A large torque horizontal posture adjusting and tightening device

Abstract

This invention relates to a high-torque horizontal adjustment and tightening device, comprising a tightening mechanism, a first compartment support mechanism, a second compartment support mechanism, and a gravity balancing mechanism mounted on the same frame. The first compartment is supported at both ends by first support components on the upper ends of corresponding first compartment support mechanisms. A gravity balancing mechanism is located on the lower side of the first compartment, and the upper end of the gravity balancing mechanism is equipped with a gravity balancing adaptive support component supporting the first compartment. The first compartment is driven to rotate by the tightening mechanism. The second compartment is supported at both ends by second support components on the upper ends of corresponding second compartment support mechanisms, and the end of the first compartment away from the tightening mechanism is connected to the second compartment. Both the lower ends of the first and second compartment support mechanisms are equipped with multi-degree-of-freedom adjustment mechanisms. This invention, through the design of multiple mechanisms with varying degrees of freedom, satisfies the need for smooth control of the compartment tightening torque, ensuring smooth assembly of the product compartments.

Description

Technical Field

[0001] This invention relates to the field of docking and assembly technology, specifically a high-torque horizontal attitude adjustment and tightening device. Background Technology

[0002] In the prior art, the reference shell of the small-diameter product compartment is relatively thin, and the non-reference cylindrical surface of the small-diameter product compartment has a certain runout deviation relative to the reference cylinder. The existing assembly method often has a large tightening torque for the compartment. Therefore, the tightening and docking process of the existing product compartment is often difficult to achieve smooth control of the tightening torque of the compartment, which makes it difficult to ensure the safe and smooth docking and assembly of the product compartment. Summary of the Invention

[0003] The purpose of this invention is to provide a high-torque horizontal adjustment and tightening device, which meets the need for smooth control of the tightening torque of the compartment through the design of multiple mechanism follow-up degrees of freedom. It is especially suitable for high-torque tightening operations of thin-walled multi-compartment products, and can ensure the safe and smooth docking and assembly of product compartments.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A high-torque horizontal attitude-adjusting tightening device includes a tightening mechanism, a first compartment support mechanism, a second compartment support mechanism, and a gravity balancing mechanism mounted on the same frame. The first compartment is supported at both ends by first support components at the upper ends of the corresponding first compartment support mechanisms. A gravity balancing mechanism is provided on the lower side of the first compartment, and an adaptive gravity balancing support component supporting the first compartment is provided at the upper end of the gravity balancing mechanism. The first compartment is driven to rotate by the tightening mechanism. The second compartment is supported at both ends by second support components at the upper ends of the corresponding second compartment support mechanisms, and the end of the first compartment away from the tightening mechanism is connected to the second compartment. A multi-degree-of-freedom adjustment mechanism is provided at the lower ends of both the first and second compartment support mechanisms.

[0006] The multi-degree-of-freedom adjustment mechanism includes an axial moving seat, a lifting moving seat, a lateral moving seat, a yaw turntable, and a pitch support seat. An axial driving mechanism is provided on one side of the axial moving seat, and the axial moving seat is driven to move along the frame via the axial driving mechanism. A lifting support seat and a lifting driving mechanism are provided on the axial moving seat, and the lifting moving seat is slidably connected to the lifting support seat and driven to rise and fall by the lifting driving mechanism. A lateral driving mechanism is provided at the upper end of the lifting moving seat, and the lateral moving seat is slidably connected to the upper end of the lifting moving seat and driven to move by the lateral driving mechanism. The yaw turntable is rotatably mounted on the lateral moving seat, and pitch support seats are provided on both sides of the yaw turntable. The two sides of the pitch support seats are respectively hinged to corresponding pitch support seats. The first support assembly and the second support assembly are respectively mounted on the corresponding pitch support seats.

[0007] The axial drive mechanism on one side of the axial moving seat includes a moving drive motor and a moving drive gear, and the moving drive gear is driven to rotate by the moving drive motor. The frame is provided with a moving drive rack, and the moving drive gear meshes with the moving drive rack.

[0008] The lifting movable seat is fastened onto the lifting support seat, and the two side walls of the lifting support seat are slidably connected to the two side walls of the lifting movable seat. The lifting drive mechanism includes a lifting drive motor, a lifting transmission assembly, and a lifting drive screw. The lifting transmission assembly includes a transmission belt assembly, a transmission output shaft, and a transmission bevel gear assembly. The power shaft of the lifting drive motor is coaxially connected to the driving pulley in the transmission belt assembly, and the driven pulley in the transmission belt assembly is coaxially connected to the transmission output shaft. The transmission bevel gear assembly includes a first bevel gear and a second bevel gear that mesh with each other. The first bevel gear is vertically arranged and installed on the transmission output shaft, and the second bevel gear is horizontally arranged and installed on the lifting drive screw. The second bevel gear has a lifting drive nut fitted onto the lifting drive screw. The upper end of the lifting drive screw is connected to the lifting movable seat. The lifting support seat has a lifting guide seat inside, and the lifting drive screw is movably mounted on the lifting guide seat.

[0009] The upper end of the lifting and moving seat is provided with a horizontal drive mounting plate, and the horizontal drive mechanism is located in the horizontal drive mounting plate. The lower side of the horizontal moving seat is slidably connected to the horizontal drive mounting plate. The horizontal drive mechanism includes a horizontal drive motor and a horizontal drive screw, and the horizontal drive screw is driven to rotate by the horizontal drive motor. The lower side of the horizontal moving seat is provided with a connecting seat, and the connecting seat contains a horizontal drive nut that is fitted onto the horizontal drive screw.

[0010] The transverse moving seat is provided with a turntable bearing seat in the middle, and the yaw turntable is provided with a rotating shaft in the middle, which is rotatably installed in the turntable bearing seat. The yaw turntable is provided with a turntable roller on the lower side, which rolls along the upper side of the transverse moving seat.

[0011] The gravity balancing mechanism includes an axial adjustment seat and a lifting adjustment seat. An axial adjustment mechanism is provided on one side of the axial adjustment seat, and the axial adjustment seat is driven to move along the frame through the axial adjustment mechanism. The axial adjustment seat is provided with a lifting adjustment mechanism and a gravity balancing support seat. The lifting adjustment seat is slidably connected to the gravity balancing support seat and is driven to lift and lower through the lifting adjustment mechanism. A gravity balancing adaptive support component is provided at the upper end of the lifting adjustment seat.

[0012] The gravity balance adaptive support assembly includes a lateral adaptive support and a longitudinal adaptive support. The lower end of the lateral adaptive support is slidably connected to the upper end of the lifting adjustment seat. Spring mounting plates are provided on both sides of the upper end of the lifting adjustment seat. Lateral springs are provided on both sides of the lateral adaptive support, and the outer ends of the lateral springs are connected to the corresponding spring mounting plates. The lateral adaptive support contains a longitudinal adaptive support and a longitudinal spring. The two sides of the longitudinal adaptive support are slidably connected to the inner walls of the two sides of the lateral adaptive support. A spring guide rod is provided on the inner bottom surface of the lateral adaptive support. The lower end of the longitudinal spring is fitted onto the corresponding spring guide rod and abuts against the inner bottom surface of the lateral adaptive support. The upper end of the longitudinal spring is fixedly connected to the longitudinal adaptive support. A roller support frame with supporting rollers is provided on the upper end of the longitudinal adaptive support.

[0013] The first support assembly includes a first upper clamping ring and a first lower clamping ring, wherein the first lower clamping ring is fixedly mounted on a corresponding multi-degree-of-freedom adjustment mechanism, one end of the first upper clamping ring is hinged to the corresponding end of the first lower clamping ring via a first clamping ring hinge shaft, and the other end of the first upper clamping ring is fixedly connected to the corresponding end of the first lower clamping ring via a first locking device. Both the first upper clamping ring and the first lower clamping ring are equipped with retractable and adjustable support wheels. The second support assembly includes a support adjustment drive device, a support slide, a second upper clamping ring, and a second lower clamping ring, wherein the support adjustment drive device and the support slide are mounted on the corresponding multi-degree-of-freedom adjustment mechanism, and the support slide is driven to move by the support adjustment drive device. The lower end of the second lower clamping ring is fixedly mounted on the support slide, one end of the second upper clamping ring is hinged to the corresponding end of the second lower clamping ring via a second clamping ring hinge shaft, and the other end of the second upper clamping ring is fixedly connected to the corresponding end of the second lower clamping ring via a second locking device. Both the second upper clamping ring and the second lower clamping ring are equipped with quick-change clamps, and the quick-change clamps are equipped with protective layers.

[0014] The tightening mechanism includes a tightening drive device, a tightening adjustment slide, a transmission box, a tightening tool head, a tightening support slide, and an adjustment drive device. The tightening support slide is movably mounted on the frame. The tightening adjustment slide and the adjustment drive device are mounted on the tightening support slide, and the tightening adjustment slide is driven to move by the adjustment drive device. Both the tightening drive device and the transmission box are mounted on the tightening adjustment slide. The power shaft of the tightening drive device is connected to the power input end of the transmission box, and the rear end shaft of the tightening tool head is connected to the power output end of the transmission box. The tightening tool head is connected to the corresponding end of the first compartment.

[0015] The advantages and positive effects of this invention are as follows:

[0016] 1. The multi-degree-of-freedom adjustment mechanism of the present invention includes three active degrees of freedom: axial, lifting and lateral. It can adapt to the support of product compartments of different lengths and diameters. It also includes two follow-up automatic degrees: yaw and pitch. This can better enable adaptive follow-up adjustment of yaw and pitch during compartment assembly, thereby meeting the need for smooth control of compartment tightening torque. It is especially suitable for high torque tightening operations of thin-walled compartment products.

[0017] 2. The gravity balancing mechanism of the present invention includes two active degrees of freedom, axial and lifting, to achieve the abutment of the support rollers against the lower side of the compartment. At the same time, the gravity balancing mechanism also realizes the lateral and longitudinal elastic follow-up support adjustment of the product compartment through the transverse spring and the longitudinal spring. The transverse spring mainly realizes the rotation follow-up of the product compartment, while the longitudinal spring mainly realizes the gravity balance of the product compartment. Thus, the present invention can better meet the need for smooth control of the tightening torque of the compartment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention.

[0019] Figure 2 for Figure 1 Structural diagram of the mid-section reference support mechanism.

[0020] Figure 3 for Figure 2 Front view of the mid-section reference support mechanism.

[0021] Figure 4 for Figure 1 A schematic diagram of the tightening mechanism.

[0022] Figure 5 for Figure 1 Schematic diagram of a gravity balancing mechanism.

[0023] Figure 6 for Figure 5 Front view of the gravity balancing mechanism.

[0024] Figure 7 for Figure 1 A schematic diagram of the clamping mechanism for the middle section.

[0025] Among them, 1 is the frame, 101 is the moving drive rack, 2 is the tightening mechanism, 201 is the tightening drive device, 202 is the tightening mounting base, 203 is the tightening adjusting slide, 204 is the transmission box, 205 is the tightening tool head, 2051 is the tightening clamp, 206 is the tightening support slide, 207 is the adjusting mounting frame, 208 is the adjusting drive device, 3 is the multi-degree-of-freedom adjusting mechanism, 301 is the moving drive motor, 302 is the backstop, 3021 is the moving drive shaft, 3022 is the bearing, 303 is the gear cover, 3031 is the moving drive gear, 304 is the axial moving seat, 3041 is the axial slider, and 3042 is the lifting and lowering mechanism. The measuring frame consists of the following components: 305 (lifting transmission assembly), 3051 (tensioning wheel), 3052 (transmission output shaft), 306 (lifting drive motor), 3061 (lifting motor mounting base), 307 (lifting support base), 3071 (lifting drive screw), 3072 (lifting guide seat), 3073 (lifting connecting bracket), 308 (lifting moving seat), 309 (lifting sliding assembly), 3091 (lifting limit block), 310 (lateral drive mounting plate), 3101 (lateral limit block), 311 (lateral drive motor), 312 (lateral moving seat), 313 (yaw turntable), 3131 (turntable roller), 314 (pitch support base), and 315 (pitch support). The frame consists of: 3151 (pitch pivot), 3152 (pitch bearing), 316 (pitch limit block), 317 (pitch limit pin), 318 (lateral drive screw), 319 (turntable bearing seat), 4 (gravity balance mechanism), 401 (axial adjustment mechanism), 402 (axial adjustment seat), 403 (lifting adjustment mechanism), 404 (gravity balance support seat), 405 (gravity balance lifting slider), 406 (lifting adjustment seat), 4061 (moving slide rail), 407 (lateral adaptive support), 4071 (lateral spring), 408 (longitudinal adaptive support), 409 (roller support frame), 410 (support roller), and 411 (adaptive lifting slide rail). 12 is a longitudinal spring, 413 is a force sensor, 5 is a first support assembly, 501 is a first upper clamping ring, 502 is a support wheel adjustment mechanism, 5021 is a support wheel, 503 is a first locking device, 504 is a first lower clamping ring, 505 is a first clamping ring hinge, 6 is a second support assembly, 601 is a support adjustment drive device, 6011 is a slide table, 6012 is a support adjustment limit plate, 6013 is a support adjustment slide rail, 602 is a support slide block, 603 is a second lower clamping ring, 604 is a second upper clamping ring, 605 is a quick-change clamp, 6051 is a protective layer, 606 is a second locking device, 7 is a first compartment, and 8 is a second compartment. Detailed Implementation

[0026] The invention will now be described in further detail with reference to the accompanying drawings.

[0027] like Figures 1-7 As shown, the present invention includes a frame 1 and a tightening mechanism 2, a first compartment support mechanism, a second compartment support mechanism, and a gravity balancing mechanism 4 disposed on the frame 1. The first compartment 7 is supported at both ends by first support components 5 at the upper end of the corresponding first compartment support mechanism. The gravity balancing mechanism 4 is disposed on the lower side of the first compartment 7, and the gravity balancing mechanism 4 is disposed on the upper end of the gravity balancing mechanism 4 to support the first compartment 7. The first compartment 7 is driven to rotate by the tightening mechanism 2. The second compartment 8 is supported at both ends by second support components 6 at the upper end of the corresponding second compartment support mechanism. The end of the first compartment 7 away from the tightening mechanism 2 is connected to the second compartment 8. The lower end of the first compartment support mechanism and the lower end of the second compartment support mechanism are both provided with multi-degree-of-freedom adjustment mechanisms 3.

[0028] like Figures 2-3 As shown, in this embodiment, the multi-degree-of-freedom adjustment mechanism 3 includes an axial moving seat 304, a lifting moving seat 308, a lateral moving seat 312, a yaw turntable 313, and a pitch support seat 314. The axial moving seat 304 has an axial drive mechanism on one side, and the axial moving seat 304 is driven to move along the frame 1 by the axial drive mechanism. The axial moving seat 304 has a lifting support seat 307 and a lifting drive mechanism, and the lifting moving seat 308 is slidably connected to the lifting support seat 307 and driven to rise and fall by the lifting drive mechanism. The upper end of the lifting moving seat 308 has a lateral drive mechanism, and the lateral moving seat 312 is slidably connected to the upper end of the lifting moving seat 308 and driven to move by the lateral drive mechanism. The yaw turntable 313 is rotatably mounted on the lateral moving seat 312, and pitch supports 315 are provided on both sides of the yaw turntable 313. The pitch support seat 314 is hinged to the corresponding pitch supports 315 on both sides. Figure 2 and Figure 7 As shown, the first support component 5 and the second support component 6 are respectively installed on the corresponding pitch support base 314.

[0029] like Figures 2-3 As shown, in this embodiment, the axial moving seat 304 is slidably connected to the frame 1. An axial slider 3041 is provided on the lower side of the axial moving seat 304, and an axial slide rail that cooperates with the axial slider 3041 is provided on the frame 1. The axial drive mechanism on one side of the axial moving seat 304 includes a moving drive motor 301 and a moving drive gear 3031, and the moving drive gear 3031 is driven to rotate by the moving drive motor 301. Figure 1 As shown, the frame 1 is provided with a movable drive rack 101, and the movable drive gear 3031 meshes with the movable drive rack 101.

[0030] like Figures 2-3 As shown, in this embodiment, a mounting support is provided on one side of the axial moving seat 304, and the moving drive motor 301 is mounted on the mounting support. The power end of the moving drive motor 301 is coaxially connected to the moving drive gear 3031 through a moving drive shaft 3021, and the lower end of the moving drive shaft 3021 is supported by a bearing 3022 to achieve rotation. A gear cover 303 is provided on the lower side of the mounting support, and the moving drive gear 3031 is located in the gear cover 303. A backstop 302 is fitted on the outside of the moving drive shaft 3021. The backstop 302 is a technology known in the art and is a commercially available product.

[0031] like Figures 2-3 As shown, in this embodiment, the lifting movable seat 308 is fastened onto the lifting support seat 307, and the outer sides of the two side walls of the lifting support seat 307 are slidably connected to the inner sides of the two side walls of the lifting movable seat 308 via a lifting sliding assembly 309. The lifting sliding assembly 309 can adopt a slider-rail structure, wherein the slider is disposed on the lifting movable seat 308 and the rail is disposed on the lifting support seat 307. Additionally, as shown... Figure 3 As shown, the lifting and moving seat 308 is provided with a lifting limit block 3091 inside to limit its lifting displacement.

[0032] like Figures 2-3 As shown, in this embodiment, the lifting drive mechanism includes a lifting drive motor 306, a lifting transmission assembly 305, and a lifting drive screw 3071. The axial moving seat 304 has a lifting motor mounting seat 3061 on its lower side, and the lifting drive motor 306 is fixedly mounted on the lifting motor mounting seat 3061. The lifting transmission assembly 305 includes a transmission belt assembly, a transmission output shaft 3052, and a transmission bevel gear assembly. The power shaft of the lifting drive motor 306 is coaxially connected to the driving pulley in the transmission belt assembly, and the driven pulley in the transmission belt assembly is coaxially connected to the transmission output shaft 3052. The transmission bevel gear assembly includes a first bevel gear and a second bevel gear that mesh with each other. The first bevel gear is vertically arranged and mounted on the transmission output shaft 3052, and the second bevel gear is horizontally arranged and mounted on the lifting drive screw 3071. The second bevel gear has a lifting drive nut fitted inside the lifting drive screw 3071. Figure 3As shown, the lifting support 307 has a lifting guide 3072 inside, and the lifting drive screw 3071 is movably mounted on the lifting guide 3072. The upper end of the lifting drive screw 3071 is connected to the lifting connecting bracket 3073 mounted on the lifting movable seat 308. In this embodiment, during operation, the lifting drive motor 306 transmits power through the lifting transmission assembly 305 to rotate the second bevel gear. The rotation of the second bevel gear drives the lifting drive screw 3071 to move up and down through the internal lifting drive nut, thereby driving the lifting movable seat 308 to move up and down.

[0033] like Figures 2-3 As shown, in this embodiment, a lifting detection frame 3042 is provided on the upper side of the axial moving seat 304, and the lifting detection frame 3042 is located on one side of the lifting moving seat 308. The lifting detection frame 3042 is equipped with a displacement sensor for detecting the lifting height of the lifting moving seat 308 to achieve lifting height control. The displacement sensor is a technology known in the art and is a commercially available product. Additionally, as... Figure 2 As shown, the lifting transmission assembly 305 has a tensioning wheel 3051 on one side of the transmission belt assembly, and the transmission belt in the transmission belt assembly passes around the tensioning wheel 3051 to ensure transmission tension.

[0034] like Figures 2-3 As shown, in this embodiment, the upper end of the lifting movable seat 308 is provided with a transverse drive mounting plate 310, and the transverse drive mechanism is disposed in the transverse drive mounting plate 310. The lower side of the transverse movable seat 312 is slidably connected to the transverse drive mounting plate 310 through a slide rail slider assembly, wherein the slide rail is disposed on the transverse drive mounting plate 310, and the slider is disposed on the lower side of the transverse movable seat 312. The transverse drive mechanism includes a transverse drive motor 311 and a transverse drive screw 318, and the transverse drive screw 318 is driven to rotate by the transverse drive motor 311. The lower side of the transverse movable seat 312 is provided with a connecting seat, and a transverse drive nut is disposed in the connecting seat and fitted onto the transverse drive screw 318. The transverse drive motor 311 drives the transverse movable seat 312 to move through the transverse drive screw 318 and the transverse drive nut. In addition, transverse limiting blocks 3101 are provided on both sides of the transverse drive mounting plate 310 to limit the transverse displacement of the transverse movable seat 312.

[0035] like Figures 2-3As shown, in this embodiment, the transverse moving seat 312 has a turntable bearing seat 319 in the middle, and the yaw turntable 313 has a rotating shaft in the middle, which is supported by a bearing and installed in the turntable bearing seat 319. The yaw turntable 313 has a turntable roller 3131 on its lower side that adaptively rolls along the upper side of the transverse moving seat 312. In addition, the transverse moving seat 312 has a yaw limiting block on its upper side, and the yaw turntable 313 has a yaw limiting pin on its lower side that cooperates with the yaw limiting block. When the yaw limiting pin abuts against the yaw limiting block, the rotation angle of the yaw turntable 313 in horizontal yaw is limited.

[0036] like Figures 2-3 As shown, in this embodiment, the pitch support 314 has pitch pivots 3151 on both sides, and the pitch pivots 3151 are rotatably mounted on the pitch bracket 315 on the corresponding side of the yaw turntable 313 via pitch bearings 3152. Figure 2 As shown, the yaw turntable 313 is provided with a pitch limiting block 316, and the pitch support 314 is provided with a pitch limiting pin 317. The pitch limiting pin 317 abuts against the corresponding pitch limiting block 316 to limit the pitch rotation angle of the pitch support 314.

[0037] The multi-degree-of-freedom adjustment mechanism 3 of the present invention includes three active degrees of freedom (axial, lifting, and lateral) and two follower degrees of freedom (yaw and pitch). It can adapt to the support of product compartments of different lengths and diameters. Furthermore, the two follower degrees of freedom (yaw and pitch) can better enable the compartments to adapt to docking and assembly. That is, the compartments can achieve adaptive follower adjustment of yaw and pitch during assembly, thereby meeting the need for smooth control of the tightening torque of the compartments. It is especially suitable for high-torque tightening operations of thin-walled compartment products.

[0038] like Figures 5-6As shown, in this embodiment, the gravity balance mechanism 4 includes an axial adjustment seat 402, a lifting adjustment seat 406, and a gravity balance adaptive support assembly. An axial adjustment mechanism 401 is provided on one side of the axial adjustment seat 402. The lower end of the axial adjustment seat 402 is slidably connected to the frame 1 via a slide rail slider, and the axial adjustment seat 402 is driven to move along the frame 1 by the axial adjustment mechanism 401. In this embodiment, the axial adjustment mechanism 401 has the same structure as the axial drive mechanism in the multi-degree-of-freedom adjustment mechanism 3. The axial adjustment seat 402 is provided with a lifting adjustment mechanism 403 and a gravity balance support seat 404. The lifting adjustment seat 406 is fastened to the gravity balance support seat 404, and the lifting adjustment seat 406 is slidably connected to the gravity balance support seat 404 and driven to lift by the lifting adjustment mechanism 403. The gravity balance support seat 404 is provided with gravity balance lifting slide rails on both sides, and the lifting adjustment seat 406 is provided with gravity balance lifting sliders 405 on both sides, which respectively cooperate with the gravity balance lifting slide rails on the corresponding sides. In addition, in this embodiment, the lifting adjustment mechanism 403 has the same structure as the lifting drive mechanism in the multi-degree-of-freedom adjustment mechanism 3, and the upper end of the lifting adjustment seat 406 is provided with a gravity balance adaptive support component.

[0039] like Figures 5-6As shown, in this embodiment, the gravity balance adaptive support assembly includes a lateral adaptive support 407 and a longitudinal adaptive support 408. The lower end of the lateral adaptive support 407 is slidably connected to the upper end of the lifting adjustment seat 406 via a sliding rail-slider assembly. A sliding rail 4061 is located on the upper end of the lifting adjustment seat 406, and a sliding slider is located on the lower end of the lateral adaptive support 407. Spring mounting plates are provided on both sides of the upper end of the lifting adjustment seat 406, and lateral springs 4071 are provided on both sides of the lateral adaptive support 407. The outer ends of the lateral springs 4071 are connected to the corresponding spring mounting plates, allowing the lateral adaptive support 407 to move laterally adaptively. The lateral adaptive support 407 contains a longitudinal adaptive support 408 and a longitudinal spring 412. Both sides of the longitudinal adaptive support 408 are slidably connected to the inner walls of the transverse adaptive support 407 via slide rail and slider assemblies. The adaptive lifting slide rail 411 is located on the inner wall of the transverse adaptive support 407, and the adaptive lifting slider is located on the outer wall of the longitudinal adaptive support 408. A spring guide rod is provided on the inner bottom surface of the transverse adaptive support 407, and the lower end of the longitudinal spring 412 is fitted onto the corresponding spring guide rod and abuts against the inner bottom surface of the transverse adaptive support 407. The upper end of the longitudinal spring 412 is fixedly connected to the longitudinal adaptive support 408. Thus, the longitudinal adaptive support 408 achieves longitudinal adaptive support through multiple sets of longitudinal springs 412. A roller support frame 409 is provided at the upper end of the longitudinal adaptive support 408, and a support roller 410 for supporting the product compartment is provided on the upper side of the roller support frame 409. Figure 6 As shown, a force sensor 413 is provided on the lower side of the roller support frame 409 for real-time monitoring of its supporting force. In this embodiment, four sets of longitudinal springs 412 are provided inside the lateral adaptive support 407 to support the longitudinal adaptive support 408.

[0040] The gravity balancing mechanism 4 of the present invention includes two active degrees of freedom, axial and vertical, to achieve the abutment of the support roller 410 against the lower side of the compartment. At the same time, the gravity balancing mechanism 4 also realizes the lateral and longitudinal elastic follow-up support adjustment of the product compartment through the transverse spring 4071 and the longitudinal spring 412. The transverse spring 4071 mainly realizes the rotation follow-up of the product compartment, while the longitudinal spring 412 mainly realizes the gravity balance of the product compartment. Thus, the present invention can better meet the need for smooth control of the tightening torque of the compartment.

[0041] like Figures 2-3As shown, in this embodiment, the first support component 5 includes a first upper clamping ring 501 and a first lower clamping ring 504. The first lower clamping ring 504 is fixed on the pitch support seat 314 at the upper end of the corresponding multi-degree-of-freedom adjustment mechanism 3. One end of the first upper clamping ring 501 is hinged to the corresponding end of the first lower clamping ring 504 through a first clamping ring hinge shaft 505. The other end of the first upper clamping ring 501 is fixed to the corresponding end of the first lower clamping ring 504 through a first locking device 503. Both the first upper clamping ring 501 and the first lower clamping ring 504 are provided with telescopically adjustable support wheels 5021.

[0042] In this embodiment, the first locking device 503 includes a locking bolt, a first locking block, and a second locking block. The first locking block is located at the end of the first upper clamping ring 501, and the second locking block is located at the end of the first lower clamping ring 504. The locking bolt passes through the first locking block and is threadedly connected to the second locking block. Other suitable locking structures can also be selected as needed.

[0043] In this embodiment, both the first upper clamping ring 501 and the first lower clamping ring 504 are provided with support wheel adjustment mechanisms 502. Each support wheel adjustment mechanism 502 includes an adjustment mounting seat and an adjustment screw. The adjustment mounting seat is located on the ring wall of the corresponding clamping ring. The support wheel 5021 is located at the head end of the adjustment screw, and the adjustment screw is threadedly installed in the corresponding adjustment mounting seat. An adjustment handwheel is located at the tail end of the adjustment screw. The operator turns the adjustment handwheel to drive the adjustment screw to move along the adjustment mounting seat, thereby achieving the extension and retraction adjustment of the support wheel 5021. Other suitable adjustment structures can also be selected as needed.

[0044] like Figure 7As shown, in this embodiment, the second support assembly 6 includes a support adjustment drive device 601, a support slide 602, a second upper clamping ring 604, and a second lower clamping ring 603. The support adjustment drive device 601 is mounted on the corresponding pitch support seat 314. The lower side of the support slide 602 is slidably connected to the pitch support seat 314 via a slider assembly. A support adjustment slide rail 6013 is mounted on the pitch support seat 314, and a support adjustment slider is mounted on the support slide 602. The support slide 602 is driven to move axially by the support adjustment drive device 601. In this embodiment, the support adjustment drive device 601 is a rodless cylinder, a commercially available product. The slide table 6011 on the upper side of the rodless cylinder is fixedly connected to the support slide 602. Furthermore, the pitch support 314 is provided with a support adjustment limiting plate 6012 to limit the axial displacement of the support slide 602. The lower end of the second lower clamping ring 603 is fixedly mounted on the support slide 602. One end of the second upper clamping ring 604 is hinged to the corresponding end of the second lower clamping ring 603 through a second clamping ring hinge shaft. The other end of the second upper clamping ring 604 is fixedly connected to the corresponding end of the second lower clamping ring 603 through a second locking device 606. The second locking device 606 can adopt the same structure as the first locking device 503. Both the second upper clamping ring 604 and the second lower clamping ring 603 are provided with quick-change clamps 605, and the quick-change clamps 605 are provided with a protective layer 6051 made of cowhide. The quick-change clamps 605 are known in the art and are commercially available products. Figure 1 As shown, the support slide 602 can drive the second compartment 8 to move and dock with the first compartment 7 during compartment assembly.

[0045] like Figure 1 and Figure 4As shown, in this embodiment, the tightening mechanism 2 includes a tightening drive device 201, a tightening adjusting slide 203, a transmission box 204, a tightening tool head 205, a tightening support slide 206, and an adjusting drive device 208. The tightening support slide 206 is movably mounted on the frame 1. In this embodiment, the moving drive mechanism of the tightening support slide 206 has the same structure as the axial drive mechanism in the multi-degree-of-freedom adjustment mechanism 3. The lower end of the tightening adjusting slide 203 is slidably connected to the upper end of the tightening support slide 206 via a slide rail and slider assembly. The slide rail is located at the upper end of the tightening support slide 206, and the slider is located at the lower end of the tightening adjusting slide 203. The adjusting drive device 208 is located at the lower end of the tightening adjusting slide 203. The tightening support slide 206 is tightened, and the tightening adjustment slide 203 is driven to move by the adjustment drive device 208. The tightening support slide 206 is provided with an adjustment mounting bracket 207, and the adjustment drive device 208 is fixedly mounted on the adjustment mounting bracket 207. The tightening drive device 201 and the transmission box 204 are both located on the tightening adjustment slide 203. The power shaft of the tightening drive device 201 is connected to the power input end of the transmission box 204, and the rear end shaft of the tightening tool head 205 is connected to the power output end of the transmission box 204. The tightening adjustment slide 203 is provided with a tightening mounting seat 202, and the tightening drive device 201 is mounted on the tightening mounting seat 202. Figure 1 In this embodiment, the tightening tool head 205 is equipped with a tightening clamp 2051, which is clamped at the corresponding end of the first compartment 7. Thus, when the tightening drive device 201 drives the tightening tool head 205 to rotate via the transmission box 204, the tightening tool head 205 drives the first compartment 7 to rotate via the tightening clamp 2051. In this embodiment, the tightening drive device 201 is a servo motor, and the adjustment drive device 208 can be a linear drive device such as an electric push rod.

[0046] The working principle of this invention is as follows:

[0047] In operation, the second compartment 8 (standard compartment) is first placed on its corresponding second compartment support mechanism at both ends. The equipment system controls the multi-degree-of-freedom adjustment mechanism 3 at the lower end of the second compartment support mechanism to adjust it to ensure that the second compartment 8 is coaxial with the turning center. The multi-degree-of-freedom adjustment mechanism 3 can achieve three active degrees of freedom adjustment: axial, lifting, and lateral, ensuring that the coaxiality deviation between the second compartment 8 and the turning center is less than 0.2mm. Then, the second support component 5 at the upper end of the second compartment support mechanism is closed and locked. Next, the first compartment 7 is placed on its corresponding first compartment support mechanism at both ends, and the middle of the first compartment 7 is supported by the gravity balance mechanism 4. Similarly, the equipment system controls the first compartment support mechanism. The multi-degree-of-freedom adjustment mechanism 3 at the lower end of the structure performs three active degrees of freedom adjustment: axial, lifting, and lateral. It also controls the gravity balance mechanism 4 to perform two active degrees of freedom adjustment: axial and lifting, to achieve the support and positioning of the first compartment 7. After both compartments are positioned, the tightening adjustment slide 203 in the tightening mechanism 2 moves to connect the tightening tool head 205 with the end of the first compartment 7. Then, the equipment system controls the second compartment support machine to move the second compartment 8 toward the first compartment 7 until the second compartment 8 moves to the assembly position. Then, the tightening mechanism 2 starts to drive the first compartment 7 to rotate. At the same time, the support slide 602 in the second support assembly 6 cooperates to drive the second compartment 8 to move and achieve docking and assembly with the first compartment 7.

[0048] The multi-degree-of-freedom adjustment mechanism 3 of this invention includes three active degrees of freedom (axial, lifting, and lateral) and two follower degrees of freedom (yaw and pitch). This allows for adaptive follower adjustment of yaw and pitch during assembly. Simultaneously, the gravity balance mechanism 4 of this invention, in addition to the active degrees of freedom (axial and lifting), includes lateral and longitudinal elastic follower degrees of freedom for the product compartment, achieved through a lateral spring 4071 and a longitudinal spring 412. The lateral spring 4071 primarily achieves rotational follower of the product compartment, while the longitudinal spring 412 primarily achieves gravity balance. This invention, through the design of these follower degrees of freedom, satisfies the need for smooth control of the tightening torque of the compartments, making it particularly suitable for high-torque tightening operations on thin-walled, multi-compartment products, ensuring safe and smooth docking and assembly of the product compartments.

Claims

1. A high-torque horizontal attitude-adjusting tightening device, characterized in that: The first compartment (7) is supported by a tightening mechanism (2), a first compartment support mechanism, a second compartment support mechanism, and a gravity balance mechanism (4) on the same frame (1). The two ends of the first compartment (7) are supported by the first support component (5) at the upper end of the corresponding side of the first compartment support mechanism. The gravity balance mechanism (4) is provided on the lower side of the first compartment (7). The gravity balance mechanism (4) is provided with a gravity balance adaptive support component at the upper end of the gravity balance mechanism (4) to support the first compartment (7). The first compartment (7) is driven to rotate by the tightening mechanism (2). The two ends of the second compartment (8) are supported by the second support component (6) at the upper end of the corresponding side of the second compartment support mechanism. The end of the first compartment (7) away from the tightening mechanism (2) is connected to the second compartment (8). The lower end of the first compartment support mechanism and the lower end of the second compartment support mechanism are both provided with a multi-degree-of-freedom adjustment mechanism (3). The multi-degree-of-freedom adjustment mechanism (3) includes an axial moving seat (304), a lifting moving seat (308), a lateral moving seat (312), a yaw turntable (313), and a pitch support seat (314). The gravity balance mechanism (4) includes an axial adjustment seat (402) and a lifting adjustment seat (406). An axial adjustment mechanism (401) is provided on one side of the axial adjustment seat (402), and the axial adjustment seat (402) is driven to move along the frame (1) by the axial adjustment mechanism (401). The axial adjustment seat (402) is provided with a lifting adjustment mechanism (403) and a gravity balance support seat (404). The lifting adjustment seat (406) is slidably connected to the gravity balance support seat (404) and is driven to lift by the lifting adjustment mechanism (403). The upper end of the lifting adjustment seat (406) is provided with a gravity balance adaptive support component. The gravity balance adaptive support assembly includes a lateral adaptive support (407) and a longitudinal adaptive support (408). The tightening mechanism (2) includes a tightening drive device (201), a tightening adjustment slide (203), a transmission box (204), a tightening tool head (205), a tightening support slide (206), and an adjustment drive device (208). The tightening support slide (206) is movably mounted on the frame (1). The tightening adjustment slide (203) and the adjustment drive device (208) are mounted on the tightening support slide (206). The tightening adjustment slide (203) is driven to move by the adjustment drive device (208). The tightening drive device (201) and the transmission box (204) are both mounted on the tightening adjustment slide (203).

2. The high-torque horizontal attitude-adjusting tightening device according to claim 1, characterized in that: The axial moving seat (304) is provided with an axial drive mechanism on one side, and the axial moving seat (304) is driven to move along the frame (1) by the axial drive mechanism. The axial moving seat (304) is provided with a lifting support seat (307) and a lifting drive mechanism. The lifting moving seat (308) is slidably connected to the lifting support seat (307) and driven to lift by the lifting drive mechanism. The upper end of the lifting moving seat (308) is provided with a transverse drive mechanism. The transverse moving seat (312) is slidably connected to the upper end of the lifting moving seat (308) and driven to move by the transverse drive mechanism. The yaw turntable (313) is rotatably mounted on the transverse moving seat (312). The yaw turntable (313) is provided with pitch supports (315) on both sides. The pitch support seat (314) is hinged to the corresponding pitch support seat (315) on both sides. The first support component (5) and the second support component (6) are respectively mounted on the corresponding pitch support seat (314).

3. The high-torque horizontal attitude-adjusting tightening device according to claim 2, characterized in that: The axial drive mechanism on one side of the axial moving seat (304) includes a moving drive motor (301) and a moving drive gear (3031), and the moving drive gear (3031) is driven to rotate by the moving drive motor (301). The frame (1) is provided with a moving drive rack (101), and the moving drive gear (3031) meshes with the moving drive rack (101).

4. The high-torque horizontal attitude-adjusting tightening device according to claim 2, characterized in that: The lifting movable seat (308) is fastened onto the lifting support seat (307), and the two side walls of the lifting support seat (307) are slidably connected to the two side walls of the lifting movable seat (308). The lifting drive mechanism includes a lifting drive motor (306), a lifting transmission assembly (305), and a lifting drive screw (3071). The lifting transmission assembly (305) includes a transmission belt assembly, a transmission output shaft (3052), and a transmission bevel gear assembly. The power shaft of the lifting drive motor (306) is coaxially connected to the driving pulley in the transmission belt assembly, and the driven pulley in the transmission belt assembly is coaxially connected to the transmission output shaft (3052). The transmission bevel gear assembly includes a first bevel gear and a second bevel gear that mesh with each other. The first bevel gear is vertically arranged and mounted on the transmission output shaft (3052), and the second bevel gear is horizontally arranged and mounted on the lifting drive screw (3071). The second bevel gear has a lifting drive nut inside, which is fitted onto the lifting drive screw (3071). The upper end of the lifting drive screw (3071) is connected to the lifting moving seat (308). The lifting support seat (307) has a lifting guide seat (3072) inside, and the lifting drive screw (3071) is movably mounted on the lifting guide seat (3072).

5. The high-torque horizontal attitude-adjusting tightening device according to claim 2, characterized in that: The upper end of the lifting moving seat (308) is provided with a horizontal drive mounting plate (310), and the horizontal drive mechanism is provided in the horizontal drive mounting plate (310). The lower side of the horizontal moving seat (312) is slidably connected to the horizontal drive mounting plate (310). The horizontal drive mechanism includes a horizontal drive motor (311) and a horizontal drive screw (318), and the horizontal drive screw (318) is driven to rotate by the horizontal drive motor (311). The lower side of the horizontal moving seat (312) is provided with a connecting seat, and the connecting seat is provided with a horizontal drive nut fitted onto the horizontal drive screw (318).

6. The high-torque horizontal attitude-adjusting tightening device according to claim 2, characterized in that: The transverse moving seat (312) is provided with a turntable bearing seat (319) in the middle, and the yaw turntable (313) is provided with a rotating shaft in the middle, which is rotatably installed in the turntable bearing seat (319). The yaw turntable (313) is provided with a turntable roller (3131) on the lower side, which rolls along the upper side of the transverse moving seat (312).

7. The high-torque horizontal attitude-adjusting tightening device according to claim 1, characterized in that: The lower end of the lateral adaptive support (407) is slidably connected to the upper end of the lifting adjustment seat (406). Spring mounting plates are provided on both sides of the upper end of the lifting adjustment seat (406). Lateral springs (4071) are provided on both sides of the lateral adaptive support (407), and the outer ends of the lateral springs (4071) are connected to the corresponding spring mounting plates. A longitudinal adaptive support (408) and a longitudinal spring (412) are provided inside the lateral adaptive support (407). Both sides are slidably connected to the inner walls of the transverse adaptive support (407). The bottom surface of the transverse adaptive support (407) is provided with a spring guide rod, and the lower end of the longitudinal spring (412) is fitted onto the corresponding spring guide rod and abuts against the bottom surface of the transverse adaptive support (407). The upper end of the longitudinal spring (412) is fixedly connected to the longitudinal adaptive support (408). The upper end of the longitudinal adaptive support (408) is provided with a roller support frame (409) with a support roller (410).

8. The high-torque horizontal attitude-adjusting tightening device according to claim 1, characterized in that: The first support assembly (5) includes a first upper clamping ring (501) and a first lower clamping ring (504), wherein the first lower clamping ring (504) is fixed on the corresponding multi-degree-of-freedom adjustment mechanism (3), one end of the first upper clamping ring (501) is hinged to the corresponding end of the first lower clamping ring (504) through a first clamping ring hinge shaft, and the other end of the first upper clamping ring (501) is fixed to the corresponding end of the first lower clamping ring (504) through a first locking device (503). Both the first upper clamping ring (501) and the first lower clamping ring (504) are equipped with retractable and adjustable support wheels (5021). The second support assembly (6) includes a support adjustment drive device (601), a support slide (602), a second upper clamping ring (604), and a second lower clamping ring (603). The middle support adjustment drive device (601) and the support slide (602) are mounted on the corresponding multi-degree-of-freedom adjustment mechanism (3), and the support slide (602) is driven to move by the support adjustment drive device (601). The lower end of the second lower clamping ring (603) is fixedly mounted on the support slide (602). One end of the second upper clamping ring (604) is hinged to the corresponding end of the second lower clamping ring (603) through the second clamping ring hinge shaft. The other end of the second upper clamping ring (604) is fixedly connected to the corresponding end of the second lower clamping ring (603) through the second locking device (606). The second upper clamping ring (604) and the second lower clamping ring (603) are both provided with quick-change clamps (605), and the quick-change clamps (605) are provided with a protective layer (6051).

9. The high-torque horizontal attitude-adjusting tightening device according to claim 1, characterized in that: The power shaft of the tightening drive device (201) is connected to the power input end of the transmission box (204), the rear end shaft of the tightening tool head (205) is connected to the power output end of the transmission box (204), and the tightening tool head (205) is connected to the corresponding end of the first compartment (7).

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