Robot type nut tightening and dismounting device and using method thereof

Abstract

The invention discloses a robot type nut tightening and dismounting device and a using method thereof, and relates to the technical field of automobile assembly in the manufacturing industry, the robot type nut tightening and dismounting device comprises a tightening mechanism, an adapter flange, a robot flange and an industrial robot, and the tightening mechanism comprises a tightening part, a fixing part and a power part. A nut pushing-out mechanism is designed for the tightening component, the disassembled nut can be pushed out of the tightening sleeve, the multifunctional requirement for clamping, tightening and disassembling of the nut is met, a pair of flexible bodies are designed for the clamping section of the tightening sleeve, clamping of the nut can be achieved, the assembling efficiency can be improved, the power component is provided with a torque sensor, and the torque sensor is arranged on the power component. The torque in the tightening and disassembling process can be measured in real time, the automation degree of the device is improved, and the device is diversified in function, flexible, easy and convenient to use and capable of meeting assembly task requirements in different fields.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile assembly in the manufacturing industry, and in particular to a robot-type nut tightening and disassembling device and a use method thereof. Background Art

[0002] Bolt connections are characterized by strong interchangeability, easy disassembly, and low process cost, and have been widely used in the field of automobile manufacturing. According to statistics, 15% of the failure rate of medium and heavy-duty diesel engines in my country is caused by threaded connections, and 1 / 3 of the quality problems of automobiles are related to the quality of thread tightening. Traditional manual nut tightening faces the problems of high labor intensity, long production cycle, and unstable tightening quality. Automatic nut tightening mechanisms are urgently needed to meet the growing demand for automobile assembly.

[0003] For example, the Chinese patent publication No. 201911415646.5 mentions a nut tightening mechanism, which includes a first base, a slide plate, a nut ferrule, and a tightening assembly. The tightening assembly is located at the first base, and the nut clamping groove is used to clamp the nut to be tightened. When the tightening assembly and the nut ferrule are docked with each other, the nut ferrule can be rotated to tighten the nut clamped on the nut ferrule and the workpiece together. The nut tightening mechanism has a single function and can only tighten the nut. How to monitor the tightening force during the tightening process is the key to ensuring assembly quality. Summary of the invention

[0004] The object of the present invention is to provide a robotic nut tightening and disassembling device and a method of using the same to overcome the above-mentioned defects in the prior art.

[0005] A robot-type nut tightening and disassembling device, comprising a tightening mechanism, an adapter flange, a robot flange and an industrial robot;

[0006] The tightening mechanism comprises a tightening component, a fixing component and a power component;

[0007] The tightening component includes a tightening sleeve, a pressure ring matched with one end of the tightening sleeve, one end of the tightening sleeve is opened with symmetrically distributed special-shaped holes I and special-shaped holes II, the flexible body I and the flexible body II are respectively placed in the special-shaped holes I and the special-shaped holes II, the interior of the tightening sleeve adopts a square design, the lower surface of the guide rail contacts the inner surface of the tightening sleeve, the guide rail is connected to the tightening sleeve by screws, a slider is slidably connected to the guide rail, the push rod I is connected to the middle of the upper surface of the slider by a number of screws, the push rod II is connected to the two sides of the upper surface of the slider by a number of screws, the push rod II is connected to the cylinder piston rod by a number of screws, a cushion block is provided on the cylinder body of the driving cylinder, and the cushion block is connected to the inner surface of the tightening sleeve by screws;

[0008] The fixing component includes a support I, a cylindrical roller bearing I in contact with the inner cavity of the support I, a sealing plate is installed at the end of the support I, an ear piece is provided on the support I, the ear piece has a threaded hole and a pin hole, and the support II is connected to the ear piece by a screw and a pin;

[0009] The power component includes an end cover I connected to the tightening sleeve, a transmission shaft is provided at the center of the end cover I, the transmission shaft passes through the end cover II on the support II and is rotatably connected to the cylindrical roller bearing II and the angular contact bearing in the support II, the support II is provided with a spacer sleeve mounted on the transmission shaft, the transmission shaft is connected to the central shaft of one end of the torque sensor through the coupling I, the central shaft of the other end of the torque sensor is connected to the reducer shaft of the reducer through the coupling II, the reducer is connected to the end of the support II through bolts, the input shaft of the reducer is connected to the servo motor shaft, and the servo motor is connected to the reducer through screws;

[0010] One end of the adapter flange is connected to the support I through screws and pins, and the other end of the adapter flange is connected to the robot flange on the industrial robot through screws and pins.

[0011] Preferably, the flexible body I includes a cylinder, a sphere in contact with the inner cavity of the cylinder, a spring in contact with the sphere, and a sealing plug in contact with the spring. A cylindrical step is provided at one end of the sealing plug, and the outer surface of the cylindrical step cooperates with the inner cavity of the cylinder. The other end of the sealing plug adopts an arc surface design, and the arc surface cooperates with the inner surface of the pressure ring. The diameter of the sphere is larger than the minimum diameter of the inner cavity of the cylinder and larger than the outer diameter of the spring; the flexible body II adopts the same design as the flexible body I.

[0012] Preferably, the torque sensor is mounted in the inner cavity of the support II by means of screws.

[0013] Preferably, the end cover 1 and the transmission shaft are designed as an integrated whole, and a square step is provided at one end of the end cover 1, and the outer surface of the square step is in contact with the square inner cavity of the tightening sleeve.

[0014] Preferably, a circular hole is opened on the support I, a cylindrical roller bearing I is installed in the circular hole, and the tightening sleeve is rotatably connected to the support I through the cylindrical roller bearing I.

[0015] Preferably, a clamping section, a tightening section and a limiting section are provided at the end of the tightening sleeve, the clamping section is provided with a special-shaped hole I and a special-shaped hole II, the tightening section margin D is smaller than the clamping section margin D and larger than the limiting section margin D, the limiting section margin is smaller than the nut margin D, the clamping section is a nut clamping area, the tightening section is a nut tightening area, and the limiting section is an area for limiting the movement of the nut.

[0016] Preferably, the inner cavities of the clamping section and the tightening section are both hexagonal in design.

[0017] The method for using the above-mentioned robotic nut tightening and disassembly device comprises the following steps:

[0018] S1. The industrial robot drives the tightening mechanism to move above the nut;

[0019] S2, the industrial robot drives the tightening mechanism to move, so that the nut enters the clamping section, and the flexible body I and the flexible body II contact the two surfaces of the nut respectively and clamp the nut;

[0020] S3, the tightening mechanism clamps the nut and slowly lifts it under the action of the industrial robot;

[0021] S4. The industrial robot adjusts its posture so that the nut and the bolt are coaxial and in contact with the end face of the bolt;

[0022] S5. The industrial robot drives the tightening mechanism to move, so that the nut enters the tightening section;

[0023] S6, the servo motor rotates forward, driving the tightening sleeve to rotate. Under the constraint of the tightening section, the nut and the bolt cooperate, and the torque of the tightening process is recorded in real time through the torque sensor;

[0024] S7. When the torque threshold is reached, the servo motor stops rotating, the tightening process ends, and the industrial robot drives the tightening mechanism back to Home;

[0025] S8, the disassembly process starts, and steps S1-S2 are executed;

[0026] S9, the industrial robot drives the tightening mechanism to move, so that the nut enters the tightening section;

[0027] S10, the servo motor reverses to drive the tightening sleeve to rotate. Under the constraint of the tightening section, the nut and the bolt gradually separate. When the torque value is zero, the servo motor stops rotating, and the nut removal process ends.

[0028] S11, the tightening mechanism clamps the nut and slowly lifts it under the action of the industrial robot;

[0029] S12, the industrial robot drives the tightening mechanism to the nut placement position;

[0030] S13, the driving cylinder drives the push rod 1 to move, the nut is pushed out from the tightening sleeve, the driving cylinder drives the push rod 1 to move back to its original position, and the nut placement process is completed;

[0031] S14. The industrial robot drives the tightening mechanism back to Home.

[0032] The beneficial effects achieved by the present invention are:

[0033] The tightening component of the present invention is designed with a nut-pushing mechanism, which can push the disassembled nut out of the tightening sleeve, thereby meeting the multifunctional requirements of nut clamping-tightening-disassembly. The clamping section of the tightening sleeve is designed with a pair of flexible bodies, which can clamp the nut and improve the assembly efficiency. The power component is provided with a torque sensor, which can measure the torque of the tightening and disassembly process in real time, thereby improving the degree of automation of the device, making the device diverse in functions, flexible and easy to use, and suitable for assembly task requirements in different fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is an overall assembly diagram of the present invention.

[0035] Figure 2 It is a structural diagram of the tightening mechanism of the present invention.

[0036] Figure 3 It is a structural diagram of the tightening component of the present invention.

[0037] Figure 4 It is a structural diagram of the fixing components of the present invention.

[0038] Figure 5 It is a structural diagram of the power component of the present invention.

[0039] Figure 6 It is a connection diagram of the fixing components of the present invention.

[0040] Figure 7 It is a cross-sectional view of a tightening sleeve of the present invention.

[0041] Figure 8 It is a schematic diagram of the margins of the clamping section, the tightening section and the limiting section of the tightening sleeve of the present invention.

[0042] Fig. 9 It is a schematic diagram of the nut margin of the present invention.

[0043] Fig.10 Front and rear views of the tightening sleeve of the present invention.

[0044] Fig.11 Exploded view of the flexible body of the present invention.

[0045] Fig.12 Cross-sectional view of support II of the present invention.

[0046] Fig.13 Assembly diagram of the bolt and nut of the present invention.

[0047] In the figure,

[0048] 1. Tightening mechanism;

[0049] 2. Tightening components; 201. Tightening sleeve; 202. Pressing ring; 203. Special-shaped hole I; 204. Special-shaped hole II; 205. Flexible body I; 206. Flexible body II; 207. Push rod I; 208. Sliding block; 209. Guide rail; 210. Push rod II; 211. Cylinder piston rod; 212. Driving cylinder; 213. Spacer; 214. Nut; 215. Column; 216. Ball; 217. Spring; 218. Sealing plug; 219. Clamping section; 220. Tightening section; 221. Limiting section; 222. Bolt;

[0050] 3. Fixed components; 301. Support I; 302. Cylindrical roller bearing I; 303. Sealing plate; 304. Ear piece; 305. Support II; 306. Threaded hole; 307. Pin hole;

[0051] 4. Power components; 401. End cover I; 402. Transmission shaft; 403. End cover II; 405. Cylindrical roller bearing II; 406. Spacer; 407. Angular contact bearing; 408. Coupling I; 409. Torque sensor; 410. Coupling II; 411. Reducer shaft; 412. Reducer; 413. Servo motor shaft; 414. Servo motor;

[0052] 5. Adapter flange;

[0053] 6. Robot flange;

[0054] 7. Industrial robots. DETAILED DESCRIPTION

[0055] The specific implementation modes of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention.

[0056] like Figure 1-13 As shown, the present invention provides a robot-type nut tightening and disassembling device, comprising a tightening mechanism 1, an adapter flange 5, a robot flange 6 and an industrial robot 7, wherein the tightening mechanism 1 comprises a tightening component 2, a fixing component 3 and a power component 4;

[0057] The tightening component 2 includes a tightening sleeve 201, a pressure ring 202 matched with one end of the tightening sleeve 201, one end of the tightening sleeve 201 is provided with symmetrically distributed special-shaped holes I203 and special-shaped holes II204, a flexible body I205 and a flexible body II206 are respectively placed in the special-shaped holes I203 and II204, the flexible body II206 and the flexible body I205 adopt the same design, and the flexible body I205 includes a column 215, A sphere 216 in contact with the inner cavity of the cylinder 215, a spring 217 in contact with the sphere 216, and a sealing plug 218 in contact with the spring 217. One end of the sealing plug 218 is provided with a cylindrical step, and the outer surface of the cylindrical step matches the inner cavity of the cylinder 215. The other end of the sealing plug 218 is designed with an arc surface, and the arc surface matches the inner surface of the pressure ring 202. The diameter of the sphere 216 is larger than the minimum diameter of the inner cavity of the cylinder 215 and larger than the outer diameter of the spring 217.

[0058] The interior of the tightening sleeve 201 adopts a square design, the lower surface of the guide rail 209 contacts the inner surface of the tightening sleeve 201, the guide rail 209 is connected to the tightening sleeve 201 by screws, a slider 208 is slidably connected to the guide rail 209, a push rod I207 is connected to the middle of the upper surface of the slider 208 by a number of screws, a push rod II210 is connected to both sides of the upper surface of the slider 208 by a number of screws, and the push rod II210 is connected to the cylinder piston rod 211 by a number of screws, and a cushion block 213 is provided on the cylinder body of the driving cylinder 212, and the cushion block 213 is connected to the inner surface of the tightening sleeve 201 by screws;

[0059] The fixing component 3 includes a support I301, a cylindrical roller bearing I302 in contact with the inner cavity of the support I301, a sealing plate 303 is installed at the end of the support I301, an ear piece 304 is provided on the support I301, and the ear piece 304 has a threaded hole 306 and a pin hole 307, and the support II305 is connected to the ear piece 304 by screws and pins;

[0060] The power component 4 includes an end cover I401 connected to the tightening sleeve 201, a transmission shaft 402 is arranged at the center of the end cover I401, the end cover I401 and the transmission shaft 402 are designed in an integrated manner to reduce the coaxiality error, a square step is arranged at one end of the end cover I401, the outer surface of the square step is connected to the square inner cavity of the tightening sleeve 201, the transmission shaft 402 passes through the end cover II403 on the support II305 and is rotatably connected to the cylindrical roller bearing II405 and the angular contact bearing 407 in the support II305, which are used to bear radial load and axial load respectively. A spacer sleeve 406 is provided on the transmission shaft 402, the transmission shaft 402 is connected to the central axis of one end of the torque sensor 409 through a coupling I408, the central axis of the other end of the torque sensor 409 is connected to the reducer shaft 411 of the reducer 412 through a coupling II410, the torque sensor 409 is installed in the inner cavity of the support II305 through screws, and the torque of the tightening process can be measured in real time, the reducer 412 is connected to the end of the support II305 through bolts, the input shaft of the reducer 412 is connected to the servo motor shaft 413, and the servo motor 414 is connected to the reducer 412 through screws;

[0061] One end of the adapter flange 5 is connected to the support I301 through screws and pins, and the other end of the adapter flange 5 is connected to the robot flange 6 on the industrial robot 7 through screws and pins.

[0062] In addition, a circular hole is opened on the support 1301, and a cylindrical roller bearing 1302 is installed in the circular hole. The tightening sleeve 201 is rotatably connected to the support 1301 through the cylindrical roller bearing 1302, thereby ensuring the coaxiality of the tightening sleeve 201 and the transmission shaft 402 and improving the overall rigidity.

[0063] In addition, a clamping section 219, a tightening section 220 and a limiting section 221 are provided at the end of the tightening sleeve 201, the clamping section 215 is provided with a special-shaped hole I203 and a special-shaped hole II204, the margin D1 of the tightening section 220 is smaller than the margin D2 of the clamping section 219 and larger than the margin D3 of the limiting section 221, the margin of the limiting section 217 is smaller than the margin D4 of the nut 214, the clamping section 219 is the clamping area of ​​the nut 214, the tightening section 220 is the tightening area of ​​the nut 214, the limiting section 221 is the area for limiting the movement of the nut 214, and the inner cavities of the clamping section 219 and the tightening section 220 are both hexagonal in design to ensure coordination with the nut 214 during the clamping stage and the tightening stage.

[0064] The method for using the above-mentioned robotic nut tightening and disassembly device comprises the following steps:

[0065] S1, the industrial robot 7 drives the tightening mechanism 1 to move above the nut 214;

[0066] S2, the industrial robot 7 drives the tightening mechanism 1 to move, so that the nut 214 enters the clamping section 219, and the flexible body I205 and the flexible body II206 respectively contact the two surfaces of the nut 214 and clamp the nut;

[0067] S3, the tightening mechanism 1 clamps the nut 214 under the action of the industrial robot 7 and slowly lifts it;

[0068] S4, the industrial robot 7 adjusts its posture so that the nut 214 is coaxial with the bolt 222 and contacts the end surface of the bolt 222;

[0069] S5, the industrial robot 7 drives the tightening mechanism 1 to move, so that the nut 214 enters the tightening section 220;

[0070] S6, the servo motor 414 rotates forward, driving the tightening sleeve 201 to rotate, and the nut 214 cooperates with the bolt 222 under the constraint of the tightening section 220, and the torque of the tightening process is recorded in real time through the torque sensor 409;

[0071] S7, when the torque threshold is reached, the servo motor 414 stops rotating, the tightening process ends, and the industrial robot 7 drives the tightening mechanism 1 back to Home;

[0072] S8, the disassembly process starts, and steps S1-S2 are executed;

[0073] S9, the industrial robot 7 drives the tightening mechanism 1 to move, so that the nut 214 enters the tightening section 220;

[0074] S10, the servo motor 414 reverses to drive the tightening sleeve 201 to rotate, and the nut 214 and the bolt 222 are gradually separated under the constraint of the tightening section 220. When the torque value is zero, the servo motor 414 stops rotating, and the disassembly process of the nut 214 ends;

[0075] S11, the tightening mechanism 1 clamps the nut 214 under the action of the industrial robot 7 and slowly lifts it;

[0076] S12, the industrial robot 7 drives the tightening mechanism 1 to the placement position of the nut 214;

[0077] S13, the driving cylinder 212 drives the push rod 1207 to move, the nut 214 is pushed out from the tightening sleeve 201, and the driving cylinder 212 drives the push rod 1207 to move back to the original position, and the nut placement process is completed;

[0078] S14. The industrial robot 7 drives the tightening mechanism 1 back to Home.

[0079] To sum up, the tightening component 2 of the present invention is designed with a mechanism for pushing out the nut 214, which can push the disassembled nut 214 out of the tightening sleeve 201, meeting the multifunctional requirements of clamping-tightening-disassembly of the nut 214. The clamping section of the tightening sleeve 201 is designed with a pair of flexible bodies to achieve clamping of the nut 214, thereby improving assembly efficiency. The power component 4 is provided with a torque sensor 409, which can measure the torque of the tightening and disassembly process in real time, thereby improving the degree of automation of the device, making the device multifunctional, flexible and easy to use, and suitable for assembly task requirements in different fields.

[0080] The above-described embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A robot-type nut tightening and disassembling device, characterized in that: It comprises a tightening mechanism (1), an adapter flange (5), a robot flange (6) and an industrial robot (7); The tightening mechanism (1) comprises a tightening component (2), a fixing component (3) and a power component (4); The tightening component (2) comprises a tightening sleeve (201), a pressure ring (202) matched with one end of the tightening sleeve (201), one end of the tightening sleeve (201) is provided with symmetrically distributed special-shaped holes I (203) and special-shaped holes II (204), a flexible body I (205) and a flexible body II (206) are respectively arranged in the special-shaped holes I (203) and the special-shaped holes II (204), the interior of the tightening sleeve (201) adopts a square design, the lower surface of the guide rail (209) contacts the inner surface of the tightening sleeve (201), and the guide rail ( 209) is connected to the tightening sleeve (201) by screws, a slider (208) is slidably connected to the guide rail (209), a push rod I (207) is connected to the middle of the upper surface of the slider (208) by a plurality of screws, a push rod II (210) is connected to both sides of the upper surface of the slider (208) by a plurality of screws, and the push rod II (210) is connected to the cylinder piston rod (211) by a plurality of screws, and a cushion block (213) is provided on the cylinder body of the driving cylinder (212), and the cushion block (213) is connected to the inner surface of the tightening sleeve (201) by screws; The fixing component (3) comprises a support I (301), a cylindrical roller bearing I (302) in contact with the inner cavity of the support I (301), a sealing plate (303) is installed at the end of the support I (301), an ear piece (304) is provided on the support I (301), the ear piece (304) has a threaded hole (306) and a pin hole (307), and the support II (305) is connected to the ear piece (304) by means of a screw and a pin; The power component (4) comprises an end cover I (401) connected to the tightening sleeve (201), a transmission shaft (402) is provided at the center of the end cover I (401), the transmission shaft (402) passes through the end cover II (403) on the support II (305) and is rotatably connected to the cylindrical roller bearing II (405) and the angular contact bearing (407) in the support II (305), the support II (305) is provided with a spacer sleeve (406) sleeved on the transmission shaft (402), and the transmission The shaft (402) is connected to the central shaft of one end of the torque sensor (409) through a coupling I (408), the central shaft of the other end of the torque sensor (409) is connected to the reducer shaft (411) of the reducer (412) through a coupling II (410), the reducer (412) is connected to the end of the support II (305) through bolts, the input shaft of the reducer (412) is connected to the servo motor shaft (413), and the servo motor (414) is connected to the reducer (412) through screws; One end of the adapter flange (5) is connected to the support I (301) through screws and pins, and the other end of the adapter flange (5) is connected to the robot flange (6) on the industrial robot (7) through screws and pins.

2. A robotic nut tightening and removing device according to claim 1, characterized in that: The flexible body I (205) includes a cylinder (215), a sphere (216) in contact with the inner cavity of the cylinder (215), a spring (217) in contact with the sphere (216), and a sealing plug (218) in contact with the spring (217); one end of the sealing plug (218) is provided with a cylindrical step, the outer surface of the cylindrical step cooperates with the inner cavity of the cylinder (215); the other end of the sealing plug (218) is designed with an arc surface, and the arc surface cooperates with the inner surface of the pressure ring (202); the diameter of the sphere (216) is larger than the minimum diameter of the inner cavity of the cylinder (215) and larger than the outer diameter of the spring (217); the flexible body II (206) and the flexible body I (205) adopt the same design.

3. A robotic nut tightening and removing device according to claim 1, characterized in that: The torque sensor (409) is installed in the inner cavity of the support II (305) by means of screws.

4. A robotic nut tightening and removing device according to claim 1, characterized in that: The end cover I (401) and the transmission shaft (402) are designed in an integrated manner. A square step is arranged at one end of the end cover I (401), and the outer surface of the square step contacts the square inner cavity of the tightening sleeve (201).

5. The robot-type nut tightening and removing device according to claim 1, characterized in that: The support 1 (301) is provided with a circular hole, a cylindrical roller bearing 1 (302) is installed in the circular hole, and the tightening sleeve (201) is rotatably connected to the support 1 (301) via the cylindrical roller bearing 1 (302).

6. The robot-type nut tightening and removing device according to claim 1, characterized in that: A clamping section (219), a tightening section (220) and a limiting section (221) are arranged at the end of the tightening sleeve (201); the clamping section (215) is provided with a special-shaped hole I (203) and a special-shaped hole II (204); the margin D1 of the tightening section (220) is smaller than the margin D2 of the clamping section (219) and larger than the margin D3 of the limiting section (221); the margin D1 of the limiting section (217) is smaller than the margin D4 of the nut (214); the clamping section (219) is a clamping area of ​​the nut (214); the tightening section (220) is a tightening area of ​​the nut (214); and the limiting section (221) is an area for limiting the movement of the nut (214).

7. A robotic nut tightening and removing device according to claim 6, characterized in that: The inner cavities of the clamping section (219) and the tightening section (220) are both hexagonal in design.

8. A method for using the robotic nut tightening and removing device according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1. The industrial robot (7) drives the tightening mechanism (1) to move above the nut (214); S2, the industrial robot (7) drives the tightening mechanism (1) to move, so that the nut (214) enters the clamping section (219), and the flexible body I (205) and the flexible body II (206) respectively contact two surfaces of the nut (214) and clamp the nut; S3, the tightening mechanism (1) clamps the nut (214) under the action of the industrial robot (7) and slowly lifts it; S4, the industrial robot (7) adjusts its posture so that the nut (214) and the bolt (222) are coaxial and in contact with the end surface of the bolt (222); S5. The industrial robot (7) drives the tightening mechanism (1) to move, so that the nut (214) enters the tightening section (220); S6, the servo motor (414) rotates forward, driving the tightening sleeve (201) to rotate, and the nut (214) and the bolt (222) cooperate under the constraint of the tightening section (220), and the torque of the tightening process is recorded in real time through the torque sensor (409); S7, when the torque threshold is reached, the servo motor (414) stops rotating, the tightening process ends, and the industrial robot (7) drives the tightening mechanism (1) back to Home; S8, the disassembly process starts, and steps S1-S2 are executed; S9, the industrial robot (7) drives the tightening mechanism (1) to move, so that the nut (214) enters the tightening section (220); S10, the servo motor (414) is reversed to drive the tightening sleeve (201) to rotate, and the nut (214) and the bolt (222) are gradually separated under the constraint of the tightening section (220). When the torque value is zero, the servo motor (414) stops rotating, and the disassembly process of the nut (214) is completed; S11, the tightening mechanism (1) clamps the nut (214) under the action of the industrial robot (7) and slowly lifts it; S12, the industrial robot (7) drives the tightening mechanism (1) to the position where the nut (214) is placed; S13, the driving cylinder (212) drives the push rod I (207) to move, the nut (214) is pushed out from the tightening sleeve (201), the driving cylinder (212) drives the push rod I (207) to move back to the original position, and the nut placement process is completed; S14. The industrial robot (7) drives the tightening mechanism (1) to return to Home.

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