Method for screwing a bolted connection, multiple screwing device

Abstract

This invention relates to a method for tightening bolted connections using a multiple tightening device, the multiple tightening device comprising first and second tightening tools, each having: a rotary drive for screwing in and out a change sleeve; a mechanism for longitudinally stretching a threaded pin; and a tool for tightening a nut. The tightening tool is moved perpendicular to its tool axis by means of an adjusting drive. At one moment, the change sleeves of both the first and second tightening tools are simultaneously screwed into the threaded pin. Immediately afterwards: a) the change sleeve of the first tightening tool is unscrewed from the threaded pin and the first tool is raised; b) the first tightening tool is moved relative to the second tightening tool by means of the adjusting drive until a new position is reached in which the tool axis of the first tightening tool is aligned with the bolt axis of another threaded pin; c) the tightening tool is lowered and screwed into the other threaded pin; d) the threaded pin is stretched longitudinally; e) steps a) to d) are repeated.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for screwing bolted connections, the bolt axes of which are arranged in a defined position relative to one another and each comprise a threaded pin and a nut, which is screwed onto the thread of the threaded pin and is supported relative to the base.

[0002] The invention also relates to a multiple screwing device, which is in particular suitable for the method for screwing bolted connections. BACKGROUND

[0003] From EP 2 607 685 B1 a method for screwing bolted connections is known in the case of the use of a screwing device. The device is designed to screw or tighten a plurality of bolted connections arranged in succession along a flange. Each bolted connection comprises a threaded pin and a nut, which is screwed onto the thread of the threaded pin, wherein the nut is supported on the upper side of the flange. The bolted connections are screwed by means of a screwing tool arranged on a self-propelled vehicle by stretching the nut and subsequently turning the nut relative to the flange. In order to position the screwing tool above the respective bolted connection to be screwed, the vehicle has a position sensor. On the basis of the position signal of the position sensor, the vehicle with the screwing tool arranged thereon is moved under control until a signal is obtained that the screwing tool is in axial alignment with the bolt axis of the bolted connection. For this purpose, the position signal of the position sensor is processed in a control unit into a signal for operating the vehicle. The control unit is furthermore designed to monitor the process of stretching the nut and the tightening.

[0004] From WO 2008 / 092768 A2 a method for screwing bolted connections arranged in succession in a row is also known. The bolted connections are screwed with the same plurality of parallel connected screwing tools. Each of the screwing tools has a hydraulic connection, which is hydraulically connected to one common hydraulic aggregate. The clamping devices are thus connected in a hydraulic parallel circuit for parallel operation.

[0005] From EP 2 671 673 A1 a screwing device is known, in which a plurality of screwing tools can be transported together along the bolted connections arranged in succession and can be moved to a position above these bolted connections. The screwing tools are operated hydraulically in such a way that first a mechanical longitudinal stretching of the threaded pin of the respective bolted connection takes place.

[0006] Known methods and devices are suitable for screw connections which are arranged one after the other in a row, such as they are typically used for example for flange screw connections which connect individual tower segments of a wind power installation to one another. Here, the annular flange of an upper tower segment is supported on the annular flange of a tower segment of the wind power installation which is arranged thereunder. The flanges are screwed to one another by means of a plurality of screw connections which are arranged uniformly one after the other in the circumferential direction of the flanges.

[0007] Known methods and devices are less suitable or even unsuitable in the case where the screw connections are not arranged uniformly one after the other in a row, but rather in different positions from one another. SUMMARY

[0008] It is an object of the present application to provide a method which can be carried out using a multiple screwing device and which is suitable not only for screwing screw connections which are arranged one after the other in a row, but also for screwing screw connections whose screw axes are arranged in different positions from one another. Furthermore, a suitable multiple screwing device is to be proposed.

[0009] In order to achieve the stated object, a method for screwing screw connections is proposed according to the application.

[0010] In the method, a multiple screwing device having at least two screwing tools is used, wherein the screwing tools each have:

[0011] - a changeover sleeve which is arranged rotatably about a tool axis in the screwing tool, on which changeover sleeve a traction thread is formed which can be screwed with a longitudinal section of a thread,

[0012] - a rotary drive for screwing the changeover sleeve onto a thread or unscrewing it from a thread,

[0013] - a mechanism for longitudinally stretching a thread pin by applying a pulling force to the changeover sleeve along the tool axis,

[0014] - a form-locking tool which can be coupled with a nut for tightening the nut.

[0015] The screwing tools can each be moved in the longitudinal direction of the tool axis of the screwing tools by means of one longitudinal drive and are therefore configured to be movable. Furthermore, the screwing tools can be moved relative to one another in a direction which is perpendicular to at least one of the tool axes by means of at least one adjustment drive.

[0016] At one time both screwing tools are supported relative to the base. At this time the exchange sleeve of the first screwing tool and the exchange sleeve of the second screwing tool are screwed onto the thread of the threaded pin respectively and the mechanism for longitudinally stretching the respective threaded pin is activated in both screwing tools, i.e. both exchange sleeves exert a pulling force onto the respective threaded pin, preferably by means of hydraulic pressure.

[0017] Without changing the position of the second screwing tool, which is currently activated, i.e. which exerts a pulling force on the threaded pin, and directly after deactivating the first screwing tool the following steps are carried out:

[0018] a) the exchange sleeve of the first screwing tool is unscrewed from the threaded pin by means of the rotational drive and the first screwing tool is lifted by means of the longitudinal drive;

[0019] b) the first screwing tool is moved relative to the second screwing tool by means of the adjustment drive into a new position in which the tool axis of the first screwing tool is aligned with the bolt axis of the further threaded pin;

[0020] c) in this new position the first screwing tool is lowered by means of the longitudinal drive and the exchange sleeve is screwed onto the further threaded pin by means of the rotational drive;

[0021] d) the further threaded pin is stretched longitudinally by exerting a pulling force on the exchange sleeve and the nut is tightened while maintaining the longitudinal stretching;

[0022] e) steps a) to d) are repeated, this time for the second screwing tool and with the first screwing tool in a constant position.

[0023] The second screwing tool is deactivated at the earliest during step d), i.e. after the exertion of the pulling force on the further threaded pin has begun. By activating at least one of the screwing tools at each time by means of the fed-in hydraulic pressure and thus this screwing tool being supported relative to the base under high pressure, a high degree of precision is achieved in the case of the alternating repositioning of the screwing tools.

[0024] To achieve this object, furthermore a multiple screwing device for a bolted connection according to the invention is proposed.

[0025] The multiple screwing device is characterized in that the screwing tools are movable in the longitudinal direction of the tool axis of the screwing tools by means of one longitudinal drive respectively and the screwing tools are movable relative to one another in a direction perpendicular to at least one of the tool axes by means of at least one adjustment drive.

[0026] The claimed method and the claimed device are not only suitable for screwing together bolt connections which are arranged next to one another in a row, but also for screwing together such bolt connections whose bolt axes are arranged at different positions relative to one another, for example in such a way that the bolt axes are arranged laterally or obliquely offset relative to one another and / or in such a way that the spacing from bolt connection to bolt connection is varied.

[0027] An additional advantage is that the method is not only suitable for screwing together substantially vertical threaded portions, but also for screwing together threaded portions which are angled significantly relative to vertical, and even for screwing together bolt connections which have, for example, horizontal bolt axes, and for screwing together Über-Kopf threaded portions. If the bolt connections are, for example, flange connections, the orientation of the flanges can be not only horizontal, but also oblique or even vertical.

[0028] In summary, a more flexible method for screwing together bolt connections is thus realized compared to the prior art, which method has a wide range of applications. Equally, the multiple screwing device which is constructed in a particular way is characterized by a high degree of flexibility in different application situations.

[0029] It is important that at least two screwing tools of the device are moved relative to one another in a direction transverse to their tool axes by means of the adjusting drive which is present at least once. Thus, when the adjusting drive is actuated, one of the screwing tools retains its position and its rotational position, while the other screwing tool is moved perpendicular to or transverse to its own tool axis. As a result, a relative movement of the screwing tools results.

[0030] It is equally important that, for each instant of the screwing process, at least one of the screwing tools is fixedly connected with the respective threaded pin. Thereby, a fixed position in a defined position is ensured at each instant. As a result of the fixed position, the other or the further screwing tool can be moved simultaneously to a new position above the further threaded pin which has not yet been screwed by actuating the adjusting drive, in which new position the tool axis of the further screwing tool is aligned with the further threaded pin. Since the first screwing tool retains its rigid engagement on the threaded pin of the screwing tool, retains its support on the base and, as a result, retains its fixed position and its rotational position during the repositioning, a movement into the new position takes place with high precision.

[0031] In summary, the method is thus characterized by a repeatedly switching into a respective new threaded portion position and is thus a "step-by-step" method in which a rigid connection in a fixed position is ensured at any instant, and this connection is released or loosened at the earliest when a rigid connection is ensured in the further position by screwing on the respective further threaded pin.

[0032] The longitudinal stretching of the bolts by exerting a pulling force on the exchange sleeve along the tool axis can be carried out successively, partially overlapping in time or in parallel, i.e. simultaneously. In the first case, the pre-tensioning of the two threaded pins is carried out successively, in the second case simultaneously. It is also possible that, for example, two screwing tools are operated, while a third screwing tool is just being repositioned, i.e. positioned above the further bolt axis.

[0033] For the purpose of identifying the exact position of the next thread section position, a sensor can be used. The sensor's sensing mechanism can either be designed for identifying the respective pin to be stretched itself or for identifying the adjacent pin or the adjacent two pins. It is also possible, for example, to identify the bolted connection under the respective flange, if there is, for example, a bolt head of the bolted connection there.

[0034] Therefore, a robot controller for moving the respective screwing tool into the new position is proposed with the design of the method and the device, wherein the robot controller is realized sensor-controlled by means of a sensor designed for positioning the threaded pin.

[0035] For the adjustment drives displaced transversely to the bolt axis, an electrical, hydraulic or pneumatic actuation is proposed. Also for the longitudinal drives running in the longitudinal direction of the bolt, an electrical, hydraulic or pneumatic actuation is proposed.

[0036] The spacing of the tool axes from one another is changed by means of single or multiple adjustment drives. The spacing change of the tool axes can take place in different ways. The spacing change can take place, for example, in a linear, i.e. straight, movement or in the course of a straight movement. This is advantageous if the bolted connection is essentially arranged in a row.

[0037] In another variant, the change of the spacing of the tool axes is carried out in a non-linear movement and in particular by means of an arcuate movement or by means of a combination of two or more arcuate movements. Each arcuate movement is in its simplest design a movement along a circular path.

[0038] Preferably, the screwing tools are arranged on a common carrier. In this case, the arcuate movement takes place by means of a pivoting of the screwing tools relative to the carrier. It is also possible that the screwing tools are pivoted simultaneously in mutually opposite pivoting directions. This can take place simultaneously or not simultaneously.

[0039] The screwing tools can each be fastened on a free end of an arm, which can be pivoted about a shaft arranged on the carrier. The longitudinal drives are each designed independently of one another for moving the respective arm parallel to the tool axis.

[0040] Furthermore, it is proposed that the insertion and unscrewing of the sleeve be performed by means of a rotary driver. Preferably, each screwdriver is equipped with its own rotary driver, which therefore operates independently of the rotary drivers of another tool or several other tools.

[0041] Furthermore, an anti-torsion mechanism is proposed. This anti-torsion mechanism is configured to prevent the threaded pin from rotating during the process of screwing the replacement sleeve into the threaded pin. Co-rotation could result in an excessively short thread engagement between the replacement sleeve and the pin, which could pose a significant danger to the subsequent bolt tightening process.

[0042] The anti-torsion mechanism is characterized by being configured as a retaining tool capable of reciprocating between an initial position (Ruheposition) and a reverse fixed position (Gegenhalteposition). For at least the duration of tightening / slowly turning the nut, the reverse fixed surface of the retaining tool is torsionally abutted against the threaded pin, wherein, needless to say, this abutment position is different from the position of the longitudinal section of the thread and the replacement sleeve during tightening.

[0043] Furthermore, a process controller is proposed for controlling the movement of the corresponding turning tool until it reaches its new or other position. Preferably, the process controller also coordinates and monitors the remaining functions of the turning tool and, more preferably, also coordinates and monitors the controlled back-and-forth movement of an additional holding tool.

[0044] Preferably, the multi-tightening device comprises two modules: a tool module and a spatially separated supply module. The tightening tool (which includes mechanisms for longitudinally stretching the threaded pin and for tightening the nut), a rotary actuator, a longitudinal actuator, and an adjusting actuator are integrated in the tool module. At least one power supply unit for operating the mechanism for longitudinally stretching the threaded pin is integrated in the supply module. The power supply unit consists of a supply line, preferably a flexible design, which extends from the supply module to the tool module.

[0045] Preferably, the supply module is further configured as a power supply for the rotary drive, longitudinal drive, and adjustment drive. A second supply line, preferably configured as a flexible second supply line, extends from the supply module to the tool module as part of the power supply.

[0046] In order to make the tool module and the supply module move as coordinatedly as possible, the design of the method and apparatus proposes that the supply module be configured to move parallel to the base, preferably by means of rollers or wheel elements rotatably supported on the supply module, and the supply module is mechanically connected to the tool module by a pressure rod or pull rod that is bent or hinged.

[0047] In another design of the method and apparatus, the supply module is fixedly positioned in a central location, wherein the tool module moves from the threaded portion to the threaded portion around this central position. Furthermore, in this alternative design, a supply line, preferably a flexible supply line, extends from the supply module to the tool module.

[0048] To protect the threaded pin from unintended rotation during sleeve replacement screwing, the multiple screwing device is equipped with an anti-torsion mechanism. This anti-torsion mechanism includes a retaining tool with a reverse retaining surface that abuts against the threaded pin at a position different from the longitudinal section of the sleeve being screwed on. The reverse retaining tool can move back and forth between an initial position and a reverse retaining position, in which the reverse retaining surface abuts against the threaded pin against torsion. This forward movement until engagement with the threaded pin can be achieved either by means of a mechanical actuator or under the pressure of a spring mechanism.

[0049] Each turning tool is equipped with its own retaining tool and its own driver for the retaining tool. Preferably, the driver of the retaining tool is coupled to the movement of the corresponding turning tool parallel to its tool axis. Attached Figure Description

[0050] The embodiments are illustrated in more detail below with reference to the accompanying drawings. In the drawings:

[0051] Figure 1 The diagram shows a perspective internal view of two tower sections of a wind power generation device, wherein the connection area of ​​the tower sections formed by the screwed annular flange is shown as only a half shell, and a multi-screwing device is provided on the annular flange for tightening or screwing the threads.

[0052] Figure 2 Shown in magnified view Figure 1 The detail "A";

[0053] Figure 3 Shown in another embodiment Figure 1 and 2 The technical solution;

[0054] Figure 4 In relation to Figure 1 , 2 The tool module with multiple turning devices is shown in a line of sight opposite to that in perspective 3;

[0055] Figure 5 Showing a side view of the tool module;

[0056] Figure 6 Showing the rear view of the tool module;

[0057] Figure 7 Showing a top view of the tool module;

[0058] Figure 8 A partial cross-sectional view of one of the screwing tools in a multi-screwing device is shown in the case where the screwing tool is screwed into the threaded pin of the bolt connection and the threaded pin can begin to be stretched longitudinally.

[0059] Figure 9 Another embodiment of the tool module is shown, which has an additional anti-torsion mechanism configured on the tool module;

[0060] Figure 10 Three variations a), b), and c) illustrate an anti-torsion mechanism that can be fitted onto a threaded pin and prevents the pin from rotating with it. Figure 10 The details “A”, “B” or “C” are shown in the lower part respectively. Detailed Implementation

[0061] Figure 1 A multi-tightening device 1 (hereinafter also referred to as a tightening robot) is shown in the tower of this wind power equipment. The multi-tightening device includes a tool module 1.1 and a separate supply module 1.2. Specifically, this application is implemented in the connection area of ​​the two tower sections 2 of the wind power equipment to tighten or screw on the threads present therein. The flange 3 of the corresponding upper tower section 2 is supported on the flange 4 of the lower tower section of the wind power equipment. The flanges 3 and 4 are tightened together by means of bolted connections, which are here arranged sequentially and evenly in the circumferential direction of the flanges 3 and 4.

[0062] Figure 8 The diagram shows one of the bolted connections of two flanges 3 and 4. The bolted connection is located on the bolt axis A and includes a threaded pin 5, a first nut 6 screwed onto the threaded pin, and a second nut 7 screwed onto the threaded pin. Nut 6 rests against flange 3 from above, the area below which is also referred to as the base U. The other nut 7 rests against the other flange 4 from below.

[0063] Instead of the second nut 7, the threaded pin can be equipped with an enlarged pin head that abuts against the flange 4 from the bottom, thus the threaded pin 5 is configured as a headed bolt.

[0064] Figure 8Also shown are screwing tools 10 and 20 as embodiments of bolt tensioning cylinders (Schraubenspannzylinder). The bolt tensioning cylinder performs two functions: it can stretch the threaded pin 5 in the longitudinal direction, and it can tighten the nut 6, which is disengaged from the base U, during stretching. This tightening is also referred to as slow rotation (Beidrehen).

[0065] The longitudinal tension of the threaded pin 5 is performed only in axial movement along the bolt axis A of the bolt connection. For this purpose, a replacement sleeve 21 is provided in the cylinder housing 30 of the bolt tensioning cylinders 10 and 20, which can move along tool axes A10 and A20 that coincide with the bolt axis A. The replacement sleeve 21 is provided with a traction thread 23, which is configured as an internal thread, at its end for screwing onto the thread 5A of the threaded pin.

[0066] The replacement sleeve 21 can be permanently installed in the cylinder housing 30. Alternatively, the replacement sleeve 21 can be replaceably installed so that it can be replaced with a replacement sleeve of a different size for screwing with other thread sizes.

[0067] Before the tensioning process begins, the traction thread 23 of the replacement sleeve is screwed into the threaded end section of thread 5A protruding from the nut 6 by means of a rotary actuator (which enables the replacement sleeve 21 to rotate about its tool axes A10, A20). The screwing causes the traction thread 23 to be screwed onto the longitudinal section L with thread 5A.

[0068] The threaded pin 5 is longitudinally stretched by axial pull only on the longitudinal section L of the thread 5A using hydraulic pressure. For example, the tightening force used here and / or the tightening pressure used by means of hydraulic pressure can be stored in and thus recorded in the documentation module of the process control unit. The nut 6 is tightened while a defined preload is applied to the threaded pin 5 in a hydraulically activated tensioning device. The rotational or tightening torque actually used here, as well as the rotation angle when tightening the nut 6, is also stored in the documentation module.

[0069] The replacement sleeve 21, centrally located in the cylinder housing 30, is screwed in using a preferred electrically driven rotary actuator. The replacement sleeve 21 is then brought into tension, thereby elongating or stretching the threaded pin 5. During the duration of this stretching, the underside of the nut 6 disengages from the base U, allowing the nut 6 to rotate with relatively little rotational resistance and be tightened or slowly rotated until it rests against the base U again without any clearance. This is achieved, for example, with a predetermined, also recorded, tightening torque.

[0070] The aforementioned rotary actuator, or another rotary actuator, is configured to drive a rotary bushing 33, which is disposed around and form-locked around a nut 6. The actuator for the rotary bushing 33 also includes a transmission 34, which acts on the rotary bushing 33 through an opening in the cylinder housing, causing the rotary bushing 33 and thus the nut 6 to rotate.

[0071] The hydraulic tensioning mechanism is surrounded by a pressure-resistant cylinder housing 30. A rigid extension of the cylinder housing towards the base U forms a downwardly open support tube that loops around the nut 6. The support tube may be part of the cylinder housing 30 or alternatively, a component independently of the cylinder housing 30, for example, torsionally mounted to the cylinder housing. Facing the base U, the support tube is provided with a support surface in the form of a ring around the nut 6, so that high support forces can be transferred to the base U, which forms a support during hydraulic pressure loading.

[0072] A hydraulic connection end 37 is located on the side of the cylinder housing 30. Figure 4 The hydraulic cylinder is constructed with a hydraulic working space inside the cylinder housing 30, which can be connected to the hydraulic pump in the supply module 1.2 through the hydraulic connection end.

[0073] A piston is mounted in the hydraulic cylinder of the screwdrivers 10 and 20, allowing it to move longitudinally. By feeding hydraulic pressure into the hydraulic cylinder, the piston is lifted against the spring force applied to it. The spring attempts to hold the piston in its initial position, where the hydraulic workspace has its minimum value.

[0074] The piston is configured to axially drive the replacement sleeve 21. For this purpose, the piston may be equipped with a step, on which the replacement sleeve 21 is supported. If the hydraulic pump feeds pressurized fluid into the working space, the piston rises and drives the replacement sleeve 21 on the turning tools 10, 20. Here, the cylinder housing 30 is supported under high pressure on the base U, which forms a support. This causes the aforementioned longitudinal tension of the threaded pin 5.

[0075] The turning robot is equipped with a process control unit that automatically adjusts the pressure and pressure duration provided by the hydraulic pump, and the process control unit coordinates and controls the most important functions of the turning robot.

[0076] according to Figures 4 to 7 An example of the construction structure of the tool module 1.1 of the multi-tightening device 1 and the tightening method that can be implemented therefrom, the tightening method including process-controlled automatic switching to a new or other thread position.

[0077] In this embodiment, tool module 1.1 is equipped with a total of two [tools] that have been [according to / based on / etc.].Figure 8 The tightening tool is described as a design scheme for a hydraulic bolt tensioning cylinder 10, 20. However, the module may also be equipped with one or more such tightening tools to implement the tightening method.

[0078] The cylinder housing 30 of the first screw-on tool 10 is rigidly fastened to the free end of the first arm 61, which is supported on a shaft 41 for pivotability, the shaft being fixedly positioned on a bracket 40. Similarly, the cylinder housing 30 of the second screw-on tool 20 is rigidly fastened to the free end of the second arm 62, which is supported on a second shaft 42 for pivotability, the second shaft being fixedly positioned on a bracket 40. As a result, each screw-on tool 10, 20 can pivot about its corresponding shaft 41, 42 on an arc.

[0079] In this embodiment, the support 40 is a frame through which two arms 61 and 62 extend. This provides the possibility of configuring the arms 61 and 62 as two-layered double arms for greater stability of the overall structure, with corresponding cylinder housings 30 fastened to the free ends of the double arms.

[0080] Each of the two arms 61, 62—particularly in the preferred configuration as a two-layered double arm—provides a position for housing a motor serving as a rotary actuator 45. Such a rotary actuator 45 is provided on each arm 61, 62.

[0081] In this embodiment, the rotary actuator 45 performs two functions. The first function is to rotate the replacement sleeve 21 disposed in the screwing tools 10 and 20 about tool axes A10 and A20 respectively, so as to either screw the replacement sleeve into or out of the threaded pin 5. The second function is to rotate the rotating bushing 33 ( Figure 8 The rotating bushing serves as a form-locking tool that can be coupled to the nut 6, which tightens or slowly rotates the nut 6.

[0082] To enable the rotary driver 45 to perform two functions sequentially, a switching actuator is connected downstream of the motor of the rotary driver 45 in the device illustrated herein. In a first switching position of the switching actuator, the rotary driver 45 drives only the changing sleeve 21, while in another switching position, it drives only the rotating bushing 33. The robot controller also monitors this switching.

[0083] Alternatively, the device may be equipped with a first drive for changing the sleeve 21 and a separate second drive for rotating the bushing 33.

[0084] In order to lower or raise the tightening tools 10, 20 onto the bolt connection independently of the rotation of the corresponding replacement sleeve 21, each tightening tool 10, 20 is equipped with its own longitudinal actuators 50a and 50b. The longitudinal actuators 50a and 50b are configured to raise and lower the corresponding arms 61, 62 and therefore the tightening tools relative to the support 40.

[0085] The two longitudinal actuators 50a and 50b operate independently of each other, allowing each arm 61 and 62, along with the cylinder housing 30 fastened to it, to be raised and lowered individually, i.e., independently of the other arm. The manipulation of the longitudinal actuators 50a and 50b is also based on control signals from the robot controller.

[0086] Arms 61 and 62 are moved relative to support 40 by means of adjusting actuators 60a and 60b. By manipulating the adjusting actuators, the corresponding turning tools 10 and 20 perform movements perpendicular to and therefore transverse to their own tool axes A10 and A20. This causes relative movement of the turning tools, wherein the distance between tool axes A10 and A20 changes.

[0087] The first arm 61 and thus the first turning tool 10 are pivoted about axis 41 by manipulating the adjustment drive 60a. The second arm 62 and thus the second turning tool 20 are pivoted about axis 42 by manipulating another adjustment drive 60b.

[0088] Therefore, according to Figure 7 The adjusting actuators 60a and 60b have lead screws that act on arms 61 and 62.

[0089] The regulating actuators 60a and 60b, as well as the longitudinal actuators 50a and 50b, are moved by motors according to process control signals. In principle, the actuators may also be designed hydraulically or pneumatically.

[0090] Alternatively, instead of two adjustment drives 60a, 60b, it is possible to have only one adjustment drive. This adjustment drive could, for example, simultaneously drive both arms 61, 62 by means of a suitable transmission and cause these arms to pivot relative to each other about axes 41, 42.

[0091] The apparatus described herein allows for a step-by-step transition from one bolted connection to another without the need for a linear or linearly rotating drive as in the prior art. In this method, a rigid connection with at least one bolted connection is ensured at each moment. This connection is only released after a rigid connection has been established with another bolted connection.

[0092] In summary, the method is characterized by repeatedly switching to a new thread position and is therefore a "stepping" method, where the movement from one position to another is not a traversing movement or a rolling movement from thread to thread.

[0093] At each moment of the tightening process, at least one tightening tool 10, 20 tightens its corresponding threaded pin 5 and is simultaneously supported on the base U. The mechanism for longitudinally stretching the corresponding threaded pin in this tightening tool is activated, i.e., applying tension to the replacement sleeve. Thus, a reliable rigid connection exists at least in this position, ensuring a fixed position. Simultaneously, by means of one or more adjusting actuators 60a, 60b, another, i.e., a non-hydraulically activated tightening tool can be moved to a new position on another threaded pin 5 that is not yet tightened. Because at least one tightening tool 10, 20 maintains its rigid engagement on the threaded pin 5 and remains supported on the base U during the transition, it can be transitioned to the new position with high precision.

[0094] The method of moving or transitioning to the new threaded position is then described step-by-step using a specific example. The initial point is the hydraulic activation of the two screw-operated tools 10 and 20, i.e., screwing onto the threaded pin 5 of the bolt connection, with the cylinder housings 30 of the two screw-operated tools 10 and 20 supported on the base U due to hydraulic pressure. From this point, the following method steps are implemented:

[0095] a) The first turning tool 10 is hydraulically deactivated and the replacement sleeve of the first turning tool 10 is unscrewed from the corresponding threaded pin 5 by manipulating the rotary drive 45. Then, the first turning tool 10 is lifted and detached from the bolt connection by manipulating the first longitudinal drive 50a.

[0096] b) By manipulating the adjusting driver 60a, or alternatively, by manipulating both adjusting drivers 60a and 60b, the first tightening tool 10 is moved only perpendicular to and therefore transverse to its own tool axis A10 until a new position is reached in which the tool axis A10 is aligned with the bolt axis A of the other threaded pin 5. During this step, the distance between the tool axis A10 and the tool axis A20 of the fixed-position tightening tool 20 is changed.

[0097] c) In this new position, the first screwing tool 10 is lowered by means of the longitudinal driver 50a, and then the replacement sleeve 21 is screwed into the other threaded pin 5 by means of the rotation driver 45.

[0098] d) By feeding hydraulic pressure into the first tightening tool 10, the additional threaded pin 5 is stretched longitudinally by applying tension to the replacement sleeve 21, and the nut 6 involved is tightened by means of the rotating bushing 33 and driven by the rotating drive of the rotating bushing 33 while maintaining the longitudinal stretch.

[0099] e) Then repeat steps a) to d), but this time by switching to another screwing tool 20 that is now fixed in position while the position of the first screw tool 10 remains unchanged.

[0100] The decisive advantage of this method of operation via "step-by-step" switching is that it ensures a rigid connection of tool module 1.1 at any given temporary fixed point. This rigid connection stops or loosens only when the same rigid connection is re-established. Because tool module 1.1 is clamped to at least one bolted connection and simultaneously supported on the base U at every moment, this method is applicable not only to multiple threaded sections in a vertical orientation, but also to multiple threaded sections angled relative to vertical, and even to multiple threaded sections with horizontal bolt axes. Even for multiple threaded sections with protruding bolts, this can be reliably and fully automatically implemented using tool module 1.1.

[0101] A robot controller or process controller controls and monitors the entire process as the corresponding tightening tools 10, 20 are moved to new positions. This controller is configured to monitor not only the rotary drive 45, but also the longitudinal drives 50a, 50b and the adjusting drives 60a, 60b, and control their functions. The same process controller also controls and monitors the hydraulic system for longitudinally stretching the threaded pin 5 and the form-locking tool for tightening the nut 6.

[0102] The turning tools 10 and 20 are switched sequentially as described. However, the longitudinal stretching of each threaded pin 5 does not have to be performed sequentially, but can be performed simultaneously on both threaded pins.

[0103] In a design of a multi-tightening device with a total of three tightening tools, for example, two of these tools can longitudinally stretch the corresponding threaded pin 5, while simultaneously repositioning the third tightening tool, i.e., switching it to another threaded part.

[0104] To reliably locate the next threaded section and to move the corresponding tightening tools 10, 20 to that location, a sensor 70 is securely mounted on the bracket 40. The sensor 70 is technically connected to the process controller, i.e., the robot controller. Image acquisition cameras, lasers, or inductive sensors are particularly suitable as sensors. Preferably, the sensor 70 can detect the next threaded section location when the precise location of each threaded section, and especially the location of each bolt axis A, is unknown and not permanently stored beforehand as a location dataset.

[0105] The sensing mechanism of sensor 70 can be configured to identify the corresponding threaded pin 5 or its bolt axis A as the next to be stretched, or to identify one or two adjacent threaded pins.

[0106] Figure 9 Measures are shown to prevent the threaded pin 5 from rotating undesirably during the screwing in of the replacement sleeve 21. A component of the anti-torsion mechanism is a retaining tool 80 capable of reciprocating between an initial position and a reverse fixed position, the retaining tool being preferably electrically driven or alternatively driven by simple spring force. Each screwing tool 10, 20 is equipped with its own retaining tool 80 configured thereto.

[0107] For at least the duration of screwing in the replacement sleeve 21, the reverse retaining surface 81 (on which the retaining tool 80 is equipped) is brought into contact with or against the threaded pin 5 in a torsionally resistive manner. This contact may be form-locked or friction-locked. Needless to say, the contact location cannot be the longitudinal section L of the thread 5A that is screwed onto the replacement sleeve 21.

[0108] Figure 10 a), 10b), and 10c) show that there are different possibilities for the position of the threaded pin 5 that abuts against the reverse fixing surface 81.

[0109] If, according to 10a) and 10b), the threaded pin 5 is provided with an inner polygon or an outer polygon at one of its two ends, then the reverse fixing surface 81 of the retaining tool 80 abuts against the polygon by axial movement, thereby achieving form locking and thus achieving anti-torsion.

[0110] exist Figure 10 In b), the anti-torsion mechanism is implemented in a space-saving manner within the replacement sleeve 21 of the screwing tools 10, 20, wherein the retaining tool 80 can automatically engage with the polygon on the bolt side under the pressure of a spring mechanism (not shown).

[0111] alternative sites, according to Figure 10c) The reverse retaining surface 81 of the retaining tool 80 (e.g., by strong frictional engagement with the thread) can directly abut against the thread of the threaded pin 5. This radial contact with the thread can be made either on the thread crest or on the thread flank.

[0112] Tightening tools 10 and 20 (which include mechanisms for longitudinally stretching threaded pins 5 and tightening nuts 6) and rotary actuators 45, longitudinal actuators 50a and 50b, and adjusting actuators 60a and 60b are integrated in tool module 1.1, while power supply components are located in supply module 1.2. Furthermore, a hydraulic supply system with a hydraulic pump and a controller for operating the tightening tools 10 and 20 is included, as well as a power source and a controller for operating the rotary actuators 45, longitudinal actuators 50a and 50b, adjusting actuators 60a and 60b, and the rotary bushings 33 for tightening the corresponding nuts 6.

[0113] according to Figures 1 to 3 The preferred configuration for hydraulic power is a flexible supply line 85 extending from the supply module 1.2 to the hydraulic connection end 37 of the two turning tools. Furthermore, an electrical supply line 86 extends from the supply module 1.2 to the tool module 1.1.

[0114] Supply lines 85 and 86 can form a common cable bundle. Furthermore, wired or wireless signal connections can exist between modules 1.1 and 1.2 for control and monitoring signals of the robot controller.

[0115] According to Figure 1 and 2 In a variant, the supply module 1.2 is pulled or alternatively pushed by the tool module 1.1, depending on the form of a traction device. For this purpose, the supply module 1.2 can move on and parallel to the base U by means of rollers 90 or wheel elements rotatably supported thereon. To transmit tension or thrust, the support 40 is mechanically connected to the supply module 1.2 by a bendable or hinged pressure rod or pull rod 91.

[0116] And according to Figure 3 In a variant, the supply module 1.2 is fixedly positioned in a central location, and the tool module 1.1 moves around the supply module 1.2 from threaded portion to threaded portion. In this design, a supply line (not shown) – preferably a flexible, bendable design – extends from the supply module 1.2 to the tool module 1.1.

[0117] List of reference numerals

[0118] 1. Device, Multiple Twisting Device

[0119] 1.1 Tool Module

[0120] 1.2 Supply Module

[0121] 2 tower sections

[0122] 3 flanges

[0123] 4 flanges

[0124] 5 threaded pins

[0125] 5A thread

[0126] 6 nuts

[0127] 7. Other nuts

[0128] 10. Tightening tools, bolt tensioning cylinders

[0129] 20 Tightening tools, bolt tensioning cylinders

[0130] 21 Replace the sleeve

[0131] 23 Traction Thread

[0132] 30 cylinder housing

[0133] 33 Rotating sleeve

[0134] 34 Transmission

[0135] 37 Hydraulic connection end

[0136] 40 supports

[0137] 41 axis

[0138] 42 axes

[0139] 45 Rotation Driver

[0140] 50a Longitudinal Drive

[0141] 50b longitudinal drive

[0142] 60a Adjustment Driver

[0143] 60b Adjustment Driver

[0144] 61 arms

[0145] 62 arms

[0146] 70 sensors

[0147] 80 Keeping Tools

[0148] 81 Reverse Fixed Surface

[0149] 85 supply pipeline

[0150] 86 supply pipelines

[0151] 90 rollers

[0152] 91 Compression or tension rod

[0153] Bolt axis

[0154] A10 tool axis

[0155] A20 tool axis

[0156] L longitudinal section

[0157] U-substrate

Claims

1. A method for tightening bolted joints using a multi-tightening device (1), wherein the bolt axes (A) of these bolted joints are positioned relative to each other and each bolted joint includes a threaded pin (5) and a nut (6), the nut being screwed into the thread (5A) of the threaded pin and supported relative to a base (U), the multi-tightening device comprising a first tightening tool (10) and at least one additional second tightening tool (20), each of the tightening tools having: - A replacement sleeve (21) is rotatably disposed in the screwing tool about the tool axis (A10, A20), and a traction thread (23) is formed on the replacement sleeve that can be screwed into the longitudinal section (L) of the thread (5A). - A rotary drive (45) for screwing the replacement sleeve (21) into or out of the thread (5A). - A mechanism for longitudinally stretching the threaded pin (5) by applying a pulling force to the replacement sleeve (21) along the tool axis (A10, A20). - A form-locking tool that can be coupled to the nut (6) for tightening the nut (6), The turning tools can be moved along the longitudinal direction of the tool axes (A10, A20) of the turning tools by means of a longitudinal driver (50a, 50b), and the turning tools can be moved relative to each other in a direction perpendicular to at least one of the tool axes (A10, A20) by means of at least one adjustment driver. At one moment, both screwing tools are supported relative to the base (U) simultaneously, and the replacement sleeve (21) of the first screwing tool (10) and the replacement sleeve (21) of the second screwing tool (20) are screwed into the thread (5A) of the threaded pin (5), respectively. And with the second screw-on tool (20) in the same position, the following steps are immediately followed: a) The replacement sleeve (21) of the first screwing tool (10) is unscrewed from the threaded pin (5) by means of a rotary driver (45), and the first screwing tool (10) is lifted by means of a longitudinal driver. b) By means of adjusting the driver, the first screwing tool (10) is moved relative to the second screwing tool (20) until a new position is reached in which the tool axis of the first screwing tool (10) is aligned with the bolt axis (A) of the other threaded pin (5); c) In this new position, the first screwing tool (10) is lowered by means of a longitudinal driver, and the replacement sleeve (21) is screwed into the other threaded pin (5) by means of a rotary driver (45); d) The additional threaded pin (5) is stretched longitudinally by applying a pulling force to the replacement sleeve (21), and the nut (6) is tightened while maintaining the longitudinal stretch. e) Repeat steps a) to d), this time for the second screwing tool (20) and with the first screwing tool (10) in the same position; The distance between the tool axes (A10, A20) is changed by means of an adjusting driver in a combination of two or more movements, so that the first or second turning tool moves to a new position and achieves a step transition. The first turning tool (10) is rigidly fastened to the free end of the first arm (61), the first arm is supported on the first shaft (41), the first shaft is fixedly mounted on the bracket (40), and the second turning tool (20) is rigidly fastened to the free end of the second arm (62). The second arm is supported on the second shaft (42), which is fixedly positioned on the bracket (40). The first arm (61) and thus the first turning tool (10) are pivoted about the first shaft (41) by manipulating the first adjustment driver (60a), and the second arm (62) and thus the second turning tool (20) are pivoted about the second shaft (42) by manipulating the second adjustment driver (60b). The first adjustment driver (60a) and the second adjustment driver (60b) are operated electrically, hydraulically or pneumatically.

2. The method according to claim 1, characterized in that, The movement of the corresponding screwing tool up to the new position is controlled by means of a sensor (70) configured to position the threaded pin (5).

3. The method according to claim 1 or 2, characterized in that, The spacing of the tool axes (A10, A20) is changed by linear motion.

4. The method according to claim 1 or 2, characterized in that, The spacing of the tool axes (A10, A20) is changed by a combination of two arc-shaped movements.

5. The method according to claim 4, characterized in that, The turning tool is mounted on a support (40) and the arcuate motion is performed by pivoting the turning tool relative to the support (40).

6. The method according to claim 1 or 2, characterized in that, The longitudinal drive (50a, 50b) is operated electrically, hydraulically, or pneumatically.

7. The method according to claim 1 or 2, characterized in that, The insertion and removal of the sleeve (21) are carried out by means of a rotary driver (45) configured only for the corresponding screwing tool.

8. The method according to claim 1 or 2, characterized in that, Using a retaining tool (80) that can move back and forth between an initial position and a reverse fixed position to resist torsion, for the duration of screwing into the replacement sleeve (21), the reverse fixed surface (81) formed on the retaining tool (80) is torsionally pressed against the threaded pin (5), the position of which is different from the position of the longitudinal section (L) of the thread (5A) screwed into the replacement sleeve (21).

9. The method according to claim 8, characterized in that, The robot controller moves the corresponding turning tool to the new position, and the robot controller also controls the back-and-forth movement of the holding tool (80).

10. A multi-tightening device for bolted joints, wherein the bolt axes (A) of these bolted joints are positioned relative to each other and the bolted joints respectively include a threaded pin (5) and a nut (6), the nut being screwed into the thread (5A) of the threaded pin and supported relative to a base (U), the multi-tightening device comprising a first tightening tool (10) and at least one additional second tightening tool (20), each tightening tool having: A replacement sleeve (21) is rotatably disposed in the screwing tool about the tool axis (A10, A20), and a traction thread (23) is formed on the replacement sleeve that can be screwed into the longitudinal section (L) of the thread (5A). - A rotary drive (45) for screwing the replacement sleeve (21) into or out of the thread (5A). - A mechanism for longitudinally stretching the threaded pin (5) by applying a pulling force to the replacement sleeve (21) along the tool axis (A10, A20). - A form-locking tool that can be coupled to the nut (6) for tightening the nut (6), Its features are, The turning tools are configured to move longitudinally along the tool axes (A10, A20) of the turning tools by means of a longitudinal driver (50a, 50b), and the turning tools are also movable relative to each other in a direction perpendicular to at least one of the tool axes (A10, A20) by means of at least one adjustment driver. Each of the turning tools is mounted on a support (40), and each turning tool is fastened to the free end of an arm. The arm is pivotable about an axis mounted on the support (40) by means of an adjustment driver, thereby causing relative movement of the turning tools, wherein the spacing of the tool axes (A10, A20) changes so that the first turning tool or the second turning tool moves to a new position and achieves a step transition, wherein the first turning tool (50a, 50b) moves to a new position and achieves a step transition. The first arm (61) is rigidly fastened to the free end of the first arm (61), which is supported on the first shaft (41) and the first shaft is fixedly positioned on the bracket (40). The second screwing tool (20) is rigidly fastened to the free end of the second arm (62), which is supported on the second shaft (42) and the second shaft is fixedly positioned on the bracket (40). The first arm (61) and thus the first screwing tool (10) are pivoted about the first shaft (41) by manipulating the first adjustment driver (60a), and the second arm (62) and thus the second screwing tool (20) are pivoted about the second shaft (42) by manipulating the second adjustment driver (60b). The first adjustment driver (60a) and the second adjustment driver (60b) are electrically, hydraulically or pneumatically operated.

11. The multiple turning device according to claim 10, characterized in that, Each screwdriver is equipped with its own adjustment driver.

12. The multiple turning device according to claim 10 or 11, characterized in that, The longitudinal actuators (50a, 50b) are configured independently to move the respective arms in the longitudinal direction parallel to the axes (41, 42).

13. The multiple turning device according to claim 10, characterized in that, The multiple screwing device includes a tool module (1.1) and a spatially separate supply module (1.2), in which a screwing tool, a rotary actuator (45), a longitudinal actuator (50a, 50b), and an adjustment actuator are assembled, and in which at least one power supply for operating the mechanism for longitudinally stretching the threaded pin (5) is assembled, and a supply line (85) extends from the supply module (1.2) to the tool module (1.1) as part of the power supply.

14. The multiple turning device according to claim 13, characterized in that, The supply line (85) is configured to be flexible.

15. The multiple turning device according to claim 13, characterized in that, The supply module (1.2) is further composed of a power supply for the rotary drive (45), the longitudinal drive (50a, 50b) and the regulating drive, and a second supply line (86) as part of the power supply extends from the supply module (1.2) to the tool module (1.1).

16. The multiple-screwing device according to claim 15, characterized in that, The second supply line (86) is configured to be flexible.

17. The multiple-screwing device according to any one of claims 13 to 16, characterized in that, The supply module (1.2) is configured to move parallel to the base (U), and the supply module (1.2) is mechanically connected to the tool module (1.1) via a pressure rod or pull rod (91) configured to bend or hinge.

18. The multiple turning device according to claim 17, characterized in that, The supply module (1.2) is configured to move parallel to the base (U) via rollers or wheel elements (90) rotatably supported on the supply module.

19. The multiple turning device according to claim 10 or 11, characterized in that, An anti-torsion mechanism is provided, comprising: a retaining tool (80) having a reverse fixing surface (81) formed thereon, the reverse fixing surface being able to abut against the threaded pin (5) at a position different from the thread (5A) in a longitudinal section (L) that is screwed onto the replacement sleeve (21); and a driver for moving the retaining tool (80) back and forth between an initial position and a reverse fixing position, in which the reverse fixing surface (81) abuts against the threaded pin (5) in an anti-torsion manner.

20. The multiple turning device according to claim 19, characterized in that, Each turning tool is equipped with its own retaining tool (80) and its own driver.

21. The multiple turning device according to claim 20, characterized in that, The drive of the retaining tool (80) is coupled to the movement of the turning tool along its tool axis (A10, A20).

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