Slewing bearing bolt positioning and tightening system, method and readable storage medium

Abstract

This invention relates to mechanical assembly equipment and provides a slewing bearing bolt positioning and tightening system, comprising: a centering mechanism for positioning and clamping a slewing bearing workpiece; a tightening mechanism arranged around the centering mechanism to identify and tighten the bolts on the slewing bearing workpiece positioned by the centering mechanism during operation; a bolt visual positioning mechanism disposed on the tightening mechanism to photograph and locate the center position of the bolt; and a tightening rotation mechanism for driving the bolt visual positioning mechanism and the tightening mechanism to rotate synchronously around the central axis of the slewing bearing workpiece. Furthermore, this invention also provides a slewing bearing bolt positioning and tightening method and a readable storage medium. This slewing bearing bolt positioning and tightening system enables fully automatic bolt tightening with reliable and qualified torque, avoiding manual omissions and errors, and improving production efficiency.

Description

Technical Field

[0001] This invention relates to mechanical assembly equipment, and more specifically, to a slewing bearing bolt positioning and tightening system. Furthermore, this invention also relates to a slewing bearing bolt positioning and tightening method and a readable storage medium. Background Technology

[0002] Slewing bearings are widely used in modern industry and are often referred to as "the joints of machines." They are essential transmission components for machinery that requires relative rotational motion between two objects while simultaneously bearing axial forces, radial forces, and overturning moments. With the rapid development of the machinery industry, slewing bearings have been widely used in shipbuilding equipment, construction machinery, light industrial machinery, metallurgical machinery, medical equipment, and industrial machinery.

[0003] During assembly, the slewing bearing and turntable need to be bolted together. However, the tightening torque requirements for these bolts are very strict, and the torque is extremely high, requiring a large number of bolts to be tightened. Common methods for tightening slewing bearing bolts include manual tightening with a torque wrench or semi-automatic tightening using an electric tightening gun with a power-assisted arm after manual nut insertion. Manual tightening with a torque wrench is labor-intensive, and the overall size of the slewing bearing and turntable assembly is relatively large, making it easy to miss or mistighten bolts during manual operation. Semi-automatic tightening with an electric tightening gun with a power-assisted arm is difficult to operate due to the often confined space around the slewing bearing, often resulting in some bolts not being tightened properly, and posing a risk of interference and collision with the workpiece. Furthermore, both methods rely on manual operation, making it impossible to guarantee the accuracy and evenness of the tightening torque for each bolt, and the production efficiency cannot meet the demands of modern industrial development. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a slewing bearing bolt positioning and tightening system, which can realize fully automatic bolt tightening, with qualified and reliable torque, avoid manual omissions and errors in tightening, and improve production efficiency.

[0005] Correspondingly, the technical problem to be solved by the present invention is to provide a method for positioning and tightening slewing bearing bolts. This method can realize fully automatic tightening of bolts with qualified and reliable torque, avoid manual omissions and errors in tightening, and improve production efficiency.

[0006] Furthermore, this invention provides a readable storage medium that can be machine-executed to control corresponding equipment during application to achieve fully automatic tightening of slewing bearing bolts with qualified and reliable torque, avoiding manual omissions and errors in tightening, and improving production efficiency.

[0007] To address the aforementioned technical problems, this invention provides a slewing bearing bolt positioning and tightening system, comprising: a centering mechanism for positioning and clamping a slewing bearing workpiece; a tightening mechanism arranged around the centering mechanism to identify and tighten the bolts on the slewing bearing workpiece positioned by the centering mechanism during operation; a bolt visual positioning mechanism disposed on the tightening mechanism to photograph and locate the center position of the bolt; and a tightening rotation mechanism for driving the bolt visual positioning mechanism and the tightening mechanism to rotate synchronously around the central axis of the slewing bearing workpiece.

[0008] Preferably, it further includes: a fixed base; a tightening compensation mechanism disposed between the tightening rotation mechanism and the tightening mechanism, such that the tightening rotation mechanism can drive the tightening mechanism and the bolt visual positioning mechanism to rotate synchronously around the central axis of the slewing bearing workpiece through the tightening compensation mechanism, and the tightening compensation mechanism can perform position compensation for the tightening mechanism according to the positioning result of the bolt visual positioning mechanism; a floating mechanism, wherein the tightening rotation mechanism and the centering mechanism are connected to the fixed base through the floating mechanism, such that during the process of the centering mechanism positioning and clamping the slewing bearing workpiece, the floating mechanism can adaptively float and adjust so that the rotation axis of the tightening rotation mechanism coincides with the central axis of the slewing bearing workpiece.

[0009] In one specific embodiment, the floating mechanism includes a fixed mounting base, a first floating mounting base, a second floating mounting base, and a third floating mounting base arranged sequentially from top to bottom. The fixed mounting base is connected to the fixed base. A first floating roller and a second floating roller are arranged in a cross shape between the fixed mounting base and the first floating mounting base to allow the first floating mounting base to be displaced relative to the fixed mounting base. A matching first shaft and a first bearing are provided between the first floating mounting base and the second floating mounting base to allow the second floating mounting base to rotate relative to the first floating mounting base. A matching second shaft and a second bearing are provided between the second floating mounting base and the third floating mounting base to allow the third floating mounting base to rotate relative to the second floating mounting base. The rotation axis of the first bearing is perpendicular to the rotation axis of the second bearing. The tightening and rotating mechanism and the centering mechanism are connected below the third floating mounting base.

[0010] Preferably, a first limiting rod is provided between the first floating mounting base and the second floating mounting base to limit their rotation angle, and a second limiting rod is provided between the second floating mounting base and the third floating mounting base to limit their rotation angle.

[0011] In one specific embodiment, the tightening rotation mechanism includes a tightening slewing bearing, a crossbeam disposed on the outer periphery of the tightening slewing bearing, and a servo turntable disposed below the tightening slewing bearing. The tightening slewing bearing is mounted below the third floating mounting base. The servo turntable can drive the crossbeam to rotate around the central axis of the tightening slewing bearing. The crossbeam is connected to the tightening compensation mechanism.

[0012] Preferably, the tightening slewing bearing has two crossbeams on its outer periphery, the two crossbeams are arranged symmetrically at the center, and the two crossbeams are respectively connected to the tightening compensation mechanism.

[0013] In one specific embodiment, the centering mechanism includes a centering mounting base connected below the servo turntable, a plurality of centering jaws disposed below the centering mounting base, and a centering servo unit. The centering mounting base is connected below the servo turntable, and the plurality of centering jaws are evenly distributed circumferentially along the central axis of the tightening slewing bearing. The centering servo unit can drive the plurality of centering jaws to move synchronously in the radial direction, so that the plurality of centering jaws cooperate with each other to clamp the slewing bearing workpiece.

[0014] Specifically, the centering gripper includes an axial positioning plane corresponding to the upper end face of the slewing bearing workpiece and a radial positioning boss corresponding to the outer peripheral surface of the slewing bearing workpiece. The axial positioning plane is used to position the axial direction of the slewing bearing workpiece. The radial positioning bosses of the multiple centering grippers cooperate with each other to clamp the outer peripheral surface of the slewing bearing workpiece, so that the central axis of the tightened slewing bearing coincides with the central axis of the slewing bearing workpiece.

[0015] Specifically, the centering servo unit includes a servo motor, which is driven by the centering gripper screw.

[0016] Preferably, the centering mechanism is provided with a gripper positioning detection device for detecting the positional relationship between the centering gripper and the slewing bearing workpiece.

[0017] Specifically, the gripper positioning and detection device includes laser beam sensors, and pairs of laser beam sensors are provided at the lower ends of the two adjacent centering grippers.

[0018] Specifically, a vertical lifting mechanism is provided between the fixed mounting base and the fixed base to control the fixed mounting base to move up and down relative to the fixed base.

[0019] In one specific embodiment, the tightening compensation mechanism includes a first movable compensation structure and a second movable compensation structure disposed on the crossbeam. The first movable compensation structure includes a first compensation servo unit, a first compensation linear slide rail, and a first compensation slider. The first compensation linear slide rail is arranged radially below the crossbeam. The first compensation servo unit can drive the first compensation slider to move on the first compensation linear slide rail. The second movable compensation structure is mounted on the first compensation slider. The second movable compensation structure includes a second compensation servo unit, a second compensation linear slide rail, and a second compensation slider. The second compensation linear slide rail is arranged below the first compensation slider, and the guide of the second compensation linear slide rail is perpendicular to the guide of the first compensation linear slide rail. The second compensation servo unit can drive the second compensation slider to move on the second compensation linear slide rail.

[0020] In one specific embodiment, the tightening mechanism includes a tightening mounting bracket, a tightening shaft, a special head, and a sleeve. The tightening mounting bracket is installed below the second compensation slider. The tightening shaft is movably mounted on the tightening mounting bracket. The sleeve is fitted with the shape of the bolt to be tightened. The tightening shaft drives the sleeve to rotate through the special head, so that the sleeve can cap and tighten the bolt.

[0021] Preferably, the sleeve and the rotation axis of the tightening shaft are parallel to each other, and the special head is provided with a first gear and a second gear that mesh with each other. The first gear is connected to the tightening shaft, and the second gear is connected to the sleeve.

[0022] Preferably, the special head is equipped with a laser rangefinder for detecting the distance between the special head and the slewing bearing workpiece.

[0023] Specifically, the tightening mounting bracket is equipped with a cylinder and a tightening linear slide rail. The tightening shaft is mounted on a tightening slider corresponding to the tightening linear slide rail. The cylinder can drive the tightening slider to move up and down on the tightening linear slide rail.

[0024] In one specific embodiment, the bolt visual positioning mechanism includes a visual positioning bracket, a camera, and a prism. The visual positioning bracket is mounted on the tightening slider, and the camera and the prism are mounted on the visual positioning bracket. The prism is located below the bolt so that it can deflect the light path of the bolt by 90° along the camera's shooting direction and reflect it to the camera for image positioning.

[0025] Preferably, the visual positioning bracket is provided with a guide rail slider mechanism and a visual telescopic drive unit. The camera and the prism are mounted on the slider of the guide rail slider mechanism, and the visual telescopic drive unit can drive the slider to move on the guide rail of the guide rail slider mechanism.

[0026] Correspondingly, the present invention provides a method for positioning and tightening slewing bearing bolts, which includes the following steps:

[0027] S1. Position and clamp the slewing bearing workpiece so that the rotation axis of the tightening rotating mechanism coincides with the central axis of the slewing bearing workpiece;

[0028] S2. Take a picture to locate the bolt of the slewing bearing workpiece, obtain the positioning result of the bolt, and adjust the tightening mechanism to the position of the bolt according to the positioning result, and tighten the bolt.

[0029] S3. The tightening rotation mechanism drives the tightening mechanism to rotate sequentially to the next bolt for capping and tightening, until all bolts are tightened.

[0030] In one specific implementation, during step S1, when the slewing bearing workpiece is positioned and clamped, the tightening rotation mechanism can be adjusted to float and follow the slewing bearing workpiece, so that the rotation axis of the tightening rotation mechanism coincides with the central axis of the slewing bearing workpiece.

[0031] In one specific implementation, in step S2, the tightening mechanism is rotated by an angle φ in the first rotation direction, and position compensation is performed according to the following formula:

[0032] Sa=f(π(△Y / tanφ-△X)φ / 180°, △Y / sinφ-△Y / tanφ+△X+△x, △y)

[0033] Wherein, φ is the deviation angle between the visual reference point and the sleeve of the tightening mechanism, △X is the radial deviation between the visual reference point and the sleeve, △Y is the vertical radial deviation between the visual reference point and the sleeve, △x is the radial deviation between the visual reference point and the center position of the bolt, and △y is the vertical radial deviation between the visual reference point and the center position of the bolt; or

[0034] In step S2, the tightening mechanism (8) is rotated by an angle α-φ in the second rotation direction, and position compensation is performed according to the following formula:

[0035]

[0036] Wherein, φ is the deviation angle between the visual reference point and the sleeve of the tightening mechanism, α is the equal division angle of the bolt hole on the slewing bearing workpiece, △X is the deviation between the visual reference point and the sleeve in the radial direction, △Y is the deviation between the visual reference point and the sleeve in the vertical radial direction, △x is the deviation between the visual reference point and the center position of the bolt in the radial direction, and △y is the deviation between the visual reference point and the center position of the bolt in the vertical radial direction.

[0037] Specifically, in step S2, the tightening torque or angle of the bolt is checked. If it is qualified, proceed to step S3; if it is not qualified, stop the operation and issue an abnormality warning. In step S3, after each bolt is tightened, the tightening torque or angle is checked. If it is qualified, rotate to the next bolt for cap recognition and tightening; if it is not qualified, re-photograph and reposition the current bolt, and perform position compensation on the tightening mechanism according to the positioning result so that the current bolt can be re-capped and tightened.

[0038] In addition, the present invention provides a readable storage medium storing executable instructions, which, when executed by a machine, implement the slewing bearing bolt positioning and tightening method described in any of the above technical solutions.

[0039] The beneficial effects of the present invention through the above solution are as follows:

[0040] This invention relates to a slewing bearing bolt positioning and tightening system. A centering mechanism positions and clamps the slewing bearing workpiece. After positioning and clamping, a bolt vision positioning mechanism photographs and positions the bolts on the slewing bearing workpiece to be tightened, thus confirming the bolt's center position. The bolt vision positioning mechanism is mounted on the tightening mechanism, and their relative position is fixed. A tightening rotation mechanism drives the tightening mechanism to rotate around the central axis of the slewing bearing workpiece, aligning the tightening mechanism with the bolt to be tightened. This allows the tightening mechanism to recognize and tighten the bolt, achieving fully automatic tightening of the slewing bearing bolts with reliable and qualified torque, avoiding manual omissions and errors, and improving production efficiency.

[0041] In addition, the slewing bearing bolt positioning and tightening system of the present invention is also equipped with a tightening compensation mechanism and a floating mechanism. During the process of positioning and clamping the slewing bearing workpiece by the centering mechanism, the floating mechanism can adjust itself to move with the slewing bearing workpiece. When the slewing bearing workpiece is tilted, it can make the rotation axis of the tightening rotating mechanism coincide with the central axis of the slewing bearing workpiece, thereby realizing the adaptive adjustment of the tightening rotating mechanism. Furthermore, when the bolt visual positioning mechanism takes pictures of the bolt for positioning, the tightening compensation mechanism can further compensate for the position of the tightening mechanism, thereby improving the accuracy of the tightening mechanism in aligning with the center position of the bolt.

[0042] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0043] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0044] Figure 1 This is a schematic diagram of a specific embodiment of the slewing bearing bolt positioning and tightening system of the present invention;

[0045] Figure 2 This is a side view of a specific embodiment of the slewing bearing bolt positioning and tightening system of the present invention;

[0046] Figure 3 This is a structural diagram of a specific implementation of a vertical lifting mechanism;

[0047] Figure 4 This is a structural diagram of one specific implementation of a floating mechanism;

[0048] Figure 5 This is a structural diagram of a specific implementation of the tightening and rotating mechanism;

[0049] Figure 6 This is a structural diagram of one specific implementation of the centering mechanism;

[0050] Figure 7 This is a schematic diagram illustrating a specific implementation of a centering mechanism for positioning a slewing bearing workpiece.

[0051] Figure 8 This is a schematic diagram illustrating a specific implementation of a gripper positioning and detection device for detecting a slewing bearing workpiece.

[0052] Figure 9 This is a schematic diagram of the structure of the slewing bearing bolt positioning and tightening system of the present invention, located below the tightening and rotating mechanism;

[0053] Figure 10 This is a schematic diagram of a specific implementation of a bolt visual positioning mechanism in photographic positioning mode. Figure 1 ;

[0054] Figure 11 This is a schematic diagram of a specific implementation of a bolt visual positioning mechanism in photographic positioning mode. Figure 2 ;

[0055] Figure 12 This is a flowchart illustrating the steps of the slewing bearing bolt positioning and tightening method of the present invention;

[0056] Figure 13 This is a tightening diagram of the first specific embodiment of the slewing bearing bolt positioning and tightening method of the present invention;

[0057] Figure 14 This is a tightening diagram of the second specific embodiment of the slewing bearing bolt positioning and tightening method of the present invention;

[0058] Figure 15 This is a flowchart of the first specific embodiment of the slewing bearing bolt positioning and tightening system of the present invention;

[0059] Figure 16 This is a flowchart of the second specific embodiment of the slewing bearing bolt positioning and tightening system of the present invention.

[0060] Explanation of reference numerals in the attached figures

[0061] 1. Fixed base 2. Fixed installation system

[0062] 3 Vertical lifting mechanism

[0063] 301 Vertical lifting drive unit; 302 Vertical lifting cylinder

[0064] 303 guide column

[0065] 4 floating mechanism

[0066] 401 Fixed mounting bracket 402 First floating mounting bracket

[0067] 403 Second floating mount 404 Third floating mount

[0068] 405 First floating roller 406 Second floating roller

[0069] 407 First Shaft, 408 First Bearing

[0070] 409 Second Shaft, 410 Second Bearing

[0071] 411 First limit rod 412 Second limit rod

[0072] 5 Tightening Rotary Mechanism

[0073] 501 Tighten the slewing bearing; 502 Tighten the crossbeam.

[0074] 503 Servo Turntable

[0075] 6. Centering Mechanism 602 Centering Gripper

[0076] 601 Centering Mount 604 Axial Positioning Plane

[0077] 603 Centering Servo Unit; 606 Laser Beam Sensor

[0078] 605 Radial Positioning Boss

[0079] 7 Tightening compensation mechanism 702a First compensation linear slide rail

[0080] 701a First Compensation Servo Unit; 701b Second Compensation Servo Unit

[0081] 703a First compensation slider; 703b Second compensation slider

[0082] 702b Second Compensation Linear Slide Rail

[0083] 8 Tightening Mechanism 802 Tightening Shaft

[0084] 801 Tighten the mounting bracket and 804 sleeve

[0085] 803 special head, 806 tightening linear guide rail

[0086] 805 cylinder

[0087] 807 Tightening Slider

[0088] 9-bolt visual positioning mechanism 902 light source

[0089] 901 Visual Positioning Bracket 904 Camera

[0090] 903 prism 11 bolts

[0091] Center line of photograph for workpiece B of 10 slewing bearing

[0092] A. Visual reference point centerline; D. Sleeve center

[0093] C Visual reference point Detailed Implementation

[0094] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the present invention, and the scope of protection of the present invention is not limited to the specific embodiments described below.

[0095] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "forming," "having," "setting," and "connecting," etc., should be interpreted broadly. For example, a connection can be a direct connection or an indirect connection through an intermediate medium; it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate connector; it can be the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0096] In this invention, unless otherwise specified, the directional terms "up," "down," "clockwise," and "counterclockwise" used to indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. The directional terms of this invention should be understood in conjunction with the actual installation state.

[0097] It should be noted that, for ease of description, an XYZ coordinate system is established below, where the Z direction is the direction of the rotation center axis of the tightening rotating mechanism 5, the X direction is the radial direction of the rotation center axis through the tightening mechanism 8, specifically, the X direction is the radial direction of the rotation center axis through the center of the sleeve 804, and the Y direction is the direction perpendicular to the X and Z directions. Since the tightening rotating mechanism 5 drives the tightening mechanism 8 to rotate around the rotation center axis, the X and Y directions will change as the tightening mechanism 8 rotates.

[0098] This invention provides a slewing bearing bolt positioning and tightening system, see [link / reference]. Figures 1-11 As a specific embodiment of the slewing bearing bolt positioning and tightening system of the present invention, it includes a centering mechanism 6, a tightening mechanism 8, a bolt visual positioning mechanism 9, and a tightening rotation mechanism 5. The centering mechanism 6 is used to position and clamp the slewing bearing workpiece 10. The tightening mechanism 8 is arranged around the centering mechanism 6 so as to identify and tighten the bolts 11 on the slewing bearing workpiece 10 positioned by the centering mechanism during operation. The bolt visual positioning mechanism 9 is arranged on the tightening mechanism 8 so as to take pictures to locate the center position of the bolt 11. The tightening rotation mechanism 5 is used to drive the bolt visual positioning mechanism 9 and the tightening mechanism 8 to rotate synchronously around the central axis of the slewing bearing workpiece 10 so as to take pictures to locate the center position of the bolt 11 and tighten it.

[0099] The slewing bearing bolt positioning and tightening system of the present invention first positions and clamps the slewing bearing workpiece 10 through the centering mechanism 6. After the positioning and clamping are completed, the bolt visual positioning mechanism 9 can take pictures and position the bolt 11 on the slewing bearing workpiece 10 to be tightened, thereby confirming the center position of the bolt 11. The bolt visual positioning mechanism 9 is set on the tightening mechanism 8, and the relative position between the two is fixed. The tightening mechanism 8 can be driven to rotate around the central axis of the slewing bearing workpiece 10 through the tightening rotation mechanism 5, thereby aligning the tightening mechanism 8 with the bolt 11 to be tightened, so that the tightening mechanism 8 can recognize and tighten the bolt 11, realizing the fully automatic tightening of the slewing bearing bolt, with qualified and reliable torque, avoiding manual omissions and mis-tightening, and improving production efficiency.

[0100] When the bolt visual positioning mechanism 9 takes a picture to locate the center position of the bolt 11, there may be a deviation in the X and Y directions of the center position of the bolt 11. Therefore, after the tightening compensation mechanism 7 rotates the tightening mechanism 8 according to the picture positioning result, it is also necessary to perform displacement compensation in the X and Y directions. As a specific implementation method, see Figure 1 and Figure 2The slewing bearing bolt positioning and tightening system of the present invention also includes a tightening compensation mechanism 7, which is located between the tightening rotation mechanism 5 and the tightening mechanism 8. This allows the tightening rotation mechanism 5 to drive the tightening mechanism 8 and the bolt visual positioning mechanism 9 to rotate synchronously around the central axis of the slewing bearing workpiece 10 through the tightening compensation mechanism 7. The tightening compensation mechanism can compensate the position of the tightening mechanism 8 in the X and Y directions according to the positioning result of the bolt visual positioning mechanism 9, so that the tightening mechanism 8 can be completely aligned with the center position of the bolt 11, thereby recognizing and tightening the bolt. Furthermore, the above-mentioned displacement compensation in the X and Y directions, as well as the rotational movement of the tightening rotating mechanism 5, are all based on the assumption that the rotational center axis of the tightening rotating mechanism 5 coincides with the center axis of the slewing bearing workpiece 10, to ensure that the Z direction is the direction of the center axis of the slewing bearing workpiece 10. However, due to positioning accuracy errors of the slewing bearing workpiece 10 itself or the carrier, the workpiece has a certain tilt angle with the horizontal plane. Therefore, in order to ensure that the rotational center axis of the tightening rotating mechanism 5 coincides with the center axis of the slewing bearing workpiece 10, in a preferred embodiment, the slewing bearing bolt positioning and tightening system of the present invention also includes a fixed base 1 and a floating mechanism 4. The tightening rotating mechanism 5 and the centering mechanism 6 are connected to the fixed base 1 through the floating mechanism 4, so that during the positioning and clamping of the slewing bearing workpiece 10 by the centering mechanism 6, the floating mechanism 4 can adaptively float and adjust, thereby driving the tightening rotating mechanism through the floating mechanism 4 under the reaction force of the slewing bearing workpiece 10 on the centering mechanism 6. The centering mechanism 6 and the tightening rotating mechanism 5 are adjusted together by floating. The center axes of the tightening rotating mechanism 5 and the centering mechanism 6 are the same, and both are fixed on the floating mechanism 4. Therefore, when the centering mechanism 6 is fully positioned and clamping the slewing bearing workpiece 10, the rotation axis of the tightening rotating mechanism 5 coincides with the center axis of the slewing bearing workpiece 10. Ideally, the rotation axis of the tightening rotating mechanism 5 should theoretically coincide with the center axis of the slewing bearing workpiece 10. However, in practice, due to various factors such as equipment manufacturing precision errors, assembly errors, and positioning errors, the above-mentioned mechanism of this invention can achieve a basic coincidence between the rotation axis of the tightening rotating mechanism 5 and the center axis of the slewing bearing workpiece 10. That is, if there is a deviation between the rotation axis of the tightening rotating mechanism 5 and the center axis of the slewing bearing workpiece 10 that does not affect the operation of the device of this invention, it can still be considered that their axes coincide, which is also within the scope of protection of this invention. The fixed base 1 is used to support the overall weight of the slewing bearing bolt positioning and tightening system of this invention, and its structural form is diverse; see [link to relevant documentation]. Figure 1 The fixed base 1 can be a gantry frame formed by connecting profiles with bolts, or it can be the top of the factory building.

[0101] As one specific implementation of the floating mechanism 4, see Figure 1 and Figure 4The floating mechanism 4 includes a fixed mounting base 401, a first floating mounting base 402, a second floating mounting base 403, and a third floating mounting base 404 arranged sequentially from top to bottom. The fixed mounting base 401 is connected to the fixed base 1. A first floating roller 405 and a second floating roller 406 are arranged in a cross shape between the fixed mounting base 401 and the first floating mounting base 402. The first floating roller 405 is arranged along the X-direction, and the second floating roller 406 is arranged along the Y-direction. The fixed mounting base 401 is connected to both ends of the shaft of the first floating roller 405, and the second floating roller 406 is connected to the housing of the first floating roller 405. The first floating mounting base 402 is connected to both ends of the shaft of the second floating roller 406. The housings of the first floating roller 405 and the second floating roller 406 can float axially relative to the shaft under the action of external force, so that the first floating mounting base 402 can move relative to the fixed mounting base 401. The displacement can be adjusted in the X and Y directions. A first shaft 407 and a first bearing 408 are provided between the first floating mounting base 402 and the second floating mounting base 403 so that the second floating mounting base 403 can rotate relative to the first floating mounting base 402. A second shaft 409 and a second bearing 410 are provided between the second floating mounting base 403 and the third floating mounting base 404 so that the third floating mounting base 404 can rotate relative to the second floating mounting base 403. The rotation axis of the first bearing 408 is perpendicular to the rotation axis of the second bearing 410, so that the third floating mounting base 404 can rotate relative to the first floating mounting base 402 in the X and Y directions. The tightening rotation mechanism 5 and the centering mechanism 6 are connected below the third floating mounting base 404 so that during the process of the centering mechanism 6 positioning and clamping the slewing bearing workpiece 10, the tightening rotation mechanism 5 and the centering mechanism 6 are driven to perform universal floating adjustment. It should be noted that, in order to enable the floating mechanism 4 to automatically return to its initial position when not in operation, a centering spring, a pneumatic damper, or a hydraulic damper can be installed inside the first floating roller 405 and the second floating roller 406 to achieve centering and return to the initial position. Preferably, the first shaft 407 and the second bearing 408 are located in the middle of the second floating mounting base 403. Therefore, under the action of gravity, the second floating mounting base 403 can automatically return to a horizontal state. The third floating mounting base 404 is similar to the second floating mounting base 403. More preferably, torsion springs can also be installed between the first shaft 407 and the first bearing 408 and between the second shaft 409 and the second bearing 410. The torsion of the torsion springs can achieve automatic reset of the second floating mounting base 403 and the third floating mounting base 404.

[0102] As a preferred embodiment of the floating mechanism 4, see Figure 4The first shaft 407 is arranged along the Y-direction to allow the second floating mounting base 403 to rotate relative to the first floating mounting base 402 about the Y-direction. The second shaft 409 is arranged along the X-direction to allow the third floating mounting base 404 to rotate relative to the second floating mounting base 403 about the X-direction. A first limiting rod 411 is provided between the first floating mounting base 402 and the second floating mounting base 403 to limit their rotation angle. The two first limiting rods 411 are symmetrically arranged at both ends of the second floating mounting base 403 along the X-direction. A second limiting rod 412 is provided between the seat 403 and the third floating mounting seat 404 to limit the rotation angle of the two. The two second limiting rods 412 are symmetrically arranged at both ends of the third floating mounting seat 404 along the Y direction. Thus, under the combined action of the first limiting rod 411 and the second limiting rod 412, the rotation angle of the third floating mounting seat 404 relative to the first floating mounting seat 402 in the X direction and the Y direction is limited, so as to avoid the floating rotation angle being too large and to meet the floating requirements of the floating mechanism 4 in the X direction and the Y direction.

[0103] As one specific embodiment of the tightening and rotating mechanism 5, see [link to relevant documentation]. Figure 1 and Figure 5 The tightening rotation mechanism 5 includes a tightening slewing bearing 501, a crossbeam 502 located on the outer periphery of the tightening slewing bearing 501, and a servo turntable 503 located below the tightening slewing bearing 501. The tightening slewing bearing 501 is mounted below the third floating mounting base 404 to allow it to float and adjust in sync with the floating mechanism 4. The servo turntable 503 drives the crossbeam 502 to rotate around the central axis of the tightening slewing bearing 501. The crossbeam 502 is connected to the tightening compensation mechanism 7, thereby driving the tightening compensation mechanism 7, the tightening mechanism 8, and the bolt visual positioning mechanism 9 to rotate synchronously. Preferably, see [reference needed]. Figure 1 and Figure 5 Two crossbeams 502 are provided on the outer periphery of the tightening slewing bearing 501. The two crossbeams 502 are arranged symmetrically at the center, and each of the two crossbeams 502 is connected to a tightening compensation mechanism 7. The crossbeams 502 at both ends can make the force on the tightening slewing bearing 501 more balanced, which facilitates the rotation during operation. The tightening mechanisms 8 on the two crossbeams 502 can operate simultaneously, improving its working efficiency.

[0104] As one specific implementation of the centering mechanism 6, see [link to relevant documentation]. Figure 1 and Figure 6The centering mechanism 6 includes a centering mounting base 601 connected below the servo turntable 503, a plurality of centering grippers 602 disposed below the centering mounting base 601, and a centering servo unit 603. The centering mounting base 601 is connected below the servo turntable 503. The plurality of centering grippers 602 are evenly distributed circumferentially along the central axis of the tightening slewing bearing 501. The centering servo unit 603 can drive the plurality of centering grippers 602 to move synchronously in the radial direction, so that the plurality of centering grippers 602 cooperate with each other to clamp the slewing bearing workpiece 10. Specifically, the centering gripper 602 includes an axial positioning plane 604 corresponding to the upper end face of the slewing bearing workpiece 10 and a radial positioning boss 605 corresponding to the outer peripheral surface of the slewing bearing workpiece 10. The axial positioning plane 604 is used to position the axial direction of the slewing bearing workpiece 10. The radial positioning bosses 605 of the multiple centering grippers 602 cooperate with each other to clamp the outer peripheral surface of the slewing bearing workpiece 10, so that the central axis of the tightened slewing bearing 501 coincides with the central axis of the slewing bearing workpiece 10. Preferably, the radial positioning boss 605 is rotatably configured to reduce the frictional force during its contact with the outer peripheral surface of the slewing bearing workpiece 10 and to prevent the radial positioning boss 605 from affecting the radial positioning accuracy of the slewing bearing workpiece 10 due to wear. In addition, the centering servo unit 603 includes a servo motor, which is driven by a lead screw of the centering gripper 602 to drive the centering gripper 602 for positioning and clamping. The centering servo unit 603 can also directly use a servo electric cylinder to drive the centering gripper 602.

[0105] It should be noted that, see Figure 7 The centering mechanism 6 performs axial positioning by having the axial positioning plane 604 on the centering jaw 602 adhere to the upper end face of the slewing bearing workpiece 10. During the positioning process, the centering jaw 602 needs to be raised and lowered to press against the upper end face of the slewing bearing workpiece 10. This is the slewing bearing bolt positioning and tightening system of the present invention. See [link to documentation]. Figure 1 and Figure 2 A vertical lifting mechanism 3 is provided between the fixed mounting base 401 and the fixed base 1 to control the lifting and lowering movement of the fixed mounting base 401 relative to the fixed base 1. Specifically, see [link to details]. Figure 3The vertical lifting mechanism 3 is suspended below the fixed base 1 via the fixed installation system 2. The vertical lifting mechanism 3 includes a vertical lifting drive unit 301, a vertical lifting cylinder 302, and a guide column 303. The vertical lifting drive unit 301 is preferably a servo electric cylinder or a hydraulic cylinder, with its two ends connected to the fixed base 1 and the fixed mounting base 401 respectively, enabling it to drive the floating mechanism 4 to move the centering mechanism 6 vertically. The guide column 303 is vertically positioned between the fixed base 1 and the fixed mounting base 401 to precisely guide the vertical lifting motion. The vertical lifting cylinder 302 is positioned between the fixed base 1 and the fixed mounting base 401 to balance the weight of the floating mechanism 4 and its connected components. It is conceivable that the floating mechanism 4 is directly fixed below the fixed base 1, and positioning is achieved by moving the entire slewing bearing workpiece 10 vertically upwards so that the upper end of the slewing bearing workpiece 10 approaches the axial positioning plane 604 on the centering gripper 602.

[0106] When the centering gripper 602 is driven to approach the upper end face of the slewing bearing workpiece 10 via vertical lifting motion, to prevent the axial positioning plane 604 of the centering gripper 602 from directly impacting the upper end face of the slewing bearing workpiece 10, see [reference needed]. Figure 6 In a preferred embodiment of the centering mechanism 6, the centering mechanism 6 is equipped with a gripper positioning detection device for detecting the positional relationship between the centering gripper 602 and the slewing bearing workpiece 10. In one specific embodiment of the gripper positioning detection device, the device includes laser beam sensors 606, with pairs of laser beam sensors 606 positioned at the lower ends of adjacent centering grippers 602. Taking three centering grippers 602 as an example, during the descent of the centering grippers 602, the three sets of laser beam sensors 606 emit and receive signals from each other. When the centering grippers 602 descend to a position such that... Figure 7 In the position shown, the axial positioning plane 604 does not mate with the upper end face of the slewing bearing workpiece 10; a small gap exists between them. (See attached image.) Figure 8At this point, since the laser beams emitted by the three sets of laser beam sensors 606 are all blocked by the slewing bearing workpiece 10, it can be detected that the centering gripper 602 has descended to the correct position and stops descending. At this time, the centering gripper 602 is controlled to clamp the outer circumferential surface of the slewing bearing workpiece 10 for radial positioning. After the radial positioning is completed, the centering gripper 602 is controlled to press down so that the axial positioning plane 604 fits against the upper end surface of the slewing bearing workpiece 10 for axial positioning. The clamping position of the centering gripper 602 and the pressing position of the axial positioning plane 604 can be determined by setting a pressure sensor or a distance sensor. It should be noted that, as another specific implementation of the gripper positioning and detection device, taking three centering grippers 602 as an example, two laser beam sensors 606 can be set at the lower end of one centering gripper 602, and one laser beam sensor 606 can be set at the lower end of the other two centering grippers 602, thereby forming two sets of beam lasers. When both sets of beam lasers are blocked by the slewing bearing workpiece 10, it can be detected that the centering gripper 602 has descended to the correct position and stops descending.

[0107] As one specific implementation of the tightening compensation mechanism 7, see [link to relevant documentation]. Figure 1 and Figure 9 The tightening compensation mechanism 7 includes a first movable compensation structure and a second movable compensation structure mounted on the crossbeam 502. The first movable compensation structure includes a first compensation servo unit 701a, a first compensation linear slide rail 702a, and a first compensation slider 703a. The first compensation linear slide rail 702a is arranged radially (X-direction) below the crossbeam 502. The first compensation servo unit 701a can drive the first compensation slider 703a to move along the X-direction on the first compensation linear slide rail 702a. The second movable compensation structure is mounted on the first compensation slider 703a. On 03a, the second movement compensation structure includes a second compensation servo unit 701b, a second compensation linear slide rail 702b, and a second compensation slider 703b. The second compensation linear slide rail 702b is arranged below the first compensation slider 703a, and the guide of the second compensation linear slide rail 702b is perpendicular to the guide of the first compensation linear slide rail 702a, that is, the second compensation linear slide rail 702b is arranged along the Y direction, so that the second compensation servo unit 701b can drive the second compensation slider 703b to move along the Y direction on the second compensation linear slide rail 702b. It should be noted that the first compensation servo unit 701a and the second compensation servo unit 701b can be driven by a servo motor in conjunction with a ball screw, or directly driven by a servo electric cylinder.

[0108] As one specific implementation of the tightening mechanism 8, see [link to relevant documentation]. Figure 1 and Figure 9The tightening mechanism 8 includes a tightening mounting bracket 801, a tightening shaft 802, a special head 803, and a sleeve 804. The tightening mounting bracket 801 is installed below the second compensation slider 703b so that the tightening compensation mechanism 7 can drive the tightening mechanism 8 to move in the X and Y directions. The tightening shaft 802 is movably mounted on the tightening mounting bracket 801. The sleeve 804 is fitted with the bolt 11 to be tightened. The tightening shaft 802 drives the sleeve 804 to rotate through the special head 803. The tightening shaft 802 can move relative to the tightening mounting bracket 801 in the Z direction so that it can drive the sleeve 804 to move closer to the bolt 11. The sleeve 804 drives the bolt 11 to rotate a certain angle, matching the first thread of the bolt 11 with the corresponding bolt hole on the slewing bearing workpiece 10. This ensures that the sleeve 804 can recognize the bolt 11, facilitating the subsequent smooth screwing of the bolt 11 and preventing stripping defects. After successful recognition, the bolt 11 is tightened. Since the tightening requirements of bolt 11 are very strict, the tightening shaft 802 needs to detect whether bolt 11 is tightened in place. Preferably, the tightening shaft 802 is equipped with a torque sensor and / or an angle sensor to detect the torque of bolt 11 and / or the number of turns of bolt 11 to ensure that bolt 11 is tightened in place.

[0109] Specifically, the special head 803 is designed to allow the sleeve 804 to extend under the slewing bearing workpiece 10 to tighten the bolt 11. The rotation axes of the sleeve 804 and the tightening shaft 802 are parallel to each other, and the direction of their rotation axes is Z. The sleeve 804 is located on the side of the tightening shaft 802 close to the central axis of the slewing bearing workpiece 10. The special head 803 is equipped with a first gear and a second gear that mesh with each other. The first gear and the second gear are spur gears. The first gear is connected to the tightening shaft 802, and the second gear is connected to the sleeve 804. The rotation of the tightening shaft 802 can cause the sleeve 804 to rotate through the meshing of the first gear and the second gear, so as to tighten the bolt 11. In addition, sometimes, in order to meet the arrangement requirements, the rotation axis of the tightening shaft 802 is tilted at an angle to the Z direction, while the rotation axis of the sleeve 804 is in the Z direction. In this case, the first gear and the second gear can be set as a pair of bevel gears that mesh with each other to realize the torque transmission of the tightening shaft 802 to the sleeve 804.

[0110] Specifically, see Figure 9 The tightening mounting bracket 801 is equipped with a cylinder 805 and a tightening linear slide rail 806. The tightening linear slide rail 806 is arranged along the Z direction. The tightening shaft 802 is installed on the tightening slider 807 corresponding to the tightening linear slide rail 806. The telescopic rod of the cylinder 805 is connected to the tightening slider 807, so that the cylinder 805 can drive the tightening slider 807 to move up and down on the tightening linear slide rail 806, thereby realizing the Z-direction movement of the sleeve 804.

[0111] In order to avoid collisions between the special head 803 and the sleeve 804 and the slewing bearing workpiece 10 during Z-axis and X-axis movements, preferably, the special head 803 is equipped with a laser rangefinder (not shown in the figure) for detecting the distance between the special head 803 and the slewing bearing workpiece 10. The laser rangefinder can measure the distance in the X and Z directions and is used to detect the X-axis distance and Z-axis distance between the special head 803 and the slewing bearing workpiece 10 in real time.

[0112] As one specific implementation of the bolt visual positioning mechanism 9, see [link to relevant documentation]. Figure 10 and Figure 11 The bolt visual positioning mechanism 9 includes a visual positioning bracket 901, a camera 904, and a prism 903. The visual positioning bracket 901 is mounted on the tightening slider 807 and can move up and down in the Z direction synchronously with the tightening mechanism 8. The camera 904 and the prism 903 are mounted on the visual positioning bracket 901. The prism 903 is located below the bolt 11 so that it can deflect the light path of the bolt 11 by 90° along the shooting direction of the camera 904 and reflect it to the camera 904 for shooting and positioning. The prism 903 is preferably a right-angle triangular prism, and a suitable size can be selected according to the space under the slewing bearing workpiece 10 to facilitate insertion under the bolt 11. Specifically, the visual reference point centerline A of camera 904 is parallel to the X-direction, and the intersection of this visual reference point centerline A and the reflective surface of prism 903 is the visual reference point C. The center position of bolt 11, along the bolt imaging centerline B, can be located by being photographed by camera 904 after reflection from prism 903. The image is then processed to obtain the deviation values ​​Δx and Δy between visual reference point C and the center position of bolt 11 along the X-direction and along the Y-direction, respectively. The deviation values ​​Δx and Δy between visual reference point C and the sleeve center D of sleeve 804 along the X-direction and along the Y-direction are also determined. The difference △Y is a fixed deviation value. Therefore, after the sleeve 804 is rotated φ around the central axis of the slewing bearing center 10 in the first rotation direction, position compensation is performed according to the formula Sa=f(π(△Y / tanφ-△X)φ / 180°,△Y / sinφ-△Y / tanφ+△X+△x,△y), corresponding to rotation angle compensation, X-direction displacement compensation and Y-direction displacement compensation, so as to align the sleeve center D with the center position of the bolt 11. Here, φ is the deviation angle value between the visual reference point C and the sleeve center D of the tightening mechanism 8. It should be noted that the above describes aligning the center of the sleeve 804 with the bolt 11 for photographic positioning. It can be inferred that since the bolts 11 of the slewing bearing workpiece 10 are evenly distributed axially around its central axis, and the equal division angle of the bolt holes is α, after obtaining the deviation values ​​Δx and Δy between the visual reference point C and the center position of the bolt 11 along the X-direction, the sleeve 804 is rotated around the central axis of the slewing bearing center 10 in the second rotation direction (opposite to the first rotation direction) by (α-φ). Then, according to the formula... Position compensation is performed, corresponding to rotation angle compensation, X-axis displacement compensation and Y-axis displacement compensation, so as to align the sleeve center D with the center position of the bolt 11 adjacent to the photographed positioning bolt 11.

[0113] After taking the photo and positioning, the sleeve 804 needs to be moved along the Z direction to approach the bolt 11 for capping and tightening. To prevent the camera 904 and prism 903 from colliding with the bolt 11 or the lower end face of the slewing bearing workpiece 10, the vision positioning bracket 901 is equipped with a guide rail slider mechanism and a vision telescopic drive unit. The camera 904 and prism 903 are mounted on the slider of the guide rail slider mechanism. The vision telescopic drive unit can drive the slider to move on the guide rail of the guide rail slider mechanism, retracting the camera 904 and prism 903 along the X direction and moving them out from the lower end face of the slewing bearing workpiece 10. The vision telescopic drive unit can be one of a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder, or the vision telescopic drive unit can realize the telescopic movement of the camera 904 and prism 903 through a motor and a lead screw drive.

[0114] In addition, as a preferred embodiment of the bolt visual positioning mechanism 9, a light source 902 is also provided on the visual positioning bracket 901 to adjust the brightness of the light when the camera 904 takes pictures. The light source 902 can be a commonly used light-emitting device on the market. A light shield is provided on the housing of the light-emitting device to ensure the concentration of light emission. When the camera 904 needs to take pictures, the light source 902 can illuminate the shooting area to avoid the shooting environment being too dark and the camera 904 taking unclear pictures, which would affect the judgment of the center position of the bolt 11 to be tightened. In a preferred case, the light source 902 is blue light, which can avoid the influence of ambient light. The installation positions of the camera 904 and the light source 902 are relatively fixed. Before installation, it is necessary to adjust it to ensure that the camera 904 can capture clear data information of the center position of the bolt 11 to be tightened under the illumination of the light source 902.

[0115] The specific and preferred embodiments of the slewing bearing bolt positioning and tightening system of the present invention have been described above. To better understand the technical solution of the slewing bearing bolt positioning and tightening system of the present invention, the following will describe... Figures 1 to 11 The specific embodiments shown illustrate their workflow.

[0116] See Figure 13 and Figure 14The number of bolts 11 to be installed on the slewing bearing workpiece 10 is 20. The equal division angle of the bolt holes corresponding to the bolts 11 is α. The slewing bearing bolt positioning and tightening system of the present invention has two crossbeams 502 on the outer periphery of the tightening slewing bearing 501. The two crossbeams 502 are symmetrically arranged with respect to the rotation center of the tightening rotation mechanism 5. A tightening compensation mechanism 7, a tightening mechanism 8 and a bolt visual positioning mechanism 9 are respectively arranged below the two crossbeams 502. Therefore, it is possible to simultaneously position and tighten symmetrical bolts 11. The bolts positioned by the bolt visual positioning mechanism 9 are numbered b1-b10, and the bolts tightened by the tightening mechanism 8 are numbered a1-a10. The flowchart of the first specific embodiment of the slewing bearing bolt positioning and tightening system of the present invention is as follows. Figure 15 As shown: First, the slewing bearing workpiece 10 is installed in place. The centering gripper 602 retracts to the designated position according to the diameter of the slewing bearing workpiece 10. The retraction of the centering gripper 602 is checked. Once in position, the vertical lifting mechanism 3 controls the centering gripper 602 to descend. Then, the laser beam sensor 606 determines whether the centering gripper 602 has descended to the correct position. If it has, the centering gripper 602 is controlled to clamp the slewing bearing workpiece 10 (if not in position, the centering gripper 602 continues to descend; if the slewing bearing workpiece 10 is not detected, an abnormal alarm is issued and the machine stops to allow personnel to check for faults). The clamping of the centering gripper 602 is then checked. After the positioning is completed, the vertical lifting mechanism 3 controls the centering jaw 602 to press down, so that the axial positioning plane 604 is completely attached to the upper end face of the slewing bearing workpiece 10. After the centering jaw 602 is pressed down, the centering mechanism 6 completes the clamping and positioning of the slewing bearing workpiece 10. Under the adjustment of the floating mechanism 4, the rotation axis of the tightening rotating mechanism 5 coincides with the central axis of the slewing bearing workpiece 10. Then, the tightening rotating mechanism 5 is rotated to the initial position, and the tightening compensation mechanism 7 and the tightening mechanism 8 move in the Z, X and Y directions so that the bolt visual positioning mechanism 9 reaches the initial shooting point. The bolt visual positioning mechanism 9 extends the camera 904 and the prism 903. See Figure 13The bolt b1 is positioned by taking a picture. After successful positioning, the bolt visual positioning mechanism obtains the deviation values ​​Δx and Δy. (If positioning fails, the bolt b1 is positioned by taking a picture again. If positioning fails multiple times, an abnormality warning is issued and the machine stops.) The bolt visual positioning mechanism 9 retracts the camera 9024 and prism 903. The tightening rotation mechanism 5 rotates clockwise by an angle φ. Rotation angle compensation is performed by the tightening rotation mechanism 5. The tightening compensation mechanism performs displacement compensation in the X and Y directions. The angle compensation value, X-direction displacement compensation value, and Y-direction displacement compensation value are expressed by the formula Sa=f(π(ΔY / tanφ-ΔX)φ). The calculation ( / 180°, △Y / sinφ-△Y / tanφ+△X+△x, △y) is used to align the sleeve 804 with the center of bolt a1. Bolt a1 and bolt b1 are the same bolt. Then, the tightening mechanism 8 controls the sleeve 804 to move upward in the Z direction, and the tightening shaft 802 rotates to make the sleeve 804 retract. Then, the tightening shaft 802 tightens the bolt a1 according to the torque. After tightening, the tightening torque or tightening angle of bolt a1 needs to be checked. After the check is qualified, the tightening mechanism 8 controls the sleeve 804 to descend in the Z direction (if it is not qualified, an abnormality warning will be issued and...). (Stop the machine), then rotate the tightening rotating mechanism clockwise by an angle α, so that the sleeve 804 is aligned with the bolt a2. Then, control the sleeve 804 to move upward in the Z direction through the tightening mechanism 8, and rotate the tightening shaft 802 to make the sleeve 804 retract. Then, tighten the bolt a2 according to the torque through the tightening shaft 802. After tightening, the tightening torque or tightening angle of the bolt a2 needs to be checked. After the check is qualified, control the tightening mechanism 8 to control the sleeve 804 to descend in the Z direction. Then, rotate the tightening rotating mechanism clockwise by an angle α, and repeat the tightening steps of the bolt a2 to tighten the bolts a3-a10 in sequence. After the bolts are tightened and qualified, the tightening mechanism 8 and the tightening compensation mechanism 7 move in the Z and X directions respectively, so that the bolt visual positioning mechanism 9 and the tightening mechanism 8 retract from the lower end face of the slewing bearing workpiece 10. The centering gripper 602 releases the slewing bearing workpiece 10, and then the centering gripper 602 is driven to rise to the initial position by the vertical lifting mechanism 3, thus completing the tightening operation of the bolts 11 of the slewing bearing workpiece 10. All tightening data and results (tightening torque or angle of all bolts 11) during the tightening operation are uploaded. Finally, all abnormal reminders are centrally alarmed to facilitate subsequent handling by the staff.In addition, when the tightening torque or angle of bolts a2-a10 fails the inspection, it is necessary to re-photograph and reposition the current bolt an (n ranges from 2 to 10). Control the tightening rotation mechanism 5 to rotate clockwise by an angle -φ, so that the bolt visual positioning mechanism 9 can photograph and position bolt an according to the photographing and positioning steps of bolt a1. After the photographing and positioning is completed, the tightening rotation mechanism 5 rotates clockwise by an angle φ. The tightening rotation mechanism 5 performs rotation angle compensation, and the tightening compensation mechanism performs displacement compensation in the X and Y directions. The angle compensation value, the X-direction displacement compensation value, and the Y-direction displacement compensation value are calculated by the formula San=f(π(△Y / tanφ-△X)φ / 180°,△Y / sinφ-△Y / tanφ+△X+△xn,△yn), where △xn is the deviation value of the visual reference point from the center position of bolt an in the radial direction, and △yn is the deviation value of the visual reference point from the center position of bolt an in the vertical radial direction. It should be noted that if the tightening torque or angle of bolts a2-a10 fails the inspection, the tightening rotation mechanism 5 needs to be rotated clockwise by an angle -φ to realign the bolt visual positioning mechanism 9 with bolt an for photographing and positioning. However, during the previous tightening of bolt a1, angle compensation was performed by the tightening rotation mechanism 5. Therefore, in order to ensure that the prism 903 is located below bolt an and can capture the center position image of bolt an, after the tightening rotation mechanism 5 is rotated clockwise by an angle -φ, in the preferred case, the bolt visual positioning mechanism 9 is re-photographed by the tightening rotation mechanism 5 for angle compensation. The compensation value Sb = f(-π(△Y / sinφ)φ / 180°).

[0117] above Figure 15 The diagram shows the flow of the first specific embodiment of the slewing bearing bolt positioning and tightening system of the present invention. In this embodiment, the bolt after photographic positioning and the tightening bolt are the same bolt, i.e., bolt b1 and bolt a1 are the same bolt. However, since the bolts 11 of the slewing bearing workpiece 10 are evenly distributed axially around its central axis, and the equal division angle of the bolt holes is α, in the second specific embodiment of the slewing bearing bolt positioning and tightening system of the present invention, the bolt after photographic positioning and the tightening bolt can be adjacent bolts, i.e., bolt b1 and bolt a1 are adjacent bolts. The flow of the second specific embodiment of the slewing bearing bolt positioning and tightening system of the present invention is as follows: Figure 16 As shown:

[0118] First, the slewing bearing workpiece 10 is installed in place. The centering gripper 602 retracts to the designated position according to the diameter of the slewing bearing workpiece 10. The retraction of the centering gripper 602 is checked. Once in position, the vertical lifting mechanism 3 controls the centering gripper 602 to descend. Then, the laser beam sensor 606 checks whether the centering gripper 602 has descended to the correct position. If it has, the centering gripper 602 is controlled to clamp the slewing bearing workpiece 10 (if not in position, the centering gripper 602 continues to descend; if the slewing bearing workpiece 10 is not detected, an abnormal alarm is issued and the machine stops for personnel to check for faults). The clamping position of the centering gripper 602 is then checked. After it reaches its position, the vertical lifting mechanism 3 controls the centering jaw 602 to press down, so that the axial positioning plane 604 completely fits the upper end face of the slewing bearing workpiece 10. After the centering jaw 602 is pressed down, the centering mechanism 6 completes the clamping and positioning of the slewing bearing workpiece 10. Under the adjustment of the floating mechanism 4, the rotation axis of the tightening rotating mechanism 5 coincides with the central axis of the slewing bearing workpiece 10. Then, the tightening rotating mechanism 5 is rotated to the initial position, and the tightening compensation mechanism 7 and the tightening mechanism 8 move in the Z, X, and Y directions so that the bolt visual positioning mechanism 9 reaches the initial shooting point. The bolt visual positioning mechanism 9 extends the camera 902 and the prism 903. See Figure 14 The bolt b1 is positioned by taking a picture. After successful positioning, the bolt visual positioning mechanism obtains the deviation values ​​Δx and Δy. (If positioning fails, the bolt b1 is positioned by taking a picture again. If positioning fails multiple times, an abnormality warning is issued and the machine stops.) The bolt visual positioning mechanism 9 retracts the camera 902 and prism 903, and the tightening rotation mechanism 5 rotates counterclockwise by an angle (α-φ). Rotation angle compensation is performed through the tightening rotation mechanism 5. The tightening compensation mechanism performs displacement compensation in the X and Y directions. The angle compensation value, X-direction displacement compensation value, and Y-direction displacement compensation value are expressed by the formula... Calculations show that the sleeve 804 is aligned with the center of bolt a1, which is adjacent to bolt b1. The tightening mechanism 8 controls the sleeve 804 to move upwards in the Z-direction, and the tightening shaft 802 rotates to retract the sleeve 804. Bolt a1 is then tightened to the required torque by the tightening shaft 802. After tightening, the tightening torque or tightening angle of bolt a1 needs to be checked. If the check is satisfactory, the tightening mechanism 8 controls the sleeve 804 to descend in the Z-direction (if unsatisfactory, an abnormality warning is issued and the machine stops). Then, the tightening rotation mechanism is rotated counterclockwise by an angle α to align the sleeve 804 with bolt a2. The tightening mechanism 8 then controls the sleeve 804 to move upwards in the Z-direction, and the tightening shaft 802 rotates to retract the sleeve 804. Bolt a2 is then tightened to the required torque by the tightening shaft 802. After tightening, the tightening torque of bolt a2 needs to be checked. The torque or tightening angle is checked. After the inspection is qualified, the tightening mechanism 8 controls the sleeve 804 to descend in the Z direction. Then, the tightening rotation mechanism is rotated counterclockwise by an angle α. The tightening steps of bolt a2 are repeated to tighten bolts a3-a10 in sequence. After all bolts are tightened and qualified, the tightening mechanism 8 and the tightening compensation mechanism 7 move in the Z and X directions respectively, so that the bolt visual positioning mechanism 9 and the tightening mechanism 8 retract from the lower end face of the slewing bearing workpiece 10. The centering gripper 602 releases the slewing bearing workpiece 10, and then the centering gripper 602 is driven to rise to the initial position by the vertical lifting mechanism 3. The tightening operation of bolts 11 of the slewing bearing workpiece 10 is completed. All tightening data and results (tightening torque or angle of all bolts 11) during the tightening operation are uploaded. Finally, all abnormal reminders are centrally alarmed to facilitate subsequent handling by the staff. Additionally, if the tightening torque or angle of bolts a2-a10 fails inspection, the current bolt an (n ranges from 2 to 10) needs to be repositioned by taking photos. The tightening rotation mechanism 5 is controlled to rotate counterclockwise by an angle -(α-φ), allowing the bolt visual positioning mechanism 9 to perform photo positioning on bolt an according to the photo positioning steps for bolt a1. After photo positioning, the tightening rotation mechanism 5 rotates counterclockwise by an angle (α-φ). Rotation angle compensation is performed through the tightening rotation mechanism 5, and the tightening compensation mechanism performs displacement compensation in the X and Y directions. The angle compensation value, X-direction displacement compensation value, and Y-direction displacement compensation value are expressed by the formula... The calculation shows that △xn is the radial deviation between the visual reference point and the center position of bolt an, and △yn is the vertical radial deviation between the visual reference point and the center position of bolt an. It should be noted that if the tightening torque or angle of bolts a2-a10 fails the inspection, the tightening rotation mechanism 5 needs to be rotated counterclockwise by an angle -(α-φ) to re-align the bolt visual positioning mechanism 9 with bolt an for photographic positioning. However, during the previous tightening of bolt a1, angle compensation was performed by the tightening rotation mechanism 5. Therefore, to ensure that the prism 903 is located below bolt an and can capture the center position image of bolt an, after the tightening rotation mechanism 5 is rotated counterclockwise by an angle -(α-φ), preferably, the bolt visual positioning mechanism 9 is re-photographed by the tightening rotation mechanism 5 for angle compensation. The compensation value is...

[0119] Correspondingly, the present invention also provides a method for positioning and tightening slewing bearing bolts. This method is based on the slewing bearing bolt positioning and tightening system or other devices provided by the present invention. See [link to relevant documentation]. Figure 12 The method for positioning and tightening the slewing bearing bolts includes the following steps:

[0120] S1. Position and clamp the slewing bearing workpiece 10 so that the rotation axis of the tightening rotating mechanism 5 coincides with the central axis of the slewing bearing workpiece 10.

[0121] S2. Take a picture of the bolt 11 of the slewing bearing workpiece 10, obtain the positioning result of the bolt 11, and adjust the position of the tightening mechanism 8 to the bolt 11 according to the positioning result, and tighten the bolt 11.

[0122] S3. The tightening rotation mechanism 5 drives the tightening mechanism 8 to rotate sequentially to the next bolt 11 for capping and tightening, until all bolts 11 are tightened.

[0123] In a preferred embodiment of the slewing bearing bolt positioning and tightening method of the present invention, in step S1, during the positioning and clamping process of the slewing bearing workpiece 10, the tightening rotation mechanism 5 can be floated and adjusted to follow the slewing bearing workpiece 10, so that the rotation axis of the tightening rotation mechanism 5 coincides with the central axis of the slewing bearing workpiece 10.

[0124] As a specific implementation of the position compensation in step S2, in step S2, the tightening mechanism 8 is rotated by an angle φ in the first rotation direction, and position compensation for the rotation angle, X-direction displacement, and Y-direction displacement is performed according to the following formula:

[0125] Sa=f(π(△Y / tanφ-△X)φ / 180°, △Y / sinφ-△Y / tanφ+△X+△x, △y)

[0126] Wherein, φ is the deviation angle between the visual reference point and the sleeve 804 of the tightening mechanism 8, △X is the deviation between the visual reference point and the sleeve 804 in the radial direction, △Y is the deviation between the visual reference point and the sleeve 804 in the vertical radial direction, △x is the deviation between the visual reference point and the center position of the bolt 11 in the radial direction, and △y is the deviation between the visual reference point and the center position of the bolt 11 in the vertical radial direction.

[0127] The above describes the position compensation method used when the bolt used for photo positioning and the tightening bolt are the same bolt. It's conceivable that since the bolts 11 of the slewing bearing workpiece 10 are evenly distributed axially around its central axis, the bolt after photo positioning and the tightening bolt can be adjacent bolts. As another specific implementation of position compensation in step S2, in step S2, the tightening mechanism 8 is rotated by an angle α-φ in the second rotation direction (opposite to the first rotation direction), and position compensation for the rotation angle, X-direction displacement, and Y-direction displacement is performed according to the following formula:

[0128]

[0129] Wherein, φ is the deviation angle between the visual reference point and the sleeve 804 of the tightening mechanism 8, α is the equal division angle of the bolt hole on the slewing bearing workpiece 10, △X is the deviation between the visual reference point and the sleeve 804 in the radial direction, △Y is the deviation between the visual reference point and the sleeve 804 in the vertical radial direction, △x is the deviation between the visual reference point and the center position of the bolt 11 in the radial direction, and △y is the deviation between the visual reference point and the center position of the bolt 11 in the vertical radial direction.

[0130] Further, in step S2, the tightening torque or angle of bolt 11 is checked. If it is qualified, proceed to step S3; if it is not qualified, stop the operation and issue an abnormality warning.

[0131] In step S3, after each bolt 11 is tightened, the tightening torque or angle is checked. If it is qualified, the bolt is rotated to the next bolt 11 for cap recognition and tightening. If it is not qualified, the current bolt 11 is repositioned by taking a picture. Based on the positioning result, the position compensation of the tightening mechanism 8 is performed so that the current bolt 11 can be re-capped and tightened.

[0132] In addition, the present invention provides a readable storage medium storing executable instructions, which, when executed by a machine, implement the slewing bearing bolt positioning and tightening method provided by the present invention.

[0133] As can be seen from the above description of the various technical solutions of the invention, the present invention mainly utilizes the omnidirectional floating adjustment capability of the floating mechanism 4 during the positioning and clamping process of the centering mechanism 6 on the slewing bearing workpiece 10. Under the reaction force of the slewing bearing workpiece 10, the tightening rotating mechanism 5 and the centering mechanism 6 are driven to float and adjust together, ensuring that the rotation axis of the tightening rotating mechanism 5 coincides with the central axis of the slewing bearing workpiece 10. After the positioning and clamping is completed, the bolt visual positioning mechanism 9 takes pictures of the bolts 11 on the slewing bearing workpiece 10 to be tightened, thereby determining the bolt position. The center position of bolt 11 and the relative position between bolt visual positioning mechanism 9 and tightening mechanism 8 are fixed. Therefore, the deviation between the visual reference point for taking pictures and sleeve 804 is known. At this time, based on the positioning result of the picture and the deviation, the sleeve 804 can be compensated for position by tightening rotation mechanism 5 and tightening compensation mechanism 7, so that sleeve 804 is aligned with bolt 11 to be tightened. Thus, the tightening mechanism can identify the bolt and tighten it, realizing fully automatic tightening of slewing bearing with qualified and reliable torque, avoiding manual omissions and mis-tightening, and improving production efficiency.

[0134] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0135] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0136] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A slewing bearing bolt positioning and tightening system, characterized in that, include: Centering mechanism (6) is used to position and clamp the slewing bearing workpiece (10). A tightening mechanism (8) is provided around the centering mechanism (6) to enable the capping and tightening of bolts (11) on the slewing bearing workpiece (10) positioned by the centering mechanism (6) during operation; A bolt visual positioning mechanism (9) is provided on the tightening mechanism (8) to enable photographing and positioning the center position of the bolt (11); The tightening rotation mechanism (5) is used to drive the bolt visual positioning mechanism (9) and the tightening mechanism (8) to rotate synchronously around the central axis of the slewing bearing workpiece (10); Fixed base (1); A tightening compensation mechanism (7) is provided between the tightening rotation mechanism (5) and the tightening mechanism (8), so that the tightening rotation mechanism (5) can drive the tightening mechanism (8) and the bolt visual positioning mechanism (9) to rotate synchronously around the central axis of the slewing bearing workpiece (10) through the tightening compensation mechanism (7), and the tightening compensation mechanism can perform position compensation on the tightening mechanism (8) according to the positioning result of the bolt visual positioning mechanism (9); The floating mechanism (4), the tightening rotation mechanism (5), and the centering mechanism (6) are connected to the fixed base (1) through the floating mechanism (4), so that during the positioning and clamping of the slewing bearing workpiece (10) by the centering mechanism (6), the floating mechanism (4) can adaptively float and adjust so that the rotation axis of the tightening rotation mechanism (5) coincides with the central axis of the slewing bearing workpiece (10); wherein, The floating mechanism (4) includes a fixed mounting base (401), a first floating mounting base (402), a second floating mounting base (403), and a third floating mounting base (404) arranged sequentially from top to bottom. The fixed mounting base (401) is connected to the fixed base (1). A first floating roller (405) and a second floating roller (406) are arranged in a cross shape between the fixed mounting base (401) and the first floating mounting base (402) to allow the first floating mounting base (402) to be displaced relative to the fixed mounting base (401). A third floating mounting base (404) is provided between the first floating mounting base (402) and the second floating mounting base (403). The second floating mount (403) is equipped with a matching first shaft (407) and a first bearing (408) so that the second floating mount (403) can rotate relative to the first floating mount (402). The second floating mount (403) and the third floating mount (404) are equipped with matching second shafts (409) and second bearings (410) so that the third floating mount (404) can rotate relative to the second floating mount (403). The rotation axis of the first bearing (408) is perpendicular to the rotation axis of the second bearing (410). The tightening rotation mechanism (5) and the centering mechanism (6) are connected below the third floating mount (404).

2. The slewing bearing bolt positioning and tightening system according to claim 1, characterized in that, A first limiting rod (411) is provided between the first floating mounting base (402) and the second floating mounting base (403) to limit their rotation angle, and a second limiting rod (412) is provided between the second floating mounting base (403) and the third floating mounting base (404) to limit their rotation angle.

3. The slewing bearing bolt positioning and tightening system according to claim 1, characterized in that, The tightening rotation mechanism (5) includes a tightening slewing bearing (501), a crossbeam (502) disposed on the outer periphery of the tightening slewing bearing (501), and a servo turntable (503) disposed below the tightening slewing bearing (501). The tightening slewing bearing (501) is mounted below the third floating mounting base (404). The servo turntable (503) can drive the crossbeam (502) to rotate around the central axis of the tightening slewing bearing (501). The crossbeam (502) is connected to the tightening compensation mechanism (7).

4. The slewing bearing bolt positioning and tightening system according to claim 3, characterized in that, The tightening slewing bearing (501) has two crossbeams (502) on its outer periphery. The two crossbeams (502) are arranged symmetrically at the center, and the two crossbeams (502) are respectively connected to the tightening compensation mechanism (7).

5. The slewing bearing bolt positioning and tightening system according to claim 3, characterized in that, The centering mechanism (6) includes a centering mounting base (601) connected below the servo turntable (503), a plurality of centering grippers (602) disposed below the centering mounting base (601), and a centering servo unit (603). The centering mounting base (601) is connected below the servo turntable (503). The plurality of centering grippers (602) are evenly distributed circumferentially along the central axis of the tightening slewing bearing (501). The centering servo unit (603) can drive the plurality of centering grippers (602) to move synchronously in the radial direction, so that the plurality of centering grippers (602) cooperate with each other to clamp the slewing bearing workpiece (10).

6. The slewing bearing bolt positioning and tightening system according to claim 5, characterized in that, The centering jaws (602) include an axial positioning plane (604) corresponding to the upper end face of the slewing bearing workpiece (10) and a radial positioning boss (605) corresponding to the outer peripheral surface of the slewing bearing workpiece (10). The axial positioning plane (604) is used to position the axial direction of the slewing bearing workpiece (10). The radial positioning bosses (605) of the multiple centering jaws (602) cooperate with each other to clamp the outer peripheral surface of the slewing bearing workpiece (10) so that the central axis of the tightening slewing bearing (501) coincides with the central axis of the slewing bearing workpiece (10).

7. The slewing bearing bolt positioning and tightening system according to claim 5, characterized in that, The centering servo unit (603) includes a servo motor that is driven by the lead screw of the centering gripper (602).

8. The slewing bearing bolt positioning and tightening system according to claim 5, characterized in that, The centering mechanism (6) is provided with a gripper positioning detection device for detecting the positional relationship between the centering gripper (602) and the slewing bearing workpiece (10).

9. The slewing bearing bolt positioning and tightening system according to claim 8, characterized in that, The gripper positioning and detection device includes a laser beam sensor (606), and a pair of laser beam sensors (606) are provided at the lower ends of the two adjacent centering grippers (602).

10. The slewing bearing bolt positioning and tightening system according to any one of claims 1-9, characterized in that, A vertical lifting mechanism (3) is provided between the fixed mounting base (401) and the fixed base (1) to control the fixed mounting base (401) to move up and down relative to the fixed base (1).

11. The slewing bearing bolt positioning and tightening system according to claim 3, characterized in that, The tightening compensation mechanism (7) includes a first movable compensation structure and a second movable compensation structure disposed on the crossbeam (502). The first movable compensation structure includes a first compensation servo unit (701a), a first compensation linear slide rail (702a), and a first compensation slider (703a). The first compensation linear slide rail (702a) is arranged radially below the crossbeam (502). The first compensation servo unit (701a) can drive the first compensation slider (703a) to move on the first compensation linear slide rail (702a). The second movable compensation structure is installed on the crossbeam (502). On the first compensation slider (703a), the second movement compensation structure includes a second compensation servo unit (701b), a second compensation linear slide rail (702b), and a second compensation slider (703b). The second compensation linear slide rail (702b) is arranged below the first compensation slider (703a), and the guide of the second compensation linear slide rail (702b) is perpendicular to the guide of the first compensation linear slide rail (702a). The second compensation servo unit (701b) can drive the second compensation slider (703b) to move on the second compensation linear slide rail (702b).

12. The slewing bearing bolt positioning and tightening system according to claim 11, characterized in that, The tightening mechanism (8) includes a tightening mounting bracket (801), a tightening shaft (802), a special head (803), and a sleeve (804). The tightening mounting bracket (801) is installed below the second compensation slider (703b). The tightening shaft (802) is movably mounted on the tightening mounting bracket (801). The sleeve (804) is externally fitted to the bolt (11) to be tightened. The tightening shaft (802) drives the sleeve (804) to rotate through the special head (803), so that the sleeve (804) can cap and tighten the bolt (11).

13. The slewing bearing bolt positioning and tightening system according to claim 12, characterized in that, The sleeve (804) and the rotation axis of the tightening shaft (802) are parallel to each other. The special head (803) is provided with a first gear and a second gear that mesh with each other. The first gear is connected to the tightening shaft (802) and the second gear is connected to the sleeve (804).

14. The slewing bearing bolt positioning and tightening system according to claim 12, characterized in that, The special head (803) is equipped with a laser rangefinder for detecting the distance between the special head (803) and the slewing bearing workpiece (10).

15. The slewing bearing bolt positioning and tightening system according to claim 12, characterized in that, The tightening mounting bracket (801) is equipped with a cylinder (805) and a tightening linear slide rail (806). The tightening shaft (802) is mounted on a tightening slider (807) corresponding to the tightening linear slide rail (806). The cylinder (805) can drive the tightening slider (807) to move up and down on the tightening linear slide rail (806).

16. The slewing bearing bolt positioning and tightening system according to claim 15, characterized in that, The bolt visual positioning mechanism (9) includes a visual positioning bracket (901), a camera (904), and a prism (903). The visual positioning bracket (901) is mounted on the tightening slider (807). The camera (904) and the prism (903) are mounted on the visual positioning bracket (901). The prism (903) is located below the bolt (11) so that it can deflect the light path of the bolt (11) by 90° along the shooting direction of the camera (904) and reflect it to the camera (904) for shooting and positioning.

17. The slewing bearing bolt positioning and tightening system according to claim 16, characterized in that, The visual positioning bracket (901) is provided with a guide rail slider mechanism and a visual telescopic drive unit. The camera (904) and the prism (903) are mounted on the slider of the guide rail slider mechanism. The visual telescopic drive unit can drive the slider to move on the guide rail of the guide rail slider mechanism.

18. A method for positioning and tightening bolts of a slewing bearing, characterized in that, The slewing bearing bolt positioning and tightening method is applied to the slewing bearing bolt positioning and tightening system according to any one of claims 1-17, and includes the following steps: S1. Position and clamp the slewing bearing workpiece (10) so that the rotation axis of the tightening rotation mechanism (5) coincides with the central axis of the slewing bearing workpiece (10); S2. Take a picture to locate the bolt (11) of the slewing bearing workpiece (10), obtain the positioning result of the bolt (11), and adjust the tightening mechanism (8) to the position of the bolt (11) according to the positioning result, and tighten the bolt (11). S3. The tightening rotation mechanism (5) drives the tightening mechanism (8) to rotate sequentially to the next bolt (11) for capping and tightening, until all bolts (11) are tightened.

19. The method for positioning and tightening slewing bearing bolts according to claim 18, characterized in that, In step S1, during the positioning and clamping of the slewing bearing workpiece (10), the tightening rotation mechanism (5) can be floated to follow the slewing bearing workpiece (10), so that the rotation axis of the tightening rotation mechanism (5) coincides with the central axis of the slewing bearing workpiece (10).

20. The method for positioning and tightening slewing bearing bolts according to claim 18, characterized in that, In step S2, check the tightening torque or angle of the bolt (11). If it is qualified, proceed to step S3; if it is not qualified, stop the operation and issue an abnormality warning. In step S3, after each bolt (11) is tightened, the tightening torque or angle is checked. If it is qualified, the bolt (11) is rotated to the next bolt (11) for identification and tightening. If it is not qualified, the current bolt (11) is repositioned by taking a picture. The position compensation of the tightening mechanism (8) is performed according to the positioning result so that the current bolt (11) can be re-identified and tightened.

21. A readable storage medium, characterized in that, The readable storage medium stores executable instructions, characterized in that the executable instructions, when executed by a machine, implement the slewing bearing bolt positioning and tightening method according to any one of claims 18-20.

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