Automobile processing production line and tightening manipulator equipment thereof

Abstract

The utility model discloses a tightening manipulator device which comprises a mechanical arm and a displacement mechanism capable of driving the mechanical arm to move, a linkage support is arranged on the mechanical arm in a linkage mode, and two electric tightening gun assemblies are arranged on the linkage support. The linkage support is further provided with a fine adjustment mechanism capable of adjusting the distance between the two electric tightening gun assemblies. According to the tightening manipulator equipment, the tightening operation efficiency and the screwing torsion control precision of the U-shaped bolt can be effectively improved. The utility model further discloses an automobile processing production line applying the tightening manipulator equipment.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile processing production lines and supporting equipment thereof, in particular to a tightening manipulator device. The utility model also relates to an automobile processing production line applying the tightening manipulator device. Background Art

[0002] In current automobile assembly and parts processing processes, it is often necessary to tighten fasteners such as U-bolts to reliably install these fasteners in corresponding positions of main structural parts such as the rear axle of the automobile.

[0003] Generally, the above-mentioned tightening operation is to tighten fasteners such as U-bolts on main structural components such as the rear axle to a specified torque value to prevent the rear axle and other assembly components from loosening during vehicle driving and ensure vehicle driving safety.

[0004] Accordingly, in current practical operations, workers typically manually tighten the corresponding U-bolts using conventional ratchet torque wrenches. However, the tightening operation of conventional ratchet torque wrenches relies entirely on manual labor, which is time-consuming and labor-intensive. Furthermore, the torque control accuracy during the tightening process is low, resulting in low operational efficiency and failure to meet the requirements of high-precision batch operations.

[0005] In addition, during current routine operations, electric tightening guns are also used to tighten U-bolts and meet the corresponding torque requirements. However, due to its inherent structural limitations, these electric tightening guns can only tighten a single U-bolt at a time, and cannot simultaneously tighten two nuts on the same U-bolt. This restricts the overall operation progress and also adversely affects the torque accuracy of the corresponding U-bolt.

[0006] In view of this, how to optimize the tightening operation method of U-bolts and improve their tightening operation efficiency and torque control accuracy are important technical issues that technical personnel in this field currently need to solve. Utility Model Content

[0007] The present invention aims to provide a tightening robot device that can effectively improve the tightening efficiency and torque control accuracy of U-bolts. Another object of the present invention is to provide an automobile processing production line using the tightening robot device.

[0008] In order to solve the above technical problems, the utility model provides a tightening robot device, comprising a mechanical arm and a displacement mechanism capable of driving the mechanical arm to move, wherein the mechanical arm is linked with a linkage bracket, and two electric tightening gun assemblies are arranged on the linkage bracket, and the linkage bracket is further provided with a fine-tuning mechanism capable of adjusting the distance between the two electric tightening gun assemblies;

[0009] The fine-tuning mechanism includes a positioning bracket fixed on the linkage bracket, and the positioning bracket is provided with a fine-tuning shaft and a fine-tuning motor capable of driving the fine-tuning shaft to rotate in a fixed axis;

[0010] Two working brackets are movably provided on the fine-tuning rotating shaft, and the electric tightening guns are installed on the bottom of the working brackets in a one-to-one correspondence. The two ends of the fine-tuning rotating shaft respectively have threaded shaft sections, and the external threads of the two threaded shaft sections have opposite rotation directions. The working brackets are arranged on the threaded shaft sections in a one-to-one correspondence, and the working brackets are provided with guide bearings that are correspondingly sleeved on the threaded shaft sections and thread-matched with the threaded shaft sections.

[0011] Preferably, a guide boss is provided on the working bracket, and the guide bearings are embedded in the guide bosses one by one. The two ends of the positioning bracket are respectively protruding with limit supports that can be offset against the guide bosses, and the limit supports are embedded with limit bearings that are suited for the end of the fine-tuning shaft.

[0012] Preferably, the fine-tuning motor and the fine-tuning shaft are connected via a pulley mechanism.

[0013] Preferably, the linkage bracket includes a support section connected to the robotic arm and a control section connected between the support section and the displacement mechanism, the control section includes at least two linkage rods parallel to each other and arranged perpendicular to the robotic arm, one end of the linkage rod is hinged to the positioning bracket, and the other end is hinged to the support section;

[0014] The support section further comprises a power-assisting cylinder, and at least one of the linkage rods is a sleeve rod assembly that can be driven by the power-assisting cylinder to be axially retracted.

[0015] Preferably, a control armrest is provided on at least one of the linkage rods.

[0016] Preferably, an auxiliary handrail is linked to the outer wall of the work support.

[0017] Preferably, the displacement mechanism includes a fixed rail bracket, a movable rail bracket is movably arranged on the fixed rail bracket, the robotic arm is movably arranged on the movable rail bracket, and the moving direction of the robotic arm along the movable rail bracket is perpendicular to the moving direction of the movable rail bracket along the fixed rail bracket.

[0018] Preferably, the linkage bracket is connected to the robotic arm so as to be reciprocatingly movable along the axial direction of the robotic arm.

[0019] The utility model also provides an automobile processing production line, including an operating platform capable of supporting materials, and also including a tightening robot device that cooperates with the materials, and the tightening robot device is the tightening robot device as described in any of the above items.

[0020] Compared to the above background technology, the tightening robot device provided by the present invention uses a displacement mechanism to move the robot arm, its linked linkage bracket, and each electric tightening gun assembly to a target workstation during operation, so that the electric tightening gun assembly can be matched with the U-bolt to be tightened. The spacing between the two electric tightening gun assemblies can then be further adjusted using a fine-tuning mechanism until the working ends of the two electric tightening gun assemblies can respectively align and adapt with the matching nuts of the U-bolts located on the work platform of the production line, thereby meeting the tightening operation requirements of U-bolts of different sizes. After that, each electric tightening gun assembly can be activated to perform a double-nut synchronous tightening operation on the U-bolt at the current workstation. After a single tightening operation is completed, the working ends of the electric tightening gun assemblies can be moved to the next target workstation by the action of the displacement mechanism, and the spacing between the two electric tightening gun assemblies can be readjusted by the fine-tuning mechanism according to the size of the U-bolt at the corresponding workstation until it meets the size adaptation requirements of the U-bolt to be tightened at the current workstation. In this way, the displacement mechanism of the tightening robot device can flexibly adjust the working position of each electric tightening gun assembly, and the fine-tuning mechanism can also be used to fine-tune the distance between the two electric tightening gun assemblies, achieving structural adaptation and adjustment for U-bolts of different sizes to meet the tightening requirements of different working conditions. The entire operation process of the tightening robot device does not require manual tightening and alignment by staff, significantly improving the torque control accuracy of the screwing operation. Moreover, the coordinated operation of the displacement mechanism and the fine-tuning mechanism can complete the corresponding U-bolt tightening operation at any time during the material routing process of the automobile processing production line, significantly improving the efficiency of the U-bolt tightening operation, thereby correspondingly improving the overall production processing efficiency of the automobile processing line.

[0021] In another preferred embodiment of the present invention, the fine-tuning mechanism includes a positioning bracket fixed on the linkage bracket, and the positioning bracket is provided with a fine-tuning shaft and a fine-tuning motor capable of driving the fine-tuning shaft to rotate on a fixed axis; two working brackets are movably provided on the fine-tuning shaft, and the electric tightening guns are installed one-to-one at the bottom of the working bracket, and the two ends of the fine-tuning shaft respectively have threaded shaft sections, and the external threads of the two threaded shaft sections have opposite rotation directions, the working brackets are arranged one-to-one on the threaded shaft sections, and the working brackets are provided with guide bearings that are one-to-one sleeved on the threaded shaft sections and thread-matched with the threaded shaft sections. When it is necessary to adjust the spacing between the two electric tightening gun assemblies, the fine-tuning shaft can be driven by the fine-tuning motor to rotate the fixed axis. Since the external threads of the two threaded shaft segments rotate in opposite directions, during the directional fixed axis rotation of the fine-tuning shaft, the movement directions of the two working brackets at both ends thereof will move in opposite directions as the corresponding guide bearings and the threads of the threaded shaft segments cooperate, thereby realizing the two electric tightening gun assemblies moving towards or away from each other along the axis of the fine-tuning shaft, thereby achieving the purpose of adjusting the spacing between the two electric tightening gun assemblies. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is an axonometric diagram of the overall layout structure of a tightening robot device provided by a specific embodiment of the utility model;

[0024] Figure 2 for Figure 1 A partial schematic diagram of the matching structure between the central linkage bracket and the electric tightening gun assembly;

[0025] Figure 3 for Figure 2 A partial schematic diagram of the coordination structure between the fine-tuning mechanism and the electric tightening gun assembly.

[0026] in:

[0027] 10-Robotic arm;

[0028] 11-Electric tightening gun assembly; 111-Working bracket; 112-Guide bearing; 113-Guide boss; 114-Auxiliary handrail;

[0029] 12- positioning bracket; 121- limiting support; 122- limiting bearing;

[0030] 13- Fine-adjust the shaft;

[0031] 14-fine-tuning motor; 141-pulley mechanism;

[0032] 15- linkage bracket; 151- support section; 152- control section; 153- linkage rod; 154- power cylinder; 155- control armrest;

[0033] 20-fixed rail bracket; 201-moving rail bracket. DETAILED DESCRIPTION

[0034] The core of the utility model is to provide a tightening robot device, which can effectively improve the tightening operation efficiency and the tightening torque control accuracy of U-bolts; in addition, it also provides an automobile processing production line using the above-mentioned tightening robot device.

[0035] In order to enable those skilled in the art to better understand the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods.

[0036] Please refer to Figures 1 to 3 .

[0037] In a specific embodiment, the tightening robot device provided by the present invention includes a robot arm 10 and a displacement mechanism capable of driving the robot arm 10 to move. The robot arm 10 is linked with a linkage bracket 15, and two electric tightening gun assemblies 11 are provided on the linkage bracket 15. The linkage bracket 15 is also provided with a fine-tuning mechanism capable of adjusting the distance between the two electric tightening gun assemblies 11.

[0038] During operation, the displacement mechanism is used to move the robotic arm 10, its coordinated linkage bracket 15, and each electric tightening gun assembly 11 to the target workstation, so that the electric tightening gun assembly 11 can be matched with the U-bolt to be tightened. The fine adjustment mechanism can then be used to further adjust the distance between the two electric tightening gun assemblies 11 until the working ends of the two electric tightening gun assemblies 11 can respectively align and adapt with the matching nuts of the U-bolts located on the work platform of the production line, thereby meeting the tightening requirements of U-bolts of different sizes. After that, each electric tightening gun assembly 11 can be activated to perform the dual-nut synchronous tightening operation on the U-bolt at the current workstation.

[0039] After a single tightening operation is completed, the working end of the electric tightening gun assembly 11 can be moved to the next target workstation through the action of the displacement mechanism, and the spacing between the two electric tightening gun assemblies 11 can be readjusted according to the size of the U-bolt at the corresponding workstation through the fine-tuning mechanism until it meets the size adaptation requirements of the U-bolt to be tightened at the current workstation. In this way, the displacement mechanism of the tightening manipulator device can flexibly adjust the working position of each electric tightening gun assembly 11, and at the same time, the fine-tuning mechanism can be used to fine-tune the spacing between the two electric tightening gun assemblies 11, thereby achieving structural adaptation and adjustment for U-bolts of different sizes to meet the tightening operation requirements under different working conditions.

[0040] The entire operation process of the tightening robot device does not require manual tightening and alignment by staff, which greatly improves the torque control accuracy of the screwing operation. In addition, by utilizing the collaborative operation of the displacement mechanism and the fine-tuning mechanism, the corresponding U-bolt tightening operation can be completed at any time during the material routing process of the automobile processing production line, which greatly improves the tightening efficiency of the U-bolt, and accordingly improves the overall production processing efficiency of the automobile processing production line.

[0041] Specifically, the fine-tuning mechanism includes a positioning bracket 12 fixed on the linkage bracket 15, and the positioning bracket 12 is provided with a fine-tuning shaft 13 and a fine-tuning motor 14 that can drive the fine-tuning shaft 13 to rotate on a fixed axis; two working brackets 111 are movably provided on the fine-tuning shaft 13, and the electric tightening guns are installed one-to-one at the bottom of the working bracket 111. The two ends of the fine-tuning shaft 13 respectively have threaded shaft sections, and the external threads of the two threaded shaft sections have opposite rotation directions. The working brackets 111 are arranged one-to-one on the threaded shaft sections, and the working brackets 111 are provided with guide bearings 112 that are one-to-one sleeved on the threaded shaft sections and adapted to the threads of the threaded shaft sections.

[0042] During the specific operation process, when it is necessary to adjust the spacing between the two electric tightening gun assemblies 11, the fine-tuning shaft 13 can be driven by the fine-tuning motor 14 to rotate in a fixed axis. Since the external threads of the two threaded shaft segments have opposite rotation directions, during the directional fixed axis rotation of the fine-tuning shaft 13, the movement directions of the two working brackets 111 at its two ends will move in opposite directions as the corresponding guide bearings 112 and the threads of the threaded shaft segments cooperate, thereby realizing the two electric tightening gun assemblies 11 moving toward or away from each other along the axis of the fine-tuning shaft 13, thereby achieving the purpose of adjusting the spacing between the two electric tightening gun assemblies 11.

[0043] It is not difficult to understand that the adjustment of the spacing between the two electric tightening gun assemblies 11 requires the fixed-axis rotation of the fine-tuning shaft 13 in different directions to achieve this. For example, when the fine-tuning shaft 13 rotates in the forward direction, the two electric tightening gun assemblies 11 can move away from each other, thereby gradually increasing the spacing between the two electric tightening gun assemblies 11; correspondingly, when the fine-tuning shaft 13 rotates in the reverse direction, the two electric tightening gun assemblies 11 can move toward each other, thereby gradually decreasing the spacing between the two electric tightening gun assemblies 11. Of course, the above-mentioned correspondence between the rotation direction of the fine-tuning shaft 13 and the spacing adjustment direction of the electric tightening gun assemblies 11 is for illustrative purposes only. In specific applications, it can be flexibly adjusted and selected based on actual working conditions and assembly conditions. In principle, any direction that can ensure the position adjustment requirements of the electric tightening gun assemblies 11 and meet the actual application needs of the tightening robot device is acceptable.

[0044] More specifically, the operating bracket 111 is provided with guide bosses 113, into which guide bearings 112 are mounted in a one-to-one correspondence. Positioning bracket 12 has protruding retaining brackets 121 at each end, each capable of abutting against guide bosses 113. Retaining retaining brackets 121 are retaining retaining bearings 122, which fit snugly around the ends of fine-tuning shaft 13. Guide bosses 113 provide structural protection for guide bearings 112 and optimize the coordinated interaction between guide bearings 112 and the main structure of the operating bracket 111.

[0045] The limiting bearing 122 can provide reliable structural support for the end of the fine-tuning shaft 13 and ensure the rotation tracking and stability of the fine-tuning shaft 13 . On this basis, the limit support 121 can provide certain structural protection for the limit bearing 122, and in the process of implementing the distance expansion adjustment of the two electric tightening gun assemblies 11, the two working brackets 111 are driven by the fixed axis rotation of the fine-tuning shaft 13 to achieve synchronous backward movement along the axial direction of the fine-tuning shaft 13. When the two working brackets 111 move backward to the appropriate position, they will abut and lock with the limit support 121 at the corresponding end to prevent the working bracket 111 from continuing to move toward the end along the axial direction of the fine-tuning shaft 13 and out of the main structure range of the fine-tuning shaft 13, thereby preventing the working bracket 111 from loosening or dislocating, thereby achieving the limitation of the maximum limit position of the distance between the two electric tightening gun assemblies 11, avoiding the problems of loosening, dislocation or installation structure failure of the electric tightening gun assemblies 11 during the distance adjustment process, thereby further ensuring the position adjustment reliability and control accuracy of each electric tightening gun assembly 11, and thereby improving the control accuracy and control stability of the tightening robot equipment.

[0046] Furthermore, the fine-tuning motor 14 is connected to the fine-tuning shaft 13 via a pulley mechanism 141. In a specific application, the output end of the fine-tuning motor 14 and the end of the fine-tuning shaft 13 on the same side can be protruded from the same side wall of the positioning bracket 12, and pulleys can be arranged at each protruding end. A transmission belt can then be used to reliably connect the two pulleys to achieve power transmission between the fine-tuning motor 14 and the fine-tuning shaft 13.

[0047] Furthermore, the linkage bracket 15 includes a support section 151 connected to the robotic arm 10 and a control section 152 connected between the support section 151 and the displacement mechanism. The control section 152 includes at least two linkage rods 153 that are parallel to each other and arranged perpendicular to the robotic arm 10. One end of the linkage rod 153 is hinged to the positioning bracket 12, and the other end is hinged to the support section 151. The support section 151 also includes a power-assisted cylinder 154. At least one linkage rod 153 is a sleeve rod assembly that can be driven by the power-assisted cylinder 154 to axially extend and retract. The reciprocating extension and retraction of the power-assisted cylinder 154 can drive the corresponding linkage rod 153 with a sleeve rod assembly structure to achieve axial extension and retraction, thereby adjusting the pitch angle and rotation angle of the linkage bracket 15, thereby achieving corresponding linkage adjustment of the pitch angle and rotation angle of each electric tightening gun assembly 11.

[0048] It is readily understood that, in practical applications, the robotic arm 10 may be a rod-shaped member to fully utilize the space available for assembly on the production line. Furthermore, the robotic arm 10 is typically positioned generally vertically, meaning that under normal operating conditions, the axis of the robotic arm 10 extends generally vertically. Accordingly, the linkage bracket 15 may be a rod-shaped member or a combination of multiple rod-shaped members, and the axial directions of the linkage bracket 15 and each electric tightening gun assembly 11 may be flexibly adjusted based on the specific operating conditions.

[0049] Furthermore, at least one linkage rod 153 is provided with a control handle 155. During actual operation, a worker can grasp the control handle 155 to achieve overall auxiliary control of the linkage rod 153 and even the linkage bracket 15, so as to assist in driving the position adjustment of the linkage bracket 15 and the angle adjustment of related mating parts when necessary, thereby improving the adjustment efficiency and adjustment accuracy of the position and angle adjustment of the linkage bracket 15 and the electric tightening gun assembly 11.

[0050] It should be clear that the electric tightening gun assembly 11 mentioned in this scheme generally includes a tightening gun device and a matching motor that can drive the fixed axis rotation of the working end of the tightening gun device. The specific structural form of the electric tightening gun assembly 11 can be flexibly applied with reference to conventional technology, and the specific arrangement and adaptation of its components can also refer to existing technical options, which will not be repeated here.

[0051] Correspondingly, an auxiliary handrail 114 is also provided on the outer wall of the work support 111. Similar to the function of the control handrail 155 mentioned above, the worker can also grasp the auxiliary handrail 114 to achieve auxiliary control of each work support 111, thereby improving the efficiency and adjustment accuracy of the working position adjustment of the corresponding work support 111, and correspondingly optimizing the tracking performance and adjustment efficiency of the position and angle adjustment of each electric tightening gun assembly 11.

[0052] On the other hand, the displacement mechanism includes a fixed rail bracket 20, on which a movable rail bracket 201 is movably arranged, and the robotic arm 10 is movably arranged on the movable rail bracket 201, and the movement direction of the robotic arm 10 along the movable rail bracket 201 and the movement direction of the movable rail bracket 201 along the fixed rail bracket 20 are perpendicular to each other. Generally, the fixed rail bracket 20 can be arranged on the top bracket or other main support structure of the production line. During actual operation, a driving mechanism such as a motor or a cylinder is used to drive the movable rail bracket 201 to move back and forth along the length direction of the fixed rail bracket 20, and to drive the robotic arm 10 to move back and forth along the length direction of the movable rail bracket 201, thereby achieving the overall position adjustment of the robotic arm 10 and its matching electric tightening gun assembly 11 and other linkage components, thereby greatly improving the effective operating range of the tightening robot equipment, optimizing the position adjustment efficiency of the corresponding electric tightening gun assembly 11, and making the overall operation and use of the tightening robot equipment more convenient and efficient, and having stronger adaptability to working conditions.

[0053] In actual applications, the fixed rail bracket 20 can be made of I-beam as the basic component, and then cooperate with the rail components arranged on the I-beam component to realize the overall structural layout; while the movable rail bracket 201 can use strip steel or plate steel as the basic component, and then cooperate with the rail components arranged on the corresponding steel components to realize the overall structural layout.

[0054] In addition, the linkage bracket 15 can be connected to the robot arm 10 so as to be reciprocatingly movable along the axial direction of the robot arm 10. In this way, the position adjustment direction of the electric tightening gun assembly 11 can be further increased, and the adjustment capability of its effective operating range can be improved, thereby making the overall operation and use of the tightening robot device more convenient and efficient.

[0055] In a specific embodiment, the automobile processing production line provided by the present invention includes a work platform capable of supporting materials and a tightening robot device that cooperates with the materials. The tightening robot device is the tightening robot device described above. The tightening robot device of this automobile processing production line can effectively improve the tightening efficiency of U-bolts and the torque control accuracy of the tightening force.

[0056] In summary, the tightening manipulator device provided in the present invention uses a displacement mechanism to move the manipulator arm and its linkage bracket and each electric tightening gun assembly as a whole to the target workstation during operation, so that the electric tightening gun assembly can reach a position where it can cooperate with the U-bolt to be tightened. After that, the spacing between the two electric tightening gun assemblies can be further adjusted by the fine-tuning mechanism until the working ends of the two electric tightening gun assemblies can respectively align and adapt with the matching nuts of the U-bolts located on the work platform of the production line, thereby meeting the tightening operation requirements of U-bolts of different sizes. After that, each electric tightening gun assembly can be started to perform a double-nut synchronous tightening operation on the U-bolt at the current workstation. After a single tightening operation is completed, the working end of the electric tightening gun assembly can be moved to the next target workstation by the action of the displacement mechanism, and the spacing between the two electric tightening gun assemblies can be readjusted by the fine-tuning mechanism according to the size of the U-bolt at the corresponding workstation until it meets the size adaptation requirements of the U-bolt to be tightened at the current workstation. In this way, the displacement mechanism of the tightening robot device can flexibly adjust the working position of each electric tightening gun assembly, and the fine-tuning mechanism can also be used to fine-tune the distance between the two electric tightening gun assemblies, achieving structural adaptation and adjustment for U-bolts of different sizes to meet the tightening requirements of different working conditions. The entire operation process of the tightening robot device does not require manual tightening and alignment by staff, significantly improving the torque control accuracy of the screwing operation. Moreover, the coordinated operation of the displacement mechanism and the fine-tuning mechanism can complete the corresponding U-bolt tightening operation at any time during the material routing process of the automobile processing production line, significantly improving the efficiency of the U-bolt tightening operation, thereby correspondingly improving the overall production processing efficiency of the automobile processing line.

[0057] The utility model also provides an automobile processing production line, wherein the tightening manipulator equipment of the automobile processing production line can effectively improve the tightening operation efficiency and the screwing torque control accuracy of the U-bolt.

[0058] The above describes in detail the tightening robot device provided by the present invention and the automobile processing production line using the tightening robot device. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core concept of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A tightening robot device, characterized in that, The invention comprises a mechanical arm and a displacement mechanism capable of driving the mechanical arm to move, wherein the mechanical arm is provided with a linkage bracket, the linkage bracket is provided with two electric tightening gun assemblies, and the linkage bracket is further provided with a fine-tuning mechanism capable of adjusting the distance between the two electric tightening gun assemblies; The fine-tuning mechanism includes a positioning bracket fixed on the linkage bracket, and the positioning bracket is provided with a fine-tuning shaft and a fine-tuning motor capable of driving the fine-tuning shaft to rotate in a fixed axis; Two working brackets are movably provided on the fine-tuning rotating shaft, and the electric tightening guns are installed on the bottom of the working brackets in a one-to-one correspondence. The two ends of the fine-tuning rotating shaft respectively have threaded shaft sections, and the external threads of the two threaded shaft sections have opposite rotation directions. The working brackets are arranged on the threaded shaft sections in a one-to-one correspondence, and the working brackets are provided with guide bearings that are correspondingly sleeved on the threaded shaft sections and thread-matched with the threaded shaft sections.

2. The tightening robot device according to claim 1, characterized in that: A guide boss is provided on the working bracket, and the guide bearings are embedded in the guide bosses one by one. The two ends of the positioning bracket are respectively protruding with limit supports that can resist the guide bosses, and the limit supports are embedded with limit bearings that are suited to the ends of the fine-tuning shaft.

3. The tightening robot device according to claim 1, characterized in that: The fine-tuning motor and the fine-tuning rotating shaft are connected through a pulley mechanism.

4. The tightening robot device according to claim 1, characterized in that: The linkage bracket includes a support section connected to the robotic arm and a control section connected between the support section and the displacement mechanism, the control section includes at least two linkage rods parallel to each other and arranged perpendicular to the robotic arm, one end of the linkage rod is hinged to the positioning bracket, and the other end is hinged to the support section; The support section further comprises a power-assisting cylinder, and at least one of the linkage rods is a sleeve rod assembly that can be driven by the power-assisting cylinder to be axially retracted and extended.

5. The tightening robot device according to claim 4, characterized in that: At least one of the linkage rods is provided with a control armrest.

6. The tightening robot device according to claim 1, characterized in that: An auxiliary handrail is linked to the outer wall of the work support.

7. The tightening robot device according to claim 1, characterized in that: The displacement mechanism includes a fixed rail bracket, a movable rail bracket is movably arranged on the fixed rail bracket, the mechanical arm is movably arranged on the movable rail bracket, and the moving direction of the mechanical arm along the movable rail bracket is perpendicular to the moving direction of the movable rail bracket along the fixed rail bracket.

8. The tightening robot device according to claim 1, characterized in that: The linkage bracket is connected to the robotic arm so as to be reciprocatingly movable along the axial direction of the robotic arm.

9. An automobile processing production line, comprising a work platform capable of supporting materials, characterized in that: It also includes a tightening robot device that cooperates with the material, and the tightening robot device is the tightening robot device according to any one of claims 1 to 8.

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