Multi-specification screw tightening tip and tightening method

Abstract

The application discloses a multi-specification screw tightening end and a tightening method, relates to the technical field of aerospace equipment, and is composed of a positioning transmission structure, a tightening gun, a tightening positioning structure, a cartridge disc assembly, a head covering structure and a position determining frame. One end of the positioning transmission structure is connected with a mechanical arm of an industrial robot. In actual use, the multi-angle adjustment requirement of the tightening end can be met. The tightening gun, the tightening gun positioning structure and the head covering structure are arranged, the functions of automatically replacing the tightening head and the cartridge disc are realized, the tightening of screws of different specifications is adapted, the position adjustment of the screws is carried out in cooperation with the cartridge disc, the functions of clamping the screws from the cartridge disc and moving the screws to another position for tightening are realized, the problem that the original scheme screws are skewed in the screw feeding process is solved, and the interference problem of the original scheme screws, the cartridge disc and workpieces in the screw tightening process does not exist due to the large height difference between the cartridge disc and the tightening position.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aerospace equipment, and particularly relates to a multi-specification screw tightening end and a tightening method. BACKGROUND

[0002] There are three ways of screw pickup and tightening, namely, manual assembly, semi-automatic assembly and automatic assembly. The traditional manual assembly has low work efficiency, high labor intensity of workers and unstable product assembly quality; the semi-automatic assembly improves the assembly efficiency to a certain extent, but still needs manual intervention and has low automation degree; the current automatic assembly has a narrow application field and low precision, and cannot effectively combine the pickup and tightening. At present, a small screw conveying and tightening device has been proposed for the deficiencies in precision and speed during the assembly of small screws in electronic and electrical products, the principle of the small screw conveying and tightening system is determined by analyzing the inclination angle and the bending degree of the conveying pipeline, and the automatic assembly of small screws on an industrial production line is realized, but the above method is only applicable to small and medium-sized and low-precision components, lacks multi-source sensors for detecting the production process, and is not suitable for the field of high-precision aerospace equipment manufacturing.

[0003] Therefore, it is the current development direction to realize the pickup and tightening of multi-specification screws by using industrial robots, but there are problems such as low precision, insufficient automation degree and low efficiency. In addition, the current domestic automatic screw pickup and tightening technology is mainly applied to the field of electronic assembly and the automobile industry, and has few applications in the field of aerospace, and there is a lack of research on the optimization of processing posture. Therefore, it is urgent to deeply study the automatic pickup and tightening process of multi-specification screws by robots, develop high-reliability and high-efficiency automatic pickup and tightening equipment, and apply it in the field of aerospace manufacturing. SUMMARY

[0004] The application aims to provide a multi-specification screw tightening end and a tightening method to solve the problems of few applications in the field of aerospace and lack of research on the optimization of processing posture in the background art.

[0005] To achieve the above-mentioned purpose, the application provides the following technical scheme: a multi-specification screw tightening end and a tightening method, comprising a positioning transmission structure connected with an industrial robot, a tightening gun fixed to one side of the positioning transmission structure, a tightening positioning structure connected with the tightening gun, and a cartridge disc assembly arranged on the side of the tightening positioning structure away from the positioning transmission structure. When the tightening gun moves downward, the tightening positioning structure is driven to move and is installed with a head clamp. The cartridge disc assembly stores and positions the screws, and cooperates with the tightening positioning structure to tighten the screws.

[0006] The positioning transmission structure is arranged at one end of the mechanical arm of the industrial robot, and can meet the multi-angle adjustment requirement of the tightening end in actual use. By arranging the tightening gun, the tightening gun positioning structure and the head covering structure, the functions of automatically replacing the tightening head cover and the chuck are realized, different specifications of tightening are adapted, the position adjustment of the screw is performed in cooperation with the chuck, the functions of clamping the screw from the chuck and moving to another position to tighten the screw are realized, the problem of posture skew of the screw in the original scheme when the screw is fed is solved, and because there is a large height difference between the chuck and the tightening position, the interference problem of the screw tightening the chuck and the workpiece in the original scheme does not exist.

[0007] Preferably, the positioning transmission structure comprises: a positioning fixed base plate screwed with the end of the industrial robot, displacement slide rails arranged on both sides of the inside of the positioning fixed base plate and screwed with the positioning fixed base plate, a displacement transmission rod fixed to the front end of the positioning fixed base plate, a bearing matching sliding block matched with the displacement slide rails and moving up and down along the displacement slide rails, and a transverse extension frame fixed to one side of the bearing matching sliding block away from the displacement slide rails, the cooperation of the displacement slide rails, the bearing matching sliding block and the transverse extension frame realizes the position adjustment in X and Y directions.

[0008] By arranging the displacement slide rails, the bearing matching sliding block and the transverse extension frame, the multi-direction adjustment performance of the screw tightening assembly can be realized. In actual tightening process, the specific installation and fixing position of the screw can be fine adjusted while the overall angle and direction of the screw tightening assembly are adjusted by the industrial robot, so that the assembly requirement with high precision is met. Compared with the existing screw tightening equipment which only has the tightening function, the screw tightening assembly has higher flexibility and adaptability.

[0009] Preferably, the positioning transmission structure further comprises: a telescopic connecting frame screwed with the transverse extension frame and performing Z-direction position adjustment, a tightening positioning main plate arranged on one side of the telescopic connecting frame away from the transverse extension frame, a buffer spring frame connected between the telescopic connecting frame and the tightening positioning main plate, and a matching fixed seat arranged on the outer side of the upper end of the tightening positioning main plate, wherein a through cavity is formed in the center of the matching fixed seat to limit the tightening gun.

[0010] By arranging the telescopic connecting frame, the tightening positioning main plate, the buffer spring frame and the matching fixed seat, the flexibility of the screw tightening can be ensured by the cooperation of the buffer spring frame when the screw is moved downward, the excessive force is avoided, the adjustability of the assembly is improved under the premise of ensuring the tightening precision, the tightening positioning main plate provides the installation area of the assembly, and the assembly can be added according to the requirement in actual assembly process, so as to meet the actual tightening requirement.

[0011] Preferably, one end of the tightening gun is fixed to the tightening positioning main plate through the matching fixed seat, and the other end is in transmission connection with the tightening positioning structure.

[0012] The transmission performance of the tightening gun and the actual installation stability are better guaranteed, and the adaptability of the tightening assembly assembly is further improved.

[0013] Preferably, the chuck assembly comprises: a chuck in a circular shape for screw storage, a screw protection cover in a rectangular shape and internally hollow, an extension rod fixed with the tightening positioning main plate and with an extension end located inside the screw protection cover, and a pneumatic clamping assembly arranged at the output end of the extension rod.

[0014] By arranging the chuck, the screw protection cover, the extension rod and the pneumatic clamping assembly, the screw can be moved to a fixed position, and the pose of the screw can be adjusted, so that the cooperation and fixation stability in the later stage is higher, and the pneumatic clamping assembly clamps and positions the screw.

[0015] Preferably, the head structure comprises: a base provided with at least three head positioning racks providing head positioning areas, a head clamped with the head positioning rack, and a replacement positioning sleeve fixed below the tightening positioning structure and matched with the structure of the head.

[0016] By arranging the head structure, the head can be replaced according to the needs in actual use, and the structural performance is more comprehensive and perfect.

[0017] Preferably, the tightening positioning main plate is fixed with a limiting abutment, the limiting abutment is adjustable, and the output direction of the tightening positioning structure is determined.

[0018] Preferably, the displacement transmission rod is externally sleeved with a scanning assembly.

[0019] A multi-specification screw tightening end and a tightening method, comprising the following steps:

[0020] S1, the industrial robot drives the multi-specification screw tightening end to move to a position where the screw needs to be fixed;

[0021] S2, the extension rod extends to drive the pneumatic clamping assembly to a position above the corresponding position where the screw can be clamped, and then the clamping jaw of the pneumatic clamping assembly is closed to clamp the screw;

[0022] S3, the displacement slide rail, the bearing cooperation sliding block and the transverse extension frame drive the tightening positioning structure to move to the screw position, then the telescopic connecting frame starts to extend and retract, and the tightening gun drives the tightening positioning structure and the head to tighten the screw by rotating;

[0023] S4, when the head needs to be replaced, the head is taken out from the replacement positioning sleeve, the telescopic connecting frame drives the tightening gun and the tightening positioning structure to move to one side to the head positioning frame, the bearing cooperation sliding block slides, drives the replacement positioning sleeve to press down, the locking block of the head lever and the head assembly contact the placing tool, the locking tool cooperates with the locking block to lock and fix the head 53.

[0024] Compared with the prior art, the beneficial effects of the present application are:

[0025] 1. The overall structure of the tightening machine realizes the functions of automatic replacement of the tightening head and the collet chuck through the robot and the corresponding end mechanism, and adapts to different specifications of tightening.

[0026] 2. The function of clamping the screw from the collet chuck and moving to another position to tighten the screw is realized, and the problem of attitude skew of the screw in the original scheme when the screw is fed is solved.

[0027] 3. There is a large height difference between the collet chuck and the tightening position, so the interference problem of the screw tightening the collet chuck and the workpiece in the original scheme does not exist. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a front view of the multi-specification screw tightening end of the aerospace equipment of the present application.

[0029] Figure 2 It is a perspective view of the multi-specification screw tightening end of the present application.

[0030] Figure 3 It is a perspective view of the head structure of the present application.

[0031] In the figure: positioning transmission structure 1, positioning fixed base plate 11, displacement sliding rail 12, displacement transmission rod 13, bearing cooperation sliding block 14, transverse extension frame 15, telescopic connecting frame 16, buffer spring frame 17, tightening positioning main plate 18, cooperation fixed seat 19, limiting resistance frame 111, tightening gun 2, tightening positioning structure 3, collet chuck assembly 4, collet chuck 41, screw protection cover 42, telescopic rod 43, head structure 5, base 51, head positioning frame 52, head 53, replacement positioning sleeve 54, position determination frame 6, multi-specification screw tightening end 10. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0033] The applicant believes that the current automatic assembly application field is narrow and the precision is not high, and the pickup and tightening cannot be effectively combined. At present, in view of the deficiency of precision and speed in the assembly of small screws in electronic and electrical products, a small screw conveying and tightening device has been proposed, the principle of the small screw conveying and tightening system is clear through the analysis of the inclination angle and the bending degree of the conveying pipeline, and the automatic assembly of small screws on the industrial production line is realized. However, the above method is only applicable to small and medium-sized, low-precision components, and lacks multi-source sensors for detecting the production process, and is not suitable for the field of high-precision aerospace equipment manufacturing; Zhang Weifang et al. studied the application of bolt automatic tightening technology in the manufacture of launch vehicle body in view of the current situation that manual tightening is mostly used in the assembly and manufacturing of aerospace products, and realized the automatic tightening of the bolts of the rocket body; Robert C. Wareha et al. designed an automatic fastener feeding system, which can automatically convey fasteners such as bolts, nuts or screws to the work station, but the above two methods are only for automatic tightening or conveying of fasteners, and still need manual participation, and the degree of automation is not high; Li Yufei et al. proposed a new type of robot nail feeding system based on visual servo, which detects and locates the rivets in a machine vision manner, and guides the robot to grab and drop the rivets of a specific type, thereby ensuring the quality of nail feeding. The application of industrial robots to automatic pickup and tightening equipment and the posture optimization thereof are innovative points of the project. As can be seen, the use of industrial robots to realize the pickup and tightening of screws of multiple specifications is the current development direction, but there are problems such as low precision, insufficient automation and low efficiency. In addition, the current domestic automatic screw pickup and tightening technology is mainly applied to the field of electronic assembly and the automotive industry, and is less applied in the field of aerospace, and there is insufficient research on the optimization of processing posture. Therefore, it is urgent to deeply study the automatic pickup and tightening process of screws of multiple specifications by robots, develop automatic pickup and tightening equipment with high reliability and high efficiency, and apply it in the field of aerospace manufacturing.

[0034] Therefore, the applicant designs a multi-specification screw tightening end, which is composed of a positioning transmission structure 1, a tightening gun 2, a tightening positioning structure 3, a cartridge disc assembly 4, a head structure 5 and a position determination frame 6. The positioning transmission structure 1 is connected to one end of the mechanical arm of the industrial robot, which can meet the multi-angle adjustment requirements of the tightening end in actual use. The tightening gun 2, the tightening gun positioning structure 3 and the head structure 5 are provided to realize the functions of automatic replacement of the tightening head and the cartridge disc, adapt to different specifications of tightening, cooperate with the cartridge disc 41 to adjust the position of the screw, realize the function of clamping the screw from the cartridge disc 41 and moving to another position to tighten the screw, solve the problem of posture skew of the screw in the original scheme when feeding the screw, and the interference problem of the screw tightening cartridge disc and the workpiece in the original scheme will not exist due to the large height difference between the cartridge disc and the tightening position.

[0035] Embodiment 1

[0036] The application relates to a multi-specification screw tightening end, which is used in actual application and comprises a positioning transmission structure 1, a tightening gun 2, a tightening positioning structure 3, a chuck disc assembly 4, a head covering structure 5 and a position determining frame 6. Figure 1 As shown in the figure, the one side of the positioning transmission structure 1 is provided with the tightening gun 2, the lower portion of the tightening gun 2 is provided with the tightening positioning structure 3, the other side of the tightening positioning structure 3 is provided with the chuck disc assembly 4, and the position determining frame 6 is arranged below the positioning transmission structure 1 and opposite to the tightening positioning structure 3. When screw tightening work is carried out, firstly, the screw is picked up by the chuck disc assembly 4 (satisfying the multi-specification screw pickup size), and then the screw is moved to a position to be fixed, and then the position of the tightening positioning structure 3 is adjusted to be opposite to the screw to perform the tightening action.

[0037] The positioning transmission structure 1 comprises a positioning fixed base plate 11, a displacement sliding rail 12, a displacement transmission rod 13, a bearing matching sliding block 14, a transverse extension frame 15, a telescopic connecting frame 16, a buffer spring frame 17, a tightening positioning main plate 18, a matching fixed seat 19 and a limiting abutting frame 111, wherein the positioning fixed base plate 11 is screw-fixed with the output end of the industrial robot mechanical arm, a through cavity is formed in the positioning fixed base plate 11, the displacement sliding rail 12 is installed on both sides of the through cavity, the displacement sliding rail 12 is fixed with the positioning fixed base plate 11 through bolts, the bearing matching sliding block 14 is slidingly installed on the other side of the displacement sliding rail 12, the bearing matching sliding block 14 is displaced up and down along the displacement sliding rail 12 (at this time, the displacement direction is set as X), the displacement transmission rod 13 is fixedly installed at the front end of the positioning fixed base plate 11, a visual shooting assembly can be installed outside the displacement transmission rod 13, in actual use, visual shooting can be performed according to requirements, and when observation is not in place, the tightening condition can be better understood, the telescopic connecting frame 16 is installed on the other side of the bearing matching sliding block 14, the telescopic connecting frame 16 extends towards the side away from the transverse extension frame 15 (at this time, the extension direction is Z), and the telescopic connecting frame 16 extends to the right side, the telescopic connecting frame 16 is installed on the other side of the telescopic connecting frame 16, the buffer spring frame 17 is installed at the joint of the telescopic connecting frame 16 and the positioning main plate 18, the buffer spring frame 17 guarantees the connection performance of the telescopic connecting frame 16 and the positioning main plate 18, buffers when moving downward, the spring is contracted to a certain extent, pressure is directly reacted to the connecting part during the tightening process, component damage is avoided, and a tightening shaking force occurs, the matching fixed seat 19 is installed above the other side of the positioning main plate 18, the matching fixed seat 19 fixes and limits the tightening gun 2, has a detachable performance, fixes and limits the tightening gun 2 by cooperation of the semicircular clamping frame and the semicircular base, the positioning main plate 18 is set as a special shape, the limiting abutting frame 111 is installed below the other side of the positioning main plate 18, the limiting abutting frame 111 has a rear telescopic performance, and the position determining frame 6 is installed below the limiting abutting frame 111, the position determining frame 6 is in an L shape, the position determining frame 6 is attached to the upper end face of the installation position when the screw is tightened, so that the tightening depth and the positioning precision are better determined, and the tightening positioning structure 3 can be avoided from shaking to a certain extent.

[0038] The clip disc assembly 4 includes a clip disc 41, a screw protective cover 42 and a telescopic rod 43. The telescopic rod 43 is fixed to the positioning and fixing base plate 11 through a positioning frame. A screw protective cover 42 is installed below the telescopic rod 43. A clip disc 41 is installed below the screw protective cover 42. The clip disc 41 is circular, and a pneumatic clamping assembly is provided inside the screw protective cover 42. When grabbing the screw, the telescopic rod 43 drives the screw protective cover 42 and the clip disc 41 to move downward to the screw position synchronously, and then the screw is grabbed by the pneumatic clamping assembly. The pneumatic clamping assembly drives the screw to move inside the screw protective cover 42, which can effectively prevent the screw from loosening and falling during the displacement process. After the clip disc assembly 4 moves as a whole to the screw installation position, the telescopic rod 43 is extended and retracted to drive the pneumatic clamping assembly to move the screw and place it in the installation position.

[0039] The present invention relates to a multi-specification screw tightening end, which, in practical applications, Figure 2 As shown, the head structure 5 includes a base 51, a head positioning frame 52, a head 53 and a replacement positioning sleeve 54. The head positioning frame 52 is installed above the base 51, and the head 53 is installed above the head positioning frame 52. There are at least three heads 53, which can be adapted to screws of different specifications and sizes. A replacement positioning sleeve 54 is installed above the head 53. The replacement positioning sleeve 54 is used to tighten the lower end component of the positioning structure 3. A locking tool is provided on the outside of the replacement positioning sleeve 54, and a locking block is provided on the outside of the head 53. The locking tool cooperates with the locking block to perform the locking and fixing action of the head 53.

[0040] A method for tightening the ends of screws of multiple specifications, comprising the following steps:

[0041] S1. The industrial robot as a whole drives the multi-specification screw tightening end 10 to move to the position where the screw needs to be fixed.

[0042] S2. When grabbing the screw, the telescopic rod 43 drives the screw protective cover 42 and the clip disc 41 to move downward to the screw position synchronously, and then the screw is grabbed by the pneumatic clamping assembly. The pneumatic clamping assembly drives the screw to move inside the screw protective cover 42, which can effectively prevent the screw from loosening and falling during the displacement process. After the clip disc assembly 4 moves as a whole to the screw installation position, the telescopic rod 43 is extended and retracted to drive the pneumatic clamping assembly to move and place the screw in the installation position.

[0043] S3, the displacement slide rail 12, the load-bearing matching slider 14 and the horizontal extension frame 15 cooperate to drive the tightening positioning structure 3 to move toward the screw position, and then the telescopic connecting frame 16 begins to extend and retract, and the tightening gun 2 drives the tightening positioning structure 3 and the head 53 to tighten the screw by rotating.

[0044] S4, when the head 53 needs to be replaced, the head 53 is taken out from the replacement positioning sleeve 54, the telescopic connecting frame 16 drives the tightening gun 2 and the tightening positioning structure 3 to move to one side to the head positioning frame 52, the bearing cooperation sliding block 14 slides to drive the replacement positioning sleeve 54 to press down, and the locking tool cooperates with the locking block to perform the locking and fixing action of the head 53.

[0045] Embodiment 2

[0046] The multi-specification screw tightening end involved in the application is used in actual application, such as Figure 2 As shown in the figure, when the head 53 is replaced, the locking block of the head 53 is in contact with the replacement positioning sleeve 54, then the head lever locking block rotates around the locking block rotation shaft, and the upper wedge block is opened, and the head assembly automatically falls down.

[0047] When the wedge block of the head assembly is in contact with the wedge block of the head lever locking block, the head lever locking block rotates around the locking block rotation shaft when the shaft sleeve of the head assembly installed on the industrial robot is pressed down, the compression springs on both sides of the assembly are compressed, and the buffer spring mechanism of the head of the head assembly is compressed. When the shaft sleeve of the head assembly continues to be pressed down, the head lever locking block and the wedge block of the head assembly are dislocated to reach the final position, and the locking action is completed.

[0048] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and range of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A method for tightening a multi-specification screw tightening end, wherein the screw tightening end is fixed to the end of an industrial robot, characterized in that: The multi-specification screw tightening end comprises: Beatle structure; A positioning transmission structure is screwed to the industrial robot; the positioning transmission structure includes: A positioning and fixing base plate, screwed to the end of the industrial robot; Displacement slide rails are arranged on both sides of the interior of the positioning and fixing base plate and are screwed thereto; A displacement transmission rod is fixed to the front end of the positioning and fixing base plate; A load-bearing matching slider adapted to the displacement slide rail and movable up and down along the displacement slide rail; A transverse extension frame is fixed to a side of the bearing matching slider away from the displacement slide rail; The displacement slide rail, the load-bearing matching slider and the horizontal extension frame cooperate to achieve position adjustment in the X and Y directions; A tightening gun is fixed to one side of the positioning transmission structure; A tightening positioning structure, threadedly connected to the tightening gun; The chuck tray assembly is arranged on a side of the tightening and positioning structure away from the positioning transmission structure; the chuck tray assembly includes: Magazine tray, which is round and used for screw storage; The screw protection cover is rectangular and hollow inside; The telescopic rod is fixed to the screw positioning mainboard, and the extension end is located inside the screw protective cover; The output end of the telescopic rod is provided with a pneumatic clamping assembly; When the tightening gun moves downward, it drives the tightening positioning structure to move and engage with the head to perform the installation action; The chuck disc assembly stores and adjusts the screws, and cooperates with the tightening and positioning structure to tighten the screws; The tightening method comprises the following steps: S1. The industrial robot drives the multi-specification screw tightening end to move to the position where the screw needs to be fixed; S2. The telescopic rod is extended and retracted to drive the pneumatic clamping assembly to the position above the corresponding position where the screw can be clamped. Then the jaws of the pneumatic clamping assembly are closed, thereby clamping the screw. S3, the displacement slide, the load-bearing matching slider and the horizontal extension frame cooperate to drive the tightening positioning structure to move toward the screw position, then the telescopic connecting frame begins to extend and retract, and the tightening gun drives the tightening positioning structure and the screwdriver to tighten the screw by rotating; S4. When the head needs to be replaced, the head needs to be taken out from the replacement positioning sleeve. The telescopic connecting frame drives the tightening gun and the tightening positioning structure to one side to the head positioning frame. The bearing and the matching slider slide to drive the replacement positioning sleeve to press down. The locking block of the head lever contacts the head assembly placement tool. The locking tool cooperates with the locking block to lock and fix the head. When replacing the head, the locking block of the head contacts the replacement positioning sleeve, and the head lever locking block rotates around the locking block rotation axis, the wedge block on the upper side will be opened, and the head assembly will automatically fall off; When the wedge block of the beater assembly just contacts the wedge block of the beater lever locking block, and when the shaft sleeve of the beater assembly installed on the industrial robot is pressed down, the beater lever locking block rotates around the locking block rotation axis, the compression springs on both sides of the assembly are compressed, and the buffer spring mechanism of the beater assembly head is compressed; When the shaft sleeve of the beater assembly is further pressed downward by the force, the beater lever locking block and the wedge block of the beater assembly reach the final position after being misaligned, completing the locking action.

2. A method for tightening the ends of multi-specification screws according to claim 1, characterized in that: The positioning transmission structure also includes: A telescopic connecting frame, screwed to the transverse extension frame, for Z-axis position adjustment; A tightening positioning main board is arranged on a side of the telescopic connecting frame away from the lateral extension frame; A buffer spring frame is connected between the telescopic connecting frame and the tightening positioning main board; Cooperating with the fixing seat, it is arranged on the upper end of the outer side of the tightening and positioning main board; A through cavity is formed in the center of the matching fixing seat to limit the tightening gun.

3. The method for tightening the ends of multi-specification screws according to claim 2, characterized in that: The tightening gun is fixed to the tightening positioning main board at one end through a matching fixing seat, and the other end is transmission-connected to the tightening positioning structure.

4. The method for tightening the ends of multi-specification screws according to claim 1, characterized in that: The Beatle structure includes: base; There are at least three beater positioning frames, providing beater positioning areas; A head is clamped with the head positioning frame; Replace the positioning sleeve to match the structure of the head and fix it under the tightening positioning structure.

5. The method for tightening the ends of multi-specification screws according to claim 2, characterized in that: A limit bracket is fixed on the tightening and positioning main board, and the limit bracket is adjustable to determine the output direction of the tightening and positioning structure.

6. The method for tightening the ends of multi-specification screws according to claim 2, characterized in that: The displacement transmission rod is externally sleeved with a scanning assembly.

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