Multi-spindle tightening apparatus

Abstract

A multi-spindle tightening apparatus, comprising an apparatus input shaft (10) and a plurality of tightening heads (11), wherein the apparatus is provided with a plurality of transmission units (20), each transmission unit (20) is provided with a first unit output spindle (21), a second unit output spindle (22), and a unit input shaft (23), the unit input shaft (23) drives rotation of the first unit output spindle (21) and the second unit output spindle (22), and the first unit output spindle (21) and the second unit output spindle (22) of the transmission unit (20) drive a unit input shaft (23) of the other transmission unit (20) or drive the tightening heads (11). Using a transmission unit having a plurality of three-shaft structures allows for three shafts of the transmission unit to be drivingly linked to constitute a chain transmission structure, and form a multi-spindle torque transmission apparatus having one input shaft and a plurality of output spindles, wherein the plurality of output spindles are capable of simultaneously applying torque to a plurality of target objects, and a single input rotation operation is capable of outputting torque to the plurality of target objects, thereby preventing untightened bolts from being missed, and allowing adjustment of torque applied to the plurality of target objects.

Description

A multi-axis tightening device Technical Field

[0001] This invention relates to the field of mechanical transmission and installation, and in particular to a multi-axis tightening device. Background Technology

[0002] In mechanical installation and pipeline construction, bolt tightening is a crucial and demanding task, especially at flange connections in pipelines or pressure vessels. Traditional bolt tightening operations typically require adherence to strict standards and specifications (such as ASME PCC-1), demanding that bolts be tightened progressively in stages along a specific diagonal sequence. This process is not only time-consuming and labor-intensive but also susceptible to human error due to limitations in operator experience and tool precision. For example, bolts may be missed during tightening, which can severely impact the sealing and pressure resistance of pipeline connections, thereby threatening equipment safety and installation quality.

[0003] While some technologies have attempted to address similar multi-point fastening problems in the automotive assembly field, typically employing a single input shaft driving multiple output shafts to achieve synchronous rotation of multiple bolts, these devices have significant limitations. For example, once one bolt is tightened, the others cannot continue rotating, meaning it's impossible to evenly control the tightening force of multiple bolts simultaneously.

[0004] Another common solution is to use a multi-axis tightening tool with multiple independent electronically controlled servo torque heads, each responsible for tightening one bolt individually, and capable of adjusting the tightening force as needed. While this method partially solves the torque control problem, it is structurally complex and expensive.

[0005] Against this backdrop, existing technologies still face significant challenges in synchronous torque tightening of multiple bolts, particularly in improving operational efficiency, ensuring uniform tightening torque, reducing human error, and simplifying equipment structure. Therefore, a new technical solution is urgently needed to meet the demands for efficient, safe, and reliable multi-point torque transmission in complex working scenarios. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-axis tightening device, offering a more efficient, precise, and easy-to-operate solution for simultaneously tightening multiple bolts. This device enables automatic torque distribution during the tightening of multiple bolts, solving the problem in existing technologies where bolts cannot rotate into position simultaneously. This significantly improves tightening efficiency and accuracy while reducing human error. The device features a simple structure, ease of operation, and strong scalability, making it suitable for a wide range of industrial applications, especially in applications requiring high-precision tightening, such as pipeline installation and mechanical assembly.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows: a multi-axis tightening device, comprising a device input shaft 10 and multiple tightening heads 11, wherein the device is provided with multiple transmission units 20, each transmission unit having a first unit output shaft 21, a second unit output shaft 22, and a unit input shaft 23, wherein the unit input shaft 23 drives the first unit output shaft 21 and the second unit output shaft 22 to rotate; when the rotation of the first unit output shaft 21 is obstructed, the unit input shaft 23 drives the second unit output shaft 22 to rotate; when the rotation of the second unit output shaft 22 is obstructed, the unit input shaft 23 drives the first unit output shaft 21 to rotate; the first unit output shaft 21 of the transmission unit drives the unit input shaft 23 of another transmission unit or drives the tightening head 11, and the second unit output shaft 22 of the transmission unit drives the input shaft 23 of another transmission unit or drives the tightening head 11; the multiple transmission units include a top transmission unit 2A, wherein the device input shaft 10 drives the unit input shaft 23 of the top transmission unit 2A.

[0008] Furthermore, in order to adjust the direction of rotation and transmission ratio between the various transmission units, the first unit output shaft 21 of the transmission unit drives the unit input shaft 23 of another transmission unit through the transmission gear train 30, and the second unit output shaft 22 of the transmission unit drives the input shaft 23 of another transmission unit through the transmission gear train 30. The transmission gear train 30 adjusts the direction of rotation and / or transmission ratio of the unit input shaft 23. The transmission gear train 30 includes a transmission output wheel 31 disposed on the first unit output shaft 21 and / or the second unit output shaft 22, and the transmission gear train 30 also includes a transmission input wheel 32 disposed on the unit input shaft 23.

[0009] Furthermore, the transmission gear train 30 also includes an intermediate shaft disposed between the transmission output wheel 31 and the transmission input wheel 32.

[0010] Furthermore, one transmission unit structure is that the transmission unit 20 is a transmission unit with a differential structure, and the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit are respectively connected to one of the left half shaft gear 41, the right half shaft gear 42 or the differential housing 43 of the differential structure.

[0011] Furthermore, in order to adapt to the structure of the multi-axis tightening device, a preferred transmission unit of the differential structure is that the first unit output shaft 21 and the second unit output shaft 22 of the transmission unit are respectively connected to the left half shaft gear 41 and the right half shaft gear 42 of the differential structure, the unit input shaft 23 is connected to the differential housing 43, the first unit output shaft 21 passes through the second unit output shaft 22, and the first unit output shaft and the second unit output shaft exit the differential housing 43 from the same side.

[0012] Furthermore, another preferred transmission unit of the differential structure is that the unit input shaft 23 of the transmission unit is connected to the right half-shaft gear 42 of the differential structure, the first unit output shaft 21 is connected to the left half-shaft gear 41 of the differential structure, and the second unit output shaft 22 is connected to the differential housing 43 of the differential structure.

[0013] Furthermore, another type of transmission unit structure is that the transmission unit 20 is a planetary gear structure transmission unit, and the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit are respectively connected to one of the planet carrier 51, the gear ring 52 or the sun gear 53 of the planetary gear structure.

[0014] Furthermore, a preferred transmission unit of the planetary gear structure is wherein the first unit output shaft 21 of the transmission unit is connected to the planet carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear structure, and the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure.

[0015] Furthermore, another preferred transmission unit of the planetary gear structure is one in which the first unit output shaft 21 is connected to the planet carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the sun gear 53 of the planetary gear structure, and the unit input shaft 23 is connected to the gear ring 52 of the planetary gear structure.

[0016] The beneficial effects of this invention are: it adopts multiple three-axis transmission units, the three axes of the transmission unit can be linked to form a transmission structure, which constitutes a multi-axis torque transmission device with one input shaft and multiple output shafts. Multiple output shafts can simultaneously twist multiple operating objects, and one input rotation operation can output the twist of multiple operating objects, avoiding the omission of bolts that have not been tightened, and the twisting force of multiple twisted objects can be adjusted.

[0017] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] Figure 1 is a schematic diagram of the transmission of the present invention; Figure 2 is a schematic diagram of the transmission unit of the present invention using a differential structure; Figure 3 is a schematic diagram of the transmission unit of the present invention using a planetary gear structure; Figure 4 is a structural diagram and transmission schematic diagram of the transmission unit using a differential structure; Figure 5 is an exploded view of the transmission unit using a differential structure; Figure 6 is a structural diagram and transmission schematic diagram of the multi-axis tightening device of the transmission unit using a differential structure, with the transmission gear train using one intermediate shaft; Figure 7 is an internal structural diagram of the multi-axis tightening device of the transmission unit using a differential structure; Figure 8 is an exploded view of the internal structure of the multi-axis tightening device of the transmission unit using a differential structure; Figure 9 is a structural diagram and transmission schematic diagram of the multi-axis tightening device of the transmission unit using a differential structure, with the transmission gear train using two intermediate shafts; Figure 10 is a structural diagram and transmission schematic diagram of the transmission unit using a planetary gear structure; Figure 11 is an exploded view of the transmission unit using a planetary gear structure; Figure 12 is a structural diagram of the multi-axis tightening device of the transmission unit using a planetary gear structure; Figure 13 is a partial sectional view of the multi-axis tightening device of the transmission unit using a planetary gear structure. Figure 14 is an internal structural diagram and transmission schematic diagram of a multi-axis tightening device with a planetary gear structure in the transmission unit; Figure 15 is a structural diagram and transmission schematic diagram of a multi-axis tightening device with a planetary gear structure in the transmission unit, where the output wheel directly drives the input wheel; Figure 16 is a differential opening and closing tightening tool constructed with a planetary gear structure according to the present invention; Figure 17 is a transmission schematic diagram of the differential opening and closing tightening tool shown in Figure 16; Figure 18 is a structural diagram of the differential input unit in the differential opening and closing tightening tool; Figure 19 is a structural diagram of the differential tightening unit in the differential opening and closing tightening tool; Figure 20 is an exploded view of the main frame, opening and closing frame, differential input unit, and differential tightening unit in the differential opening and closing tightening tool; Figure 21 is a connection structure diagram of the differential input unit and differential tightening unit in the differential opening and closing tightening tool; Figure 22 is a schematic diagram of the use of the differential opening and closing tightening tool. Detailed Implementation

[0019] To achieve efficient and precise synchronous tightening of multiple bolts, this invention proposes a multi-axis tightening device, which includes a device input shaft 10 and multiple tightening heads 11. The tightening heads 11 are used to connect the bolts or other helical fasteners that need to be tightened.

[0020] As shown in Figure 1, the multi-axis tightening device has multiple transmission units 20. Each transmission unit 20 is a three-axis transmission structure with three interconnected rotating shafts. Each rotating shaft can drive the other two rotating shafts to dynamically transmit torque. As shown in the connection diagram in Figure 1, each transmission unit 20 has a first unit output shaft 21, a second unit output shaft 22, and a unit input shaft 23. The unit input shaft 23 drives the first unit output shaft 21 and the second unit output shaft 22 to rotate. When the rotation of the first unit output shaft 21 is obstructed, the unit input shaft 23 will drive the second unit output shaft 22 to rotate. When the rotation of the second unit output shaft 22 is obstructed, the unit input shaft 23 will drive the first unit output shaft 21 to rotate.

[0021] The multiple transmission units can be divided into three categories: a top transmission unit 2A (drive unit 20a in Figure 1), at least one end transmission unit 2B (drive units 20e, 20f, and 20g in Figure 1), and several intermediate transmission units 2C (drive units 20b, 20c, and 20d in Figure 1). The transmission schematic diagram shown in Figure 6 illustrates a minimal transmission unit combination structure, consisting of only one top transmission unit 2A and one end transmission unit 2B.

[0022] The device input shaft 10 is driven by an external driving force, and drives the unit input shaft 23 of the top transmission unit 2A. All other transmission units 20 besides the top transmission unit 2A are driven by another transmission unit (or the next-level transmission unit), and their unit input shafts 23 are driven by the first unit output shaft 21 or the second unit output shaft 22 of that other transmission unit. For the top transmission unit 2A and the intermediate transmission unit 2C, the first unit output shaft 21 of the transmission unit can drive the unit input shaft 23 of another transmission unit (or the next-level transmission unit) or drive a tightening head 11; similarly, the second unit output shaft 22 of the transmission unit can drive the unit input shaft 23 of another transmission unit or drive a tightening head 11. For the end transmission unit 2B, the first unit output shaft 21 and the second unit output shaft 22 can each drive a tightening head 11, with one driving a tightening head 11 and the other fixed, as shown in the transmission unit 20g of Figure 1.

[0023] In the transmission system shown in Figure 1, the first unit output shaft 21 and the second unit output shaft 22 of some transmission units are respectively connected to the tightening head 11 and the unit input shaft 23 of the next stage transmission unit, such as transmission units 20a and 20c; the first unit output shaft 21 and the second unit output shaft 22 of some transmission units are respectively connected to the unit input shafts 23 of two next stage transmission units, such as transmission units 20b and 20d; the first unit output shaft 21 and the second unit output shaft 22 of some transmission units are respectively connected to two tightening heads 11, such as transmission units 20e and 20f. A transmission unit can also be connected to only one tightening head, such as transmission unit 20g, where the first unit output shaft 21 is connected to the tightening head 11, and the second unit output shaft 22 is fixed.

[0024] In a broad sense, transmission units can have various connection structures, and the connection method most suitable for the application conditions can be selected in a specific technical solution. As a typical transmission unit connection structure, as shown in Figure 2 (an example of a transmission unit system with a differential structure) and Figure 3 (an example of a transmission unit system with a planetary gear structure), the transmission unit adopts a chain-like connection structure, including a top transmission unit 2A, a bottom transmission unit 2B, and several intermediate transmission units 2C. The first unit output shaft 21 or the second unit output shaft 22 of the intermediate transmission unit 2C is respectively connected to a tightening head 11 and the unit input shaft 23 of another transmission unit.

[0025] During the process of the upper-level transmission unit driving the lower-level transmission unit, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of the transmission unit will have various different rotational speeds and directions of rotation. The first unit output shaft 21 and / or the second unit output shaft 22 of the transmission unit drive the unit input shaft 23 of another transmission unit through the transmission gear train 30. The transmission gear train 30 adjusts the direction of rotation and / or the transmission ratio of the unit input shaft 23, ultimately causing multiple tightening heads 11 to rotate in the same direction and have equal torque. The transmission gear train 30 includes a transmission output wheel 31 disposed on the first unit output shaft 21 and / or the second unit output shaft 22, and also includes a transmission input wheel 32 disposed on the unit input shaft 23. Each transmission unit 20 (except for the top transmission unit 2A) has a transmission input wheel 32 on its unit input shaft 23.

[0026] The output wheel 31 can directly drive the input wheel 32. Figure 15 includes an example of a transmission wheel system 30, in which the output wheel 31 of the previous stage transmission unit directly drives the input wheel 32 of the next stage transmission unit.

[0027] An intermediate wheel may also be provided between the output wheel 31 and the input wheel 32. Figures 2 and 3 include an example of the transmission wheel system 30, in which an intermediate wheel is provided between the output wheel 31 and the input wheel 32.

[0028] The transmission gear train 30 can also realize the transmission connection between transmission units in different positions.

[0029] The transmission unit 20 can adopt a planetary gear structure or a differential structure. Both planetary gear structures and differential structures are three-axis transmission structures with three interconnected shafts. Each shaft can drive the other two shafts, dynamically transmitting torque, which is suitable for transmission units.

[0030] Figure 2 shows an example of a transmission unit employing a differential structure, and Figure 3 shows an example of a transmission unit employing a planetary gear structure. Each transmission unit 20 has a three-shaft structure with either a planetary gear structure or a differential. According to the transmission principles of the planetary gear structure and the differential structure, when the rotation of the first unit output shaft 21 is obstructed, the unit input shaft 23 drives the second unit output shaft 22 to rotate; when the rotation of the second unit output shaft 22 is obstructed, the unit input shaft 23 drives the first unit output shaft 21 to rotate.

[0031] In a broad sense, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of each transmission unit can be connected to one of the three shafts of the planetary gear structure; or the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of each transmission unit can be connected to one of the three shafts of the differential structure. For the transmission unit of the differential structure, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of the transmission unit can be connected to one of the left half-shaft gear 41, the right half-shaft gear 42, or the differential housing 43 of the differential structure, that is: the first unit output shaft, the second unit output shaft, and the unit input shaft can be arbitrarily connected to one of the left half-shaft gear, the right half-shaft gear, or the differential housing of the differential structure. Similarly, for the transmission unit of the planetary gear structure, the first unit output shaft 21, the second unit output shaft 22 and the unit input shaft 23 of the transmission unit are respectively connected to one of the planet carrier 51, the gear ring 52 or the sun gear 53 of the planetary gear structure. That is, the first unit output shaft, the second unit output shaft and the unit input shaft can be arbitrarily connected to one of the planet carrier, the gear ring or the sun gear of the planetary gear structure.

[0032] The multi-axis tightening device of the present invention transmits torque to each tightening head 11 when the input shaft 10 of the device rotates. The tightening head with the least torsional resistance will be driven to rotate first, so that the loosest bolt among the multiple bolts will be tightened first. Then, the multiple tightening heads are tightened one by one in sequence, so that the multiple bolts are locked under the same or similar torque, and no bolts that have not been tightened are missed.

[0033] Example 1: As shown in Figures 4 and 5, a transmission unit for a differential structure is illustrated. In this example, the first unit output shaft 21 of the transmission unit is connected to the left half-shaft gear 41 of the differential structure, the second unit output shaft 22 is connected to the right half-shaft gear 42 of the differential structure, and the unit input shaft 23 is connected to the differential housing 43. The differential housing includes a first differential housing 43a and a second differential housing 43b that are mated together. The first differential housing 43a and the second differential housing 43b are assembled and fixed by bolts 47. The first differential housing 43a and the second differential housing 43b each have two semi-circular holes 45 on their mating surfaces, forming circular holes for mounting differential planetary gears 44. The two differential planetary gears 44 are symmetrically mounted between the first differential housing 43a and the second differential housing 43b. The second unit output shaft 22 extends out from one side of the second differential housing 43b. The second unit output shaft 22 and the right half shaft gear 42 are provided with shaft holes 46 that are rotatably engaged with the first unit output shaft 21. The first unit output shaft 21 passes through the second unit output shaft 22 and also extends out from one side of the second differential housing 43b.

[0034] One end of the first unit output shaft 21 is rotatably connected to the first differential housing 43a. The first unit output shaft 21 is connected to the left half-shaft gear 41 through a truncated square 21a, so that the first unit output shaft 21 and the left half-shaft gear 41 rotate synchronously. The output end of the first unit output shaft 21 is provided with a truncated square prism 21b, which is used to connect the tightening head 11 or drive the next stage transmission unit to rotate.

[0035] The second unit output shaft 22 and the right half-shaft gear 42 are made into a single part, each possessing the functions of the second unit output shaft 22 and the right half-shaft gear 42, respectively. Here, the term "connection" in this embodiment is a general concept. Similarly, the differential housing 43 structurally serves as the unit input shaft 23.

[0036] In this embodiment, the transmission unit of the differential structure transmits torque to the first unit output shaft 21 and the second unit output shaft 22 when the unit input shaft 23 (differential housing 43) rotates, driving the object with low torsional resistance to rotate.

[0037] Based on the transmission characteristics of the differential structure, the sum of the rotational speeds of the left and right half-shaft gears is twice the rotational speed of the differential housing. In this embodiment, when the first unit output shaft 21 is obstructed and stops rotating, the unit input shaft 23 drives the second unit output shaft 22 to rotate at twice the speed; similarly, when the second unit output shaft 22 is obstructed and stops rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate at twice the speed.

[0038] As a specific solution, this embodiment provides an example of the input shaft 23 of the differential housing connection unit for the transmission unit of the differential structure.

[0039] Not limited to this, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 can be connected to one of the left half-shaft gear 41, the right half-shaft gear 42, or the differential housing 43 of the differential structure, respectively: When the unit input shaft 23 is connected to the left half-shaft gear 41 of the differential structure, the first unit output shaft 21 can be connected to the right half-shaft gear 42 of the differential structure, and the second unit output shaft 22 can be connected to the differential housing 43; or the first unit output shaft 21 can be connected to the differential housing 43, and the second unit output shaft 22 can be connected to the right half-shaft gear 42 of the differential structure.

[0040] When the unit input shaft 23 is connected to the right half-shaft gear 42 of the differential structure, the first unit output shaft 21 can be connected to the left half-shaft gear 41 of the differential structure, and the second unit output shaft 22 can be connected to the differential housing 43; or the first unit output shaft 21 can be connected to the differential housing 43, and the second unit output shaft 22 can be connected to the left half-shaft gear 41 of the differential structure.

[0041] When the unit input shaft 23 is connected to the differential housing 43 of the differential structure, the first unit output shaft 21 can be connected to the right half-shaft gear 42 of the differential structure, and the second unit output shaft 22 can be connected to the left half-shaft gear 41; or the first unit output shaft 21 can be connected to the left half-shaft gear 41, and the second unit output shaft 22 can be connected to the right half-shaft gear 42 of the differential structure.

[0042] Example 2: A transmission unit for a differential structure. This example is a variation of the transmission unit in Example 1. This example has the same differential structure as Example 1. In this example, as shown in Figure 9, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of the transmission unit are connected to the differential structure in different ways. The first unit output shaft 21 of the transmission unit is connected to the left half-shaft gear 41 of the differential structure, the second unit output shaft 22 is connected to the differential housing 43 of the differential structure, and the unit input shaft 23 is connected to the right half-shaft gear 42.

[0043] Based on the transmission characteristics of the differential structure, the sum of the rotational speeds of the left and right half-shaft gears is twice the rotational speed of the differential housing. In this embodiment, when the first unit output shaft 21 is obstructed and stops rotating, the unit input shaft 23 drives the second unit output shaft 22 to rotate in the same direction at 0.5 times the speed; when the second unit output shaft 22 is obstructed and stops rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate in the opposite direction at the same speed.

[0044] The difference between this embodiment and Embodiment 1 is illustrated in that, for the transmission unit of the differential structure, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 of each transmission unit can be connected to one of the three rotating shafts of the differential structure, respectively.

[0045] Example 3: As shown in Figures 6 to 8, a multi-axis tightening device is provided with multiple transmission units 20 of the differential structure described in Example 1.

[0046] This embodiment has two transmission units 20, one of which is a top transmission unit 2A and the other is an end transmission unit 2B. The two transmission units are installed on the frame 12 of the multi-axis tightening device.

[0047] The unit input shaft 23 (i.e., differential housing 43) of the top drive unit 2A is connected to the device input shaft 10. In fact, the unit input shaft 23 (i.e., differential housing 43) of the top drive unit 2A can be made into an integral structure with the device input shaft 10.

[0048] The first unit output shaft 21 of the top transmission unit 2A is connected to a tightening head 11. The square prism 21b at the output end of the first unit output shaft 21 is inserted into the square hole 11a of the tightening head, driving the tightening head 11 to rotate synchronously. The tightening head 11 is provided with a bolt interface 11b. In this embodiment, the bolt interface 11b is a hexagonal bolt sleeve, used to tighten hexagonal bolts, hexagonal nuts and other fasteners.

[0049] The second unit output shaft 22 of the top transmission unit 2A drives the unit input shaft 23 of the end transmission unit 2B via a transmission gear train 30. As a transmission gear train, the second unit output shaft 22 of the top transmission unit 2A is equipped with a transmission output wheel 31, and the unit input shaft 23 of the end transmission unit 2B is equipped with a transmission input wheel 32. The transmission gear train also includes a first intermediate shaft 33, on which a first intermediate gear 34 and a second intermediate gear 35 are mounted. The first intermediate gear 34 meshes with the transmission output wheel 31 of the second unit output shaft of the top transmission unit 2A, and the second intermediate gear 35 meshes with the transmission input wheel 32 on the unit input shaft 23 of the end transmission unit 2B. In this embodiment, the output gear 31 and the input gear 32 are gears with the same number of teeth. The number of teeth of the first intermediate gear 34 is twice the number of teeth of the second intermediate gear 35, thereby realizing the deceleration transmission from the second unit output shaft 22 of the top transmission unit 2A to the unit input shaft 23 of the end transmission unit 2B. The rotational speed of the second unit output shaft 22 of the top transmission unit 2A is twice that of the unit input shaft 23 of the end transmission unit.

[0050] The device input shaft 10 drives the unit input shaft 23 of the top transmission unit 2A to rotate. According to the characteristics of the differential structure, for the top transmission unit 2A, when the second unit output shaft 22 is obstructed and stopped, the unit input shaft 23 drives the first unit output shaft 21 to rotate, and the rotational speed of the first unit output shaft 21 is twice that of the unit input shaft 23. When the first unit output shaft 21 is obstructed and stopped, the unit input shaft 23 drives the second unit output shaft 22 to rotate, and the rotational speed of the second unit output shaft 22 is twice that of the unit input shaft 23, that is, the rotational speed of the second unit output shaft 22 is twice that of the device input shaft 10. After transmission via the first intermediate gear 34 and the second intermediate gear 35, the unit input shaft 23 of the end transmission unit rotates at the same speed as the device input shaft 10. Therefore, the two transmission units have the same rotational speed characteristics and will also have the same or similar torque transmission effect.

[0051] In the end-drive unit 2B, the first unit output shaft 21 is directly connected to a tightening head 11. The second unit output shaft 22 drives a tightening shaft 14 through a transmission gear train. The transmission gear train between the second unit output shaft 22 and the tightening shaft 14 includes a transmission output wheel 31 mounted on the second unit output shaft 22, a tightening input gear 15 mounted on the tightening shaft 14, and a first intermediate shaft 33. The first intermediate shaft 33 is equipped with a first intermediate gear 34, which meshes with both the transmission output wheel 31 and the tightening input gear 15. Through the transmission of the first intermediate gear, the tightening input gear 15 and the transmission output wheel 31 rotate in the same direction. The number of teeth on the transmission output wheel 31 is the same as the number of teeth on the tightening input gear 15, making the rotational speed of the second unit output shaft 22 the same as that of the tightening shaft 14. Ultimately, this makes the rotational speed and direction of the tightening head 11 on the tightening shaft 14 the same as those of the tightening head 11 driven by the first unit output shaft 21.

[0052] According to the principle of the differential, when the second unit output shaft 22 is obstructed and stops rotating, the unit input shaft 23 drives the first unit output shaft 21 to rotate, and the rotational speed of the first unit output shaft 21 is twice that of the unit input shaft 23; when the first unit output shaft 21 is obstructed and stops rotating, the unit input shaft 23 drives the second unit output shaft 22 to rotate, and the rotational speed of the second unit output shaft 22 is twice that of the unit input shaft 23. Therefore, for the end drive unit 2B, the first unit output shaft 21 and the second unit output shaft 22 rotate at the same speed, and their output torques are also the same. After adjustment of the transmission gear train 30, the three tightening heads in this embodiment ultimately have the same direction of rotation and rotational speed, and have the same output torque.

[0053] To simplify the structure and facilitate understanding, this embodiment only illustrates a multi-axis tightening device including two transmission units and three tightening heads. In practical applications, more transmission units and tightening heads can be set according to the needs of the tightened object, with multiple transmission units operating in a multi-stage transmission structure, as shown in the structural diagram in Figure 2.

[0054] Example 4: As shown in Figure 9, a multi-axis tightening device. This example is a structural modification of Example 3.

[0055] In this embodiment, the top transmission unit 2A adopts the differential structure transmission unit of Embodiment 1. The end transmission unit 2B adopts the differential structure transmission unit of Embodiment 2. The unit input shaft 23 of the end transmission unit 2B is connected to the right half-shaft gear 42 of the differential structure, the first unit output shaft 21 is connected to the left half-shaft gear 41 of the differential structure, and the second unit output shaft 22 is connected to the differential housing 43 of the differential structure.

[0056] Similar to Embodiment 1, the unit input shaft 23 (i.e., differential housing 43) of the top drive unit 2A is connected to the device input shaft 10. The first unit output shaft 21 of the top drive unit 2A is connected to a tightening head 11, and the second unit output shaft 22 of the top drive unit 2A drives the unit input shaft 23 of the end drive unit 2B through a transmission wheel system.

[0057] Due to the structural change of the end-drive unit 2B, as a transmission gear train, the second unit output shaft 22 of the top drive unit 2A is equipped with a transmission output wheel 31, and the unit input shaft 23 of the end-drive unit 2B is equipped with a transmission input wheel 32. The transmission gear train also includes a first intermediate shaft 33 and a second intermediate shaft 36. A first intermediate gear 34 is mounted on the first intermediate shaft 33, and a second intermediate gear 35 is mounted on the second intermediate shaft 36. The first intermediate gear 34 meshes with the second intermediate gear 35. The first intermediate gear 34 meshes with the transmission output wheel 31, and the second intermediate gear 35 meshes with the transmission input wheel 32. In this embodiment, the transmission output wheel 31 and the transmission input wheel 32 are gears with the same number of teeth. The number of teeth of the first intermediate gear 34 is the same as that of the second intermediate gear 35, thereby realizing the same speed and reverse transmission between the second unit output shaft 22 of the top transmission unit 2A and the unit input shaft 23 of the end transmission unit 2B. For the end transmission unit 2B, the unit input shaft 23 is connected to the right half-shaft gear 42 of the differential structure. When the differential 43 housing is stationary, the left half-shaft gear 41 and the right half-shaft gear 42 rotate in opposite directions. Therefore, when the second unit output shaft 22 is blocked and does not rotate, the first unit output shaft 21 drives the tightening head 11 to rotate in the opposite direction relative to the unit input shaft 23, thereby realizing the same speed and direction of rotation with the tightening head 11 driven by the top transmission unit 2A.

[0058] In the end-drive unit 2B, the second unit output shaft 22 drives a tightening head 11. The second unit output shaft 22 drives a tightening shaft 14 via a transmission gear train. The transmission gear train between the second unit output shaft 22 and the tightening shaft 14 includes a transmission output wheel 31 mounted on the second unit output shaft 22, a tightening input gear 15 mounted on the tightening shaft 14, a first intermediate shaft 33, and a second intermediate shaft 36. A first intermediate gear 34 is mounted on the first intermediate shaft 33, and a second intermediate gear 35 is mounted on the second intermediate shaft 36. The first intermediate gear 34 meshes with the second intermediate gear 35. The first intermediate gear 34 meshes with the transmission output wheel 31, and the second intermediate gear 35 meshes with the tightening input gear 15. Through this two-stage intermediate gear transmission, the tightening input gear 15 and the transmission output wheel 31 rotate in opposite directions. The number of teeth on the transmission output wheel 31 is twice the number of teeth on the tightening input gear 15, making the rotational speed of the second unit output shaft 22 twice that of the tightening shaft 14. Ultimately, the rotational speed and direction of the tightening head 11 on the tightening shaft 14 are the same as those of the tightening head 11 driven by the output shaft 21 of the first unit.

[0059] The difference between this embodiment and Embodiment 3 is illustrated by showing that different differential transmission units can be used to form a multi-axis tightening device.

[0060] Example 5: As shown in Figures 10 and 11, a transmission unit with a planetary gear structure is described. In this example, the first unit output shaft 21 of the transmission unit is connected to the planet carrier 51 of the planetary gear structure, the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear structure, and the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure. The gear ring 52 has an internal gear ring 52a. The planetary gear structure of this example has three planet gears 54, which are mounted on the planet carrier 51 and mesh with the sun gear 53 and the internal gear ring 52a of the gear ring, respectively. The term "connection" in this example is a general concept. The first unit output shaft 21 and the planet carrier 51 are made as one part (as shown in Figure 11); the second unit output shaft 22 and the gear ring 52 are made as one part, with its external gear 52b serving as the output transmission structure of the second unit output shaft 22; and the unit input shaft 23 and the sun gear 53 are made as one structure.

[0061] The output end of the first unit output shaft 21 is provided with a quadrangular prism 21b, which is used to connect the tightening head 11 and can also be used to drive the next stage transmission unit.

[0062] In this embodiment, the transmission unit of the planetary gear structure transmits torque to the first unit output shaft 21 and the second unit output shaft 22 when the unit input shaft 23 (the sun gear 53 of the planetary gear) rotates, driving the object with low torsional resistance to rotate.

[0063] According to the planetary gear transmission calculation formula: ω1+αω2=(1+α)ω3, where ω1 is the rotational speed of the sun gear 53, ω2 is the rotational speed of the internal gear ring 52a, ω3 is the rotational speed of the planet carrier 51, and α is the gear ratio between the internal gear ring 52a and the sun gear 53.

[0064] The number of teeth on the internal gear ring is greater than the number of teeth on the sun gear. When the planet carrier 51 is obstructed and stops rotating, the speed of the sun gear is greater than the speed of the internal gear ring. When the planet carrier 51 is obstructed and stops rotating, the speed ratio (ω1:ω2) between the sun gear 53 and the internal gear ring 52a (i.e., gear ring 52) is α:1. When the internal gear ring 52a is obstructed and stops rotating, the transmission ratio (ω1:ω3) between the sun gear 53 and the planet carrier 51 is (α+1):1. In the planetary gear transmission unit of this embodiment, the transmission ratio between the unit input shaft 23 and the second unit output shaft 22 is 2.5:1, and the transmission ratio between the unit input shaft 23 and the first unit output shaft 21 is 3.5:1.

[0065] Not limited to this, the first unit output shaft 21, the second unit output shaft 22, and the unit input shaft 23 can be respectively connected to one of the planet carrier 51, the gear ring 52, or the sun gear 53 of the planetary gear structure: When the unit input shaft 23 is connected to the sun gear 53 of the planetary gear structure, the first unit output shaft 21 can be connected to the planet carrier 51 of the planetary gear structure, and the second unit output shaft 22 can be connected to the gear ring 52 of the planetary gear structure; or the first unit output shaft 21 can be connected to the gear ring 52 of the planetary gear structure, and the second unit output shaft 22 can be connected to the planet carrier 51 of the planetary gear structure.

[0066] When the unit input shaft 23 is connected to the planet carrier 51 of the planetary gear structure, the first unit output shaft 21 can be connected to the sun gear 53 of the planetary gear structure, and the second unit output shaft 22 can be connected to the gear ring 52 of the planetary gear structure; or the first unit output shaft 21 can be connected to the gear ring 52 of the planetary gear structure, and the second unit output shaft 22 can be connected to the sun gear 53 of the planetary gear structure.

[0067] When the unit input shaft 23 is connected to the gear ring 52 of the planetary gear structure, the first unit output shaft 21 can be connected to the sun gear 53 of the planetary gear structure, and the second unit output shaft 22 can be connected to the planet carrier 51 of the planetary gear structure; or the first unit output shaft 21 can be connected to the planet carrier 51 of the planetary gear structure, and the second unit output shaft 22 can be connected to the sun gear 53 of the planetary gear structure.

[0068] Example 6: As shown in Figures 12 to 14, and the transmission diagram is shown in Figure 3. A multi-axis tightening device is provided with eight transmission units 20 of the planetary gear structure described in Example 5. The eight transmission units are mounted on the frame 13 of the multi-axis tightening device, which is a three-layer ring structure. The first unit output shaft 21 of each transmission unit (i.e., the planet carrier 51 of the planetary gear) is connected to a tightening head 11. The square prism 21b at the output end of the first unit output shaft 21 is inserted into the square hole 11a of the tightening head, driving the tightening head 11 to rotate synchronously. The tightening head 11 is provided with a bolt interface 11b. In this embodiment, the bolt interface 11b is a hexagonal bolt sleeve, used to tighten hexagonal bolts and hexagonal nuts and other fasteners. The eight transmission units and tightening heads are evenly distributed circumferentially on the frame 13, which can be used to tighten circumferentially distributed fasteners such as flange bolts.

[0069] The eight transmission units adopt a chain-connected structure, including one top transmission unit 2A, one end transmission unit 2B, and six intermediate transmission units 2C. The unit input shaft 23 of the top transmission unit 2A (i.e., the sun gear 53 of the planetary gear structure) is provided with a device input shaft 10. In this embodiment, the unit input shaft 23 of the top transmission unit 2A can be integrated with the device input shaft 10.

[0070] The first unit output shaft 21 of the eight transmission units is connected to a tightening head 11.

[0071] For the top transmission unit 2A and the intermediate transmission unit 2C, the second unit output shaft 22 is connected to the unit input shaft 23 of another transmission unit 20 via a transmission gear train 30, forming a transmission chain structure with eight transmission units. The second unit output shaft 22 of the end transmission unit 2B is fixed. In this embodiment, a wedge 16 is provided on the frame 13 to prevent the gear ring 52 of the end transmission unit 2B from rotating, thereby fixing the second unit output shaft 22 of the end transmission unit 2B.

[0072] As a transmission gear train, the output shaft 22 of the second unit (i.e., the gear ring 52 of the planetary gear) is equipped with a transmission output gear 31, and the input shaft 23 of the unit is equipped with a transmission input gear 32. The transmission gear train is also equipped with a first intermediate shaft 33 and a second intermediate shaft 36. A first intermediate gear 34 is provided on the first intermediate shaft 33, and a second intermediate gear 35 is provided on the second intermediate shaft 36. The first intermediate gear 34 and the second intermediate gear 35 mesh with each other. The first intermediate gear 34 meshes with the transmission output gear 31, and the second intermediate gear 35 meshes with the transmission input gear 32.

[0073] The device input shaft 10 drives the rotation of each transmission unit. When the second unit output shaft 22 of a transmission unit is blocked and in a stopped state, the unit input shaft 23 drives the first unit output shaft 21 to rotate. When the first unit output shaft 21 is blocked and in a stopped state, the unit input shaft 23 drives the second unit output shaft 22 to rotate and transmits the rotational torque to the next stage transmission unit.

[0074] This embodiment uses an 8-transmission unit structure with a relatively long transmission chain. Considering the mechanical efficiency loss in actual working conditions, the gear ratio of the transmission output wheel 31 to the transmission input wheel 32 should be adjusted according to the mechanical efficiency η. This will cause the rotational speed of the unit input shaft of the transmission unit on the transmission chain to decrease successively, compensating for the torque loss of the transmission unit due to mechanical efficiency. As a result, the torque of the first unit output shaft 21 of each transmission unit tends to be balanced, and the output torque of each tightening head 11 connected to the first unit output shaft 21 also tends to be balanced.

[0075] This embodiment illustrates a multi-axis tightening device with eight transmission units and eight tightening heads. In practical applications, different numbers of transmission units and tightening heads can be set according to the needs of the tightened object. Multiple transmission units drive in a multi-stage structure, as shown in the structural diagram in Figure 3. The transmission units and tightening heads can also be arranged in different ways, such as in a straight line or a semi-circular arrangement.

[0076] Example 7: As shown in Figure 15, a multi-axis tightening device is shown. This example is a structural variation of Example 6.

[0077] The four planetary gear transmission units 20 in this embodiment are arranged in the following order: top transmission unit 2A, first intermediate transmission unit 2C1, second intermediate transmission unit 2C2, and end transmission unit 2B. The top transmission unit 2A and the second intermediate transmission unit 2C2 are the same transmission units as those in Embodiment 5.

[0078] The structure of the first intermediate transmission unit 2C1 and the end transmission unit 2B is as follows: the first unit output shaft 21 of the transmission unit is connected to the planet carrier 51 of the planetary gear structure, the second unit output shaft 22 of the transmission unit is connected to the sun gear 53 of the planetary gear structure, and the unit input shaft 23 is connected to the gear ring 52 of the planetary gear structure.

[0079] The first unit output shaft 21 of each of the four transmission units is connected to a torque head 11.

[0080] As a transmission gear train, the second unit output shafts 22 of the top transmission unit 2A, the first intermediate transmission unit 2C1, and the second intermediate transmission unit 2C2 are all connected to a transmission output wheel 31, and the unit input shafts of the first intermediate transmission unit 2C1, the second intermediate transmission unit 2C2, and the end transmission unit 2B are all connected to a transmission input wheel 32. Each transmission output wheel 31 has the same number of teeth as each transmission input wheel. To avoid mechanical interference, transmission output wheels that are not meshed are axially offset from each other.

[0081] The output wheel 31 of the top transmission unit 2A directly meshes with the input wheel 32 of the first intermediate transmission unit 2C1; the output wheel 31 of the first intermediate transmission unit 2C1 directly meshes with the input wheel 32 of the second intermediate transmission unit 2C2; and the output wheel 31 of the second intermediate transmission unit 2C2 directly meshes with the input wheel 32 of the end transmission unit 2B. The output wheel 31 of the end transmission unit 2B is fixed by a wedge 16.

[0082] In the top transmission unit 2A, when the second unit output shaft 22 (the ring gear of the planetary gear) is stationary, the first unit output shaft 21 (the planet carrier of the planetary gear) and the unit input shaft 23 (the sun gear of the planetary gear) rotate in the same direction; when the first unit output shaft 21 is stationary, the second unit output shaft 22 and the unit input shaft 23 rotate in opposite directions.

[0083] Since both the top transmission unit 2A and the first intermediate transmission unit 2C1 are driven by the same gear ring 52, the gear rings of the top transmission unit 2A and the first intermediate transmission unit 2C1 rotate at the same speed but in opposite directions. In the first intermediate transmission unit 2C1, when the second unit output shaft 22 (the sun gear of the planetary gear) is stationary, the first unit output shaft 21 (the planet carrier of the planetary gear) and the unit input shaft 23 (the gear ring of the planetary gear) rotate in the same direction. Therefore, the first unit output shaft 21 of the top transmission unit 2A and the first intermediate transmission unit 2C1 rotate at the same speed and in the same direction, and the locking heads 11 driven by both also rotate at the same speed and in the same direction. Similarly, as shown in Figure 15, the four tightening heads 11 rotate at the same speed and in the same direction, and their output torques are also the same or similar.

[0084] The multi-axis tightening device in this embodiment has a more compact structure, making it particularly suitable for tightening multiple bolts with small spacing. It also has fewer transmission gear stages and higher mechanical efficiency.

[0085] The difference between this embodiment and Embodiment Six is ​​illustrated by showing that different planetary gear transmission units can be used to form a multi-axis tightening device.

[0086] Example 8: As shown in Figures 16 to 22, a multi-axis tightening device is described. This example is an opening and closing tightening tool used to tighten bolts on a pipe flange, including a main frame 60 and an opening and closing frame 61. The corresponding pipe flange 62 in this example is provided with six fastening bolts 63.

[0087] The main frame 60 has a central arc 64 adapted to the pipe, and two opening / closing frames 61 are symmetrically arranged on the main frame. The opening / closing frames 61 rotate on the main frame 60 to open or close. When the two opening / closing frames 61 are open, they can cross the pipe 66, and the central arc 64 of the main frame fits onto the pipe (as shown in Figure 22). When the two opening / closing frames 61 are closed, the main frame 60 and the opening / closing frames 61 are nested around the pipe (as shown in Figure 22).

[0088] The opening and tightening tool in this embodiment has a top transmission unit 2A, two end transmission units 2B, and four intermediate transmission units 2C.

[0089] To accommodate the top drive unit 2A, the end drive unit 2B, and the intermediate drive unit 2C, both the main frame and the opening / closing frame employ a combination structure of two plates.

[0090] A top-end transmission unit 2A is provided on the main frame 60. Two opening and closing frames 61 are symmetrically arranged on both sides of the main frame on both sides of the top-end transmission unit 2A. In this embodiment, four intermediate transmission units 2C are provided inside the main frame 60, and the four intermediate transmission units 2C are symmetrically arranged on both sides of the top-end transmission unit 2A, with two intermediate transmission units 2C on each side. Each of the two opening and closing frames 61 has an end-end transmission unit 2B. When the two opening and closing frames 61 are closed, the two end-end transmission units 2B and the four intermediate transmission units 2C are arranged around the pipe with six fastening bolts 63.

[0091] The top transmission unit 2A, the end transmission unit 2B, and the intermediate transmission unit 2C are all transmission units with planetary gear structures. The planetary gear structure includes a planet carrier 51, a ring gear 52, a sun gear 53, and planet gears 54.

[0092] The end drive unit 2B and intermediate drive unit 2C employ the same planetary gear structure, ensuring that multiple end drive units 2B and intermediate drive units 2C have the same transmission ratio, including the same transmission ratio between the planet carrier and the gear ring, and the same transmission ratio between the gear ring and the sun gear. The top drive unit 2A also employs the same planetary gear structure as the end drive units 2B and intermediate drive units 2C. The difference lies in that the planet carrier 51 of the top drive unit 2A is connected to the input shaft 10 (as shown in Figure 18), while the planet carrier 51 of the end drive units 2B and intermediate drive units 2C is connected to and mounted with a first unit output shaft 21 of a tightening head 11.

[0093] To enable transmission between the top transmission unit 2A, the end transmission unit 2B, and the intermediate transmission unit 2C, the sun gear 53 is equipped with a sun drive gear 53c, and the gear ring 52 is equipped with a gear ring drive gear 52c, serving as the transmission mechanism between the various transmission units. In this embodiment, the sun drive gear 53c and the gear ring drive gear 52c in the top transmission unit 2A, the end transmission unit 2B, and the intermediate transmission unit 2C are gears with the same number of teeth and module.

[0094] As shown in Figure 18, the planetary carrier 51 of the top transmission unit 2A is connected to the device input shaft 10, the first unit output shaft 21 of the top transmission unit 2A is connected to the sun gear 53 of the planetary gear mechanism, and the second unit output shaft 22 of the top transmission unit 2A is connected to the gear ring 52 of the planetary gear mechanism. In this embodiment, the sun gear 53 of the top transmission unit 2A is provided with a sun drive gear 53c, which serves as the transmission mechanism for the first unit output shaft; the gear ring 52 of the top transmission unit 2A is provided with a gear ring drive gear 52c, which serves as the transmission mechanism for the second unit output shaft. According to the characteristics of the planetary gear mechanism, when the rotation of the second unit output shaft 22 is obstructed, the device input shaft 10 drives the first unit output shaft 21 to rotate; when the rotation of the first unit output shaft 21 is obstructed, the device input shaft 10 drives the second unit output shaft 22 to rotate.

[0095] The end transmission unit 2B and the intermediate transmission unit 2C are identical planetary gear transmission units. As shown in Figure 19, taking the intermediate transmission unit 2C as an example, the planet carrier 51 of the intermediate transmission unit 2C is connected to the first unit output shaft 21, which is connected to a tightening head 11. The first unit output shaft 21 can also be called a "tightening shaft". The unit input shaft 23 of the intermediate transmission unit 2C is connected to the sun gear 53 or the gear ring 52 of the planetary gear mechanism, and the second unit output shaft 22 is connected to the sun gear 53 or the gear ring 52 of the planetary gear mechanism. That is, if the unit input shaft 23 is connected to the sun gear 53 of the planetary gear mechanism, then the second unit output shaft 22 is connected to the gear ring 52 of the planetary gear mechanism; if the unit input shaft 23 is connected to the gear ring 52 of the planetary gear mechanism, then the second unit output shaft 22 is connected to the sun gear 52 of the planetary gear mechanism. Functionally, the second unit output shaft 22 transmits torque to other transmission units and can also be called a "tightening transmission shaft"; the unit input shaft 23 receives torque output from other transmission units and can also be called a "tightening input shaft". According to the characteristics of the planetary gear mechanism, when the rotation of the second unit output shaft 22 is obstructed, the unit input shaft 23 drives the first unit output shaft 21 to rotate; when the rotation of the first unit output shaft 21 is obstructed, the unit input shaft 23 drives the second unit output shaft 22 to rotate.

[0096] As shown in Figures 17 and 21, the first unit output shaft 21 of the top transmission unit 2A drives the intermediate transmission unit 2C on one side to rotate (as shown in Figure 17, 2A and the lower 2C and 2B). The first unit output shaft 21, the two intermediate transmission units 2C, and the end transmission unit 2B are driven by a chain transmission. Similarly, the second unit output shaft 22 of the top transmission unit 2A drives the intermediate transmission unit 2C on the other side to rotate (as shown in Figure 17, 2A and the upper 2C and 2B). The second unit output shaft 22, the two intermediate transmission units 2C, and the end transmission unit 2B are driven by a chain transmission.

[0097] To maintain the same motion transmission relationship, the first unit output shaft 21 of the top transmission unit 2A and the unit input shaft 23 of the intermediate transmission unit 2C it drives are both connected to the sun gears of the planetary gear mechanism. Similarly, the second unit output shaft 22 of the top transmission unit 2A and the unit input shaft 23 of the intermediate transmission unit 2C it drives are both connected to the ring gears of the planetary gear mechanism. That is, for mutually transmitting planetary gear mechanisms, one sun gear drives another sun gear, or one ring gear drives another ring gear. Likewise, in the chain-driven transmission method, the driving relationship between the second unit output shaft 22 and the unit input shaft 23 of the intermediate transmission unit 2C and the end transmission unit 2B is also that one sun gear drives another sun gear, or one ring gear drives another ring gear.

[0098] As a more specific transmission mechanism, among the various transmission units (top transmission unit 2A, end transmission unit 2B and intermediate transmission unit 2C), the gear ring transmission gear 52c meshes with the gear ring transmission gear 52c, and the sun transmission gear 53c meshes with the sun transmission gear 53c, with a transmission ratio of 1:1.

[0099] The sun drive gear 53c and the ring gear 52c that mesh with each other between the top drive unit 2A and the intermediate drive unit 2C, between the two intermediate drive units 2C, and between the intermediate drive unit 2C and the end drive unit 2B are axially staggered to avoid interference.

[0100] The first unit output shaft 21 and the second unit output shaft 22 of the top transmission unit 2A drive the unit input shaft 23 of a connected intermediate transmission unit 2C with the same transmission ratio.

[0101] The first unit output shaft 21 (which may be referred to as the "tightening shaft") of each end drive unit 2B and intermediate drive unit 2C drives a tightening head 11 to rotate. The front end of the tightening head 11 is provided with an internal hexagon socket that mates with a nut. The tightening shaft is provided with a spline, and the tightening head 11 slides with the tightening shaft through the spline hole. The tightening shaft is provided with a spring 67 that pushes the tightening head 11, allowing the tightening head to elastically extend and retract.

[0102] In this embodiment, the second unit output shaft 22 of the end transmission unit 2B within the opening and closing frame 61 does not have a transmission function. To ensure the normal operation of the end transmission unit 2B, the second unit output shaft 22 of the end transmission unit 2B is locked by a locking pin 68. A locking pin hole 65 is provided on the opening and closing frame 61, and the locking pin 68 is fixed in the locking pin hole 65. The opening and closing frame 61 is provided with a rotating shaft hole 69. To ensure the continuity of the chain drive between the intermediate transmission unit 2C and the end transmission unit 2B, the rotating shaft hole 69 of the opening and closing frame 61 is rotatably engaged with the central shaft 24 of the intermediate transmission unit 2C at the upper end of the main frame 60. This makes the rotation axis of the opening and closing frame 61 coaxial with the central shaft 24 of the intermediate transmission unit 2C at the upper end of the main frame 60. When the opening and closing frame 61 rotates, the intermediate transmission unit 2C at the upper end of the main frame and the end transmission unit 2B on the opening and closing frame maintain a transmission relationship.

[0103] During the tightening of the pipe flange, first unfold the opening and closing frame 61, with the central arc 64 of the main frame fitting onto the pipe 66. Then close the two opening and closing frames 61, with the main frame 60 and the opening and closing frames 61 nested around the pipe. The six intermediate drive units 2C and the end drive unit 2B correspond one-to-one with the six fastening bolts 63 of the pipe flange. Push the main frame and the opening and closing frames, and the tightening head 11 fits onto the hexagonal nut of the fastening bolt. If the inner hexagonal sleeve of the tightening head is not aligned with the hexagonal nut, the spring 67 will be compressed. The input shaft 10 of the rotating device will drive one tightening head 11 with the least torque resistance to rotate. When the torque of the hexagonal nut increases, another tightening head with less torsional resistance begins to rotate, tightening the nut. Tighten all nuts in sequence. If the inner hexagonal sleeve of the tightening head is not aligned with the hexagonal nut, the tightening head will also fit onto the hexagonal nut during rotation, as shown in Figure 22.

[0104] This embodiment adopts a rotating open or closeable frame structure, which allows multiple intermediate transmission units 2C and end transmission units 2B to cross the pipe and be arranged around the pipe corresponding to the position of the flange bolts. The torque is automatically adjusted and distributed to tighten all the bolts around the flange.

Claims

1. A multi-axis tightening device, characterized by, The device includes an input shaft (10) and multiple tightening heads (11). The device is equipped with multiple transmission units (20), each of which has a first unit output shaft (21), a second unit output shaft (22), and a unit input shaft (23). The unit input shaft (23) drives the first unit output shaft (21) and the second unit output shaft (22) to rotate. When the rotation of the first unit output shaft (21) is obstructed, the unit input shaft (23) drives the second unit output shaft (22) to rotate. When the second unit output shaft (22) rotates... When obstructed, the unit input shaft (23) drives the first unit output shaft (21) to rotate; the first unit output shaft (21) of the transmission unit drives the unit input shaft (23) of another transmission unit or drives the tightening head (11); the second unit output shaft (22) of the transmission unit drives the input shaft (23) of another transmission unit or drives the tightening head (11); the plurality of transmission units include a top transmission unit (2A), and the device input shaft (10) drives the unit input shaft (23) of the top transmission unit (2A).

2. The multi-axis tightening device of claim 1, wherein, The first unit output shaft (21) of the transmission unit drives the unit input shaft (23) of another transmission unit through a transmission gear train (30). The second unit output shaft (22) of the transmission unit drives the input shaft (23) of another transmission unit through a transmission gear train (30). The transmission gear train (30) adjusts the direction of rotation and / or transmission ratio of the unit input shaft (23). The transmission gear train (30) includes a transmission output wheel (31) disposed on the first unit output shaft (21) and / or the second unit output shaft (22). The transmission gear train (30) also includes a transmission input wheel (32) disposed on the unit input shaft (23).

3. The multi-spindle screwing device according to claim 2, characterized in that, The transmission gear train (30) also includes an intermediate shaft disposed between the transmission output wheel (31) and the transmission input wheel (32).

4. The multi-axis tightening device of claim 1, wherein, The transmission unit (20) is a transmission unit of a differential structure. The first unit output shaft (21), the second unit output shaft (22), and the unit input shaft (23) of the transmission unit are respectively connected to one of the left half-shaft gear (41), the right half-shaft gear (42), or the differential housing (43) of the differential structure.

5. The multi-spindle screwing device according to claim 4, characterized in that, The first unit output shaft (21) and the second unit output shaft (22) of the transmission unit are respectively connected to the left half shaft gear (41) and the right half shaft gear (42) of the differential structure. The unit input shaft (23) is connected to the differential housing (43). The first unit output shaft (21) passes through the second unit output shaft (22). The first unit output shaft (21) and the second unit output shaft (22) exit the differential housing (43) from the same side.

6. The multi-spindle screwing device according to claim 4, characterized in that, The unit input shaft (23) of the transmission unit is connected to the right half-shaft gear (42) of the differential structure, the first unit output shaft (21) is connected to the left half-shaft gear (41) of the differential structure, and the second unit output shaft (22) is connected to the differential housing (43) of the differential structure.

7. The multi-axis tightening device of claim 1, wherein, The transmission unit (20) is a planetary gear structure transmission unit. The first unit output shaft (21), the second unit output shaft (22), and the unit input shaft (23) of the transmission unit are respectively connected to one of the planet carrier (51), the gear ring (52), or the sun gear (53) of the planetary gear structure.

8. The multi-spindle screwing device according to claim 7, characterized in that, The first unit output shaft (21) of the transmission unit is connected to the planet carrier (51) of the planetary gear structure, the second unit output shaft (22) is connected to the gear ring (52) of the planetary gear structure, and the unit input shaft (23) is connected to the sun gear (53) of the planetary gear structure.

9. The multi-axis tightening device of claim 7, wherein, The first unit output shaft (21) of the transmission unit is connected to the planet carrier (51) of the planetary gear structure, the second unit output shaft (22) is connected to the sun gear (53) of the planetary gear structure, and the unit input shaft (23) is connected to the gear ring (52) of the planetary gear structure.

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