Multi-axis automatic synchronous tightening device for narrow space

Abstract

The present application relates to the field of automation tightening, in particular to a multi-axis automatic synchronous tightening device for narrow space, comprising a lifting power input mechanism, a folding power input mechanism, a horizontal indexing power input mechanism, a tightening power input mechanism, a shell support column and a gear box, wherein the lifting power input mechanism is connected with the horizontal indexing power input mechanism, the shell support column, the folding power input mechanism and the tightening power input mechanism are all connected with the lifting power input mechanism, two gear boxes are hinged to the lower end of the shell support column, the folding power input mechanism is transmission connected with the two gear boxes, and is used for driving the two gear boxes to be synchronously folded or unfolded; the tightening power input mechanism is hinged with the two gear boxes, and provides tightening power for the two gear boxes in the unfolded state. The present application is suitable for bolt tightening work in various narrow spaces, is convenient to operate, has strong adaptability, and can monitor the folding and unfolding state in real time.

Description

Technical Field

[0001] This invention relates to the field of automated tightening, and in particular to a multi-axis automatic synchronous tightening device for confined spaces. Background Technology

[0002] The assembly of rotor discs and shafts in aero-engines is often achieved through bolt connections. Therefore, the quality of these bolt connections directly impacts the assembly performance of the aero-engine, thereby affecting its dynamic characteristics. As highly complex and precise rotating machinery, aero-engines are characterized by their intricate internal structure, confined space, and inconvenience for visual operation, making blind assembly and tightening extremely difficult.

[0003] Currently, research on methods for tightening nuts within the confined space of aero-engines is limited. The primary tightening method remains manual, where, within space constraints, the nut is manually inserted into the engine cavity. If space is limited, a large, heavy L-shaped lever is used for insertion, followed by tightening with a torque wrench. However, the complex structure of aero-engines makes it difficult for operators to accurately access the operating position, and the tightening angle in a single operation is very small due to space limitations. Repeated tightening operations are required, necessitating repositioning each time a nut is tightened, resulting in low efficiency. Furthermore, the lack of a robust sensing and control system means the tightening force cannot be kept constant, and the lack of interaction with the feed system prevents timely feedback and adjustment. This leads to poor torque consistency among the nuts after tightening, limiting applicability. In complex aero-engine installation conditions, this can even cause imbalances and misalignments, posing potential dangers such as rubbing failures. Disassembly and reassembly of the assembled aero-engine rotor system are often necessary, with the risk of nuts and other components falling out, consuming significant manpower and resources and posing certain risks. Therefore, there is an urgent need to invent and design an automated folding and tightening mechanism suitable for the narrow space of a certain type of aircraft engine, and to achieve automated control of the entire process, thereby improving efficiency while ensuring tightening quality.

[0004] Existing design methods for tightening mechanisms in the confined spaces of aero engines, such as the design method for an automatic tightening device for blind cavity nuts in aero engines as described in Chinese Patent CN112589408A, offer a high degree of automation under given aero engine mechanism parameters, reducing errors caused by manual operation. Its integrated vision module enables visualization, solving the problem of insufficient visibility during existing tightening processes. To a certain extent, it can automatically identify, attach, and tighten the nuts, and can adjust the mechanism and program according to changes in the process flow and actual working conditions, providing a degree of flexibility. However, the device still has the following problems that urgently need further improvement and resolution: the device structure is large in size and dimensions, the equipment is relatively bulky, and the required operation steps and processes are numerous and complex, making it impossible for one person to complete all operations. It still needs to be lightweighted and the operation process optimized. For the extremely narrow space inside the aero-engine cavity, the tightening arm of the designed device is insufficient to reach the position of the target tightening nut due to space limitations, and cannot complete the automatic tightening operation. The designed structure is only equipped with one tightening arm, while the engine needs to tighten a large number of nuts around the circumference, resulting in low efficiency and increased time required to complete the operation. The device's support structure (containing the L-shaped tightening mechanism, the unfolding / retracting mechanism, and the circumferential rotation mechanism) is directly mounted on the compressor, but the rotor system cavity of a certain type of aero-engine does not have this condition, making it unsuitable for this type of working condition, and further improvement and adjustment are needed.

[0005] As can be seen from the existing problems of the above solutions, the current design method of tightening mechanism in the narrow space of aero engines has solved the inconvenience of traditional manual tightening to a certain extent. However, it still has some shortcomings in terms of method for the complex working conditions of the inner cavity of aero engines. The structure does not meet the universality of the tightening mechanism design in the narrow space of multiple types of aero engines, and further design optimization of the device is still needed to further improve the convenience of the mechanism. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a multi-axis automatic synchronous tightening device for confined spaces. This device solves the problems of low automation levels in current aero-engine tightening equipment, which requires significant manpower and resources for tightening and installation. The tightening state is also heavily influenced by human factors, and in confined spaces, the limited installation space makes it overly reliant on the operator's experience, leading to problems such as equipment collisions, bolt misalignment, and bolt loosening. This device effectively overcomes the deficiencies of existing technologies, improves tightening efficiency and accuracy, and is easily applicable to nut tightening operations in confined spaces.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] This invention provides a multi-axis automatic synchronous tightening device for confined spaces, comprising a lifting power input mechanism, a folding power input mechanism, a horizontal indexing power input mechanism, a tightening power input mechanism, a housing support column, and gearboxes. The lifting power input mechanism is connected to the horizontal indexing power input mechanism. The housing support column, folding power input mechanism, and tightening power input mechanism are all connected to the lifting power input mechanism. Two gearboxes are hinged to the lower end of the housing support column. The folding power input mechanism is driven by the two gearboxes and is used to drive the two gearboxes to fold or unfold synchronously. The tightening power input mechanism is hinged to the two gearboxes and provides tightening power to the two gearboxes in the unfolded state.

[0009] The folding power input mechanism includes a folding power input system electric cylinder, a swing rod, and a rack. The folding power input system electric cylinder is mounted on the lifting power input mechanism, and its output end is connected to the upper ends of two parallel swing rods. The lower ends of the two swing rods are respectively connected to two racks, and the two racks respectively mesh with gears on two gearboxes. The folding power input system electric cylinder drives the swing rods and racks to move up and down, thereby driving the gearboxes to rotate.

[0010] The tightening power input mechanism includes two tightening guns and two torque transmission shafts. The two tightening guns are both mounted on the lifting power input mechanism, and their output ends are respectively connected to the upper ends of the two torque transmission shafts. The lower ends of the two torque transmission shafts are respectively hinged to the power input shafts of the two gearboxes. The tightening guns provide power to the tightening operation of the gearboxes through the torque transmission shafts.

[0011] The lower end of the torque transmission shaft is hinged to the power input shaft of the gearbox via a connecting rod.

[0012] The output end of the gearbox is provided with a tightening sleeve, and the tightening sleeve is provided with an elastic expansion ring.

[0013] The lifting power input mechanism includes a lifting base plate, a guide shaft, a guide shaft base, a linear drive module, a guide rail, and a lifting mechanism fixing plate. The lifting mechanism fixing plate is connected to the horizontal indexing power input mechanism. The linear drive module and the guide rail are vertically mounted on the lifting mechanism fixing plate. The lifting base plate is located on top of the linear drive module. The guide shaft base is connected to the output end of the linear drive module and slides with the guide rail. The guide shaft base has multiple guide shafts that pass through the lifting base plate and slide with it.

[0014] The horizontal indexing power input mechanism includes a horizontal indexing power input system motor, a horizontal indexing power input system reducer, a cylindrical gear, a rotating disk, and a fixed gear ring. The rotating disk and the fixed gear ring are rotatably connected. The horizontal indexing power input system reducer is connected to the rotating disk via an indexing motor connector. The horizontal indexing power input system motor is connected to the input shaft of the horizontal indexing power input system reducer. The output shaft of the horizontal indexing power input system reducer is connected to the cylindrical gear, and the cylindrical gear meshes with the fixed gear ring. The horizontal indexing power input system motor drives the cylindrical gear to rotate, thereby driving the rotating disk to rotate. The lifting power input mechanism is mounted on the rotating disk.

[0015] The fixed gear ring is equipped with a lifting frame, and the lifting frame is equipped with a lifting ring.

[0016] A visual recognition module is provided on the lower outer side of the outer shell support column. The visual recognition module is used to visually identify the position of the bolt to be tightened.

[0017] The present invention has the following advantages and beneficial effects:

[0018] 1. This invention features low cost, stable structure, and high reliability; it can adapt to bolt tightening work in various narrow spaces, is easy to operate and highly adaptable, and the drive is controlled by a closed loop servo motor, which can monitor the folding and unfolding status in real time.

[0019] 2. This invention satisfies the requirement of tightening nuts around the entire circumference at small entry and large diameter deep tightening positions after a single positioning, achieving the purpose of real-time monitoring, timely adjustment, and rapid warning, and improving tightening efficiency through automated control.

[0020] 3. The gearbox of the present invention adopts a symmetrical structure, and the radial forces cancel each other out, thereby improving the service life; the gearbox has a closed structure, which has high strength, short transmission path and high transmission efficiency.

[0021] 4. The present invention has a lightweight structure and simple operation, which effectively improves the overall equipment efficiency and labor productivity. Its technology is easy to understand and can achieve the purpose of simplifying training, quickly troubleshooting and easy upgrading. The present invention can flexibly adjust the relevant mechanisms and programs of the device according to the requirements of the tightening process sequence, and automatically realize the nut recognition, tightening and pre-tightening force loading. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a multi-axis automatic synchronous tightening device for narrow spaces in the unfolded state according to the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of a multi-axis automatic synchronous tightening device for narrow spaces in the folded state according to the present invention;

[0024] Figure 3 This is a schematic diagram of the lifting power input system in this invention;

[0025] Figure 4 This is a schematic diagram of the folding power input system in this invention;

[0026] Figure 5 This is a schematic diagram of the horizontal indexing power input system in this invention;

[0027] Figure 6 This is a schematic diagram of the tightening power input system in this invention;

[0028] Figure 7 This is a schematic diagram of the gearbox in its folded state according to the present invention;

[0029] Figure 8 This is a schematic diagram of the gearbox in its unfolded state according to the present invention;

[0030] Figure 9 This is a schematic diagram of the elastic expansion ring in this invention;

[0031] Figure 10 This is an overall assembly diagram of a multi-axis automatic synchronous tightening device for narrow spaces and an aero-engine according to the present invention.

[0032] In the image: 1. Aircraft engine, 2. Aircraft plug, 3. HDM 1. Control panel; 4. Adapter flange; 5. Housing support column; 6. Swing rod; 7. Claw coupling; 8. Endoscope; 9. Transition flange; 10. Lifting frame; 11. Lifting ring; 12. Tightening gun; 13. Gearbox; 14. Tightening sleeve; 15. Lifting base plate; 16. Linear bearing; 17. Guide shaft; 18. Guide shaft base; 19. Lifting power input system motor; 20. Guide rail; 21. Lifting mechanism fixing plate; 22. Folding power input system electric cylinder; 23. Rack; 24. Horizontal indexing power input system motor; 25. Horizontal indexing power input system reducer; 26. Cylindrical gear; 27. Rotary disk; 28. Position of nut to be tightened; 29. ​​Indexing motor connector; 30. Elastic expansion ring; 31. Torque transmission shaft; 32. Connecting seat; 33. Gear; 34. Connecting rod; 35. Fixed gear ring. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 1 , Figure 2As shown, the present invention provides a multi-axis automatic synchronous tightening device for narrow spaces, including a lifting power input mechanism, a folding power input mechanism, a horizontal indexing power input mechanism, a tightening power input mechanism, a housing support column 5, and a gearbox 13. The lifting power input mechanism is connected to the horizontal indexing power input mechanism. The housing support column 5, the folding power input mechanism, and the tightening power input mechanism are all connected to the lifting power input mechanism. Two gearboxes 13 are hinged to the lower end of the housing support column 5. The folding power input mechanism is driven to the two gearboxes 13 and is used to drive the two gearboxes 13 to fold or unfold synchronously. The tightening power input mechanism is hinged to the two gearboxes 13 and provides tightening power to the two gearboxes 13 in the unfolded state.

[0035] like Figure 3 As shown, in an embodiment of the present invention, the lifting power input mechanism includes a lifting base plate 15, a guide shaft 17, a guide shaft base 18, a linear drive module, a guide rail 19, and a lifting mechanism fixing plate 21. The lifting mechanism fixing plate 21 is connected to the horizontal indexing power input mechanism. The linear drive module and the guide rail 19 are arranged vertically on the lifting mechanism fixing plate 21. The lifting base plate 15 is disposed on the top of the linear drive module. The guide shaft base 18 is connected to the output end of the linear drive module and slides with the guide rail 19. The guide shaft base 18 is provided with a plurality of guide shafts 17, which pass through the lifting base plate 15 and slide with the lifting base plate 15.

[0036] Specifically, the linear drive module includes a lifting power input system motor 19 and a lead screw and lead nut mechanism. The lifting power input system motor 19 is connected to the lead screw in the lead screw and lead nut mechanism, and the lead nut in the lead screw and lead nut mechanism is connected to the guide shaft base 18. The lifting power input system motor 19 drives the lead screw to rotate, thereby driving the guide shaft base 18 to move up and down along the guide rail 19, and at the same time, it is guided by the guide shaft 17.

[0037] like Figure 5As shown, in an embodiment of the present invention, the horizontal indexing power input mechanism includes a horizontal indexing power input system motor 24, a horizontal indexing power input system reducer 25, a cylindrical gear 26, a rotating disk 27, and a fixed gear ring 35. The rotating disk 27 and the fixed gear ring 35 are rotatably connected. The horizontal indexing power input system reducer 25 is connected to the rotating disk 27 via an indexing motor connector 29. The horizontal indexing power input system motor 24 is connected to the input shaft of the horizontal indexing power input system reducer 25. The output shaft of the horizontal indexing power input system reducer 25 is connected to the cylindrical gear 26, and the cylindrical gear 26 meshes with the fixed gear ring 35. The horizontal indexing power input system motor 24 drives the cylindrical gear 26 to rotate, thereby driving the rotating disk 27 to rotate, achieving fixed indexing rotation in the horizontal direction. The lifting mechanism fixing plate 21 in the lifting power input mechanism is connected to the rotating disk 27.

[0038] Furthermore, a lifting frame 10 is provided on the fixed gear ring 35, and a lifting ring 11 is provided on the lifting frame 10.

[0039] like Figure 4 As shown, in an embodiment of the present invention, the folding power input mechanism includes a folding power input system electric cylinder 22, a swing rod 6, and a rack 23. The folding power input system electric cylinder 22 is connected to the guide shaft base 18 of the lifting power input mechanism via a connecting seat 32, and its output end is connected to the upper ends of two parallel swing rods 6. The lower ends of the two swing rods 6 are respectively connected to two racks 23, and the two racks 23 respectively mesh with gears 33 provided on two gearboxes 13. The folding power input system electric cylinder 22 drives the swing rods 6 and racks 23 to move up and down, thereby driving the gears 33 to rotate. The gears 33 drive the gearboxes 13 to rotate around the hinge axis at the rear end. Specifically, the rotation range of the gearboxes 13 is 0-90°, switching between a horizontally unfolded state and a vertically folded state, as shown... Figure 1 , Figure 2 As shown.

[0040] Furthermore, the two gearboxes 13 have a symmetrical structure, and their ends mesh with each other through gears. Under the control of the folding power input system, they complete symmetrical folding and unfolding actions, thereby achieving the cancellation of radial forces. In addition, the double-head tightening improves the tightening efficiency.

[0041] During operation, the movement of the electric cylinder 22 of the folding power input system controls the transmission of the rack 23. The rack 23 engages with the gear 33 at the end of the gearbox 13, realizing the folding / unfolding operation of the gearbox 13 around the axis. When the gearbox 13 is in the folded position, the device can be smoothly inserted into the aircraft engine; when the gearbox 13 is in the unfolded position, the tightening sleeve 14 is positioned directly above the tail end of the bolt to be tightened, preparing for further tightening operations.

[0042] like Figure 6 As shown, in an embodiment of the present invention, the tightening power input mechanism includes two tightening guns 12 and two torque transmission shafts 31. The two tightening guns 12 are both mounted on the guide shaft base 18 of the lifting power input mechanism, and their output ends are connected to the upper ends of the two torque transmission shafts 31 respectively via claw couplings 7. The lower ends of the two torque transmission shafts 31 are respectively hinged to the power input shafts of the two gearboxes 13. The tightening guns 12 provide power for the tightening operation of the gearboxes 13 through the torque transmission shafts 31.

[0043] Furthermore, the lower end of the torque transmission shaft 31 is hinged to the power input shaft of the gearbox 13 via a connecting rod 34. The output end of the gearbox 13 is provided with a tightening sleeve 14, and the tightening sleeve 14 contains an elastic expansion ring 30, such as... Figure 9 As shown. The elastic expansion ring 30 is designed according to the size of the nut and is installed and fixed on the tightening sleeve 14. Its front end has four spring pieces, which can fix the nut when it is loaded, so that it will not fall off when the gearbox 13 is folded and inserted into the engine.

[0044] Furthermore, such as Figure 1 As shown, a visual recognition module is provided on the lower outer side of the outer casing support column 5. Specifically, the visual recognition module is an endoscope 8, which is used to visually identify the position of the bolt to be tightened. Specifically, the wiring of the visual recognition module utilizes the hollow part of the spindle support arm.

[0045] like Figure 10 As shown, this invention provides a multi-axis automatic synchronous tightening device for confined spaces, suitable for applications where the internal space of an aero-engine is narrow and the location of bolt connections is inconvenient to tighten due to space constraints. The tightening power input system cooperates with the folding power input system to complete the target movement of the gearbox 13, realizing the bolt tightening operation of the aero-engine within a confined space. Specifically, it includes the following steps:

[0046] S1: Before tightening, it is necessary to ensure that all electrical components of the device are reset to zero and mechanical components are returned to their initial positions. Then, the entire device is lifted by the rigging and the lifting ring 11 on the device and returned to its initial position. At this time, the gearbox 13 is in a folded state. The nut is fixed in the elastic expansion ring 30 in the tightening sleeve 14 to complete the loading operation.

[0047] S2: Hoist the entire device onto the transition flange 9 of the rear shaft of the aircraft engine 1 to complete the installation and positioning of the entire device with the rear shaft of the engine, while keeping the gearbox 13 folded.

[0048] S3: After the device is fixed in the designated position, the movement of the rack 23 is controlled by the electric cylinder 22 of the folding power input system. The rack 23 engages with the gear 33 at the end of the gearbox 13, unfolding the two folded gearboxes 13 to 90°. Figure 8 As shown, in order to smoothly avoid interference from the narrow space of the aircraft engine 1, the mechanism reaches the tightening plane, and the position 28 of the bolt to be tightened is visually identified by the endoscope 8. The position of the tightening sleeve 14 is adjusted to be directly above the tail end of the first bolt to be tightened.

[0049] S4: The gearbox 13 is driven to rise by the lifting power input system and is finally raised to the position 28 of the nut to be tightened and to the tightening surface of the tightening sleeve 14 through precise adjustment.

[0050] S5: The torque output of the tightening gun 12 in the tightening input power system is transmitted to the gearbox 13 through the torque transmission shaft 31 to provide torque for the tightening operation. The gearbox 13 transmits the output torque to the tightening sleeve 14 according to the internal gear engagement. The nut to be tightened is driven by the tightening sleeve 14 to rotate. The tightening sleeve 14 and the nut to be tightened rise at the same rotation speed.

[0051] S6: The built-in sensor monitors the tightening angle and torque in real time. After the target nut tightening operation is completed, the unfolded gearbox 13 is restored to its folded state by controlling the folding power input mechanism. Figure 7 As shown.

[0052] S7: Separate the device from the aircraft engine 1 and pull the device out through the lifting ring 11.

[0053] S8: The rotary disk 27 is rotated using the horizontal indexing power input system, fixing the rotary disk 27 at the position of the next nut to be tightened. Specifically, the tightening sequence required by the engine can be adjusted and optimized according to the settings of the background program, improving the flexibility of the process flow.

[0054] S9: Repeat steps S1-S8 above as needed to tighten the required number of bolts, until all bolts that need to be tightened within the narrow space of a certain type of aircraft engine are tightened.

[0055] S10: Remove the device from a certain type of aircraft engine, lift the entire device off the engine, reset the electrical components to zero, and restore the mechanical components to their initial positions.

[0056] Furthermore, before step S1, the calibration of the output torque and the visual recognition module need to be completed. Step S1 specifically includes: for the loading operation, a capping fixture can be used to pre-complete the loading operation of the nut around the entire circumference, or manual loading can be used to load the nut into the elastic expansion ring within 30 to achieve the integrated capping and tightening operation. The corresponding process can be completed according to the actual conditions.

[0057] This invention provides a multi-axis automatic synchronous tightening device for narrow spaces, which can provide a tightening mechanism solution that is efficient, convenient, safe and reliable in narrow spaces, thereby improving the automation level of the tightening process in narrow spaces.

[0058] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A multi-axis automatic synchronous tightening device for narrow spaces, characterized in that, It includes a lifting power input mechanism, a folding power input mechanism, a horizontal indexing power input mechanism, a tightening power input mechanism, a shell support column (5), and a gearbox (13). The lifting power input mechanism is connected to the horizontal indexing power input mechanism. The shell support column (5), the folding power input mechanism, and the tightening power input mechanism are all connected to the lifting power input mechanism. The lower end of the shell support column (5) is hinged to two gearboxes (13). The folding power input mechanism is connected to the two gearboxes (13) for transmission. The folding power input mechanism is used to drive the two gearboxes (13) to fold or unfold synchronously. The tightening power input mechanism is hinged to the two gearboxes (13). The tightening power input mechanism provides tightening power to the two gearboxes (13) in the unfolded state. The folding power input mechanism includes a folding power input system electric cylinder (22), a swing rod (6), and a rack (23). The folding power input system electric cylinder (22) is mounted on the lifting power input mechanism, and its output end is connected to the upper end of two parallel swing rods (6). The lower ends of the two swing rods (6) are connected to two racks (23), and the two racks (23) mesh with gears (33) provided on the two gearboxes (13). The folding power input system electric cylinder (22) drives the swing rods (6) and racks (23) to move up and down, thereby driving the gearboxes (13) to rotate.

2. The multi-axis automatic synchronous tightening device for narrow spaces according to claim 1, characterized in that, The tightening power input mechanism includes two tightening guns (12) and two torque transmission shafts (31). The two tightening guns (12) are both mounted on the lifting power input mechanism, and their output ends are respectively connected to the upper ends of the two torque transmission shafts (31). The lower ends of the two torque transmission shafts (31) are respectively hinged to the power input shafts of the two gearboxes (13). The tightening guns (12) provide power for the tightening operation of the gearboxes (13) through the torque transmission shafts (31).

3. The multi-axis automatic synchronous tightening device for narrow spaces according to claim 2, characterized in that, The lower end of the torque transmission shaft (31) is hinged to the power input shaft of the gearbox (13) via a connecting rod (34).

4. The multi-axis automatic synchronous tightening device for narrow spaces according to claim 2, characterized in that, The output end of the gearbox (13) is provided with a tightening sleeve (14), and the tightening sleeve (14) is provided with an elastic expansion ring (30).

5. The multi-axis automatic synchronous tightening device for narrow spaces according to claim 1, characterized in that, The lifting power input mechanism includes a lifting base plate (15), a guide shaft (17), a guide shaft base (18), a linear drive module, a guide rail (19), and a lifting mechanism fixing plate (21). The lifting mechanism fixing plate (21) is connected to the horizontal indexing power input mechanism. The linear drive module and the guide rail (19) are arranged vertically on the lifting mechanism fixing plate (21). The lifting base plate (15) is arranged on the top of the linear drive module. The guide shaft base (18) is connected to the output end of the linear drive module and slides with the guide rail (19). The guide shaft base (18) is provided with multiple guide shafts (17). The multiple guide shafts (17) pass through the lifting base plate (15) and slide with the lifting base plate (15).

6. The multi-axis automatic synchronous tightening device for narrow spaces according to claim 5, characterized in that, The horizontal indexing power input mechanism includes a horizontal indexing power input system motor (24), a horizontal indexing power input system reducer (25), a cylindrical gear (26), a rotating disk (27), and a fixed gear ring (35). The rotating disk (27) and the fixed gear ring (35) are rotatably connected. The horizontal indexing power input system reducer (25) is connected to the rotating disk (27) through an indexing motor connector (29). The horizontal indexing power input system motor (24) is connected to the input shaft of the horizontal indexing power input system reducer (25). The output shaft of the horizontal indexing power input system reducer (25) is connected to the cylindrical gear (26). The cylindrical gear (26) meshes with the fixed gear ring (35). The horizontal indexing power input system motor (24) drives the cylindrical gear (26) to rotate, thereby driving the rotating disk (27) to rotate. The lifting power input mechanism is set on the rotating disk (27).

7. The multi-axis automatic synchronous tightening device for narrow spaces according to claim 6, characterized in that, The fixed gear ring (35) is provided with a lifting frame (10), and the lifting frame (10) is provided with a lifting ring (11).

8. The multi-axis automatic synchronous tightening device for narrow spaces according to claim 1, characterized in that, The lower outer side of the outer shell support column (5) is provided with a visual recognition module, which is used to visually recognize the position of the bolt to be tightened.

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