A multi-axis tightening device

Abstract

A multi-axis tightening device comprises a device input shaft 10 and a plurality of tightening heads 11, the device is provided with a plurality of transmission units 20, each transmission unit is provided with a first unit output shaft 21, a second unit output shaft 22 and a unit input shaft 23, the unit input shaft 23 drives the first unit output shaft 21 and the second unit output shaft 22 to rotate, the first unit output shaft 21 and the second unit output shaft 22 of the transmission unit drive the unit input shaft 23 of another transmission unit or drive the tightening head 11. The application adopts a plurality of three-axis structure transmission units, the three axes of the transmission unit can be associated transmission, constitute a chain transmission structure, constitute a multi-axis torque transmission device of one input shaft and a plurality of output shafts, a plurality of output shafts can twist a plurality of operation objects at the same time, one input rotation operation can output the twist of a plurality of operation objects, avoid missing the bolt that is not tightened, and can adjust the twisting degree of a plurality of twisting objects.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical transmission and installation, and particularly relates to a multi-axis tightening device. BACKGROUND

[0002] In the process of mechanical installation and pipeline construction, bolt fastening is a crucial and laborious task, especially at the flange joints of pipelines or pressure vessels. Traditional bolt fastening operations usually need to follow strict standards and specifications (such as the ASME PCC-1 specification), requiring the bolts to be tightened in a specific diagonal sequence, step by step and in stages. This process not only requires a large amount of time and manpower, but is also susceptible to the experience and precision of the operators, leading to the occurrence of human errors. For example, it is easy to miss tightening some bolts during the bolt fastening process, which may seriously affect the sealing and pressure resistance of the pipeline connection, thereby threatening the safety and installation quality of the equipment.

[0003] Although some technologies have been attempted in the field of automobile assembly to solve similar multi-point fastening problems, they usually adopt the method of driving multiple output shafts through one input shaft to achieve the synchronous rotation of multiple bolts. However, such devices have significant limitations. For example, after one bolt is tightened, the other bolts cannot continue to rotate, which means that the tightening force of multiple bolts cannot be evenly controlled at the same time.

[0004] Another common solution is to use multiple independent electric torque wrenches, each of which is responsible for tightening one bolt and can adjust the tightening force as needed. Although this method can partially solve the problem of torque control, it has a complex structure and is very costly.

[0005] Based on the above background, there are still great challenges in the existing technology in terms of multi-bolt torque synchronous fastening, especially in terms of improving operational efficiency, ensuring uniform tightening torque, reducing human error, and simplifying the structure of the equipment. Therefore, there is an urgent need for a new technical solution to meet the demand for efficient, safe, and reliable multi-point torque transmission in complex work scenarios. SUMMARY

[0006] The purpose of the present application is to provide a multi-axis tightening device, aiming to provide a more efficient, accurate, and easy-to-operate multi-bolt torque synchronous tightening solution. The device can automatically distribute torque during the tightening process of multiple bolts, solving the problem of existing technology that each bolt cannot be rotated to the right position at the same time, thereby greatly improving the tightening efficiency and accuracy, and reducing human error. The device has the advantages of simple structure, easy operation, and strong expandability, and is suitable for a wide range of industrial applications, especially in situations that require high-precision fastening such as pipeline installation and mechanical assembly.

[0007] In order to achieve the above object, the technical scheme of the present application is: a multi-axis tightening device, comprising a device input shaft 10 and a plurality of tightening heads 11, the device is provided with a plurality of transmission units 20, each of the transmission units is provided with a first unit output shaft 21, a second unit output shaft 22 and a unit input shaft 23, the unit input shaft 23 drives the first unit output shaft 21 and the second unit output shaft 22 to rotate, when the rotation of the first unit output shaft 21 is blocked, the unit input shaft 23 drives the second unit output shaft 22 to rotate, when the rotation of the second unit input shaft 22 is blocked, the unit input shaft 23 drives the first unit output shaft 21 to rotate; the first unit output shaft 21 of the transmission unit drives the unit input shaft 23 of another transmission unit or drives the tightening head 11, the second unit output shaft 22 of the transmission unit drives the input shaft 23 of another transmission unit or drives the tightening head 11; the plurality of transmission units comprises a top-end transmission unit 2A, the device input shaft 10 drives the unit input shaft 23 of the top-end transmission unit 2A.

[0008] Furthermore, in order to adjust the rotation direction and transmission ratio between the transmission units, the first unit output shaft 21 of the transmission unit drives the unit input shaft 23 of another transmission unit through a transmission gear train 30, the second unit output shaft 22 of the transmission unit drives the input shaft 23 of another transmission unit through the transmission gear train 30, the transmission gear train 30 adjusts the rotation direction and / or transmission ratio of the unit input shaft 23, the transmission gear train 30 comprises a transmission output gear 31 arranged on the first unit output shaft 21 and / or the second unit output shaft 22, and the transmission gear train 30 further comprises a transmission input gear 32 arranged on the unit input shaft 23.

[0009] Furthermore, the transmission gear train 30 further comprises an intermediate shaft arranged between the transmission output gear 31 and the transmission input gear 32.

[0010] Furthermore, the structure of a transmission unit is that the transmission unit 20 is a differential structure transmission unit, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit are respectively connected with one of the left half shaft gear 41, the right half shaft gear 42 or the differential housing 43 of the differential structure.

[0011] Furthermore, in order to adapt to the structure of the multi-axis tightening device, a preferred differential structure transmission unit is that the first unit output shaft 21 and the second unit output shaft 22 of the transmission unit are respectively connected with the left half shaft gear 41 and the right half shaft gear 42 of the differential structure, and the unit input shaft 23 is connected with the differential housing 43, the first unit output shaft 21 penetrates through the second unit output shaft 22, and the first unit output shaft 21 and the second unit output shaft 22 are penetrated out of the differential housing 43 from the same side.

[0012] Further, another preferred differential structure of the transmission unit is that the unit input shaft 23 of the transmission unit is connected to the right half axle gear 42 of the differential structure, the first unit output shaft 21 is connected to the left half axle gear 41 of the differential structure, and the second unit output shaft 22 is connected to the differential case 43 of the differential structure.

[0013] Further, another structure of the transmission unit is that the transmission unit 20 is a planetary gear structure transmission unit, and the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit are respectively connected to one of the planetary carrier 51, the gear ring 52 or the sun gear 53 of the planetary gear structure.

[0014] Further, a preferred planetary gear structure of the transmission unit is that the first unit output shaft 21 of the transmission unit is connected to the planetary carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear structure, and the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure.

[0015] Further, another preferred planetary gear structure of the transmission unit is that the first unit output shaft 21 of the transmission unit is connected to the planetary carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the sun gear 53 of the planetary gear structure, and the unit input shaft 23 is connected to the gear ring 52 of the planetary gear structure.

[0016] The beneficial effects of the present application are: a plurality of three-axis structure transmission units are adopted, the three axes of the transmission unit can be associated with transmission, form a transmission structure, and constitute a multi-axis torque transmission device with one input shaft and multiple output shafts, multiple output shafts can simultaneously twist multiple operating objects, and one input rotation operation can output the twisting of multiple operating objects, avoiding missing the bolts that are not tightened, and the twisting force of multiple twisting objects can be adjusted.

[0017] The present application will be described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the transmission schematic diagram of the present application;

[0019] Figure 2 is the transmission schematic diagram of the transmission unit adopting the differential structure of the present application;

[0020] Figure 3 is the transmission schematic diagram of the transmission unit adopting the planetary gear structure of the present application;

[0021] Figure 4 is the structure diagram and transmission schematic diagram of the transmission unit adopting the differential structure;

[0022] Figure 5 is a structural exploded view of a transmission unit employing a differential structure;

[0023] Figure 6 is a structural view and transmission schematic of a multi-axis tightening device employing a differential structure transmission unit and employing two intermediate shafts in the transmission train;

[0024] Figure 7 is an internal structural view of a multi-axis tightening device employing a differential structure transmission unit;

[0025] Figure 8 is an internal structural exploded view of a multi-axis tightening device employing a differential structure transmission unit;

[0026] Figure 9 is a structural view and transmission schematic of a multi-axis tightening device employing a differential structure transmission unit and employing two intermediate shafts in the transmission train;

[0027] Figure 10 is a structural view and transmission schematic of a transmission unit employing a planetary gear structure;

[0028] Figure 11 is a structural exploded view of a transmission unit employing a planetary gear structure;

[0029] Figure 12 is a structural view of a multi-axis tightening device employing a planetary gear structure transmission unit;

[0030] Figure 13 is a partial sectional view of a multi-axis tightening device employing a planetary gear structure transmission unit;

[0031] Figure 14 is an internal structural view and transmission schematic of a multi-axis tightening device employing a planetary gear structure transmission unit;

[0032] Figure 15 is a structural view and transmission schematic of a multi-axis tightening device employing a planetary gear structure transmission unit and employing a direct drive from the transmission output to the transmission input;

[0033] Figure 16 is a transmission schematic of a multi-axis tightening device employing a hybrid structure including a differential structure transmission unit and a planetary gear structure differential unit;

[0034] Figure 17 is a partial sectional view of a multi-axis tightening device employing a hybrid structure;

[0035] Figure 18 is an internal structural view of a multi-axis tightening device employing a hybrid structure. DETAILED DESCRIPTION

[0036] As Figures 1 to 18In order to realize efficient and accurate multi-bolt torque synchronous tightening, the present application provides a multi-axis tightening device, which comprises a device input shaft 10 and a plurality of tightening heads 11, and the tightening head 11 is used for connecting the bolt or other screw fasteners to be tightened.

[0037] As shown in Figure 1 , the multi-axis tightening device is provided with a plurality of transmission units 20, each of which is a three-axis transmission structure, and each transmission unit has three rotating shafts connected with each other, each of which can drive the other two rotating shafts to dynamically transmit torque. As shown in the connection diagram Figure 1 , each transmission unit 20 is provided with a first unit output shaft 21, a second unit output shaft 22 and a unit input shaft 23, the unit input shaft 23 drives the first unit output shaft 21 and the second unit output shaft 22 to rotate, when the rotation of the first unit output shaft 21 is blocked, the unit input shaft 23 will drive the second unit output shaft 22 to rotate, when the rotation of the second unit input shaft 22 is blocked, the unit input shaft 23 will drive the first unit output shaft 21 to rotate.

[0038] The plurality of transmission units can be divided into three categories, one top-end transmission unit 2A (such as the drive unit 20a in Figure 1 ), at least one end transmission unit 2B (such as the drive units 20e, 20f, 20g in Figure 1 ), and a plurality of intermediate transmission units 2C (such as the drive units 20b, 20c, 20d in Figure 1 ). Figure 6 As shown in the transmission diagram

[0039] The device input shaft 10 is driven by an external driving force, and the device input shaft 10 drives the unit input shaft 23 of the top-end transmission unit 2A. Except for the top-end transmission unit 2A, other transmission units 20 are driven by another transmission unit (or referred to as the upper level transmission unit), and the unit input shaft 23 thereof is driven by the first unit output shaft 21 or the second unit output shaft 22 of another transmission unit. For the top-end transmission unit 2A and the intermediate transmission unit 2C, the first unit output shaft 21 of the transmission unit can drive the unit input shaft 23 of another transmission unit (or referred to as the lower level transmission unit) or drive a tightening head 11; similarly, the second unit output shaft 22 of the transmission unit can drive the unit input shaft 23 of another transmission unit or drive a tightening head 11. For the end transmission unit 2B, the first unit output shaft 21 and the second unit output shaft 22 can respectively drive a tightening head 11, and the first unit output shaft 21 and the second unit output shaft 22 drive one tightening head 11 respectively, and the other is fixed, such as the transmission unit 20g in Figure 1 .

[0040] As Figure 1 shown in the transmission system, the first unit output shaft 21 and the second unit output shaft 22 of some transmission units are connected to the unit input shaft 23 of the next level transmission unit, such as transmission unit 20a, 20c; the first unit output shaft 21 and the second unit output shaft 22 of some transmission units are connected to the unit input shaft 23 of two next level transmission units, such as transmission unit 20b, 20d; the first unit output shaft 21 and the second unit output shaft 22 of some transmission units are connected to two tightening heads 11, such as transmission unit 20e, 20f. Some transmission units can also be connected to only one tightening head, such as transmission unit 20g, the first unit output shaft 21 is connected to the tightening head 11, and the second unit output shaft 22 is fixed.

[0041] In a broad sense, the transmission unit can have various connection structures, and the most suitable connection mode can be selected in the specific technical solution. As a typical transmission unit connection structure, as shown in Figure 2 (An example of a differential structure transmission unit system) and Figure 3 (An example of a planetary gear structure transmission unit system), the transmission unit adopts a chain connection structure, including a top transmission unit 2A, an end transmission unit 2B and a plurality of intermediate transmission units 2C, the first unit output shaft 21 or the second unit output shaft 22 of the intermediate transmission unit 2C is connected to a tightening head 11 and the unit input shaft 23 of another transmission unit.

[0042] In the process of driving the next level transmission unit by the previous level transmission unit, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit will have various different speeds and rotation directions. The first unit output shaft 21 and / or the second unit output shaft 22 of the transmission unit drives the unit input shaft 23 of another transmission unit through the transmission gear train 30, which adjusts the rotation direction and / or transmission ratio of the unit input shaft 23, so that multiple tightening heads 11 rotate in the same direction and have the same torque. The transmission gear train 30 includes a transmission output gear 31 arranged on the first unit output shaft 21 and / or the second unit output shaft 22, and a transmission input gear 32 arranged on the unit input shaft 23. The unit input shaft 23 of each transmission unit 20 (except the top transmission unit 2A) is provided with a transmission input gear 32.

[0043] The transmission output gear 31 can directly drive the transmission input gear 32, Figure 18 An example of a transmission gear train 30 is shown, in which the transmission output gear 31 of the previous level transmission unit directly drives the transmission input gear 32 of the next level transmission unit.

[0044] An intermediate gear can also be arranged between the transmission output gear 31 and the transmission input gear 32.Figure 2 and Figure 3 An example of the transmission train 30 is included in which an intermediate wheel is provided between the transmission output wheel 31 and the transmission input wheel 32.

[0045] The transmission train 30 can also achieve transmission connection between different positions of the transmission unit.

[0046] The transmission unit 20 can adopt a planetary gear structure or a differential structure. Both the planetary gear structure and the differential structure are a three-shaft transmission structure, having three rotating shafts that are connected to each other, each of which can drive the other two rotating shafts to dynamically transmit torque, suitable for transmission units.

[0047] Figure 2 An example of a transmission unit adopting a differential structure is shown, Figure 3 An example of a transmission unit adopting a planetary gear structure is shown. Each transmission unit 20 has a three-shaft structure of a planetary gear structure or a differential. According to the transmission principle of the planetary gear structure and the differential structure, when the rotation of the first unit output shaft 21 is blocked, the unit input shaft 23 drives the rotation of the second unit output shaft 22, and when the rotation of the second unit output shaft 22 is blocked, the unit input shaft 23 drives the rotation of the first unit output shaft 21.

[0048] From a broad perspective, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of each transmission unit can be connected to one of the three rotating shafts of the planetary gear structure, respectively; or the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of each transmission unit can be connected to one of the three rotating shafts of the differential structure, respectively. For the transmission unit of the differential structure, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of the transmission unit can be connected to one of the left half shaft gear 41, the right half shaft gear 42, or the differential housing 43 of the differential structure, i.e.: the first unit output shaft, the second unit output shaft, and the unit input shaft can be connected to one of the left half shaft gear, the right half shaft gear, or the differential housing of the differential structure, respectively. Similarly, for the transmission unit of the planetary gear structure, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of the transmission unit are connected to one of the planetary carrier 51, the gear ring 52, or the sun gear 53 of the planetary gear structure, i.e.: the first unit output shaft, the second unit output shaft, and the unit input shaft can be connected to one of the planetary carrier, the gear ring, or the sun gear of the planetary gear structure, respectively.

[0049] The multi-axle tightening device of the present application, when the device input shaft 10 rotates, transmits torque to each tightening head 11, the tightening head with the smallest torsional resistance will be driven to rotate first, i.e. the most relaxed bolt in the plurality of bolts will be tightened first, then the plurality of tightening heads are tightened one by one, so that the plurality of bolts are locked in the same or similar torque state, and no bolt is missed.

[0050] Embodiment one:

[0051] As Figure 4 、 Figure 5 , a transmission unit of a differential structure. In this embodiment, the first unit output shaft 21 of the transmission unit is connected to the left axle half gear 41 of the differential structure, the second unit output shaft 22 is connected to the right axle half gear 42 of the differential structure, and the unit input shaft 23 is connected to the differential housing 43. The differential housing includes a first differential housing 43a and a second differential housing 43b that are in abutment with each other, and the first differential housing 43a and the second differential housing 43b are fixedly assembled by bolts 47. The first differential housing 43a and the second differential housing 43b are respectively provided with two semicircular holes 45 on the abutment surface to form a circular hole for mounting the differential planetary gear 44. Two differential planetary gears 44 are symmetrically mounted between the first differential housing 43a and the second differential housing 43b. The second unit output shaft 22 passes out from one side of the second differential housing 43b, and the second unit output shaft 22 and the right axle half gear 42 are provided with shaft holes 46 that rotate with the first unit output shaft 21, and the first unit output shaft 21 passes through the second unit output shaft 22 and also passes out from one side of the differential housing 43b.

[0052] One end of the first unit output shaft 21 is rotatably connected to the first differential housing 43a, and the first unit output shaft 21 is connected to the left axle half gear 41 through a quadrangular frustum 21a, so that the first unit output shaft 21 rotates synchronously with the left axle half gear 41. The output end of the first unit output shaft 21 is provided with a quadrangular prism 21b for connecting the tightening head 11 or driving the next level transmission unit to rotate.

[0053] The second unit output shaft 22 and the right axle half gear 42 are made into one part, and have the functions of the second unit output shaft 22 and the right axle half gear 42 respectively. Here, the "connection" described in this embodiment is a general concept. Similarly, the differential housing 43 is structurally a unit input shaft 23.

[0054] The transmission unit of the differential structure of this embodiment, when the unit input shaft 23 (differential housing 43) rotates, transmits torque to the first unit output shaft 21 and the second unit output shaft 22, and drives the object with smaller torsional resistance to rotate.

[0055] According to the transmission characteristics of the differential structure, the rotation speeds of the left and right half axle gears are twice the rotation speed of the differential housing. The transmission unit of the differential structure of the embodiment has the following transmission characteristics: when the first unit output shaft 21 is blocked and stops rotating, the unit input shaft 23 drives the second unit output shaft 22 to rotate at twice the speed; similarly, when the second unit output shaft 22 is blocked and stops rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate at twice the speed.

[0056] As a specific solution, the transmission unit of the differential structure of the embodiment provides an example of connecting the unit input shaft 23 to the differential housing.

[0057] Without limitation, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 can be connected to one of the left half axle gear 41, the right half axle gear 42, or the differential housing 43 of the differential structure, respectively:

[0058] When the unit input shaft 23 is connected to the left half axle gear 41 of the differential structure, the first unit output shaft 21 can be connected to the right half axle gear 42 of the differential structure, and the second unit output shaft 22 can be connected to the differential housing 43; or the first unit output shaft 21 can be connected to the differential housing 43, and the second unit output shaft 22 can be connected to the right half axle gear 42 of the differential structure.

[0059] When the unit input shaft 23 is connected to the right half axle gear 42 of the differential structure, the first unit output shaft 21 can be connected to the left half axle gear 41 of the differential structure, and the second unit output shaft 22 can be connected to the differential housing 43; or the first unit output shaft 21 can be connected to the differential housing 43, and the second unit output shaft 22 can be connected to the left half axle gear 41 of the differential structure.

[0060] When the unit input shaft 23 is connected to the differential housing 43 of the differential structure, the first unit output shaft 21 can be connected to the right half axle gear 42 of the differential structure, and the second unit output shaft 22 can be connected to the left half axle gear 41; or the first unit output shaft 21 can be connected to the left half axle gear 41, and the second unit output shaft 22 can be connected to the right half axle gear 42 of the differential structure.

[0061] Embodiment Two:

[0062] A transmission unit of a differential structure, this embodiment is a transmission unit transformation of Embodiment One. This embodiment has the same differential structure as Embodiment One, and in this embodiment, the transmission unit 2B in Figure 9 has a different connection method between the transmission unit's first unit output shaft 21, second unit output shaft 22, and unit input shaft 23 and the differential structure. The transmission unit's first unit output shaft 21 is connected to the left half axle gear 41 of the differential structure, the second unit output shaft 22 is connected to the differential housing 43 of the differential structure, and the unit input shaft 23 is connected to the right half axle gear 42.

[0063] According to the transmission characteristics of the differential structure, the rotational speeds of the left and right half axle gears are twice the rotational speed of the differential housing. The transmission unit of the differential structure in this embodiment drives the second unit output shaft 22 at 0.5 times the speed of the unit input shaft 23 when the first unit output shaft 21 is blocked and stops rotating; when the second unit output shaft 22 is blocked and stops rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate in the opposite direction at the same speed.

[0064] The difference between this embodiment and embodiment one is that the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of each transmission unit can be connected to one of the three rotating shafts of the differential structure.

[0065] Embodiment three:

[0066] As Figures 6 to 8 A multi-axis tightening device is provided with a plurality of transmission units 20 of the differential structure described in embodiment one.

[0067] This embodiment is provided with two transmission units 20, one of which is a top-end transmission unit 2A, and the other is an end transmission unit 2B, both of which are installed on the frame 12 of the multi-axis tightening device.

[0068] The unit input shaft 23 (i.e., the differential housing 43) of the top-end transmission unit 2A is connected to the device input shaft 10, and in fact, the unit input shaft 23 (i.e., the differential housing 43) of the top-end transmission unit 2A can be made into a whole structure with the device input shaft 10.

[0069] The first unit output shaft 21 of the top-end transmission unit 2A is connected to a tightening head 11, and the four-pronged body 21b at the output end of the first unit output shaft 21 is inserted into the four-square hole 11a of the tightening head, driving the tightening head 11 to rotate synchronously. The tightening head 11 is provided with a bolt interface 11b, which is an internal hexagonal bolt sleeve in this embodiment, used for tightening hexagonal bolts, hexagonal nuts, and other fasteners.

[0070] The second unit output shaft 22 of the top end transmission unit 2A drives the unit input shaft 23 of the end transmission unit 2B through a transmission gear train 30. As the transmission gear train, the second unit output shaft 22 of the top end transmission unit 2A is provided with a transmission output gear 31, and the unit input shaft 23 of the end transmission unit 2B is provided with a transmission input gear 32. The transmission gear train is further provided with a first intermediate shaft 33, on which a first intermediate gear 34 and a second intermediate gear 35 are arranged, the first intermediate gear 34 is engaged with the transmission output gear 31 of the second unit output shaft of the top end transmission unit 2A, and the second intermediate gear 35 is engaged with the transmission input gear 32 on the unit input shaft 23 of the end transmission unit 2B. In this embodiment, the transmission output gear 31 and the transmission input gear 32 are gears with the same number of teeth, the number of teeth of the first intermediate gear 34 is twice the number of teeth of the second intermediate gear 35, so as to realize the speed reduction transmission from the second unit output shaft 22 of the top end transmission unit 2A to the unit input shaft 23 of the end transmission unit 2B, and the rotation speed of the second unit output shaft 22 of the top end transmission unit 2A is twice the rotation speed of the unit input shaft 23 of the end transmission unit.

[0071] The device input shaft 10 drives the unit input shaft 23 of the top end transmission unit 2A to rotate, and according to the characteristics of the differential structure, for the top end transmission unit 2A, when the second unit output shaft 22 is blocked and in a stopped state, the unit input shaft 23 drives the first unit output shaft 21 to rotate, and the rotation speed of the first unit output shaft 21 is twice the rotation speed of the unit input shaft 23; when the first unit output shaft 21 is blocked and in a stopped state, the unit input shaft 23 drives the second unit output shaft 22 to rotate, and the rotation speed of the second unit output shaft 22 is twice the rotation speed of the unit input shaft 23, i.e. the rotation speed of the second unit output shaft 22 is twice the rotation speed of the device input shaft 10. After being transmitted through the first intermediate gear 34 and the second intermediate gear 35, the rotation speed of the unit input shaft 23 of the end transmission unit is the same as the rotation speed of the device input shaft 10. Thus, the two transmission units have the same rotation speed characteristics, and also have the same or similar torque transmission effect.

[0072] In the end transmission unit 2B, the first unit output shaft 21 is directly connected with a tightening head 11. The second unit output shaft 22 drives a tightening shaft 14 through a transmission gear train, which includes a transmission output gear 31 arranged on the second unit output shaft 22, a tightening input gear 15 arranged on the tightening shaft 14 and a first intermediate shaft 33. The first intermediate shaft 33 is provided with a first intermediate gear 34, which is engaged with the transmission output gear 31 and the tightening input gear 15 respectively. Through the first intermediate gear transmission, the tightening input gear 15 and the transmission output gear 31 rotate in the same direction. The number of teeth of the transmission output gear 31 is the same as that of the tightening input gear 15, so that the rotation speed of the second unit output shaft 22 is the same as that of the tightening shaft 14. Finally, the rotation speed and direction of the tightening head 11 on the tightening shaft 14 are the same as those of the tightening head 11 driven by the first unit output shaft 21.

[0073] According to the principle of the differential, when the second unit output shaft 22 is blocked and stops rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate, and the rotation speed of the first unit output shaft 21 is twice that of the unit input shaft 23; when the first unit output shaft 21 is blocked and stops rotating, the unit input shaft 23 drives the second unit output shaft 22 to rotate, and the rotation speed of the second unit output shaft 22 is twice that of the unit input shaft 23. Thus, for the end transmission unit 2B, the first unit output shaft 21 and the second unit output shaft 22 rotate at the same speed, and the output torque is also the same. Through the adjustment of the transmission gear train 30, the three tightening heads in this embodiment finally have the same rotation direction and speed, and have the same output torque.

[0074] In order to simplify the structure and facilitate understanding, this embodiment only illustrates a multi-axis tightening device including two transmission units and three tightening heads. In actual application, more transmission units and tightening heads can be arranged according to the needs of the tightening object, and the multiple transmission units are transmitted in a multi-stage structure, such as Figure 2 the structural schematic diagram.

[0075] Embodiment Four:

[0076] As shown in Figure 9 a multi-axis tightening device. This embodiment is a structural transformation of embodiment three.

[0077] In this embodiment, the top transmission unit 2A adopts the differential structure transmission unit of embodiment one. The end transmission unit 2B adopts the differential structure transmission unit of embodiment two. The unit input shaft 23 of the end transmission unit 2B is connected with the right half shaft gear 42 of the differential structure, the first unit output shaft 21 is connected with the left half shaft gear 41 of the differential structure, and the second unit output shaft 22 is connected with the differential housing 43 of the differential structure.

[0078] The unit input shaft 23 of the top end transmission unit 2A (i.e. the differential housing 43) is connected to the device input shaft 10. The first unit output shaft 21 of the top end transmission unit 2A is connected to a tightening head 11. The second unit output shaft 22 of the top end transmission unit 2A drives the unit input shaft 23 of the end transmission unit 2B through a transmission gear train.

[0079] Due to the structural change of the end transmission unit 2B, as a transmission gear train, the second unit output shaft 22 of the top end transmission unit 2A is provided with a transmission output gear 31, and the unit input shaft 23 of the end transmission unit 2B is provided with a transmission input gear 32. The transmission gear train is also provided with a first intermediate shaft 33 and a second intermediate shaft 36. The first intermediate shaft 33 is provided with a first intermediate gear 34, and the second intermediate shaft 36 is provided with a second intermediate gear 35. The first intermediate gear 34 is engaged with the second intermediate gear 35. The first intermediate gear 34 is engaged with the transmission output gear 31, and the second intermediate gear 35 is engaged with the transmission input gear 32. In this embodiment, the transmission output gear 31 and the transmission input gear 32 are gears with the same number of teeth, and the number of teeth of the first intermediate gear 34 is the same as that of the second intermediate gear 35, so that the second unit output shaft 22 of the top end transmission unit 2A and the unit input shaft 23 of the end transmission unit 2B are driven at the same speed in opposite directions. For the end transmission unit 2B, the unit input shaft 23 is connected to the right half shaft gear 42 of the differential structure. When the differential 43 housing is stationary, the left half shaft gear 41 and the right half shaft gear 42 rotate in opposite directions. Therefore, when the second unit output shaft 22 is blocked and does not rotate, the first unit output shaft 21 drives the tightening head 11 to rotate in the opposite direction relative to the unit input shaft 23, so that the tightening head 11 driven by the top end transmission unit 2A rotates at the same speed in the same direction.

[0080] In the end transmission unit 2B, the second unit output shaft 22 drives a tightening head 11. The second unit output shaft 22 drives a tightening shaft 14 through a transmission gear train. The transmission gear train between the second unit output shaft 22 and the tightening shaft 14 includes a transmission output gear 31 provided on the second unit output shaft 22, a tightening input gear 15 provided on the tightening shaft 14, a first intermediate shaft 33 and a second intermediate shaft 36. The first intermediate shaft 33 is provided with a first intermediate gear 34, and the second intermediate shaft 36 is provided with a second intermediate gear 35. The first intermediate gear 34 is engaged with the second intermediate gear 35. The first intermediate gear 34 is engaged with the transmission output gear 31, and the second intermediate gear 35 is engaged with the tightening input gear 15. Through two-stage intermediate gear transmission, the tightening input gear 15 and the transmission output gear 31 rotate in opposite directions. The number of teeth of the transmission output gear 31 is twice the number of teeth of the tightening input gear 15, so that the rotational speed of the second unit output shaft 22 is twice that of the tightening shaft 14. Finally, the rotational speed and direction of the tightening head 11 on the tightening shaft 14 are the same as those of the tightening head 11 driven by the first unit output shaft 21.

[0081] The difference between this embodiment and Embodiment 3 is illustrated by showing that different differential transmission units can be used to form a multi-axis tightening device.

[0082] Example 5:

[0083] like Figure 10 , Figure 11 A planetary gear transmission unit is described in this embodiment. The first unit output shaft 21 is connected to the planet carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear structure, and the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure. The gear ring 52 has an internal gear ring 52a. The planetary gear structure of this embodiment has three planet gears 54, which are mounted on the planet carrier 51 and mesh with the sun gear 53 and the internal gear ring 52a of the gear ring, respectively. The term "connection" in this embodiment is a general concept, where the first unit output shaft 21 and the planet carrier 51 are made as a single component (e.g., ...). Figure 11 (As shown); the second unit output shaft 22 and gear ring 52 are a single part, and its external gear 52b serves as the output transmission structure of the second unit output shaft 22; the unit input shaft 23 and sun gear 53 are made into a single structure.

[0084] The output end of the first unit output shaft 21 is provided with a quadrangular prism 21b, which is used to connect the tightening head 11 and can also be used to drive the next stage transmission unit.

[0085] In this embodiment, the transmission unit of the planetary gear structure transmits torque to the first unit output shaft 21 and the second unit output shaft 22 when the unit input shaft 23 (the sun gear 53 of the planetary gear) rotates, driving the object with low torsional resistance to rotate.

[0086] According to the planetary gear transmission calculation formula: ω1 + αω2 = (1 + α)ω3,

[0087] Where ω1 is the rotational speed of the sun gear 53, ω2 is the rotational speed of the internal gear ring 52a, ω3 is the rotational speed of the planet carrier 51, and α is the gear ratio between the internal gear ring 52a and the sun gear 53.

[0088] The number of teeth on the internal gear ring is greater than the number of teeth on the sun gear. When the planet carrier 51 is obstructed and stops rotating, the speed of the sun gear is greater than the speed of the internal gear ring. When the planet carrier 51 is obstructed and stops rotating, the speed ratio (ω1:ω2) between the sun gear 53 and the internal gear ring 52a (i.e., gear ring 52) is α:1. When the internal gear ring 52a is obstructed and stops rotating, the transmission ratio (ω1:ω3) between the sun gear 53 and the planet carrier 51 is (α+1):1. In the planetary gear transmission unit of this embodiment, the transmission ratio between the unit input shaft 23 and the second unit output shaft 22 is 2.5:1, and the transmission ratio between the unit input shaft 23 and the first unit output shaft 21 is 3.5:1.

[0089] Without limitation, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 can be connected to one of the planetary carrier 51, the ring gear 52 or the sun gear 53 of the planetary gear structure respectively:

[0090] When the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure, the first unit output shaft 21 can be connected to the planetary carrier 51 of the planetary gear structure, and the second unit output shaft 22 is connected to the ring gear 52 of the planetary gear structure; or the first unit output shaft 21 can be connected to the ring gear 52 of the planetary gear structure, and the second unit output shaft 22 is connected to the planetary carrier 51 of the planetary gear structure.

[0091] When the unit input shaft 23 is connected to the planetary carrier 51 of the planetary gear structure, the first unit output shaft 21 can be connected to the sun gear 53 of the planetary gear structure, and the second unit output shaft 22 is connected to the ring gear 52 of the planetary gear structure; or the first unit output shaft 21 can be connected to the ring gear 52 of the planetary gear structure, and the second unit output shaft 22 is connected to the sun gear 53 of the planetary gear structure.

[0092] When the unit input shaft 23 is connected to the ring gear 52 of the planetary gear structure, the first unit output shaft 21 can be connected to the sun gear 53 of the planetary gear structure, and the second unit output shaft 22 is connected to the planetary carrier 51 of the planetary gear structure; or the first unit output shaft 21 can be connected to the planetary carrier 51 of the planetary gear structure, and the second unit output shaft 22 is connected to the sun gear 53 of the planetary gear structure.

[0093] Embodiment six:

[0094] As Figures 12 to 14 , the transmission schematic diagram is shown in Figure 3 A multi-axis tightening device is provided with eight transmission units 20 of the planetary gear structure described in embodiment five, and the eight transmission units are installed on the frame 13 of the multi-axis tightening device, and the frame 13 is a three-layer annular structure. The first unit output shaft 21 (i.e. the planetary carrier 51 of the planetary gear) of each transmission unit is connected to a tightening head 11, and the four-prism body 21b at the output end of the first unit output shaft 21 is inserted into the four-square hole 11a of the tightening head to drive the tightening head 11 to rotate synchronously. The tightening head 11 is provided with a bolt interface 11b, which is an internal hexagonal bolt sleeve in this embodiment, and is used to tighten fasteners such as hexagonal bolts and hexagonal nuts. The eight transmission units and the tightening heads are distributed circumferentially on the frame 13, and can be used to tighten circumferentially distributed fasteners such as flange bolts.

[0095] The eight transmission units adopt chain connection structure, including a top end transmission unit 2A, a tail end transmission unit 2B and six intermediate transmission units 2C. The unit input shaft 23 (i.e. the sun gear 53 of the planetary gear structure) of the top end transmission unit 2A is provided with the device input shaft 10, and in the embodiment, the unit input shaft 23 of the top end transmission unit 2A can be integrally formed with the device input shaft 10.

[0096] The first unit output shaft 21 of the eight transmission units is connected with a tightening head 11 respectively.

[0097] For the top end transmission unit 2A and the intermediate transmission unit 2C, the second unit output shaft 22 is connected with the unit input shaft 23 of another transmission unit 20 through the transmission gear train 30, and the eight transmission units form the structure of the transmission chain. The second unit output shaft 22 of the tail end transmission unit 2B is fixed. In the embodiment, a wedge 16 is arranged on the frame 13 to prevent the gear ring 52 of the tail end transmission unit 2B from rotating, so that the second unit output shaft 22 of the tail end transmission unit 2B is fixed.

[0098] As the transmission gear train, the second unit output shaft 22 (i.e. the gear ring 52 of the planetary gear) is provided with a transmission output gear 31, and the unit input shaft 23 is provided with a transmission input gear 32. The transmission gear train is also provided with a first intermediate shaft 33 and a second intermediate shaft 36, the first intermediate shaft 33 is provided with a first intermediate gear 34, and the second intermediate shaft 36 is provided with a second intermediate gear 35, the first intermediate gear 34 and the second intermediate gear 35 are meshed with each other, the first intermediate gear 34 is meshed with the transmission output gear 31, and the second intermediate gear 35 is meshed with the transmission input gear 32.

[0099] The device input shaft 10 drives the rotation of each transmission unit, when the second unit output shaft 22 of a transmission unit is blocked and in a stopped state, the unit input shaft 23 drives the rotation of the first unit output shaft 21, when the first unit output shaft 21 is blocked and in a stopped state, the unit input shaft 23 drives the rotation of the second unit output shaft 22, and transmits the rotation torque to the next transmission unit.

[0100] In the embodiment, eight transmission units are used, and the transmission chain is long. Considering the mechanical efficiency loss in actual working conditions, the number of teeth of the transmission output gear 31 and the transmission input gear 32 should be adjusted according to the mechanical efficiency η, so that the rotation speed of the unit input shaft of each transmission unit on the transmission chain is gradually reduced, the torque of the transmission unit lost due to the mechanical efficiency loss is compensated, so that the torque of the first unit output shaft 21 of each transmission unit tends to be balanced, and the output torque of each tightening head 11 connected with the first unit output shaft 21 also tends to be balanced.

[0101] The embodiment shows a multi-axis tightening device with eight transmission units and eight tightening heads. In practical applications, different numbers of transmission units and tightening heads can be set according to the needs of the tightening objects, and the multiple transmission units are transmitted in a multi-stage structure, such as Figure 3 The transmission units and tightening heads can also adopt different arrangement modes, such as linear arrangement or semicircular arrangement.

[0102] Embodiment Seven

[0103] As shown in Figure 15 A multi-axis tightening device, which is a structural transformation of embodiment six.

[0104] The embodiment shows four planetary gear structure transmission units 20, and the transmission sequence of the four transmission units is top-end transmission unit 2A, first intermediate transmission unit 2C1, second intermediate transmission unit 2C2, and end transmission unit 2B. Among them, the top-end transmission unit 2A and the second intermediate transmission unit 2C2 are the planetary gear structure transmission units described in embodiment five.

[0105] The structure of the first intermediate transmission unit 2C1 and the end transmission unit 2B is that the first unit output shaft 21 of the transmission unit is connected to the planetary carrier 51 of the planetary gear structure, the second unit output shaft 22 of the transmission unit is connected to the sun gear 53 of the planetary gear structure, and the unit input shaft 23 is connected to the gear ring 52 of the planetary gear structure.

[0106] The first unit output shaft 21 of the four transmission units is connected to one torque head 11.

[0107] As a transmission train, the second unit output shaft 22 of the top-end transmission unit 2A, the first intermediate transmission unit 2C1, and the second intermediate transmission unit 2C2 is connected to one transmission output gear 31, and the unit input shaft of the first intermediate transmission unit 2C1, the second intermediate transmission unit 2C2, and the end transmission unit 2B is connected to one transmission input gear 32. Each transmission output gear 31 has the same number of teeth as each transmission input gear. In order to avoid mechanical structure interference, the transmission output gears and the transmission output gears that have no meshing relationship are staggered in axial position.

[0108] The transmission output gear 31 of the top-end transmission unit 2A directly meshes with the transmission input gear 32 of the first intermediate transmission unit 2C1; the transmission output gear 31 of the first intermediate transmission unit 2C1 directly meshes with the transmission input gear 32 of the second intermediate transmission unit 2C2; the transmission output gear 31 of the second intermediate transmission unit 2C2 directly meshes with the transmission input gear 32 of the end transmission unit 2B. The transmission output gear 31 of the end transmission unit 2B is fixed by a wedge block 16.

[0109] In the top-end transmission unit 2A, when the second unit output shaft 22 (the gear ring of the planetary gear) is stationary, the first unit output shaft 21 (the planet carrier of the planetary gear) rotates in the same direction as the unit input shaft 23 (the sun gear of the planetary gear); when the first unit output shaft 21 is stationary, the second unit output shaft 22 rotates in the opposite direction of the unit input shaft 23.

[0110] Since the top-end transmission unit 2A and the first intermediate transmission unit 2C1 are both driven by the same gear ring 52, the gear rings of the top-end transmission unit 2A and the first intermediate transmission unit 2C1 rotate at the same speed in opposite directions. In the first intermediate transmission unit 2C1, when the second unit output shaft 22 (the sun gear of the planetary gear) is stationary, the first unit output shaft 21 (the planet carrier of the planetary gear) rotates in the same direction as the unit input shaft 23 (the gear ring of the planetary gear). Thus, the first unit output shaft 21 of the top-end transmission unit 2A and the first intermediate transmission unit 2C1 rotate at the same speed in the same direction, and the locking heads 11 driven by the two also rotate at the same speed in the same direction. By analogy, Figure 15 as shown, the four tightening heads 11 rotate at the same speed in the same direction, and their output torques are also the same or similar.

[0111] The multi-axis tightening device of the present embodiment has a more compact structure, is particularly suitable for tightening operations of multiple bolts with small spacing, and has fewer levels of transmission gears and high mechanical efficiency.

[0112] The difference between the present embodiment and Embodiment Six is that different planetary gear structures are used to form the multi-axis tightening device.

[0113] Embodiment Eight:

[0114] As Figures 16 to 18 , a multi-axis tightening device uses the transmission unit with the differential structure described in Embodiment One and the transmission unit with the planetary gear structure described in Embodiment Five to form the multi-axis tightening device.

[0115] In the present embodiment, there are nine transmission units, one transmission unit with the differential structure described in Embodiment One and eight transmission units with the planetary gear structure described in Embodiment Five. The transmission unit with the differential structure is the top-end transmission unit 2A, and the eight transmission units with the planetary gear structure are divided into two groups, each group having four transmission units. Each group of four transmission units includes one end transmission unit 2B and three intermediate transmission units 2C.

[0116] The first unit output shaft 21 of the top-end transmission unit 2A drives one group of four transmission units 20, and the second unit output shaft 22 of the top-end transmission unit 2A drives the other group of four transmission units 20.

[0117] As described in Embodiment One, the first unit output shaft 21 and the second unit output shaft 22 of the top end transmission unit 2A are connected to the left half axle gear 41 and the right half axle gear 42 of the differential structure respectively, and the unit input shaft 23 of the top end transmission unit 2A is connected to the differential case 43. The first unit output shaft 21 and the second unit output shaft 22 of the top end transmission unit 2A rotate at the same speed in the same direction. The first unit output shaft 21 and the second unit output shaft 22 of the top end transmission unit 2A drive the unit input shaft 23 of one intermediate transmission unit 2C respectively, and the unit input shaft 23 of the two intermediate transmission units 2C also rotate at the same speed in the same direction.

[0118] As described in Embodiment Five, the transmission unit 20 of the planetary gear structure, the first unit output shaft 21 of the transmission unit is connected to the planet carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear structure, and the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure. Each set of four planetary gear structure transmission units (2B, 2C) in this embodiment is the same as in Embodiment Six, and the transmission train 30 between each set of transmission units is also the same as in Embodiment Six, including the transmission output wheel 31 on the second unit output shaft 22, the transmission input wheel 32 on the unit input shaft 23, the first intermediate shaft 33 provided with the first intermediate gear 34, and the second intermediate shaft 36 provided with the second intermediate gear 35. The second unit output shaft 22 of the end transmission unit 2B is fixed.

[0119] In the multi-axis tightening device of Embodiment Six, the eight transmission units are transmitted in a multi-stage structure, with a long transmission chain. Affected by mechanical efficiency, the transmission torque between the top end transmission unit 2A and the end transmission unit 2B will have a large difference, affecting the balance of the tightening output of the tightening head. This embodiment divides the transmission units connected to the tightening head into two groups, which will make the tightening torque carried by the eight tightening heads more balanced.

Claims

1. A multi-axis tightening device, characterized by, The device comprises a device input shaft (10) and a plurality of tightening heads (11), the device is provided with a plurality of transmission units (20), each of the transmission units is provided with a first unit output shaft (21), a second unit output shaft (22) and a unit input shaft (23), the unit input shaft (23) drives the first unit output shaft (21) and the second unit output shaft (22) to rotate, when the rotation of the first unit output shaft (21) is blocked, the unit input shaft (23) drives the second unit output shaft (22) to rotate, when the rotation of the second unit input shaft (22) is blocked, the unit input shaft (23) drives the first unit output shaft (21) to rotate; the first unit output shaft (21) of the transmission unit drives the unit input shaft (23) of another transmission unit or drives the tightening head (11), the second unit output shaft (22) of the transmission unit drives the input shaft (23) of another transmission unit or drives the tightening head (11); the plurality of transmission units comprises a top transmission unit (2A), the device input shaft (10) drives the unit input shaft (23) of the top transmission unit (2A). The first unit output shaft (21) of the transmission unit drives the unit input shaft (23) of another transmission unit through a transmission gear train (30), the second unit output shaft (22) of the transmission unit drives the input shaft (23) of another transmission unit through the transmission gear train (30), the transmission gear train (30) adjusts the rotation direction and / or transmission ratio of the unit input shaft (23), the transmission gear train (30) comprises a transmission output gear (31) arranged on the first unit output shaft (21) and / or the second unit output shaft (22), and the transmission gear train (30) further comprises a transmission input gear (32) arranged on the unit input shaft (23).

2. The multi-axis tightening device of claim 1, wherein, The transmission gear train (30) further comprises an intermediate shaft arranged between the transmission output gear (31) and the transmission input gear (32).

3. The multi-axis tightening device of claim 1, wherein, The transmission unit (20) is a differential structure transmission unit, the first unit output shaft (21), the second unit output shaft (22) and the unit input shaft (23) of the transmission unit are respectively connected with one of the left half shaft gear (41), the right half shaft gear (42) or the differential housing (43) of the differential structure.

4. The multi-spindle screwing device according to claim 3, characterized in that, The first unit output shaft (21) and the second unit output shaft (22) of the transmission unit are respectively connected with the left half shaft gear (41) and the right half shaft gear (42) of the differential structure, and the unit input shaft (23) is connected with the differential housing (43), the first unit output shaft (21) passes through the second unit output shaft (22), and the first unit output shaft (21) and the second unit output shaft (22) pass out of the differential housing (43) from the same side.

5. The multi-spindle screwing device according to claim 3, characterized in that, The unit input shaft (23) of the transmission unit is connected with the right half shaft gear (42) of the differential structure, the first unit output shaft (21) is connected with the left half shaft gear (41) of the differential structure, and the second unit output shaft (22) is connected with the differential housing (43) of the differential structure.

6. The multi-axis tightening device of claim 1, wherein, The transmission unit (20) is a planetary gear structure transmission unit, and a first unit output shaft (21), a second unit output shaft (22) and a unit input shaft (23) of the transmission unit are connected with one of a planetary carrier (51), a gear ring (52) or a sun gear (53) of the planetary gear structure respectively.

7. The multi-spindle screwing device according to claim 6, characterized in that, The first unit output shaft (21) of the transmission unit is connected with the planetary carrier (51) of the planetary gear structure, the second unit output shaft (22) is connected with the gear ring (52) of the planetary gear structure, and the unit input shaft (23) is connected with the sun gear (53) of the planetary gear structure.

8. The multi-spindle screwing device according to claim 6, characterized in that, The first unit output shaft (21) of the transmission unit is connected with the planetary carrier (51) of the planetary gear structure, the second unit output shaft (22) is connected with the sun gear (53) of the planetary gear structure, and the unit input shaft (23) is connected with the gear ring (52) of the planetary gear structure.

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