Bolt tightening mechanism

Abstract

The utility model provides a bolt tightening mechanism which comprises a supporting column, a first mechanical arm, a first tightening gun, a second mechanical arm and a second tightening gun, the first mechanical arm and the second mechanical arm are arranged at intervals in the vertical direction of the supporting column, one end of the first mechanical arm is rotatably connected to the supporting column, and the other end of the first mechanical arm is rotatably connected to the second mechanical arm. The other end of the first mechanical arm is connected with the first tightening gun, the first mechanical arm can drive the first tightening gun to move, one end of the second mechanical arm is rotatably connected to the supporting column, and the other end of the second mechanical arm is connected with the second tightening gun. The second mechanical arm can drive the second tightening gun to move, and the first tightening gun and the second tightening gun are matched to drive a bolt and a nut to be fastened. The bolt tightening mechanism can fasten the bolts and the nuts of the rotary table and the balance weight module, is simple in structure, meets the requirement for tightening torque, and improves installation efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of parts processing, in particular to a bolt tightening mechanism. Background Art

[0002] There are two ways to install the counterweight and turntable of a truck crane. One is to install the bolts from top to bottom, which is tightened directly with a pneumatic wrench. The other is a double-nut locking method installed from bottom to top. First, fix the first nut with a wrench on the top, tighten it with a pneumatic wrench from the bottom, and then tighten the second nut with a pneumatic wrench from top to bottom. However, both of these installation methods use manual handheld pneumatic wrenches or electric wrenches to tighten the bolts. Pneumatic wrenches have poor torque accuracy and large impact force. The quality of bolt tightening cannot be guaranteed, and the noise is high, which affects the working environment. Pneumatic wrenches cannot collect tightening data and have no digital interface. They cannot be connected to the company's MES system, so the tightening torque cannot be stored and traced in real time. In addition, when installing the counterweight and turntable, there are winches and motors above the mounting bolt holes, and there are reinforcing ribs around them, which results in a narrow tightening space for bolts or nuts. The tightening gun needs to be tilted to tighten the bolts, or the installation position of the bolts needs to be changed, which is not convenient for manual operation. Utility Model Content

[0003] In view of this, an object of the utility model is to provide a bolt tightening mechanism, which can tighten the bolts and nuts of the turntable and the counterweight module, has a simple structure, meets the tightening torque requirements, and improves installation efficiency.

[0004] The utility model provides a bolt tightening mechanism, comprising a support column, a first mechanical arm, a first tightening gun, a second mechanical arm and a second tightening gun, wherein the first mechanical arm and the second mechanical arm are arranged at intervals along the vertical direction of the support column, one end of the first mechanical arm is rotatably connected to the support column, the other end of the first mechanical arm is connected to the first tightening gun, the first mechanical arm can drive the first tightening gun to move, one end of the second mechanical arm is rotatably connected to the support column, the other end of the second mechanical arm is connected to the second tightening gun, the second mechanical arm can drive the second tightening gun to move, and the first tightening gun cooperates with the second tightening gun to drive the tightening of bolts and nuts.

[0005] In one embodiment, the first mechanical arm includes a first driving arm and a second driving arm, the first driving arm is connected to the support column, one end of the second driving arm is rotatably connected to the first driving arm, and the other end of the second driving arm is connected to the first tightening gun, the second driving arm includes a first connecting rod, a second connecting rod and a fifth braking device, the first connecting rod is horizontally arranged, the second connecting rod is vertically arranged, and the fifth braking device can fix the relative position between the first connecting rod and the second connecting rod.

[0006] In one embodiment, the second robotic arm includes a third driving arm and a fourth driving arm, the third driving arm is connected to the support column, one end of the fourth driving arm is rotatably connected to the third driving arm, and the other end of the fourth driving arm is connected to the second tightening gun, the fourth driving arm also includes a third connecting rod, a fourth connecting rod and a sixth braking device, the third connecting rod is horizontally arranged, the fourth connecting rod is vertically arranged, and the sixth braking device can fix the relative position between the third connecting rod and the fourth connecting rod.

[0007] In one embodiment, the bolt tightening mechanism also includes a first braking device and a second braking device, the first braking device is connected between the first mechanical arm and the support column, and the first braking device can fix the relative position between the first mechanical arm and the support column; the second braking device is connected between the second mechanical arm and the support column, and the second braking device can fix the relative position between the second mechanical arm and the support column.

[0008] In one embodiment, the first robotic arm includes a third braking device, which is connected between the first driving arm and the second driving arm, and is capable of fixing the relative position between the first driving arm and the second driving arm; and / or the second robotic arm also includes a fourth braking device, which is connected between the third driving arm and the fourth driving arm, and is capable of fixing the relative position between the third driving arm and the fourth driving arm.

[0009] In one embodiment, the bolt tightening mechanism also includes a first lifting cylinder, the cylinder body of the first lifting cylinder is movably connected to the first connecting seat, the end of the first connecting rod close to the second connecting rod is fixedly connected to the first movable part, the driving end of the first lifting cylinder is movably connected to the first movable part, and the first lifting cylinder can drive the second connecting rod to move along the length direction of the support column; and / or the bolt tightening mechanism also includes a second lifting cylinder, the cylinder body of the second lifting cylinder is movably connected to the third connecting seat, the end of the third connecting rod close to the fourth connecting rod is fixedly connected to the second movable part, the driving end of the second lifting cylinder is movably connected to the second movable part, and the second lifting cylinder can drive the fourth connecting rod to move along the length direction of the support column.

[0010] In one embodiment, the first tightening gun is provided with a first driver, which can drive the bolt or the nut to rotate; and / or the second tightening gun is provided with a second driver, which can drive the bolt or the nut to rotate.

[0011] In one embodiment, the bolt tightening device further includes a controller, wherein the controller is disposed on the support column, and the first driving arm, the first tightening gun, the second driving arm and the second tightening gun are electrically connected to the controller respectively.

[0012] In one embodiment, the bolt tightening mechanism further includes an indicator light, which is disposed at an end of the second connecting rod close to the first tightening gun, and is used to display the tightening status of the bolt and the nut.

[0013] In one embodiment, the bolt tightening mechanism further includes a hole alignment device, which is disposed on a turntable of the crane, and cooperates with the first tightening gun or the second tightening gun to align and tighten the bolt.

[0014] The first mechanical arm and the first tightening gun connected to the first mechanical arm in the bolt tightening mechanism of the utility model can rotate relative to the support column, the first mechanical arm can drive the first tightening gun to move to a specified position, the second mechanical arm and the second tightening gun connected to the second mechanical arm can rotate relative to the support column, the second mechanical arm can drive the second tightening gun to move to a specified position, the bolt and the nut can be tightened by the cooperation of the first tightening gun and the second tightening gun, the first mechanical arm, the first tightening machine, the second mechanical arm and the second tightening machine are shared on one support column, the line edge space is reasonably utilized, the cost is saved, the cooperation of the first tightening machine and the second tightening machine can meet two tightening methods of tightening from top to bottom and tightening from bottom to top, meet the tightening requirements of all bolts, reduce the labor intensity of workers, improve the working environment, and improve the tightening efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the top view of the structure of the bolt tightening mechanism and the crane in the first embodiment of the utility model.

[0017] Figure 2 It is a front view structural schematic diagram of the bolt tightening mechanism and the crane in the first embodiment of the utility model.

[0018] Figure 3 It is a side structural schematic diagram of the bolt tightening mechanism and the crane in the first embodiment of the utility model.

[0019] Figure 4 It is a structural schematic diagram of the bolt tightening mechanism of the first embodiment of the utility model.

[0020] Description of the reference numerals: support column-11; first mechanical arm-12; first driving arm-121; second driving arm-122; first connecting rod-1221; second connecting rod-1222; fifth brake device-1223; first connecting seat-1224; second connecting seat-1225; first rotating shaft-1226; third brake device 123; first tightening gun-13; second mechanical arm-14; third driving arm-141; fourth driving arm-142; third connecting rod-1 421; fourth connecting rod-1422; sixth braking device-1423; third connecting seat-1424; fourth connecting seat-1425; second rotating shaft-1426; fourth braking device-143; second tightening gun-15; first braking device-161; second braking device-162; first lifting cylinder-171; first movable part-172; second lifting cylinder-173; second movable part-174; controller-18; indicator light-19; crane-20.

[0021] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0022] The following will describe in detail a specific embodiment of the utility model in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all the embodiments. Based on the description of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] In the description of the present utility model, unless otherwise clearly specified and limited, the terms "set", "install", "connection" and the like 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 a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0024] The directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the utility model.

[0025] The terms "first", "second", "third" and the like are merely used to distinguish elements of similar nature, and do not indicate or imply relative importance or a particular order.

[0026] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of the elements listed and may also include additional elements not expressly listed.

[0027] First embodiment

[0028] like Figures 1 to 4 As shown, the bolt tightening mechanism is used to fix the counterweight module and the turntable of the crane 20. A bolt tightening mechanism is respectively arranged on both sides of the turntable to meet two fixing installation methods of the counterweight module and the turntable, namely, tightening the bolts from top to bottom and tightening the bolts from bottom to top; the bolt tightening mechanism includes a support column 11, a first mechanical arm 12, a first tightening gun 13, a second mechanical arm 14 and a second tightening gun 15. The first mechanical arm 12 and the second mechanical arm 14 are arranged at intervals in the vertical direction of the support column 11. The first mechanical arm 12 and the second mechanical arm 14 are arranged at intervals in the vertical direction of the support column 11. The arm 12 and the second mechanical arm 14 share a support column 11, one end of the first mechanical arm 12 is rotatably connected to the support column 11, the other end of the first mechanical arm 12 is connected to the first tightening gun 13, the first mechanical arm 12 can drive the first tightening gun 13 to move, one end of the second mechanical arm 14 is rotatably connected to the support column 11, the other end of the second mechanical arm 14 is connected to the second tightening gun 15, the second mechanical arm 14 can drive the second tightening gun 15 to move, the first tightening gun 13 and the second tightening gun 15 can cooperate to drive the tightening of bolts and nuts. In this embodiment, the support column 11 is installed on the ground by chemical bolts, wherein the first tightening machine is used to tighten the bolt from top to bottom and the second nut when tightening from bottom to top, and the second tightening machine is used to tighten the first nut of the bolt from bottom to top; the first tightening gun 13 is provided with a first driver, and the first driver can drive the bolt or nut to rotate; the second tightening gun 15 is provided with a second driver, and the second driver can drive the bolt or nut to rotate, the first driver is preferably an electric motor or a motor, and the second driver is preferably an electric motor or a motor, etc. The first tightening gun 13 and the second tightening gun 15 use electric tightening methods instead of pneumatic wrenches, which can reduce noise impact and improve the quietness of the working environment.

[0029] In the bolt tightening mechanism of the utility model, the first mechanical arm 12 and the first tightening gun 13 connected to the first mechanical arm 12 can rotate relative to the support column 11, and the first mechanical arm 12 can drive the first tightening gun to move to a specified position. The second mechanical arm 14 and the second tightening gun 15 connected to the second mechanical arm 14 can rotate relative to the support column 11, and the second mechanical arm 14 can drive the second tightening gun 15 to move to a specified position. The bolt and the nut can be tightened by the cooperation of the first tightening gun 13 and the second tightening gun 15. The first mechanical arm 12, the first tightening machine, the second mechanical arm 14 and the second tightening machine share a support column 11, which reasonably utilizes the line edge space and saves costs. The cooperation of the first tightening machine and the second tightening machine can meet two tightening methods of tightening from top to bottom and tightening from bottom to top, meet the tightening requirements of all bolts, reduce the labor intensity of workers, improve the working environment, and improve the tightening efficiency.

[0030] Preferably, the bolt tightening mechanism further includes a first brake device 161 and a second brake device 162. The first brake device 161 is connected between the first mechanical arm 12 and the support column 11, and the first brake device 161 can fix the relative position between the first mechanical arm 12 and the support column 11; the second brake device 162 is connected between the second mechanical arm 14 and the support column 11, and the second brake device 162 can fix the relative position between the second mechanical arm 14 and the support column 11. The first brake device 161 and the second brake device 162 are preferably brake brake devices, that is, a combination of a brake cylinder and a clutch, which can prevent the first mechanical arm 12 and the second mechanical arm 14 from rotating arbitrarily when not working and damaging other equipment or the structure of the bolt tightening mechanism itself.

[0031] like Figure 2 and Figure 4As shown, the first mechanical arm 12 includes a first driving arm 121, a second driving arm 122 and a third braking device 123. The first driving arm 121 is horizontally arranged, and the support column 11 is vertically arranged. The first driving arm 121 is connected to the support column 11, that is, the first driving arm 121 can rotate around the axis of the support column 11, and the first braking device 161 can fix the relative position between the support column 11 and the first driving arm 121, wherein a first driving mechanism is provided between the support column 11 and the first driving arm 121, and the first driving mechanism can drive the first driving arm 121 to rotate around the support column 11, and the first driving mechanism is preferably an electric motor or the like; one end of the second driving arm 122 is rotatably connected to the first driving arm 121, and the other end of the second driving arm 122 is connected to the first tightening gun 13, and the third braking device 123 is connected between the first driving arm 121 and the second driving arm 122. The third braking device 123 can fix the first driving arm 121 and the second driving arm 1 22 relative position; the second mechanical arm 14 includes a third driving arm 141, a fourth driving arm 142 and a fourth braking device 143, the third driving arm 141 is connected to the support column 11, that is, the third driving arm 141 can rotate around the axis of the support column 11, and the fourth braking device 143 can fix the relative position between the support column 11 and the third driving arm 141, wherein a third driving mechanism is provided between the support column 11 and the third driving arm 141, the third driving mechanism can drive the third driving arm 141 to rotate around the support column 11, the third driving mechanism is preferably an electric motor or the like to reduce noise, one end of the fourth driving arm 142 is rotatably connected to the third driving arm 141, and the other end of the fourth driving arm 142 is connected to the second tightening gun 15, the fourth braking device 143 is connected between the third driving arm 141 and the fourth driving arm 142, and the fourth braking device 143 can fix the relative position between the third driving arm 141 and the fourth driving arm 142.

[0032] like Figure 4As shown, the second driving arm 122 includes a first connecting rod 1221, a second connecting rod 1222 and a fifth braking device 1223, the first connecting rod 1221 is horizontally arranged, the second connecting rod 1222 is vertically arranged, one end of the first connecting rod 1221 is connected to the first driving arm 121 through a first connecting seat 1224, wherein a second driving mechanism is arranged between the first driving arm 121 and the first connecting rod 1221, and the second driving mechanism can drive the first connecting rod 1221 to rotate along the center line of the first connecting seat 1224, The second driving mechanism is preferably an electric motor or the like, the second connecting rod 1222 is fixedly connected to the second connecting seat 1225, the other end of the first connecting rod 1221 is movably connected to the second connecting seat 1225, the fifth braking device 1223 is connected between the first connecting rod 1221 and the second connecting rod 1222, the fifth braking device 1223 can fix the relative position between the first connecting rod 1221 and the second connecting rod 1222, and the fifth braking device 1223 can withstand the reaction force when the first tightening gun 13 is tightened The fourth driving arm 142 also includes a third connecting rod 1421, a fourth connecting rod 1422 and a sixth braking device 1423, the third connecting rod 1421 is horizontally arranged, the fourth connecting rod 1422 is vertically arranged, one end of the third connecting rod 1421 is connected to the third driving arm 141 through a third connecting seat 1424, wherein a fourth driving mechanism is provided between the third driving arm 141 and the third connecting rod 1421, and the fourth driving mechanism can drive the third connecting rod 1421 to rotate along the center line of the third connecting seat 1424, The three driving mechanisms are preferably electric motors or the like, the fourth connecting rod 1422 is fixedly connected to the fourth connecting seat 1425, the other end of the third connecting rod 1421 is movably connected to the fourth connecting seat 1425, the sixth braking device 1423 is connected between the fourth connecting seat 1425 and the third connecting rod 1421, the sixth braking device 1423 can fix the relative position between the third connecting rod 1421 and the fourth connecting rod 1422, and the sixth braking device 1423 can withstand the reaction force when the second tightening gun 15 is tightened.

[0033] Preferably, the second connecting seat 1225 is connected to the first connecting rod 1221 through a first rotating shaft 1226, and the bolt tightening mechanism also includes a first lifting cylinder 171, the cylinder body of the first lifting cylinder 171 is movably connected to the first connecting seat 1224, and the first connecting rod 1221 is fixedly connected to the first movable part 172 at one end close to the second connecting rod 1222, and the driving end of the first lifting cylinder 171 is movably connected to the first movable part 172. When the driving end of the first lifting cylinder 171 is extended and retracted, the first connecting rod 1221 can rotate around the first rotating shaft 1226, and the first lifting cylinder 171 can drive the second connecting rod 1222 to move along the length direction of the support column 11. The fourth connecting seat 1425 is connected to the fourth connecting rod 1422 through the second rotating shaft 1426, and the bolt tightening mechanism also includes a second lifting cylinder 173. The cylinder body of the second lifting cylinder 173 is movably connected to the third connecting seat 1424, and the third connecting rod 1421 is fixedly connected to the second movable part 174 at one end close to the fourth connecting rod 1422. When the driving end of the second lifting cylinder 173 is extended and retracted, the driving end of the second lifting cylinder 173 is movably connected to the second movable part 174, and the third connecting rod 1421 can rotate around the second rotating shaft 1426. The second lifting cylinder 173 can drive the fourth connecting rod 1422 to move along the length direction of the support column 11. The first lifting cylinder 171 and the second lifting cylinder 173 achieve the effect of gravity floating up and down movement by adjusting the load and the friction force of the cylinder. The first tightening gun 13 and the second tightening gun 15 are suspended by the first mechanical arm 12 and the second mechanical arm 14, so that they are in a floating state within the travel range, which is convenient for positioning and tightening operations without manual holding, reducing the labor intensity of workers.

[0034] Preferably, the first driving arm 121, the first connecting rod 1221, the first connecting seat 1224 and the second connecting seat 1225 form a first anti-torsion arm to ensure that the reaction force is offset when the first tightening gun 13 is tightened, and there is no need to set a reaction arm separately, thereby improving the tightening efficiency; the second driving arm 122, the third connecting rod 1421, the third connecting seat 1424 and the fourth connecting seat 1425 form a second anti-torsion arm to ensure that the reaction force is offset when the second tightening gun 15 is tightened.

[0035] Preferably, the bolt tightening mechanism also includes a hole alignment device, which is arranged on the turntable of the crane. The hole alignment device can be fixedly connected to the turntable by bolts. The hole alignment device is provided with a through hole. When the first tightening gun 13 or the second tightening gun 15 tightens the bolt, it can be matched through the through hole to achieve the tightening of the bolt, avoid the bolt from being skewed during installation, and improve the installation efficiency.

[0036] Preferably, the bolt tightening device further comprises a controller 18, which is arranged on the support column 11, and the first driving arm 121, the first tightening gun 13, the second driving arm 122, and the second tightening gun 15 are respectively electrically connected to the controller 18. In addition, the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the first driver, and the second driver are respectively electrically connected to the controller 18 to ensure the normal activity, data storage and transmission of the first tightening gun 13 and the second tightening gun 15, and control the tightening torque. The controller 18 is connected to the MES system so that the tightening torque and tightening results can be monitored in real time to ensure the bolt torque requirements, and the tightening data can be analyzed and traced.

[0037] Preferably, the bolt tightening mechanism further includes an indicator light 19, which is disposed at one end of the second connecting rod 1222 close to the first tightening gun 13, and is used to display the tightening state of the bolt and the nut. For example, the indicator light 19 uses a red light to indicate an untightened state, and a green light to indicate a tightened state; or the indicator light 19 uses a flashing light to indicate an untightened state, and a constant light to indicate a tightened state, etc., but the invention is not limited thereto.

[0038] Preferably, the first tightening gun 13 and the second tightening gun 15 may use the same gun head or different gun heads; if the second tightening gun 15 also uses a special head, the special head refers to a bolt that can reach a position that is difficult for ordinary tools to enter and transmit the torque required for tightening. For example, a closed gear eccentric head is required when tightening bolts and nuts, while an open gear eccentric head is required when tightening pipes and hoses.

[0039] The steps of using the bolt tightening mechanism are as follows: use the first mechanical arm 12 to control the first tightening gun 13 to clamp the bolt, the second mechanical arm 14 to control the first tightening gun 13 to clamp the nut, and the first tightening gun 13 and the second tightening gun 15 cooperate to drive the tightening of the bolt and the nut; or the first mechanical arm 12 controls the first tightening gun 13 to clamp the nut, the second mechanical arm 14 controls the second tightening gun 15 to clamp the bolt, and the first tightening gun 13 and the second tightening gun 15 cooperate to drive the tightening of the bolt and the nut; unlock the first braking device 161, the third braking device 123, and the fifth braking device 1223, so that the first tightening gun 13 can move freely, and the first lifting cylinder 171 can drive the second connecting The rod 1222 drives the first tightening gun 13 to move up and down, so that the first tightening gun 13 can be aligned and tightened with the bolt tightened from top to bottom or the second nut tightened from bottom to top; the second braking device 162, the fourth braking device 143 and the sixth braking device 1423 are unlocked, so that the second tightening gun 15 can move freely, and the second lifting cylinder 173 can tend to the fourth connecting rod 1422 to drive the second tightening gun 15 to move up and down, so that the second tightening gun 15 can be aligned and tightened with the first nut tightened from bottom to top. Therefore, the cooperation of the first tightening gun 13 and the second tightening gun 15 can meet the two installation methods of tightening the bolt from bottom to top and from top to bottom.

[0040] The above are only specific implementations of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model shall be subject to the attached claims.

Claims

1. A bolt tightening mechanism, characterized in that: The invention comprises a support column (11), a first mechanical arm (12), a first tightening gun (13), a second mechanical arm (14) and a second tightening gun (15); the first mechanical arm (12) and the second mechanical arm (14) are arranged at intervals along the vertical direction of the support column (11); one end of the first mechanical arm (12) is rotatably connected to the support column (11); the other end of the first mechanical arm (12) is connected to the first tightening gun (13); the first mechanical arm (12) can drive the first tightening gun (13) to move; one end of the second mechanical arm (14) is rotatably connected to the support column (11); the other end of the second mechanical arm (14) is connected to the second tightening gun (15); the second mechanical arm (14) can drive the second tightening gun (15) to move; the first tightening gun (13) cooperates with the second tightening gun (15) to drive the tightening of bolts and nuts.

2. The bolt tightening mechanism according to claim 1, characterized in that: The first mechanical arm (12) includes a first driving arm (121) and a second driving arm (122), the first driving arm (121) is connected to the support column (11), one end of the second driving arm (122) is rotatably connected to the first driving arm (121), and the other end of the second driving arm (122) is connected to the first tightening gun (13), the second driving arm (122) includes a first connecting rod (1221), a second connecting rod (1222) and a fifth braking device (1223), the first connecting rod (1221) is horizontally arranged, and the second connecting rod (1222) is vertically arranged, and the fifth braking device (1223) can fix the relative position between the first connecting rod (1221) and the second connecting rod (1222).

3. The bolt tightening mechanism according to claim 2, characterized in that: The second mechanical arm (14) includes a third driving arm (141) and a fourth driving arm (142), wherein the third driving arm (141) is connected to the support column (11), one end of the fourth driving arm (142) is rotatably connected to the third driving arm (141), and the other end of the fourth driving arm (142) is connected to the second tightening gun (15), and the fourth driving arm (142) also includes a third connecting rod (1421), a fourth connecting rod (1422) and a sixth braking device (1423), wherein the third connecting rod (1421) is horizontally arranged, and the fourth connecting rod (1422) is vertically arranged, and the sixth braking device (1423) can fix the relative position between the third connecting rod (1421) and the fourth connecting rod (1422).

4. The bolt tightening mechanism according to claim 3, characterized in that: The bolt tightening mechanism also includes a first braking device (161) and a second braking device (162), wherein the first braking device (161) is connected between the first mechanical arm (12) and the support column (11), and the first braking device (161) is capable of fixing the relative position between the first mechanical arm (12) and the support column (11); and the second braking device (162) is connected between the second mechanical arm (14) and the support column (11), and the second braking device (162) is capable of fixing the relative position between the second mechanical arm (14) and the support column (11).

5. The bolt tightening mechanism according to claim 4, characterized in that: The first mechanical arm (12) comprises a third braking device (123), wherein the third braking device (123) is connected between the first driving arm (121) and the second driving arm (122), and the third braking device (123) is capable of fixing the relative position between the first driving arm (121) and the second driving arm (122); And / or the second robotic arm (14) further includes a fourth braking device (143), wherein the fourth braking device (143) is connected between the third driving arm (141) and the fourth driving arm (142), and the fourth braking device (143) is capable of fixing the relative position between the third driving arm (141) and the fourth driving arm (142).

6. The bolt tightening mechanism according to claim 5, characterized in that: The bolt tightening mechanism also includes a first lifting cylinder (171), a cylinder body of the first lifting cylinder (171) is movably connected to a first connecting seat (1224) of the second driving arm (122), an end of the first connecting rod (1221) close to the second connecting rod (1222) is fixedly connected to a first movable part (172), a driving end of the first lifting cylinder (171) is movably connected to the first movable part (172), and the first lifting cylinder (171) can drive the second connecting rod (1222) to move along the length direction of the support column (11); And / or the bolt tightening mechanism also includes a second lifting cylinder (173), the cylinder body of the second lifting cylinder (173) is movably connected to the third connecting seat (1424) of the fourth driving arm (142), the end of the third connecting rod (1421) close to the fourth connecting rod (1422) is fixedly connected with a second movable part (174), the driving end of the second lifting cylinder (173) is movably connected to the second movable part (174), and the second lifting cylinder (173) can drive the fourth connecting rod (1422) to move along the length direction of the support column (11).

7. The bolt tightening mechanism according to claim 6, characterized in that: The first tightening gun (13) is provided with a first driver, and the first driver can drive the bolt or the nut to rotate; And / or the second tightening gun (15) is provided with a second driver, and the second driver can drive the bolt or the nut to rotate.

8. The bolt tightening mechanism according to claim 3, characterized in that: The bolt tightening device also includes a controller (18), wherein the controller (18) is arranged on the support column (11), and the first driving arm (121), the first tightening gun (13), the second driving arm (122) and the second tightening gun (15) are electrically connected to the controller (18) respectively.

9. The bolt tightening mechanism according to claim 3, characterized in that: The bolt tightening mechanism also includes an indicator light (19), which is arranged at one end of the second connecting rod (1222) close to the first tightening gun (13), and the indicator light (19) is used to display the tightening status of the bolt and the nut.

10. The bolt tightening mechanism according to any one of claims 1 to 9, characterized in that: The bolt tightening mechanism also includes a hole alignment device, which is arranged on the turntable of the crane and cooperates with the first tightening gun (13) or the second tightening gun (15) to align the hole and tighten the bolt.

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