Tightening device

Abstract

The utility model discloses a tightening device, which relates to the technical field of devices for disassembling and assembling parts, and comprises a first tightening gun, a second tightening gun and a third tightening gun, a second tightening gun; at least one of the first tightening gun and the second tightening gun is arranged on the distance changing mechanism, so that the distance between the first tightening gun and the second tightening gun is adjusted through the distance changing mechanism; the first positioning mechanism is arranged on the first tightening gun, so that the first tightening gun is aligned with the first target; and the second positioning mechanism is arranged on the second tightening gun, so that the second tightening gun is aligned with the second target. According to the technical scheme provided by the utility model, the tightening position deviation is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of devices for disassembling and assembling parts, in particular to a tightening device. Background Art

[0002] In the field of mechanical assembly, it is often necessary to tighten multiple bolts or nuts at the same time to achieve the fixation and connection between components. The traditional tightening method relies on manual operation by operators, which is inefficient.

[0003] There is a tightening device including two movable tightening guns and a distance-changing mechanism. The distance-changing mechanism can adjust the distance between the two tightening guns to adapt to the layout of different workpieces and meet different tightening distance requirements.

[0004] However, the tightening gun of this tightening device is prone to position deviation and cannot be aligned with the predetermined bolt or nut position. Utility Model Content

[0005] The main purpose of the utility model is to provide a tightening device, aiming at reducing the tightening position deviation.

[0006] In order to achieve the above-mentioned purpose, the tightening device proposed by the utility model comprises:

[0007] First tighten the gun;

[0008] Second tightening gun;

[0009] a distance-changing mechanism, wherein at least one of the first tightening gun and the second tightening gun is provided on the distance-changing mechanism, so that the distance between the first tightening gun and the second tightening gun can be adjusted by the distance-changing mechanism;

[0010] A first positioning mechanism is provided on the first tightening gun so as to align the first tightening gun with a first target; and

[0011] The second positioning mechanism is arranged on the second tightening gun so as to make the second tightening gun aim at the second target.

[0012] In one embodiment, the first positioning mechanism comprises:

[0013] a camera assembly, disposed on the first tightening gun and facing the first target; and

[0014] An adjustment component is connected to the camera component and the first tightening gun, and is used to adjust the distance between the camera component and the first target.

[0015] In one embodiment, the adjustment component comprises:

[0016] a fixing member, fixed to the first tightening gun and disposed on a side of the camera assembly facing away from the first target; and

[0017] An adjusting member, one end of which is passed through the fixing member and is threadedly connected to the fixing member, and the other end of which is in contact with the camera assembly to drive the camera assembly to approach the first target.

[0018] In one embodiment, the distance changing mechanism comprises a mounting plate, and at least one of the first tightening gun and the second tightening gun is slidably disposed on the mounting plate to adjust the distance between the second tightening gun and the first tightening gun.

[0019] In one embodiment, the variable distance mechanism further includes a driving assembly, which is disposed on the mounting plate and drives at least one of the first tightening gun and the second tightening gun to adjust the distance between the second tightening gun and the first tightening gun.

[0020] In one embodiment, the driving assembly is arranged on one side of the mounting plate, the first tightening gun and the second tightening gun are arranged on the other side of the mounting plate, the variable pitch mechanism also includes a support member, the support member is slidably passed through the mounting plate, the driving assembly is driven and connected to one end of the support member, and the other end of the support member is connected to one of the second tightening gun and the first tightening gun.

[0021] In one embodiment, the drive assembly comprises:

[0022] A motor having a fixed end and an output end, wherein the fixed end is fixed to the mounting plate;

[0023] A screw rod, the output end is drivingly connected to the screw rod; and

[0024] A nut is sleeved on the screw rod and threadedly connected with the screw rod, and one end of the support member away from the second tightening gun is connected to the nut.

[0025] In one embodiment, the pitch changing mechanism further includes a guide structure, wherein the guide structure connects the second tightening gun and the mounting plate so that the second tightening gun can slide linearly relative to the mounting plate.

[0026] In one embodiment, the guide structure includes a slide rail and a slide groove, one of the second tightening gun and the mounting plate is provided with the slide groove, and the other of the second tightening gun and the mounting plate is provided with the slide rail corresponding to the slide groove, and the slide rail is inserted into the slide groove and can slide relative to the slide groove.

[0027] In one embodiment, the tightening device further comprises a bracket, one end of the bracket is connected to a side of the mounting plate facing away from the first tightening gun, and the other end of the bracket is used to connect to the industrial robot.

[0028] The tightening device in the technical solution of the utility model includes a first tightening gun, a second tightening gun, a pitch-changing mechanism, a first positioning mechanism and a second positioning mechanism. The first tightening gun is used to tighten the first target, and the second tightening gun is used to tighten the second target. The first target and the second target can be screws, bolts or nuts, etc. The first tightening gun and the second tightening gun can accurately control the tightening torque, thereby improving the assembly accuracy of the tightening device, and the two tightening guns can work at the same time, thereby improving the assembly efficiency of the tightening device. Among them, one of the first tightening gun and the second tightening gun can be set in the pitch-changing mechanism, and the first tightening gun and the second tightening gun can also be set in the pitch-changing mechanism. The distance between the first tightening gun and the second tightening gun is adjusted by the activity of the pitch-changing mechanism, so that the two tightening guns can be applied to different tightening target distances, thereby improving the versatility of the tightening device and expanding the applicable operation scenarios of the tightening device. In addition, a first positioning mechanism is provided on the first tightening gun, and the first tightening gun is aligned with the first target through the first positioning mechanism, and a second positioning mechanism is provided on the second tightening gun, and the second tightening gun is aligned with the second target through the second positioning mechanism, thereby reducing the tightening position deviation and improving the accuracy and efficiency of the tightening operation. Each tightening gun is provided with a corresponding positioning mechanism to ensure the accuracy of the positioning of each tightening gun, improve the positioning accuracy of each tightening gun, and reduce the possibility of positioning errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 A schematic diagram of the structure of an embodiment of the tightening device provided by the utility model Figure 1 ;

[0031] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0032] Figure 3 A schematic diagram of the structure of an embodiment of the tightening device provided by the utility model Figure 2 ;

[0033] Figure 4 A schematic diagram of the structure of an embodiment of the tightening device provided by the utility model Figure 3 .

[0034] Description of Figure Numbers:

[0035] 100. The first tightening gun;

[0036] 200, second tightening gun;

[0037] 300, pitch-changing mechanism; 310, mounting plate; 311, avoidance opening; 320, driving assembly; 330, supporting member; 340, guiding structure;

[0038] 400, first positioning mechanism; 410, camera assembly; 420, adjustment assembly; 421, fixing member; 422, adjustment member;

[0039] 500, second positioning mechanism;

[0040] 600. Bracket.

[0041] 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

[0042] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0043] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0044] In the present invention, unless otherwise clearly defined and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; "connection" can be a mechanical connection or an electrical connection, a direct connection, or an indirect connection through an intermediate medium, or the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to specific circumstances.

[0045] In addition, if there are descriptions such as "first" and "second" in the embodiments of the utility model, the descriptions such as "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0046] The utility model provides a tightening device.

[0047] See also Figure 1 and Figure 4 , Figure 1 A schematic diagram of the structure of an embodiment of the tightening device provided by the utility model Figure 1 , Figure 4 A schematic diagram of the structure of an embodiment of the tightening device provided by the utility model Figure 3 .

[0048] In one embodiment of the present invention, the tightening device comprises:

[0049] A first tightening gun 100;

[0050] A second tightening gun 200;

[0051] A distance changing mechanism 300, at least one of the first tightening gun 100 and the second tightening gun 200 is disposed on the distance changing mechanism 300, so as to adjust the distance between the first tightening gun 100 and the second tightening gun 200 through the distance changing mechanism 300;

[0052] A first positioning mechanism 400 is provided on the first tightening gun 100 so as to align the first tightening gun 100 with the first target; and

[0053] The second positioning mechanism 500 is disposed on the second tightening gun 200 so as to align the second tightening gun 200 with the second target.

[0054] The tightening device in the technical solution of the utility model comprises a first tightening gun 100, a second tightening gun 200, a pitch-changing mechanism 300, a first positioning mechanism 400 and a second positioning mechanism 500. The first tightening gun 100 is used to tighten a first target, and the second tightening gun 200 is used to tighten a second target. The first target and the second target can be screws, bolts or nuts, etc. The first tightening gun 100 and the second tightening gun 200 can accurately control the tightening torque, thereby improving the assembly accuracy of the tightening device, and the two tightening guns can work at the same time, thereby improving the assembly efficiency of the tightening device. Among them, one of the first tightening gun 100 and the second tightening gun 200 can be set in the pitch-changing mechanism 300, or the first tightening gun 100 and the second tightening gun 200 can be set in the pitch-changing mechanism 300. The distance between the first tightening gun 100 and the second tightening gun 200 is adjusted by the activity of the pitch-changing mechanism 300, so that the two tightening guns can be applied to different tightening target distances, thereby improving the versatility of the tightening device and expanding the applicable operation scenes of the tightening device. In addition, a first positioning mechanism 400 is provided on the first tightening gun 100, and the first tightening gun 100 is aligned with the first target through the first positioning mechanism 400, and a second positioning mechanism 500 is provided on the second tightening gun 200, and the second tightening gun 200 is aligned with the second target through the second positioning mechanism 500, thereby reducing the tightening position deviation and improving the accuracy and efficiency of the tightening operation. Each tightening gun is provided with a corresponding positioning mechanism to ensure the accuracy of the positioning of each tightening gun, improve the positioning accuracy of each tightening gun, and reduce the possibility of positioning errors.

[0055] In one embodiment, the first positioning mechanism 400 includes:

[0056] A camera assembly 410 is disposed on the first tightening gun 100 and faces the first target; and

[0057] The adjustment component 420 connects the camera component 410 and the first tightening gun 100 and is used to adjust the distance between the camera component 410 and the first target.

[0058] In the embodiment of the utility model, the first tightening gun 100 is aligned with the first target by visual positioning through the camera assembly 410, and the positioning accuracy is high and easy to implement. The camera assembly 410 is slidably arranged on the first tightening gun 100, and the adjustment assembly 420 can adjust the distance between the camera assembly 410 and the first target to ensure the accuracy of the camera assembly 410 when performing visual positioning, thereby ensuring the accuracy of the alignment of the first positioning gun with the first target. The adjustment assembly 420 can be an adjustment screw, and the user manually rotates the adjustment screw to move the adjustment screw and push the camera assembly 410 to change the distance with the first target; the adjustment assembly 420 can also be a cylinder, a linear motor, an electric push rod, etc., which drives the camera assembly 410 to move linearly, thereby adjusting the distance between the camera and the first target. This method has a fast response speed, high adjustment accuracy, and reduces manual operation. Specifically in this embodiment, the second positioning mechanism 500 adopts the same structural form as the first positioning mechanism 400.

[0059] In one embodiment, the adjustment component 420 includes:

[0060] A fixing member 421 fixed to the first tightening gun 100 and disposed on a side of the camera assembly 410 facing away from the first target; and

[0061] The adjusting member 422 has one end that passes through the fixing member 421 and is screwed to the fixing member 421 , and the other end of the adjusting member 422 abuts against the camera assembly 410 to drive the camera assembly 410 to approach the first target.

[0062] Reference Figure 2 In an embodiment of the utility model, the adjustment component 420 includes a fixing member 421 and an adjustment member 422. The fixing member 421 is fixed on the first tightening gun 100. The adjustment member 422 is penetrated by the fixing member 421 and is threadedly connected with the fixing member 421. The adjustment member 422 can be a screw or a bolt, etc. By screwing the adjustment member 422 in a way of approaching the camera component 410, the adjustment member 422 pushes the camera component 410 to approach the first target. By screwing the adjustment member 422 out in a way of moving away from the camera component 410, the camera component 410 can move in a direction away from the first target. The structure is simple, easy to implement, and low cost.

[0063] In one embodiment, the distance changing mechanism 300 includes a mounting plate 310 , and at least one of the first tightening gun 100 and the second tightening gun 200 is slidably disposed on the mounting plate 310 to adjust the distance between the second tightening gun 200 and the first tightening gun 100 .

[0064] Reference Figure 1 and Figure 3In an embodiment of the utility model, the distance changing mechanism 300 includes a mounting plate 310, and one of the first tightening gun 100 and the second tightening gun 200 may be slidably set on the mounting plate 310, or both the first tightening gun 100 and the second tightening gun 200 may be slidably set on the mounting plate 310, so as to change the distance between the first tightening gun 100 and the second tightening gun 200 by sliding, which has a simple structure, is easy to implement, and has low cost.

[0065] In one embodiment, the variable distance mechanism 300 further includes a driving assembly 320 , which is disposed on the mounting plate 310 and drives at least one of the first tightening gun 100 and the second tightening gun 200 to adjust the distance between the second tightening gun 200 and the first tightening gun 100 .

[0066] Reference Figure 1 and Figure 3 In an embodiment of the utility model, the pitch-changing mechanism 300 further includes a driving assembly 320, which drives the tightening gun slidably disposed on the mounting plate 310 to slide, thereby reducing manual operation and improving the accuracy and speed of adjusting the distance between the two tightening guns. Specifically in this embodiment, the first tightening gun 100 is fixed on the mounting plate 310, and the second tightening gun 200 is slidably connected to the mounting plate 310. The driving assembly 320 drives the second tightening gun 200 to move the second tightening gun 200 closer to or away from the first tightening gun 100, thereby achieving the distance adjustment between the first tightening gun 100 and the second tightening gun 200. The structure is simple and easy to implement. Only the position of one tightening gun needs to be adjusted, and the load requirement for the driving assembly 320 is relatively low.

[0067] In one embodiment, the driving assembly 320 is disposed on one side of the mounting plate 310, the first tightening gun 100 and the second tightening gun 200 are disposed on the other side of the mounting plate 310, and the variable pitch mechanism 300 also includes a support member 330, which is slidably penetrated through the mounting plate 310, and the driving assembly 320 drives one end of the support member 330, and the other end of the support member 330 is connected to one of the second tightening gun 200 and the first tightening gun 100.

[0068] Reference Figure 1 and Figure 4In the embodiment of the utility model, the first tightening gun 100 and the second tightening gun 200 are arranged on the side of the driving assembly 320 away from the driving assembly 320, and the support member 330 is slidably penetrated through the mounting plate 310. The driving assembly 320 drives one end of the support member 330, and the other end of the support member 330 is connected to the tightening gun slidably arranged on the mounting plate 310, so that the structure of the entire tightening device is more compact, thereby reducing the occupied space of the tightening device and making the tightening device more flexible as a whole; on the other hand, it tries to avoid the center of gravity of the tightening device from tilting to one side, thereby reducing the possibility of unstable center of gravity of the tightening device, which is conducive to improving the positioning accuracy of the first positioning mechanism 400 and the second positioning mechanism 500, thereby ensuring the tightening accuracy and efficiency of the first tightening gun 100 and the second tightening gun 200. On the other hand, referring to Figure 2 The mounting plate 310 is provided with an escape opening 311, and the support member 330 slides through the escape opening 311. The escape opening 311 not only meets the sliding requirements of the support member 330, but also reduces the weight of the mounting plate 310, which is beneficial to the lightweight of the entire tightening device, thereby reducing the load requirements for the industrial robot equipped with the tightening device.

[0069] In one embodiment, the drive assembly 320 includes:

[0070] The motor has a fixed end and an output end, wherein the fixed end is fixed to the mounting plate 310;

[0071] A lead screw, an output end driving a connecting lead screw; and

[0072] The nut is sleeved on the screw rod and threadedly connected with the screw rod, and one end of the support member 330 away from the second tightening gun 200 is connected to the nut.

[0073] In an embodiment of the utility model, the driving assembly 320 includes a motor, a screw and a nut, and the screw and the nut form a screw-nut mechanism. The motor drives the screw to rotate, and the screw drives the nut to move along the axial direction of the screw through the thread, thereby driving the support member 330 to move, and the movement is smooth and the movement accuracy is high, so that when adjusting the spacing between the first tightening gun 100 and the second tightening gun 200, the spacing changes smoothly, thereby improving the spacing adjustment accuracy.

[0074] In one embodiment, the variable pitch mechanism 300 further includes a guide structure 340 , which connects the second tightening gun 200 and the mounting plate 310 , so that the second tightening gun 200 can slide linearly relative to the mounting plate 310 .

[0075] Reference Figure 1 and Figure 4In the embodiment of the utility model, the first tightening gun 100 is fixed to the mounting plate 310, the second tightening gun 200 can slide on the mounting plate 310, and the guide structure 340 connects the second tightening gun 200 and the mounting plate 310, so that the second tightening gun 200 can slide linearly relative to the mounting plate 310, thereby ensuring the stability of the second tightening gun 200 during the sliding process and reducing the shaking and deviation during the sliding process. The guide structure 340 can be implemented in various ways such as sliding friction guide rails, rolling friction guide rails, elastic friction guide rails, and fluid friction guide rails.

[0076] In one embodiment, the guide structure 340 includes a slide rail and a slide groove. One of the second tightening gun 200 and the mounting plate 310 is provided with a slide groove, and the other of the second tightening gun 200 and the mounting plate 310 is provided with a slide rail corresponding to the slide groove. The slide rail is inserted into the slide groove and can slide relative to the slide groove.

[0077] In an embodiment of the utility model, the guide structure 340 includes a slide rail and a slide groove. The slide groove can be provided on the second tightening gun 200, and the slide rail can be provided on the mounting plate 310, so that the second tightening gun 200 moves along the slide rail; or the slide rail can be provided on the second tightening gun 200, and the slide groove can be provided on the mounting plate 310, so that the second tightening gun 200 moves along the slide groove. The sliding guide of the second tightening gun 200 is realized by means of sliding friction between the slide rail and the slide groove. The structure is simple, easy to implement, and has a low manufacturing cost. It is beneficial to reduce the weight of the entire tightening device and reduce the load requirements for the industrial robot equipped with the tightening device. Specifically in this embodiment, combined with Figure 1 and Figure 4 Two spaced apart slide rails are provided on one side of the mounting plate 310 facing the bracket, and the second tightening gun 200 is provided with a bracket. Two sliders are fixed on one side of the bracket facing the mounting plate 310, and each slider is provided with a slide groove. The two slide grooves are correspondingly sleeved on the outside of the two slide rails, thereby realizing the sliding guidance of the second tightening gun 200, reducing the possibility of the second tightening gun 200 tilting or shaking during the sliding process, and improving the accuracy of the linear sliding of the second tightening gun 200, thereby improving the positioning accuracy and repeated positioning accuracy of the second tightening gun 200.

[0078] In one embodiment, the tightening device further includes a bracket 600 , one end of the bracket 600 is connected to a side of the mounting plate 310 away from the first tightening gun 100 , and the other end of the bracket 600 is used to connect to the industrial robot.

[0079] Reference Figure 1 and Figure 4In an embodiment of the utility model, the bracket 600 is used to connect the industrial robot. The bracket 600 is arranged on the side of the mounting plate 310 away from the first tightening gun 100. That is, the first tightening gun 100, the second tightening gun 200, the first positioning mechanism 400, and the second positioning mechanism 500 are arranged on one side of the mounting plate 310, and the driving assembly 320 and the bracket 600 are arranged on the other side of the mounting plate 310. The bracket 600 not only provides additional support for the mounting plate 310, but also enhances the stability of the entire tightening device, thereby ensuring the stability of the first tightening gun 100 and the second tightening gun 200 during the tightening operation, improving the tightening accuracy of the tightening device, and reducing the error rate.

[0080] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A tightening device, characterized in that: include: First tighten the gun; Second tightening gun; a distance-changing mechanism, wherein at least one of the first tightening gun and the second tightening gun is provided on the distance-changing mechanism, so that the distance between the first tightening gun and the second tightening gun can be adjusted by the distance-changing mechanism; A first positioning mechanism is provided on the first tightening gun so as to align the first tightening gun with a first target; as well as The second positioning mechanism is arranged on the second tightening gun so as to make the second tightening gun aim at the second target.

2. The tightening device according to claim 1, characterized in that: The first positioning mechanism comprises: a camera assembly, disposed on the first tightening gun and facing the first target; and An adjustment component is connected to the camera component and the first tightening gun, and is used to adjust the distance between the camera component and the first target.

3. The tightening device according to claim 2, characterized in that: The adjustment component comprises: a fixing member, fixed to the first tightening gun and disposed on a side of the camera assembly facing away from the first target; and An adjusting member, one end of which is passed through the fixing member and is threadedly connected to the fixing member, and the other end of which is in contact with the camera assembly to drive the camera assembly to approach the first target.

4. The tightening device according to claim 1, characterized in that: The distance changing mechanism comprises a mounting plate, and at least one of the first tightening gun and the second tightening gun is slidably arranged on the mounting plate to adjust the distance between the second tightening gun and the first tightening gun.

5. The tightening device according to claim 4, characterized in that: The variable distance mechanism further includes a driving assembly, which is disposed on the mounting plate and drives at least one of the first tightening gun and the second tightening gun to adjust the distance between the second tightening gun and the first tightening gun.

6. The tightening device according to claim 5, characterized in that: The driving assembly is arranged on one side of the mounting plate, the first tightening gun and the second tightening gun are arranged on the other side of the mounting plate, the variable pitch mechanism also includes a support member, the support member is slidably penetrated through the mounting plate, the driving assembly is drivingly connected to one end of the support member, and the other end of the support member is connected to one of the second tightening gun and the first tightening gun.

7. The tightening device according to claim 6, characterized in that: The drive assembly comprises: A motor having a fixed end and an output end, wherein the fixed end is fixed to the mounting plate; A screw rod, the output end is drivingly connected to the screw rod; and A nut is sleeved on the screw rod and threadedly connected with the screw rod, and one end of the support member away from the second tightening gun is connected to the nut.

8. The tightening device according to claim 4, characterized in that: The pitch changing mechanism further comprises a guide structure, wherein the guide structure connects the second tightening gun and the mounting plate so that the second tightening gun can slide linearly relative to the mounting plate.

9. The tightening device according to claim 8, characterized in that: The guide structure includes a slide rail and a slide groove, one of the second tightening gun and the mounting plate is provided with the slide groove, and the other of the second tightening gun and the mounting plate is provided with the slide rail corresponding to the slide groove, and the slide rail is inserted into the slide groove and can slide relative to the slide groove.

10. The tightening device according to claim 4, characterized in that: The tightening device further comprises a bracket, one end of which is connected to a side of the mounting plate facing away from the first tightening gun, and the other end of the bracket is used for connecting to an industrial robot.

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