by the screw shaft reducer 61 and the nut shaft reducer 62 can be reduced, and the overall weight of the tuning bit device can be reduced. The screw shaft reducer 61 is connected to the screw shaft motor 50, for example, an input shaft of the screw shaft reducer 61 is connected to an output shaft of the screw shaft motor 50 through a coupling, or, as in the present embodiment, a shaft hole of an input gear of the screw shaft reducer 61 is fitted to an output shaft of the screw shaft motor 50, so that the connection between the input gear of the screw shaft reducer 61 and the screw shaft motor 50 is achieved. The nut shaft reducer 64 is connected to the nut shaft motor 51 in a similar manner to the screw shaft reducer 61 and the screw shaft motor 50, and therefore, description thereof will be omitted.

The screw shaft gear set 60 includes a first driving gear 60a and a first driven gear 60b that mesh with each other, and the nut shaft gear set 80 includes a second driving gear 80a and a second driven gear 80b that mesh with each other. The screw shaft reducer 61 is connected to the first drive gear 60a of the screw shaft gear set 60, for example, an output shaft of the screw shaft reducer 61 is connected to the first drive gear inserted in a shaft hole of the first drive gear 60a through a coupling, or, as in the present embodiment, an output shaft of the screw shaft reducer 61 is inserted in a shaft hole of the first drive gear 60 a. The nut shaft reducer 64 is connected to the second driving gear 80a in a similar manner to the screw shaft reducer 61 and the first driving gear 60a, and thus, will not be described in detail.

After the screw shaft motor 50, the screw shaft reducer 61, the screw shaft gear set 60, the nut shaft motor 51, the nut shaft reducer 64 and the nut shaft gear set 80 are assembled, the first driven gear 60b and the second driven gear 80b are oppositely arranged, and the shaft hole of the first driven gear 60b is coaxial with the shaft hole of the second driven gear 80b, namely, the shaft hole central line of the first driven gear 60b is superposed with the shaft hole central line of the second driven gear 80b, so that the screw shaft 20 can be assembled subsequently, and the screw shaft 20, the screwdriver 21 and the nut sleeve 30 can be ensured to be coaxial, thereby facilitating the completion of tuning tool setting and improving the tuning efficiency.

It is worth mentioning that in order to make the screw shaft motor 50, the screw shaft reducer 61, the screw shaft gear set 60, the nut shaft motor 51, the nut shaft reducer 64 and the nut shaft gear set 80 integrated after assembly to facilitate the robot to move the tuning bit device, in one possible implementation, the housing of the screw shaft motor 50 is connected with the housing of the nut shaft gear set 80, and the housing of the screw shaft gear set 60 is connected with the housing of the nut shaft motor 51; alternatively, in another possible implementation, the screw shaft motor 50 and the nut shaft motor 51 are fixedly mounted on the same support plate 95.

The socket switching mechanism 90 is connected to the nut socket 30 and the second driven gear 80b, respectively, to transmit the output shaft rotation angle and the rotation speed of the nut shaft motor 51 to the socket switching mechanism 90 through the nut shaft reducer 64, the second driving gear 80a, and the second driven gear 80b, to rotate the socket switching mechanism 90, thereby rotating the nut socket 30 at a set rotation speed, and controlling the nut socket 30. The upper end of the nut sleeve 30 is connected with the sleeve switching mechanism 90, the inner side of the lower end of the nut sleeve 30 is provided with an inner hexagonal counterbore 33 matched with the nut 13, and the inner hexagonal counterbore 33 is meshed with the nut 13 of the cavity filter and used for locking and loosening the nut 13. When tuning a different model of tuning screw 14, the nut sleeve 30 currently fitted on the sleeve switching mechanism 90 can be replaced with a nut sleeve 30 corresponding to the model of tuning screw 14 to be tuned, using the sleeve switching mechanism 90.

The screw shaft 20 is installed in the inner hole of the nut socket 30, the shaft hole of the second driven gear 80b and the shaft hole of the first driven gear 60b, and the screw shaft 20 and the shaft hole of the first driven gear 60b are connected by a key, for example, a flat key or a spline, so that the screw shaft 20 and the first driven gear 60b rotate synchronously. When the output shaft of the screw shaft motor 50 rotates, the screw shaft motor 50 transmits a driving force to the screw shaft 20 through the screw shaft reducer 61, the first driving gear 60a and the first driven gear 60b, and the screw shaft 20 is rotated by the first driven gear 60 b. The upper end of the screw shaft 20 is located above the first driven gear 60b, the lower end of the screw shaft 20 is located below the second driven gear 80b, and the upper end of the screw shaft 20 is provided with a separation preventing member 22 for preventing the screw shaft 20 from separating out of the shaft hole of the first driven gear 60b under the self-gravity action. The lower end of the screw shaft 20 is provided with a driver 21 coaxial with the screw shaft 20 and the nut socket 30, respectively, and the driver 21 is rotatable in synchronization with the screw shaft 20. The head of the screwdriver 21 is typically a quincunx head and the screwdriver holes of the tuning screw 14 are correspondingly quincunx holes. It should be noted that, in order to improve the versatility of the screwdriver 21 and reduce the number of times of replacing the screwdriver 21, the screwdriver holes at the upper end of the tuning screws 14 can be grouped into screwdriver holes of the same specification, such as grouping T8, so that the tuning bit device can be compatible with tuning screws 14 of all models without replacing the screwdriver 21.

When tuning the cavity filter using the tuning bit device according to this embodiment, the tuning bit device is connected to the mechanical arm of the robot through the connecting member 70, and it is first necessary to move the tuning bit device above the tuning screw 14, as shown in fig. 7 and 8, and then to lower it to a predetermined height so that the nut socket 30 is engaged with the nut 13 and the bit of the screwdriver 21 is engaged with the screwdriver hole of the tuning screw 14. Then, the nut sleeve 30 is driven to rotate by the nut shaft motor 51, the nut 13 in the pre-locking state is loosened, the nut 13 is lifted to a set height relative to the anti-loosening gasket 12, and a gap is formed between the nut 13 and the anti-loosening gasket 12; when the nut 13 is raised to a set height, the tuning screw 14 is in a free state of rotation. After receiving the tuning command, the screw shaft motor 50 drives the screw shaft 20 to drive the screwdriver 21 to rotate a set angle, so that the tuning screw 14 rotates the set angle, and further, the length of the tuning screw 14 in the cavity of the cavity filter is changed, so that the cavity filter reaches the required performance index. After the tuning screw 14 is tuned, the screw shaft motor 50 provides a holding torque to fix the tuning screw 14 at the tuned position, and the nut shaft motor 51 drives the nut sleeve 30 to rotate and locks the nut according to the torque of a predetermined specification, so that the nut 13, the anti-loose gasket 12 and the tuning screw 14 are locked on the cover plate 11, and the performance index of the cavity filter is ensured.

In the tuning bit device provided in the present embodiment, the rotation angles of the screw shaft 20 and the driver 21 are controlled by the screw shaft motor 50, the screw shaft reducer 61, and the screw shaft gear set 60, and the holding force for holding the tuning screw 14 in the tuned position is provided by the cooperation of the screw shaft motor 50 and the screw shaft reducer 61 after the tuning is completed; in addition, the nut shaft motor 51, the nut shaft reducer 64 and the screw shaft gear set 80 are used for driving the sleeve switching mechanism 90 to rotate, so that the sleeve switching mechanism 90 drives the nut sleeve 30 to rotate, and the nut 13, the anti-loose gasket 12 and the tuning screw 14 are fixed on the cover plate 11; in the process of locking the nut 13 through the nut sleeve 30, under the condition of not using the feedback of a torque sensor, the breakthrough of the accuracy of the nut locking torque of +/-5 percent is realized through a tail end stepping approach mode. Further, when the nut socket 30 is switched by the socket switching mechanism 90, the nut socket 30 can be switched by driving the socket switching mechanism 90 by the nut shaft motor 51, and it is not necessary to separately provide a power source for driving the socket switching mechanism 90.

Therefore, the embodiment of the invention can provide the holding force for enabling the tuning screw to stay at the tuned position without arranging a screw shaft brake mechanism, the nut 13 can be locked by the torque of the preset specification without using a torque sensor, and meanwhile, the switching of the nut sleeve 30 can be realized without independently arranging a power source for driving the sleeve switching mechanism 90 to switch the nut sleeve 30, compared with the prior art which needs to additionally arrange the screw shaft brake mechanism and the torque sensor and independently arrange the power source for driving the sleeve switching mechanism 90 to switch the nut sleeve 30, the volume and the weight of the tuning tool bit device are obviously reduced, and the stability of the tuning tool bit device is improved. Furthermore, the selection of the screw shaft motor 50 and the nut shaft motor 51 is not limited, so that the volume and weight of the tuning bit device can be further reduced.

In addition, a screw shaft brake mechanism and a torque sensor are not required to be arranged, and a power source for driving the sleeve switching mechanism to switch the nut and the sleeve is not required to be arranged independently, so that the manufacturing cost of the tuning tool bit device is reduced. Moreover, the weight of the tuning tool bit device is reduced, and the requirements of the transportable weight specification of the robot are correspondingly reduced, so that the overall size of the cavity filter tuning device is reduced, and the cost of the robot is correspondingly reduced due to the reduction of the requirements of the transportable weight specification of the robot.

In the above-described embodiment, the screw shaft 20 is used to connect the first driven gear 60b and the driver 21 and to transmit the output power of the screw shaft motor 50 to the driver 21. Adopt the key-type connection between the shaft hole of screw shaft 20 and first driven gear 60b, in a possible implementation, screw shaft 20 is the integral key shaft, and correspondingly, the shaft hole of first driven gear 60b is the spline shaft hole with screw shaft 20 adaptation, and when screw shaft 20 cartridge was in the shaft hole of first driven gear 60b, adopt spline fit between screw shaft 20 and the shaft hole of first driven gear 60b, screw shaft 20 can slide relative to first driven gear 60 b. By such design, it is ensured that the first driven gear 60b transmits the driving force to the screw shaft 20, and at the same time, when the screwdriver 21 abuts against the upper end of the tuning screw 14, the force of the tuning screw 14 on the screwdriver 21 causes the screw shaft 20 to slide upwards relative to the first driven gear 60b, so as to prevent the screwdriver 21 from impacting or crushing the tuning screw 14.

The screw shaft 20 is not limited to the above form, and in another possible implementation, the screw shaft 20 includes a spline section extending to an upper end of the screw shaft, and the shaft hole of the second driven gear is a spline shaft hole adapted to the spline section. In more detail, the screw shaft 20 includes a polished rod section and a spline section fitted with the shaft hole of the second driven gear 60b, and the spline section extends to the upper end of the screw shaft 20 in order to facilitate the fitting of the spline section of the screw shaft 20 into the shaft hole of the second driven gear 60 b. The screw shaft 20 and the shaft hole of the first driven gear 60b are connected in a spline manner, so that the clearance between the screw shaft 20 and the shaft hole of the first driven gear 60b can be reduced, and the matching precision is improved, so that the rotation precision of the screwdriver 21 is improved, and the tuning precision in adjusting the tuning screw is improved; further, when the driver 21 abuts against the upper end of the tuning screw 14, the force of the tuning screw 14 against the driver 21 causes the screw shaft 20 to slide up relative to the first driven gear 60b, preventing the driver 21 from impacting or crushing the tuning screw 14.

In order to facilitate the engagement of the screwdriver bit of the screwdriver 21 with the screwdriver hole of the tuning screw 14 during the descending process of the screwdriver 21, in one possible implementation manner, please refer to fig. 3, a first compression spring 62 is sleeved on the screw shaft 20, and two ends of the first compression spring 62 are respectively abutted against the end surface of the first driven gear 60b and a stop 63 arranged on the screw shaft 20; when the bit of the screwdriver 21 is not in contact with the tuning screw 14, the bit of the screwdriver 21 extends out of the nut socket 30. Specifically, the upper end of the screw shaft 20 is connected with a separation preventing member 22, for example, provided with a screw cap having a diameter larger than the shaft hole diameter of the first driven gear 60b, preventing the screw shaft 20 from separating out of the shaft hole of the first driven gear 60b by its own weight. A stopper 63 is provided on the screw shaft 20 between the first driven gear 60b and the second driven gear 80b, and the shape of the stopper 63 is not limited in this embodiment, for example, the stopper is circular ring-shaped, and the stopper 63 is fixedly connected to the screw shaft 20. The first compression spring 62 is sleeved on the screw shaft 20 between the stopper 63 and the first driven gear 60b, and two ends of the first compression spring 62 respectively abut against the end surface of the first driven gear 60b and the stopper 63, so that the first compression spring 62 has a certain pretightening force to ensure that the screwdriver bit of the screwdriver 21 is positioned outside the lower end of the nut sleeve 30. When the screwdriver 21 is pushed upward after the screwdriver bit of the screwdriver 21 contacts the upper end of the tuning screw 14, the first compression spring 62 is compressed, and the first compression spring 62 generates a downward pressure on the screwdriver 21 while being compressed, so as to push the screwdriver bit of the screwdriver 21 to the bottom of the screwdriver hole of the tuning screw 14. By the design, the first compression spring 62 is utilized to realize the axial flexibility of the screw shaft 20, so that the height change of the tuning screw 14 in the rotating process can be absorbed, and the cutter head of the screwdriver 21 is ensured not to be separated from the screwdriver hole of the tuning screw 14; furthermore, it is possible to prevent the tuning screw 14 from being crushed by the screwdriver 21 during the tool setting.

Since different module nuts 13, tuning screws 14 and anti-loose washers 12 are usually used for cavity filters of different specifications, for example, M4, M5 or M8, and the screwdriver holes at the upper ends of the tuning screws 14 can be grouped into screwdriver holes of the same specification, for example, into T8, for tuning screws 14 of different modules, the tuning bit device can be compatible with tuning screws of all models without replacing the screwdriver 21. For nuts 13 of different specifications, because the radial dimensions of the nuts 13 of different specifications are greatly different, each kind of nut 13 needs to be supported by a corresponding nut sleeve 30, so that the tuning tool bit device needs to be flexibly and quickly switched into the nut sleeve 30 of a required model according to the model of the nut 13 in the tuning process so as to improve the tuning efficiency.

Although there are many different types of sleeve switching mechanisms in the existing tuning bit device, it is generally necessary to provide an independent power source for driving, for example, the pneumatic sleeve switching mechanism 40 shown in fig. 2 requires an air source to supply air through an air supply line 43, which results in a large volume and weight of the tuning bit device, and the pneumatic sleeve switching mechanism 40 needs to rotate and move up and down during the tuning process of the tuning bit device to the cavity filter, but the air supply line 43 is easy to wind, and the rotation range of the nut sleeve 30 is limited, which affects the tuning efficiency.

In view of the above situation, the present embodiment is further improved on the basis of the above-mentioned tuning bit device. Referring to fig. 4 and 5, the sleeve switching mechanism 90 includes a cylindrical sleeve 91 and a second compression spring 98, wherein: the upper end of the cylindrical sleeve 91 is connected with the second driven gear 80b, and at least two convex teeth 92 are arranged on the inner side of the lower end of the cylindrical sleeve 91; the upper end of the nut sleeve 30 is positioned in the cylindrical sleeve 91, the lower end of the nut sleeve 30 is positioned outside the lower end of the cylindrical sleeve 91, the upper end of the nut sleeve 30 is sequentially provided with a first annular limiting plate 31 and a second annular limiting plate 32 in a stacking manner, the outer edge of the first annular limiting plate 31 is provided with at least two first guide grooves 311 and at least two first locking grooves 312, and the first guide grooves 311 and the first locking grooves 312 penetrate through two end faces of the first annular limiting plate 31; the outer edge of the second circular ring-shaped limiting plate 32 is provided with at least two second guide grooves 321, the second guide grooves 321 penetrate through two end faces of the second circular ring-shaped limiting plate 32, and the second guide grooves 321 are opposite to the first guide grooves 311.

Each of the convex teeth 92 is snap-coupled with one of the first locking grooves 312, and when the nut sleeve 30 is switched, the convex teeth 92 are separated from the corresponding first locking groove 312 and released by the first guide grooves 311 and the second guide grooves 312; the second compression spring 98 is sleeved on the screw shaft 20, and two ends of the second compression spring 98 are respectively abutted against the end faces of the second annular limiting plate 32 and the second driven gear 80 b.

Specifically, in the above-described embodiment, both the cylindrical sleeve 91 and the nut sleeve 30 are of a cylindrical structure in which the inner diameter of the cylindrical sleeve 91 is slightly larger than the outer diameter of the nut sleeve 30, so that the upper end of the nut sleeve 30 is inserted into the cylindrical sleeve 91, while also preventing the nut sleeve 30 from shaking within the cylindrical sleeve 91. The cylindrical sleeve 91 is disposed coaxially with the second driven gear 80b, and an upper end of the cylindrical sleeve 91 is fixedly connected to an end face of the second driven gear 80b, for example, by inserting a screw to connect the upper end of the cylindrical sleeve 91 to the end face of the second driven gear 80b, so that the cylindrical sleeve 91 rotates and moves up and down along with the second driven gear 80 b.

At least two convex teeth 92 are arranged inside the lower end of the cylindrical sleeve 91, for example, four convex teeth 92 are arranged in the present embodiment, and in an alternative implementation, the four convex teeth 92 are distributed at equal intervals. The convex teeth 92 are provided along the radial direction of the cylindrical sleeve 91, and the convex teeth 92 are used for locking the nut sleeve 30 and driving the nut sleeve 30 to rotate and move up and down together with the cylindrical sleeve 91.

The first annular limiting plate 31 and the second annular limiting plate 32 are stacked at the upper end of the nut sleeve 30 and are coaxial with the nut sleeve 30. Wherein, first ring shape limiting plate 31 suit is fixed in the upper end of nut sleeve 30, and second ring shape limiting plate 32 is fixed on first ring shape limiting plate 31, and second ring shape limiting plate 32 and first ring shape limiting plate 3 can pass through screwed connection, make second ring shape limiting plate 32, first ring shape limiting plate 3 and nut sleeve 30 even be a whole to make first ring shape limiting plate 31 and second ring shape limiting plate 32 can follow nut sleeve 30 simultaneously and rotate or lift and move. The outer diameter of the first circular ring-shaped limiting plate 31 and the outer diameter of the second circular ring-shaped limiting plate 32 are slightly smaller than the inner diameter of the cylindrical sleeve 91, so that the first circular ring-shaped limiting plate 31 and the second circular ring-shaped limiting plate 32 enter the cylindrical sleeve 91 along with the upper end of the nut sleeve 30, and meanwhile, the first circular ring-shaped limiting plate 31 and the second circular ring-shaped limiting plate 32 can be prevented from shaking in the cylindrical sleeve 91. The inner diameter of the first annular limiting plate 31 and the inner diameter of the second annular limiting plate 32 are both larger than the outer diameter of the screw shaft 20, so as not to influence the rotation and lifting movement of the screw shaft 20. In a preferred embodiment, the outer diameter of the first annular limiting plate 31 is the same as the outer diameter of the second annular limiting plate 32, and the inner diameter of the first annular limiting plate 31 is the same as the inner diameter of the second annular limiting plate 32.

The outer edge of the first circular ring limitation plate 31 is provided with at least two first guide grooves 311 and at least two first locking grooves 312, for example, in the present embodiment, the outer edge of the first circular ring limitation plate 31 is provided with four first guide grooves 311 and four first locking grooves 312, and the first guide grooves 311 and the first locking grooves 312 penetrate both end faces of the first circular ring limitation plate 31. The outer edge of the second circular ring-shaped limiting plate 32 is provided with at least two second guide grooves 321, for example, in this embodiment, the outer edge of the second circular ring-shaped limiting plate 32 is provided with four second guide grooves 321, and the second guide grooves 321 penetrate through two end faces of the second circular ring-shaped limiting plate 32. The second guide groove 321 faces the first guide groove 311 such that the second guide groove 321 communicates with the first guide groove 311, and the second guide groove 321 and the first guide groove 311 constitute a guide structure that catches the convex teeth 92 or releases the convex teeth 92. The first locking groove 312 is used for snap-engagement with the convex tooth 92, thereby locking the nut socket 30 to the socket switching mechanism 90, so that the nut socket 30 rotates and moves up and down along with the socket switching mechanism 91.

It should be noted that the first circular ring-shaped limiting plate 31 and the second circular ring-shaped limiting plate 32 may be an integrated circular ring structure, and the opposite second guiding groove 321 and the first guiding groove 311 may be integrated into one guiding groove; the first locking groove 312 is a sunken groove penetrating only one end surface of the annular structure, and for example, the depth of the first locking groove 312 may be half the thickness of the integral annular structure. With this design, the arrangement of the guide groove and the first locking groove 312 is similar to that of the above embodiment, and thus, the description thereof is omitted.

When the nut sleeve 30 is switched by the sleeve switching mechanism, the robot moves the tuning tool bit device to a cache position of the nut sleeve 30, such as above a sleeve library, and places the nut sleeve 30 of the current model at the cache position of the nut sleeve; then, the nut sleeve 30 is moved to the upper part of the nut sleeve of the target model, and the second guide groove 321 of the nut sleeve 30 of the target model is opposite to the convex teeth 92 of the cylindrical sleeve 91; next, the cylindrical sleeve 91 is lowered to a set height so that the teeth 92 slide in from the second guide grooves 321 and slide out from the first guide grooves 311 by a set distance; then, the nut shaft motor 51 drives the cylindrical sleeve 91 to rotate by a set angle, so that the convex teeth 92 are opposite to the first locking grooves 312, then the cylindrical sleeve 91 is lifted up, so that the convex teeth 92 are clamped in the first locking grooves 312, and the cylindrical sleeve 91 is continuously lifted up, thereby completing the replacement work of the nut sleeve 30. More detailed sleeve switching mechanism and switching process will be described in the following embodiments.

In the switching process of the nut sleeve 30, the nut shaft motor 51 is used for driving the sleeve switching mechanism 90 to switch the nut sleeve 30, compared with the prior art, an additional power source is not required to be arranged in the tuning tool bit device, and therefore the volume and the weight of the tuning tool bit device are reduced; in addition, an additional power source is omitted, so that the influence of the additionally arranged power source and accessories on the tuning efficiency of the tuning tool bit device is avoided, and meanwhile, the cost of the tuning tool bit device is also reduced.

It is to be noted that, for the sake of convenience of control, the respective teeth 92 are equally spaced, the respective first locking grooves 312 are equally spaced, and the respective first guide grooves 311 are equally spaced. Further, the number of the first locking grooves 312 and the number of the first guide grooves 311 are positive integer multiples of the number of the first teeth 92, for example, the number of the first locking grooves 312 and the number of the first guide grooves 311 are both four, and the number of the first teeth 92 is four, that is, the number of the first teeth 92, the number of the first locking grooves 312, and the number of the first guide grooves 311 are the same, in which case the first locking grooves 312 and the first guide grooves 311 are alternately distributed. As another example, the number of the first locking grooves 312 and the number of the first guide grooves 311 are four, and the number of the convex teeth 92 is 2, that is, the number of the first locking grooves 312 and the number of the first guide grooves 311 are 2 times the number of the convex teeth 92.

In order to make the above-mentioned sleeve switching mechanism 90 more smoothly and efficiently switch the nut sleeve 30, in an alternative implementation, the sleeve switching mechanism 90 further includes a transfer shaft 94, a first bearing 96, a second bearing 102, a bearing washer 100, a bearing cap 97, a spring seat 101, and a bearing seat 99, wherein:

the outer circumferential surface of the adapter shaft 94 is provided with a shoulder that divides the outer circumferential surface of the adapter shaft 94 into two shaft sections, and the diameters of the two shaft sections may be the same or different, for example, in this embodiment, the diameter of the shaft section between the shoulder and the lower end of the adapter shaft 94 is larger than the diameter of the shaft section between the shoulder and the upper end of the adapter shaft. A stepped shaft hole is formed inside the adapter shaft 94, the adapter shaft 94 is sleeved on the screw shaft 20, and the upper end of the adapter shaft 94 is connected with the end surface of the second driven gear 80b, for example, through a screw; the lower end of the transfer shaft 94 is inserted into the cylindrical sleeve 91 from the upper end of the cylindrical sleeve 91, and is fixedly connected to the cylindrical sleeve 91. The inner ring of the first bearing 96 is sleeved on the adapter shaft 94, and the first bearing 96 is positioned between the shaft shoulder and the upper end of the adapter shaft 94; the outer race of the first bearing 96 is fitted in the bearing hole of the support plate 95, and both ends of the first bearing 96 are provided with a bearing washer 100 and a bearing cap 97, respectively.

The second bearing 102, the second compression spring 98, the spring seat 101 and the bearing seat 99 are positioned in the cylindrical sleeve 91 and are sleeved on the screw shaft 20, and the bearing seat 99 is positioned between the convex teeth 92 and the upper end of the cylindrical sleeve 91 and can slide in the cylindrical sleeve 91 under the pushing of the upper end of the nut sleeve 30; wherein, the outer ring of the second bearing 102 is installed in the bearing seat 99, the inner ring of the second bearing 102 is sleeved on the spring seat 101, two ends of the second compression spring 98 respectively abut against the spring seat 101 and the step of the stepped shaft hole of the adapting shaft 94, and the second compression spring 98 is generally installed between the spring seat 101 and the stepped shaft hole of the adapting shaft 94 with a certain pretightening force, so that the lower end of the nut sleeve 30 protrudes out of the cylindrical sleeve 91.

In other words, the above-described embodiment provides the sleeve switching mechanism 90 of a simple structure, by which the quick switching of the nut sleeve is achieved by the sleeve switching mechanism 90. The sleeve switching mechanism 90 includes an adapter shaft 94, a first bearing 96, a second bearing 102, a bearing washer 100, a bearing cap 97, a spring seat 101, a bearing seat 99, an adapter shaft 94, and a cylindrical sleeve 91, wherein the adapter shaft 94 is connected to the second driven gear 80b in the axial direction by a bolt or a screw and is fixed to a support plate 95 of the tuning bit device by the first bearing 96, the bearing washer 100, and the bearing cap 97, and a nut shaft motor 51 transmits a driving force to the adapter shaft 94 through a nut shaft reducer 64 and a nut shaft gear group 80.

The cylindrical inner wall of the upper end of the cylindrical sleeve 91 is matched with the outer wall of the adapting shaft 94, and the adapting shaft is fixed on the edge cutting surfaces of the adapting shaft 94 through 4 jackscrews distributed on the circumference, for the purpose of stable structure, in an optional implementation mode, at least two edge cutting surfaces are arranged on the outer circumferential surface of the adapting shaft 20 between the lower end of the adapting shaft 94 and the shaft shoulder, each edge cutting surface is provided with one jackscrew groove 941, the cylindrical sleeve 91 is provided with a corresponding number of jackscrew holes 911, and the adapting shaft 94 and the cylindrical sleeve 91 are fixed through the jackscrews inserted in the jackscrew holes 911 and the jackscrew grooves 941. For example, in the present embodiment, the adapter shaft 94 is provided with 4 chamfered surfaces, each of which is provided with a threading groove 941, and the cylindrical sleeve 91 is provided with a threading hole 911 through which a threading is inserted into the threading hole 911 and the threading groove 941, so that the cylindrical sleeve 91 and the adapter shaft 94 are simultaneously rotated and moved up and down. The lower extreme of cylindric sleeve 91 is provided with 4 dogteeth 92, be provided with second compression spring 98 between dogtooth 92 and the adapting shaft 94, the upper end of second compression spring 98 directly contacts with the step in the adapting shaft 94, the lower extreme is held by spring holder 101, spring holder 101 cooperates with the inner circle of second bearing 102, the outer lane of second bearing 102 cooperates with bearing frame 99, under initial condition, second compression spring 98 has certain precompression volume, bearing frame 99 produces decurrent pressure under the effect of second compression spring 98, make the lower extreme of nut sleeve 30 stretch out cylindric sleeve 91 outward, and make nut sleeve 30 have the axial flexibility.

The first circular ring-shaped limiting plate 31 at the upper end of the nut sleeve 30 is provided with 4 first guide grooves 311 and 4 first locking grooves 312 which are uniformly distributed on the circumference, the second circular ring-shaped limiting plate 32 is provided with 4 second guide grooves 321, and the second guide grooves 321 are opposite to and communicated with the first guide grooves 311. In the process of switching the nut socket 30, the second guide grooves 321 and the first guide grooves 311 are used to catch the convex teeth 92 and release the convex teeth 92, and the first locking grooves 312 are used to engage with the convex teeth 92, thereby locking the nut socket 30 on the socket switching mechanism 90, so that the nut socket 30 rotates and moves up and down along with the socket switching mechanism 91.

In order to facilitate the switching of the nut sleeves by the sleeve switching mechanism, in an alternative implementation manner, the tuning tool bit device further includes a sleeve magazine used in cooperation with the sleeve switching mechanism 90, please refer to fig. 6, the sleeve magazine includes a limiting base 110, a supporting base 120 and a sensor 112, wherein the limiting base 110 generally includes a base plate and a boss disposed on an upper surface of the base plate, the boss is provided with a plurality of limiting grooves 111 extending to the upper surface of the base plate, the supporting base 120 is fixedly mounted on the boss, the supporting base 120 is provided with a plurality of nut sleeve jacks 121 for storing nut sleeves 30 of different specifications, and each nut sleeve jack 121 is in one-to-one correspondence with each limiting groove 111; the sensor 112 is disposed beside the limit groove 111 and is used for detecting whether the nut socket 30 is in the limit groove 111 or not and feeding back whether the nut socket 30 is successfully grabbed or successfully placed or not.

The nut sockets 30 stored in the above-described socket magazine generally have the following structure: the inner side of the lower end of the nut sleeve 30 is usually a hexagon socket counter bore matched with the nut, and the outer side of the lower end of the nut sleeve 30 is provided with four chamfered edges 34 at intervals of 90 degrees according to the circumference, which are matched with the limiting grooves 111 on the limiting base 110 to realize the rotation limitation in the circumferential direction. The switching flow of the nut socket 30 of the above-described socket switching mechanism will be described in detail with reference to fig. 4, 5, and 6.

Firstly, the tuning tool bit device is controlled by a robot to move to a position right above a nut sleeve jack 121 in a sleeve warehouse for storing a nut sleeve 30 of the current model, so that the nut sleeve 30 of the current model is right opposite to the nut sleeve jack 121; and then the tuning tool bit device is controlled to descend, so that the lower end of the nut sleeve 30 of the current model is abutted against the bottom surface of the limiting groove 111. The tuning bit assembly is then controlled to lower to disengage the teeth 92 from the first locking grooves 312. Then, the nut shaft motor 51 drives the present model of nut socket 30 to rotate by a prescribed angle, so that each of the convex teeth 92 faces each of the first guide grooves 311, and controls the tuning bit device to ascend, so that the present model of nut socket 30 is separated from the cylindrical socket 91, and the present model of nut socket 30 is left in the nut socket insertion hole 121.

Next the tuning bit device is moved over the target size of the nut-socket and the screwdriver 21 is secured coaxially with the target size of the nut-socket 30, the four teeth 92 of the cylindrical socket 91 being aligned with the second guiding grooves 321 on the nut-socket 30. Then, the robot drives the tuning bit device to descend, the screwdriver 21 enters the inner hole of the nut sleeve 30 of the target model, and the convex teeth 92 pass through the second guide grooves 321 and the first guide grooves 311 until the bottom surface of the bearing seat 99 contacts with the top surface of the second circular limiting plate 32.

When the robot continues to lower the tuning bit device, the second compression spring 98 will be compressed, and when the upper surface of the teeth 92 is lowered to about 1mm from the lower surface of the first guide grooves 311, the nut shaft motor 51 will drive the cylindrical sleeve 90 to rotate 45 ° to align the teeth 92 with the first locking grooves 312.

After the convex teeth 92 are aligned with the first locking grooves 312, the robot drives the tuning tool bit device to ascend, meanwhile, the nut sleeve 30 of the target model, the first circular ring limiting plate 31 and the second circular ring limiting plate 32 are combined to move downwards under the action of self gravity and the pressure of the second compression spring 98, the convex teeth 92 enter the first locking grooves 312, and after the tuning tool bit device ascends by a certain height, the upper surfaces of the convex teeth 92 contact the lower surfaces of the second circular ring limiting plates 32, so that the nut sleeve 30 of the target model is locked. The tuning tool bit device continues to rise, the convex teeth 92 lift the combination of the nut sleeve 30 of the target model, the first circular ring-shaped limiting plate 31 and the second circular ring-shaped limiting plate 32 to enable the combination to be separated from the limiting base 110, and after the lower end of the nut sleeve 30 of the target model is higher than the top surface of the supporting base 120 by a certain height, the robot can take the switched nut sleeve 30 to move to the position of the screw to be tuned.

In the switching process of the nut sleeve 30, the nut shaft motor 51 is used for driving the sleeve switching mechanism 90, compared with the prior art, no additional power source is required to be arranged in the tuning tool bit device, and therefore the volume and the weight of the tuning tool bit device are reduced; in addition, an additional power source is omitted, so that the influence of the additionally arranged power source and accessories on the tuning efficiency of the tuning tool bit device is avoided, and meanwhile, the cost of the tuning tool bit device is also reduced.

An embodiment of the present invention further provides a cavity filter tuning apparatus, including: the tuning bit device of the above embodiments, and a robot connected to the tuning bit device for controlling the operation of the tuning bit device, wherein the tuning bit device is generally connected to a robot arm of the robot, and the robot arm carries the tuning bit device to move, such as translational and lifting movements, when the robot controls the movement of the robot arm. In addition, the robot is further used to send work instructions for tuning the cavity filter to the tuned tool-head device, including but not limited to: the control method comprises the steps of controlling a tuning tool bit device to move to a position above a tuning screw to be adjusted, enabling the tuning tool bit device to descend to a set height, setting a tool, loosening a nut, tuning and locking a nut. Since the cavity filter tuning device provided by the embodiment of the present invention includes the tuning bit device described in the above embodiment, the advantages of the cavity filter tuning device provided by the embodiment of the present invention and the advantages of the tuning bit device described above with respect to the prior art are the same, and are not described herein again.

Referring to fig. 9, an embodiment of the present invention further provides a cavity filter tuning method, where the tuning method includes:

step S200, a tool bit of a screwdriver is meshed with a screwdriver hole of a tuning screw to be tuned;

this step is also referred to as a tool setting process, and referring to fig. 7, 8 and 10, step S200 generally includes:

step S201, the tuning tool bit device moves to the position right above the tuning screw 14 to be tuned under the control of the robot, and descends by a first set height to enable the tool bit of the screwdriver 21 to be in contact with the upper end of the tuning screw 14;

in this step, since the upper end of the tuning screw 14 of the cavity filter is higher than the cover plate 11, the anti-loose washer 12 and the nut 13, and since the screwdriver 21 protrudes out of the lower end of the nut sleeve 30, during the descending process of the tuning bit device, the screwdriver 21 first contacts with the upper end of the tuning screw 14 and is pushed up, so that the first compression spring 62 sleeved on the screw shaft 20 is compressed, the first compression spring 62 provides downward pressure to the screw shaft 20 and the screwdriver 21 when compressed, and if the bit of the screwdriver 21 is just engaged with the screwdriver hole at the upper end of the tuning screw 14, the screwdriver 21 will descend to the bottom of the screwdriver hole; if the bit of the screwdriver 21 is not engaged with the screwdriver hole at the upper end of the tuning screw 14, the bit of the screwdriver 21 will stop at the upper end surface of the tuning screw 14. Likewise, if the hexagonal counterbore 33 of the lower end of the nut sleeve 30 is properly engaged with the nut 13, the lower end of the nut sleeve 30 will drop to the upper surface of the anti-loosening washer 12, and if the hexagonal counterbore 33 of the lower end of the nut sleeve 30 is not properly engaged with the nut 13, the lower end of the nut sleeve 30 will stop on the upper surface of the nut 13.

Step S202, the screw shaft motor drives the screwdriver 21 to rotate by a preset angle at a first preset rotating speed according to a tool setting instruction sent by the robot;

step S203, when the rotation angle of the screwdriver 21 does not reach the preset angle, and the load current of the screw shaft motor 50 reaches the first preset value, it is determined that the tool bit of the screwdriver 21 is successfully engaged with the screwdriver hole of the tuning screw 14, and a signal indicating that the screwdriver 21 is successfully engaged with the tuning screw 14 is fed back to the robot.

In the above steps S202 and S203, the screw shaft motor 50 drives the screwdriver 21 to rotate at a preset rotation speed under the action of a certain limiting current according to the tool setting command, for example, drives the screwdriver 21 to rotate clockwise, and then determines whether the load current of the screw shaft motor 50 reaches or exceeds a first preset value, which may be measured according to a plurality of tests.

If the load current of the screw shaft motor 50 reaches or exceeds a first preset value when the rotation angle of the screwdriver 21 does not reach a preset angle, judging that the engagement between the screwdriver bit of the screwdriver 21 and the screwdriver hole of the tuning screw 14 is successful, and feeding back a signal indicating that the engagement between the screwdriver 21 and the tuning screw 14 is successful to the robot; if the load current of the screw shaft motor 50 does not reach the first preset value when the rotation angle of the screwdriver 21 reaches the preset angle, determining that the tool bit of the screwdriver 21 is not successfully engaged with the screwdriver hole of the tuning screw 14, and controlling the screw shaft motor 50 to reversely drive the screwdriver 21 to rotate, for example, driving the screwdriver 21 to rotate counterclockwise; if the load current of the screw shaft motor 50 reaches or exceeds a first preset value when the rotation angle of the screwdriver 21 does not reach a preset angle, the screwdriver 21 and the screwdriver hole of the tuning screw 14 are judged to be successfully meshed, a signal indicating that the screwdriver 21 and the tuning screw 14 are successfully meshed is fed back to the robot, if the rotation angle of the screwdriver 21 reaches the preset angle, the load current of the screw shaft motor 50 is not detected to reach the first preset value, the screwdriver 21 and the screwdriver hole of the tuning screw 14 are judged not to be successfully meshed, a signal indicating that the tool setting is failed at this time is fed back to the robot, the robot controls the tuning tool bit device to return to the reference position for correction, and then the steps S201-S203 are repeated again until the tool setting is successful.

It should be added that the preset angle described in this embodiment may be any angle value between greater than 0 ° and less than or equal to 360 °, for example, the preset angle is 30 °, 45 °, 60 °, 90 °, 120 °, 150 °, 180 °, 200 °, 240 °, 270 °, 285 °, 330 °, or 360 °, which may be specifically selected according to actual needs, and the preset angle in this embodiment is 360 °.

Step S210, the nut shaft motor 51 drives the nut sleeve 30 to separate the nut 13 from the anti-loosening gasket 12 according to a nut 13 loosening command sent by the robot;

after the cavity filter is assembled, the nut 13 generally fixes the tuning screw 14 on the cover plate 11 in a pre-locking state, and when the tuning screw 14 needs to be tuned, the nut 13 needs to be loosened first, so that the tuning screw 14 is in a rotatable free state, and the tuning screw 14 is convenient to adjust subsequently. Referring to fig. 11, step S210 generally includes:

step S211, the nut shaft motor 51 drives the nut sleeve 30 to rotate according to a nut 13 loosening command sent by the robot;

in this step, the nut shaft motor 51 drives the nut socket 30 to rotate clockwise or counterclockwise at a preset rotation speed according to a nut 13 loosening command sent by the robot.

Step S212, when the load current of the nut shaft motor 51 reaches a second preset value, the nut sleeve 30 is determined to be successfully meshed with the nut 13, and a signal indicating that the nut sleeve 30 is successfully meshed with the nut 13 is fed back to the robot;

in this step, whether the load current of the nut shaft motor 51 reaches a second preset value is judged when the nut sleeve 30 rotates, if the load current of the nut shaft motor 51 reaches the second preset value is detected when the rotation angle of the nut sleeve 30 does not reach the preset angle, it is judged that the hexagon socket 33 of the nut sleeve 30 is successfully meshed with the nut 13, and a signal that the nut sleeve 30 is successfully meshed with the nut 13 is fed back to the robot; if the load current of the nut shaft motor 51 is detected to not reach the second preset value when the rotation angle of the nut sleeve 30 reaches the preset angle, it is determined that the hexagonal counter bore 33 of the nut sleeve 30 is not successfully engaged with the nut 13. The robot controls the nut shaft motor 51 to reverse to drive the nut socket 30 to rotate in reverse, e.g., counterclockwise; if the load current of the nut shaft motor 51 is detected to reach or exceed a second preset value when the rotation angle of the nut sleeve 30 does not reach the preset angle, the nut sleeve 30 is judged to be successfully meshed with the nut 13 through the hexagon socket 33, and a signal of the successful meshing of the nut sleeve 30 and the nut 13 is fed back to the robot.

It should be added that the preset angle described in this embodiment may be any angle value between greater than 0 ° and less than or equal to 360 °, for example, the preset angle is 30 °, 45 °, 60 °, 90 °, 120 °, 150 °, 180 °, 200 °, 240 °, 270 °, 285 °, 330 °, or 360 °, which may be specifically selected according to actual needs, and the preset angle in this embodiment is 360 °.

Step S213, the robot continues to drive the nut socket 30 to rotate by a predetermined angle based on the position of the nut socket 30 at this time according to the signal that the nut socket 30 and the nut 13 are successfully engaged, so that the nut 13 is raised by a predetermined height relative to the anti-loosening gasket 13.

When it is determined that the nut sleeve 30 is successfully engaged with the nut 13, the robot controls the nut shaft motor 51 to continue to drive the nut sleeve 30 to rotate by a predetermined angle based on the current position of the nut sleeve 30, so that the nut 13 is raised by a predetermined height relative to the lock washer 13, and the nut 13 is loosened.

It should be noted that, in the above steps S211 to S213, the preset rotation speed of the nut shaft motor 51, the second preset value, the specified angle for continuing to drive the nut socket 30 to rotate, and the specified height for raising the nut 13 relative to the anti-loosening gasket 13 can be obtained through a plurality of tests.

Step S220, the screw shaft motor drives a screwdriver according to a tuning instruction sent by the robot, so that the tuning screw rotates by a specified angle to finish tuning of the tuning screw;

after the above steps S200 to S210, a gap is formed between the nut 13 and the lock washer 12, so that the tuning screw 14 becomes a rotatable free state. When the screw shaft motor 50 receives a tuning command sent by the robot, the screw shaft motor 50 rotates the tuning screw 14 by a specified angle according to the tuning command received by the screw shaft motor, for example, the tuning screw 14 rotates clockwise in fig. 8, and the tuning screw 14 moves up or down relative to the cover plate 11 after rotating, so as to change the length of the tuning screw 14 in the cavity 10, and enable the cavity filter to meet the performance index.

Step S230, a screw shaft motor provides a holding torque to fix the tuning screw at the tuned position in the previous step;

after the tuning screw 14 is adjusted, the screw shaft motor 50 is matched with the screw shaft reducer to provide a holding force for the tuning screw 14 to stop at the tuned position in the previous step, so that the tuning screw 14 is kept still, and the cavity filter is ensured to meet the performance index.

And S240, locking the nut, the tuning screw and the anti-loose gasket on the cover plate by the nut shaft motor according to a nut locking command sent by the robot at a preset specification torque.

Due to the performance index requirement of the cavity filter and the requirement of environmental interference resistance after leaving a factory, a tuning screw of the cavity filter needs to be locked strictly according to a specified torque in the tuning process, and meanwhile, the required torque precision error is within +/-5% of the target torque. The absolute torque precision calibrated by the current is usually +/-10% due to mass manufacturing errors of the servo motor and the like, but the repetition precision of a single servo motor after the specific target torque calibration can reach +/-2% or even higher. In addition, in the existing actual nut locking mechanism, due to various uncertain error interferences of a transmission mechanism and a locked nut, the control precision of the control mechanism without using the feedback of a torque sensor is recognized to be +/-10%, and the control precision of the expected target torque is far from being achieved. The embodiment of the invention starts from the phenomenon of the nut locking process, extracts the key characteristics of each stage in the whole nut locking process, ensures the final moment precision in a no-load high-speed and end-stage stepping approach mode, and does not influence the locking efficiency.

Referring to fig. 12, in one possible implementation manner, the step S240 includes:

step S241, setting the rotating speed of the nut shaft motor in the no-load stage as a first rotating speed, setting the load current as a first limiting current and setting a first jump current when the nut shaft motor is switched from the no-load stage to the load stage according to the target torque;

before the nut 13 is locked, the robot needs to determine a target torque required when the nut is locked through comparison according to the model of the cavity filter to be tuned, and obtains the rotating speed, the load current and the first jump current of the nut shaft motor in the no-load stage through searching a corresponding relation table of the target torque, the rotating speed and the load current of the nut shaft motor according to the target torque, and sets the rotating speed of the nut shaft motor 51 in the no-load stage as the first rotating speed, the load current as the first limiting current and the first jump current of the nut shaft motor 51 when the nut shaft motor is switched from the no-load stage to the load stage. Referring to fig. 13 and 7, at the stage when the nut shaft motor 51 starts to perform nut locking, that is, when the nut shaft motor 51 is just started, because there is a gap between the nut 13, the anti-loosening washer 12 and the cover plate 11, the load applied to the nut shaft motor 51 is small, and the load current of the nut shaft motor 51 is substantially close to the value when the nut shaft motor 51 is unloaded, at this stage, the rotation speed of the nut shaft motor 51 is in a high-speed stage, the load current is in an unloaded stage, and at the unloaded stage, the nut shaft motor 51 rotates at a high rotation speed, which can save time.

Step S242, judging whether the load current of the nut shaft motor reaches a first jump current or not;

step S243, when the load current of the nut shaft motor reaches the first jump current, refreshing the second jump current when the nut shaft motor is switched from the load stage to the holding stage and the second rotation speed of the nut shaft motor in the load state and the second limit current of the load current of the nut shaft motor are refreshed;

in steps S242 to S243, after the nut 13 starts to rotate, as the nut shaft motor 51 drives the nut sleeve 30 to rotate the nut 13, when the gap between the nut 13, the lock washer 12 and the cover plate 11 disappears, the nut 13, the lock washer 12 and the cover plate 11 gradually approach to contact with each other as the nut 13 rotates, and then mutual friction starts to be generated, so that the load current of the nut shaft motor 51 rises and the load current rapidly rises as the rotation angle of the nut 13 changes. As shown in fig. 13, the load current rising curve of the nut shaft motor 51 at this stage is greatly related to the individual differences of the nut 13, the anti-loose washer 12 and the cover plate 11, and this stage is also a main error source of the torque accuracy in the locknut control.

Step S244, determining whether the load current of the nut shaft motor reaches a second limit current;

step S245, when the load current of the nut shaft motor reaches a second limiting current, the load current is made to approach a second jump current in a stepping approximation mode until the load current after stepping accumulation reaches the second jump current;

in step S244 to step S245, in order to avoid the locking torque overshoot, the rotation speed of the nut shaft motor 51 needs to be slightly reduced, and referring to fig. 13, the rotation speed of the nut shaft motor is in a medium speed stage, and the load current is in an approaching stage. As the nut 13 is further rotated, the load current of the nut shaft motor 51 will continue to rise, and when the load current of the nut shaft motor 51 reaches the second limit current, which means that the reaction force of the nut 13 and the output force of the nut shaft motor 51 reach a balance, the rotation speed of the nut 13 will approach to zero, so that when the current value (the second limit current) calibrated by the final target torque is reached, the final target current (the second limit current) is approached in a step-by-step approximation manner until the limit current after the step summation is greater than the second jump current. According to different target moments and the characteristics of actual parts such as the nut 13, the anti-loosening gasket 12, the cover plate 11 and the tuning screw 14, the moment precision and the tuning efficiency are comprehensively considered, the step approximation process usually needs to be circulated for N times, and N is an integer greater than or equal to 1. The adoption of the stepping approach mode not only ensures that the locking process cannot be decelerated in advance and the locking process is lengthened due to the fluctuation of the intermediate current, but also ensures that the final locking torque has high torque precision.

Step S246, judging whether the load current of the nut shaft motor reaches a second jump current or not;

step S247, when the load current of the nut shaft motor reaches the second jump current, refreshing the rotation speed of the nut post motor to be a third rotation speed, and the load current to be a third limiting current;

step S248, judging whether the load current of the nut shaft motor reaches a third limit current or not;

and step S249, when the load current of the nut shaft motor reaches the third limiting current, the nut shaft motor is kept for a preset time at the third limiting current.

In steps S246 to S249, when the load current of the nut shaft motor 51 reaches the second jump current, the rotation speed of the refreshing nut shaft motor 51 is set to the third rotation speed, and the load current is set to the third limit current. Referring to fig. 13, the rotation speed of the nut shaft motor 51 is in a natural deceleration stage, and the load current is in a holding stage. The refreshed third limiting current is a numerical value calibrated through initial calibration after the whole cavity filter tuning equipment is assembled, and the third limiting current is slightly larger than the second jump current. The nut shaft motor 51 continues to rotate the nut 13 at a third lower rotation speed, when the load current of the nut shaft motor 51 reaches a third limit current, the output of the nut shaft motor 51 and the locking torque of the nut reach a balance, and finally the speed is naturally reduced to 0 (stop), and after the state is kept for a certain time, a stable nut locking torque is obtained, and the locking process is ended.

In the embodiment, starting from the phenomenon of locking the nut, the key characteristics of each stage in the whole nut locking process are extracted, and the moment precision is ensured in a no-load high-speed and end-stage stepping approximation mode under the condition of no efficiency loss; that is to say, the embodiment of the invention can realize the precision breakthrough of the nut locking torque of +/-5% through the final-stage stepping approximation algorithm under the condition of not using the feedback of the torque sensor, and break the cognition that the torque precision of the servo motor in the industry is difficult to reduce to +/-10%; meanwhile, the extremely high locking speed is guaranteed, the locking time can be reduced to be below 1.2sec, and compared with the locking time with a torque sensor version which is 2.8sec or above, the locking efficiency is improved by 58%. In addition, a control mode of replacing torque sensor feedback with a tail end stepping approximation algorithm simplifies the structure of the tuning tool bit device, greatly reduces the weight of the tuning tool bit device and reduces the cost.

In the large-scale tuning process, when the tuning screw is adjusted by adopting the cavity filter tuning method, the batch difference and the individual abnormity of the cavity filter are considered to influence the production process, so that the embodiment also increases the thread abnormity of the tuning screw, the cover plate and the nut, and increases the logic for judging the dead locking, the sliding teeth and the broken teeth, so as to identify the abnormity in time and ensure the product quality. Illustratively, if a seizure, sliding, or tipping tooth anomaly is encountered, it may be determined by the algorithm of table 1:

TABLE 1

Referring to fig. 14 and fig. 4-6, when tuning screws of different models is required, the nut sleeve needs to be replaced, and the tuning method of the cavity filter further includes:

step S251, the tuning tool bit device moves to the upper part of the sleeve warehouse under the control of the robot, and the nut sleeve with the current model is placed in the corresponding nut sleeve jack;

the tuning tool bit device is controlled by a robot to move to a position right above a nut sleeve jack 121 in the sleeve warehouse for storing the nut sleeve 30 with the current model, so that the nut sleeve 30 with the current model is right opposite to the nut sleeve jack 121; and then the tuning tool bit device is controlled to descend, so that the lower end of the nut sleeve 30 of the current model is abutted against the bottom surface of the limiting groove 111. The tuning bit assembly is then controlled to lower to disengage the teeth 92 from the first locking grooves 312. Then, the nut shaft motor 51 drives the present model of nut socket 30 to rotate by a prescribed angle, so that each of the convex teeth 92 faces each of the first guide grooves 311, and controls the tuning bit device to ascend, so that the present model of nut socket 30 is separated from the cylindrical socket 91, and the present model of nut socket 30 is left in the nut socket insertion hole 121.

Step S252, the tuning tool bit device moves to the position above the nut sleeve of the target model under the control of the robot, so that the screwdriver and the nut sleeve of the target model are coaxial, and the convex teeth of the cylindrical sleeve are aligned to the second guide grooves on the nut sleeve of the target model respectively;

the tuning bit means is moved over the target size of the nut-socket and ensures that the screwdriver 21 is coaxial with the target size of the nut-socket 30, the four teeth 92 of the cylindrical socket 91 being aligned with the second guide grooves 321 on the nut-socket 30.

Step 253, the robot controls the tuning head device to descend, the convex teeth slide along the second guide groove and the first guide groove, and the second compression spring is compressed by the nut sleeve of the target model;

the robot drives the tuning bit device to descend, the screwdriver 21 enters the inner hole of the nut sleeve 30 of the target model, and the convex teeth 92 pass through the second guide groove 321 and the first guide groove 311 until the bottom surface of the bearing seat 99 contacts with the top surface of the second circular limiting plate 32. As the robot continues to lower the tuning bit device, the second compression spring 98 will be compressed.

Step 254, when the convex teeth slide out of the first guide grooves for a set distance, the nut shaft motor drives the cylindrical sleeve to rotate for a set angle, and each convex tooth is aligned with one first locking groove;

when the robot continues to lower the tuning bit device, the second compression spring 98 will be compressed, and when the upper surface of the teeth 92 is lowered to about 1mm from the lower surface of the first guide grooves 311, the nut shaft motor 51 will drive the cylindrical sleeve 90 to rotate 45 ° to align the teeth 92 with the first locking grooves 312.

Step S255, the robot controls the tuning tool bit device to ascend, and each bulge is clamped with the corresponding first locking groove;

after the convex teeth 92 are aligned with the first locking grooves 312, the robot drives the tuning tool bit device to ascend, meanwhile, the nut sleeve 30 of the target model, the first circular ring limiting plate 31 and the second circular ring limiting plate 32 are combined to move downwards under the action of self gravity and the pressure of the second compression spring 98, the convex teeth 92 enter the first locking grooves 312, and after the tuning tool bit device ascends by a certain height, the upper surfaces of the convex teeth 92 contact the lower surfaces of the second circular ring limiting plates 32, so that the nut sleeve 30 of the target model is locked.

And step S256, controlling the tuning tool bit device to continuously rise by the robot so as to enable the nut sleeve of the target model to be separated from the nut sleeve jack.

The tuning tool bit device continues to rise, the convex teeth 92 lift the combination of the nut sleeve 30 of the target model, the first circular ring-shaped limiting plate 31 and the second circular ring-shaped limiting plate 32 to enable the combination to be separated from the limiting base 110, and after the lower end of the nut sleeve 30 of the target model is higher than the top surface of the supporting base 120 by a certain height, the robot can take the switched nut sleeve 30 to move to the position of the screw to be tuned.

In the switching process of the nut sleeve 30, the nut shaft motor 51 is used for driving the sleeve switching mechanism 90 to switch the nut sleeve 30, compared with the prior art, an additional power source is not required to be arranged in the tuning tool bit device, and therefore the volume and the weight of the tuning tool bit device are reduced; in addition, an additional power source is omitted, so that the influence of the additionally arranged power source and accessories on the tuning efficiency of the tuning tool bit device is avoided, and meanwhile, the cost of the tuning tool bit device is also reduced.

The sleeve switching mechanism in the embodiment of the invention does not need to depend on a high-pressure air source required by a main flow switching mechanism, and can provide flexible protection in the axial direction, so that the sleeve switching mechanism can be applied to other robot systems needing to switch various working tools, such as assembly equipment of various electronic equipment such as televisions, computers, mobile phones and the like. In addition, the torque sensor-free precise torque control algorithm can be also applied to various assembling procedures with precision requirements on the locking torque in an expanded mode, the locking precision is improved, the cost can be reduced, the locking process can be monitored, and the product quality is improved.

In the description of the present specification, reference to the description of the terms "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (20)

1. The utility model provides a harmonious tool bit device which characterized in that, includes screw shaft motor, screw shaft reduction gear, screw shaft gear train, screw shaft, screwdriver, nut axle motor, nut axle reduction gear, nut shaft gear train, sleeve switching mechanism and nut sleeve, wherein:

the screw shaft gear set comprises a first driving gear and a first driven gear which are meshed with each other, and the nut shaft gear set comprises a second driving gear and a second driven gear which are meshed with each other;

the screw shaft reducer is respectively connected with the screw shaft motor and the first driving gear, the nut shaft reducer is respectively connected with the nut shaft motor and the second driving gear, the first driven gear and the second driven gear are oppositely arranged, and the shaft hole central line of the first driven gear is superposed with the shaft hole central line of the second driven gear;

the sleeve switching mechanism is respectively connected with the second driven gear and the nut sleeve, and drives the nut sleeve to rotate when the sleeve switching mechanism rotates along with the second driven gear;

the screw shaft penetrates through an inner hole of the nut sleeve, a shaft hole of the second driven gear and a shaft hole of the first driven gear, and the screw shaft is in key connection with the shaft hole of the first driven gear; the upper end of the screw shaft is provided with an anti-drop piece, and the lower end of the screw shaft is provided with the screwdriver which is coaxial with the screw shaft and the nut sleeve respectively.

2. The tuned cutter head device according to claim 1, wherein the screw shaft is a spline shaft, and the shaft hole of the first driven gear is a spline shaft hole fitted to the screw shaft.

3. The tuning bit device of claim 1, wherein the screw shaft includes a splined section extending to an upper end of the screw shaft, the shaft bore of the first driven gear being a splined shaft bore adapted to the splined section.

4. The tuning bit device according to any one of claims 1-3, wherein the screw shaft is sleeved with a first compression spring, and two ends of the first compression spring are respectively abutted with an end surface of the first driven gear and a stop block arranged on the screw shaft;

and when the screwdriver head is not in contact with the tuning screw, the screwdriver head extends out of the nut sleeve.

5. The tuned cutter head device according to any one of claims 1 to 3, wherein the sleeve switch mechanism comprises a cylindrical sleeve and a second compression spring, wherein:

the upper end of the cylindrical sleeve is connected with the second driven gear, and at least two convex teeth are arranged on the inner side of the lower end of the cylindrical sleeve;

the upper end of the nut sleeve is positioned in the cylindrical sleeve, the lower end of the nut sleeve is positioned outside the lower end of the cylindrical sleeve, a first annular limiting plate and a second annular limiting plate are sequentially stacked at the upper end of the nut sleeve, at least two first guide grooves and at least two first locking grooves are formed in the outer edge of the first annular limiting plate, and the first guide grooves and the first locking grooves penetrate through two end faces of the first annular limiting plate; the outer edge of the second annular limiting plate is provided with at least two second guide grooves, the second guide grooves penetrate through two end faces of the second annular limiting plate, and the second guide grooves are opposite to the first guide grooves;

each convex tooth is connected with one first locking groove in a clamping mode, and when the nut sleeve is switched, the convex tooth is separated from the corresponding first locking groove and released through the first guide groove and the second guide groove;

the second compression spring is sleeved on the screw shaft, and two ends of the second compression spring are respectively abutted to the second circular ring limiting plate and the end face of the second driven gear.

6. The tuning bit device of claim 5, wherein each of said lobes are equally spaced, each of said first locking grooves are equally spaced, and each of said first guide grooves are equally spaced;

the number of the first locking grooves and the number of the first guide grooves are positive integer multiples of the number of the convex teeth.

7. The tuned bit device of claim 6, wherein the number of lobes, the number of first locking grooves, and the number of first guide grooves are the same, the first locking grooves and the first guide grooves alternating.

8. The tuned cutter head device of claim 6 or 7, wherein the sleeve switching mechanism further comprises a transfer shaft, a first bearing, a second bearing, a bearing washer, a bearing cap, a spring seat, and a bearing seat, wherein:

a shaft shoulder is arranged on the outer circumferential surface of the adapter shaft, a stepped shaft hole is formed in the adapter shaft, and the adapter shaft is sleeved on the screw shaft; the upper end of the transfer shaft is connected with the end face of the second driven gear, and the lower end of the transfer shaft is inserted into the cylindrical sleeve from the upper end of the cylindrical sleeve and is fixedly connected with the cylindrical sleeve;

the inner ring of the first bearing is sleeved on the transfer shaft and is positioned between the shaft shoulder and the upper end of the transfer shaft; the outer ring of the first bearing is arranged in a bearing hole of the supporting plate, and the bearing washer and the bearing cover are respectively arranged at two ends of the first bearing;

the second bearing, the second compression spring, the spring seat and the bearing seat are sleeved on the screw shaft, and the bearing seat is positioned between the convex teeth and the upper end of the cylindrical sleeve and can slide in the cylindrical sleeve under the pushing of the upper end of the nut sleeve; the outer ring of the second bearing is installed in the bearing seat, the inner ring of the second bearing is sleeved on the spring seat, and two ends of the second compression spring are respectively abutted against the spring seat and the step of the stepped shaft hole.

9. The tuning bit device of claim 8, wherein at least two chamfered surfaces are formed on the outer circumference of the adapter shaft between the lower end of the adapter shaft and the shoulder, each chamfered surface is provided with a jackscrew groove, the cylindrical sleeve is provided with a corresponding number of jackscrew holes, and the adapter shaft and the cylindrical sleeve are fixed by jackscrews inserted into the jackscrew holes and the jackscrew grooves.

10. The tuning bit device of any one of claims 6, 7 and 9, further comprising a cartridge magazine for use with the cartridge switching mechanism, the cartridge magazine comprising:

the top surface is provided with a plurality of limiting bases with limiting grooves;

the support base is fixed on the top surface of the limiting base and provided with a plurality of nut sleeve jacks for storing nut sleeves of different specifications, and the nut sleeve jacks are communicated with the limiting grooves in a one-to-one correspondence manner;

and the sensor is arranged beside the limit groove and used for detecting whether the corresponding limit groove is provided with the nut sleeve or not.

11. The tuned cutter head device of claim 1, wherein the screw shaft motor and the nut shaft motor are disposed on opposite sides of the screw shaft, and the output shaft of the screw shaft motor is directed opposite to the output shaft of the nut shaft motor.

12. The tuning bit assembly of claim 1, wherein the bit of the screwdriver is a torx bit and the screwdriver hole of the tuning screw is a torx hole.

13. A cavity filter tuning apparatus, comprising: the tuning bit device of any one of claims 1-12, and a robot coupled to the tuning bit device for controlling operation of the tuning bit device.

14. A cavity filter tuning method, wherein the method is based on robotic control of a tuning bit device, the tuning bit device being as claimed in any one of claims 1-12, the tuning bit device comprising a screw shaft motor, a screw shaft reducer, a screw shaft gear set, a screw shaft, a screwdriver, a nut shaft motor, a nut shaft reducer, a nut shaft gear set, a sleeve switching mechanism, and a nut sleeve;

the method comprises the following steps:

the tool bit of the screwdriver is meshed with the screwdriver hole of the tuning screw to be tuned;

the nut shaft motor drives the nut sleeve to separate the nut from the anti-loosening gasket according to a nut loosening command sent by the robot;

the screw shaft motor drives a screwdriver according to a tuning instruction sent by the robot, so that the tuning screw rotates by a specified angle to finish tuning of the tuning screw;

the screw shaft motor provides a holding torque to fix the tuning screw at the tuned position in the previous step;

and the nut shaft motor locks the nut, the tuning screw and the anti-loosening gasket on the cover plate by the torque of a preset specification according to a nut locking instruction sent by the robot.

15. The cavity filter tuning method of claim 14, wherein the step of engaging a bit of a screwdriver with a screwdriver hole of a tuning screw to be tuned comprises:

the tuning tool bit device moves to a position right above a tuning screw rod to be tuned under the control of the robot, and descends by a first set height, so that the tool bit of the screwdriver is in contact with the upper end of the tuning screw rod;

the screw shaft motor drives the screwdriver to rotate by a preset angle at a first preset rotating speed according to a tool setting instruction sent by the robot;

and when the rotation angle of the screwdriver does not reach a preset angle, the load current of the screw shaft motor reaches a first preset value, determining that the screwdriver head of the screwdriver is successfully meshed with the screwdriver hole of the tuning screw, and feeding back a signal indicating that the screwdriver is successfully meshed with the tuning screw to the robot.

16. The cavity filter tuning method of claim 14, wherein the step of the nut shaft motor driving the nut sleeve to separate the nut from the anti-loosening washer in response to a nut loosening command issued by the robot comprises:

the nut shaft motor drives the nut sleeve to rotate according to a nut loosening command sent by the robot;

when the load current of the nut shaft motor reaches a second preset value, the nut sleeve is determined to be successfully meshed with the nut, and a signal indicating that the nut sleeve is successfully meshed with the nut is fed back to the robot;

and the robot continues to drive the nut sleeve to rotate for a specified angle according to the signal that the nut sleeve is successfully meshed with the nut and by taking the position of the nut sleeve as a reference, so that the nut rises for a specified height relative to the anti-loosening gasket.

17. The cavity filter tuning method of claim 14, wherein the step of locking the nut, the tuning screw and the anti-loose washer on the cover plate with a predetermined torque according to a lock nut command sent by the robot by the nut shaft motor comprises:

setting the rotating speed of a nut shaft motor in a no-load stage as a first rotating speed, setting the load current as a first limiting current and setting a first skip current when the nut shaft motor is switched from the no-load stage to the load stage according to the target torque;

when the load current of the nut shaft motor reaches the first jump current, refreshing the second jump current when the nut shaft motor is switched from the load stage to the holding stage, wherein the rotating speed of the nut shaft motor in the load state is a second rotating speed, the load current is a second limiting current, and the nut shaft motor is switched from the load stage to the holding stage;

when the load current of the nut shaft motor reaches a second limiting current, the load current is made to approach a second jump current in a stepping approximation mode until the load current after stepping accumulation reaches the second jump current;

when the load current of the nut shaft motor reaches the second jump current, the rotating speed of the refreshing nut column motor is a third rotating speed, and the load current is a third limiting current;

when the load current of the nut shaft motor reaches a third limit current, the nut shaft motor is maintained at the third limit current for a preset time.

18. The cavity filter tuning method of claim 17, wherein in the process of locking the nut, the tuning screw and the anti-loose washer on the cover plate by the nut shaft motor with a preset specification torque according to a lock nut command sent by the robot:

when the rotation angle of the nut sleeve exceeds a preset locking angle and the load current of the nut shaft motor does not reach a third limiting current, judging that the nut has abnormal sliding teeth;

or when the load current of the nut shaft motor reaches the third limiting current and the rotation angle of the nut sleeve exceeds the locking error angle, judging that the nut has abnormal sliding teeth;

or when the load current of the nut shaft motor is reduced after exceeding the first jump current, judging that the nut has the tooth breaking abnormality.

19. The cavity filter tuning method of claim 14, wherein during the process of driving a screwdriver by a screw shaft motor according to a tuning command sent by a robot to rotate the tuning screw by a specified angle so as to complete tuning of the tuning screw:

when the load current of the screw shaft motor is larger than the screw shaft rotating current threshold value, judging that the tuning screw is clamped abnormally;

or, in the process that the nut shaft motor locks the nut, the tuning screw and the anti-loosening gasket on the cover plate by the torque of a preset specification according to a nut locking instruction sent by the robot, when the load current of the screw shaft motor is greater than the screw shaft locking current threshold, it is judged that the tuning screw is clamped abnormally;

the tuning screw rod is stuck abnormally and comprises: the tuning screw is clamped with the nut, and/or the tuning screw is clamped with the cover plate.

20. The cavity filter tuning method of any one of claims 14-19, wherein when a nut sleeve needs to be switched, the cavity filter tuning method further comprises:

the tuning tool bit device moves to the upper part of the sleeve warehouse under the control of the robot, and the nut sleeve with the current model is placed in the corresponding nut sleeve jack;

the tuning tool bit device moves to the position above the nut sleeve of the target model under the control of the robot, so that the screwdriver and the nut sleeve of the target model are coaxial, and the convex teeth of the cylindrical sleeve are respectively aligned to the second guide grooves on the nut sleeve of the target model;

the robot controls the tuning head device to descend, the convex teeth slide along the second guide groove and the first guide groove, and the second compression spring is compressed by the nut sleeve of the target model;

when the convex teeth slide out of the first guide grooves for a set distance, the nut shaft motor drives the cylindrical sleeve to rotate for a set angle, so that each convex tooth is aligned with one first locking groove;

the robot controls the tuning tool bit device to ascend, and each convex tooth is clamped with the corresponding first locking groove;

and the robot controls the tuning tool bit device to continuously rise, so that the nut sleeve with the target model is separated from the nut sleeve jack.

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