Multi-shaft tightening device

Abstract

A multi-shaft tightening device comprises a device input shaft 10 and a plurality of tightening heads 11, the device is provided with a plurality of transmission units 20, each transmission unit is provided with a first unit output shaft 21, a second unit output shaft 22 and a unit input shaft 23, and the unit input shaft 23 drives the first unit output shaft 21 and the second unit output shaft 22 to rotate. The first unit output shaft 21 and the second unit output shaft 22 of one transmission unit drive the unit input shaft 23 of the other transmission unit or drive the tightening head 11. According to the multi-shaft torque transmission device, the transmission units of the three-shaft structures are adopted, the three shafts of the transmission units can be in associated transmission to form a chain type transmission structure, and the multi-shaft torque transmission device with one input shaft and the multiple output shafts is formed, the multiple output shafts can twist multiple operation objects at the same time, and twisting of the multiple operation objects can be output through one-time input rotating operation; the unscrewed bolts are prevented from being omitted, and the torsion strength of a plurality of torsion objects can be adjusted.

Description

Technical Field

[0001] The invention relates to the field of mechanical transmission and installation, and in particular to a multi-axis tightening device. Background Art

[0002] During mechanical installation and pipeline construction, bolt tightening is a critical and arduous task, especially at the flange connection of pipelines or pressure vessels. Traditional bolt tightening operations usually need to follow strict standards and specifications (such as ASME PCC-1 specification), requiring the bolts to be tightened step by step in a specific diagonal order. This process not only requires a lot of time and manpower, but is also easily limited by the operator's experience and accuracy, leading to human errors. For example, it is easy to miss the bolt during the tightening process, which may seriously affect the sealing and pressure resistance of the pipeline connection, thereby threatening the safety of the equipment and the quality of installation.

[0003] Although some technologies have been used in the field of automobile assembly to try to solve similar multi-point tightening problems, usually by driving multiple output shafts through one input shaft to achieve the synchronous rotation of multiple bolts. However, such devices have significant limitations. For example, after one bolt is tightened, other bolts cannot continue to rotate, which means that it is impossible to evenly control the tightening force of multiple bolts at the same time.

[0004] Another common solution is to use multiple independent electric torque wrenches, each of which is responsible for tightening a bolt and can adjust the tightening force as needed. Although this method can partially solve the problem of torque control, its structure is relatively complex and the cost is high.

[0005] Based on the above background, the existing technology still faces great challenges in the synchronous tightening of multiple bolts, especially in improving operating efficiency, ensuring uniform tightening torque, reducing human errors and simplifying equipment structure. Therefore, a new technical solution is urgently needed to meet the needs of efficient, safe and reliable multi-point torque transmission in complex working scenarios. Summary of the invention

[0006] The purpose of the present invention is to propose a multi-axis tightening device, aiming to provide a more efficient, accurate and easy-to-operate solution for synchronous tightening of multiple bolt torques. The device can realize automatic torque distribution during the tightening process of multiple bolts, solving the problem that the bolts in the prior art cannot be rotated into place at the same time, thereby greatly improving the tightening efficiency and tightening accuracy, while reducing human errors. The device has the advantages of simple structure, easy operation, strong scalability, etc., and is suitable for a wide range of industrial applications, especially in occasions requiring high-precision tightening such as pipeline installation and mechanical assembly.

[0007] In order to achieve the above-mentioned purpose, the technical solution of the present invention is: a multi-axis tightening device, comprising a device input shaft 10 and a plurality of tightening heads 11, the device is provided with a plurality of transmission units 20, each of the transmission units is provided with a first unit output shaft 21, a second unit output shaft 22 and a unit input shaft 23, the unit input shaft 23 drives the first unit output shaft 21 and the second unit output shaft 22 to rotate, when the first unit output shaft 21 is blocked from rotating, the unit input shaft 23 drives the second unit output shaft 22 to rotate, when the second unit input shaft 22 is blocked from rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate; the first unit output shaft 21 of the transmission unit drives the unit input shaft 23 of another transmission unit or drives the tightening head 11, the second unit output shaft 22 of the transmission unit drives the input shaft 23 of another transmission unit or drives the tightening head 11; the multiple transmission units include a top transmission unit 2A, the device input shaft 10 drives the unit input shaft 23 of the top transmission unit 2A.

[0008] Furthermore, in order to adjust the direction and transmission ratio between the transmission units, the first unit output shaft 21 of the transmission unit drives the unit input shaft 23 of another transmission unit through the transmission gear train 30, and the second unit output shaft 22 of the transmission unit drives the input shaft 23 of another transmission unit through the transmission gear train 30. The transmission gear train 30 adjusts the direction and / or transmission ratio of the unit input shaft 23. The transmission gear train 30 includes a transmission output wheel 31 arranged on the first unit output shaft 21 and / or the second unit output shaft 22, and the transmission gear train 30 also includes a transmission input wheel 32 arranged on the unit input shaft 23.

[0009] Furthermore, the transmission gear train 30 further includes an intermediate shaft disposed between the transmission output wheel 31 and the transmission input wheel 32 .

[0010] Furthermore, a structure of a transmission unit is that the transmission unit 20 is a transmission unit of a differential structure, and the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit are respectively connected to one of the left half-shaft gear 41, the right half-shaft gear 42 or the differential case 43 of the differential structure.

[0011] Furthermore, in order to adapt to the structure of the multi-axis tightening device, a preferred transmission unit of the differential structure is that the first unit output shaft 21 and the second unit output shaft 22 of the transmission unit are respectively connected to the left half-shaft gear 41 and the right half-shaft gear 42 of the differential structure, the unit input shaft 23 is connected to the differential case 43, the first unit output shaft 21 passes through the second unit output shaft 22, and the first unit output shaft 21 and the second unit output shaft 22 pass through the differential case 43 from the same side.

[0012] Furthermore, another preferred transmission unit of the differential structure is that the unit input shaft 23 of the transmission unit is connected to the right half-shaft gear 42 of the differential structure, the first unit output shaft 21 is connected to the left half-shaft gear 41 of the differential structure, and the second unit output shaft 22 is connected to the differential case 43 of the differential structure.

[0013] Furthermore, another structure of the transmission unit is that the transmission unit 20 is a transmission unit of a planetary gear structure, and the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit are respectively connected to one of the planetary carrier 51, the gear ring 52 or the sun gear 53 of the planetary gear structure.

[0014] Furthermore, a preferred transmission unit of a planetary gear structure is that the first unit output shaft 21 of the transmission unit is connected to the planet carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear structure, and the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure.

[0015] Furthermore, another preferred transmission unit of a planetary gear structure is that the first unit output shaft 21 of the transmission unit is connected to the planet carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the sun gear 53 of the planetary gear structure, and the unit input shaft 23 is connected to the gear ring 52 of the planetary gear structure.

[0016] The beneficial effects of the present invention are as follows: a transmission unit with multiple three-axis structures is adopted, and the three axes of the transmission unit can be linked for transmission to form a transmission structure, constituting a multi-axis torque transmission device with an input shaft and multiple output shafts. The multiple output shafts can twist multiple operating objects at the same time, and one input rotation operation can output the twisting of multiple operating objects, thereby avoiding missing untightened bolts, and the twisting force of multiple twisting objects can be adjusted.

[0017] The present invention is described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a transmission schematic diagram of the present invention; Figure 2 It is a transmission schematic diagram of the transmission unit of the present invention using a differential structure; Figure 3 is a transmission schematic diagram of the transmission unit of the present invention using a planetary gear structure; Figure 4 It is a structural diagram and transmission schematic diagram of a transmission unit adopting a differential structure; Figure 5 It is a structural exploded diagram of the transmission unit adopting a differential structure; Figure 6It is a structural diagram and transmission schematic diagram of a multi-axis tightening device with a differential structure in the transmission unit, and a transmission gear train adopts an intermediate shaft; Figure 7 It is an internal structure diagram of a multi-axis tightening device with a differential structure in the transmission unit; Figure 8 It is an exploded view of the internal structure of a multi-axis tightening device with a differential structure in the transmission unit; Fig. 9 It is a structural diagram and transmission schematic diagram of a multi-axis tightening device with a differential structure in the transmission unit, and the transmission gear train uses two intermediate shafts; Fig.10 It is a structural diagram and transmission schematic diagram of the transmission unit adopting a planetary gear structure; Fig.11 This is a structural exploded diagram of the transmission unit adopting a planetary gear structure; Fig.12 This is a structural diagram of a multi-axis tightening device with a planetary gear structure in the transmission unit; Fig.13 It is a partial cross-sectional view of a multi-axis tightening device with a planetary gear structure in the transmission unit; Fig.14 It is the internal structure diagram and transmission schematic diagram of a multi-axis tightening device with a planetary gear structure in the transmission unit; Fig.15 It is a structural diagram and transmission schematic diagram of a multi-axis tightening device with a planetary gear structure in the transmission unit, and the transmission output wheel directly drives the transmission input wheel; Fig.16 It is a transmission schematic diagram of a multi-axis tightening device of a hybrid structure, including a differential structure transmission unit and a planetary gear structure differential unit; Fig.17 is a partial cross-sectional view of a multi-axis tightening device of a hybrid structure; Fig.18 It is a diagram of the internal structure of a multi-axis tightening device with a mixed structure. DETAILED DESCRIPTION

[0019] like Figures 1 to 18 In order to achieve efficient and accurate synchronous tightening of multiple bolts with torque, the present invention proposes a technical solution of a multi-axis tightening device, including a device input shaft 10 and multiple tightening heads 11, and the tightening heads 11 are used to connect bolts or other spiral fasteners that need to be tightened.

[0020] like Figure 1 As shown, the multi-axis tightening device is provided with a plurality of transmission units 20, each of which is a three-axis transmission structure. The transmission unit has three mutually linked rotating shafts, each of which can drive the other two rotating shafts to dynamically transmit torque. Figure 1As shown in the connection diagram, each transmission unit 20 is provided with a first unit output shaft 21, a second unit output shaft 22 and a unit input shaft 23. The unit input shaft 23 drives the first unit output shaft 21 and the second unit output shaft 22 to rotate. When the rotation of the first unit output shaft 21 is blocked, the unit input shaft 23 will drive the second unit output shaft 22 to rotate. When the rotation of the second unit input shaft 22 is blocked, the unit input shaft 23 will drive the first unit output shaft 21 to rotate.

[0021] The multiple transmission units can be divided into three categories: a top transmission unit 2A (such as Figure 1 The drive unit 20a in the embodiment of the present invention is provided, at least one terminal transmission unit 2B (such as Figure 1 The drive units 20e, 20f, 20g in the embodiment of the present invention), and several intermediate transmission units 2C (such as Figure 1 The drive units 20b, 20c, 20d in FIG. Figure 6 The transmission schematic diagram shown shows a minimum transmission unit combination structure, which is only provided with a top transmission unit 2A and a bottom transmission unit 2B.

[0022] The device input shaft 10 is driven by an external driving force, and the device input shaft 10 drives the unit input shaft 23 of the top transmission unit 2A. The transmission units 20 except the top transmission unit 2A are all driven by another transmission unit (or called the transmission unit of the previous level), and their unit input shafts 23 are driven by the first unit output shaft 21 or the second unit output shaft 22 of another transmission unit. For the top transmission unit 2A and the intermediate transmission unit 2C, the first unit output shaft 21 of the transmission unit can drive the unit input shaft 23 of another transmission unit (or called the transmission unit of the next level) or drive a tightening head 11; similarly, the second unit output shaft 22 of the transmission unit can drive the unit input shaft 23 of another transmission unit or drive a tightening head 11. For the terminal transmission unit 2B, the first unit output shaft 21 and the second unit output shaft 22 can respectively drive a tightening head 11, and the first unit output shaft 21 and the second unit output shaft 22, one drives a tightening head 11, and the other is fixed, such as Figure 1 Transmission unit 20g.

[0023] like Figure 1In the transmission system shown, the first unit output shaft 21 and the second unit output shaft 22 of some transmission units are respectively connected to the tightening head 11 and the unit input shaft 23 of the next transmission unit, such as transmission units 20a and 20c; the first unit output shaft 21 and the second unit output shaft 22 of some transmission units are respectively connected to the unit input shafts 23 of two next transmission units, such as transmission units 20b and 20d; the first unit output shaft 21 and the second unit output shaft 22 of some transmission units are respectively connected to two tightening heads 11, such as transmission units 20e and 20f. The transmission unit can also be connected to only one tightening head, such as transmission unit 20g, the first unit output shaft 21 is connected to the tightening head 11, and the second unit output shaft 22 is fixed.

[0024] Generally speaking, the transmission unit can have a variety of connection structures, and in the specific technical solution, the connection method that best suits the application conditions can be selected. As a typical transmission unit connection structure, such as Figure 2 (An example of a transmission unit system with a differential structure) and Figure 3 As shown in (An example of a transmission unit system with a planetary gear structure), the transmission unit adopts a chain connection structure, including a top transmission unit 2A, a terminal transmission unit 2B and a plurality of intermediate transmission units 2C, and the first unit output shaft 21 or the second unit output shaft 22 of the intermediate transmission unit 2C is respectively connected to a tightening head 11 and a unit input shaft 23 of another transmission unit.

[0025] In the process of the upper transmission unit driving the lower transmission unit, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit will have a variety of different speeds and directions of rotation. The first unit output shaft 21 and / or the second unit output shaft 22 of the transmission unit drive the unit input shaft 23 of another transmission unit through the transmission gear train 30, and the transmission gear train 30 adjusts the direction and / or transmission ratio of the unit input shaft 23, and finally makes multiple tightening heads 11 rotate in the same direction and have the same torque. The transmission gear train 30 includes a transmission output wheel 31 arranged on the first unit output shaft 21 and / or the second unit output shaft 22, and the transmission gear train 30 also includes a transmission input wheel 32 arranged on the unit input shaft 23. The unit input shaft 23 of each transmission unit 20 (except the top transmission unit 2A) is provided with a transmission input wheel 32.

[0026] The transmission output wheel 31 can directly drive the transmission input wheel 32. Fig.18 An example of a transmission gear train 30 is included, in which the transmission output wheel 31 of the upper transmission unit directly drives the transmission input wheel 32 of the lower transmission unit.

[0027] An intermediate wheel may be further arranged between the transmission output wheel 31 and the transmission input wheel 32 . Figure 2 and Figure 3An example of a transmission wheel train 30 is included in FIG. 1 , in which an intermediate wheel is arranged between a transmission output wheel 31 and a transmission input wheel 32 .

[0028] The transmission gear train 30 can also realize transmission connection between transmission units at different positions.

[0029] The transmission unit 20 may adopt a planetary gear structure or a differential structure. Both the planetary gear structure and the differential structure are a three-axis transmission structure, with three mutually linked rotating shafts, each of which can drive the other two rotating shafts, dynamically transmit torque, and are suitable for the transmission unit.

[0030] Figure 2 An example of a transmission unit using a differential structure is shown. Figure 3 An example of a transmission unit using a planetary gear structure is shown. Each transmission unit 20 has a planetary gear structure or a three-axis structure of a differential. According to the transmission principle of the planetary gear structure and the differential structure, when the first unit output shaft 21 is blocked from rotating, the unit input shaft 23 drives the second unit output shaft 22 to rotate, and when the second unit output shaft 22 is blocked from rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate.

[0031] From a broad perspective, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of each transmission unit can be connected to one of the three rotating shafts of the planetary gear structure; or the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of each transmission unit can be connected to one of the three rotating shafts of the differential structure. For the transmission unit of the differential structure, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit can be connected to one of the left half-shaft gear 41, the right half-shaft gear 42 or the differential case 43 of the differential structure, that is, the first unit output shaft, the second unit output shaft and the unit input shaft can be connected to any left half-shaft gear, right half-shaft gear or differential case of the differential structure. Similarly, for the transmission unit of the planetary gear structure, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit are respectively connected to one of the planetary carrier 51, the gear ring 52 or the sun gear 53 of the planetary gear structure, that is, the first unit output shaft, the second unit output shaft and the unit input shaft can be connected to any one of the planetary carrier, the gear ring or the sun gear of the planetary gear structure.

[0032] The multi-axis tightening device of the present invention transmits torque to each tightening head 11 when the input shaft 10 of the device rotates. The tightening head with the smallest torsional resistance will be driven to rotate first, so that the loosest bolt among the multiple bolts can be tightened first, and then the multiple tightening heads can be tightened one by one in sequence, so that the multiple bolts can be locked under the same or similar torque state, and the untightened bolts will not be missed.

[0033] Embodiment 1: like Figure 4 , Figure 5 , a transmission unit of a differential structure. In this embodiment, the first unit output shaft 21 of the transmission unit is connected to the left half-shaft gear 41 of the differential structure, the second unit output shaft 22 is connected to the right half-shaft gear 42 of the differential structure, and the unit input shaft 23 is connected to the differential case 43. The differential case includes a first differential case 43a and a second differential case 43b that are butted against each other, and the first differential case 43a and the second differential case 43b are assembled and fixed by bolts 47. The first differential case 43a and the second differential case 43b are respectively provided with two semicircular holes 45 on the butt surface to form a circular hole for installing the differential planetary gear 44. The two differential planetary gears 44 are symmetrically installed between the first differential case 43a and the second differential case 43b. The second unit output shaft 22 passes through one side of the second differential case 43b. The second unit output shaft 22 and the right half-shaft gear 42 are provided with an axial hole 46 for rotationally cooperating with the first unit output shaft 21. The first unit output shaft 21 passes through the second unit output shaft 22 and also passes through one side of the second differential case 43b.

[0034] One end of the first unit output shaft 21 is rotatably connected to the first differential case 43a, and the first unit output shaft 21 is connected to the left half-shaft gear 41 through the quadrangular prism 21a, so that the first unit output shaft 21 rotates synchronously with the left half-shaft gear 41. A quadrangular prism 21b is provided at the output end of the first unit output shaft 21, which is used to connect the tightening head 11 or drive the next stage transmission unit to rotate.

[0035] The second unit output shaft 22 and the right side gear 42 are made into one part, and respectively have the functions of the second unit output shaft 22 and the right side gear 42. Here, the "connection" described in this embodiment is a general concept. Similarly, the differential case 43 is structurally used as the unit input shaft 23.

[0036] The transmission unit of the differential structure of this embodiment transmits torque to the first unit output shaft 21 and the second unit output shaft 22 when the unit input shaft 23 (differential case 43) rotates, driving an object with a smaller torsional resistance to rotate.

[0037] According to the transmission characteristics of the differential structure, the sum of the rotational speeds of the left and right half-shaft gears is twice the rotational speed of the differential case. In the transmission unit of the differential structure of this embodiment, when the first unit output shaft 21 is blocked and stops rotating, the unit input shaft 23 drives the second unit output shaft 22 to rotate at twice the speed; similarly, when the second unit output shaft 22 is blocked and stops rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate at twice the speed.

[0038] As a specific solution, the transmission unit of the differential structure of this embodiment provides an example of the input shaft 23 of the differential case connection unit.

[0039] Without limitation thereto, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 may be respectively connected to one of the left side gear 41, the right side gear 42 or the differential case 43 of the differential structure: When the unit input shaft 23 is connected to the left half-shaft gear 41 of the differential structure, the first unit output shaft 21 can be connected to the right half-shaft gear 42 of the differential structure, and the second unit output shaft 22 is connected to the differential case 43; or the first unit output shaft 21 can be connected to the differential case 43, and the second unit output shaft 22 is connected to the right half-shaft gear 42 of the differential structure.

[0040] When the unit input shaft 23 is connected to the right half-shaft gear 42 of the differential structure, the first unit output shaft 21 can be connected to the left half-shaft gear 41 of the differential structure, and the second unit output shaft 22 is connected to the differential case 43; or the first unit output shaft 21 can be connected to the differential case 43, and the second unit output shaft 22 is connected to the left half-shaft gear 41 of the differential structure.

[0041] When the unit input shaft 23 is connected to the differential case 43 of the differential structure, the first unit output shaft 21 can be connected to the right half-shaft gear 42 of the differential structure, and the second unit output shaft 22 is connected to the left half-shaft gear 41; or the first unit output shaft 21 can be connected to the left half-shaft gear 41, and the second unit output shaft 22 is connected to the right half-shaft gear 42 of the differential structure.

[0042] Embodiment 2: A transmission unit with a differential structure, this embodiment is a transmission unit transformation of the first embodiment. This embodiment has the same differential structure as the first embodiment. In this embodiment, Fig. 9 In the transmission unit 2B, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit are connected to the differential structure in different ways. The first unit output shaft 21 of the transmission unit is connected to the left half-shaft gear 41 of the differential structure, the second unit output shaft 22 is connected to the differential case 43 of the differential structure, and the unit input shaft 23 is connected to the right half-shaft gear 42.

[0043] According to the transmission characteristics of the differential structure, the sum of the rotational speeds of the left and right half-shaft gears is twice the rotational speed of the differential case. In the transmission unit of the differential structure of this embodiment, when the first unit output shaft 21 is blocked and stops rotating, the unit input shaft 23 drives the second unit output shaft 22 to rotate in the same direction at 0.5 times the speed; when the second unit output shaft 22 is blocked and stops rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate in the opposite direction at the same speed.

[0044] The difference between this embodiment and the first embodiment is that, for the transmission unit of the differential structure, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of each transmission unit can be connected to one of the three rotating shafts of the differential structure respectively.

[0045] Embodiment three: like Figures 6 to 8 , a multi-axis tightening device is provided with a plurality of transmission units 20 of the differential structure described in the first embodiment.

[0046] This embodiment is provided with two transmission units 20, one of which is a top transmission unit 2A, and the other transmission unit is a bottom transmission unit 2B. The two transmission units are mounted on the frame 12 of the multi-axis tightening device.

[0047] The unit input shaft 23 (i.e., the differential case 43 ) of the top transmission unit 2A is connected to the device input shaft 10 . In fact, the unit input shaft 23 (i.e., the differential case 43 ) of the top transmission unit 2A can be made into an integral structure with the device input shaft 10 .

[0048] The first unit output shaft 21 of the top transmission unit 2A is connected to a tightening head 11, and the quadrangular prism 21b at the output end of the first unit output shaft 21 is inserted into the square hole 11a of the tightening head, driving the tightening head 11 to rotate synchronously. The tightening head 11 is provided with a bolt interface 11b, and the bolt interface 11b of this embodiment is a hexagonal bolt sleeve, which is used to tighten fasteners such as hexagonal bolts and hexagonal nuts.

[0049] The second unit output shaft 22 of the top transmission unit 2A drives the unit input shaft 23 of the terminal transmission unit 2B through the transmission gear train 30. As a transmission gear train, the second unit output shaft 22 of the top transmission unit 2A is provided with a transmission output wheel 31, and the unit input shaft 23 of the terminal transmission unit 2B is provided with a transmission input wheel 32. The transmission gear train is also provided with a first intermediate shaft 33, on which a first intermediate gear 34 and a second intermediate gear 35 are provided, the first intermediate gear 34 is meshed with the transmission output wheel 31 of the second unit output shaft of the top transmission unit 2A, and the second intermediate gear 35 is meshed with the transmission input wheel 32 on the unit input shaft 23 of the terminal transmission unit 2B. In this embodiment, the transmission output wheel 31 and the transmission input wheel 32 are gears with the same number of teeth, and the number of teeth of the first intermediate gear 34 is twice the number of teeth of the second intermediate gear 35, thereby realizing the reduction transmission from the second unit output shaft 22 of the top transmission unit 2A to the unit input shaft 23 of the terminal transmission unit 2B, and the rotation speed of the second unit output shaft 22 of the top transmission unit 2A is twice that of the unit input shaft 23 of the terminal transmission unit.

[0050] The device input shaft 10 drives the unit input shaft 23 of the top transmission unit 2A to rotate. According to the characteristics of the differential structure, for the top transmission unit 2A, when the second unit output shaft 22 is blocked and in a stopped state, the unit input shaft 23 drives the first unit output shaft 21 to rotate, and the rotation speed of the first unit output shaft 21 is twice that of the unit input shaft 23; when the first unit output shaft 21 is blocked and in a stopped state, the unit input shaft 23 drives the second unit output shaft 22 to rotate, and the rotation speed of the second unit output shaft 22 is twice that of the unit input shaft 23, that is, the rotation speed of the second unit output shaft 22 is twice that of the device input shaft 10. After being transmitted by the first intermediate gear 34 and the second intermediate gear 35, the unit input shaft 23 of the terminal transmission unit has the same rotation speed as the device input shaft 10. Therefore, the two transmission units have the same rotation speed characteristics and also have the same or similar torque transmission effect.

[0051] In the terminal transmission unit 2B, the first unit output shaft 21 is directly connected to a tightening head 11. The second unit output shaft 22 drives a tightening shaft 14 through a transmission gear train. The transmission gear train between the second unit output shaft 22 and the tightening shaft 14 includes a transmission output wheel 31 arranged on the second unit output shaft 22, a tightening input gear 15 arranged on the tightening shaft 14, and a first intermediate shaft 33. The first intermediate shaft 33 is provided with a first intermediate gear 34, which is meshed with the transmission output wheel 31 and the tightening input gear 15 respectively. Through the primary intermediate gear transmission, the tightening input gear 15 and the transmission output wheel 31 have the same rotation direction. The number of teeth of the transmission output wheel 31 is the same as the number of teeth of the tightening input gear 15, so that the rotation speed of the second unit output shaft 22 is the same as that of the tightening shaft 14. Finally, the rotation speed and rotation direction of the tightening head 11 on the tightening shaft 14 are the same as those of the tightening head 11 driven by the first unit output shaft 21.

[0052] According to the principle of the differential, when the second unit output shaft 22 is blocked and stops rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate, and the speed of the first unit output shaft 21 is twice the speed of the unit input shaft 23; when the first unit output shaft 21 is blocked and stops rotating, the unit input shaft 23 drives the second unit output shaft 22 to rotate, and the speed of the second unit output shaft 22 is twice the speed of the unit input shaft 23. Therefore, for the terminal transmission unit 2B, the first unit output shaft 21 and the second unit output shaft 22 rotate at the same speed, and the output torques are also the same. After the adjustment of the transmission gear train 30, the three tightening heads in this embodiment finally have the same direction and speed, and have the same output torque.

[0053] In order to simplify the structure and facilitate understanding, this embodiment only illustrates a multi-axis tightening device including two transmission units and three tightening heads. In actual applications, more transmission units and tightening heads can be set according to the needs of the tightening object, and multiple transmission units can be driven in a multi-level structure, such as Figure 2 Schematic diagram of the structure.

[0054] Embodiment 4: like Fig. 9 , a multi-axis tightening device. This embodiment is a structural transformation of Example 3.

[0055] In this embodiment, the top transmission unit 2A adopts the differential structure transmission unit of embodiment 1. The terminal transmission unit 2B adopts the differential structure transmission unit of embodiment 2. The unit input shaft 23 of the terminal transmission unit 2B is connected to the right half shaft gear 42 of the differential structure, the first unit output shaft 21 is connected to the left half shaft gear 41 of the differential structure, and the second unit output shaft 22 is connected to the differential case 43 of the differential structure.

[0056] As in the first embodiment, the unit input shaft 23 (i.e., the differential case 43) of the top transmission unit 2A is connected to the device input shaft 10. The first unit output shaft 21 of the top transmission unit 2A is connected to a tightening head 11, and the second unit output shaft 22 of the top transmission unit 2A drives the unit input shaft 23 of the terminal transmission unit 2B through a transmission gear train.

[0057] Due to the structural change of the terminal transmission unit 2B, as a transmission gear train, the second unit output shaft 22 of the top transmission unit 2A is provided with a transmission output wheel 31, and the unit input shaft 23 of the terminal transmission unit 2B is provided with a transmission input wheel 32. The transmission gear train is also provided with a first intermediate shaft 33 and a second intermediate shaft 36, a first intermediate gear 34 is provided on the first intermediate shaft 33, and a second intermediate gear 35 is provided on the second intermediate shaft 36, and the first intermediate gear 34 is meshed with the second intermediate gear 35. The first intermediate gear 34 is meshed with the transmission output wheel 31, and the second intermediate gear 35 is meshed with the transmission input wheel 32. In this embodiment, the transmission output wheel 31 and the transmission input wheel 32 are gears with the same number of teeth, and the number of teeth of the first intermediate gear 34 is the same as the number of teeth of the second intermediate gear 35, thereby realizing the same-speed and opposite transmission of the second unit output shaft 22 of the top transmission unit 2A and the unit input shaft 23 of the terminal transmission unit 2B. For the terminal transmission unit 2B, the unit input shaft 23 is connected to the right half-shaft gear 42 of the differential structure. When the differential 43 case is stationary, the left half-shaft gear 41 and the right half-shaft gear 42 rotate in opposite directions. Therefore, when the second unit output shaft 22 is blocked and does not rotate, the first unit output shaft 21 drives the tightening head 11 to rotate in the opposite direction relative to the unit input shaft 23, thereby realizing the same-direction and same-speed rotation of the tightening head 11 driven by the top transmission unit 2A.

[0058] In the terminal transmission unit 2B, the second unit output shaft 22 drives a tightening head 11. The second unit output shaft 22 drives a tightening shaft 14 through a transmission gear train. The transmission gear train between the second unit output shaft 22 and the tightening shaft 14 includes a transmission output wheel 31 arranged on the second unit output shaft 22, a tightening input gear 15 arranged on the tightening shaft 14, a first intermediate shaft 33 and a second intermediate shaft 36. A first intermediate gear 34 is arranged on the first intermediate shaft 33, and a second intermediate gear 35 is arranged on the second intermediate shaft 36. The first intermediate gear 34 meshes with the second intermediate gear 35. The first intermediate gear 34 meshes with the transmission output wheel 31, and the second intermediate gear 35 meshes with the tightening input gear 15. Through the two-stage intermediate gear transmission, the tightening input gear 15 and the transmission output wheel 31 rotate in opposite directions. The number of teeth of the transmission output wheel 31 is twice the number of teeth of the tightening input gear 15, so that the rotation speed of the second unit output shaft 22 is twice that of the tightening shaft 14. Finally, the rotation speed and direction of the tightening head 11 on the tightening shaft 14 are made the same as those of the tightening head 11 driven by the first unit output shaft 21 .

[0059] The difference between this embodiment and the third embodiment shows that different differential structure transmission units can be used to form a multi-axis tightening device.

[0060] Embodiment five: like Fig.10 , Fig.11 , a transmission unit with a planetary gear structure. In this embodiment, the first unit output shaft 21 of the transmission unit is connected to the planetary carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear structure, and the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure. The gear ring 52 is provided with an inner gear ring 52a. The planetary gear structure of this embodiment is provided with three planetary gears 54, which are mounted on the planetary carrier 51 and meshed with the sun gear 53 and the inner gear ring 52a of the gear ring, respectively. The "connection" described in this embodiment is a general concept, wherein the first unit output shaft 21 and the planetary carrier 51 are made into a part (such as Fig.11 As shown); the second unit output shaft 22 and the gear ring 52 are one part, and its external gear 52b serves as the output transmission structure of the second unit output shaft 22; the unit input shaft 23 and the sun gear 53 are made into one structure.

[0061] A quadrangular prism 21 b is provided at the output end of the first unit output shaft 21 for connecting to the tightening head 11 and also for driving the next stage transmission unit.

[0062] The transmission unit of the planetary gear structure of this embodiment transmits torque to the first unit output shaft 21 and the second unit output shaft 22 when the unit input shaft 23 (the sun gear 53 of the planetary gear) rotates, driving the object with smaller torsional resistance to rotate.

[0063] According to the transmission calculation formula of planetary gears: ω1+αω2=(1+α)ω3, Wherein ω1 is the rotation speed of the sun gear 53 , ω2 is the rotation speed of the inner ring gear 52 a , ω3 is the rotation speed of the planet carrier 51 , and α is the gear ratio between the inner ring gear 52 a and the sun gear 53 .

[0064] The number of teeth of the inner gear ring is greater than the number of teeth of the sun gear. When the planet carrier is blocked and stops rotating, the speed of the sun gear is greater than the speed of the inner gear ring. When the planet carrier 51 is blocked and stops rotating, the speed ratio (ω1:ω2) of the sun gear 53 and the inner gear ring 52a (i.e., the gear ring 52) is α:1. When the inner gear ring 52a is blocked and stops rotating, the transmission ratio (ω1:ω3) of the sun gear 53 and the planet carrier 51 is (α+1):1. Combined with the planetary gear structure transmission unit of this embodiment, the transmission ratio of the unit input shaft 23 to the second unit output shaft 22 is 2.5:1, and the transmission ratio of the unit input shaft 23 to the first unit output shaft 21 is 3.5:1.

[0065] Without limitation thereto, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 may be respectively connected to one of the planet carrier 51, the gear ring 52 or the sun gear 53 of the planetary gear structure: When the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure, the first unit output shaft 21 can be connected to the planetary carrier 51 of the planetary gear structure, and the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear structure; or the first unit output shaft 21 can be connected to the gear ring 52 of the planetary gear structure, and the second unit output shaft 22 is connected to the planetary carrier 51 of the planetary gear structure.

[0066] When the unit input shaft 23 is connected to the planetary carrier 51 of the planetary gear structure, the first unit output shaft 21 can be connected to the sun gear 53 of the planetary gear structure, and the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear structure; or the first unit output shaft 21 can be connected to the gear ring 52 of the planetary gear structure, and the second unit output shaft 22 is connected to the sun gear 53 of the planetary gear structure.

[0067] When the unit input shaft 23 is connected to the gear ring 52 of the planetary gear structure, the first unit output shaft 21 can be connected to the sun gear 53 of the planetary gear structure, and the second unit output shaft 22 is connected to the planetary carrier 51 of the planetary gear structure; or the first unit output shaft 21 can be connected to the planetary carrier 51 of the planetary gear structure, and the second unit output shaft 22 is connected to the sun gear 53 of the planetary gear structure.

[0068] Embodiment six: like Figure 12 to Figure 14 , transmission diagram see Figure 3. A multi-axis tightening device is provided with eight transmission units 20 of the planetary gear structure described in the fifth embodiment. The eight transmission units are mounted on a frame 13 of the multi-axis tightening device, and the frame 13 is a three-layer annular structure. The first unit output shaft 21 of each transmission unit (i.e., the planetary frame 51 of the planetary gear) is connected to a tightening head 11, and the quadrangular prism 21b at the output end of the first unit output shaft 21 is inserted into the square hole 11a of the tightening head, driving the tightening head 11 to rotate synchronously. The tightening head 11 is provided with a bolt interface 11b. The bolt interface 11b of this embodiment is an internal hexagonal bolt sleeve, which is used to tighten fasteners such as hexagonal bolts and hexagonal nuts. The eight transmission units and tightening heads are equally distributed on the circumference of the frame 13, and can be used to tighten circumferentially distributed fasteners such as flange bolts.

[0069] The eight transmission units adopt a chain connection structure, including a top transmission unit 2A, a terminal transmission unit 2B and six intermediate transmission units 2C. The unit input shaft 23 of the top transmission unit 2A (i.e., the sun gear 53 of the planetary gear structure) is provided with a device input shaft 10. In this embodiment, the unit input shaft 23 of the top transmission unit 2A can be made into an integral structure with the device input shaft 10.

[0070] The first unit output shafts 21 of the eight transmission units are respectively connected to a tightening head 11 .

[0071] For the top transmission unit 2A and the intermediate transmission unit 2C, the second unit output shaft 22 is connected to the unit input shaft 23 of another transmission unit 20 through the transmission gear train 30, and eight transmission units constitute the structure of the transmission chain. The second unit output shaft 22 of the terminal transmission unit 2B is fixed. In this embodiment, a wedge block 16 is provided on the frame body 13 to prevent the gear ring 52 of the terminal transmission unit 2B from rotating, so that the second unit output shaft 22 of the terminal transmission unit 2B is fixed.

[0072] As a transmission gear train, the output shaft 22 of the second unit (i.e., the gear ring 52 of the planetary gear) is provided with a transmission output wheel 31, and the unit input shaft 23 is provided with a transmission input wheel 32. The transmission gear train is also provided with a first intermediate shaft 33 and a second intermediate shaft 36, a first intermediate gear 34 is provided on the first intermediate shaft 33, and a second intermediate gear 35 is provided on the second intermediate shaft 36, the first intermediate gear 34 and the second intermediate gear 35 are meshed with each other, the first intermediate gear 34 is meshed with the transmission output wheel 31, and the second intermediate gear 35 is meshed with the transmission input wheel 32.

[0073] The device input shaft 10 drives the rotation of each transmission unit. When the second unit output shaft 22 of a transmission unit is blocked and is in a stopped state, the unit input shaft 23 drives the first unit output shaft 21 to rotate. When the first unit output shaft 21 is blocked and is in a stopped state, the unit input shaft 23 drives the second unit output shaft 22 to rotate and transmits the torque to the next-level transmission unit.

[0074] This embodiment uses an 8-transmission unit structure with a long transmission chain. In actual working conditions, the mechanical efficiency loss is taken into consideration. The tooth ratio of the transmission output wheel 31 and the transmission input wheel 32 should be adjusted according to the mechanical efficiency η, so that the rotation speed of the unit input shaft of the transmission unit on the transmission chain is gradually reduced to compensate for the torque of the transmission unit lost due to mechanical efficiency, so that the torque of the first unit output shaft 21 of each transmission unit tends to be balanced, and the output torque of each tightening head 11 connected to the first unit output shaft 21 also tends to be balanced.

[0075] This embodiment illustrates a multi-axis tightening device with eight transmission units and eight tightening heads. In practical applications, different numbers of transmission units and tightening heads can be set according to the needs of the tightening object, and multiple transmission units are driven in a multi-level structure, such as Figure 3 The transmission unit and the tightening head can also be arranged in different ways, such as linear arrangement or semicircular arrangement.

[0076] Embodiment seven: like Fig.15 , a multi-axis tightening device, this embodiment is a structural transformation of embodiment six.

[0077] The transmission units 20 of the four planetary gear structures in this embodiment are arranged in the order of top transmission unit 2A, first intermediate transmission unit 2C1, second intermediate transmission unit 2C2, and end transmission unit 2B. The top transmission unit 2A and the second intermediate transmission unit 2C2 are the transmission units of the planetary gear structure described in the fifth embodiment.

[0078] The structures of the first intermediate transmission unit 2C1 and the terminal transmission unit 2B are as follows: the first unit output shaft 21 of the transmission unit is connected to the planet carrier 51 of the planetary gear structure, the second unit output shaft 22 of the transmission unit is connected to the sun gear 53 of the planetary gear structure, and the unit input shaft 23 is connected to the gear ring 52 of the planetary gear structure.

[0079] The first unit output shafts 21 of the four transmission units are each connected to a torque head 11 .

[0080] As a transmission gear train, the second unit output shaft 22 of the top transmission unit 2A, the first intermediate transmission unit 2C1 and the second intermediate transmission unit 2C2 are all connected to a transmission output wheel 31, and the unit input shafts of the first intermediate transmission unit 2C1, the second intermediate transmission unit 2C2 and the terminal transmission unit 2B are all connected to a transmission input wheel 32. Each transmission output wheel 31 has the same number of teeth as each transmission input wheel. In order to avoid mechanical structure interference, the transmission output wheel without meshing relationship is staggered in axial position with the transmission output wheel.

[0081] The transmission output wheel 31 of the top transmission unit 2A is directly meshed with the transmission input wheel 32 of the first intermediate transmission unit 2C1; the transmission output wheel 31 of the first intermediate transmission unit 2C1 is directly meshed with the transmission input wheel 32 of the second intermediate transmission unit 2C2; the transmission output wheel 31 of the second intermediate transmission unit 2C2 is directly meshed with the transmission input wheel 32 of the terminal transmission unit 2B. The transmission output wheel 31 of the terminal transmission unit 2B is fixed by a wedge 16.

[0082] In the top transmission unit 2A, when the second unit output shaft 22 (gear ring of the planetary gear) is stationary, the first unit output shaft 21 (planetary carrier of the planetary gear) and the unit input shaft 23 (sun gear of the planetary gear) rotate in the same direction; when the first unit output shaft 21 is stationary, the second unit output shaft 22 and the unit input shaft 23 rotate in opposite directions.

[0083] Since the top transmission unit 2A and the first intermediate transmission unit 2C1 are both driven by the gear ring 52 with the same structure, the gear rings of the top transmission unit 2A and the first intermediate transmission unit 2C1 rotate in opposite directions at the same speed. In the first intermediate transmission unit 2C1, when the second unit output shaft 22 (the sun gear of the planetary gear) is stationary, the first unit output shaft 21 (the planetary carrier of the planetary gear) and the unit input shaft 23 (the gear ring of the planetary gear) rotate in the same direction. Therefore, the top transmission unit 2A and the first unit output shaft 21 of the first intermediate transmission unit 2C1 rotate at the same speed and in the same direction, and the locking head 11 driven by the two also rotates at the same speed and in the same direction. By analogy, Fig.15 As shown, the four tightening heads 11 rotate at the same speed and in the same direction, and their output torques are also the same or similar.

[0084] The multi-axis tightening device of this embodiment has a more compact structure and is particularly suitable for tightening multiple bolts with smaller spacings. It also has fewer transmission gear levels and higher mechanical efficiency.

[0085] The difference between this embodiment and the sixth embodiment shows that different planetary gear structure transmission units can be used to form a multi-axis tightening device.

[0086] Embodiment eight: like Figures 16 to 18A multi-axis tightening device adopts the transmission unit of the differential structure described in Example 1 and the transmission unit of the planetary gear structure described in Example 5 to form a multi-axis tightening device.

[0087] In this embodiment, nine transmission units are used in common, including one transmission unit of the differential structure described in Embodiment 1 and eight transmission units of the planetary gear structure described in Embodiment 5. The transmission unit of the differential structure is the top transmission unit 2A, and the eight transmission units 20 of the planetary gear structure are divided into two groups, each group of four transmission units, and each group of four transmission units includes one terminal transmission unit 2B and three intermediate transmission units 2C.

[0088] The first unit output shaft 21 of the top transmission unit 2A drives a group of four transmission units 20 , and the second unit output shaft 22 of the top transmission unit 2A drives another group of four transmission units 20 .

[0089] As described in the first embodiment, the first unit output shaft 21 and the second unit output shaft 22 of the top transmission unit 2A are respectively connected to the left half-shaft gear 41 and the right half-shaft gear 42 of the differential structure, and the unit input shaft 23 of the top transmission unit 2A is connected to the differential case 43. The first unit output shaft 21 and the second unit output shaft 22 of the top transmission unit 2A rotate in the same direction and at the same speed. The first unit output shaft 21 and the second unit output shaft 22 of the top transmission unit 2A respectively drive the unit input shaft 23 of an intermediate transmission unit 2C, and the unit input shafts 23 of the two intermediate transmission units 2C also rotate in the same direction and at the same speed.

[0090] As described in the fifth embodiment, the transmission unit 20 of the planetary gear structure, the first unit output shaft 21 of the transmission unit is connected to the planet carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear structure, and the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure. Each group of four planetary gear structure transmission units (2B, 2C) of this embodiment is the same as that of the sixth embodiment, and the transmission gear train 30 between each group of transmission units is also the same as that of the sixth embodiment, including the transmission output wheel 31 on the second unit output shaft 22, the transmission input wheel 32 on the unit input shaft 23, the first intermediate shaft 33 provided with the first intermediate gear 34, and the second intermediate shaft 36 provided with the second intermediate gear 35. The second unit output shaft 22 of each group of terminal transmission units 2B is fixed.

[0091] In the multi-axis tightening device of the sixth embodiment, the eight transmission units are driven in a multi-stage structure, and have a long transmission chain. Affected by the mechanical efficiency, there will be a large difference in the transmission torque between the top transmission unit 2A and the end transmission unit 2B, which affects the balance of the tightening output of the tightening head. In this embodiment, the transmission units connected to the tightening heads are divided into two groups, which makes the tightening torques carried by the eight tightening heads more balanced.

Claims

1. A multi-axis tightening device, characterized in that: The invention comprises a device input shaft (10) and a plurality of tightening heads (11), wherein the device is provided with a plurality of transmission units (20), each of the transmission units being provided with a first unit output shaft (21), a second unit output shaft (22) and a unit input shaft (23), wherein the unit input shaft (23) drives the first unit output shaft (21) and the second unit output shaft (22) to rotate, and when the rotation of the first unit output shaft (21) is blocked, the unit input shaft (23) drives the second unit output shaft (22) to rotate, and when the second unit input shaft (22) rotates When obstructed, the unit input shaft (23) drives the first unit output shaft (21) to rotate; the first unit output shaft (21) of the transmission unit drives the unit input shaft (23) of another transmission unit or drives the tightening head (11), and the second unit output shaft (22) of the transmission unit drives the input shaft (23) of another transmission unit or drives the tightening head (11); the multiple transmission units include a top transmission unit (2A), and the device input shaft (10) drives the unit input shaft (23) of the top transmission unit (2A).

2. The multi-axis tightening device according to claim 1, characterized in that: The first unit output shaft (21) of the transmission unit drives the unit input shaft (23) of another transmission unit through a transmission gear train (30), and the second unit output shaft (22) of the transmission unit drives the input shaft (23) of another transmission unit through a transmission gear train (30). The transmission gear train (30) adjusts the direction of rotation and / or the transmission ratio of the unit input shaft (23). The transmission gear train (30) includes a transmission output wheel (31) arranged on the first unit output shaft (21) and / or the second unit output shaft (22), and the transmission gear train (30) also includes a transmission input wheel (32) arranged on the unit input shaft (23).

3. The multi-axis tightening device according to claim 2, characterized in that: The transmission gear train (30) further comprises an intermediate shaft arranged between the transmission output wheel (31) and the transmission input wheel (32).

4. The multi-axis tightening device according to claim 1, characterized in that: The transmission unit (20) is a transmission unit of a differential structure, wherein a first unit output shaft (21), a second unit output shaft (22) and a unit input shaft (23) of the transmission unit are respectively connected to one of a left half-shaft gear (41), a right half-shaft gear (42) or a differential case (43) of the differential structure.

5. The multi-axis tightening device according to claim 4, characterized in that: The first unit output shaft (21) and the second unit output shaft (22) of the transmission unit are respectively connected to the left half-shaft gear (41) and the right half-shaft gear (42) of the differential structure, the unit input shaft (23) is connected to the differential case (43), the first unit output shaft (21) passes through the second unit output shaft (22), and the first unit output shaft (21) and the second unit output shaft (22) pass through the differential case (43) from the same side.

6. The multi-axis tightening device according to claim 4, characterized in that: The unit input shaft (23) of the transmission unit is connected to the right half-shaft gear (42) of the differential structure, the first unit output shaft (21) is connected to the left half-shaft gear (41) of the differential structure, and the second unit output shaft (22) is connected to the differential case (43) of the differential structure.

7. The multi-axis tightening device according to claim 1, characterized in that: The transmission unit (20) is a transmission unit of a planetary gear structure, wherein a first unit output shaft (21), a second unit output shaft (22) and a unit input shaft (23) of the transmission unit are respectively connected to one of a planet carrier (51), a gear ring (52) or a sun gear (53) of the planetary gear structure.

8. The multi-axis tightening device according to claim 7, characterized in that: The first unit output shaft (21) of the transmission unit is connected to a planet carrier (51) of a planetary gear structure, the second unit output shaft (22) is connected to a gear ring (52) of the planetary gear structure, and the unit input shaft (23) is connected to a sun gear (53) of the planetary gear structure.

9. The multi-axis tightening device according to claim 7, characterized in that: The first unit output shaft (21) of the transmission unit is connected to a planet carrier (51) of a planetary gear structure, the second unit output shaft (22) is connected to a sun gear (53) of the planetary gear structure, and the unit input shaft (23) is connected to a gear ring (52) of the planetary gear structure.

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