Full-automatic intelligent multi-head bolt wrench robot

Abstract

The present application relates to the technical field of railway track operation, and more particularly to a full-automatic intelligent multi-head bolt wrench robot, which comprises a vehicle frame body, a wrench assembly, a clamping assembly, a detection assembly and a control system, the bottom of the vehicle frame body is provided with front and rear walking wheels matched with the track contour, the wrench assembly comprises loosening and tightening devices symmetrically arranged on both sides of the vehicle frame body and lifting devices for enabling the loosening and tightening devices to move up and down, the clamping assembly comprises clamping wheels symmetrically arranged on both sides of the track and having inner contour surfaces capable of being attached to the track, and the detection assembly comprises a laser sensor for detecting the position of the track bolt, the whole set of equipment can realize automatic intelligent operation, the walking operation is not prone to overturning, the driving on a curved track is not prone to deviation, and the safety is high.

Description

Technical Field

[0001] This invention relates to the field of railway track maintenance technology, and in particular to a fully automatic intelligent multi-head bolt wrench robot. Background Technology

[0002] The completed high-speed railway lines consist of rails welded together to form a long track. Due to changes in ambient temperature, the stress within the track varies greatly. Railway workers need to perform stress relief annually based on temperature changes. Stress relief involves loosening the rail spring clip bolts to a certain height, allowing the spring clips to be removed, and then releasing the stress within the rail. Stress relief typically involves methods such as adding, cutting, stretching, and welding the rail to redistribute stress and adapt to temperature changes. Currently, railway maintenance departments usually use manual push-operated internal combustion engine bolt wrenches for manual operation. However, internal combustion engine bolt wrenches have many shortcomings, such as requiring a large number of workers, low work efficiency, and exhaust emissions. Chinese invention patent application CN112496724A discloses a fully automatic fastener bolt tightening and loosening device and method. The device operates electrically, avoiding exhaust emissions. In addition, to prevent accidents caused by equipment tipping over during use, paragraph

[0018] of the specification also discloses an anti-tipping device, and the main body is also movably connected to the auxiliary wheel via an auxiliary wheel connecting rod. Before operation, the anti-tipping device requires manual compression of the resistance spring 2 to increase the distance between the two anti-tipping wheels and engage them in the track. During operation, the equipment relies on the high elasticity of the resistance spring 2 to keep the anti-tipping wheels and the track tightly fitted. The publicly available solution requires increasing the elasticity of the resistance spring 2 to ensure that the equipment does not tip over during operation, but this increases the difficulty of manually compressing the spring. In actual operation, the operation is difficult for workers, and long-term use and frequent loading often lead to fatigue damage of the spring, posing a risk of equipment tipping over. The main body also uses an auxiliary wheel connecting rod to movably connect the auxiliary wheel to increase stability. However, the auxiliary wheel needs to be mounted on another track, which takes up a large area. When traveling on a non-straight track, the auxiliary wheel is prone to deviating from the track, which can easily cause the equipment to tip over. The entire device requires manual operation and is not intelligent enough. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a fully automatic intelligent multi-head bolt wrench robot.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0005] This invention provides a fully automatic intelligent multi-head bolt wrench robot, comprising:

[0006] The main body of the frame has front and rear wheels that match the contour of the track along its bottom along the direction of travel;

[0007] The wrench assembly includes tightening and loosening devices symmetrically arranged on both sides of the frame body and a lifting device that enables the tightening and loosening devices to move up and down.

[0008] The clamping assembly includes a driving screw and two driven nuts mounted on the driving screw. Each of the two driven nuts is connected to a clamping wheel. The clamping wheels are symmetrically arranged on both sides of the track and their inner contour surfaces can fit against the track.

[0009] The detection component includes a laser sensor located in front of the wrench assembly relative to the forward direction of the fully automated intelligent multi-head bolt wrench robot for detecting the position of the track bolt;

[0010] And a control system used to control the normal operation and movement of equipment.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] This invention provides a single unit equipped with two sets of wrench assemblies. During operation, the laser sensor transmits the detected target bolt position signal to the control system. The two sets of wrench assemblies can simultaneously or sequentially and automatically loosen or tighten the nuts on both sides of the track, achieving automated and intelligent operation. The front and rear traveling wheels are arranged in a front-to-back configuration, and their contours match the track contours, ensuring that the front and rear traveling wheels fit snugly against the track. The clamping assembly applies axial force to the active screw, causing the active screw to rotate and driving the two driven nuts to move axially along the active screw, thus achieving the relative opening and closing of the two clamping wheels. During operation, the two clamping wheels clamp the track and effectively maintain the clamped state, enabling the entire equipment to travel along a single track without tipping over and without deviating when traveling on curves, ensuring high safety.

[0013] Preferably, the top of the tightening device is provided with a first motor that can realize forward and reverse rotation, the output end of the first motor is provided with a reducer, the bottom of the output shaft of the reducer is fitted with a sliding sleeve, the upper part of the sliding sleeve is provided with a first connecting plate for installing a position sensor, the bottom of the sliding sleeve is connected to a retaining ring through a first pin, the retaining ring is connected to a quick-change wrench through a second pin, and the first pin and the second pin form a cross.

[0014] The above technical solution brings further beneficial effects: the tightening / loosening device is driven by a motor, and the quick-change wrench is loosened or tightened by the forward and reverse rotation of the motor; at the same time, the change in current or voltage during loosening or tightening is converted into torque control; the retaining ring, sliding sleeve and quick-change wrench are all connected by a pin shaft, which allows the quick-change wrench to swing in the front-back and left-right directions, making it easier for the quick-change wrench to be smoothly engaged with the target bolt during operation, avoiding manual assistance; the reducer can achieve speed reduction and torque increase, reduce the power of the selected motor and reduce power consumption.

[0015] Preferably, the first connecting plate is provided with four guide posts at the four corners, and the top of the guide posts is provided with a second connecting plate that can move up and down along them. A first spring is provided between the first connecting plate and the second connecting plate. A second motor is provided at the top of the lifting device. The output shaft of the second motor is connected to a lifting screw. A fork is sleeved on the lifting screw. A first nut that is threadedly engaged with the lifting screw is fixed at the sleeve position of the fork. Pins that connect to the second connecting plate are provided on both end faces of the fork.

[0016] The above technical solution brings further beneficial effects: the second motor drives the lifting screw to rotate, and through the cooperation of the first nut, the shift fork achieves lifting and lowering displacement; during the descent of the shift fork along the guide column, it compresses the first spring, driving the quick-change wrench downward. After the quick-change wrench reaches its lower position, it pushes the first connecting plate upward. After the position sensor senses the second connecting plate, the lifting device stops, thus avoiding damage to the quick-change wrench or clamping components due to excessive descent caused by inconsistent bolt installation heights; at the same time, the pin connection between the shift fork and the second connecting plate allows the second connecting plate to self-adjust during operation, increasing the contact area with the first spring and avoiding poor contact with the first spring due to machining errors, uneven force on the first spring, and jamming during the movement of the quick-change wrench.

[0017] Preferably, the bottom of the two tensioning devices is provided with a fixing plate connected to the main body of the vehicle frame, and the upper surface of the fixing plate is provided with a sliding groove, so that the two tensioning devices can be displaced along the sliding groove to achieve center distance adjustment.

[0018] The above technical solution brings further beneficial effects: the tensioning device can be adjusted along the sliding groove of the fixed plate to solve the problem of different center distances of bolt holes on both sides of the rails of high-speed railways and ordinary railways. One device can be used on both high-speed railway lines and ordinary railway lines.

[0019] Preferably, the fully automatic intelligent multi-head bolt wrench robot also includes a lithium battery pack for powering the various electric components, and the first motor is a servo motor.

[0020] The above technical solution brings further beneficial effects: the entire set of equipment uses a lithium battery pack as a power supply, which is more environmentally friendly for on-site use; the tensioning device is driven by a servo motor, which can achieve precise control of the torque value.

[0021] Preferably, a large pulley is provided on the coaxial side of the front traveling wheel, and the large pulley is directly connected to the small pulley of the third motor via belt drive. A second connecting rod is provided near the third motor. One end of the second connecting rod is pinned to the mounting plate of the third motor, and the other end is connected to the tensioning rubber wheel. A return spring is provided on the second connecting rod to make the tensioning rubber wheel fit against the plane of the track. An encoder is provided at the end of the tensioning rubber wheel.

[0022] The above technical solution brings further beneficial effects: the method of directly driving the small pulley of the motor to drive the large pulley to rotate via belt transmission can reduce the speed and torque, thereby reducing the power consumption of the motor; the encoder can accurately calculate the distance traveled by the equipment by rotating with the tensioning rubber wheel, and transmit the information to the control system, so as to avoid the slippage of the traveling wheels during the equipment shutdown process, which would cause the bolt positioning position to be inaccurate.

[0023] Preferably, the clamping assembly further includes a clamping motor, which drives the driving screw to rotate via a coupling. The driving screw and the two driven nuts are engaged with opposite threads to achieve synchronous displacement or deviation of the two driven nuts towards the center. Each driven nut is connected to the clamping wheel via a linkage mechanism.

[0024] The above technical solution brings further beneficial effects: the clamping mechanism is driven by a motor, which saves the intensity of manual operation, and the active screw and the driven nut are connected by positive and negative threads to realize the synchronous movement of the clamping wheel.

[0025] Preferably, the detection component further includes a camera, which is mounted below the vehicle frame body and close to the laser sensor.

[0026] The above technical solution brings further beneficial effects: the camera assists the laser sensor in identifying the target bolt.

[0027] Preferably, the four sets of fully automatic intelligent multi-head bolt wrench robots are used in combination through a connecting bridge. The connecting bridge is provided with a positioning plate at its center. The positioning plate is provided with four sets of sleeve rods that can move circumferentially relative to the positioning plate. All the sleeve rods are covered with sleeves that can slide relative to each other along the axial direction. One end of the sleeves is hinged and fixed to the fully automatic intelligent multi-head bolt wrench robot.

[0028] The above technical solution brings further beneficial effects: the four sets of equipment can be used simultaneously on dual tracks by connecting the bridge frame, and can automatically loosen the nuts of the front equipment and tighten the nuts of the rear equipment according to the operation needs, thereby improving the operation efficiency; the four sets of equipment can be displaced along the circumference of the positioning plate for position correction.

[0029] Preferably, the sleeve rod has a boss at one end inside the sleeve, and a second spring and a third spring are respectively provided at both ends of the boss.

[0030] The above technical solution brings further beneficial effects: the combined action of the second and third springs can keep the sleeve rod and sleeve relatively fixed after the position changes. Attached Figure Description

[0031] Figure 1 This is a front view of the overall structure of the present invention.

[0032] Figure 2 AA view of the present invention

[0033] Figure 3 This is a schematic diagram of the clamping assembly structure of the present invention.

[0034] Figure 4 This is a schematic diagram of the wrench assembly structure of the present invention.

[0035] Figure 5 For the present invention Figure 1 Enlarged view of region B

[0036] Figure 6 This is a schematic diagram of the connection of the four sets of combined use of the present invention.

[0037] In the diagram: 1. Connecting cable tray; 101. Positioning plate; 102. Sleeve rod; 103. Sleeve tube; 104. Second spring; 105. Third spring; 106. Boss; 2. Front travel wheel; 3. Camera; 4. Laser sensor; 5. Clamping assembly; 501. Driven nut; 502. Clamping motor; 503. Coupling; 504. Driving screw; 505. Linkage mechanism; 506. Clamping wheel; 6. Track; 7. Control system; 8. Tightening / loosening device; 801. First motor; 802. Second connecting plate; 803. First spring; 804. Guide. 805. Column; 806. First connecting plate; 807. Sliding sleeve; 808. Quick-change wrench; 809. Snap ring; 810. Reducer; 811. Position sensor; 9. Lifting device; 901. Second motor; 902. Lifting screw; 903. Shift fork; 904. First nut; 905. Pin; 10. Fixing plate; 11. Slide groove; 12. Large pulley; 13. Small pulley; 14. Belt; 15. Return spring; 16. Second connecting rod; 17. Tensioning rubber wheel; 18. Electrical box; 19. Frame body; 20. Rear travel wheel; 21. Track spring bolt. Detailed Implementation

[0038] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0039] Example 1:

[0040] This invention provides a fully automatic intelligent multi-head bolt wrench robot, such as... Figure 1As shown, it includes: a frame body 19, with a front travel wheel 2 and a rear travel wheel 20 arranged sequentially at its bottom along the travel direction to match the contour of the track 6. A large pulley 12 is provided on the coaxial side of the front travel wheel 2. The large pulley 12 is directly connected to a small pulley 13 of the third motor through a belt 14. When the third motor is working, the small pulley 13 drives the large pulley 12 to rotate through the belt 14, thereby realizing the forward movement of the front travel wheel 2. The transmission method between the small pulley 13 and the large pulley 12 realizes deceleration and torque increase during the transmission process, reduces the power and torque value of the third motor, and reduces the consumption of electrical energy.

[0041] like Figure 3 As shown, the clamping assembly 5 includes a drive screw 504 and two driven nuts 501 mounted on the drive screw 504. The clamping motor 502 drives the drive screw 504 to rotate via a coupling 503. The drive screw 504 and the two driven nuts 501 are engaged with a forward and reverse thread to achieve synchronous displacement or deviation of the two driven nuts 501 towards the center. Each driven nut 501 is connected to a clamping wheel 506 via a linkage mechanism 505. The clamping wheels 506 are symmetrically arranged on both sides of the track 6, and their inner contour surfaces can fit against the track 6. Before the equipment is operated, starting the clamping motor 502 to rotate forward will cause the two clamping wheels 506 to move towards the center and clamp into place with the track 6 to prevent the equipment from tipping over. When the clamping motor 502 rotates in reverse, the clamping wheels 506 separate outward from the track 6, thus separating the equipment from the track.

[0042] like Figures 2 to 5 As shown, the wrench assembly includes a fixed plate 10 fixedly connected to the main body 19 of the frame, a tightening device 8 mounted on the fixed plate 10 and symmetrically arranged on both sides of the main body 19 of the frame, and a lifting device 9 for moving the tightening device 8 up and down. The upper surface of the fixed plate 10 is provided with a groove 11. In this embodiment, the groove 11 is preferably in the form of a dovetail groove, but it can also be a V-groove or other grooves well known to those skilled in the art. In this embodiment, the tightening device 8 and the lifting device 9 are integrated and installed on the same mounting base. The lower surface of the mounting base is provided with a slider that cooperates with the groove 11. The two tightening devices 8 symmetrically arranged on the fixed plate 10 can be moved along the groove 11 to adjust the center distance. Before the equipment is operated, the two tightening devices 8 are moved so that their center distance is consistent with the center distance of the rail spring bolts 21 on both sides of the rail. Then the position of the tightening device 8 is fixed, which can meet the needs of high-speed rail lines as well as conventional rail lines.

[0043] The top of the tensioning device 8 is equipped with a first motor 801 capable of forward and reverse rotation. The first motor 801 is a servo motor, and its torque value can be precisely controlled by changes in current or voltage during operation. A reducer 809 is installed at the output end of the first motor 801, enabling speed reduction and torque increase, thus reducing the power consumption of the first motor 801. A sliding sleeve 806 is fitted onto the bottom of the output shaft of the reducer 809. A retaining ring 808 is connected to the bottom of the sliding sleeve 806 via a first pin. The retaining ring 808 is connected to a quick-change wrench 807 via a second pin. The first and second pins form a cross shape, allowing the quick-change wrench 807 to swing in both forward / backward and left / right directions. This facilitates smoother engagement of the quick-change wrench 807 with the track spring bolt 21 during operation, reducing the need for manual assistance.

[0044] The upper part of the sliding sleeve 806 is provided with a first connecting plate 805 for mounting the position sensor 810. The first connecting plate 805 has four guide posts 804 at its four corners. The top of the guide posts 804 is provided with a second connecting plate 802 that can move up and down along it. A first spring 803 is provided between the first connecting plate 805 and the second connecting plate 802. The top of the lifting device 9 is provided with a second motor 901. The output shaft of the second motor 901 is connected to a lifting screw 902. A shift fork 903 is sleeved on the lifting screw 902. A first nut 904 that is threadedly engaged with the lifting screw 902 is fixed at the sleeve position of the shift fork 903. After the second motor 901 is started, the lifting screw 902 rotates, and the shift fork 903 is moved along the guide post 804 by the action of the first nut 904. The forward and reverse rotation of the second motor 901 corresponds to the downward or upward movement of the shift fork 903, respectively. During the downward movement of the shift fork 903, the first spring 803 pushes the quick-change wrench 807 vertically downward. Once the quick-change wrench 807 is engaged with the track spring bolt 21, it moves upward under the reaction force to further compress the first spring 803 until the position sensor 810 detects a signal, at which point the second motor 901 stops. This effectively prevents the quick-change wrench 807 from continuing to descend after reaching its position, thus avoiding damage to the quick-change wrench 807 or the clamping assembly 5. The two end faces of the shift fork 903 are connected to the second connecting plate 802 via pins 905, allowing the second connecting plate 802 to adaptively adjust its position, thereby making the thrust applied to the first spring 803 more balanced and preventing jamming of the quick-change wrench 807 during movement due to uneven force.

[0045] The detection component includes a laser sensor 4 located in front of the wrench assembly relative to the forward direction of the fully automated intelligent multi-head bolt wrench robot, used to detect the position of the track bolts. During operation, the laser sensor 4 identifies the track spring bolt 21 and transmits a signal to the control system 7. The control system 7 can control the forward and backward movement of the entire machine, the lifting and lowering displacement of the wrench assembly, and the loosening and tightening operations. It can also receive various detection signals. The detection component also includes a camera 3, which is mounted below the frame body 19 and close to the laser sensor 4 to assist in the identification of the track spring bolt 21. Meanwhile, a second connecting rod 16 is located near the third motor. One end of the second connecting rod 16 is pinned to the mounting plate of the third motor, and the other end is connected to the tensioning rubber wheel 17. A return spring 15 is provided on the second connecting rod 16 to ensure that the tensioning rubber wheel 17 is in contact with the upper surface of the track 6. Under the action of the return spring 15, the tensioning rubber wheel 17 always maintains contact with the rail. At the same time, an encoder is provided at the end of the tensioning rubber wheel 17. The encoder is coaxially mounted with the tensioning rubber wheel 17 and rotates synchronously, which can accurately calculate the running distance of the equipment. In normal operation, the spacing of the track elastic bolts 21 is the same on the same track. Especially when laying new high-speed railways, before the track laying machine finishes laying the rails and welding them, the fixing requirement of the track elastic bolts 21 is to tighten the nuts every 5. When this equipment is in operation, the spacing value of the track elastic bolts 21 and the instruction to tighten the nuts every 5 are input into the control system 7. The encoder can accurately calculate the running distance, realize the accurate identification of the working position of the equipment, and enable fixed-point stationary operation, thereby improving the work efficiency.

[0046] The equipment is equipped with an electrical box 18, which contains a lithium battery pack to power all electric drive components, reducing on-site pollutant emissions. Through electric drive control, the equipment can travel, operate, and accurately identify target bolts, while improving the safety factor during equipment operation and realizing fully automatic intelligent operation of the entire set of equipment.

[0047] Example 2:

[0048] In Example 1, the fully automated intelligent multi-head bolt wrench robot can achieve multi-machine collaborative operation, such as... Figure 6 As shown, in this embodiment, four sets of fully automatic intelligent multi-head bolt wrench robots are used in combination through the connecting cable tray 1.

[0049] A positioning plate 101 is located at the center of the connecting cable tray 1. Four sets of sleeve rods 102, capable of circumferential displacement relative to the positioning plate 101, are provided outside the positioning plate 101. All sleeve rods 102 are fitted with relatively sliding sleeves 103. One end of each sleeve 103 is hinged and fixed to a fully automatic intelligent multi-head bolt wrench robot, making on-site installation and disassembly more convenient. A boss 106 is provided at one end of each sleeve rod 102 within the sleeve 103. A second spring 104 and a third spring 105 are respectively provided at both ends of the boss 106. The sleeve rod 102 and sleeve 103 are movably connected, and the length of the sleeve rod 102 extending into the sleeve 103 is self-adjustable. The second spring 104 and third spring 105 maintain the relative fixed position of the sleeve rod 102 and sleeve 103 through spring force. Simultaneously, the sleeve rod 102 and sleeve 103 can slide circumferentially along the positioning plate 101, preventing operational jamming and sluggishness caused by positional deviations during equipment operation.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully automatic intelligent multi-head bolt wrench robot, characterized in that, include: The frame body (19) has a front wheel (2) and a rear wheel (20) arranged sequentially along the direction of travel to match the outline of the track (6). The wrench assembly includes a tightening device (8) symmetrically arranged on both sides of the frame body (19) and a lifting device (9) for moving the tightening device (8) up and down. The clamping assembly (5) includes a driving screw (504) and two driven nuts (501) mounted on the driving screw (504). Both driven nuts (501) are connected to clamping wheels (506). The clamping wheels (506) are symmetrically arranged on both sides of the track (6) and their inner contour surfaces can fit against the track (6). The detection component includes a laser sensor (4) located in front of the wrench assembly relative to the forward direction of the fully automated intelligent multi-head bolt wrench robot for detecting the position of the track bolt. and a control system for controlling the normal operation and movement of the equipment (7); The top of the tensioning device (8) is provided with a first motor (801) that can achieve forward and reverse rotation. The output end of the first motor (801) is provided with a reducer (809). The bottom of the output shaft of the reducer (809) is fitted with a sliding sleeve (806). The upper part of the sliding sleeve (806) is provided with a first connecting plate (805) for installing a position sensor (810). The bottom of the sliding sleeve (806) is connected to a retaining ring (808) through a first pin. The retaining ring (808) is connected to a quick-change wrench (807) through a second pin. The first pin and the second pin are in a cross shape. The first connecting plate (805) is provided with four guide posts (804) at the four corners. The top of the guide posts (804) is provided with a second connecting plate (802) that can move up and down along it. A first spring (803) is provided between the first connecting plate (805) and the second connecting plate (802). The top of the lifting device (9) is provided with a second motor (901). The output shaft of the second motor (901) is connected to a lifting screw (902). A fork (903) is sleeved on the lifting screw (902). A first nut (904) that is threaded with the lifting screw (902) is fixed at the sleeve position of the fork (903). Pins (905) that are connected to the second connecting plate (802) are provided on both ends of the fork (903). The bottom of the two tensioning devices (8) is provided with a fixing plate (10) connected to the frame body (19). The upper surface of the fixing plate (10) is provided with a sliding groove (11). Both tensioning devices (8) can be displaced along the sliding groove (11) to achieve center distance adjustment.

2. The fully automatic intelligent multi-head bolt wrench robot according to claim 1, characterized in that, It also includes a lithium battery pack for powering the various electric components, and the first motor (801) is a servo motor.

3. The fully automatic intelligent multi-head bolt wrench robot according to claim 2, characterized in that, The front walking wheel (2) is provided with a large pulley (12) on the coaxial side. The large pulley (12) is directly connected to the small pulley (13) of the third motor through the belt (14). A second connecting rod (16) is provided near the third motor. One end of the second connecting rod (16) is pinned to the mounting plate of the third motor, and the other end is connected to the tensioning rubber wheel (17). The second connecting rod (16) is provided with a reset spring (15) to make the tensioning rubber wheel (17) fit against the upper plane of the track (6). An encoder is provided at the end of the tensioning rubber wheel (17).

4. The fully automatic intelligent multi-head bolt wrench robot according to claim 3, characterized in that, The clamping assembly (5) also includes a clamping motor (502), which drives the active screw (504) to rotate via a coupling (503). The active screw (504) and the two driven nuts (501) are engaged with a reverse thread to achieve synchronous displacement or deviation of the two driven nuts (501) towards the center. Each driven nut (501) is connected to the clamping wheel (506) via a linkage mechanism (505).

5. The fully automatic intelligent multi-head bolt wrench robot according to claim 1, characterized in that, The detection component also includes a camera (3), which is mounted below the frame body (19) and close to the laser sensor (4).

6. The fully automatic intelligent multi-head bolt wrench robot according to claim 1, characterized in that, Four sets of fully automatic intelligent multi-head bolt wrench robots are used in combination through a connecting bridge (1). The connecting bridge (1) is provided with a positioning plate (101) at the center. The positioning plate (101) is provided with four sets of sleeve rods (102) that can be circumferentially displaced relative to the positioning plate (101). All the sleeve rods (102) are fitted with sleeves (103) that can slide relative to each other along the axial direction. One end of the sleeve (103) is hinged and fixed to the fully automatic intelligent multi-head bolt wrench robot.

7. The fully automatic intelligent multi-head bolt wrench robot according to claim 6, characterized in that, The sleeve (102) has a boss (106) at one end inside the sleeve (103), and a second spring (104) and a third spring (105) are respectively provided at both ends of the boss (106).

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