Flange bolt fastening apparatus for cylindrical members

Abstract

The application discloses a kind of cylindrical component flange bolt locking equipment, including the clamping fixture for clamping component A, the locking device for flange bolt on clamping positioning component A is tightened operation, and the power device for driving locking device to be translated in horizontal and vertical direction and rotate around the axis of flange.This application clamping fixture adopts double clamping arm cooperation rack and pinion synchronous drive structure, so that two sides clamping arm realizes high-precision centering mold closing, ensure that the clamping cylindrical component does not shift, loose;By the tightening operation of two bolts of flange radial relative position simultaneously, avoid uneven stress of flange face, flange plate deflection misplacement defect when single bolt is sequentially tightened;Through multidimensional power device, locking device is driven to adjust operation position and angle flexibly, to adapt to different diameter, different axial length various cylindrical flange products, realize multi-specification product collinear production, improve equipment compatibility.

Description

Technical Field

[0001] This invention relates to the field of bolt fastening technology for components, and more particularly to a bolt fastening device for flanges of cylindrical components. Background Technology

[0002] Flange connection is a detachable connection method widely used in industrial fields, as shown in the attached image. Figure 1 This diagram illustrates a common product connection structure where component A and component B are coaxially arranged cylindrical parts. Component A has a frustum-shaped cylindrical structure with flange A on its frustum side; component B has a cylindrical cylindrical structure with flange B on its outer circumference, and flange B has several threaded holes. During assembly, one end of component B is inserted into component A to support and limit its movement; at this time, flange B and flange A are mated, and the holes on the two flanges are aligned. Bolts are screwed through the threaded holes of flange A and flange B from one side of component A to achieve locking and fixing of the two components.

[0003] Currently, flange assembly for such products still commonly relies on manual bolt fastening. This method is not only labor-intensive, but the quality and efficiency of bolt fastening are also highly dependent on the worker's physical condition and skill level, resulting in a slow overall operation speed. This is especially true for large-diameter flanges, where the large number of bolts required significantly increases the time spent on manual fastening, leading to high labor costs and low assembly efficiency.

[0004] In view of this, the present invention is hereby proposed. Summary of the Invention

[0005] To overcome the above-mentioned defects, the present invention provides a bolt fastening device for cylindrical components with high efficiency and high compatibility.

[0006] The technical solution adopted by this invention to solve its technical problem is: a flange bolt fastening device for a cylindrical component, comprising: The clamping and fixing device includes two clamping arms arranged opposite each other, a first drive mechanism for driving the two clamping arms to move synchronously, and an anti-drop mechanism for locking the relative position of the two clamping arms. Contouring grooves are respectively provided on the inner side of one end of each of the two clamping arms. The first drive mechanism drives the two clamping arms to move closer together, so that the two contouring grooves enclose a clamping portion for clamping component A. An avoidance notch is formed between the inner sides of the other ends of the two clamping arms. A locking device for tightening flange bolts on clamped and positioned component A includes two opposing support arms and a second drive mechanism for driving the two support arms closer or further apart. Each support arm is equipped with an electric tightening mechanism and a support mechanism for supporting the bolts during feeding. The actuators of the two sets of electric tightening mechanisms simultaneously tighten two bolts located radially opposite to each other on the flange. When the actuators of the two electric tightening mechanisms are in a horizontal state, one of the actuators passes through the clearance notch. A power unit is used to drive the locking device to translate horizontally and vertically, and to rotate about the axis of the flange.

[0007] As a further improvement of the present invention, the clamping and fixing device further includes a first mounting plate, and the two clamping arms are mounted on one side of the first mounting plate via a first linear guide rail. Two first linear guide rails are provided, and the two first linear guide rails extend along the length direction of the first mounting plate and are arranged in parallel and spaced apart. The first drive mechanism is disposed on the first mounting plate and includes two parallel transmission racks disposed between the two first linear guide rails, a guide gear disposed between the two transmission racks and meshing with the tooth profile of the transmission racks on both sides, and two first drive cylinders respectively disposed at both ends of the first mounting plate along its length. The two first drive cylinders are respectively connected to the corresponding transmission racks, and the two transmission racks are respectively fixedly connected to the corresponding clamping arms.

[0008] As a further improvement of the present invention, the first mounting plate is provided with two rolling rollers on the side facing the guide gear. The two rolling rollers are distributed on the back side of the two transmission racks away from the tooth profile surface and roll and press against the corresponding back side surface.

[0009] As a further improvement of the present invention, the clamping arm is connected to the slider of the first linear guide rail through the first connecting seat. The anti-drop mechanism is provided in two sets, and the two sets of anti-drop mechanisms are respectively arranged in correspondence with the two clamping arms. Each anti-drop mechanism includes a pin shaft provided on one side of the width direction of the first mounting plate, an insert block provided on the first connecting seat, and a second driving cylinder for driving the pin shaft to insert into the insert block.

[0010] As a further improvement of the present invention, the other side of the center of the first mounting plate is further provided with: First connection frame; The robot flange is slidably connected to the first connecting frame via two second linear guide rails. The two second linear guide rails extend along the width direction of the first mounting plate and are arranged relatively parallel and spaced apart. The third drive cylinder, located on the first connecting frame, is used to drive the robot flange to move along the second linear guide rail.

[0011] As a further improvement of the present invention, the second drive mechanism includes two sets of first linear modules arranged in the same direction and side by side. The two support arms are respectively fixedly connected to the slides of the corresponding first linear modules. A slide is provided on the opposite side of the two support arms. The two sides of the slide in the width direction are respectively movably connected to the support arms through a third linear guide rail arranged along the length direction of the slide. The two sets of electric tightening mechanisms are respectively provided on the corresponding slides, and their actuators extend axially out of the end of the slide.

[0012] As a further improvement of the present invention, the two sets of support mechanisms are respectively disposed at the ends of the corresponding slides. Each support mechanism includes a slide cylinder and a two-finger cylinder. The slide cylinder is disposed on the slide, and the two-finger cylinder is perpendicular to the stroke direction of the slide cylinder and is fixedly installed on the sliding table surface of the slide cylinder. The two opposing actuators of the two-finger cylinder are respectively equipped with clamping blocks, and V-shaped grooves are symmetrically opened on the mating surfaces of the two clamping blocks.

[0013] As a further improvement of the present invention, the locking device further includes two sets of floating mechanisms respectively arranged corresponding to the two support arms, wherein the floating mechanisms are: A pen-shaped cylinder is disposed on the side of the support arm away from the slide along the length direction of the support arm (21), and a floating joint is provided at the output end of the pen-shaped cylinder. The transmission plate has one end connected to the floating joint of the pen-shaped cylinder, and the other end passes through the long slot on the support arm and is fixedly connected to the slide.

[0014] As a further improvement of the present invention, the power unit includes: The support platform is set horizontally. The fourth linear guide rail is provided in two sections, which are parallel to each other and spaced apart along the length of the support platform. The power base is mounted on the slider of the fourth linear guide rail via the second connecting seat; The second linear module is arranged vertically on one side of the power base; A rotary table is horizontally mounted on the slide of the second linear module; The second drive mechanism is connected to the rotary table via a second mounting plate.

[0015] As a further improvement of the present invention, a power rack is provided on the support platform along its length direction, the power rack is located between the two fourth linear guide rails, a drive gear that meshes with the power rack is provided at the bottom of the second connecting seat, and a drive motor for driving the drive gear is provided at the top of the second connecting seat.

[0016] The beneficial effects of this invention are: ① The clamping and fixing device adopts a double clamping arm with a gear and rack synchronous drive structure, which enables the clamping arms on both sides to achieve high-precision centering and mold closing. The contour groove on the inner side of the end completely fits the outer contour of the cylindrical part, avoiding the problems of unilateral displacement and local pressure damage that are prone to occur in traditional clamping methods. At the same time, the anti-drop mechanism can lock the relative position of the two clamping arms after the workpiece is clamped in place. Even if there is a momentary vibration during high-speed movement of the equipment or during station switching, the clamped cylindrical part will not shift or loosen, providing a stable and reliable reference positioning for subsequent flange bolt fastening operations and reducing fastening defects caused by workpiece positioning deviations.

[0017] ② The fastening device employs two sets of electric tightening mechanisms to simultaneously tighten two bolts in radially opposite positions on the flange. This avoids the defects of uneven force on the flange surface and flange misalignment when tightening single bolts sequentially, ensuring uniform flange surface fit. Furthermore, a support mechanism provides support to the bolt throughout the bolt feeding process, effectively preventing radial wobble and axial misalignment of long-shaft bolts during tightening. This ensures the coaxiality accuracy of long bolt fastening and improves production efficiency.

[0018] ③ Through a multi-dimensional power unit that can achieve horizontal translation, vertical lifting and rotation around the flange axis, the locking device can be flexibly adjusted to adjust the working position and angle to adapt to various cylindrical flange products with different diameters and axial lengths, realizing the co-production of multiple specifications of products and improving equipment compatibility. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the product described in the background section of this invention; Figure 2 This is a schematic diagram of the bolt fastening device of the present invention; Figure 3 This is a schematic diagram of the clamping and fixing device described in this invention; Figure 4 This is a structural schematic diagram of the clamping and fixing device described in this invention from another perspective; Figure 5 This is a schematic diagram of the locking device described in this invention; Figure 6 for Figure 5 An enlarged structural diagram of part A shown in the image; Figure 7 This is a structural schematic diagram of the bolt fastening device of the present invention from another perspective.

[0020] Referring to the accompanying drawings, the following explanations are provided: 1. Clamping and fixing device; 11. Clamping arm; 111. First connecting seat; 12. First drive mechanism; 121. Transmission rack; 122. Guide gear; 123. First drive cylinder; 124. Rolling pressure roller; 13. Anti-fall mechanism; 131. Pin; 132. Insert block; 133. Second drive cylinder; 14. Clamping part; 15. Clearance notch; 16. First mounting plate; 161. First connecting frame; 162. Robot flange; 163. Second linear guide; 164. Third drive cylinder; 17. First linear guide; 2. Locking device; 21. Support arm; 211. Continuous slot; 22. Second drive mechanism Structure; 221, First linear module; 23, Electric tightening mechanism; 231, Actuator; 24, Support mechanism; 241, Slide cylinder; 242, Two-finger cylinder; 2421, Clamping block; 2422, V-groove; 25, Slide; 251, Third linear guide rail; 26, Floating mechanism; 261, Pen-shaped cylinder; 262, Floating joint; 263, Transmission plate; 27, Second mounting plate; 3, Power unit; 31, Support platform; 32, Fourth linear guide rail; 33, Power base; 34, Second connecting seat; 35, Second linear module; 36, Rotary table; 37, Power rack; 38, Drive gear; 39, Drive motor. Detailed Implementation

[0021] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] See Figures 2 to 7 The present invention provides an embodiment of a flange bolt fastening device for cylindrical components. The device includes a clamping and fixing device for clamping and fixing component A, a fastening device for automatically tightening the bolts on component A, and a power device for providing a large stroke position adjustment capability for the fastening device. The device has the advantages of high efficiency and high compatibility.

[0023] Regarding the clamping and fixing device 1.

[0024] Please see Figure 2 , Figure 3 and Figure 4The clamping and fixing device 1 includes two clamping arms 11 arranged opposite each other, a first drive mechanism 12 for driving the two clamping arms 11 to move synchronously, and an anti-drop mechanism 13 for locking the relative position of the two clamping arms. One end of each of the two clamping arms 11 has a contoured groove adapted to the outer contour of component A. The first drive mechanism 12 drives the two clamping arms to close towards each other, so that the contoured grooves on both sides enclose and form a clamping part 14 that completely conforms to the shape of component A. The anti-drop mechanism 13 can continuously lock the relative position of the two clamping arms 11 in the clamping state, maintaining the clamping force of the clamping part 14, preventing component A from loosening and falling, and ensuring operational safety. At the same time, a clearance notch 15 is reserved between the inner sides of the other ends of the two clamping arms 11, which can reserve operating space for subsequent flange bolt insertion into the flange bolt holes after component A is clamped, avoiding movement interference with surrounding assembly structures.

[0025] The clamping and fixing device 1 further includes a first mounting plate 16. The two clamping arms 11 are mounted on one side of the first mounting plate 16 via first linear guide rails 17. Two first linear guide rails 17 are provided, extending along the length direction of the first mounting plate 16 and being relatively parallel and spaced apart, providing stable linear guidance for the opening and closing action of the two clamping arms. The first drive mechanism 12 is integrally mounted on the first mounting plate 16. It includes two relatively parallel transmission racks 121 disposed between the two first linear guide rails 17, a guide gear 122 disposed between the two transmission racks 121 and meshing with the teeth of the transmission racks 121 on both sides, and two first drive cylinders 123 respectively disposed at both ends of the length direction of the first mounting plate 16. Meanwhile, the guide gear 122 is located at the center position of the two transmission racks 121. The two first drive cylinders 123 are rigidly connected to the corresponding transmission racks 121, and the two transmission racks 121 are fixedly connected to the corresponding clamping arms. Through the meshing and linkage constraint of the central guide gear, the clamping arms on both sides can be forced to move in opposite directions at equal distances along the first linear guide rail 17 to ensure the coaxiality and synchronicity of the opening and closing actions of the two clamping arms, avoid the clamping misalignment problem caused by unilateral load, and ensure the coaxiality of the clamping part and component B, thereby ensuring the positioning basis for the flanges of component A and component B to maintain docking.

[0026] Two rolling rollers 124 are provided on the side of the first mounting plate 16 facing the guide gear 122. The two rolling rollers 124 are distributed opposite to each other on the back side of the two transmission racks 121 away from the tooth profile. The roller surfaces are always in contact with and pressed against the back side of the transmission racks. This can limit the shaking of the transmission racks 121 during the reciprocating sliding process, and avoid meshing gaps and jamming problems between the racks and the guide gear 122, thereby improving the stability and service life of the gear rack transmission.

[0027] The clamping arm 11 is connected to the slider of the first linear guide rail 17 via a connecting seat 111. Two sets of anti-drop mechanisms 13 are also provided, corresponding to the two clamping arms 11. Each anti-drop mechanism 13 includes a pin 131, a plug 132, and a second drive cylinder 133. The pin 131 is arranged along an axis perpendicular to the length direction of the first mounting plate 16 and is movably mounted on one side of the width direction of the first mounting plate 16. The plug 132 is fixedly mounted on the corresponding first connecting seat 111, and a locking hole coaxially aligned with the pin 131 is provided on the plug 132. The second drive cylinder 133 is fixed on the other side of the first mounting plate and is used to directly drive the pin 131 into the locking hole of the plug 132. After the clamping arm completes the clamping action, its relative position is locked, maintaining the clamping force of the clamping part throughout the process and preventing component A from loosening or shifting. Multiple locking holes can be provided along the moving direction of the clamping arm to accommodate different product specifications.

[0028] A first connecting frame 161 is fixedly installed on the middle of the side of the first mounting plate 16 opposite to the clamping arm. Two relatively parallel second linear guide rails 163 are provided on the first connecting frame 161 and extend along the width direction of the first mounting plate 16. The robot flange 162 forms a stable sliding pair with the first connecting frame 161 through the set of second linear guide rails 163. It can be directly and rigidly locked to the end effector of the industrial robot, realizing the rapid positioning and assembly of the clamping and fixing device and the robot. A third drive cylinder 164 is fixedly installed on the first connecting frame 161. Its output end forms a rigid transmission connection with the robot flange 162. It is used to drive the robot flange to move along the second linear guide rail to provide axial flexible compensation stroke when the clamping arm clamps the component A, so as to offset the alignment error during the clamping process.

[0029] It should be noted that the industrial robot diagram does not show the use of an existing, mature six-axis robot to enable the clamping and fixing device to have multi-directional adjustment capabilities.

[0030] Regarding locking device 2.

[0031] See Figure 2 , Figure 5 and Figure 6The locking device 2 is used to tighten the flange bolts on the clamped and positioned component A. It includes two opposing support arms 21 and a second drive mechanism 22 for driving the two support arms 21 to move closer or further apart. The ends of the two support arms 21 are provided with electric tightening mechanisms 23 for tightening bolts and support components 24 that can move along the bolt axis to support the bolts during feeding. The actuators 231 of the two sets of electric tightening mechanisms 23 simultaneously lock the two bolts located radially opposite to the flange diagonally, avoiding flange offset and misalignment caused by tightening on one side. When the actuators 231 of the two electric tightening mechanisms 23 are in a horizontal state, one of the actuators can directly pass through the clearance gap 15 between the two clamping arms 11, without the need for redundant actions caused by structural clearance, ensuring locking efficiency.

[0032] The second drive mechanism 22 includes two sets of linear modules 221 arranged in the same direction and side by side. The two support arms 21 are respectively fixedly connected to the slide of the corresponding linear module 221. The large-stroke station switching is completed synchronously with the linear module 221. At the same time, it can be used for bolt fastening operations of the large-diameter component A.

[0033] Each of the two support arms 21 has a slide 25 on one side opposite to the other. The two sides of each slide 25 are movably connected to the support arm 21 via a third linear guide 251 along its length. Two sets of electric tightening mechanisms 23 are respectively mounted on the corresponding slides 25, with their actuators 231 extending axially from the ends of the slides 25. The feed can be finely adjusted along the length of the support arm by the guidance of the third linear guide. During operation, the tightening mechanisms on both sides can simultaneously align with the flange holes to be locked, coordinating diagonal synchronous locking to avoid flange misalignment due to uneven load. The electric tightening mechanism can preferably use a commercially available standard electric torque wrench to provide higher processing accuracy and repeatability.

[0034] The support mechanism 24 serves as an auxiliary support unit for the bolt shank during the tightening operation. It is installed on one end of the slide facing the actuator of the electric tightening mechanism and can move synchronously with it during bolt feeding. Specifically, two sets of support mechanisms 24 are respectively located at the ends of the corresponding slides 25. Each support mechanism 24 includes a slide cylinder 241 located on the slide 25 and arranged in the same direction as it, and a two-finger cylinder 242 perpendicular to the stroke direction of the slide cylinder 241 and fixedly installed on the sliding table surface 2411 of the slide cylinder 241. Clamping blocks 2421 are respectively installed on the two opposing actuator ends of the two-finger cylinder 242. V-shaped grooves 2422 are symmetrically opened on the mating surfaces of the two clamping blocks 2421.

[0035] During the tightening operation, the slide cylinder first drives the two-finger cylinder to feed along the bolt axial direction to the preset support position of the bolt shank. Then, the two-finger cylinder drives the two clamping blocks on both sides to close synchronously, and the bolt shank is supported by symmetrically arranged V-grooves to prevent radial movement or wobble of the bolt. Furthermore, during the subsequent feeding process of the electric tightening mechanism to screw the bolt in, the slide cylinder matches the axial feed speed of the bolt in real time and synchronously drives the two-finger cylinder to move forward. This solves the problems of thread misalignment and misalignment that are prone to occur when screwing in long bolts, ensuring the coaxiality of the flange bolts and the assembly quality.

[0036] The locking device 2 also includes two sets of floating mechanisms 26, each corresponding to one of the two support arms 21, serving as flexible compensation units for the carriage feed and effectively offsetting minor hard contact impacts during tightening and alignment. The floating mechanism 26 includes a pen-shaped cylinder 261, a floating connector 262 at the output end of the pen-shaped cylinder 261, and a transmission plate 263 connecting the floating connector 262 of the pen-shaped cylinder 261 to the carriage 25. A continuous slot 211 for the transmission plate 263 to move is provided on the support arm 21. Through the flexible output characteristics of the pen-shaped cylinder, adaptive axial floating compensation is provided when the electric tightening mechanism aligns the bolt with the bolt hole, avoiding bolt hole collisions and overload damage to the actuator caused by rigid hard contact; simultaneously, the axial distance of the electric tightening mechanism can be finely adjusted.

[0037] Regarding power unit 3.

[0038] See Figure 2 and Figure 7 The power unit 3 is used to drive the locking device 2 to translate horizontally and vertically, and to rotate around the flange axis. This allows for adjustment of the maximum stroke of the locking device 2 to accommodate bolt tightening operations for products of different specifications.

[0039] The power unit 3 includes a horizontally arranged support platform 31. Two fourth linear guide rails 32 are arranged parallel to each other and spaced apart along the length of the support platform 31. The power base 33 is mounted on the slider of the fourth linear guide rails 32 via a second connecting seat 34, enabling large-stroke feed along the length of the support platform. A second linear module 35 is fixedly mounted vertically on the side of the power base 33. A rotary table 36 is horizontally mounted on the slide of the second linear module 35, allowing for vertical height adjustment synchronously with the second linear module. The second drive mechanism 22 of the locking device is rigidly connected to the output end of the rotary table 36 via a second mounting plate 37, driving the locking device 2 to switch the circumferential angle arbitrarily. This device enables large-stroke horizontal displacement, vertical height adjustment, and arbitrary adjustment of the circumferential angle of the locking device, adapting to the tightening of full-circumferential bolts on flanges of different specifications, thus improving the compatibility of the equipment.

[0040] A power rack 37 is also provided along the length of the support platform 31, positioned between two fourth linear guide rails 32. A drive gear 38 meshing with the power rack 37 is located at the bottom of the second connecting seat 34, and a drive motor 39 for driving the drive gear 38 is located at the top of the second connecting seat 34. The power rack 37 enables long-stroke, high-load translation, provides strong transmission rigidity, and controllable positioning accuracy, ensuring the stability of the locking device 2 during movement.

[0041] This invention provides a flange bolt fastening device for cylindrical components. ① The clamping and fixing device adopts a double clamping arm with a gear and rack synchronous drive structure, enabling high-precision centering and mold closing of the clamping arms on both sides. The contour groove on the inner side of the end completely fits the outer contour of the cylindrical component, avoiding the problems of unilateral displacement and local pressure damage that are prone to occur in traditional clamping methods. At the same time, the anti-drop mechanism can lock the relative position of the two clamping arms after the workpiece is clamped in place. Even if there is instantaneous vibration during high-speed movement or station switching, the clamped cylindrical component will not shift or loosen, providing a stable and reliable reference positioning for subsequent flange bolt fastening operations and reducing fastening defects caused by workpiece positioning deviations. ② The fastening device adopts two sets of electric tightening mechanisms to simultaneously tighten two bolts in radially opposite positions on the flange, avoiding the defects of uneven force on the flange surface and flange misalignment when tightening single bolts sequentially, ensuring uniform flange surface fit. Furthermore, a support mechanism is installed to support the bolt throughout the bolt feeding process, effectively preventing radial sway and axial misalignment of long-axis bolts during tightening. This ensures the coaxiality accuracy of long bolt fastening and improves production efficiency. ③ A multi-dimensional power unit capable of horizontal translation, vertical lifting, and rotation around the flange axis drives the fastening device to flexibly adjust its working position and angle to adapt to various cylindrical flange products with different diameters and axial lengths. This enables multi-specification product co-production and improves equipment compatibility.

[0042] Many specific details have been set forth in the foregoing description to provide a thorough understanding of the present invention. However, the above description is merely a preferred embodiment of the present invention, and the present invention can be implemented in many other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed above. Furthermore, any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the content of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A flange bolt fastening device for a cylindrical component, characterized in that, include: The clamping and fixing device (1) includes two clamping arms (11) arranged opposite to each other, a first drive mechanism (12) for driving the two clamping arms (11) to move synchronously, and an anti-drop mechanism (13) for locking the relative position of the two clamping arms (11). The inner side of one end of each of the two clamping arms (11) is provided with a contour groove. The first drive mechanism (12) drives the two clamping arms (11) to move closer to each other, so that the two contour grooves surround a clamping part (14) for clamping component A. An avoidance notch (15) is formed between the inner sides of the other ends of the two clamping arms (11). The locking device (2) is used to tighten the flange bolts on the clamped and positioned component A. It includes two opposing support arms (21) and a second drive mechanism (22) for driving the two support arms (21) to move closer or further apart. Each of the two support arms (21) is provided with an electric tightening mechanism (23) and a support mechanism (24) for supporting the bolts during feeding. The actuators (231) of the two sets of electric tightening mechanisms (23) simultaneously tighten the two bolts located at radially opposite positions on the flange. When the actuators (231) of the two electric tightening mechanisms (23) are in a horizontal state, one of the actuators (231) passes through the clearance notch (15). The power unit (3) is used to drive the locking device (2) to translate in the horizontal and vertical directions and to rotate about the axis of the flange.

2. The flange bolt fastening device for cylindrical components according to claim 1, characterized in that: The clamping and fixing device (1) further includes a first mounting plate (16), and two clamping arms (11) are mounted on one side of the first mounting plate (16) via a first linear guide rail (17). There are two first linear guide rails (17), which extend along the length direction of the first mounting plate (16) and are arranged in parallel and spaced apart. The first drive mechanism (12) is located on the first mounting plate (16) and includes two parallel transmission racks (121) located between the two first linear guide rails (17), a guide gear (122) located between the two transmission racks (121) and meshing with the teeth of the two transmission racks (121), and two first drive cylinders (123) located at both ends of the length direction of the first mounting plate (16). The two first drive cylinders (123) are respectively connected to the corresponding transmission racks (121), and the two transmission racks (121) are respectively fixedly connected to the corresponding clamping arms (11).

3. The flange bolt fastening device for cylindrical components according to claim 2, characterized in that: The first mounting plate (16) is provided with two rolling rollers (124) on the side facing the guide gear (122). The two rolling rollers (124) are distributed on the back side of the two transmission racks (121) away from the tooth surface and roll and press against the corresponding back side.

4. The flange bolt fastening device for cylindrical components according to claim 3, characterized in that: The clamping arm (11) is connected to the slider of the first linear guide rail (17) through the first connecting seat (111). The anti-fall mechanism (13) is provided in two sets. The two sets of anti-fall mechanisms (13) are respectively arranged in correspondence with the two clamping arms (11). Each anti-fall mechanism (13) includes a pin (131) provided on one side of the width direction of the first mounting plate (16), an insert (132) provided on the first connecting seat (111), and a second driving cylinder (133) for driving the pin (131) to insert into the insert (132).

5. The flange bolt fastening device for cylindrical components according to claim 4, characterized in that: The other side of the first mounting plate (16) is also provided with: First connecting frame (161); The robot flange (162) is slidably connected to the first connecting frame (161) via two second linear guide rails (163), which extend along the width direction of the first mounting plate (16) and are arranged relatively parallel and spaced apart. The third drive cylinder (164), located on the first connecting frame (161), is used to drive the robot flange (162) to move along the second linear guide (163).

6. The flange bolt fastening device for cylindrical components according to claim 1, characterized in that: The second drive mechanism (22) includes two sets of first linear modules (221) arranged in the same direction and side by side. The two support arms (21) are fixedly connected to the slides of the corresponding first linear modules (221). The two support arms (21) are respectively provided with slides (25) on opposite sides. The two sides of the slides (25) in the width direction are respectively connected to the support arms (21) through the third linear guide rails (251) arranged along the length direction of the slides (25). The two sets of electric tightening mechanisms (23) are respectively provided on the corresponding slides (25) and their actuators (231) extend axially out of the end of the slides (25).

7. The flange bolt fastening device for cylindrical components according to claim 6, characterized in that: The two sets of support mechanisms (24) are respectively located at the ends of the corresponding slides (25). Each support mechanism (24) includes a slide cylinder (241) and a two-finger cylinder (242). The slide cylinder (241) is located on the slide (25). The two-finger cylinder (242) is perpendicular to the stroke direction of the slide cylinder (241) and is fixedly installed on the sliding table (2411) of the slide cylinder (241). The two opposing actuators of the two-finger cylinder (242) are respectively equipped with clamping blocks (2421), and V-shaped grooves (2422) are symmetrically opened on the mating surfaces of the two clamping blocks (2421).

8. The flange bolt fastening device for cylindrical components according to claim 4, characterized in that: The locking device (2) further includes two sets of floating mechanisms (26) respectively arranged corresponding to the two support arms (21), the floating mechanisms (26): A pen-shaped cylinder (261) is disposed along the length of the support arm (21) on the side of the support arm (21) away from the slide (25), and a floating connector (262) is provided at the output end of the pen-shaped cylinder (261). The transmission plate (263) has one end connected to the floating joint (262) of the pen-shaped cylinder (261), and the other end passes through the through slot (211) on the support arm (21) and is fixedly connected to the slide (25).

9. The flange bolt fastening device for cylindrical components according to claim 1, characterized in that: The power unit (3) includes: The support platform (31) is set in the horizontal direction; The fourth linear guide (32) is provided in two parts, and the two fourth linear guides (32) are relatively parallel and spaced apart along the length direction of the support platform (31); The power base (33) is mounted on the slider of the fourth linear guide (32) via the second connecting seat (34); The second linear module (35) is arranged vertically on one side of the power base (33); A rotary table (36) is horizontally mounted on the slide of the second linear module (35); The second drive mechanism (22) is connected to the rotary table (36) via the second mounting plate (27).

10. The flange bolt fastening device for cylindrical components according to claim 9, characterized in that: The support platform (31) is provided with a power rack (37) along its length direction. The power rack (37) is located between the two fourth linear guide rails (32). The bottom of the second connecting seat (34) is provided with a drive gear (38) that meshes with the power rack (37). The top of the second connecting seat (34) is provided with a drive motor (39) for driving the drive gear (38).

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