Stud detection and non-destructive interference fit assembly mechanism

Abstract

The present invention discloses a stud inspection and non-destructive interference assembly mechanism, comprising a workbench (2) and a feeding mechanism (1) arranged at one end of the workbench (2), a thread detector (4), an assembly robot (5), a turntable fixture (8) and a measuring robot (10) being arranged on the workbench (2) near one end of the feeding mechanism (1) in sequence, a material clamping mechanism (3) being arranged on one side of a working part of the thread detector (4), a material tray mechanism (7) being arranged below a working part of the assembly robot (5), and a detection fixture (9) being arranged below a working part of the measuring robot (10). The stud inspection and non-destructive interference assembly mechanism designed by the present invention can realize automatic monitoring and non-destructive assembly.

Description

Technical Field

[0001] The invention relates to an automatic assembly mechanism, in particular to a stud bolt detection and non-destructive interference assembly mechanism. Background Art

[0002] Interference bolt connections have the characteristics of high centering accuracy, strong load-bearing capacity, and the ability to simultaneously bear axial and torsional composite loads, and to maintain long-term stability under impact and vibration conditions. Therefore, they are widely used in various heavy machinery, high-precision parts and other occasions.

[0003] Since the assembly control parameters of this type of interference fit studs are numerous and the process requirements are strict, manual operation is currently the main method. However, the assembly torque, precision and labor intensity of this type of interference fit studs are high, and manual operation has poor accuracy and controllability, and is inefficient. Once a mistake is made, it will cause huge losses. On the other hand, the screw piles and screw holes need to be assembled by the method of measurement and selection. The amount of data measured and recorded is huge, the data accuracy and management are difficult, the matching is unreasonable, and the product assembly process does not have quality traceability, which is not conducive to the automatic industrialization of production.

[0004] The technical problems to be solved by the present invention are as follows: 1. Automated measurement and recording of studs; 2. Automated measurement and recording of screw holes; 3. Automatic selection of screw holes and studs based on measurement data; 4. Automated interference fit of studs; 5. Preload (torque) control and monitoring; 6. Control and monitoring of screwing depth of studs.

[0005] Therefore, those skilled in the art are committed to developing a double-ended stud detection and non-destructive interference assembly mechanism with a high degree of automation. Summary of the invention

[0006] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a double-headed stud detection and non-destructive interference assembly mechanism, which can realize automatic monitoring and non-destructive assembly.

[0007] To achieve the above-mentioned objectives, the present invention provides a double-headed stud detection and non-destructive interference assembly mechanism, including a workbench and a feeding mechanism arranged at one end of the workbench, a thread detector, an assembly robot, a turntable fixture and a measuring robot are sequentially arranged on the workbench near one end of the feeding mechanism, a clamping mechanism is provided on one side of the working part of the thread detector, a material tray mechanism is provided under the working part of the assembly robot, and a detection tooling fixture is provided under the working part of the measuring robot.

[0008] Furthermore, the assembly robot is provided with an assembly electric screwdriver assembly, which includes an intelligent electric screwdriver, an electric screwdriver transmission mechanism, an electric screwdriver tooling, an assembly auxiliary motor and a visual system. The intelligent electric screwdriver is connected to the electric screwdriver transmission mechanism, the electric screwdriver transmission mechanism is connected to the electric screwdriver tooling, the assembly auxiliary motor drive is connected to the electric screwdriver tooling, and the visual system is arranged on one side of the electric screwdriver tooling.

[0009] Furthermore, the measuring robot is provided with a measuring electric screwdriver assembly, which includes a measuring intelligent electric screwdriver, a measuring assembly fixture control unit, a measuring assembly depth control unit and a measuring fixture tooling; the measuring intelligent electric screwdriver is connected to the measuring assembly fixture control unit, the middle position of the measuring assembly fixture control unit is connected to the measuring fixture tooling, and a measuring assembly depth control unit is arranged on one side of the end face of the measuring assembly fixture control unit.

[0010] Furthermore, the material clamping mechanism includes an electric slide, a material picking slide, a material picking claw cylinder (3-3) and a material picking claw, wherein the electric slide is fixedly arranged on the table surface of the workbench, the bottom of the material picking slide is slidably connected to the electric slide, the material picking claw cylinder is fixedly arranged on the top of the material picking slide, and the material picking claw is fixedly connected to the piston rod of the material picking claw cylinder.

[0011] Furthermore, the feed tray mechanism includes a feed tray, a feed tray box and an air pressure boosting mechanism, the feed tray is arranged on the feed tray box, the air pressure boosting mechanism is arranged at one end of the feed tray box, the feed tray box is provided with an air pressure channel, the piston rod of the air pressure boosting mechanism is sealed and slidably connected with the air pressure channel, the top surface of the feed tray box is provided with a plurality of stud storage and locking piston holes, the feed tray is provided with a plurality of material placing holes, and the material placing holes are connected with the piston holes.

[0012] Furthermore, the turntable fixture includes an electric turntable, a turntable column and a turntable fixture. The electric turntable is arranged on a workbench. The turntable column is vertically connected to the rotating shaft of the electric turntable. The turntable fixture is arranged on the top of the turntable column.

[0013] Furthermore, a plurality of supporting tooling mechanisms are provided on one side of the turntable fixture, and the supporting tooling mechanisms include a fixture bracket, a fixture storage mechanism, a fixture storage cylinder and a tooling fixture. The fixture bracket is fixed on the workbench, the fixture storage mechanism is fixed on the fixture bracket, a fixture storage cylinder is provided on one side of the fixture storage mechanism, and the tooling fixture is arranged on the fixture storage mechanism.

[0014] Furthermore, the visual system includes a visual camera and a control computer, and the visual camera is electrically connected to the control computer.

[0015] Furthermore, the feeding mechanism, the material clamping mechanism, the thread detector, the assembly robot, the assembly electric screwdriver assembly, the turntable fixture, the measuring robot and the measuring electric screwdriver assembly are all electrically connected to the central control machine.

[0016] The beneficial effects of the present invention are as follows: the equipment of the present invention is highly automated and can be adapted to different automated production lines to improve production efficiency; the present invention performs automated measurement of studs and screw holes, has high measurement accuracy, and accurately and quickly processes data; the present invention uses a control computer to perform real-time online measurement operations to quickly complete the optimal pairing of studs and screw holes; the present invention uses a variety of tooling and mechanisms, and with the help of advanced sensing technology, can achieve non-destructive grasping of studs, non-destructive screwing in, and non-destructive withdrawal operations, thereby completing non-destructive automated assembly; the present invention can control and monitor the preload force (torque) during the assembly process online; the present invention can control and monitor the screwing depth of studs during the assembly process online. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the stud bolt detection and non-destructive interference assembly mechanism of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the material clamping mechanism in the present invention;

[0019] Figure 3 It is a schematic diagram of the structure of the electric screwdriver assembly in the present invention;

[0020] Figure 4 is a cross-sectional view of an assembled electric screwdriver assembly in the present invention;

[0021] Figure 5 It is a structural schematic diagram of the material tray mechanism in the present invention;

[0022] Figure 6 is a cross-sectional view of the material tray mechanism of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the turntable fixture of the present invention;

[0024] Figure 8 It is a structural schematic diagram of the supporting tooling mechanism in the present invention;

[0025] Fig. 9 It is a schematic diagram of the structure of the measuring electric batch assembly;

[0026] Fig.10 It is a three-dimensional diagram of the electric screwdriver tooling in the present invention;

[0027] Fig.11 It is a front view of the electric screwdriver tooling in the present invention;

[0028] Fig.12 It is a side view of the electric screwdriver tooling of the present invention;

[0029] Fig.13 yes Fig.11 Sectional view of AA in the middle;

[0030] Fig.14 yes Fig.12 Cross-sectional view of BB. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that in the description of the present invention, the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific manner, and therefore cannot be understood as limiting the present invention. The terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0032] like Figure 1 As shown, the present invention provides a stud detection and non-destructive interference assembly mechanism, including a workbench 2, the workbench 2 includes a foot support and a bed, provides installation support for each component, and has sufficient rigidity. A feeding mechanism 1 is arranged at one end of the workbench 2, and the feeding mechanism 1 includes a bracket, a vibration plate, a shield, a conveying guide rail and a linear feeder. The bracket is arranged on the ground, the vibration plate and the shield are arranged on the bracket, and the conveying guide rail and the linear feeder extend from the vibration plate to the workbench 2. The feeding mechanism 1 completes the sorting and feeding of the studs.

[0033] A thread detector 4, an assembly robot 5, a turntable fixture 8 and a measuring robot 10 are arranged in sequence on the workbench 2 near one end of the feeding mechanism 1, wherein a clamping mechanism 3 is provided on the workbench 2 on the working part side of the thread detector 4. Figure 2 As shown, the material-grabbing mechanism 3 includes an electric slide 3-1, a material-grabbing slide 3-2, a material-grabbing jaw cylinder 3-3 and a material-grabbing jaw 3-4. The electric slide 3-1 is fixedly arranged on the table surface of the workbench 2, the bottom of the material-grabbing slide 3-2 is slidably connected to the electric slide 3-1, the material-grabbing jaw cylinder 3-3 is fixedly arranged on the top of the material-grabbing slide 3-2, and the material-grabbing jaw 3-4 is fixedly connected to the piston rod of the material-grabbing jaw cylinder 3-3. The position of the material-grabbing jaw 3-4 corresponds to the position of the conveying guide rail and the linear feeder in the feeding mechanism 1. The material-grabbing mechanism 3 sends the material-discharging screw pile clamp of the feeding mechanism 1 to the thread measuring instrument 4, and sends it to the material-grabbing position of the assembly robot 5 after the measurement is completed.

[0034] like Figure 3 , 4As shown, the assembly robot 5 is a six-axis industrial robot, and an assembly electric screwdriver assembly 6 is provided on the assembly robot 5, and the assembly electric screwdriver assembly 6 includes an intelligent electric screwdriver 6-1, an electric screwdriver transmission mechanism 6-2, an electric screwdriver tooling 6-4, an assembly auxiliary motor 6-3 and a visual system 6-5, the intelligent electric screwdriver 6-1 is connected to the electric screwdriver transmission mechanism 6-2, the electric screwdriver transmission mechanism 6-2 is connected to the electric screwdriver tooling 6-4, the assembly auxiliary motor 6-3 is arranged on one side, and the driving part of the assembly auxiliary motor 6-3 is connected to the electric screwdriver tooling 6-4, wherein the intelligent electric screwdriver 6-1 is an electric screwdriver with a servo motor, which provides the rotational driving force required for the work, the electric screwdriver transmission mechanism 6-2 is a floating electric screwdriver joint, and a transmission connection protrusion is provided at the end of the rotating transmission block to transmit the power of the intelligent electric screwdriver 6-1 to the electric screwdriver tooling 6-4. The electric screwdriver tool 6-4 and the assembly auxiliary motor 6-3 cooperate to complete the axial locking-withdrawal action of the stud during grasping and assembly. The electric screwdriver tool 6-4 is a tool fixture with a threaded connection structure, including a positive and negative threaded rotating sleeve 6-41 at the end, a pneumatic quick-release connector 6-42 and a self-locking gear 6-43. The self-locking gear 6-43 is meshed with the output teeth of the assembly auxiliary motor 6-3.

[0035] The visual system 6-5 is arranged on one side of the electric screwdriver tooling 6-4. The visual system 6-5 is a visual camera and a control computer. The lens of the visual camera is aimed at the working part of the electric screwdriver tooling 6-4. The visual camera takes the features of the stud by taking a photo, performs calculation, measurement and analysis, and transmits the signal to the host computer; the host computer is the control computer, and the control computer is connected to the central control computer. The assembly of the electric screwdriver assembly 6 can accurately and stably complete the following functions: 1) Screw pile grasping: screw in the non-interference section of the screw pile and grasp it smoothly. 2) Screw pile storage in grades: the screw pile is screwed into the material tray, and the tooling can smoothly unscrew the non-interference thread section. 3) Assembly and screw removal: smoothly screw in the non-interference section of the screw pile in the material tray, the auxiliary motor and mechanism lock the non-interference section, and then loosen the interference section for smooth removal. 4) Screw assembly: Screw the workpiece and the screw interference section smoothly to the specified depth, and the auxiliary motor and mechanism withdraw from the non-interference section to self-lock, and smoothly withdraw the non-interference section thread of the screw to cooperate with the tooling, and ensure that the interference fit between the screw and the workpiece is not destroyed.

[0036] like Figure 5 , 6As shown, the working part of the assembly robot 5, i.e., the workbench below the electric screwdriver tooling 6-4 is provided with a material tray mechanism 7, the material tray mechanism 7 includes a material tray 7-1, a material tray box 7-2 and a gas pressure boosting mechanism 7-3, the material tray 7-1 is fixedly arranged on the material tray box 7-2, the gas pressure boosting mechanism 7-3 is arranged at one end of the material tray box 7-2, the material tray box 7-2 is provided with a gas pressure channel 7-4, the piston rod of the gas pressure boosting mechanism 7-3 is sealed and slidably connected with the gas pressure channel 7-4, the top surface of the material tray box 7-2 is provided with a plurality of piston holes for stud storage and locking, and the material tray 7-1 is provided with a plurality of material placement holes, which are connected with the piston holes. The material tray mechanism 7 cooperates with the assembly robot and the tooling to complete the stud pile storage function in grades.

[0037] like Figure 7 As shown, the turntable fixture 8 includes an electric turntable 8-1, a turntable column 8-2 and a turntable fixture 8-3. The electric turntable 8-1 is arranged on the workbench 2, the turntable column 8-2 is vertically connected to the rotating shaft of the electric turntable 8-1, and the turntable fixture 8-3 is arranged on the top of the turntable column 8-2. The turntable fixture 8-3 is used to clamp and fix the workpiece. Different products only need to replace different connection tools. Among them, the electric turntable 8-1 is connected to the central control machine for automatic control.

[0038] like Figure 8 As shown, a plurality of supporting tooling mechanisms 12 are provided on one side of the turntable fixture 8, and the plurality of supporting tooling mechanisms 12 are fixture libraries. The supporting tooling mechanisms 12 include a fixture bracket 12-1, a fixture library mechanism 12-2, a fixture library cylinder 12-3, and a tooling fixture 12-4. The fixture bracket 12-1 is fixedly arranged on the workbench 2, the fixture library mechanism 12-2 is fixedly arranged on the fixture bracket 12-1, and the fixture library mechanism 12-2 is a fixed base, which is used to fix the tooling fixture 12-4 placed thereon. A fixture library cylinder 12-3 is provided on one side of the fixture library mechanism, and the fixture library cylinder 12-3 acts on the fixture library mechanism 12-2, and is used to fix and release the tooling fixture 12-4. Among them, the fixture library cylinder 12-3 is connected to the central control machine for automatic control.

[0039] like Fig. 9As shown, the measuring robot 10 is a six-axis industrial robot, which is used as a driving and positioning device for screw hole measurement and measurement tooling grabbing and replacement. The measuring robot 10 is provided with a measuring electric screwdriver assembly 11, which includes a measuring intelligent electric screwdriver 11-1, a measuring assembly fixture control unit 11-2, a measuring assembly depth control unit 11-3 and a measuring fixture tooling 11-4. The measuring intelligent electric screwdriver 11-1 is connected to the measuring assembly fixture control unit 11-2, and the measuring assembly fixture control unit 11-2 is connected to the measuring fixture tooling 11-4 in the middle position. The measuring assembly fixture control unit 11-2 is provided with a measuring assembly depth control unit 11-3 on one side of the end face. The measuring robot 10 completes the grabbing of the measuring tool of the threaded hole and the measurement of the screw hole. Among them, the measuring intelligent electric screwdriver 11-1 is an electric screwdriver with a servo motor, which provides the rotational driving force required for the work, and the measuring assembly fixture control unit 11-2 is a transmission part, which transmits the power of the measuring intelligent electric screwdriver 11-1 to the measuring fixture tooling 11-4. The measuring fixture 11-4 is a fixture with a threaded structure.

[0040] The feeding mechanism 1, the clamping mechanism 3, the thread detector 4, the assembly robot 5, the assembly electric screwdriver assembly 6, the turntable fixture 8, the measuring robot 10 and the measuring electric screwdriver assembly 11 are all electrically connected to the central control machine. The entire set of equipment can be automatically produced through the control of the central control machine.

[0041] The working principle of this scheme is as follows: 1. Feeding of studs: the feeding device separates the incoming studs, and sends the studs one by one to the picking position of the clamping mechanism; 2. Feeding and testing of studs: the clamping mechanism grabs the studs and sends them to the thread detector for thread testing, and then sends them to the assembly robot grabbing station after the testing is completed; 3. Storage and assembly grabbing of studs: the assembly robot stores the studs in grades according to the thread measurement; 4. Measurement of screw holes on the workpiece: the measuring robot grabs specific tooling tools, and measures the screw holes under the guidance of the visual system. The electric screwdriver component monitors and controls the torque, and the control computer records the measurement data; 5. Non-destructive assembly of studs: according to the measured stud and screw hole data, the assembly robot grabs the paired studs and installs them into the corresponding screw holes. During the process, the assembly electric screwdriver component monitors and controls the torque, and the length on the electric screwdriver component monitors and controls the length. 6. Data analysis and processing. This device can set different working modes according to the specific production process and on-site conditions, realize manual, semi-automatic, fully automatic, production line centralized control and other working modes, and perform data analysis and processing on incoming studs, workpiece screw holes, assembly torque, etc.

[0042] The technical difficulties overcome by this solution are: the assembly of high-strength interference fit studs requires high precision. In order to protect the studs, clamping and grabbing are not allowed. They can only be grabbed by rotating the sleeve through the non-assembly end thread of the stud for self-locking. Similarly, during the storage process, the other end can only be withdrawn after one end of the stud is self-locked. During the assembly process, the torque of the interference end is balanced by the self-locking of the non-assembly end, and the auxiliary motor and mechanism are used to complete the axial drive and limit, and complete the self-locking of the non-interference end. After the interference fit is in place, the stud is not allowed to rotate during the withdrawal process, because the interference fit is a one-time destructive assembly. Once it rotates, the interference fit is completely destroyed, and even if it is tightened again, it cannot reach the original interference state. Therefore, the self-locking state of the non-interference fit end can only be released axially, so that the non-interference end is not subjected to force or is subjected to very little force during rotation, so as to ensure that the assembly reaches the required process state. Similarly, during the screw hole detection process, it is also necessary to solve the non-destructive requirements of changing tooling and measuring the screw holes.

[0043] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A double-headed stud detection and non-destructive interference assembly mechanism, characterized by: The invention comprises a workbench (2) and a feeding mechanism (1) arranged at one end of the workbench (2); a thread detector (4), an assembly robot (5), a turntable fixture (8) and a measuring robot (10) are arranged in sequence on the workbench (2) near one end of the feeding mechanism (1); a material gripping mechanism (3) is arranged on one side of a working part of the thread detector (4); a material tray mechanism (7) is arranged below a working part of the assembly robot (5); and a detection fixture (9) is arranged below a working part of the measuring robot (10); The assembly robot (5) is provided with an assembly electric screwdriver assembly (6), the assembly electric screwdriver assembly (6) comprising an intelligent electric screwdriver (6-1), an electric screwdriver transmission mechanism (6-2), an electric screwdriver tooling (6-4), an assembly auxiliary motor (6-3) and a visual system (6-5), the intelligent electric screwdriver (6-1) is connected to the electric screwdriver transmission mechanism (6-2), the electric screwdriver transmission mechanism (6-2) is connected to the electric screwdriver tooling (6-4), the assembly auxiliary motor (6-3) is driven and connected to the electric screwdriver tooling (6-4), and the visual system (6-5) is arranged on one side of the electric screwdriver tooling (6-4); The visual system consists of a visual camera and a control computer. The lens of the visual camera is aimed at the working part of the electric screwdriver tooling. The visual camera uses a camera to take the features of the studs for calculation, measurement and analysis, and transmits the signal to the host computer. The host computer is the control computer, which is then connected to the central control computer. The assembly of the electric screwdriver components can accurately and stably complete the following functions: 1) Stud grabbing: screw in the non-interference section of the stud and grab it smoothly; 2) Stud storage in grades: the stud is screwed into the material tray, and the electric screwdriver tooling can smoothly unscrew the non-interference thread section; 3) Assembly and removal of studs: smoothly screw in the non-interference section of the stud on the material tray, the auxiliary motor and the electric screwdriver tooling lock the non-interference section, and then loosen the interference section and take it out smoothly; 4) Stud assembly: smoothly screw in the workpiece and the interference section of the stud to the specified depth, the auxiliary motor and the electric screwdriver tooling withdraw the non-interference section to self-lock, and smoothly withdraw the non-interference section thread of the stud to cooperate with the electric screwdriver tooling, and ensure that the interference fit between the stud and the workpiece is not destroyed; The measuring robot (10) is provided with a measuring electric screwdriver assembly (11), the measuring electric screwdriver assembly (11) comprising a measuring intelligent electric screwdriver (11-1), a measuring assembly fixture control unit (11-2), a measuring assembly depth control unit (11-3) and a measuring fixture tooling (11-4), the measuring intelligent electric screwdriver (11-1) is connected to the measuring assembly fixture control unit (11-2), the measuring assembly fixture control unit (11-2) is connected to the measuring fixture tooling (11-4) at a middle position, and a measuring assembly depth control unit (11-3) is provided at one side of an end surface of the measuring assembly fixture control unit (11-2); The material grabbing mechanism (3) comprises an electric slide (3-1), a material grabbing slide plate (3-2), a material grabbing claw cylinder (3-3) and a material grabbing claw (3-4); the electric slide (3-1) is fixedly arranged on the table surface of the workbench (2); the bottom of the material grabbing slide plate (3-2) is slidably connected to the electric slide (3-1); the material grabbing claw cylinder (3-3) is fixedly arranged on the top of the material grabbing slide plate (3-2); and the material grabbing claw (3-4) is fixedly connected to the piston rod of the material grabbing claw cylinder (3-3).

2. The stud bolt detection and non-destructive interference assembly mechanism according to claim 1 is characterized by: The material tray mechanism (7) comprises a material tray (7-1), a material tray box (7-2) and an air pressure boosting mechanism (7-3); the material tray (7-1) is arranged on the material tray box (7-2); the air pressure boosting mechanism (7-3) is arranged at one end of the material tray box (7-2); the material tray box (7-2) is provided with an air pressure channel (7-4); a piston rod of the air pressure boosting mechanism (7-3) is sealingly and slidably connected to the air pressure channel (7-4); a plurality of piston holes for storing and locking studs are provided on the top surface of the material tray box (7-2); a plurality of material placement holes are provided on the material tray (7-1); and the material placement holes are connected to the piston holes.

3. The stud bolt detection and non-destructive interference assembly mechanism according to claim 1 is characterized by: The turntable fixture (8) comprises an electric turntable (8-1) and a turntable column (8-2); the electric turntable (8-1) is arranged on a workbench (2); and the turntable column (8-2) is vertically connected to a rotating shaft of the electric turntable (8-1).

4. The stud bolt detection and non-destructive interference assembly mechanism according to claim 1 is characterized by: A plurality of supporting tooling mechanisms (12) are provided on one side of the turntable fixture (8), and the supporting tooling mechanisms (12) include a fixture bracket, a fixture storage mechanism, a fixture storage cylinder, and a tooling fixture; the fixture bracket is fixedly mounted on the workbench (2), the fixture storage mechanism is fixedly mounted on the fixture bracket, a fixture storage cylinder is provided on one side of the fixture storage mechanism, and the tooling fixture is mounted on the fixture storage mechanism.

5. The stud bolt detection and non-destructive interference assembly mechanism according to claim 2, characterized in that: The visual system (6-5) comprises a visual camera and a control computer, and the visual camera is electrically connected to the control computer.

6. The stud bolt detection and non-destructive interference assembly mechanism according to any one of claims 1 to 5, characterized in that: The feeding mechanism (1), the material gripping mechanism (3), the thread detector (4), the assembly robot (5), the assembly electric screwdriver assembly (6), the turntable fixture (8), the measuring robot (10) and the measuring electric screwdriver assembly (11) are all electrically connected to the central control machine.

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