Working method of air spring double-shaft re-tightening device and double-shaft re-tightening device

Abstract

The invention discloses a working method of an air spring double-shaft re-tightening device and the double-shaft re-tightening device. A first XYZ three-shaft moving mechanism and a second XYZ three-shaft moving mechanism are symmetrically arranged on a rotating mechanism of the air spring double-shaft re-tightening device, a first torque gun is arranged on the second XYZ three-shaft moving mechanism, and a second torque gun is arranged on the second XYZ three-shaft moving mechanism; the working method comprises the steps that when re-tightening work is conducted, the rotating mechanism is used for conducting initial positioning on the positions of the two torque guns, then the XYZ three-axis moving mechanism is used for conducting fine positioning on the positions of the two torque guns, and therefore the central axes of the two torque guns coincide with the central axes of a pair of symmetrical bolts on the air spring correspondingly; and then re-tightening work is carried out. According to the device, the specific positions of the two torque guns can be accurately adjusted, so that it can be guaranteed that the positions of the torque guns are consistent with the positions of bolts needing to be re-screwed, it is guaranteed that re-screwing work is smoothly carried out, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to a working method of an air spring assembly device and the air spring assembly device, and particularly relates to a working method of a double-axis compound tightening device for an air spring and the double-axis compound tightening device, belonging to the technical field of air spring assembly. Background Art

[0002] An air spring is a key component of a vibration damping system of a rail transit vehicle. During the assembly process of the air spring, after the bolts are tightened through a bolt tightening process, tests need to be carried out, and after the tests are completed, a re-tightening process needs to be completed.

[0003] As Figure 1 shown, the air spring includes an auxiliary spring 1, an airbag 2, a snap ring 3 and an upper cover plate 4. The lower end of the airbag 2 is connected to the auxiliary spring 1, and the upper cover plate 4 is locked to the snap ring 3 through bolts 5, so as to press and connect the upper end of the airbag 2 to the snap ring 3. During re-tightening, mainly the bolts 5 are re-tightened. In the prior art, in order to realize an automatic re-tightening process, generally a double-axis re-tightening mechanism is used to re-tighten the bolts, that is, two torque guns arranged symmetrically are used to re-tighten a pair of bolts 5 simultaneously. As Figure 2 shown, first, two torque guns are used to re-tighten bolts A1 and A2 simultaneously, then the two torque guns are rotated by a certain angle, and then bolts B1 and B2 are re-tightened simultaneously, and then the two torque guns are rotated by a certain angle again, and bolts C1 and C2 are re-tightened simultaneously. This is repeated until all the bolts 5 are completely re-tightened.

[0004] In actual work, generally after the air spring is sent into the double-axis re-tightening mechanism, the situation that the positions of the bolts do not correspond to the positions of the two torque guns will occur. As Figure 3 shown, the two solid circles in the figure represent the positions of the two torque guns. It can be seen that the positions of the symmetrically distributed bolts A1 and A2 do not coincide with the positions of the two torque guns. At this time, the positions of the two torque guns need to be rotated. However, due to the influence of the accuracy of the rotating mechanism, as Figure 4 shown, the situation that the positions of the two torque guns (such as the two solid circles in Figure 4 ) cannot accurately align with the positions of the two bolts (such as bolts A1 and A2) will occur, thus affecting the normal progress of the re-tightening work and reducing the working efficiency of the re-tightening work. In addition, if due to various external reasons, it is impossible to ensure that the central axis of the upper cover plate 4 coincides with the axial center of the rotation of the two torque guns, even if the accuracy of the rotating mechanism is relatively high, the situation that the positions of the two torque guns cannot accurately align with the positions of the two bolts will still occur.

[0005] The Chinese invention patent application with the publication number CN 113352087A and the publication date of September 7, 2021 discloses an intelligent re-tightening system for air spring bolts, which includes a frame body; a clamping mechanism movably connected to the frame body; a lifting device installed at the bottom of the frame body and connected to the clamping mechanism; a bolt re-tightening device including: a support body movably connected to the frame body and arranged above the clamping mechanism; a rotary guiding component installed on the support body; a lateral distance adjustment component installed on the rotary guiding component; a lifting adjustment component installed on the lateral distance adjustment component; an intelligent torque wrench installed on the lifting adjustment component; a rotary driving device installed on the frame body and connected to the rotary guiding component; a control device including a controller, and the controller is electrically connected to the clamping mechanism, the lifting device, the lateral distance adjustment component, the lifting adjustment component, the intelligent torque wrench and the rotary driving device respectively.

[0006] In the above patent document, the distance between the two intelligent torque wrenches can only be adjusted by the lateral distance adjustment component, mainly to adapt to the diameters of the pitch circles of different models of air spring bolts and improve the compatibility of the equipment (please refer to paragraph

[0058] in the specification of this patent document). Therefore, it cannot solve the problem of the precise positioning of the torque wrenches in this application.

[0007] In summary, how to design a working method and a double-axis re-tightening device for an air spring double-axis re-tightening device, so that it can accurately adjust the specific positions of the two torque wrenches, so as to ensure that the positions of the two torque wrenches are consistent with the positions of the two bolts that need to be re-tightened, ensure the smooth progress of the re-tightening work, and improve the work efficiency of the re-tightening work is the primary technical problem that needs to be solved urgently. Summary of the Invention

[0008] The primary technical problem to be solved by the present invention is to provide a working method and a double-axis re-tightening device for an air spring double-axis re-tightening device to solve the defects existing in the prior art. It can accurately adjust the specific positions of the two torque wrenches, so as to ensure that the positions of the two torque wrenches are consistent with the positions of the two bolts that need to be re-tightened, ensure the smooth progress of the re-tightening work, and improve the work efficiency of the re-tightening work.

[0009] To solve the above technical problems, the technical solution adopted by the present invention is: a working method for an air spring double-axis re-tightening device, characterized in that: an XYZ three-axis moving mechanism one and an XYZ three-axis moving mechanism two are symmetrically arranged on the rotating mechanism of the air spring double-axis re-tightening device, a torque wrench one is arranged on the XYZ three-axis moving mechanism two, and a torque wrench two is arranged on the XYZ three-axis moving mechanism two; The working method is as follows: When performing the re-tightening work, first use the rotating mechanism to roughly position the positions of the two torque wrenches, and then use the XYZ three-axis moving mechanism to finely position the positions of the two torque wrenches, so that the central axes of the two torque wrenches respectively coincide with the central axes of a pair of symmetrical bolts on the air spring, and then perform the re-tightening work.

[0010] Preferably, the air spring double-axis re-tightening device further includes a frame and an air spring clamping and lifting mechanism arranged on the frame. The rotating mechanism is also arranged on the frame and is located above the air spring clamping and lifting mechanism; The working method is as follows: Lift and clamp the air spring through the air spring clamping and lifting mechanism, then use the rotating mechanism to drive the two torque wrenches to rotate to the positions consistent with a pair of symmetrical bolts on the air spring, roughly position the positions of the two torque wrenches, and then use the XY-axis movement in the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to finely position the positions of the two torque wrenches, so that the central axes of the two torque wrenches respectively coincide with the central axes of a pair of symmetrical bolts on the air spring. Finally, use the Z-axis movement in the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to make the two torque wrenches perform re-tightening on a pair of symmetrical bolts on the air spring; after completion, repeat the above steps to perform re-tightening on the upper and lower pairs of symmetrical bolts of the air spring until all bolts are re-tightened.

[0011] Preferably, a camera 1 and a camera 2 are respectively arranged on the torque wrench 1 and the torque wrench 2; After the air spring is clamped and lifted, first use the camera 1 and the camera 2 to take pictures to determine the orientation of a pair of bolts that need to be re-tightened, calculate the difference angle between the actual orientations of the torque wrench 1 and the torque wrench 2 and the orientation of a pair of bolts that need to be re-tightened, and then control the rotating mechanism to drive the two torque wrenches to rotate so that the connection line A between the torque wrench 1 and the torque wrench 2 coincides with the connection line B between a pair of bolts that need to be re-tightened, and roughly position the positions of the torque wrenches; Then use the camera 1 and the camera 2 to take pictures again to determine the actual plane coordinate positions of a pair of bolts that need to be re-tightened, calculate the difference between the actual plane coordinate positions of the torque wrench 1 and the torque wrench 2 and the actual plane coordinate positions of a pair of bolts that need to be re-tightened, and then use the XY-axis movement in the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to finely position the horizontal positions of the two torque wrenches, so that the central axes of the two torque wrenches respectively coincide with the central axes of a pair of symmetrical bolts on the air spring. Finally, use the Z-axis movement in the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to make the two torque wrenches perform re-tightening on a pair of symmetrical bolts on the air spring; repeat this process until all bolts are re-tightened.

[0012] Preferably, quick-connect male heads are provided at the end parts of the rotating shafts of torque wrench one and torque wrench two, and quick-connect female heads are provided at one end of the socket wrench. The socket wrench is connected to the end part of the rotating shaft of the torque wrench through the cooperation and connection of the quick-connect male head and the quick-connect female head; a socket wrench storage mechanism one and a socket wrench storage mechanism two are further provided on the frame. Multiple specifications of socket wrenches with quick-connect female heads are stored in the socket wrench storage mechanism one and the socket wrench storage mechanism two; The torque wrench one and the torque wrench two are respectively driven by the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two to cooperate with the socket wrench storage mechanism one and the socket wrench storage mechanism two, so as to replace the socket wrenches on the end parts of the rotating shafts of the torque wrench one and the torque wrench two.

[0013] Preferably, both the socket wrench storage mechanism one and the socket wrench storage mechanism two include a socket wrench storage rack, which includes a fixed toothed plate and a pressing cylinder arranged on the fixed toothed plate. A pressing toothed plate is arranged on the piston rod of the pressing cylinder. Driven by the pressing cylinder, the pressing toothed plate can move up and down vertically. The pressing toothed plate is located above the fixed toothed plate. A socket wrench of one specification with a quick-connect female head is placed in each tooth-shaped groove of the fixed toothed plate. When the pressing toothed plate presses down, it can contact the quick-connect female head on the socket wrench; When replacing the socket wrench, first use the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two to move the socket wrenches on the rotating shaft ends of the torque wrench one and the torque wrench two to the tooth-shaped grooves of the pressing toothed plates of the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively. Then control the pressing toothed plates of the socket wrench storage mechanism one and the socket wrench storage mechanism two to press down the quick-connect female heads on the pressing socket wrenches placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively. Then control the torque wrench one and the torque wrench two to move up, so that the quick-connect male heads at the rotating shaft ends of the torque wrench one and the torque wrench two are respectively separated from the quick-connect female heads on the pressing socket wrenches placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two, so as to separate the socket wrench from the torque wrench; Then use the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two to move the torque wrench one and the torque wrench two to the upper positions of another specification of pressing socket wrenches placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively. Then control the torque wrench one and the torque wrench two to move down, so that the quick-connect male heads at the rotating shaft ends of the torque wrench one and the torque wrench two are respectively inserted into the quick-connect female heads of another specification of pressing socket wrenches placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two, so as to connect the replaced socket wrench to the torque wrench.

[0014] Preferably, the air spring clamping and lifting mechanism includes a lifting plate slidably connected to the frame, a first lifting cylinder and a second lifting cylinder provided on the frame, and the piston rods of the first lifting cylinder and the second lifting cylinder are both connected to the lifting plate, and the lifting plate can be driven by the first lifting cylinder and the second lifting cylinder to move vertically up and down; the first lifting cylinder and the second lifting cylinder are oppositely arranged and located below the lifting plate, the first lifting cylinder is a pneumatic cylinder, and the second lifting cylinder is an electric cylinder; The pneumatic cylinder is used to support the lifting plate so that the lifting plate is in a suspended state, and the servo motor of the electric cylinder is used to control the up and down movement position of the lifting plate.

[0015] The present invention also discloses an air spring double-axis re-tightening device, which includes a frame, an air spring clamping and lifting mechanism provided on the frame, and a rotating mechanism provided on the frame and located above the air spring clamping and lifting mechanism. An XYZ three-axis moving mechanism one and an XYZ three-axis moving mechanism two are symmetrically arranged on the rotating mechanism, a torque wrench one is arranged on the XYZ three-axis moving mechanism two, and a torque wrench two is arranged on the XYZ three-axis moving mechanism two.

[0016] Preferably, a first socket wrench storage mechanism and a second socket wrench storage mechanism are further provided on the frame. The first socket wrench storage mechanism and the second socket wrench storage mechanism store socket wrenches with female quick connector heads of various specifications; both the first socket wrench storage mechanism and the second socket wrench storage mechanism include a sliding plate slidably connected to the frame, a connecting arm with one end connected to the sliding plate, and a socket wrench storage rack connected to the other end of the connecting arm. A sliding plate driving cylinder is further provided on the frame, and the sliding plate driving cylinder is connected to the sliding plate, so that the sliding plate can move back and forth under the drive of the sliding plate driving cylinder.

[0017] Preferably, the socket wrench storage rack includes a fixed toothed plate connected to the other end of the connecting arm and a pressing cylinder provided on the fixed toothed plate. A pressing toothed plate is provided on the piston rod of the pressing cylinder, and the pressing toothed plate can move vertically up and down under the drive of the pressing cylinder; the pressing toothed plate is located above the fixed toothed plate; a socket wrench with a female quick connector head of a certain specification is placed in each tooth-shaped groove of the fixed toothed plate, and when the pressing toothed plate presses down, it can contact the female quick connector head on the socket wrench.

[0018] Preferably, the air spring clamping and lifting mechanism includes a lifting plate slidably connected to the frame, a first lifting cylinder and a second lifting cylinder provided on the frame, and the piston rods of the first lifting cylinder and the second lifting cylinder are both connected to the lifting plate, and the lifting plate can be driven by the first lifting cylinder and the second lifting cylinder to move vertically up and down; A clamping drive motor, a T-shaped gear commutator, a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a first gear commutating transmission box, a second gear commutating transmission box, a first bearing seat and a second bearing seat are further arranged on the lifting plate. The clamping drive motor is connected to the input shaft of the T-shaped gear commutator. One output shaft of the T-shaped gear commutator is in transmission connection with one end of the first rotating shaft, and the other output shaft of the T-shaped gear commutator is in transmission connection with one end of the second rotating shaft. The other end of the first rotating shaft is in transmission connection with the input shaft of the first gear commutating transmission box. One end of the third rotating shaft is in transmission connection with the output shaft of the first gear commutating transmission box, and the other end of the third rotating shaft is connected to the first bearing seat. The other end of the second rotating shaft is in transmission connection with the input shaft of the second gear commutating transmission box. One end of the fourth rotating shaft is in transmission connection with the output shaft of the second gear commutating transmission box, and the other end of the fourth rotating shaft is connected to the second bearing seat. The third rotating shaft, the first rotating shaft, the second rotating shaft and the fourth rotating shaft are sequentially in transmission connection to form a U shape. Under the rotation of the clamping drive motor, the third rotating shaft, the first rotating shaft, the second rotating shaft and the fourth rotating shaft can be driven to rotate together. The third rotating shaft and the fourth rotating shaft are oppositely arranged, and a positive thread portion and a reverse thread portion are arranged on both the third rotating shaft and the fourth rotating shaft. A first clamping plate and a second clamping plate are arranged between the third rotating shaft and the fourth rotating shaft. One side edge of the first clamping plate is in transmission connection with the positive thread portion of the third rotating shaft through a first nut seat, and the other side edge of the first clamping plate is in transmission connection with the positive thread portion of the fourth rotating shaft through a second nut seat. One side edge of the second clamping plate is in transmission connection with the reverse thread portion of the third rotating shaft through a third nut seat, and the other side edge of the second clamping plate is in transmission connection with the reverse thread portion of the fourth rotating shaft through a fourth nut seat. Thus, under the rotation of the third rotating shaft and the fourth rotating shaft, the first clamping plate and the second clamping plate can be driven to move relatively closer or relatively farther away, so as to clamp or release the air spring located between the first clamping plate and the second clamping plate.

[0019] The beneficial effects of the present invention are as follows: By designing a two-stage positioning mechanism, before re-tightening, the position of the torque wrench can be initially positioned and precisely positioned according to the actual position of the bolts on the air spring, enabling the torque wrench to accurately align with the actual position of the bolts, thus ensuring the smooth progress of the re-tightening work and improving the work efficiency of the re-tightening work. Using a camera to assist in the initial positioning and precise positioning enables the present invention to further improve the positioning accuracy of the torque wrench and further improve the work efficiency of the re-tightening work. By designing a scheme for automatically replacing the socket wrench, the present invention can perform bolt re-tightening work on air springs of various specifications and models, improving the versatility and practicality of the present invention. By designing an air spring clamping and lifting mechanism, during the lifting process, the air spring is lifted by the horizontal edges of the first clamping and lifting block and the second clamping and lifting block contacting the bottom of the buckle of the air spring, so that the upper cover plate and the buckle are in a horizontal state, ensuring the normal progress of the bolt re-tightening work; during the clamping process, the buckle and the upper cover plate of the air spring can be automatically centered, so that the central axis of the air spring coincides with the central axis between the connecting lines of the two torque wrenches, ensuring the central positions of the buckle and the upper cover plate, and thus ensuring the smooth progress of the re-tightening work. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic axial sectional structure diagram of an air spring in the prior art; Figure 2 is a schematic top view structure diagram when performing re-tightening work on the bolts of the air spring in the prior art Figure 1 ; Figure 3 is a schematic top view structure diagram when performing re-tightening work on the bolts of the air spring in the prior art Figure 2 ; Figure 4 is a schematic top view structure diagram when performing re-tightening work on the bolts of the air spring in the prior art Figure 3 ; Figure 5 is a schematic three-dimensional structure diagram of the air spring double-axis re-tightening device in the embodiment of the present invention; Figure 6 is a schematic partial front view structure diagram of the air spring double-axis re-tightening device in the embodiment of the present invention at the rotation mechanism; Figure 7 is a schematic top view structure diagram when performing re-tightening work on the bolts of the air spring in the embodiment of the present invention Figure 1 ; Figure 8 is a schematic top view structure diagram when performing re-tightening work on the bolts of the air spring in the embodiment of the present invention Figure 2 ; Figure 9 is a schematic top view structure diagram of the air spring double-axis re-tightening device in the embodiment of the present invention; Figure 10 In the air spring double-axis compound tightening device according to the embodiment of the present invention, it is a partial top view structural schematic diagram at one place of the XYZ three-axis moving mechanism; Figure 11 In the air spring double-axis compound tightening device according to the embodiment of the present invention, it is a partial three-dimensional structural schematic diagram at one place of the torque gun; Figure 12 It is Figure 11 The enlarged structural schematic diagram of part C in Figure 13 In the air spring double-axis compound tightening device according to the embodiment of the present invention, it is a partial front view structural schematic diagram at one place of the socket wrench storage mechanism; Figure 14 In the embodiment of the present invention, it is a three-dimensional structural schematic diagram of the working principle when automatically replacing the socket wrench Figure 1 ; Figure 15 In the embodiment of the present invention, it is a three-dimensional structural schematic diagram of the working principle when automatically replacing the socket wrench Figure 2 ; Figure 16 In the air spring double-axis compound tightening device according to the embodiment of the present invention, it is a three-dimensional structural schematic diagram of the air spring clamping and lifting mechanism; Figure 17 In the air spring double-axis compound tightening device according to the embodiment of the present invention, it is a top view structural schematic diagram of the air spring clamping and lifting mechanism; Figure 18 In the embodiment of the present invention, it is a front view structural schematic diagram of the working principle when using the air spring clamping and lifting mechanism to lift and clamp the air spring Figure 1 ; Figure 19 In the embodiment of the present invention, it is a front view structural schematic diagram of the working principle when using the air spring clamping and lifting mechanism to lift and clamp the air spring Figure 2 ; Figure 20 In the embodiment of the present invention, it is a front view structural schematic diagram of the working principle when using the air spring clamping and lifting mechanism to lift and clamp the air spring Figure 3 ; Figure 21 In the embodiment of the present invention, it is a front view structural schematic diagram of the working principle when using the air spring clamping and lifting mechanism to lift and clamp the air spring Figure 4 ; In the figure: 1. Auxiliary spring, 2. Airbag, 3. Snap ring, 4. Upper cover plate, 5. Bolt, 6. Frame, 7. Air spring clamping and lifting mechanism, 711. Lifting plate, 712. Lifting cylinder 1, 713. Lifting cylinder 2, 8. Rotating mechanism, 811. Slewing bearing, 812. Rotating drive motor, 9. XYZ three-axis moving mechanism 1, 10. XYZ three-axis moving mechanism 2, 11. Torque wrench 1, 12. Torque wrench 2, 13. Camera 1, 14. Camera 2, 15. Gear 1, 16. Slide block and guide rail mechanism 1, 17. Moving plate 1, 18. Slide block and guide rail mechanism 2, 19. Moving plate 2, 20. X-axis drive motor, 21. Lead screw and nut mechanism 1, 211. Nut 1, 22. Y-axis drive motor, 23. Lead screw and nut mechanism 2, 231. Nut 2, 24. Slide block and guide rail mechanism 3, 25. Moving plate 3, 26. Z-axis drive motor, 27. Rack, 28. Quick coupling male head, 29. Socket wrench, 30. Quick coupling female head, 31. Socket wrench storage mechanism 1, 32. Socket wrench storage mechanism 2, 33. Slide block and guide rail mechanism 4, 34. Sliding plate, 35. Connecting arm, 36. Socket wrench storage rack, 361. Fixed toothed plate, 362. Pressing cylinder, 363. Pressing toothed plate, 37. Clamping drive motor, 38. T-shaped gear commutator, 39. Rotating shaft 1, 40. Rotating shaft 2, 41. Rotating shaft 3, 42. Rotating shaft 4, 43. Gear commutation transmission box 1, 44. Gear commutation transmission box 2, 45. Bearing seat 1, 46. Bearing seat 2, 47. Clamping plate 1, 48. Clamping plate 2, 49. Nut seat 1, 50. Nut seat 2, 51. Nut seat 3, 52. Nut seat 4, 53. Air spring, 54. Clamping and lifting block 1, 55. Clamping and lifting block 2, 56. Horizontal side, 57. Vertical side. Detailed implementation manners

[0021] The technical solutions of the present invention will be further elaborated in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0022] Example: As Figure 5 and Figure 6As shown in the figure, a double-axis complex tightening device for air springs includes a frame 6, an air spring clamping and lifting mechanism 7 arranged on the frame 6, and a rotating mechanism 8 arranged on the frame 6 and located above the air spring clamping and lifting mechanism 7. An XYZ three-axis moving mechanism one 9 and an XYZ three-axis moving mechanism two 10 are symmetrically arranged on the rotating mechanism 8. A torque wrench one 11 is arranged on the XYZ three-axis moving mechanism two, and a torque wrench two (not shown in the figure) is arranged on the XYZ three-axis moving mechanism two. The working method of the above double-axis complex tightening device for air springs is as follows: During operation, the air spring is lifted and clamped by the air spring clamping and lifting mechanism 7, and then the rotating mechanism is used to drive the two torque wrenches to rotate to the positions consistent with a pair of symmetric bolts on the air spring, and the positions of the two torque wrenches are initially positioned. Then, the XY-axis direction movement of the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two is used to accurately position the positions of the two torque wrenches, so that the central axes of the two torque wrenches respectively coincide with the central axes of a pair of symmetric bolts on the air spring. Finally, the Z-axis direction movement of the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two is used to make the two torque wrenches perform complex tightening on a pair of symmetric bolts on the air spring; after completion, the above steps are repeated to perform complex tightening on a pair of symmetric bolts above and below the air spring until all bolts are tightened. In this embodiment, by designing a two-stage positioning mechanism, before complex tightening, the positions of the torque wrenches can be initially positioned and accurately positioned according to the actual positions of the bolts on the air spring, so that the torque wrenches can accurately align with the actual positions of the bolts, thus ensuring the smooth progress of the complex tightening work and improving the work efficiency of the complex tightening work.

[0023] A camera one 13 and a camera two 14 are respectively further arranged on the torque wrench one 11 and the torque wrench two 12. After the air spring is clamped and lifted, as Figure 7 shown, first, the camera one 13 and the camera two 14 are used to take pictures to determine the orientation of a pair of bolts that need to be complex tightened, and calculate the difference angle between the actual orientations of the torque wrench one 11 and the torque wrench two 12 and the orientation of a pair of bolts that need to be complex tightened, that is, the angle a between the connecting line A between the torque wrench one 11 and the torque wrench two 12 and the connecting line B between a pair of bolts that need to be complex tightened (such as bolt A1 and bolt A2), as Figure 8As shown, the rotating mechanism 8 is controlled to drive the two torque guns to rotate, so that the connection line A between the torque gun 11 and the torque gun 2 12 coincides with the connection line B between the pair of bolts that need to be re-tightened (such as bolt A1 and bolt A2), and the position of the torque gun is initially positioned; at this time, the positions of the two torque guns do not completely coincide with the positions of the pair of bolts that need to be re-tightened, so the camera 13 and the camera 2 14 are used to take pictures again to determine the actual plane coordinate positions of the pair of bolts that need to be re-tightened (such as bolt A1 and bolt A2), and the actual plane coordinate positions of the torque gun 11 and the torque gun 2 12 are calculated. The difference between the plane coordinate position and the actual plane coordinate position of the pair of bolts that need to be re-tightened (i.e., the difference in the XY axis direction), and then use the XY axis movement of the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to accurately position the horizontal positions of the two torque guns, so that the central axes of the two torque guns coincide with the central axes of the pair of symmetrical bolts on the empty spring, and finally use the Z axis movement of the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to make the two torque guns re-tighten the pair of symmetrical bolts on the empty spring. Repeat this process until all bolts are re-tightened.

[0024] like Figure 6 and Figure 9 As shown, the rotating mechanism 8 includes a slewing bearing 811 rotatably connected to the frame 6, the outer ring of the slewing bearing 811 is provided with teeth, and a rotating drive motor 812 is also provided on the frame 6. A gear 15 is provided on the rotating shaft of the rotating drive motor 812, and the gear 15 is meshed and connected with the teeth on the outer ring of the slewing bearing 811 through transmission connection, so that the slewing bearing 811 can be driven to rotate by the action of the rotating drive motor 812; the XYZ three-axis moving mechanism 19 and the XYZ three-axis moving mechanism 210 are both arranged on the slewing bearing 811.

[0025] like Figure 10 and Figure 11As shown in the figure, both the XYZ three-axis moving mechanism 9 and the XYZ three-axis moving mechanism 10 include a first moving plate 17 slidably connected to the frame 6 through a slider and a guide rail mechanism 16, and a second moving plate 19 slidably connected to the first moving plate 17 through a slider and a guide rail mechanism 18. The slider and the guide rail mechanism 16 are arranged along the X-axis direction, and the slider and the guide rail mechanism 18 are arranged along the Y-axis direction. An X-axis driving motor 20 and a first lead screw nut mechanism 21 are further arranged on the frame 6. The X-axis driving motor 20 is in transmission connection with the first lead screw nut mechanism 21 in a cooperative manner. The nut 211 of the first lead screw nut mechanism 21 is connected to the first moving plate 17. Thus, driven by the X-axis driving motor 20, the first moving plate 17 can be driven to move back and forth along the X-axis direction by using the first lead screw nut mechanism 21. A Y-axis driving motor 22 and a second lead screw nut mechanism 23 are further arranged on the first moving plate 17. The Y-axis driving motor 22 is in transmission connection with the second lead screw nut mechanism 23 in a cooperative manner. The nut 231 of the second lead screw nut mechanism 23 is connected to the second moving plate 19. Thus, driven by the Y-axis driving motor 22, the second moving plate 19 can be driven to move back and forth along the Y-axis direction by using the second lead screw nut mechanism 23. A third moving plate 25 is slidably connected to the second moving plate 19 through a slider and a guide rail mechanism 24. The slider and the guide rail mechanism 24 are arranged along the Z-axis direction. A Z-axis driving motor 26 is further arranged on the third moving plate 25. A second gear (not shown in the figure) is arranged on the rotating shaft of the Z-axis driving motor 26. A rack 27 is further arranged on the second moving plate 19. By meshing and driving connection between the second gear and the rack 27, the third moving plate 25 can be driven to move back and forth along the Z-axis direction by using the transmission cooperation between the second gear and the rack 27 when driven by the Z-axis driving motor 26. A first torque wrench 11 and a second torque wrench 12 are respectively arranged on the third moving plate 25 of the XYZ three-axis moving mechanism 9 and the third moving plate 25 of the XYZ three-axis moving mechanism 10. A first camera 13 and a second camera 14 are also respectively arranged on the third moving plate 25 of the XYZ three-axis moving mechanism 9 and the third moving plate 25 of the XYZ three-axis moving mechanism 10.

[0026] As Figure 12 shown, quick-connect male heads 28 are arranged at the end parts of the rotating shafts of the first torque wrench 11 and the second torque wrench 12. A quick-connect female head 30 is arranged at one end of the socket wrench 29. The socket wrench 29 is connected to the end part of the rotating shaft of the torque wrench through the cooperation and connection between the quick-connect male head 28 and the quick-connect female head 30. Since the model specifications of the air springs are different, the bolt specifications of the air springs are also different. When re-tightening air springs of another specification, socket wrenches of different specifications need to be replaced. For this reason, this embodiment also discloses a working method for automatically replacing the socket wrench. As Figure 6As shown in the figure, a socket wrench storage mechanism I 31 and a socket wrench storage mechanism II 32 are further provided on the frame 6. The socket wrench storage mechanism I 31 and the socket wrench storage mechanism II 32 store socket wrenches with female quick-connect heads in various specifications.

[0027] In this embodiment, the XYZ three-axis moving mechanism I 9 and the XYZ three-axis moving mechanism II 10 drive the torque wrench I 11 and the torque wrench II 12 respectively to cooperate with the socket wrench storage mechanism I 31 and the socket wrench storage mechanism II 32, so as to replace the socket wrenches on the rotating shaft ends of the torque wrench I 11 and the torque wrench II 12. In this way, the bolt re-tightening work of air springs of various specifications and models can be carried out, improving the versatility and practicability of this embodiment.

[0028] As Figure 13 shown, the socket wrench storage mechanism I 31 and the socket wrench storage mechanism II 32 both include a sliding plate 34 slidably connected to the frame 6 through a slider and a guide rail mechanism IV 33, a connecting arm 35 with one end connected to the sliding plate 34, and a socket wrench storage rack 36 connected to the other end of the connecting arm 35. A sliding plate driving cylinder (not shown in the figure) is further provided on the frame 6. The sliding plate driving cylinder is connected to the sliding plate 34, so that the sliding plate 34 can move back and forth along the slider and the guide rail mechanism IV 33 under the drive of the sliding plate driving cylinder. When it is necessary to replace the socket wrench, control the sliding plate driving cylinders of the socket wrench storage mechanism I 31 and the socket wrench storage mechanism II 32 to act, so as to drive the two socket wrench storage racks 36 to move relatively closer, so that the two socket wrench storage racks 36 respectively move to the positions of the torque wrench I 11 and the torque wrench II 12, which is convenient for the work of replacing the socket wrench. After the replacement is completed, control the sliding plate driving cylinders of the socket wrench storage mechanism I 31 and the socket wrench storage mechanism II 32 to act again, so as to drive the two socket wrench storage racks 36 to move relatively away, so that the two socket wrench storage racks 36 both move away from the torque wrench I 11 and the torque wrench II 12 respectively, which can avoid the interference of the socket wrench storage rack 36 on the torque wrench I 11 and the torque wrench II 12 and ensure that the torque wrench I 11 and the torque wrench II 12 can normally carry out the re-tightening work.

[0029] As Figure 14 and Figure 15As shown, the socket wrench storage rack 36 includes a fixed toothed plate 361 connected to the other end of the connecting arm 35 and a pressing cylinder 362 provided on the fixed toothed plate 361. A pressing toothed plate 363 is provided on the piston rod of the pressing cylinder 362. Driven by the pressing cylinder 362, the pressing toothed plate 363 can move up and down vertically. The pressing toothed plate 363 is located above the fixed toothed plate 361. A socket wrench 29 with a female quick connector head 30 of a certain specification is placed in each tooth-shaped groove of the fixed toothed plate 361 (only one socket wrench is drawn in the figure). When the pressing toothed plate 363 presses down, it can contact the female quick connector head 30 on the socket wrench 29.

[0030] When replacing the socket wrench, first use the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two to move the socket wrenches 29 on the rotating shaft ends of the torque wrench one 11 and the torque wrench two 12 to the tooth-shaped grooves of the pressing toothed plates 363 of the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively. Then control the pressing toothed plates 363 of the socket wrench storage mechanism one and the socket wrench storage mechanism two to press down on the female quick connector heads 30 on the pressing socket wrenches 29 placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively. Then control the torque wrench one 11 and the torque wrench two 12 to move up, so that the male quick connector heads 28 at the rotating shaft ends of the torque wrench one 11 and the torque wrench two 12 are separated from the female quick connector heads 30 on the pressing socket wrenches 29 placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively, thereby separating the socket wrench from the torque wrench. Then use the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two to move the torque wrench one 11 and the torque wrench two 12 to the upper positions of the other specification of pressing socket wrenches 29 placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively. Then control the torque wrench one 11 and the torque wrench two 12 to move down, so that the male quick connector heads 28 at the rotating shaft ends of the torque wrench one 11 and the torque wrench two 12 are respectively inserted into the female quick connector heads 30 of the other specification of pressing socket wrenches 29 placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively, thereby connecting the replaced socket wrench to the torque wrench. Through the technical solution of designing the automatic replacement of socket wrenches of different specifications in this embodiment, the versatility of this embodiment is increased, and the working efficiency of the re-tightening work is further improved.

[0031] As Figure 5 and Figure 16As shown, the air spring clamping and lifting mechanism 7 includes a lifting plate 711 slidably connected to the frame 6 through a linear guide rail, a first lifting cylinder 712 and a second lifting cylinder 713 arranged on the frame 6. The piston rods of the first lifting cylinder 712 and the second lifting cylinder 713 are both connected to the lifting plate 711, and the lifting plate 711 can be driven to move up and down vertically by the first lifting cylinder 712 and the second lifting cylinder 713. The first lifting cylinder 712 and the second lifting cylinder 713 are oppositely arranged and located below the lifting plate 711. The first lifting cylinder 712 is a pneumatic cylinder, and the second lifting cylinder 713 is an electric cylinder. In this way, the pneumatic cylinder is used to support the lifting plate 711 so that the lifting plate 711 is in a suspended state, and the servo motor of the electric cylinder is used to control the up and down movement position of the lifting plate 711. In this way, the position of the lifting plate can be controlled very precisely, so that this embodiment can be further applied to air spring products with different height specifications.

[0032] As Figure 16 and Figure 17As shown in the figure, a clamping drive motor 37, a T-shaped gear commutator 38, a first rotating shaft 39, a second rotating shaft 40, a third rotating shaft 41, a fourth rotating shaft 42, a first gear commutating transmission box 43, a second gear commutating transmission box 44, a first bearing seat 45 and a second bearing seat 46 are further arranged on the lifting plate 711. The clamping drive motor 37 is connected to the input shaft of the T-shaped gear commutator 38. One output shaft of the T-shaped gear commutator 38 is drivingly connected to one end of the first rotating shaft 39, and the other output shaft of the T-shaped gear commutator 38 is drivingly connected to one end of the second rotating shaft 40. The other end of the first rotating shaft 39 is drivingly connected to the input shaft of the first gear commutating transmission box 43. One end of the third rotating shaft 41 is drivingly connected to the output shaft of the first gear commutating transmission box 43, and the other end of the third rotating shaft 41 is connected to the first bearing seat 45. The other end of the second rotating shaft 40 is drivingly connected to the input shaft of the second gear commutating transmission box 44. One end of the fourth rotating shaft 42 is drivingly connected to the output shaft of the second gear commutating transmission box 44, and the other end of the fourth rotating shaft 42 is connected to the second bearing seat 46. The third rotating shaft 41, the first rotating shaft 39, the second rotating shaft 40 and the fourth rotating shaft 42 are sequentially drivingly connected to form a U shape. Under the rotation of the clamping drive motor 37, the third rotating shaft 41, the first rotating shaft 39, the second rotating shaft 40 and the fourth rotating shaft 42 can be driven to rotate together. The third rotating shaft 41 and the fourth rotating shaft 42 are oppositely arranged, and a positive thread part and a reverse thread part are arranged on both the third rotating shaft 41 and the fourth rotating shaft 42. A first clamping plate 47 and a second clamping plate 48 are arranged between the third rotating shaft 41 and the fourth rotating shaft 42. One side edge of the first clamping plate 47 is drivingly connected to the positive thread part of the third rotating shaft 41 through a first nut seat 49, and the other side edge of the first clamping plate 47 is drivingly connected to the positive thread part of the fourth rotating shaft 42 through a second nut seat 50. One side edge of the second clamping plate 48 is drivingly connected to the reverse thread part of the third rotating shaft 41 through a third nut seat 51, and the other side edge of the second clamping plate 48 is drivingly connected to the reverse thread part of the fourth rotating shaft 42 through a fourth nut seat 52. Thus, under the rotation of the third rotating shaft 41 and the fourth rotating shaft 42, the first clamping plate 47 and the second clamping plate 48 can be driven to move relatively closer or relatively farther away, so as to clamp or release the air spring 53 located between the first clamping plate 47 and the second clamping plate 48.

[0033] As Figure 17 and Figure 18 shown in the figure, the clamping parts of the first clamping plate 47 and the second clamping plate 48 are both set to be V-shaped. The V-shaped clamping parts are used to clamp the snap ring and the upper cover plate of the air spring. During the clamping process, the snap ring and the upper cover plate of the air spring can be automatically centered, so that the central axis of the air spring coincides with the central axis between the connecting lines of the two torque guns, ensuring the central positions of the snap ring and the upper cover plate, and thus ensuring the smooth progress of the re-tightening work.

[0034] Clamping lifting blocks I (54) and clamping lifting blocks II (55) are provided on the clamping parts of the first clamping plate (47) and the second clamping plate (48). In this embodiment, the clamping lifting blocks I (54) and the clamping lifting blocks II (55) are used to lift and clamp the snap ring and the upper cover plate of the air spring. The clamping lifting blocks I (54) and the clamping lifting blocks II (55) are both arranged in an L shape, and the L-shaped clamping lifting blocks I (54) and the clamping lifting blocks II (55) both include a horizontal side (56) and a vertical side (57).

[0035] The specific method for lifting and clamping is as follows: As Figure 18 shown, when the air spring (53) is sent to the position between the clamping lifting block I (54) and the clamping lifting block II (55), the clamping drive motor (37) acts to drive the clamping lifting block I (54) and the clamping lifting block II (55) to move relatively closer, so that the horizontal sides (56) of the clamping lifting block I (54) and the clamping lifting block II (55) move to the bottom position of the snap ring (3) of the air spring (53). At this time, there is a gap H between the vertical sides (57) of the clamping lifting block I (54) and the clamping lifting block II (55) and the snap ring (3) of the air spring (53). Then, as Figure 19 shown, the first lifting cylinder (712) and the second lifting cylinder (713) act to drive the horizontal sides (56) of the clamping lifting block I (54) and the clamping lifting block II (55) to rise, so that the horizontal sides (56) of the clamping lifting block I (54) and the clamping lifting block II (55) are in contact with the bottom of the snap ring (3) of the air spring (53), thereby lifting the air spring (53). The main reason for the air spring lifting step is that after the air spring is sent in, since the airbag (2) is not fully inflated, the upper cover plate and the snap ring cannot be in a horizontal state, which in turn affects the normal progress of the bolt re-tightening work. The main function of the air spring lifting step is to lift the air spring by using the horizontal sides of the clamping lifting blocks I and II to be in contact with the bottom of the snap ring of the air spring during the lifting process, so that the upper cover plate and the snap ring are in a horizontal state and ensure the normal progress of the bolt re-tightening work. Therefore, the clamping operation cannot be performed in the above steps, and there should be a gap H between the vertical sides of the clamping lifting blocks I and II and the snap ring of the air spring. When the lifting makes the upper cover plate and the snap ring in a horizontal state, the clamping step can be carried out. As Figure 20 and Figure 21 shown, the clamping drive motor (37) is controlled to act again to drive the clamping lifting block I (54) and the clamping lifting block II (55) to continue to move relatively closer, so that the vertical sides (57) of the clamping lifting block I (54) and the clamping lifting block II (55) are in contact with the snap ring (3) and the upper cover plate (4) of the air spring (53), thereby clamping and fixing the snap ring and the upper cover plate of the air spring. During the clamping of the air spring, the air spring is automatically centered and then fixed in position, thus ensuring the smooth progress of the re-tightening work.

[0036] In summary, by designing a two-stage positioning mechanism, before re-tightening, the actual position of the bolt on the air spring can be used to perform initial positioning and precise positioning of the position of the torque gun, enabling the torque gun to accurately align with the actual position of the bolt, thus ensuring the smooth progress of the re-tightening work and improving the work efficiency of the re-tightening work. Using the camera to assist in initial positioning and precise positioning enables the present invention to further improve the accuracy of torque gun positioning and further improve the work efficiency of the re-tightening work. By designing a scheme for automatically replacing the socket wrench, the present invention can perform bolt re-tightening work on air springs of various specifications and models, improving the versatility and practicality of the present invention. By designing an air spring clamping and lifting mechanism, during the lifting process, the air spring is lifted by the horizontal edges of the first clamping and lifting block and the second clamping and lifting block contacting the bottom of the buckle of the air spring, so that the upper cover plate and the buckle are in a horizontal state, ensuring the normal progress of the bolt re-tightening work; during the clamping process, the buckle and the upper cover plate of the air spring can be automatically centered, so that the central axis of the air spring coincides with the central axis between the connecting lines of the two torque guns, ensuring the central positions of the buckle and the upper cover plate, and thus ensuring the smooth progress of the re-tightening work.

[0037] In this embodiment, the "multi-stage" mentioned herein refers to the number of "two or more stages". The above embodiments are only for illustrating the present invention and not for limiting the present invention. Those skilled in the relevant technical fields can make various changes or transformations without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions should also fall within the protection scope of the present invention, and the protection scope of the present invention should be defined by each claim.

Claims

1. A working method of an empty spring dual-axis multiple tightening device, characterized in that: The rotating mechanism of the empty spring dual-axis complex tightening device is symmetrically provided with an XYZ three-axis moving mechanism 1 and an XYZ three-axis moving mechanism 2, and the torque gun 1 is provided on the XYZ three-axis moving mechanism 2, and the torque gun 2 is provided on the XYZ three-axis moving mechanism 2; The working method is as follows: when performing the re-tightening work, the positions of the two torque guns are first initially positioned using a rotating mechanism, and then the positions of the two torque guns are precisely positioned using an XYZ three-axis moving mechanism, so that the central axes of the two torque guns and the central axes of a pair of symmetrical bolts on the empty spring are respectively coincident with each other, and then the re-tightening work is performed.

2. The working method according to claim 1, characterized in that: The empty spring biaxial complex tightening device also includes a frame and an empty spring clamping and lifting mechanism arranged on the frame, and the rotating mechanism is also arranged on the frame and located above the empty spring clamping and lifting mechanism; The working method is as follows: the empty spring is lifted and clamped by the empty spring clamping and lifting mechanism, and then the two torque guns are driven by the rotating mechanism to rotate to the same position as a pair of symmetrical bolts on the empty spring, and the positions of the two torque guns are initially positioned, and then the positions of the two torque guns are precisely positioned by the movement of the XY axis direction of the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two, so that the central axes of the two torque guns and the central axes of the pair of symmetrical bolts on the empty spring are respectively coincident with each other, and finally, the two torque guns are re-tightened on the pair of symmetrical bolts on the empty spring by the movement of the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two in the Z axis direction; after completion, the above steps are repeated to re-tighten the upper and lower pairs of symmetrical bolts on the empty spring until the re-tightening of all bolts is completed.

3. The working method according to claim 2, characterized in that: The torque gun 1 and the torque gun 2 are also provided with a camera 1 and a camera 2 respectively; When the empty spring is clamped and lifted, first use camera 1 and camera 2 to take pictures to determine the position of the pair of bolts that need to be re-tightened, calculate the angle difference between the actual position of torque gun 1 and torque gun 2 and the position of the pair of bolts that need to be re-tightened, and then control the rotating mechanism to drive the two torque guns to rotate so that the connection line A between torque gun 1 and torque gun 2 coincides with the connection line B between the pair of bolts that need to be re-tightened, and initially locate the position of the torque gun; Then use camera 1 and camera 2 to take pictures again to determine the actual plane coordinate positions of the pair of bolts that need to be re-tightened, calculate the difference between the actual plane coordinate positions of torque gun 1 and torque gun 2 and the actual plane coordinate positions of the pair of bolts that need to be re-tightened, and then use the movement of the XY axis direction of the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to accurately position the horizontal positions of the two torque guns, so that the central axes of the two torque guns and the central axes of the pair of symmetrical bolts on the empty spring coincide with each other, and finally use the movement of the Z axis direction of the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to make the two torque guns re-tighten the pair of symmetrical bolts on the empty spring; repeat this process until the re-tightening of all bolts is completed.

4. The working method according to claim 2 or 3, characterized in that: A quick connector male part is provided on the end of the rotating shaft of the torque gun 1 and the torque gun 2, and a quick connector female part is provided on one end of the socket wrench, and the quick connector male part and the quick connector female part are matched and connected to connect the socket wrench to the end of the rotating shaft of the torque gun; a socket wrench storage mechanism 1 and a socket wrench storage mechanism 2 are also provided on the frame, and the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2 store socket wrenches with quick connector female parts of various specifications; The XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 respectively drive the torque gun 1 and the torque gun 2 to cooperate with the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2, so as to replace the socket wrenches on the ends of the rotating shafts of the torque gun 1 and the torque gun 2.

5. The working method according to claim 4, characterized in that: The first and second socket wrench storage mechanisms both include a socket wrench storage rack, which includes a fixed tooth plate and a pressing cylinder disposed on the fixed tooth plate, a pressing tooth plate is disposed on the piston rod of the pressing cylinder, the pressing tooth plate can move up and down in the vertical direction under the drive of the pressing cylinder, the pressing tooth plate is located above the fixed tooth plate, a socket wrench with a quick connector female part of a certain specification is placed in each tooth-shaped groove of the fixed tooth plate, and when the pressing tooth plate is pressed down, it can contact the quick connector female part on the socket wrench; When replacing the socket wrench, first use the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to move the socket wrenches on the rotating shaft ends of the torque gun 1 and the torque gun 2 to the toothed grooves of the pressing tooth plates of the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2, respectively, and then control the pressing tooth plates of the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2 to press down the quick connector female heads on the pressing socket wrenches placed in the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2, respectively, and then control the torque gun 1 and the torque gun 2 to move up, so that the quick connector male heads on the rotating shaft ends of the torque gun 1 and the torque gun 2 are separated from the quick connector female heads on the pressing socket wrenches placed in the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2, respectively, so as to separate the socket wrench from the torque gun; Then, the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 are used to move the torque gun 1 and the torque gun 2 to a position above a push-down socket wrench of another specification placed in the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2, and then the torque gun 1 and the torque gun 2 are controlled to move downward, so that the male heads of the quick connectors at the rotating shaft ends of the torque gun 1 and the torque gun 2 are respectively inserted into the female heads of the quick connectors of the push-down socket wrench of another specification placed in the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2, so that the replaced socket wrench is connected to the torque gun.

6. The working method according to claim 4, characterized in that: The empty spring clamping lifting mechanism includes a lifting plate slidably connected to the frame, a lifting cylinder 1 and a lifting cylinder 2 arranged on the frame, the piston rods of the lifting cylinder 1 and the lifting cylinder 2 are connected to the lifting plate, and the lifting cylinder 1 and the lifting cylinder 2 can drive the lifting plate to move up and down vertically; the lifting cylinder 1 and the lifting cylinder 2 are arranged opposite to each other and are located below the lifting plate, the lifting cylinder 1 adopts a pneumatic cylinder, and the lifting cylinder 2 adopts an electric cylinder; The lifting plate is supported by an air cylinder so that the lifting plate is in a suspended state, and the servo motor of the electric cylinder is used to control the up and down movement position of the lifting plate.

7. An empty spring dual-axis multiple tightening device, comprising a frame, an empty spring clamping and lifting mechanism disposed on the frame, and a rotating mechanism disposed on the frame and located above the empty spring clamping and lifting mechanism, characterized in that: The XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 are symmetrically arranged on the rotating mechanism, the torque gun 1 is arranged on the XYZ three-axis moving mechanism 2, and the torque gun 2 is arranged on the XYZ three-axis moving mechanism 2.

8. The empty spring dual-axis multiple tightening device according to claim 7, characterized in that: A socket wrench storage mechanism 1 and a socket wrench storage mechanism 2 are also provided on the frame, and socket wrench storage mechanism 1 and socket wrench storage mechanism 2 store socket wrenches with quick connector female parts of various specifications; the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2 both include a sliding plate slidably connected to the frame, a connecting arm connected to the sliding plate at one end, and a socket wrench storage rack connected to the other end of the connecting arm, and a sliding plate driving cylinder is also provided on the frame, and the sliding plate driving cylinder is connected to the sliding plate, so that the sliding plate can move back and forth under the drive of the sliding plate driving cylinder.

9. The empty spring dual-axis multiple tightening device according to claim 8, characterized in that: The socket wrench storage rack includes a fixed tooth plate connected to the other end of the connecting arm and a pressing cylinder arranged on the fixed tooth plate. A pressing tooth plate is arranged on the piston rod of the pressing cylinder. Driven by the pressing cylinder, the pressing tooth plate can move up and down in the vertical direction; the pressing tooth plate is located above the fixed tooth plate; a socket wrench with a quick connector female part of a certain specification is placed in each tooth-shaped groove of the fixed tooth plate, and when the pressing tooth plate is pressed down, it can contact the quick connector female part on the socket wrench.

10. The empty spring dual-axis multiple tightening device according to claim 7, 8 or 9, characterized in that: The empty spring clamping lifting mechanism includes a lifting plate slidably connected to the frame, and a lifting cylinder 1 and a lifting cylinder 2 arranged on the frame, wherein the piston rods of the lifting cylinder 1 and the lifting cylinder 2 are both connected to the lifting plate, and the lifting plate can be driven to move up and down vertically through the lifting cylinder 1 and the lifting cylinder 2; A clamping drive motor, a T-type gear commutator, a rotating shaft 1, a rotating shaft 2, a rotating shaft 3, a rotating shaft 4, a gear reversing transmission box 1, a gear reversing transmission box 2, a bearing seat 1 and a bearing seat 2 are also arranged on the lifting plate. The clamping drive motor is connected to the input shaft of the T-type gear commutator, an output shaft of the T-type gear commutator is transmission-connected to one end of the rotating shaft 1, another output shaft of the T-type gear commutator is transmission-connected to one end of the rotating shaft 2, the other end of the rotating shaft 1 is transmission-connected to the input shaft of the gear reversing transmission box 1, one end of the rotating shaft 3 is transmission-connected to the output shaft of the gear reversing transmission box 1, and the other end of the rotating shaft 3 is connected to the bearing seat 1; the other end of the rotating shaft 2 is transmission-connected to the input shaft of the gear reversing transmission box 2, one end of the rotating shaft 4 is transmission-connected to the output shaft of the gear reversing transmission box 2, and the other end of the rotating shaft 4 is connected to the bearing seat 2; the rotating shaft 3, the rotating shaft 1, the rotating shaft 2 and the rotating shaft 4 are transmission-connected in sequence The connection forms a U shape, and under the rotation of the clamping drive motor, it can drive the rotating shaft three, rotating shaft one, rotating shaft two and rotating shaft four to rotate together; the rotating shaft three and rotating shaft four are arranged opposite to each other and are provided with positive thread parts and negative thread parts, and a clamping plate one and a clamping plate two are arranged between the rotating shaft three and rotating shaft four, one side edge of the clamping plate one is transmission connected with the positive thread part of the rotating shaft three through a nut seat one, and the other side edge of the clamping plate one is transmission connected with the positive thread part of the rotating shaft four through a nut seat two, one side edge of the clamping plate two is transmission connected with the negative thread part of the rotating shaft three through a nut seat three, and the other side edge of the clamping plate two is transmission connected with the negative thread part of the rotating shaft four through a nut seat four, so that under the rotation of the rotating shaft three and rotating shaft four, the clamping plate one and the clamping plate two can be driven to move relatively close or relatively far away, thereby clamping or releasing the empty spring located between the clamping plate one and the clamping plate two.

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