Working method of a dual-axle re-tightening device for air spring and dual-axle re-tightening device

Abstract

This invention discloses a working method and a dual-axis re-tightening device for air springs. The rotating mechanism of the dual-axis re-tightening device is symmetrically equipped with two XYZ three-axis moving mechanisms. Torque guns are mounted on both mechanisms. The working method is as follows: during re-tightening, the rotating mechanism is first used to initially position the two torque guns, and then the XYZ three-axis moving mechanisms are used to precisely position them, ensuring that the central axes of the two torque guns coincide with the central axes of a pair of symmetrical bolts on the air spring. Then, the re-tightening operation is performed. This invention allows for precise adjustment of the specific positions of the two torque guns, ensuring that the positions of the torque guns match the positions of the bolts to be re-tightened, guaranteeing smooth re-tightening operations and improving work efficiency.

Description

Technical Field

[0001] This invention relates to a working method of a spring assembly device and the spring assembly device, and more particularly to a working method of a double-axis re-tightening device for springs and the double-axis re-tightening device, belonging to the field of spring assembly technology. Background Technology

[0002] Air springs are a key component of the vibration reduction system of rail transit vehicles. During the assembly process, air springs need to go through a bolt tightening process. After the bolts are tightened, a test is conducted. After the test is completed, a re-tightening process is required.

[0003] like Figure 1 As shown, the air spring includes an auxiliary spring 1, an air bladder 2, a retaining ring 3, and an upper cover plate 4. The lower end of the air bladder 2 is connected to the auxiliary spring 1. The upper cover plate 4 is locked to the retaining ring 3 by bolts 5, thereby pressing the upper end of the air bladder 2 tightly onto the retaining ring 3. During re-tightening, the bolts 5 are primarily re-tightened. In the prior art, to achieve automated re-tightening, a dual-axis re-tightening mechanism is generally used to re-tighten the bolts, that is, two symmetrically arranged torque guns are used to simultaneously re-tighten a pair of bolts 5. Figure 2 As shown, first use two torque guns to simultaneously tighten bolts A1 and A2. Then rotate the two torque guns by a certain angle and simultaneously tighten bolts B1 and B2. Then rotate the two torque guns by a certain angle and simultaneously tighten bolts C1 and C2. Repeat this process until all bolts 5 have been tightened.

[0004] In practical work, after the air spring is fed into the dual-axis re-tightening mechanism, a situation may arise where the bolt position does not correspond to the positions of the two torque guns, such as... Figure 3 As shown in the diagram, the two solid circles represent the positions of the two torque guns. It can be seen that the positions of the symmetrically distributed bolts A1 and A2 are not in the same location as the two torque guns. Therefore, it is necessary to rotate the positions of the two torque guns. However, due to the influence of the accuracy of the rotating mechanism, such as... Figure 4 As shown, two torque guns will appear (such as...) Figure 4 If the positions of the two solid circles cannot be precisely aligned with the positions of the two bolts (such as bolt A1 and bolt A2), it will affect the normal progress of the re-tightening work and reduce the efficiency of the re-tightening work. In addition, if, due to various external reasons, it cannot be guaranteed that the central axis of the upper cover plate 4 coincides with the rotation center axis of the two torque guns, even if the rotation mechanism has high precision, the positions of the two torque guns will still not be precisely aligned with the positions of the two bolts.

[0005] Chinese invention patent application CN 113352087A, published on September 7, 2021, discloses an intelligent re-tightening system for air spring bolts. The system includes a frame; a clamping mechanism movably connected to the frame; a lifting device installed at the bottom of the frame and connected to the clamping mechanism; and a bolt re-tightening device comprising: a support body movably connected to the frame and positioned above the clamping mechanism; a rotary guide assembly installed on the support body; a lateral adjustment assembly installed on the rotary guide assembly; a lifting adjustment assembly installed on the lateral adjustment assembly; an intelligent torque gun installed on the lifting adjustment assembly; a rotary drive device installed on the frame and connected to the rotary guide assembly; and a control device including a controller electrically connected to the clamping mechanism, lifting device, lateral adjustment assembly, lifting adjustment assembly, intelligent torque gun, and rotary drive device.

[0006] In the aforementioned patent document, the distance between the two intelligent torque guns can only be adjusted by the lateral adjustment component. This is mainly to accommodate the diameter of the pitch circle of different types of air spring bolts and improve the compatibility of the equipment (please refer to paragraph

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

[0007] In summary, the primary technical problem that urgently needs to be solved is how to design a working method and a dual-axis re-tightening device with a hollow spring, so that the specific positions of the two torque guns can be precisely adjusted to ensure that the positions of the two torque guns are consistent with the positions of the two bolts that need to be re-tightened, thus ensuring the smooth progress of the re-tightening work and improving the efficiency of the re-tightening work. Summary of the Invention

[0008] The primary technical problem to be solved by this invention is to address the deficiencies in the existing technology by providing a working method and a dual-axis re-tightening device with a hollow spring. This device can precisely adjust the specific positions of the two torque guns, thereby ensuring that the positions of the two torque guns are consistent with the positions of the two bolts that need to be re-tightened, thus ensuring the smooth progress of the re-tightening work and improving the efficiency of the re-tightening work.

[0009] To solve the above technical problems, the technical solution adopted by the present invention is as follows: a working method of a double-axis re-tightening device with air springs, 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 double-axis re-tightening device with air springs, and a torque gun one is set on the XYZ three-axis moving mechanism two, and a torque gun two is set on the XYZ three-axis moving mechanism two. The working method is as follows: when performing the re-tightening operation, the position of the two torque guns is initially positioned by the rotating mechanism, and then the position of the two torque guns is precisely positioned by the XYZ three-axis moving mechanism, so that the central axis of the two torque guns coincides with the central axis of a pair of symmetrical bolts on the air spring, and then the re-tightening operation is performed.

[0010] Preferably, the air spring dual-axis re-tightening device further includes a frame and an air spring clamping and lifting mechanism disposed on the frame, and the rotating mechanism is also disposed on the frame and located above the air spring clamping and lifting mechanism; The working method is as follows: The air spring is lifted and clamped by the air spring clamping and lifting mechanism, and then the two torque guns are rotated by the rotating mechanism to the position of a pair of symmetrical bolts on the air spring. The positions of the two torque guns are initially positioned. Then, the positions of the two torque guns are precisely positioned by moving the XY axis in the first and second XYZ three-axis moving mechanisms, so that the central axes of the two torque guns coincide with the central axes of the pair of symmetrical bolts on the air spring. Finally, the Z axis in the first and second XYZ three-axis moving mechanisms is used to re-tighten the pair of symmetrical bolts on the air spring by the two torque guns. After completion, the above steps are repeated to re-tighten the pair of symmetrical bolts on the air spring until all bolts are re-tightened.

[0011] Preferably, a camera is also provided on the torque gun one and the torque gun two respectively; After the air spring is clamped and lifted, the positions of the pair of bolts that need to be re-tightened are determined by taking pictures with camera one and camera two. The angle difference between the actual positions of torque gun one and torque gun two and the positions of the pair of bolts that need to be re-tightened is calculated. Then, the rotating mechanism is controlled to drive the two torque guns to rotate so that the line A connecting torque gun one and torque gun two coincides with the line B connecting the pair of bolts that need to be re-tightened, and the position of the torque gun is initially positioned. Using cameras one and two again, the actual planar coordinates of the pair of bolts that need to be re-tightened are determined. The difference between the actual planar coordinates of torque gun one and torque gun two and the actual planar coordinates of the pair of bolts that need to be re-tightened is calculated. Then, the horizontal positions of the two torque guns are precisely positioned by moving them along the XY axis in the XY axis 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 coincide with the central axes of the pair of symmetrical bolts on the air spring. Finally, the Z axis of the two torque guns is moved to re-tighten the pair of symmetrical bolts on the air spring. This process is repeated until all bolts are re-tightened.

[0012] Preferably, both torque gun one and torque gun two have quick-connect male heads on their shaft ends, and a quick-connect female head is provided on one end of the socket wrench. The socket wrench is connected to the shaft end of the torque gun by the quick-connect male head and the quick-connect female head engaging. The frame is also provided with socket wrench storage mechanism one and socket wrench storage mechanism two, which store socket wrenches of various specifications with quick-connect female heads. The XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two respectively drive the torque gun one and the torque gun two to cooperate with the socket wrench storage mechanism one and the socket wrench storage mechanism two, thereby replacing the socket wrench on the rotating shaft end of the torque gun one and the torque gun 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 disposed on the fixed toothed plate. The pressing toothed plate is disposed on the piston rod of the pressing cylinder. Under the drive of the pressing cylinder, the pressing toothed plate can move vertically up and down. The pressing toothed plate is located above the fixed toothed plate. A socket wrench of a certain specification with a quick-connect female head is placed in each toothed groove of the fixed toothed plate. When the pressing toothed plate is pressed down, it can contact the quick-connect female head on the socket wrench. When changing the socket wrench, first use the XYZ three-axis moving mechanism one and XYZ three-axis moving mechanism two to move the socket wrenches on the shaft ends of torque gun one and torque gun two to the toothed grooves of the lower pressure tooth plates of socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then control the lower pressure tooth plates of socket wrench storage mechanism one and socket wrench storage mechanism two to press down on the quick-connect female heads of the lower pressure socket wrenches placed in socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then control torque gun one and torque gun two to move up, so that the quick-connect male heads of the shaft ends of torque gun one and torque gun two are separated from the quick-connect female heads of the lower pressure socket wrenches placed in socket wrench storage mechanism one and socket wrench storage mechanism two, thereby separating the socket wrench from the torque gun. Then, using the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two, the torque gun one and the torque gun two are moved to a position above another type of pressure socket wrench placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two. Then, the torque gun one and the torque gun two are controlled to move downward, so that the quick-connect male heads of the shaft ends of the torque gun one and the torque gun two are respectively inserted into the quick-connect female heads of the other type of pressure socket wrench placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two, thereby connecting the replaced socket wrench with the torque gun.

[0014] Preferably, the air spring clamping and lifting mechanism includes a lifting plate slidably connected to the frame, and a first lifting cylinder and a second lifting cylinder disposed on the frame. The piston rods of the first lifting cylinder and the second lifting cylinder are both connected to the lifting plate, and the first lifting cylinder and the second lifting cylinder can drive the lifting plate to move vertically up and down. The first lifting cylinder and the second lifting cylinder are arranged opposite to each other and located below the lifting plate. The first lifting cylinder is a pneumatic cylinder, and the second lifting cylinder is an electric cylinder. The lifting plate is supported by a cylinder, which keeps it in a suspended state. The servo motor of the electric cylinder controls the up and down movement of the lifting plate.

[0015] The present invention also discloses a double-axis re-tightening device for air springs, including a frame, an air spring clamping and lifting mechanism disposed on the frame, and a rotating mechanism disposed 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 disposed on the rotating mechanism. A torque gun one is disposed on the XYZ three-axis moving mechanism two, and a torque gun two is disposed on the XYZ three-axis moving mechanism two.

[0016] Preferably, the frame is further provided with a socket wrench storage mechanism one and a socket wrench storage mechanism two, which store socket wrenches of various specifications with quick-connect female heads. Each socket wrench storage mechanism one and socket wrench storage mechanism two includes a sliding plate slidably connected to the frame, a connecting arm connected at one end to the sliding plate, and a socket wrench storage rack connected to the other end of the connecting arm. A sliding plate drive cylinder is also provided on the frame, which is connected to the sliding plate so that the sliding plate can move back and forth under the drive of the sliding plate drive 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 disposed on the fixed toothed plate. The pressing toothed plate is disposed on the piston rod of the pressing cylinder. Under the drive of the pressing cylinder, the pressing toothed plate can move vertically up and down. The pressing toothed plate is located above the fixed toothed plate. A socket wrench of a certain specification with a quick-connect female head is placed in each toothed groove of the fixed toothed plate. When the pressing toothed plate is pressed down, it can contact the quick-connect female head of the socket wrench.

[0018] Preferably, the air spring clamping and lifting mechanism includes a lifting plate slidably connected to the frame, and a lifting cylinder one and a lifting cylinder two disposed on the frame. The piston rods of the lifting cylinder one and the lifting cylinder two are both connected to the lifting plate, and the lifting plate can be driven to move vertically up and down through the lifting cylinder one and the lifting cylinder two. The lifting plate is also equipped with a clamping drive motor, a T-shaped gear commutator, rotating shaft one, rotating shaft two, rotating shaft three, rotating shaft four, gear reversing transmission box one, gear reversing transmission box two, bearing seat one, and bearing seat two. 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 driven to one end of rotating shaft one, and the other output shaft of the T-shaped gear commutator is driven to one end of rotating shaft two. The other end of rotating shaft one is driven to the input shaft of gear reversing transmission box one. One end of rotating shaft three is driven to the output shaft of gear reversing transmission box one, and the other end of rotating shaft three is connected to bearing seat one. The other end of rotating shaft two is driven to the input shaft of gear reversing transmission box two, and one end of rotating shaft four is driven to the output shaft of gear reversing transmission box two, and the other end of rotating shaft four is connected to bearing seat two. Rotating shaft three, rotating shaft one, rotating shaft two, and rotating shaft four are driven sequentially. The connection forms a U-shape. Under the rotation of the clamping drive motor, it can drive rotating shafts three, one, two, and four to rotate together. Rotating shafts three and four are arranged opposite each other and each has a positive thread and a negative thread. Clamping plate one and clamping plate two are arranged between rotating shafts three and four. One side of clamping plate one is connected to the positive thread of rotating shaft three through nut seat one, and the other side of clamping plate one is connected to the positive thread of rotating shaft four through nut seat two. One side of clamping plate two is connected to the negative thread of rotating shaft three through nut seat three, and the other side of clamping plate two is connected to the negative thread of rotating shaft four through nut seat four. Thus, under the rotation of rotating shafts three and four, clamping plate one and clamping plate two can be driven to move closer or farther apart, thereby clamping or releasing the air spring located between clamping plate one and clamping plate two.

[0019] The beneficial effects of this invention are as follows: By designing a two-stage positioning mechanism, this invention can perform initial and fine positioning of the torque gun based on the actual position of the bolt on the air spring before re-tightening. This ensures that the torque gun is accurately aligned with the actual position of the bolt, thereby guaranteeing the smooth progress of the re-tightening work and improving its efficiency. Utilizing a camera-assisted initial and fine positioning further enhances the accuracy of the torque gun positioning, further improving the efficiency of the re-tightening work. The design of an automatic socket wrench replacement system allows this invention to re-tighten bolts on air springs of various specifications and models, improving its versatility and practicality. By designing a spring clamping and lifting mechanism, during the lifting process, the horizontal edges of clamping lifting blocks one and two contact the bottom of the spring's retaining ring to lift the spring, thereby ensuring that the upper cover plate and retaining ring are in a horizontal state and guaranteeing the normal operation of bolt re-tightening. During the clamping process, the retaining ring and upper cover plate of the spring can be automatically centered, so that the central axis of the spring coincides with the central axis between the two torque gun lines, ensuring the center position of the retaining ring and upper cover plate, thus ensuring the smooth operation of re-tightening. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the axial cross-sectional structure of an air spring in the prior art; Figure 2 This is a top view diagram of the structure during the re-tightening of the air spring bolt in the prior art. Figure 1 ; Figure 3 This is a top view diagram of the structure during the re-tightening of the air spring bolt in the prior art. Figure 2 ; Figure 4 This is a top view diagram of the structure during the re-tightening of the air spring bolt in the prior art. Figure 3 ; Figure 5 This is a three-dimensional structural diagram of the air spring double-axis re-tightening device in an embodiment of the present invention; Figure 6 This is a partial front view of the rotating mechanism in the air spring double-shaft re-tightening device according to an embodiment of the present invention. Figure 7 This is a top view schematic diagram of the air spring bolt during the re-tightening operation in an embodiment of the present invention. Figure 1 ; Figure 8 This is a top view schematic diagram of the air spring bolt during the re-tightening operation in an embodiment of the present invention. Figure 2 ; Figure 9 This is a top view of the air spring double-axis re-tightening device in an embodiment of the present invention; Figure 10 This is a partial top view of a portion of the XYZ three-axis moving mechanism in the air spring dual-axis re-tightening device according to an embodiment of the present invention. Figure 11 This is a partial three-dimensional structural diagram of the air spring dual-axis re-tightening device in an embodiment of the present invention, located at a torque gun. Figure 12 for Figure 11 A schematic diagram of the enlarged structure of part C in the diagram; Figure 13 This is a partial front view of the socket wrench storage mechanism in the air spring dual-axis re-tightening device according to an embodiment of the present invention. Figure 14 This is a three-dimensional structural diagram illustrating the working principle of automatically changing the socket wrench in an embodiment of the present invention. Figure 1 ; Figure 15 This is a three-dimensional structural diagram illustrating the working principle of automatically changing the socket wrench in an embodiment of the present invention. Figure 2 ; Figure 16 This is a three-dimensional structural diagram of the air spring clamping and lifting mechanism in the air spring dual-axis re-tightening device according to an embodiment of the present invention. Figure 17 This is a top view of the air spring clamping and lifting mechanism in the air spring dual-axis re-tightening device according to an embodiment of the present invention. Figure 18 This is a schematic front view of the working principle of the air spring clamping and lifting mechanism for lifting and clamping the air spring in an embodiment of the present invention. Figure 1 ; Figure 19 This is a schematic front view of the working principle of the air spring clamping and lifting mechanism for lifting and clamping the air spring in an embodiment of the present invention. Figure 2 ; Figure 20 This is a schematic front view of the working principle of the air spring clamping and lifting mechanism for lifting and clamping the air spring in an embodiment of the present invention. Figure 3 ; Figure 21 This is a schematic front view of the working principle of the air spring clamping and lifting mechanism for lifting and clamping the air spring in an embodiment of the present invention. Figure 4 ; In the diagram: 1. Auxiliary spring, 2. Airbag, 3. Buckle, 4. Top cover plate, 5. Bolt, 6. Frame, 7. Air spring clamping and lifting mechanism, 711. Lifting plate, 712. Lifting cylinder one, 713. Lifting cylinder two, 8. Rotation mechanism, 811. Slewing bearing, 812. Rotation drive motor, 9. XYZ three-axis moving mechanism one, 10. XYZ three-axis moving mechanism two, 11. Torque gun one, 12. Torque gun two, 13. Camera one 14. Camera II, 15. Gear I, 16. Slider and Guide Rail Mechanism I, 17. Moving Plate I, 18. Slider and Guide Rail Mechanism II, 19. Moving Plate II, 20. X-axis Drive Motor, 21. Lead Screw and Nut Mechanism I, 211. Nut I, 22. Y-axis Drive Motor, 23. Lead Screw and Nut Mechanism II, 231. Nut II, 24. Slider and Guide Rail Mechanism III, 25. Moving Plate III, 26. Z-axis Drive Motor, 27. Rack and Pinion 28. Quick-connect male head; 29. ​​Socket wrench; 30. Quick-connect female head; 31. Socket wrench storage mechanism one; 32. Socket wrench storage mechanism two; 33. Slider and guide rail mechanism four; 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-type gear reversing device; 39. Rotating shaft one. 40. Rotating shaft two, 41. Rotating shaft three, 42. Rotating shaft four, 43. Gear reversing transmission box one, 44. Gear reversing transmission box two, 45. Bearing seat one, 46. Bearing seat two, 47. Clamping plate one, 48. Clamping plate two, 49. Nut seat one, 50. Nut seat two, 51. Nut seat three, 52. Nut seat four, 53. Air spring, 54. Clamping lifting block one, 55. Clamping lifting block two, 56. Horizontal side, 57. Vertical side. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Example: Figure 5 and Figure 6As shown, a double-axis re-tightening device for air springs includes a frame 6, an air spring clamping and lifting mechanism 7 disposed on the frame 6, and a rotating mechanism 8 disposed on the frame 6 and located above the air spring clamping and lifting mechanism 7. An XYZ three-axis moving mechanism 1 9 and an XYZ three-axis moving mechanism 2 10 are symmetrically disposed on the rotating mechanism 8. A torque gun 1 11 is disposed on the XYZ three-axis moving mechanism 2, and a torque gun 2 (not shown in the figure) is disposed on the XYZ three-axis moving mechanism 2. The working method of the above-mentioned air spring dual-axis re-tightening device is as follows: During operation, the air spring is lifted and clamped by the air spring clamping and lifting mechanism 7. Then, the two torque guns are rotated by the rotating mechanism to the position of a pair of symmetrical bolts on the air spring, and the positions of the two torque guns are initially positioned. Then, the positions of the two torque guns are precisely positioned by the movement of the XY axis in the first and second XYZ three-axis moving mechanisms, so that the central axes of the two torque guns coincide with the central axes of the pair of symmetrical bolts on the air spring. Finally, the Z axis movement in the first and second XYZ three-axis moving mechanisms is used to re-tighten the pair of symmetrical bolts on the air spring by the two torque guns. After completion, the above steps are repeated to re-tighten the pair of symmetrical bolts on the upper and lower parts of the air spring until all bolts are re-tightened. This embodiment designs a two-stage positioning mechanism that, before re-tightening, can perform initial and fine positioning of the torque gun based on the actual position of the bolt on the air spring. This ensures that the torque gun is accurately aligned with the actual position of the bolt, thereby guaranteeing the smooth progress of the re-tightening work and improving the efficiency of the re-tightening work.

[0023] Camera 13 and Camera 24 are also respectively installed on the torque gun 11 and torque gun 2 12. When the air spring is clamped and lifted, as... Figure 7 As shown, first, use cameras 13 and 14 to take pictures to determine the orientation of the pair of bolts that need to be re-tightened. Then, calculate the angle difference between the actual orientation of torque guns 11 and 12 and the orientation of the pair of bolts that need to be re-tightened, i.e., the angle α between line A connecting torque guns 11 and 12 and line B connecting the pair of bolts that need to be re-tightened (e.g., bolts A1 and A2). Figure 8As shown, the rotating mechanism 8 is then controlled to rotate the two torque guns, so that the line A connecting torque gun 11 and torque gun 22 coincides with the line B connecting the pair of bolts that need to be re-tightened (such as bolt A1 and bolt A2), thus initially positioning the torque guns. 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. Therefore, cameras 13 and 14 are used to take pictures again to determine the actual planar coordinate positions of the pair of bolts that need to be re-tightened (such as bolt A1 and bolt A2), and the actual coordinate positions of torque gun 11 and torque gun 22 are calculated. The difference between the planar coordinate position and the actual planar coordinate position of the pair of bolts to be re-tightened (i.e., the difference in the XY axis direction) is then used to precisely position the horizontal position of the two torque guns by moving them in the XY axis direction using XYZ three-axis moving mechanism one and XYZ three-axis moving mechanism two. This ensures that the central axes of the two torque guns coincide with the central axes of the pair of symmetrical bolts on the air spring. Finally, the Z-axis movement of XYZ three-axis moving mechanism one and XYZ three-axis moving mechanism two is used to re-tighten the pair of symmetrical bolts on the air spring using the two torque guns. This process is repeated 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. A rotary drive motor 812 is also provided on the frame 6. A gear 15 is provided on the rotating shaft of the rotary drive motor 812. The gear 15 is meshed with the teeth on the outer ring of the slewing bearing 811 for transmission, so that the rotation of the rotary drive motor 812 can drive the slewing bearing 811 to rotate. The XYZ three-axis moving mechanism 9 and the XYZ three-axis moving mechanism 10 are both provided on the slewing bearing 811.

[0025] like Figure 10 and Figure 11As shown, both the XYZ three-axis moving mechanism 19 and the XYZ three-axis moving mechanism 20 include a moving plate 17 slidably connected to the frame 6 via a slider and guide rail mechanism 16, and a moving plate 29 slidably connected to the moving plate 17 via a slider and guide rail mechanism 28. The slider and guide rail mechanism 16 is arranged along the X-axis direction, and the slider and guide rail mechanism 28 is arranged along the Y-axis direction. An X-axis drive motor 20 and a lead screw and nut mechanism 21 are also provided on the frame 6. The X-axis drive motor 20 is connected to the lead screw and nut mechanism 21. The nut 211 of the lead screw and nut mechanism 21 is connected to the moving plate 17, so that under the drive of the X-axis drive motor 20, the lead screw and nut mechanism 21 can drive the moving plate 17 to move back and forth along the X-axis. A Y-axis drive motor 22 and a lead screw and nut mechanism 23 are also provided on the moving plate 17. The Y-axis drive motor 22 is connected to the lead screw and nut mechanism 23. Nut 231 of the mother mechanism 23 is connected to the movable plate 19, so that under the drive of the Y-axis drive motor 22, the screw nut mechanism 23 can drive the movable plate 19 to move back and forth along the Y-axis. A movable plate 25 is slidably connected to the movable plate 19 via a slider and a guide rail mechanism 24. The slider and guide rail mechanism 24 are arranged along the Z-axis. A Z-axis drive motor 26 is also mounted on the movable plate 25, and a rotating shaft of the Z-axis drive motor 26 is mounted on the moving plate 25. A gear two (not shown in the figure) is provided, and a rack 27 is also provided on the moving plate two 19. The gear two and the rack 27 are meshed and connected, so that under the drive of the Z-axis drive motor 26, the moving plate three 25 can move back and forth along the Z-axis direction through the transmission cooperation of the gear two and the rack 27. Torque gun one 11 and torque gun two 12 are respectively provided on the moving plate three 25 of the XYZ three-axis moving mechanism one 9 and the moving plate three 25 of the XYZ three-axis moving mechanism two 10. Camera one 13 and camera two 14 are also respectively provided on the moving plate three 25 of the XYZ three-axis moving mechanism one 9 and the moving plate three 25 of the XYZ three-axis moving mechanism two 10.

[0026] like Figure 12 As shown, quick-connect male heads 28 are provided on the shaft ends of torque gun 11 and torque gun 22, and quick-connect female heads 30 are provided on one end of socket wrench 29. The socket wrench 29 is connected to the shaft end of the torque gun by the engagement of the quick-connect male heads 28 and quick-connect female heads 30. Because the air springs are of different models and specifications, the bolt sizes for the air springs are also different. When re-tightening a different type of air spring, a different type of socket wrench needs to be used. Therefore, this embodiment also discloses an automatic socket wrench changing method. For example... Figure 6As shown, the frame 6 is also provided with a socket wrench storage mechanism 31 and a socket wrench storage mechanism 32, which store socket wrenches of various specifications with quick-connect female heads.

[0027] In this embodiment, XYZ three-axis moving mechanism 9 and XYZ three-axis moving mechanism 10 respectively drive torque gun 11 and torque gun 212 to cooperate with socket wrench storage mechanism 31 and socket wrench storage mechanism 32, thereby replacing the socket wrenches on the ends of the rotating shafts of torque gun 11 and torque gun 212. This allows for the re-tightening of bolts on various specifications and models of air springs, improving the versatility and practicality of this embodiment.

[0028] like Figure 13 As shown, both socket wrench storage mechanism 1 (31) and socket wrench storage mechanism 2 (32) include a sliding plate 34 slidably connected to the frame 6 via a slider and guide rail mechanism 4 (33), a connecting arm 35 connected at one end 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 drive cylinder (not shown) is also provided on the frame 6, connected to the sliding plate 34, allowing the sliding plate 34 to move back and forth along the slider and guide rail mechanism 4 (33) under the drive of the sliding plate drive cylinder. When it is necessary to replace the socket wrench, the sliding plate drive cylinders of socket wrench storage mechanism 1 (31) and socket wrench storage mechanism 2 (32) are activated, causing the two socket wrench storage racks 36 to move closer together, so that the two socket wrench storage racks 36 move to torque gun 1 (11) and torque gun 2 (12) respectively, thus facilitating the replacement of the socket wrench. After the replacement is completed, the sliding plate drive cylinders of the control socket wrench storage mechanism 1 31 and socket wrench storage mechanism 2 32 are activated again, thereby driving the two socket wrench storage racks 36 to move away from each other. This allows the two socket wrench storage racks 36 to move away from torque gun 1 11 and torque gun 2 12 respectively, thus avoiding interference between the socket wrench storage racks 36 and torque gun 1 11 and torque gun 2 12, and ensuring that torque gun 1 11 and torque gun 2 12 can perform re-tightening work normally.

[0029] like 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 disposed on the fixed toothed plate 361. A pressing toothed plate 363 is disposed on the piston rod of the pressing cylinder 362. Under the drive of the pressing cylinder 362, the pressing toothed plate 363 can move vertically up and down. The pressing toothed plate 363 is located above the fixed toothed plate 361. A socket wrench 29 of a certain specification with a quick-connect female head 30 is placed in each toothed groove of the fixed toothed plate 361 (only one socket wrench is shown in the figure). When the pressing toothed plate 363 is pressed down, it can contact the quick-connect female head 30 on the socket wrench 29.

[0030] When changing socket wrenches, first use the XYZ three-axis moving mechanism one and XYZ three-axis moving mechanism two to move the socket wrenches 29 on the shaft ends of torque gun one 11 and torque gun two 12 to the toothed grooves of the pressing tooth plates 363 of socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then, control the pressing tooth plates 363 of socket wrench storage mechanism one and socket wrench storage mechanism two to press down on the quick-connect female heads 30 of the pressing socket wrenches 29 placed in socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then, control the torque gun one 11 and torque gun two 12 to move upward, so that the quick-connect male heads 28 on the shaft ends of torque gun one 11 and torque gun two 12 respectively engage with the pressing tooth plates 363 of the pressing socket wrench 29 placed in socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. The quick-connect female head 30 on the socket wrench 29 is separated, thus separating the socket wrench from the torque gun. Then, using XYZ three-axis moving mechanisms one and two, the torque guns one 11 and two 12 are moved to a position above another type of pressure socket wrench 29 stored in socket wrench storage mechanisms one and two, respectively. Then, the torque guns one 11 and two 12 are controlled to move downwards, causing the quick-connect male heads 28 at the shaft ends of the torque guns one 11 and two 12 to be inserted into the quick-connect female heads 30 of the other type of pressure socket wrench 29 stored in socket wrench storage mechanisms one and two, respectively, thereby connecting the replaced socket wrench to the torque gun. This embodiment, by designing a technical solution for automatically replacing different specifications of socket wrenches, increases the versatility of this embodiment and further improves the efficiency of re-tightening work.

[0031] like 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 via a linear guide rail, and two lifting cylinders 712 and 713 mounted on the frame 6. The piston rods of both lifting cylinders 712 and 713 are connected to the lifting plate 711, allowing the lifting plate 711 to move vertically up and down. The lifting cylinders 712 and 713 are positioned opposite each other and below the lifting plate 711. Lifting cylinder 712 is a pneumatic cylinder, and lifting cylinder 713 is an electric cylinder. This design uses a pneumatic cylinder to support the lifting plate 711, keeping it in a suspended state, and uses a servo motor in the electric cylinder to control the vertical movement of the lifting plate 711. This allows for very precise control of the lifting plate's position, making this embodiment applicable to air spring products of different heights.

[0032] like Figure 16 and Figure 17As shown, the lifting plate 711 is also equipped with 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 reversing transmission box 43, a second gear reversing transmission box 44, a first bearing seat 45, and a second bearing seat 46. 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 connected to one end of the first rotating shaft 39, and the other output shaft of the T-shaped gear commutator 38 is connected to one end of the second rotating shaft 40. One end of shaft 39 is connected to the input shaft of gear reversing transmission box 43; one end of shaft 41 is connected to the output shaft of gear reversing transmission box 43, and the other end of shaft 41 is connected to bearing housing 45; the other end of shaft 40 is connected to the input shaft of gear reversing transmission box 44; one end of shaft 42 is connected to the output shaft of gear reversing transmission box 44, and the other end of shaft 42 is connected to bearing housing 46; shafts 41, 39, 40, and 42 are connected in sequence. The secondary transmission connection forms a U-shape. Under the rotation of the clamping drive motor 37, it can drive the three rotating shafts 41, 39, 40, and 42 to rotate together. The three rotating shafts 41 and 42 are arranged opposite each other and each has a positive thread and a negative thread. A clamping plate 47 and a clamping plate 48 are arranged between the three rotating shafts 41 and 42. One side of the clamping plate 47 is connected to the positive thread of the three rotating shafts 41 via a nut seat 49. The other side of the clamping plate 47... One side of the clamping plate 48 is connected to the positive thread of the rotating shaft 42 via the second nut seat 50. One side of the clamping plate 48 is connected to the negative thread of the rotating shaft 41 via the third nut seat 51. The other side of the clamping plate 48 is connected to the negative thread of the rotating shaft 42 via the fourth nut seat 52. Thus, when the rotating shaft 41 and the rotating shaft 42 rotate, the clamping plate 47 and the clamping plate 48 can move relatively closer or relatively farther apart, thereby clamping or releasing the air spring 53 located between the clamping plate 47 and the clamping plate 48.

[0033] like Figure 17 and Figure 18 As shown, the clamping parts of clamping plate 47 and clamping plate 48 are both set in a V-shape. The V-shaped clamping parts are used to clamp the buckle and the upper cover plate of the air spring. 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 two torque guns, ensuring the center position of the buckle and the upper cover plate, thereby ensuring the smooth progress of the re-tightening work.

[0034] Both the clamping plates 47 and 48 are equipped with clamping lifting blocks 54 and 55, respectively. In this embodiment, the retaining ring and upper cover of the air spring are lifted and clamped by clamping lifting blocks 54 and 55. Both clamping lifting blocks 54 and 55 are L-shaped, and each includes a horizontal side 56 and a vertical side 57.

[0035] The specific method for lifting and clamping is as follows: (e.g.) Figure 18 As shown, when the air spring 53 is positioned between the first clamping lifting block 54 and the second clamping lifting block 55, the clamping drive motor 37 actuates, causing the first clamping lifting block 54 and the second clamping lifting block 55 to move closer together. This moves the horizontal edges 56 of the first clamping lifting block 54 and the second clamping lifting block 55 to the bottom position of the retaining ring 3 of the air spring 53. At this time, a gap H is left between the vertical edges 57 of the first clamping lifting block 54 and the second clamping lifting block 55 and the retaining ring 3 of the air spring 53. Then, as... Figure 19 As shown, the lifting cylinder 712 and the lifting cylinder 713 then move to raise the horizontal edge 56 of the clamping lifting block 54 and the clamping lifting block 55, so that the horizontal edge 56 of the clamping lifting block 54 and the clamping lifting block 55 contacts the bottom of the buckle 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 inserted, the air bladder 2 is not fully inflated, preventing the upper cover plate and the retaining ring from being in a horizontal position. This affects the normal operation of the bolt re-tightening. The main purpose of the air spring lifting step is to lift the air spring by using the horizontal edges of clamping lifting blocks one and two to contact the bottom of the air spring's retaining ring, thus ensuring that the upper cover plate and the retaining ring are in a horizontal position and guaranteeing the normal operation of the bolt re-tightening. Therefore, clamping cannot be performed during the above steps. A gap H must be left between the vertical edges of clamping lifting blocks one and two and the air spring's retaining ring. Once the upper cover plate and the retaining ring are in a horizontal position after lifting, the clamping step can be performed. Figure 20 and Figure 21 As shown, the clamping drive motor 37 is activated again, causing the clamping lifting block 1 54 and clamping lifting block 2 55 to continue moving closer together. This brings the vertical edges 57 of the clamping lifting blocks 1 54 and 2 55 into contact with the retaining ring 3 and the upper cover plate 4 of the air spring 53, thereby clamping and fixing the retaining ring and the upper cover plate of the air spring. During the clamping process, the air spring is automatically centered and then fixed in position, ensuring the smooth progress of the re-tightening operation.

[0036] In summary, this invention, through the design of a two-stage positioning mechanism, can perform initial and fine positioning of the torque gun based on the actual position of the bolt on the air spring before re-tightening. This ensures that the torque gun is accurately aligned with the actual position of the bolt, thereby guaranteeing the smooth progress of the re-tightening work and improving its efficiency. Utilizing a camera-assisted initial and fine positioning further enhances the accuracy of the torque gun positioning, further improving the efficiency of the re-tightening work. The design of an automatic socket wrench replacement system allows this invention to re-tighten bolts on air springs of various specifications and models, improving its versatility and practicality. By designing a spring clamping and lifting mechanism, during the lifting process, the horizontal edges of clamping lifting blocks one and two contact the bottom of the spring's retaining ring to lift the spring, thereby ensuring that the upper cover plate and retaining ring are in a horizontal state and guaranteeing the normal operation of bolt re-tightening. During the clamping process, the retaining ring and upper cover plate of the spring can be automatically centered, so that the central axis of the spring coincides with the central axis between the two torque gun lines, ensuring the center position of the retaining ring and upper cover plate, thus ensuring the smooth operation of re-tightening.

[0037] In this embodiment, "multi-level" refers to a quantity of "two or more levels". The above embodiments are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various changes or modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions should also fall within the protection scope of this invention, which is defined by the claims.

Claims

1. A method for operating a double-shaft re-tightening device with an air spring, characterized in that: The rotating mechanism of the air spring double-axis re-tightening device is symmetrically provided with an XYZ three-axis moving mechanism one and an XYZ three-axis moving mechanism two. The torque gun one is set on the XYZ three-axis moving mechanism two, and the torque gun two is set on the XYZ three-axis moving mechanism two. The air spring dual-axis re-tightening device also includes a frame and an air spring clamping and lifting mechanism disposed on the frame. The rotating mechanism is also disposed on the frame and located above the air spring clamping and lifting mechanism. Camera 1 and Camera 2 are respectively installed on Torque Gun 1 and Torque Gun 2; After the air spring is clamped and lifted, the positions of the pair of bolts that need to be re-tightened are determined by taking pictures with camera one and camera two. The angle difference between the actual positions of torque gun one and torque gun two and the positions of the pair of bolts that need to be re-tightened is calculated. Then, the rotating mechanism is controlled to drive the two torque guns to rotate so that the line A connecting torque gun one and torque gun two coincides with the line B connecting the pair of bolts that need to be re-tightened, and the position of the torque gun is initially positioned. Using cameras one and two again, the actual planar coordinates of the pair of bolts that need to be re-tightened are determined. The difference between the actual planar coordinates of torque guns one and two and the actual planar coordinates of the pair of bolts that need to be re-tightened is calculated. Then, the horizontal positions of the two torque guns are precisely positioned by moving them along the XY axis in the XY axis 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 coincide with the central axes of the pair of symmetrical bolts on the air spring. Finally, the Z axis of the two torque guns is moved to re-tighten the pair of symmetrical bolts on the air spring. This process is repeated until all bolts are re-tightened. The air spring clamping and lifting mechanism includes a lifting plate slidably connected to the frame, and a lifting cylinder one and a lifting cylinder two disposed on the frame. The piston rods of the lifting cylinder one and the lifting cylinder two are both connected to the lifting plate, and the lifting plate can be driven to move vertically up and down through the lifting cylinder one and the lifting cylinder two. The lifting cylinder one and the lifting cylinder two are arranged opposite to each other and located below the lifting plate. The lifting cylinder one is a pneumatic cylinder and the lifting cylinder two is an electric cylinder. The lifting plate is supported by a cylinder to keep it in a suspended state, and the up and down movement of the lifting plate is controlled by the servo motor of the electric cylinder. The lifting plate is also equipped with a clamping drive motor, a T-shaped gear commutator, rotating shaft one, rotating shaft two, rotating shaft three, rotating shaft four, gear reversing transmission box one, gear reversing transmission box two, bearing seat one, and bearing seat two. 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 driven to one end of rotating shaft one, and the other output shaft of the T-shaped gear commutator is driven to one end of rotating shaft two. The other end of rotating shaft one is driven to the input shaft of gear reversing transmission box one. One end of rotating shaft three is driven to the output shaft of gear reversing transmission box one, and the other end of rotating shaft three is connected to bearing seat one. The other end of rotating shaft two is driven to the input shaft of gear reversing transmission box two, and one end of rotating shaft four is driven to the output shaft of gear reversing transmission box two, and the other end of rotating shaft four is connected to bearing seat two. Rotating shaft three, rotating shaft one, rotating shaft two, and rotating shaft four are driven sequentially. The connection forms a U-shape. Under the rotation of the clamping drive motor, it can drive rotating shafts three, one, two, and four to rotate together. Rotating shafts three and four are arranged opposite each other and each has a positive thread and a negative thread. Clamping plate one and clamping plate two are arranged between rotating shafts three and four. One side of clamping plate one is connected to the positive thread of rotating shaft three through nut seat one, and the other side of clamping plate one is connected to the positive thread of rotating shaft four through nut seat two. One side of clamping plate two is connected to the negative thread of rotating shaft three through nut seat three, and the other side of clamping plate two is connected to the negative thread of rotating shaft four through nut seat four. Thus, under the rotation of rotating shafts three and four, clamping plate one and clamping plate two can be driven to move closer or farther apart, thereby clamping or releasing the air spring located between clamping plate one and clamping plate two.

2. The working method according to claim 1, characterized in that: Both torque gun one and torque gun two have quick-connect male heads on their shaft ends, and a quick-connect female head is provided on one end of the socket wrench. The socket wrench is connected to the shaft end of the torque gun by the mating of the quick-connect male and female heads. The frame is also provided with socket wrench storage mechanism one and socket wrench storage mechanism two, which store socket wrenches of various specifications with quick-connect female heads. The XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two respectively drive the torque gun one and the torque gun two to cooperate with the socket wrench storage mechanism one and the socket wrench storage mechanism two, thereby replacing the socket wrench on the rotating shaft end of the torque gun one and the torque gun two.

3. The working method according to claim 2, characterized in that: 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 disposed on the fixed toothed plate. The pressing toothed plate is disposed on the piston rod of the pressing cylinder. Under the drive of the pressing cylinder, the pressing toothed plate can move vertically up and down. The pressing toothed plate is located above the fixed toothed plate. A socket wrench of a certain specification with a quick-connect female head is placed in each toothed groove of the fixed toothed plate. When the pressing toothed plate is pressed down, it can contact the quick-connect female head on the socket wrench. When changing the socket wrench, first use the XYZ three-axis moving mechanism one and XYZ three-axis moving mechanism two to move the socket wrenches on the shaft ends of torque gun one and torque gun two to the toothed grooves of the lower pressure tooth plates of socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then control the lower pressure tooth plates of socket wrench storage mechanism one and socket wrench storage mechanism two to press down on the quick-connect female heads of the lower pressure socket wrenches placed in socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then control torque gun one and torque gun two to move up, so that the quick-connect male heads of the shaft ends of torque gun one and torque gun two are separated from the quick-connect female heads of the lower pressure socket wrenches placed in socket wrench storage mechanism one and socket wrench storage mechanism two, thereby separating the socket wrench from the torque gun. Then, using the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two, the torque gun one and the torque gun two are moved to a position above another type of pressure socket wrench placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two. Then, the torque gun one and the torque gun two are controlled to move downward, so that the quick-connect male heads of the shaft ends of the torque gun one and the torque gun two are respectively inserted into the quick-connect female heads of the other type of pressure socket wrench placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two, thereby connecting the replaced socket wrench with the torque gun.

4. A double-axis re-tightening device for air springs in the working method according to claim 3, comprising a frame, an air spring clamping and lifting mechanism disposed on the frame, and a rotating mechanism disposed on the frame and located above the air spring clamping and lifting mechanism, characterized in that: The rotating mechanism is symmetrically provided with an XYZ three-axis moving mechanism one and an XYZ three-axis moving mechanism two, and a torque gun one is provided on the XYZ three-axis moving mechanism two.

5. The air spring double-shaft re-tightening device according to claim 4, characterized in that: Both the socket wrench storage mechanism one and the socket wrench storage mechanism two include a sliding plate slidably connected to the frame, a connecting arm connected at one end to the sliding plate, and a socket wrench storage rack connected to the other end of the connecting arm. A sliding plate drive cylinder is also provided on the frame. The sliding plate drive cylinder is connected to the sliding plate, so that the sliding plate can move back and forth under the drive of the sliding plate drive cylinder.

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