Tightening apparatus, and control method and control device applied to tightening apparatus

A tightening apparatus, comprising:

• a mounting main body and a plurality of tightening mechanisms provided on the mounting main body,
• wherein each of the tightening mechanisms comprises:
• a tightening actuation module, configured to tighten a fastener into a mounting hole along an axis in a first direction;
• a visual positioning module, configured to collect image information of the fastener located in the mounting hole, determine positioning information of the fastener based on the image information, and determine second-direction position compensation information and third-direction position compensation information of the tightening actuation module based on the positioning information;
• a second-direction driving mechanism, configured to drive the tightening actuation module to move in a second direction based on the second-direction position compensation information;
• and
• a third-direction driving mechanism, configured to drive the tightening actuation module to move in a third direction based on the third-direction position compensation information;
• wherein the second direction, the third direction and the first direction are perpendicular to each other;
• wherein the second-direction driving mechanism comprises:
• a first driving device:
• a first lead screw extending in the second direction and driven by the first driving device to rotate:
• a first guide rail extending in the second direction;
• and
• a first slider slidably fitted with the first guide rail and driven by the first lead screw to move in the second direction;
• wherein the third-direction driving mechanism is arranged on the first slider and comprises,
• a second driving device:
• a second lead screw extending in the third direction and driven by the second driving device to rotate:
• a second guide rail extending in the third direction;
• and
• a second slider slidably fitted with the second guide rail and driven by the second lead screw to move in the third direction, wherein the tightening actuation module is arranged on the second slider;
• wherein the tightening actuation module comprises:
• a mounting base plate fixedly connected to the second slider;
• a third driving device fixedly connected to the mounting base plate:
• a third guide rail fixedly connected to the mounting base plate and extends in the first direction;
• a third slider slidably fitted with the third guide rail and being driven by the third driving device to move in the first direction;
• and
• an electric tightening device fixedly connected to the third slider and configured to tighten the fastener into the mounting hole along the axis in the first direction.