Automatic post-processing module in air spring assembly production line and working method of automatic post-processing module

Abstract

The invention discloses an automatic post-processing module in an air spring assembly production line and a working method of the automatic post-processing module, the automatic post-processing module comprises a conveying line and a plurality of trays placed on the conveying line, and an air spring which is assembled preliminarily is placed on each tray; and an air spring double-shaft re-tightening device and an automatic marking device are sequentially arranged above the conveying line. According to the air spring post-processing device, automatic post-processing operation can be carried out on an air spring which is preliminarily assembled, the labor intensity of operators is reduced, and the assembling efficiency of the air spring is improved.

Description

Technical Field

[0001] The present invention relates to a post-processing module and its working method, and particularly to an automated post-processing module and its working method in an air spring assembly production line, belonging to the technical field of air spring assembly. Background Art

[0002] An air spring is a key component of the vibration damping system of rail transit vehicles. The working principle of the air spring is based on the change of air pressure and volume. When the vibration load increases, the spring height decreases, the cavity volume decreases, resulting in an increase in spring stiffness, and the effective bearing area of the air column in the cavity also increases accordingly, thereby improving the bearing capacity of the spring. On the contrary, when the vibration load decreases, the spring height increases, the cavity volume increases, the spring stiffness decreases, and the bearing capacity also decreases accordingly.

[0003] In this way, the air spring can smoothly and flexibly transmit the amplitude and vibration load within the effective stroke, achieving effective shock absorption and vibration isolation. In addition, the air spring can also adjust its stiffness and bearing capacity by increasing or decreasing the inflation volume to adapt to different working requirements. Some air springs are also equipped with auxiliary air chambers to achieve automatic adjustment functions.

[0004] 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 by bolts 5, thereby pressing and connecting the upper end of the airbag 2 to the snap ring 3. In the assembly work of the air spring, after the preliminary assembly of each component of the air spring is completed, a series of subsequent processing and inspection procedures are also required to ensure product quality, performance stability, and extended service life. These procedures are crucial for improving the overall quality and reliability of the air spring.

[0005] In the prior art, the post-processing operation of the preliminarily assembled air spring is carried out manually. However, the manual operation method increases the labor intensity of the operators and reduces the assembly efficiency of the air spring.

[0006] After retrieval, no patent documents identical or similar to the present application have been found.

[0007] In summary, how to design an automated post-processing module and its working method in an air spring assembly production line, which can perform automated post-processing operations on the preliminarily assembled air spring, reduce the labor intensity of the operators, and improve the assembly efficiency of the air spring is an urgent technical problem to be solved. Summary of the Invention

[0008] The primary technical problem to be solved by the present invention is to provide an automated post-processing module and its working method in an air spring assembly production line to address the defects existing in the prior art. The module can perform automated post-processing operations on the preliminarily assembled air springs, reducing the labor intensity of the operating workers and improving the assembly efficiency of the air springs.

[0009] To solve the above technical problems, the technical solution adopted by the present invention is as follows: An automated post-processing module in an air spring assembly production line includes a conveyor line and a plurality of pallets placed on the conveyor line. Each pallet holds a preliminarily assembled air spring. Above the conveyor line, there are also sequentially arranged an air spring double-axis re-tightening device and an automatic marking device.

[0010] Preferably, the air spring double-axis re-tightening device includes a frame, an air spring clamping and lifting mechanism arranged on the frame, and a rotating mechanism arranged on the frame and located above the air spring clamping and lifting mechanism. On the rotating mechanism, there are symmetrically arranged an XYZ three-axis moving mechanism one and an XYZ three-axis moving mechanism two. A torque gun one is arranged on the XYZ three-axis moving mechanism two, and a torque gun two is arranged on the XYZ three-axis moving mechanism two.

[0011] Preferably, the automatic marking device includes a marking manipulator, a marking camera arranged on the marking manipulator, and a marking mechanism.

[0012] The present invention also discloses a working method of the automated post-processing module as described above. During operation, first, the air springs on each pallet are conveyed by the conveyor line to the air spring double-axis re-tightening device for bolt re-tightening work. After completion, the air springs on each pallet are sent to the automatic marking device for automatic marking, and then conveyed out through the conveyor line, thus completing the post-processing operation.

[0013] Preferably, on the rotating mechanism of the air spring double-axis re-tightening device, there are symmetrically arranged an XYZ three-axis moving mechanism one and an XYZ three-axis moving mechanism two. The torque gun one is arranged on the XYZ three-axis moving mechanism two, and the torque gun two is arranged on the XYZ three-axis moving mechanism two; The working method is as follows: During the re-tightening work, first, the rotating mechanism is used to perform a preliminary positioning of the positions of the two torque guns, and then the XYZ three-axis moving mechanisms are used to perform a precise positioning of the positions of the two torque guns, so that the central axes of the two torque guns respectively coincide with the central axes of a pair of symmetric bolts on the air spring, and then the re-tightening work is carried out.

[0014] 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 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 corresponding to a pair of symmetrical bolts on the air spring, and perform an initial positioning of the positions of the two torque wrenches. Then, use the XY-axis movement in the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to perform a fine positioning of 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 a pair of symmetrical bolts above and below the air spring until the re-tightening work of all bolts is completed.

[0015] Preferably, a camera 1 and a camera 2 are respectively further provided 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 perform an initial positioning of the positions of the torque wrenches; Then use the camera 1 and the camera 2 to take pictures again to determine the actual planar coordinate positions of a pair of bolts that need to be re-tightened, calculate the difference between the actual planar coordinate positions of the torque wrench 1 and the torque wrench 2 and the actual planar 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 perform a fine positioning of 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 the re-tightening work of all bolts is completed.

[0016] Preferably, male quick-connect heads are respectively provided at the end parts of the rotating shafts of the torque wrench 1 and the torque wrench 2, and female quick-connect 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 of the male quick-connect head and the female quick-connect head; a socket wrench storage mechanism 1 and a socket wrench storage mechanism 2 are further provided on the frame, and various specifications of socket wrenches with female quick-connect heads are stored in the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2; The XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 drive the torque wrench 1 and the torque wrench 2 respectively 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 rotating shaft ends of the torque wrench 1 and the torque wrench 2.

[0017] Preferably, both the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2 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 with a female quick connector head of a certain specification is placed in each tooth-shaped groove of the fixed toothed plate. When the pressing toothed plate presses down, it can contact the female quick connector head 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 wrench 1 and the torque wrench 2 to the tooth-shaped grooves of the pressing toothed plates of the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2 respectively. Then control the pressing toothed plates of the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2 to press down the female quick connector heads on the pressing socket wrenches placed in the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2 respectively. Then control the torque wrench 1 and the torque wrench 2 to move up, so that the male quick connector parts at the rotating shaft ends of the torque wrench 1 and the torque wrench 2 are separated from the female quick connector 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 wrench. Then use the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to move the torque wrench 1 and the torque wrench 2 to the positions above the other specifications of pressing socket wrenches placed in the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2. Then control the torque wrench 1 and the torque wrench 2 to move down, so that the male quick connector parts at the rotating shaft ends of the torque wrench 1 and the torque wrench 2 are respectively inserted into the female quick connector heads of the other specifications of pressing socket wrenches placed in the socket wrench storage mechanism 1 and the socket wrench storage mechanism 2, so as to connect the replaced socket wrench to the torque wrench.

[0018] Preferably, the air spring clamping and 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 both connected to the lifting plate. 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 oppositely and are located below the lifting plate. The lifting cylinder 1 is a cylinder, and the lifting cylinder 2 is an electric cylinder. The lifting plate is supported by a cylinder to make the lifting plate in a suspended state, and the position of the lifting plate moving up and down is controlled by the servo motor of the electric cylinder.

[0019] The beneficial effects of the present invention are as follows: Through the above design, the present invention can perform automated post-treatment operations on the preliminarily assembled air springs, reducing the labor intensity of the operating workers and improving the assembly efficiency of the air springs. By designing a two-stage positioning mechanism, before the 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, so that the torque wrench can 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 the 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 clamping and lifting block one and the clamping and lifting block two 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 position of the buckle and the upper cover plate, and thus ensuring the smooth progress of the re-tightening work. By designing an automatic scribing device, the operation of automatically scribing anti-loosening lines on the bolts can be performed, further reducing the labor intensity of the operating workers and improving the assembly efficiency of the air springs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic axial sectional structure diagram of an air spring in the prior art; Figure 2 It is a schematic top view structure diagram of the automated post-treatment module in the embodiment of the present invention; Figure 3 It is a schematic top view structure diagram when performing re-tightening work on the air spring bolts in the prior art Figure 1 ; Figure 4 It is a schematic top view structure diagram when performing re-tightening work on the air spring bolts in the prior art Figure 2 ; Figure 5 It is a schematic top view structure diagram when performing re-tightening work on the air spring bolts in the prior art Figure 3 ; Figure 6 It is a schematic three-dimensional structure diagram of the air spring biaxial re-tightening device in the embodiment of the present invention; Figure 7Schematic diagram of the partial front view structure of the air spring double-axis re-tightening device in the embodiment of the present invention at the rotating mechanism; Figure 8 In the embodiment of the present invention, schematic diagram of the top view structure when re-tightening the air spring bolts Figure 1 ; Figure 9 In the embodiment of the present invention, schematic diagram of the top view structure when re-tightening the air spring bolts Figure 2 ; Figure 10 Schematic diagram of the top view structure of the air spring double-axis re-tightening device in the embodiment of the present invention; Figure 11 In the air spring double-axis re-tightening device of the embodiment of the present invention, schematic diagram of the partial top view structure at one place of the XYZ three-axis moving mechanism; Figure 12 In the air spring double-axis re-tightening device of the embodiment of the present invention, schematic diagram of the partial three-dimensional structure at one place of the torque wrench; Figure 13 Is Figure 12 Schematic diagram of the enlarged structure of part C in Figure 14 In the air spring double-axis re-tightening device of the embodiment of the present invention, schematic diagram of the partial front view structure at one place of the socket wrench storage mechanism; Figure 15 In the embodiment of the present invention, three-dimensional structure schematic diagram of the working principle when automatically replacing the socket wrench Figure 1 ; Figure 16 In the embodiment of the present invention, three-dimensional structure schematic diagram of the working principle when automatically replacing the socket wrench Figure 2 ; Figure 17 In the air spring double-axis re-tightening device of the embodiment of the present invention, three-dimensional structure schematic diagram of the air spring clamping and lifting mechanism; Figure 18 In the air spring double-axis re-tightening device of the embodiment of the present invention, schematic diagram of the top view structure of the air spring clamping and lifting mechanism; Figure 19 In the embodiment of the present invention, schematic diagram of the front view structure of the working principle when using the air spring clamping and lifting mechanism to lift and clamp the air spring Figure 1 ; Figure 20 In the embodiment of the present invention, schematic diagram of the front view structure of the working principle when using the air spring clamping and lifting mechanism to lift and clamp the air spring Figure 2 ; Figure 21 In the embodiment of the present invention, schematic diagram of the front view structure of the working principle when using the air spring clamping and lifting mechanism to lift and clamp the air spring Figure 3 ; Figure 22 In the embodiment of the present invention, it is a schematic front view of the working principle when the air spring is lifted and clamped by the air spring clamping and lifting mechanism Figure 4 ; Figure 23 In the embodiment of the present invention, it is a partial three-dimensional structure schematic diagram at the automatic scribing device; In the figure: 1. Auxiliary spring, 2. Airbag, 3. Snap ring, 4. Upper cover plate, 5. Bolt, 6. Conveyor line, 7. Tray, 8. Air spring, 9. Air spring double-axis compound tightening device, 10. Automatic scribing device, 101. Scribing manipulator, 102. Scribing camera, 103. Scribing mechanism, 11. Frame, 12. Air spring clamping and lifting mechanism, 121. Lifting plate, 122. Lifting cylinder one, 123. Lifting cylinder two, 13. Rotating mechanism, 131. Slewing bearing, 132. Rotating drive motor, 14. XYZ three-axis moving mechanism one, 15. XYZ three-axis moving mechanism two, 16. Torque wrench one, 17. Torque wrench two, 18. Camera one, 19. Camera two, 20. Gear one, 21. Slide block and guide rail mechanism one, 22. Moving plate one, 23. Slide block and guide rail mechanism two, 24. Moving plate two, 25. X-axis drive motor, 26. Lead screw nut mechanism one, 261. Nut one, 27. Y-axis drive motor, 28. Lead screw nut mechanism two, 281. Nut two, 29. Slide block and guide rail mechanism three, 30. Moving plate three, 31. Z-axis drive motor, 32. Rack, 33. Quick connector male head, 34. Socket wrench, 35. Quick connector female head, 36. Socket wrench storage mechanism one, 37. Socket wrench storage mechanism two, 38. Slide block and guide rail mechanism four, 39. Sliding plate, 40. Connecting arm, 41. Socket wrench storage rack, 411. Fixed toothed plate, 412. Pressing cylinder, 413. Pressing toothed plate, 42. Clamping drive motor, 43. T-shaped gear commutator, 44. Rotating shaft one, 45. Rotating shaft two, 46. Rotating shaft three, 47. Rotating shaft four, 48. Gear commutation transmission box one, 49. Gear commutation transmission box two, 50. Bearing seat one, 51. Bearing seat two, 52. Clamping plate one, 53. Clamping plate two, 54. Nut seat one, 55. Nut seat two, 56. Nut seat three, 57. Nut seat four, 58. Air spring, 59. Clamping and lifting block one, 60. Clamping and lifting block two, 61. Horizontal side, 62. Vertical side. Detailed implementation manners

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

[0022] Embodiment: As Figure 2As shown in the figure, an automated post-processing module in an air spring assembly production line includes a conveyor line 6 and a plurality of pallets 7 placed on the conveyor line 6. An initially assembled air spring 8 is placed on each pallet 7. Above the conveyor line 6, an air spring double-axis re-tightening device 9 and an automatic scribing device 10 are sequentially arranged. Through the conveyor line 6, the air spring 8 on each pallet is first transported to the air spring double-axis re-tightening device 9 for bolt re-tightening work. After completion, the air spring 8 on each pallet is then sent to the automatic scribing device 10 for automatic scribing, and then transported out through the conveyor line, thus completing the post-processing operation. Through the above design in this embodiment, the post-processing operation of the initially assembled air spring can be automated, reducing the labor intensity of the operators and improving the assembly efficiency of the air spring.

[0023] The air spring double-axis re-tightening device will be described first as follows: The air spring double-axis re-tightening device is mainly used for re-tightening the bolts on the upper cover plate. In the prior art, in order to achieve the automated 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 simultaneously. As Figure 3 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, and so on, until all bolts 5 are completely re-tightened.

[0024] In actual work, generally after the air spring is sent into the double-axis re-tightening mechanism, the situation where the positions of the bolts do not correspond to the positions of the two torque guns will occur. As Figure 4 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 rotation mechanism accuracy, as Figure 5 shown, the situation where 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 work efficiency of the re-tightening work. In addition, if for various external reasons, it is impossible to ensure that the central axis of the upper cover plate 4 coincides with the rotational central axis of the two torque guns, even if the rotation mechanism has high accuracy, the situation where the positions of the two torque guns cannot accurately align with the positions of the two bolts will still occur.

[0025] Therefore, the applicant makes the following improvements: As Figure 6 andFigure 7 As shown in the figure, a double-axis complex tightening device for air springs includes a frame 11, an air spring clamping and lifting mechanism 12 arranged on the frame 11, and a rotating mechanism 13 arranged on the frame 11 and located above the air spring clamping and lifting mechanism 12. A first XYZ three-axis moving mechanism 14 and a second XYZ three-axis moving mechanism 15 are symmetrically arranged on the rotating mechanism 13. A first torque wrench 16 is arranged on the second XYZ three-axis moving mechanism, and a second torque wrench (not shown in the figure) is arranged on the second XYZ three-axis moving mechanism. 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 12, and then the rotating mechanism is used to drive the two torque wrenches to rotate to a position 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 movement in the first XYZ three-axis moving mechanism and the second XYZ three-axis moving mechanism is used to precisely 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 movement in the first XYZ three-axis moving mechanism and the second XYZ three-axis moving mechanism 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 the complex tightening work of all bolts is completed. In this embodiment, by designing a two-stage positioning mechanism, before complex tightening, the positions of the torque wrenches can be initially positioned and precisely 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, thereby ensuring the smooth progress of the complex tightening work and improving the work efficiency of the complex tightening work.

[0026] A first camera 18 and a second camera 19 are respectively further arranged on the first torque wrench 16 and the second torque wrench 17. After the air spring is clamped and lifted, as Figure 8 shown, first, the first camera 18 and the second camera 19 are used to take pictures to determine the orientation of a pair of bolts that need to be complex tightened, and calculate the included angle between the actual orientations of the first torque wrench 16 and the second torque wrench 17 and the orientation of a pair of bolts that need to be complex tightened, that is, the included angle a between the connecting line A between the first torque wrench 16 and the second torque wrench 17 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 9As shown, the rotating mechanism 13 is controlled to drive the two torque guns to rotate, so that the connection line A between the torque gun 16 and the torque gun 2 17 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 18 and the camera 2 19 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 positions of the torque gun 16 and the torque gun 2 17 are calculated. The difference between the actual 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) is then precisely positioned by using the XY axis movement of the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to precisely 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, respectively, and finally, the two torque guns re-tighten the pair of symmetrical bolts on the empty spring by using the Z axis movement of the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2. This is repeated until the re-tightening of all bolts is completed.

[0027] like Figure 7 and Figure 10 As shown, the rotating mechanism 13 includes a slewing bearing 131 rotatably connected to the frame 11, the outer ring of the slewing bearing 131 is provided with teeth, and a rotating drive motor 132 is also provided on the frame 11. A gear 20 is provided on the rotating shaft of the rotating drive motor 132, and the gear 20 is meshed and connected with the teeth on the outer ring of the slewing bearing 131 through transmission connection, so that the slewing bearing 131 can be driven to rotate by the action of the rotating drive motor 132; the XYZ three-axis moving mechanism 14 and the XYZ three-axis moving mechanism 2 15 are both arranged on the slewing bearing 131.

[0028] like Figure 11 and Figure 12As shown, both the XYZ three-axis moving mechanism 14 and the XYZ three-axis moving mechanism 15 include a first moving plate 22 slidably connected to the frame 11 through a slider and a guide rail mechanism 21, and a second moving plate 24 slidably connected to the first moving plate 22 through a slider and a guide rail mechanism 23. The slider and the guide rail mechanism 21 are arranged along the X-axis direction, and the slider and the guide rail mechanism 23 are arranged along the Y-axis direction. An X-axis driving motor 25 and a first screw nut mechanism 26 are further arranged on the frame 11. The X-axis driving motor 25 is in transmission connection with the first screw nut mechanism 26 in a cooperative manner. The nut 261 of the first screw nut mechanism 26 is connected to the first moving plate 22. Thus, driven by the X-axis driving motor 25, the first screw nut mechanism 26 can drive the first moving plate 22 to move back and forth along the X-axis direction. A Y-axis driving motor 27 and a second screw nut mechanism 28 are further arranged on the first moving plate 22. The Y-axis driving motor 27 is in transmission connection with the second screw nut mechanism 28 in a cooperative manner. The nut 281 of the second screw nut mechanism 28 is connected to the second moving plate 24. Thus, driven by the Y-axis driving motor 27, the second screw nut mechanism 28 can drive the second moving plate 24 to move back and forth along the Y-axis direction. A third moving plate 30 is slidably connected to the second moving plate 24 through a slider and a guide rail mechanism 29. The slider and the guide rail mechanism 29 are arranged along the Z-axis direction. A Z-axis driving motor 31 is further arranged on the third moving plate 30. A second gear (not shown in the figure) is arranged on the rotating shaft of the Z-axis driving motor 31. A rack 32 is further arranged on the second moving plate 24. The second gear is in meshing transmission connection with the rack 32. Thus, driven by the Z-axis driving motor 31, the second gear and the rack 32 can drive the third moving plate 30 to move back and forth along the Z-axis direction in a transmission cooperation manner. The first torque wrench 16 and the second torque wrench 17 are respectively arranged on the third moving plate 30 of the XYZ three-axis moving mechanism 14 and the third moving plate 30 of the XYZ three-axis moving mechanism 15. The first camera 18 and the second camera 19 are also respectively arranged on the third moving plate 30 of the XYZ three-axis moving mechanism 14 and the third moving plate 30 of the XYZ three-axis moving mechanism 15.

[0029] As Figure 13 shown, quick-connect male heads 33 are arranged at the end parts of the rotating shafts of the first torque wrench 16 and the second torque wrench 17. A quick-connect female head 35 is arranged at one end of the socket wrench 34. The socket wrench 34 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 33 and the quick-connect female head 35. 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, different specifications of socket wrenches need to be replaced. For this reason, this embodiment also discloses a working method for automatically replacing the socket wrench. As Figure 7As shown, a socket wrench storage mechanism I 36 and a socket wrench storage mechanism II 37 are further provided on the rack 11. The socket wrench storage mechanism I 36 and the socket wrench storage mechanism II 37 store socket wrenches with female quick connector heads of various specifications.

[0030] In this embodiment, the XYZ three-axis moving mechanism I 14 and the XYZ three-axis moving mechanism II 15 drive the torque wrench I 16 and the torque wrench II 17 respectively to cooperate with the socket wrench storage mechanism I 36 and the socket wrench storage mechanism II 37, so as to replace the socket wrenches on the rotating shaft ends of the torque wrench I 16 and the torque wrench II 17. In this way, the bolt re-tightening work of air springs of various specifications and models can be carried out, improving the versatility and practicality of this embodiment.

[0031] As Figure 14 shown, both the socket wrench storage mechanism I 36 and the socket wrench storage mechanism II 37 include a sliding plate 39 slidably connected to the rack 11 through a slider and a guide rail mechanism IV 38, a connecting arm 40 with one end connected to the sliding plate 39, and a socket wrench storage rack 41 connected to the other end of the connecting arm 40. A sliding plate driving cylinder (not shown in the figure) is further provided on the rack 11. The sliding plate driving cylinder is connected to the sliding plate 39, so that under the drive of the sliding plate driving cylinder, the sliding plate 39 can move back and forth along the slider and the guide rail mechanism IV 38. When the socket wrench needs to be replaced, the sliding plate driving cylinders of the socket wrench storage mechanism I 36 and the socket wrench storage mechanism II 37 are controlled to act, so as to drive the two socket wrench storage racks 41 to move relatively closer, so that the two socket wrench storage racks 41 move to the positions of the torque wrench I 16 and the torque wrench II 17 respectively, which is convenient for the replacement of the socket wrench. After the replacement is completed, the sliding plate driving cylinders of the socket wrench storage mechanism I 36 and the socket wrench storage mechanism II 37 are controlled to act again, so as to drive the two socket wrench storage racks 41 to move relatively away, so that the two socket wrench storage racks 41 both move away from the torque wrench I 16 and the torque wrench II 17 respectively, which can avoid the interference of the socket wrench storage rack 41 on the torque wrench I 16 and the torque wrench II 17 and ensure that the torque wrench I 16 and the torque wrench II 17 can normally carry out the re-tightening work.

[0032] As Figure 15 and Figure 16As shown, the socket wrench storage rack 41 includes a fixed toothed plate 411 connected to the other end of the connecting arm 40 and a pressing cylinder 412 provided on the fixed toothed plate 411. A pressing toothed plate 413 is provided on the piston rod of the pressing cylinder 412. Driven by the pressing cylinder 412, the pressing toothed plate 413 can move up and down vertically. The pressing toothed plate 413 is located above the fixed toothed plate 411. A socket wrench 34 with a female quick connector head 35 of a certain specification is placed in each tooth-shaped groove of the fixed toothed plate 411 (only one socket wrench is drawn in the figure). When the pressing toothed plate 413 presses down, it can contact the female quick connector head 35 on the socket wrench 34.

[0033] 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 34 on the rotating shaft ends of the torque wrench one 16 and the torque wrench two 17 to the tooth-shaped grooves of the pressing toothed plates 413 of the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively. Then control the pressing toothed plates 413 of the socket wrench storage mechanism one and the socket wrench storage mechanism two to press down on the female quick connector heads 35 on the pressing socket wrenches 34 placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively. Then control the torque wrench one 16 and the torque wrench two 17 to move up, so that the male quick connector heads 33 at the rotating shaft ends of the torque wrench one 16 and the torque wrench two 17 are separated from the female quick connector heads 35 on the pressing socket wrenches 34 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 16 and the torque wrench two 17 to the upper positions of the other specification of pressing socket wrenches 34 placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two respectively. Then control the torque wrench one 16 and the torque wrench two 17 to move down, so that the male quick connector heads 33 at the rotating shaft ends of the torque wrench one 16 and the torque wrench two 17 are respectively inserted into the female quick connector heads 35 of the other specification of pressing socket wrenches 34 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. By designing a technical solution for automatically replacing 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.

[0034] As Figure 6 and Figure 17As shown in the figure, the air spring clamping and lifting mechanism 12 includes a lifting plate 121 slidably connected to the frame 11 through a linear guide rail, a first lifting cylinder 122 and a second lifting cylinder 123 arranged on the frame 11. The piston rods of the first lifting cylinder 122 and the second lifting cylinder 123 are both connected to the lifting plate 121. The first lifting cylinder 122 and the second lifting cylinder 123 can drive the lifting plate 121 to move up and down vertically. The first lifting cylinder 122 and the second lifting cylinder 123 are oppositely arranged and located below the lifting plate 121. The first lifting cylinder 122 is a pneumatic cylinder, and the second lifting cylinder 123 is an electric cylinder. In this way, the pneumatic cylinder is used to support the lifting plate 121 so that the lifting plate 121 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 121. 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.

[0035] As Figure 17 and Figure 18As shown, a clamping drive motor 42, a T-shaped gear commutator 43, a first rotating shaft 44, a second rotating shaft 45, a third rotating shaft 46, a fourth rotating shaft 47, a first gear commutating transmission box 48, a second gear commutating transmission box 49, a first bearing seat 50 and a second bearing seat 51 are further arranged on the lifting plate 121. The clamping drive motor 42 is connected to the input shaft of the T-shaped gear commutator 43. One output shaft of the T-shaped gear commutator 43 is in transmission connection with one end of the first rotating shaft 44, and the other output shaft of the T-shaped gear commutator 43 is in transmission connection with one end of the second rotating shaft 45. The other end of the first rotating shaft 44 is in transmission connection with the input shaft of the first gear commutating transmission box 48. One end of the third rotating shaft 46 is in transmission connection with the output shaft of the first gear commutating transmission box 48, and the other end of the third rotating shaft 46 is connected to the first bearing seat 50. The other end of the second rotating shaft 45 is in transmission connection with the input shaft of the second gear commutating transmission box 49. One end of the fourth rotating shaft 47 is in transmission connection with the output shaft of the second gear commutating transmission box 49, and the other end of the fourth rotating shaft 47 is connected to the second bearing seat 51. The third rotating shaft 46, the first rotating shaft 44, the second rotating shaft 45 and the fourth rotating shaft 47 are sequentially in transmission connection to form a U shape. Under the rotation of the clamping drive motor 42, the third rotating shaft 46, the first rotating shaft 44, the second rotating shaft 45 and the fourth rotating shaft 47 can be driven to rotate together. The third rotating shaft 46 and the fourth rotating shaft 47 are oppositely arranged, and a positive thread part and a reverse thread part are arranged on both the third rotating shaft 46 and the fourth rotating shaft 47. A first clamping plate 52 and a second clamping plate 53 are arranged between the third rotating shaft 46 and the fourth rotating shaft 47. One side edge of the first clamping plate 52 is in transmission connection with the positive thread part of the third rotating shaft 46 through a first nut seat 54, and the other side edge of the first clamping plate 52 is in transmission connection with the positive thread part of the fourth rotating shaft 47 through a second nut seat 55. One side edge of the second clamping plate 53 is in transmission connection with the reverse thread part of the third rotating shaft 46 through a third nut seat 56, and the other side edge of the second clamping plate 53 is in transmission connection with the reverse thread part of the fourth rotating shaft 47 through a fourth nut seat 57. Thus, under the rotation of the third rotating shaft 46 and the fourth rotating shaft 47, the first clamping plate 52 and the second clamping plate 53 can be driven to move relatively closer or relatively farther apart, so as to clamp or release the air spring 58 located between the first clamping plate 52 and the second clamping plate 53.

[0036] As Figure 18 and Figure 19 shown, the clamping parts of the first clamping plate 52 and the second clamping plate 53 are both arranged in a V shape. 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 wrenches, ensuring the central positions of the snap ring and the upper cover plate, and thus ensuring the smooth progress of the re-tightening work.

[0037] Clamping lifting blocks I (59) and clamping lifting blocks II (60) are provided on the clamping parts of the first clamping plate (52) and the second clamping plate (53). In this embodiment, the clamping lifting blocks I (59) and clamping lifting blocks II (60) are used to lift and clamp the snap ring and the upper cover plate of the air spring. The clamping lifting blocks I (59) and clamping lifting blocks II (60) are both arranged in an L shape. The L-shaped clamping lifting blocks I (59) and clamping lifting blocks II (60) both include a horizontal side (61) and a vertical side (62).

[0038] The specific method for lifting and clamping is as follows: As Figure 19 shown, when the air spring (58) is sent to the position between the clamping lifting blocks I (59) and clamping lifting blocks II (60), the clamping drive motor (42) operates to drive the clamping lifting blocks I (59) and clamping lifting blocks II (60) to move relatively closer, so that the horizontal sides (61) of the clamping lifting blocks I (59) and clamping lifting blocks II (60) move to the bottom position of the snap ring (3) of the air spring (58). At this time, there is a gap H between the vertical sides (62) of the clamping lifting blocks I (59) and clamping lifting blocks II (60) and the snap ring (3) of the air spring (58). Then, as Figure 20 shown, the first lifting cylinder (122) and the second lifting cylinder (123) operate to drive the horizontal sides (61) of the clamping lifting blocks I (59) and clamping lifting blocks II (60) to rise, so that the horizontal sides (61) of the clamping lifting blocks I (59) and clamping lifting blocks II (60) are in contact with the bottom of the snap ring (3) of the air spring (58), thereby lifting the air spring (58). 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 clamping lifting blocks II to contact 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 clamping lifting blocks 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 21 and Figure 22 shown, the clamping drive motor (42) is controlled to operate again to drive the clamping lifting blocks I (59) and clamping lifting blocks II (60) to continue to move relatively closer, so that the vertical sides (62) of the clamping lifting blocks I (59) and clamping lifting blocks II (60) are in contact with the snap ring (3) and the upper cover plate (4) of the air spring (58), 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.

[0039] The air spring (58) after re-tightening is sent to the automatic marking device (10) through the conveyor line for automatic marking. The automatic marking device will be described below: AsFigure 23 As shown in the figure, the automatic scribing device 10 includes a scribing manipulator 101, a scribing camera 102 and a scribing mechanism 103 provided on the scribing manipulator 101. A pallet lifting mechanism and a stop mechanism (not shown in the figure) are also provided on the conveyor line located at the automatic scribing device 10. When the pallet 7 with the air spring 58 after re-tightening is sent to the automatic scribing device 10, the pallet 7 with the air spring 58 is stopped by using the stop mechanism, and then the pallet 7 with the air spring 58 is lifted by using the pallet lifting mechanism. Then, the scribing camera 102 is used to take pictures and confirm the positions of the bolts on the upper cover plate 4 of the air spring 58, and then the scribing manipulator 101 is controlled to drive the scribing mechanism 103 to perform scribing operations on each bolt. The scribing mechanism 103 can adopt an inkjet printer for scribing.

[0040] In summary, through the above design, the present invention can perform automatic post-treatment operations on the preliminarily assembled air springs, reducing the labor intensity of the operators and improving the assembly efficiency of the air springs. 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 positions of the bolts on the air spring, so that the torque wrench can accurately align with the actual positions of the bolts, 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 wrench 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 using the horizontal edges of the first clamping and lifting block and the second clamping and lifting block in contact with 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. By designing an automatic scribing device, the operation of automatically scribing anti-loosening lines on the bolts can be performed, further reducing the labor intensity of the operators and improving the assembly efficiency of the air springs.

[0041] In this embodiment, the "multi-stage" 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 also make various changes or transformations without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions should also belong to the protection scope of the present invention, and the protection scope of the present invention should be defined by each claim.

Claims

1. An automated post-processing module in an empty spring assembly production line, characterized in that: It includes a conveyor line and a plurality of pallets placed on the conveyor line, on each pallet there is a preliminarily assembled empty spring, and above the conveyor line there are also empty spring double-axis re-tightening devices and automatic marking devices arranged in sequence.

2. The automated post-processing module according to claim 1, characterized in that: The empty spring dual-axis complex tightening device includes a frame, an empty spring clamping and lifting mechanism arranged on the frame, and a rotating mechanism arranged on the frame and located above the empty spring clamping and lifting mechanism, an XYZ three-axis moving mechanism 1 and an XYZ three-axis moving mechanism 2 are symmetrically arranged on the rotating mechanism, a torque gun 1 is arranged on the XYZ three-axis moving mechanism 2, and a torque gun 2 is arranged on the XYZ three-axis moving mechanism 2.

3. The automated post-processing module according to claim 1 or 2, characterized in that: The automatic marking device comprises a marking robot, a marking camera arranged on the marking robot and a marking mechanism.

4. A method for operating an automated post-processing module according to any one of claims 1, 2 or 3, characterized in that: During operation, the empty springs on each pallet are first conveyed to the empty spring double-axis re-tightening device through the conveyor line for bolt re-tightening. After completion, the empty springs on each pallet are sent to the automatic marking device for automatic marking, and then conveyed out through the conveyor line to complete the post-processing operation.

5. The working method according to claim 4, 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.

6. The working method according to claim 5, 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.

7. The working method according to claim 6, 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.

8. The working method according to claim 6 or 7, 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.

9. The working method according to claim 8, 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.

10. The working method according to claim 8, 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.

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