Omnibearing screwing device capable of feeding back torque

Abstract

The invention discloses an omni-directional screwing device capable of feeding back torque, which comprises a rack, a positioning seat arranged on the rack and used for fixing a workpiece; the tightening machine is used for tightening a screw on the workpiece and moves in the front-back direction and the up-down direction along the guide assembly; the guide assembly is arranged on the rack and used for guiding the tightening machine; and the driving mechanism is arranged on the guide assembly and used for driving the tightening machine to move longitudinally and transversely. The device has the advantages of reducing the equipment purchase cost, reducing the occupied production space, improving the production efficiency, avoiding subsequent procedure errors, ensuring the stable screw tightening quality and improving the operation efficiency.

Description

Technical Field

[0001] The present invention relates to a screw tightening device, and more particularly to an all-round screw tightening device capable of feedback torque. Background Art

[0002] In modern industrial production, screw tightening is a key link in component assembly. Its operation quality and efficiency directly affect the overall performance and production benefits of products. As the core equipment for realizing automatic and precise screw tightening operations, all-round screw tightening devices capable of feedback torque have been widely used in many fields such as automobile manufacturing, electronic equipment assembly, and machining; however, there are generally some problems to be solved in existing screw tightening devices:

[0003] First of all, in terms of equipment versatility, traditional screw tightening devices are usually designed and manufactured for single models or a few types of products. Their positioning seats, positioning parts, and relevant parameters for screw tightening are fixed, making it difficult to meet the production requirements of different models of products. When an enterprise needs to produce multiple models of products, it often needs to purchase multiple screw tightening devices of different specifications, which not only greatly increases the enterprise's equipment procurement cost, but also occupies a large amount of production space. At the same time, frequent equipment replacement and debugging also lead to low production efficiency;

[0004] Secondly, in the positioning pin detection link, existing screw tightening devices lack an effective detection mechanism. In the actual production process, installing the positioning pin in the hole of the workpiece is an important prerequisite for ensuring the tightening accuracy and connection stability of the screw. However, operators may forget to install the positioning pin. Since existing equipment does not have a positioning pin detection function, once the positioning pin is missed, the subsequent screw tightening process will still proceed as normal, ultimately resulting in deviations in product assembly and even the production of defective products, causing waste of raw materials and manpower.

[0005] In addition, in terms of screw tightening torque control, most traditional screw tightening devices adopt simple tightening operations and lack precise control means for torque. If the screw tightening torque is too large, it is easy to cause the screw to slip and the connected parts to be deformed and damaged; if the torque is too small, the reliability of the screw connection cannot be guaranteed, affecting the overall performance of the product. Existing screw tightening devices cannot monitor and adjust the tightening torque in real time according to the requirements of different models of products, making it difficult to ensure the stability of screw tightening quality.

[0006] In summary, existing screw tightening devices have obvious deficiencies in terms of versatility, positioning pin detection, and torque control. Therefore, those skilled in the art are committed to developing an all-round screw tightening device capable of feedback torque that can overcome the above defects to improve production efficiency and product quality and reduce production costs. Summary of the Invention

[0007] In view of the above defects of the prior art, the technical problem to be solved by the present invention is to provide an all-round screw tightening device capable of solving the above technical problems and feedbacking torque.

[0008] To achieve the above object, the present invention provides an all-round screw tightening device capable of feedbacking torque, including a frame,

[0009] a positioning seat, arranged on the frame and used for fixing a workpiece;

[0010] a tightening machine, used for tightening the screws on the workpiece and moving in the front-back and up-down directions along a guiding component;

[0011] the guiding component, arranged on the frame and used for guiding the tightening machine;

[0012] a driving mechanism, arranged on the guiding component and used for driving the tightening machine to move longitudinally and transversely;.

[0013] A plurality of positioning holes are formed in the positioning seat, and a plurality of positioning members are respectively inserted into the positioning holes;

[0014] Handles are arranged on both sides of the positioning seat, and the front half of the positioning seat is detachably connected to the frame by screws.

[0015] Further, the positioning member includes a threaded section, the threaded section is threadedly connected to the positioning hole, the upper end of the threaded section is connected to the lower end of a support column, and a limiting cylinder is arranged at the upper end of the support column.

[0016] Further, the guiding component includes two parallel guide rails, the lower ends of the guide rails are respectively connected to the frame by two columns, a sliding seat is arranged on each guide rail, and the sliding seats are connected by a cross plate;

[0017] A transverse moving frame is slidably arranged on the cross plate, and the driving mechanism includes a first driving unit, a second driving unit and a third driving unit,

[0018] The transverse moving frame is driven by the first driving unit and moves along the length direction of the transverse moving frame; the tightening machine is arranged at the front end of the transverse moving frame, the tightening machine moves along the height direction of the transverse moving frame through the second driving unit, and the third driving unit arranged on the frame is used for driving the transverse moving frame to move back and forth.

[0019] Further, the first driving unit includes a first lead screw, one end of the first lead screw is rotatably connected to a support seat arranged on the cross plate, and the other end of the first lead screw is connected to a transverse motor in a machine box;

[0020] The second driving unit includes a power box body arranged at the rear end of the transverse moving frame. A second lead screw is arranged in the power box body and is connected to the output end of a longitudinal motor. The longitudinal motor is arranged in the power box body. Two long strip-shaped openings are formed in the power box body. A connecting block is arranged at the rear end of each tightening machine. The connecting block extends to the power box body through the long strip-shaped opening and is connected to a displacement seat. The displacement seat is slidably connected to the inner wall of the power box body.

[0021] Further, the third driving unit includes a mounting frame. Two ends of the mounting frame are respectively connected to the respective guide rails. A pushing cylinder is arranged on the mounting frame. The output end of the pushing cylinder is connected to the lower end of the transverse plate through a connecting seat.

[0022] Further, a parameter adjustment unit is further included. The parameter adjustment unit includes an operation display panel, a parameter processing unit and an equipment execution unit;

[0023] For the operation display panel, specific parameters of different model products are input through the operation display panel. The specific parameters include the dimension specification of the positioning seat, the layout spacing of the positioning parts, the workpiece model, and the initial position of screw tightening.

[0024] The parameter processing unit is used for receiving the information sent by the operation panel, parsing it, and then sending it to the equipment execution unit;

[0025] The equipment execution unit is used for receiving the instruction sent by the parameter processing unit and driving each execution component to make adjustments.

[0026] Further, a detection unit is further included. The detection unit includes a sensor, a signal transmission component and an alarm trigger component;

[0027] The sensor is arranged on the tightening machine. Before the tightening operation, the hole position for installing the positioning pin of the workpiece is detected through the sensor. If the positioning pin signal is not detected, the sensor sends an abnormal signal to the control system through the signal transmission component, and the alarm trigger component is triggered through the control system to give an audible and visual alarm.

[0028] Further, a torque sensor, a controller and an adjustment unit are further included;

[0029] The torque sensor is installed on the output shaft of the tightening machine to real-time monitor the torque value T during the process of tightening the screw. Assume that the power output by the tightening machine during the tightening process is P and the rotational speed is n. The torque value T is: The controller pre-stores the standard torque range T corresponding to different model products min , T max , if the received torque value T exceeds this range, that is, T < T min or T > Tmax , the controller sends an instruction to the adjustment unit, and the adjustment unit adjusts the power output of the tightening machine to make the torque return to the standard range.

[0030] Further, the adjustment unit includes an inverter and a power amplifier. After the controller sends an instruction to the adjustment unit, the inverter adjusts the rotational speed n of the driving motor of the tightening machine, and the power amplifier adjusts the output power P of the motor. Let the adjusted rotational speed be n′ and the power be P′. At this time, the torque By adjusting the values of n′ and P′, the adjustment of the power output of the tightening machine is realized, so that the torque T′ returns to the standard range T min , T max .

[0031] The beneficial effects of the present invention are:

[0032] 1. Through the parameter adjustment unit, specific parameters of different models of products can be input on the operation display panel, such as the size specification of the positioning seat, the layout spacing of the positioning parts, the model of the workpiece, the initial position of screw tightening, etc. After the parameter processing unit analyzes the information, the equipment execution unit drives each execution component to adjust, so that the equipment can adapt to the production and processing of different models of products, avoiding enterprises purchasing multiple sets of equipment, reducing the equipment procurement cost, reducing the occupation of production space, and improving production efficiency;

[0033] 2. The sensor of the detection unit is arranged on the tightening machine to detect the hole position of the positioning pin installed on the workpiece before the tightening operation. If the positioning pin signal is not detected, the sensor sends an abnormal signal to the control system through the signal transmission component, triggering the alarm trigger component to give an audible and visual alarm, prompting the operator to miss installing the positioning pin and avoiding errors in subsequent processes;

[0034] 3. The torque sensor is installed on the output shaft of the tightening machine to monitor the torque value in real time during the process of tightening the screw. The controller pre-stores the standard torque ranges corresponding to different models of products. When the monitored torque value exceeds this range, the controller sends an instruction to the adjustment unit. The adjustment unit adjusts the rotational speed of the driving motor of the tightening machine through the inverter, and the power amplifier adjusts the output power of the motor, so that the torque returns to the standard range, ensuring the stable quality of screw tightening.

[0035] 4. The operation display panel is provided with an operation guide module to provide detailed equipment operation steps and precautions for the operator in the form of pictures, texts or videos, reducing the difficulty for new employees to get started and reducing equipment damage and production accidents caused by improper operation. At the same time, quick operation buttons are set. For common operations such as starting the tightening machine, adjusting the tightening machine to the initial position, and calling specific product parameters, the operator can complete the corresponding operations with one click, improving the operation efficiency;

[0036] 5. Install a protective fence around the frame to prevent operators from accidentally touching moving parts; install a protective cover above the working area of the tightening machine to avoid injury caused by parts splashing during the screw tightening process. The protective fence and the protective cover are made of transparent materials for easy observation of the equipment operation, and a safety interlock device is set. When the protective fence or the protective cover is opened, the equipment automatically stops running to prevent accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic structural diagram of a specific embodiment of the present invention.

[0038] Figure 2 is a schematic structural diagram of the positioning seat in the present invention.

[0039] Figure 3 is a schematic structural diagram of the positioning member in the present invention.

[0040] Figure 4 is a schematic structural diagram of components such as the driving mechanism and the guiding assembly.

[0041] Figure 5 is a schematic structural diagram of components such as the power box body in the present invention.

[0042] Figure 6 is a schematic structural diagram of components such as the installation.

[0043] Figure 7 is a schematic structural diagram of the second driving unit.

[0044] Figure 8 is a schematic three-dimensional structural diagram of the present invention. SPECIFIC EMBODIMENTS

[0045] The present invention will be further described below with reference to the drawings and embodiments:

[0046] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "setting", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] As Figures 1 to 8 shown, an all-round screw tightening device capable of feedback torque includes a frame 1,

[0049] a positioning seat 2, arranged on the frame 1 and used for fixing the workpiece;

[0050] a tightening machine 3, used for tightening the screws on the workpiece and moving in the front-back and up-down directions along the guiding component 5;

[0051] the guiding component 5, arranged on the frame 1 and used for guiding the tightening machine 3;

[0052] a driving mechanism 6, arranged on the guiding component 5 and used for driving the tightening machine 3 to move longitudinally and horizontally;

[0053] A plurality of positioning holes 7 are formed in the positioning seat 2, and a plurality of positioning members 8 are respectively inserted into the positioning holes 7;

[0054] Handles 9 are arranged on both sides of the positioning seat 2, and the front half of the positioning seat 2 is detachably connected to the frame 1 by screws.

[0055] The positioning member 8 includes a threaded section 10, the threaded section 10 is threadedly connected to the positioning hole 7, the upper end of the threaded section 10 is connected to the lower end of a support column 11, and a limiting cylinder 12 is arranged at the upper end of the support column 11.

[0056] The guiding component 5 includes two parallel guide rails 13, the lower ends of the guide rails 13 are respectively connected to the frame 1 through two columns 15, a sliding seat 16 is arranged on each guide rail 13, and the sliding seats 16 are connected by a cross plate 17;

[0057] A transverse moving frame 18 is slidably arranged on the cross plate 17, and the driving mechanism 6 includes a first driving unit 19, a second driving unit 20 and a third driving unit 21,

[0058] The transverse moving frame 18 is driven by a first driving unit 19 and moves along the length direction of the transverse moving frame 18; the tightening machine 3 is arranged at the front end of the transverse moving frame 18, and the tightening machine 3 moves along the height direction of the transverse moving frame 18 through a second driving unit 20. A third driving unit 21 arranged on the machine frame 1 is used to drive the transverse moving frame 18 to move back and forth.

[0059] The first driving unit 19 includes a first lead screw 22. One end of the first lead screw 22 is rotatably connected to a support seat 25 arranged on the cross plate 17, and the other end of the first lead screw 22 is connected to a transverse motor in the chassis 23.

[0060] The second driving unit 20 includes a power box body 26 arranged at the rear end of the transverse moving frame 18. A second lead screw 27 is arranged in the power box body 26 and is connected to the output end of a longitudinal motor 28. The longitudinal motor is arranged in the power box body 26. Two long strip openings 29 are formed on the power box body 26. A connecting block is arranged at the rear end of each tightening machine 3. The connecting block extends into the power box body 26 through the long strip opening 29 and is connected to a displacement seat 30. The displacement seat 30 is slidably connected to the inner wall of the power box body 26.

[0061] The third driving unit 21 includes a mounting frame 31. Two ends of the mounting frame 31 are respectively connected to the guide rails 13. A pushing cylinder 32 is arranged on the mounting frame 31. The output end of the pushing cylinder 32 is connected to the lower end of the cross plate 17 through a connecting seat 33.

[0062] When using the present invention, a protective fence needs to be arranged around the machine frame 3 of the present invention to prevent the operator from accidentally touching the moving parts during the operation of the equipment; a protective cover is installed above the working area of the tightening machine to avoid the parts splashing and hurting people during the screw tightening process. The protective fence and the protective cover can be made of transparent materials to facilitate the operator to observe the operation of the equipment. In addition, a safety interlock device can be set for the protective fence and the protective cover. When the protective fence or the protective cover is opened, the equipment automatically stops running to prevent accidents.

[0063] It further includes a parameter adjustment unit, and the parameter adjustment unit includes an operation display panel 66, a parameter processing unit and an equipment execution unit;

[0064] For the operation display panel 66, specific parameters of different models of products are input through the operation display panel 66. The specific parameters include the dimension specifications of the positioning seat, the layout spacing of the positioning parts, the model of the workpiece, and the initial position of the screw tightening.

[0065] The parameter processing unit is used to receive the information sent by the operation panel 66, parse it, and then send it to the equipment execution unit;

[0066] The device execution unit is configured to receive instructions issued by the parameter processing unit and drive each execution component (screw tightening device) for adjustment. With the above settings, the present invention can enable a device to adapt to the production and processing of different model products, improving the versatility of the device.

[0067] In the present invention, a detection unit is further included, and the detection unit includes a sensor, a signal transmission component, and an alarm trigger component;

[0068] The sensor, such as a photoelectric sensor or a proximity sensor, is arranged on the tightening machine 3. Before the tightening operation, the sensor detects the hole position of the workpiece for installing the positioning pin. If the positioning pin signal is not detected, the sensor sends an abnormal signal to the control system through the signal transmission component, and the control system triggers the alarm trigger component to emit an audible and visual alarm, prompting the operator to miss installing the positioning pin, avoiding errors in subsequent processes, and ensuring the accuracy of the production process.

[0069] In the present invention, a torque sensor, a controller, and an adjustment unit are further included;

[0070] The torque sensor is installed on the output shaft of the tightening machine 3 to monitor the torque value T in real time during the process of tightening the screw. Assume that the power output by the tightening machine 3 during the tightening process is P and the rotational speed is n. The torque value T is: The controller pre-stores the standard torque ranges T min ,T max , for different model products. If the received

[0071] torque value T exceeds this range, that is, T < T min or T > T max , the controller sends an instruction to the adjustment unit, and the adjustment unit adjusts the power output of the tightening machine to make the torque return to the standard range. Ensure the stable quality of screw tightening and achieve precise control of the screw tightening torque.

[0072] The adjustment unit includes an inverter and a power amplifier. After the controller sends an instruction to the adjustment unit, the inverter adjusts the rotational speed n of the drive motor of the tightening machine, and the power amplifier adjusts the output power P of the motor. Assume the adjusted rotational speed is n' and the power is P'. At this time, the torque By adjusting the values of n' and P', the adjustment of the power output of the tightening machine is achieved, making the torque T' return to the standard range T min ,T max .

[0073] In addition, the present invention also has an operation guidance function, making it more convenient for its operators to use. Specifically, an operation guidance module is set on the operation display panel 66 to provide detailed equipment operation steps and precautions for the operators in the form of pictures, texts or videos. When a new employee operates, by clicking on the operation guidance module, the operator can view the operation guidelines for the entire process such as equipment startup, parameter setting, workpiece installation, screw tightening operation and equipment shutdown, reducing the difficulty for new employees to get started and reducing equipment damage and production accidents caused by improper operation. Added position: After the relevant content of the operation display panel of the parameter adjustment unit, describe in detail the function, implementation method and presentation form of the operation guidance module.

[0074] Meanwhile, quick operation buttons can be set on the operation display panel according to actual needs. For common operations such as starting the tightening machine, adjusting the tightening machine to the initial position, and calling specific product parameters, the operator can complete the corresponding operations with one click, improving the operation efficiency. Added position: Adjacent to the content of the operation guidance function, introduce the layout, corresponding operations and setting purposes of the quick operation buttons;

[0075] The optimal working principle of the present invention is as follows:

[0076] When the all-round screw tightening device works, first set parameters through the parameter adjustment unit, then the detection unit detects the positioning pin, and then the driving mechanism drives the tightening machine to move and tighten the screw. The torque sensor monitors the torque in real time and is adjusted by the adjustment unit. There are also auxiliary functions such as protection and operation guidance to ensure the operation during the whole process. The following is the detailed working principle:

[0077] The operator inputs specific parameters on the operation display panel 66, such as the dimensional specifications of the positioning seat 2, the layout spacing of the positioning parts (not shown in the figure), the workpiece model, the initial position of screw tightening, etc. After the parameter processing unit receives and analyzes this information, it sends instructions to the equipment execution unit. The equipment execution unit drives each execution component to adjust the positions and states of components such as the positioning seat 2 and the positioning parts 8 according to the input parameters, making the equipment adapt to the production requirements of different model products and improving the versatility of the equipment;

[0078] Before the tightening operation, sensors (such as photoelectric sensors or proximity sensors) installed on the tightening machine 3 detect the hole positions of the workpieces for installing the positioning pins. If the positioning pin signal is not detected, the sensors send abnormal signals to the control system through the signal transmission component. The control system triggers the alarm trigger component to emit sound and light alarms, prompting the operator to miss installing the positioning pin and avoiding errors in subsequent processes to ensure the accuracy of the production process;

[0079] When the first driving unit 19 of the driving mechanism 6 operates, the transverse motor drives the first lead screw 22 to rotate, causing the transverse moving frame 18 to move along its length direction. In the second driving unit 20, the longitudinal motor 28 drives the second lead screw 27 to rotate, and the displacement seat 30 connected to the rear end connecting block of the tightening machine 3 slides within the power box 26, driving the tightening machine 3 to move along the height direction of the transverse moving frame 18. When the pushing cylinder 32 of the third driving unit 21 operates, it pushes the cross plate 17 through the connecting seat 33, and then drives the transverse moving frame 18 to move back and forth, realizing the omnidirectional movement of the tightening machine 3 in the longitudinal, transverse, and vertical directions, so that it reaches the tightening position of the workpiece screw.

[0080] After reaching the tightening position, the tightening machine 3 starts to tighten the screw on the workpiece. The torque sensor installed on the output shaft of the tightening machine 3 monitors the torque value T in real time during the process of tightening the screw. According to the formula where P is the power output by the tightening machine during the tightening process, and n is the rotational speed for calculating torque. The controller pre-stores the standard torque range T corresponding to different product models min , T max , when the monitored torque value T exceeds this range, that is, T < T min or T > T max , the controller sends an instruction to the adjustment unit. The frequency converter of the adjustment unit adjusts the rotational speed n of the driving motor of the tightening machine, and the power amplifier adjusts the output power P of the motor;

[0081] According to the adjusted rotational speed n' and power P';

[0082] At this time, the torque By adjusting the values of n' and P', the adjustment of the power output of the tightening machine is realized, so that the torque T' returns to the standard range T min , T max , ensuring the stable quality of screw tightening and realizing the precise control of the screw tightening torque.

[0083] During the operation of the equipment, the protective fence set around the frame 1 and the protective cover installed above the working area of the tightening machine can prevent operators from accidentally touching the moving parts and protect them from being injured by flying parts. The protective fence and the protective cover are made of transparent materials for easy observation, and a safety interlock device is set. When the protective fence or the protective cover is opened, the equipment automatically stops running. The operation guide module set on the operation display panel 66 provides operators with detailed equipment operation steps and precautions in the form of pictures, texts, or videos. New employees can click to view the full-process operation guide to reduce the difficulty of getting started. At the same time, the quick operation buttons set on the operation display panel 66 are used for common operations such as starting the tightening machine, adjusting the tightening machine to the initial position, and calling specific product parameters. Operators can complete the corresponding operations with one click, improving the operation efficiency.

[0084] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field according to the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art should fall within the protection scope determined by the claims.

Claims

1. An all-round screw-tightening device capable of feedback torque, characterized in that including a frame (1), a positioning seat (2) arranged on the frame (1) for fixing a workpiece; a tightening machine (3) for tightening the screws on the workpiece and moving in the front-back and up-down directions along a guiding assembly (5); the guiding assembly (5) arranged on the frame (1) for guiding the tightening machine (3); a driving mechanism (6) arranged on the guiding assembly (5) for driving the tightening machine (3) to move longitudinally and transversely.

2. The all-round screw-tightening device capable of torque feedback according to claim 1, characterized in that: A plurality of positioning holes (7) are formed in the positioning seat (2), and a plurality of positioning members (8) are respectively inserted into the positioning holes (7); Handles (9) are arranged on both sides of the positioning seat (2), and the front half of the positioning seat (2) is detachably connected to the frame (1) by screws.

3. The all-round screw-tightening device capable of torque feedback according to claim 2, wherein: The positioning member (8) includes a threaded section (10) which is in threaded connection with the positioning hole (7). The upper end of the threaded section (10) is connected to the lower end of a support column (11), and a limiting cylinder (12) is arranged at the upper end of the support column (11).

4. The all-round screw tightening device capable of torque feedback according to claim 3, characterized in that: The guiding assembly (5) includes two parallel guide rails (13). The lower ends of the guide rails (13) are respectively connected to the frame (1) by two columns (15). A sliding seat (16) is arranged on each guide rail (13), and the sliding seats (16) are connected by a cross plate (17); A transverse moving frame (18) is slidably arranged on the cross plate (17). The driving mechanism (6) includes a first driving unit (19), a second driving unit (20) and a third driving unit (21). The transverse moving frame (18) is driven by the first driving unit (19) and moves along the length direction of the transverse moving frame (18). The tightening machine (3) is arranged at the front end of the transverse moving frame (18). The tightening machine (3) moves along the height direction of the transverse moving frame (18) through the second driving unit (20). The third driving unit (21) arranged on the frame (1) is used for driving the transverse moving frame (18) to move back and forth.

5. The all-round screw-tightening device capable of torque feedback according to claim 4, characterized in that: The first driving unit (19) includes a first lead screw (22). One end of the first lead screw (22) is rotatably connected to a support seat (25) arranged on the cross plate (17), and the other end of the first lead screw (22) is connected to a transverse motor in a chassis (23); The second driving unit (20) includes a power box body (26) arranged at the rear end of the transverse moving frame (18). A second lead screw (27) is arranged in the power box body (26) and is connected to the output end of a longitudinal motor (28). The longitudinal motor is arranged in the power box body (26). Two long strip-shaped openings (29) are formed in the power box body (26). A connecting block is arranged at the rear end of each tightening machine (3). The connecting block extends into the power box body (26) through the long strip-shaped opening (29) and is connected to a displacement seat (30). The displacement seat (30) is slidably connected to the inner wall of the power box body (26).

6. The all-round screw-tightening device capable of torque feedback as described in claim 5, characterized in that: The third driving unit (21) includes a mounting frame (31), both ends of the mounting frame (31) are respectively connected to the guide rails (13), a pushing cylinder (32) is arranged on the mounting frame (31), and the output end of the pushing cylinder (32) is connected to the lower end of the cross plate (17) through a connecting seat (33).

7. The all-round screw-tightening device capable of torque feedback according to claim 6, characterized in that: It further includes a parameter adjustment unit, and the parameter adjustment unit includes an operation display panel (66), a parameter processing unit and a device execution unit; For the operation display panel (66), specific parameters of different models of products are input through the operation display panel (66), and the specific parameters include the size specification of the positioning seat, the layout spacing of the positioning parts, the workpiece model, and the initial position of screw tightening; The parameter processing unit is used to receive the information sent by the operation panel (66), parse it, and then send it to the device execution unit; The device execution unit is used to receive the instructions issued by the parameter processing unit and drive each execution component to make adjustments.

8. The all-round screw-tightening device capable of feedback torque according to claim 7, characterized in that: It further includes a detection unit, and the detection unit includes a sensor, a signal transmission component and an alarm trigger component; The sensor is arranged on the tightening machine (3). Before the tightening operation, the sensor detects the hole position of the workpiece for installing the positioning pin. If the positioning pin signal is not detected, the sensor sends an abnormal signal to the control system through the signal transmission component, and the alarm trigger component is triggered through the control system to give an audible and visual alarm.

9. The all-round screw-tightening device capable of torque feedback according to claim 8, characterized in that: It further includes a torque sensor, a controller and an adjustment unit; A torque sensor is installed on the output shaft of the tightening machine (3) to monitor the torque value T during the process of tightening the screw in real time. Assume that the power output by the tightening machine (3) during the tightening process is P and the rotational speed is n. The torque value T is as follows: The controller pre-stores the standard torque range T corresponding to different models of products min , T max . If the received torque value T exceeds this range, that is, T < T min or T > T max , the controller sends an instruction to the adjustment unit, and the adjustment unit adjusts the power output of the tightening machine to bring the torque back to the standard range.

10. The all-round screw-tightening device capable of feedback torque according to claim 9, characterized in that: The adjustment unit includes a frequency converter and a power amplifier. After the controller sends an instruction to the adjustment unit, the frequency converter adjusts the rotational speed n of the driving motor of the tightening machine, and the power amplifier adjusts the output power P of the motor. Let the adjusted rotational speed be n' and the power be P'. At this time, the torque By adjusting the values of n' and P', the adjustment of the power output of the tightening machine is realized, so that the torque T' returns to the standard range T min ,T max .

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