Winding device and bolt fastening system

Abstract

The invention provides a winding device and bolt fastening system.The winding device comprises a box body, a driving module, a winding roll, a first hanging ring and a limiting module, the driving module and the winding roll are both installed in the box body, an insulated cable is wound around the winding roll in the circumferential direction, one end of the insulated cable extends out of an opening of the box body, and the other end of the insulated cable extends out of the first hanging ring; the driving module controls the winding roll to rotate clockwise or anticlockwise so as to adjust the length of the part, extending out of the box body, of the insulated cable, the first hanging ring is connected to the end of the insulated cable and used for being connected with a bolt fastening device so as to adjust the position of the bolt fastening device, and the limiting module is arranged at an opening of the box body and matched with the first hanging ring in a limiting mode. Therefore, the recovery stop position of the insulated cable is limited. The position of the bolt fastening device is adjusted by adjusting the length of the insulated cable extending out of the box body, so that the bolt fastening device does not need to be manually operated during movement, the working intensity of operators is reduced, the operation is more flexible, and the working efficiency is also improved.

Description

Technical Field

[0001] The present invention relates to the technical field of maintenance tools, and in particular to a winding device and a bolt fastening system. Background Art

[0002] At present, the existing bolt fastening device is large in size and inconvenient to move, especially when it is necessary to maintain high-altitude equipment. In the prior art, the movement of the bolt fastening device mainly relies on the operator to move it manually, which consumes a lot of physical strength of the operator and takes a long time, ultimately resulting in low work efficiency. Summary of the invention

[0003] The present invention provides a winding device and a bolt fastening system to solve the problem of low working efficiency caused by the inconvenient movement of the bolt fastening device in the prior art.

[0004] In order to solve the above-mentioned problem, according to one aspect of the present invention, the present invention provides a winding device, including a box, a driving module, a cable reel, a first lifting ring and a limiting module, the driving module and the cable reel are both installed inside the box, the cable reel is circumferentially wound with an insulating cable, one end of the insulating cable extends out of the opening of the box, the driving module controls the cable reel to rotate clockwise or counterclockwise to adjust the length of the insulating cable extending out of the box, the first lifting ring is connected to the end of the insulating cable, the first lifting ring is used to connect a bolt fastening device to adjust the position of the bolt fastening device, the limiting module is arranged at the opening of the box, the limiting module and the first lifting ring cooperate to limit the recovery stop position of the insulating cable.

[0005] Furthermore, the limiting module includes a limiting pressure plate, which has a limiting opening, through which the insulating cable passes, and the size of the limiting opening is smaller than the size of the first lifting ring, and the first lifting ring and the limiting pressure plate are limitedly matched.

[0006] Furthermore, the limit module also includes a limit spring and a limit switch, the two ends of the limit spring are respectively connected to the limit pressure plate and the box body, the limit switch is installed on the box body, and the limit switch is electrically connected to the drive module; wherein, during the process of the drive module controlling the winding of the insulated cable, when the first lifting ring presses against the limit pressure plate, the limit spring is compressed, and the distance between the limit pressure plate and the limit switch is reduced. After the limit switch senses the position of the limit pressure plate, the limit switch controls the drive module to stop running.

[0007] Furthermore, the driving module includes a driving motor and a driving control board, the driving control board is electrically connected to the driving motor, the driving motor is drivingly connected to the cable reel, and the driving control board controls the operation of the driving motor.

[0008] Furthermore, the winding device also includes a power supply, which is arranged in the box and is used to supply power to the driving module.

[0009] Furthermore, the winding device also includes a second lifting ring, which is installed on the box body and is used to connect with the iron tower.

[0010] According to another aspect of the present invention, a bolt tightening system is provided, which includes a bolt tightening device and the above-mentioned winding device, the bolt tightening device includes an electric wrench, and the first lifting ring of the winding device is connected to the hanging ear on the electric wrench.

[0011] Furthermore, the bolt tightening device also includes a base and a steering part, the steering part is installed on the base, the electric wrench is installed on the steering part, and the steering part is used to adjust the position of the electric wrench.

[0012] Furthermore, the steering part includes a first steering mechanism and a second steering mechanism, the first steering mechanism is installed on the base, the second steering mechanism is installed on the first steering mechanism, and the electric wrench is installed on the second steering mechanism; wherein the first steering mechanism is used to control the second steering mechanism and the electric wrench to swing around a first axis, and the second steering mechanism is used to control the electric wrench to swing around a second axis, and the second axis is perpendicular to the first axis.

[0013] Further, the first steering mechanism includes a first driving mechanism, a first transmission mechanism, a first rotating shaft and a first rotating body. The first driving mechanism is fixedly installed on the base, and the first rotating shaft is rotatably installed on the base. The first driving mechanism drives the first rotating shaft to swing through the first transmission mechanism. The first rotating body and the first rotating shaft are connected. The first rotating shaft drives the first rotating body to swing, and the second steering mechanism is installed on the first rotating body; the second steering mechanism includes a second driving mechanism, a second transmission mechanism, a second rotating shaft and a second rotating body. The second driving mechanism is fixedly installed on the first rotating body, and the second rotating shaft is rotatably installed on the first rotating body. The second driving mechanism drives the second rotating shaft to swing through the second transmission mechanism. The second rotating body and the second rotating shaft are connected. The second rotating shaft drives the second rotating body to swing, and the electric wrench is installed on the second rotating body.

[0014] By applying the technical solution of the present invention, the first lifting ring is connected to the end of the insulating cable and is used to connect the bolt fastening device, and the driving module can accurately control the rotation direction of the cable reel, thereby adjusting the length of the insulating cable extending from the box, and then adjusting the position of the bolt fastening device, so that the bolt fastening device does not need manual operation when moving, which can be achieved through the cooperation of the driving module, the cable reel, and the first lifting ring and other components, thereby reducing the workload of the operator, making the operation more flexible, and improving work efficiency. Moreover, the circumferential winding of the insulating cable on the cable reel can keep the cable tidy and avoid clutter during the process of retracting and releasing, and can also maximize the use of space. And when the cable is recycled, the limit module will cooperate with the first lifting ring to ensure that the cable is not recycled excessively, avoid all the cables from being pulled into the box, ensure safe operation, and reduce the potential risk of damage to the cable or device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 A schematic structural diagram of a winding device provided by an embodiment of the present invention is shown;

[0017] Figure 2 A schematic diagram showing the internal structure of a winding device provided by an embodiment of the present invention is shown;

[0018] Figure 3 A schematic diagram showing the position of a limiting module of a winding device provided by an embodiment of the present invention;

[0019] Figure 4 A schematic structural diagram of a limit module of a winding device provided by an embodiment of the present invention is shown;

[0020] Figure 5 A schematic structural diagram of a bolt fastening device provided by an embodiment of the present invention is shown.

[0021] The above drawings include the following reference numerals:

[0022] 10. Box body;

[0023] 20. Driver module;

[0024] 21. Driving motor; 22. Driving control board;

[0025] 30. Cable reel;

[0026] 40. First ring;

[0027] 50. Limit module;

[0028] 51. Limiting plate; 511. Limiting opening;

[0029] 52. Limit spring; 53. Limit switch;

[0030] 60. Second ring;

[0031] 70. Electric wrench;

[0032] 80. Base;

[0033] 90. Steering unit;

[0034] 91. A first steering mechanism; 912. A first rotating shaft;

[0035] 922. Second axis. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] like Figures 1 to 4 As shown, an embodiment of the present invention provides a winding device, including a box 10, a drive module 20, a cable reel 30, a first hanging ring 40 and a limit module 50. The drive module 20 and the cable reel 30 are both installed inside the box 10. The cable reel 30 is circumferentially wound with an insulating cable, and one end of the insulating cable extends out of the opening of the box 10. The drive module 20 controls the cable reel 30 to rotate clockwise or counterclockwise to adjust the length of the insulating cable extending out of the box 10. The first hanging ring 40 is connected to the end of the insulating cable. The first hanging ring 40 is used to connect a bolt fastening device to adjust the position of the bolt fastening device. The limit module 50 is arranged at the opening of the box 10. The limit module 50 and the first hanging ring 40 cooperate to limit the recovery stop position of the insulating cable.

[0038] In this embodiment, the first hanging ring 40 is connected to the end of the insulating cable and is used to connect the bolt fastening device, and the driving module 20 can accurately control the rotation direction of the cable reel 30, so as to adjust the length of the insulating cable extending from the box 10, and then adjust the position of the bolt fastening device, so that the bolt fastening device does not need manual operation when moving, which can be achieved through the cooperation of the driving module 20, the cable reel 30 and the first hanging ring 40 and other components, reducing the work intensity of the operator, making the operation more flexible, and improving work efficiency. Moreover, the circumferential winding of the insulating cable on the cable reel 30 can keep the cable tidy and avoid clutter during the retraction process, and can also maximize the use of space. And when the cable is recycled, the limit module 50 will cooperate with the first hanging ring 40 to ensure that the cable is not excessively recycled, avoid all the cables from being pulled into the box 10, ensure safe operation, and reduce the potential risk of damage to the cable or device.

[0039] like Figure 4 As shown, the limiting module 50 includes a limiting pressure plate 51, which has a limiting opening 511. The insulated cable passes through the limiting opening 511. The size of the limiting opening 511 is smaller than the size of the first lifting ring 40. The first lifting ring 40 and the limiting pressure plate 51 are limited and matched.

[0040] In this embodiment, after the cable passes through the limit opening 511, it is connected to the first hanging ring 40. Since the size of the limit opening 511 is smaller than the size of the first hanging ring 40, it is ensured that the hanging ring cannot fall off or slide from the limit opening 511 during the cable recovery process. Through the precise matching of the limit opening 511 and the first hanging ring 40, the problem of excessive stretching or improper retraction of the cable during the recovery process can be avoided, reducing safety hazards. In addition, the operator does not need to pay too much attention to the fixing of the cable during operation, because the limit module 50 has limited the position of the cable within a safe range. Whether it is extended or recovered, the cable can run smoothly according to the preset trajectory.

[0041] like Figure 4 As shown, the limit module 50 also includes a limit spring 52 and a limit switch 53, the two ends of the limit spring 52 are respectively connected to the limit pressure plate 51 and the box body 10, the limit switch 53 is installed on the box body 10, and the limit switch 53 is electrically connected to the drive module 20; wherein, during the process of the drive module 20 controlling the winding of the insulated cable, when the first hanging ring 40 presses against the limit pressure plate 51, the limit spring 52 is compressed, and the distance between the limit pressure plate 51 and the limit switch 53 is reduced. After the limit switch 53 senses the position of the limit pressure plate 51, the limit switch 53 controls the drive module 20 to stop running.

[0042] In this embodiment, when the first lifting ring 40 contacts the limit pressure plate 51, the limit spring 52 is compressed, thereby reducing the distance between the limit pressure plate 51 and the limit switch 53. When the limit switch 53 detects the limit pressure plate 51, it immediately sends a signal to control the drive module 20 to stop running, and stops the electric drive in time when the cable is retracted to the predetermined position to avoid excessive retraction of the cable. The electrical connection between the limit switch 53 and the drive module 20 can ensure the response speed of the device and avoid the need for manual intervention. In addition, the limit spring 52 can connect the limit pressure plate 51 and the box 10 to play the role of elastic buffer. When the cable is retracted to a certain position, the first lifting ring 40 contacts and applies pressure to the limit pressure plate 51, and the limit spring 52 is compressed accordingly, which can provide a certain elasticity and buffering capacity for the device, avoiding direct contact or collision between the limit pressure plate 51 and the box 10, thereby preventing the device from being damaged.

[0043] When the first hanging ring 40 does not press the limit pressing plate 51 , the limit spring 52 ensures that there is a sufficient distance between the limit pressing plate 51 and the limit switch 53 , and the limit switch 53 will not sense the position of the limit pressing plate 51 .

[0044] like Figure 2 As shown, the driving module 20 includes a driving motor 21 and a driving control board 22 . The driving control board 22 is electrically connected to the driving motor 21 . The driving motor 21 is drivingly connected to the cable reel 30 . The driving control board 22 controls the operation of the driving motor 21 .

[0045] In this embodiment, the drive control board 22 is electrically connected to the drive motor 21, and can accurately adjust the speed, direction, and start and stop of the drive motor 21, thereby controlling the movement of the cable reel 30 to ensure the accuracy and safety of cable retraction. In some embodiments, the drive motor 21 and the cable reel 30 are directly driven and connected, so that the power output by the drive motor 21 can be directly converted into the force for the cable reel 30 to rotate, thereby driving the cable to adjust the position of the bolt fastening device, without the need for intermediate transmission, reducing losses and improving work efficiency. In some embodiments, the drive motor 21 and the cable reel 30 can also be indirectly driven and connected through a transmission component.

[0046] Furthermore, the winding device also includes a power supply, which is disposed in the box 10 and is used to supply power to the driving module 20 .

[0047] In this embodiment, the driving module 20 needs stable power support to work normally. The power supply can provide stable power support for the driving module 20, ensuring that the driving module 20 can start and stop and adjust the speed in a predetermined manner, thereby realizing the retraction and release of the cable, and finally completing the adjustment of the position of the bolt fastening device. In addition, the power supply is arranged in the box 10, making the device more compact and reducing the use of space.

[0048] like Figure 1 As shown, the winding device further includes a second lifting ring 60, which is installed on the box body 10 and is used to be connected to the iron tower.

[0049] In this embodiment, the second lifting ring 60 provides a firm and stable connection point, so that the winding device can be reliably connected to a fixed structure such as an iron tower. When the device is in use, the drive module 20 is used to control the winding drum 30 to rotate, so that the cable drives the bolt fastening device to move to the operation area, and then the bolt fastening device is fixed to the iron tower through the second lifting ring 60, avoiding unstable operation caused by movement or vibration of the device, ensuring that the entire working process can operate efficiently and continuously, and also ensuring the safety of personnel and equipment during the entire working process.

[0050] The embodiment of the present invention also includes a bolt fastening system, the bolt fastening system includes a bolt fastening device and the above-mentioned winding device, such as Figure 5 As shown, the bolt tightening device includes an electric wrench 70, and the first hanging ring 40 of the winding device is connected to the hanging ear on the electric wrench 70.

[0051] In this embodiment, by connecting the first hanging ring 40 with the hanging ear on the electric wrench 70, the electric wrench 70 can change its position as the first hanging ring 40 moves. The operator does not need to manually change the position of the electric wrench 70, which saves manpower and makes the entire operation process more flexible and efficient.

[0052] like Figure 5 As shown, the bolt fastening device further includes a base 80 and a steering portion 90 . The steering portion 90 is mounted on the base 80 , and the electric wrench 70 is mounted on the steering portion 90 . The steering portion 90 is used to adjust the position of the electric wrench 70 .

[0053] In this embodiment, the design of the steering portion 90 enables the electric wrench 70 to adjust the position and angle as needed, reducing deviations in manual operation, improving tightening accuracy, and avoiding misoperation or bolt damage caused by incorrect angles.

[0054] like Figure 5 As shown, the steering portion 90 includes a first steering mechanism 91 and a second steering mechanism, the first steering mechanism 91 is installed on the base 80, the second steering mechanism is installed on the first steering mechanism 91, and the electric wrench 70 is installed on the second steering mechanism; wherein, the first steering mechanism 91 is used to control the second steering mechanism and the electric wrench 70 to swing around a first axis, and the second steering mechanism is used to control the electric wrench 70 to swing around a second axis, and the second axis is perpendicular to the first axis.

[0055] In this embodiment, the first steering mechanism 91 and the second steering mechanism enable the electric wrench 70 to be adjusted in two axial directions, so that the operator can more flexibly adjust the angle and position of the electric wrench 70, especially in an environment with complex space or limited angles, and can perform multi-directional and high-precision operations. Moreover, through the synergistic effect of the first steering mechanism 91 and the second steering mechanism, the electric wrench 70 can quickly find the best working angle, reduce the operator's manual adjustment, reduce the adjustment time, and improve the overall operation efficiency.

[0056] like Figure 5 As shown, the first steering mechanism 91 includes a first driving mechanism, a first transmission mechanism, a first rotating shaft 912 and a first rotating body. The first driving mechanism is fixedly installed on the base 80, and the first rotating shaft 912 is rotatably installed on the base 80. The first driving mechanism drives the first rotating shaft 912 to swing through the first transmission mechanism. The first rotating body is connected to the first rotating shaft 912, and the first rotating shaft 912 drives the first rotating body to swing. The second steering mechanism is installed on the first rotating body; the second steering mechanism includes a second driving mechanism, a second transmission mechanism, a second rotating shaft 922 and a second rotating body. The second driving mechanism is fixedly installed on the first rotating body, and the second rotating shaft 922 is rotatably installed on the first rotating body. The second driving mechanism drives the second rotating shaft 922 to swing through the second transmission mechanism. The second rotating body is connected to the second rotating shaft 922, and the second rotating shaft 922 drives the second rotating body to swing. The electric wrench 70 is installed on the second rotating body.

[0057] In this embodiment, the first steering mechanism 91 and the second steering mechanism respectively control the electric wrench 70 to swing around two mutually perpendicular axes through different driving mechanisms and transmission mechanisms, so that the angle of the electric wrench 70 can be accurately adjusted to adapt to more complex and changeable working environments. Compared with traditional manual adjustment or adjustment around a single rotating shaft, the use of two steering mechanisms can reduce the adjustment time and ensure that the work is carried out more efficiently. Moreover, such a setting can also reduce the burden of manual operation, reduce labor intensity, and improve the overall work efficiency.

[0058] The above is only an optional embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may be modified and varied in various ways. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0059] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0060] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of this solution. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being only exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0061] In the description of this scheme, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing this scheme and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the scope of protection of this scheme; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0062] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0063] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only to facilitate the distinction between corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this scheme.

Claims

1. A winding device, characterized in that: The invention comprises a casing (10), a driving module (20), a cable reel (30), a first lifting ring (40) and a limiting module (50), wherein the driving module (20) and the cable reel (30) are both installed inside the casing (10), an insulating cable is wound around the cable reel (30), one end of the insulating cable extends out of an opening of the casing (10), the driving module (20) controls the cable reel (30) to rotate clockwise or counterclockwise to adjust the length of the insulating cable extending out of the casing (10), the first lifting ring (40) is connected to the end of the insulating cable, the first lifting ring (40) is used to connect a bolt fastening device to adjust the position of the bolt fastening device, the limiting module (50) is arranged at the opening of the casing (10), the limiting module (50) and the first lifting ring (40) are limitedly matched to define the recovery stop position of the insulating cable.

2. The winding device according to claim 1, characterized in that The limiting module (50) comprises a limiting pressure plate (51), the limiting pressure plate (51) having a limiting opening (511), the insulating cable passing through the limiting opening (511), the size of the limiting opening (511) being smaller than the size of the first lifting ring (40), and the first lifting ring (40) and the limiting pressure plate (51) being limitedly matched.

3. The winding device according to claim 2, characterized in that The limit module (50) further comprises a limit spring (52) and a limit switch (53), wherein two ends of the limit spring (52) are respectively connected to the limit pressure plate (51) and the box body (10), the limit switch (53) is installed on the box body (10), and the limit switch (53) is electrically connected to the drive module (20); wherein, in the process of the drive module (20) controlling the winding of the insulating cable, when the first lifting ring (40) presses against the limit pressure plate (51), the limit spring (52) is compressed, and the distance between the limit pressure plate (51) and the limit switch (53) is reduced, and after the limit switch (53) senses the position of the limit pressure plate (51), the limit switch (53) controls the drive module (20) to stop running.

4. The winding device according to claim 1, characterized in that The driving module (20) comprises a driving motor (21) and a driving control board (22); the driving control board (22) and the driving motor (21) are electrically connected; the driving motor (21) and the cable reel (30) are drivingly connected; and the driving control board (22) controls the operation of the driving motor (21).

5. The winding device according to claim 1, characterized in that The winding device also includes a power supply, which is arranged in the box (10) and is used to supply power to the driving module (20).

6. The winding device according to claim 1, characterized in that The winding device further comprises a second lifting ring (60), wherein the second lifting ring (60) is installed on the box body (10), and the second lifting ring (60) is used for connecting to an iron tower.

7. A bolt fastening system, characterized in that: The bolt tightening system comprises a bolt tightening device and a winding device as claimed in any one of claims 1 to 6, wherein the bolt tightening device comprises an electric wrench (70), and a first lifting ring (40) of the winding device is connected to a hanging ear on the electric wrench (70).

8. The bolt fastening system according to claim 7, characterized in that: The bolt fastening device further comprises a base (80) and a steering portion (90), wherein the steering portion (90) is mounted on the base (80), the electric wrench (70) is mounted on the steering portion (90), and the steering portion (90) is used to adjust the position of the electric wrench (70).

9. The bolt fastening system according to claim 8, characterized in that: The steering portion (90) comprises a first steering mechanism (91) and a second steering mechanism, wherein the first steering mechanism (91) is mounted on the base (80), the second steering mechanism is mounted on the first steering mechanism (91), and the electric wrench (70) is mounted on the second steering mechanism; wherein the first steering mechanism (91) is used to control the second steering mechanism and the electric wrench (70) to swing around a first axis, and the second steering mechanism is used to control the electric wrench (70) to swing around a second axis, and the second axis is perpendicular to the first axis.

10. The bolt fastening system according to claim 9, characterized in that: The first steering mechanism (91) comprises a first driving mechanism, a first transmission mechanism, a first rotating shaft (912) and a first rotating body, wherein the first driving mechanism is fixedly mounted on the base (80), the first rotating shaft (912) is rotatably mounted on the base (80), the first driving mechanism drives the first rotating shaft (912) to swing through the first transmission mechanism, the first rotating body is connected to the first rotating shaft (912), the first rotating shaft (912) drives the first rotating body to swing, and the second steering mechanism is mounted on the first rotating body; The second steering mechanism comprises a second driving mechanism, a second transmission mechanism, a second rotating shaft (922) and a second rotating body, the second driving mechanism is fixedly mounted on the first rotating body, the second rotating shaft (922) is rotatably mounted on the first rotating body, the second driving mechanism drives the second rotating shaft (922) to swing through the second transmission mechanism, the second rotating body and the second rotating shaft (922) are connected, the second rotating shaft (922) drives the second rotating body to swing, and the electric wrench (70) is mounted on the second rotating body.

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