Slewing bearing bolt positioning and tightening method and readable storage medium

Abstract

This invention relates to mechanical assembly methods, and provides a method for positioning and tightening slewing bearing bolts. The method includes the following steps: S1, positioning and clamping the workpiece so that the rotation axis of the tightening rotating mechanism coincides with the central axis of the workpiece; S2, taking a picture of the bolt using a bolt vision positioning mechanism to obtain the bolt's positioning information, and adjusting the position of the tightening mechanism to the bolt based on this information, then identifying and tightening the bolt; S3, the tightening rotating mechanism drives the tightening mechanism to rotate sequentially to the next bolt for identification and tightening, until all bolts are tightened. Furthermore, this invention also provides a readable storage medium. This slewing bearing bolt positioning and tightening method enables fully automatic bolt tightening with reliable torque, avoiding manual omissions and errors, and improving production efficiency.

Description

Technical Field

[0001] This invention relates to mechanical assembly methods, and more specifically, to a method for positioning and tightening bolts on a slewing bearing. Additionally, this invention also relates to 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 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.

[0005] 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.

[0006] To solve the above-mentioned technical problems, the present invention provides a method for positioning and tightening slewing bearing bolts, which includes the following steps: S1, positioning and clamping the workpiece so that the rotation axis of the tightening rotating mechanism coincides with the central axis of the workpiece; S2, taking pictures of the bolt using a bolt vision positioning mechanism to obtain the positioning information of the bolt, and adjusting the position of the tightening mechanism to the bolt according to the positioning information, and identifying and tightening the bolt; S3, the tightening rotating mechanism drives the tightening mechanism to rotate sequentially to the next bolt for identification and tightening, until all bolts are tightened.

[0007] Specifically, in step S1: after the workpiece is in place, the centering jaw retracts to a designated point according to the diameter of the workpiece; the centering jaw is controlled to descend, and the position information of the workpiece is detected by the laser beam sensor on the centering jaw, so that the centering jaw stops descending when it reaches the pre-clamping position; the centering jaw is pressed down and clamps the workpiece, and the floating mechanism synchronously drives the tightening rotation mechanism and the centering jaw to float and adjust, so as to follow the workpiece, thereby making the rotation axis of the tightening rotation mechanism coincide with the central axis of the workpiece.

[0008] Specifically, the floating mechanism synchronously drives the tightening rotation mechanism and the centering gripper to perform floating adjustment, including the following steps: the first and second floating rollers arranged in a cross shape drive the tightening rotation mechanism and the centering gripper to perform displacement floating adjustment, and the rotating structure with mutually perpendicular rotation axes drives the tightening rotation mechanism and the centering gripper to perform angle floating adjustment.

[0009] As a specific embodiment of the floating mechanism, 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. The first floating roller and the second floating roller, arranged in a cross shape, are disposed 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. The rotating structure includes a first shaft, a first bearing, a second shaft, and a second bearing. The matching first shaft and the first bearing are disposed 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. The matching second shaft and the second bearing are disposed 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 jaw are connected below the third floating mounting base.

[0010] Specifically, in step S2: the bolt visual positioning mechanism is adjusted to the photographing point to photograph and position the bolt, thereby obtaining the bolt's positioning information; the tightening mechanism is rotated by an angle φ or α-φ, and a compensation value is calculated based on the positioning information. The tightening rotation mechanism is then controlled to perform rotation angle compensation, and the tightening compensation mechanism is controlled to perform displacement compensation, so that the sleeve of the tightening mechanism is aligned with the center position of the bolt; the tightening shaft is controlled to drive the sleeve to reposition the bolt and tighten it; where φ is the deviation angle between the visual reference point of the bolt visual positioning mechanism and the sleeve of the tightening mechanism, and α is the equal division angle of the bolt hole on the workpiece.

[0011] Specifically, after tightening the bolt, the tightening torque or angle of the bolt is detected. If the tightening torque or angle of the bolt meets the set requirements, proceed to step S3; if the tightening torque or angle of the bolt does not meet the set requirements, stop the operation and issue an abnormality warning.

[0012] Specifically, when the tightening mechanism is rotated by an angle φ in the first rotation direction, the compensation value is calculated according to the following formula: Sa = f(π(△Y / tanφ-△X)φ / 180°, △Y / sinφ-△Y / tanφ+△X+△x, △y); or, when the tightening mechanism is rotated by an angle α-φ in the second rotation direction, the compensation value is calculated according to the following formula: Sa = f(π(△Y / tanφ-△X)(α-φ) / 180°, △Y / sinφ-△Y / tanφ+△X+△x, △y); where △X is the radial deviation between the visual reference point and the sleeve, △Y is the radial deviation between the visual reference point and the sleeve, △x is the radial deviation between the visual reference point and the bolt center position, and △y is the radial deviation between the visual reference point and the bolt center position.

[0013] As a specific embodiment of the tightening compensation mechanism, the tightening compensation mechanism includes a first movable compensation structure and a second movable compensation structure disposed on the tightening rotation mechanism. 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 tightening rotation mechanism. 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. The tightening mechanism and the bolt visual positioning mechanism are connected to the second compensation slider.

[0014] Specifically, the step of the bolt visual positioning mechanism for photographing and positioning the bolt includes: deflecting the light path of the bolt by 90° through a prism located below the bolt so that it can be reflected to the camera along the camera's shooting direction for photographing and positioning; analyzing and obtaining the radial deviation value between the visual reference point and the center position of the bolt, and the deviation value between the visual reference point and the center position of the bolt in a direction perpendicular to the radial direction.

[0015] Specifically, in step S3: the tightening mechanism is lowered so that the sleeve is separated from the bolt; the tightening rotation mechanism is controlled to rotate at equal intervals α of the bolt holes on the workpiece so that the sleeve is aligned with the center position of the next bolt in sequence; the sleeve is controlled to rise and the tightening shaft drives the sleeve to cap the current bolt and tighten the bolt until all the bolts are tightened.

[0016] Specifically, after tightening the bolts, the tightening torque or angle of the bolts is checked. If the tightening torque or angle of the bolts meets the set requirements, the above steps are repeated until all the bolts are tightened.

[0017] Specifically, if the tightening torque or angle of the bolt does not meet the set requirements, repeat step S2 to re-photograph and reposition the current bolt in order to re-identify and tighten the current bolt.

[0018] More specifically, if the tightening torque or angle of the bolt does not meet the set requirements, the tightening mechanism is rotated by an angle -φ or -(α-φ) to align the bolt visual positioning mechanism with the bolt for repositioning by taking a picture.

[0019] Specifically, when the tightening mechanism is rotated by an angle -φ, the bolt visual positioning mechanism performs re-photograph positioning motion trajectory compensation according to the following formula: Sb = f(-π(△Y / sinφ)φ / 180°); or when the tightening mechanism (8) is rotated by an angle -(α-φ), the bolt visual positioning mechanism performs re-photograph positioning motion trajectory compensation according to the following formula: Sb = f(-π(△Y / sinφ) (α-φ) / 180°).

[0020] Preferably, after all the bolts have been tightened, a reset operation is performed to store the tightening data of all the bolts.

[0021] 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 according to any one of the above technical solutions.

[0022] The beneficial effects of the present invention through the above solution are as follows:

[0023] This invention provides a method for positioning and tightening slewing bearing bolts. The method involves positioning and clamping 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 relative position between the bolt vision positioning mechanism and the tightening mechanism is fixed. Based on the positioning result, the tightening mechanism is adjusted to the center position of the bolt, enabling it to recognize and tighten the bolt. This achieves fully automatic tightening of the slewing bearing bolts, ensuring reliable and qualified torque, avoiding manual omissions and errors, and improving production efficiency.

[0024] Furthermore, in the process of positioning and clamping the slewing bearing workpiece, the slewing bearing bolt positioning and tightening method of the present invention uses a floating mechanism to enable the tightening rotating mechanism to float and adjust with the slewing bearing workpiece. When the slewing bearing workpiece is tilted, the rotation axis of the tightening rotating mechanism can be made to coincide with the central axis of the slewing bearing workpiece, thus achieving adaptive adjustment of the tightening rotating mechanism. In addition, when the bolt visual positioning mechanism takes pictures of the bolt for positioning, the tightening compensation mechanism can perform position compensation for the tightening mechanism, thereby improving the accuracy of the tightening mechanism in aligning with the center position of the bolt.

[0025] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0026] 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:

[0027] Figure 1 This is a flowchart of the steps of the slewing bearing bolt positioning and tightening method of the present invention;

[0028] Figure 2 This is a schematic diagram of the device used in the slewing bearing bolt positioning and tightening method of the present invention;

[0029] Figure 3 This is a side view of the device used in the slewing bearing bolt positioning and tightening method of the present invention;

[0030] Figure 4 This is a schematic diagram of the vertical lifting mechanism;

[0031] Figure 5 This is a schematic diagram of the floating mechanism;

[0032] Figure 6 This is a schematic diagram of the tightening and rotating mechanism;

[0033] Figure 7 This is a schematic diagram of the centering mechanism;

[0034] Figure 8 This is a schematic diagram of a centering mechanism positioning a slewing bearing workpiece.

[0035] Figure 9 This is a schematic diagram of a gripper positioning and testing device inspecting a slewing bearing workpiece;

[0036] Figure 10 This is a structural diagram of the mechanism located below the tightening and rotating mechanism;

[0037] Figure 11 This is a schematic diagram of the bolt visual positioning mechanism in the photographic positioning state. Figure 1 ;

[0038] Figure 12 This is a schematic diagram of the bolt visual positioning mechanism in the photographic positioning state. Figure 2 ;

[0039] 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;

[0040] 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;

[0041] Figure 15 This is a flowchart of the first specific embodiment of the slewing bearing bolt positioning and tightening method of the present invention;

[0042] Figure 16This is a flowchart of the second specific embodiment of the slewing bearing bolt positioning and tightening method of the present invention.

[0043] Explanation of reference numerals in the attached figures

[0044] Detailed Implementation

[0045] 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.

[0046] 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.

[0047] In this invention, unless otherwise specified, the directional terms "up," "down," "clockwise," and "counterclockwise" used to indicate the orientation or positional relationship are based on the orientation or positional relationship 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 limiting this invention. The directional terms of this invention should be understood in conjunction with the actual installation state.

[0048] 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.

[0049] This invention provides a method for positioning and tightening bolts of a slewing bearing, see [link to relevant documentation]. Figure 1 The method for positioning and tightening the slewing bearing bolts includes the following steps:

[0050] S1. Position and clamp the workpiece 10 so that the rotation axis of the tightening rotation mechanism 5 coincides with the central axis of the workpiece 10.

[0051] S2. The bolt 11 is positioned by taking a picture of the bolt visual positioning mechanism 9 to obtain the positioning information of the bolt 11. Based on the positioning information, the position of the tightening mechanism 8 is adjusted to the bolt 11 to identify and tighten the bolt 11.

[0052] 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.

[0053] In the above method steps, workpiece 10 is a slewing bearing workpiece. The slewing bearing bolt positioning and tightening method of the present invention positions and clamps the slewing bearing workpiece. The bolt 11 on the slewing bearing workpiece to be tightened is photographed and positioned by the bolt vision positioning mechanism 9, so as to confirm the center position of the bolt 11. The relative position between the bolt vision positioning mechanism 9 and the tightening mechanism 8 is fixed. According to the positioning result, the tightening mechanism 8 is adjusted to the center position of the bolt, so that the tightening mechanism 8 can recognize the bolt and tighten it, realizing the fully automatic tightening of the slewing bearing bolt. The torque is qualified and reliable, avoiding manual omissions and incorrect tightening, and improving production efficiency.

[0054] See Figures 2 to 12 The slewing bearing bolt positioning and tightening method of the present invention can be implemented through a slewing bearing bolt positioning and tightening system, which 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 workpiece 10, the tightening mechanism 8 is used to identify and tighten the bolt 11 on the workpiece 10, the bolt visual positioning mechanism 9 is disposed on the tightening mechanism 8 to take pictures and position the center position of the bolt 11, and 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 workpiece 10 to take pictures and position the center position of the bolt 11 and tighten it.

[0055] exist Figure 6 In the specific embodiment shown, 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 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 mechanism 8, thereby driving the tightening mechanism 8 and the bolt visual positioning mechanism 9 to rotate synchronously. Preferably, see Figure 1 and Figure 5Two 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.

[0056] exist Figure 10 In the specific embodiment shown, 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 connected to the crossbeam 502 so that the tightening rotation mechanism 5 can drive the tightening mechanism 8 to rotate. 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 at a certain angle, so that the bolt 11 is matched with the first thread of the corresponding bolt hole on the workpiece 10, that is, the sleeve 804 can recognize the bolt 11, so that the bolt 11 can be screwed in smoothly afterward, so as to avoid stripping defects. After the recognition is successful, 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. Specifically, the special head 803 is designed to allow the sleeve 804 to extend under the workpiece 10 for tightening the bolt 11. The rotation axes of the sleeve 804 and the tightening shaft 802 are parallel, and their rotation axes are in the Z-direction. The sleeve 804 is located on the side of the tightening shaft 802 closest to the central axis of the workpiece 10. The special head 803 contains 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 drives the tightening shaft 802, and the second gear drives the sleeve 804. Rotation of the tightening shaft 802 causes the sleeve 804 to rotate through the meshing of the first and second gears, thus enabling the tightening and bolt 11 tightening. Alternatively, sometimes, to meet layout 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 configured as a pair of meshing bevel gears to achieve torque transmission from the tightening shaft 802 to the sleeve 804. See details... Figure 9The tightening mounting bracket 801 is equipped with a cylinder 805 and a tightening linear slide rail 806, which is arranged along the Z-axis. A tightening shaft 802 is mounted on a 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, allowing the cylinder 805 to drive the tightening slider 807 to move up and down along the tightening linear slide rail 806, thereby achieving the Z-axis movement of the sleeve 804. To prevent the special head 803 and the sleeve 804 from colliding with the workpiece 10 during Z-axis and X-axis movements, preferably, the special head 803 is equipped with a laser rangefinder (not shown) for detecting the distance between the special head 803 and the workpiece 10. This laser rangefinder can measure distances in both the X and Z directions, and is used to detect the X-axis and Z-axis distances between the special head 803 and the workpiece 10.

[0057] exist Figure 7 In the specific embodiment described, 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 workpiece 10. Specifically, the centering gripper 602 includes an axial positioning plane 604 corresponding to the upper end face of the workpiece 10 and a radial positioning boss 605 corresponding to the outer peripheral surface of the workpiece 10. The axial positioning plane 604 is used to position the axial direction of the 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 workpiece 10, so that the central axis of the tightening slewing bearing 501 coincides with the central axis of the 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 workpiece 10 and to avoid the radial positioning accuracy of the workpiece 10 being affected by wear of the radial positioning boss 605. 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.

[0058] It should be noted that in step S1, axial positioning is achieved by the axial positioning plane 604 on the centering jaw 602 contacting the upper end face of the 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 workpiece 10. See [link to relevant documentation]. Figure 2 and Figure 3 The centering gripper 602 is moved up and down via the vertical lifting mechanism 3. Specifically, see [link to details]. Figure 4The 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 guide columns 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 tightening and rotating mechanism 5 respectively. This allows the tightening and rotating mechanism 5 to drive the centering mechanism 6 to perform vertical lifting movements. Two guide columns 303 are vertically positioned between the fixed base 1 and the tightening and rotating mechanism 5 to precisely guide the vertical lifting movement. The vertical lifting cylinder 302 is positioned between the fixed base 1 and the tightening and rotating mechanism 5 to balance the weight of the floating mechanism 4 and the components connected below it. The centering mechanism 6 remains stationary. By moving the workpiece 10 vertically upwards as a whole, the upper end of the slewing bearing workpiece approaches the axial positioning plane 604 on the centering gripper 602, thereby achieving positioning.

[0059] When the centering gripper 602 is driven to approach the upper end face of the 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 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 workpiece 10. In one specific embodiment of the gripper positioning detection device, the gripper positioning detection 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 8 At the position shown, the axial positioning plane 604 is not in contact with the upper end face of the workpiece 10, and there is a small gap between them. See [reference needed]. Figure 9At this point, since the laser beams emitted by the three sets of laser beam sensors 606 are all blocked by the 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 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 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.

[0060] Specifically, in step S1:

[0061] After the workpiece 10 is in place, the centering gripper 602 retracts to the designated point according to the diameter of the workpiece 10, so that the axial positioning plane 604 can correspond to the upper end face of the workpiece 10, and the radial positioning boss 605 is a certain distance from the outer periphery of the workpiece 10, so that the centering gripper 602 can move closer to the workpiece 10.

[0062] The centering jaw 602 is controlled to descend. The position information of the workpiece 10 is detected by the laser beam sensor 606 on the centering jaw 602, so that the centering jaw 602 stops descending when it reaches the pre-clamping position. At this time, the relative positional relationship between the centering jaw 602 and the workpiece 10 is as follows: Figure 8 As shown, the workpiece 10 is located at the center of the three centering jaws 602, and there is a small gap between the axial positioning plane 604 and the upper end face of the workpiece 10, and there is also a small gap between the radial positioning boss 605 and the outer peripheral surface of the workpiece 10, which facilitates subsequent clamping and positioning.

[0063] The centering jaws 602 press down and clamp the workpiece 10. Simultaneously, the floating mechanism 4 drives the tightening rotation mechanism 5 and the centering jaws 602 to float and adjust. During the process of the centering jaws 602 positioning and clamping the workpiece 10, under the reaction force of the workpiece 10, the tightening rotation mechanism 5 and the centering jaws 602 move with the workpiece 10, thereby aligning the rotation axis of the tightening rotation mechanism 5 with the central axis of the workpiece 10. Ideally, the rotation axis of the tightening rotation mechanism 5 should be completely aligned with the central axis of the workpiece 10. However, in reality, due to various factors such as equipment manufacturing precision errors, assembly errors, and positioning errors, the above steps can achieve a basic alignment between the rotation axis of the tightening rotation mechanism 5 and the central axis of the workpiece 10. That is, a deviation between the rotation axis of the tightening rotation mechanism 5 and the central axis of the workpiece 10 that does not affect subsequent steps of the invention can still be considered as an alignment, and is within the scope of protection of this invention.

[0064] Specifically, the floating mechanism 4 synchronously drives the tightening rotation mechanism 5 and the centering gripper 602 to perform floating adjustment, including the following steps:

[0065] The first floating roller 405 and the second floating roller 406, arranged in a cross shape, drive the tightening rotating mechanism 5 and the centering gripper 602 to perform floating adjustment of displacement in the X and Y directions. The rotating structure with mutually perpendicular rotation axes can drive the tightening rotating mechanism 5 and the centering gripper 602 to rotate around the X and Y directions, thereby performing floating adjustment of angle.

[0066] As one specific implementation of the floating mechanism 4, see Figure 5The 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, arranged in a cross shape, are disposed 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 be adjusted for displacement in the X and Y directions relative to the fixed mounting base 401. The structure includes a first shaft 407, a first bearing 408, a second shaft 409, and a second bearing 410. The first shaft 407 and the first bearing 408 are located 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. The second shaft 409 and the second bearing 410 are located 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 be rotated and adjusted relative to the first floating mounting base 402 around 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 workpiece 10, the tightening rotation mechanism 5 and the centering mechanism 6 are jointly 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.

[0067] 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.

[0068] After the centering jaws 602 position and clamp the workpiece 10, in step S2, it is necessary to take a picture of the bolt 11 for positioning and tighten the cap, as follows:

[0069] Adjust the bolt visual positioning mechanism 9 to the shooting point, take a picture of the bolt 11 to obtain the positioning information of the bolt 11;

[0070] The tightening mechanism 8 is rotated by an angle φ or α-φ. Based on the positioning information, the compensation value is calculated. The tightening rotation mechanism 5 is controlled to perform rotation angle compensation, and the tightening compensation mechanism 7 is controlled to perform displacement compensation in the X and Y directions, so that the sleeve 804 of the tightening mechanism 8 is aligned with the center position of the bolt 11.

[0071] The control tightening shaft 802 drives the sleeve 804 to cap the bolt 11 and tighten the bolt 11;

[0072] Wherein, φ is the deviation angle between the visual reference point of the bolt visual positioning mechanism 9 and the sleeve 804 of the tightening mechanism 8, and α is the equal division angle of the bolt hole on the workpiece 10.

[0073] To achieve the photographic positioning of the bolt visual positioning mechanism 9, as a specific implementation method, see [link to specific implementation method]. Figure 11 and Figure 12The 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 synchronously in the Z direction 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 the appropriate size can be selected according to the space below the workpiece 10 to facilitate insertion under the bolt 11.

[0074] Specifically, the steps of the bolt visual positioning mechanism 9 for photographing and positioning the bolt 11 include: deflecting the light path of the bolt 11 by 90° through a prism 903 located below the bolt 11 so that it can be reflected to the camera 904 along the shooting direction for photographing and positioning. The visual reference point center line A of the camera 904 is parallel to the X direction, and the intersection of the visual reference point center line A and the reflective surface of the prism 903 is the visual reference point C. The center position of the bolt 11 can be photographed and positioned by the camera 904 along the bolt photographing center line B through the emission of the prism 903. The image is then processed to analyze and obtain the deviation value △x between the visual reference point C and the center position of the bolt 11 in the radial direction (X direction), and the deviation value △y between the visual reference point and the center position of the bolt 11 in the direction perpendicular to the radial direction (Y direction).

[0075] When the X-direction deviation Δx and Y-direction deviation Δy between the visual reference point C and the center position of bolt 11 are obtained, since the X-direction deviation Δx and Y-direction deviation Δy between the visual reference point C and the sleeve center D of sleeve 804 are both fixed deviations, the positional deviation between the sleeve center D and the center position of bolt 11 in the XY plane can be analyzed, thus enabling positional compensation. It should be noted that since the bolts 11 of the slewing bearing workpiece are axially uniformly distributed around their central axis, and the equal division angle of the bolt holes is α, there are two specific implementation methods for positional compensation of sleeve 804. The first specific implementation method is described in [reference needed]. Figure 13 The bolt 11 positioned by the bolt visual positioning mechanism 9 and the bolt 11 aligned with the sleeve 804 are the same bolt. When the tightening mechanism 8 is rotated by an angle φ in the first rotation direction (clockwise) by the tightening rotation mechanism 5, the compensation value is calculated according to the following 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, respectively, to align the sleeve center D with the center position of the bolt 11; see the second specific implementation method. Figure 14The bolt 11 positioned by the bolt vision positioning mechanism 9 and the bolt 11 aligned with the sleeve 804 are adjacent bolts. When the tightening mechanism 8 is rotated by an angle α-φ in the second rotation direction (counterclockwise) opposite to the first rotation direction by the tightening rotation mechanism 5, the compensation value is calculated according to the following formula: Sa= f(π(△Y / tanφ-△X)(α-φ) / 180°,△Y / sinφ-△Y / tanφ+△X+△x,△y), which correspond to the rotation angle compensation, X-direction displacement compensation and Y-direction displacement compensation, respectively, so as to align the center D of the sleeve with the center position of the bolt 11.

[0076] After taking the photo for 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 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 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.

[0077] 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.

[0078] In the above-described step of compensating for the position of sleeve 804, displacement compensation in the X and Y directions is performed by tightening the compensation mechanism 7. As a specific implementation of the tightening compensation mechanism 7, see [link to relevant documentation]. Figure 10The tightening compensation mechanism 7 includes a first moving compensation structure and a second moving compensation structure disposed on the tightening rotation mechanism 5. The first moving 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 moving compensation structure is mounted on the first compensation slider 703a. The second moving compensation structure includes a second compensation servo unit 701b, a second compensation linear slide rail 702b, and a second compensation slider 703b. 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. The tightening mechanism 8 and the bolt visual positioning mechanism 9 are connected to the second compensation slider 703b to realize the displacement compensation of the sleeve 804 in the X and Y directions. 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.

[0079] The tightening torque requirement for the bolts of the slewing bearing is relatively high. To ensure that the tightening torque meets the set requirements, in a preferred case, after tightening the bolt 11, in step S2, the tightening torque or angle of the bolt 11 is detected. If the tightening torque or angle of the bolt 11 meets the set requirements, proceed to step S3; if the tightening torque or angle of the bolt 11 does not meet the set requirements, stop the operation and issue an abnormality warning to remind relevant personnel to check the fault and make adjustments.

[0080] After the bolt 11 is successfully tightened in step S2, it is indicated that the sleeve 804 is aligned with the center of the bolt 11. The bolts 11 are evenly distributed axially around their central axis. The tightening rotation mechanism 5 can drive the sleeve 804 to rotate around this central axis. Therefore, by simply rotating the bolt 11 by an angle α, the sleeve 804 can be aligned with the next bolt in sequence for tightening. Specifically, in step S3:

[0081] The tightening mechanism 8 is lowered so that the sleeve 804 is separated from the bolt 11;

[0082] The tightening and rotating mechanism 5 is controlled to rotate at equal intervals α of the bolt holes on the workpiece 10, so that the sleeve 804 is aligned with the center position of the next bolt 11 in sequence.

[0083] The sleeve 804 is controlled to rise, and the sleeve 804 is driven by the tightening shaft 802 to cap the current bolt 11 and tighten the bolt 11. The above steps are repeated until all the bolts 11 are tightened.

[0084] Similarly, in order to ensure that the tightening torque of the subsequent bolts 11 meets the set requirements, after tightening the bolts 11, the tightening torque or angle of the bolts 11 is checked. If the tightening torque or angle of the bolts 11 meets the set requirements, the above steps are repeated until all the bolts 11 are tightened.

[0085] Furthermore, if the tightening torque or angle of the bolt 11 does not meet the set requirements, repeat step S2 to re-photograph and reposition the current bolt 11, so as to re-identify and tighten the current bolt 11.

[0086] Specifically, if the tightening torque or angle of the bolt 11 does not meet the set requirements, and the sleeve 804 is compensated for position using the first specific embodiment, the tightening mechanism 8 is rotated by an angle -φ through the tightening rotation mechanism 5 so that the bolt visual positioning mechanism 9 is aligned with the bolt 11 for re-photographing and positioning; if the sleeve 804 is compensated for position using the second specific embodiment, the tightening mechanism 8 is rotated by an angle -(α-φ) through the tightening rotation mechanism 5 so that the bolt visual positioning mechanism 9 is aligned with the bolt 11 for re-photographing and positioning.

[0087] It should be noted that when the reflective surface of prism 903 is large enough, the angular rotation of the tightening and rotating mechanism described above can ensure that prism 903 is located below bolt 11. However, when the reflective surface of prism 903 is small, the tightening and rotating mechanism 5 has already performed angular compensation during the initial positioning of the first bolt 11 in step S2. Therefore, to avoid any deviation between the positions of prism 903 and bolt 11, the bolt visual positioning mechanism 9 needs to be re-compensated for its positioning motion trajectory by taking new photographs, as follows:

[0088] When the tightening mechanism 8 rotates by an angle of -φ, the bolt visual positioning mechanism 9 performs re-photographing and positioning motion trajectory compensation according to the following formula: Sb = f(-π(△Y / sinφ)φ / 180°); or when the tightening mechanism 8 rotates by an angle of -(α-φ), the bolt visual positioning mechanism 9 performs re-photographing and positioning motion trajectory compensation according to the following formula: Sb = f(-π(△Y / sinφ) (α-φ) / 180°).

[0089] In addition, in step S3, after all the bolts 11 have been tightened, a reset operation is required to return the slewing bearing bolt positioning and tightening system to its initial position, so as to facilitate the next tightening operation. The tightening data of all the bolts 11 is stored to realize the visual management of the tightening result data, and to check whether the tightening is qualified in real time. The tightening data can be transmitted to the production management system for easy traceability in the future.

[0090] To better understand the technical solution of the slewing bearing bolt positioning and tightening method of the present invention, the process is described below in conjunction with specific embodiments:

[0091] See Figure 13 and Figure 14 The workpiece 10 requires 20 bolts 11, and the equal division angle of the bolt holes corresponding to the bolts 11 is α. The slewing bearing bolt positioning and tightening system has two crossbeams 502 on its outer periphery, symmetrically arranged around 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 correspondingly arranged below each of the two crossbeams 502. Therefore, symmetrical bolts 11 can be positioned and tightened simultaneously. Bolts numbered b1-b10 are positioned by the bolt visual positioning mechanism 9, and bolts numbered a1-a10 are tightened by the tightening mechanism 8. The first specific embodiment of the slewing bearing bolt positioning and tightening method of the present invention is as follows: Figure 15 The process shown is explained below:

[0092] First, the workpiece 10 is installed in place. The centering gripper 602 retracts to the designated point according to the diameter of the workpiece 10. The centering gripper 602 is judged to be in place. After it is in place, the centering gripper 602 is lowered by the vertical lifting mechanism 3. Then, the laser beam sensor 606 judges whether the centering gripper 602 has descended to the right position. After it is in place, the centering gripper 602 is controlled to clamp the workpiece 10 (if it is not in place, the centering gripper 602 continues to descend. If the workpiece 10 is not detected for a long time, an abnormal alarm is issued and the machine is stopped so that the staff can check the fault). The centering gripper 602 is judged to be clamped in place. After it is in place, the centering gripper 602 is controlled to press down by the vertical lifting mechanism 3 so that the axial positioning plane 604 is completely attached to the upper end face of the workpiece 10. After the centering gripper 602 is pressed down, the centering mechanism 6 completes the clamping and positioning of the workpiece 10. Under the adjustment of the floating mechanism 4, the rotation axis of the tightening rotation mechanism 5 is made to coincide with the central axis of the workpiece 10.

[0093] The tightening rotation mechanism 7 rotates to the initial position. The tightening compensation mechanism 7 and the tightening mechanism 8 move in the Z, X, and Y directions, causing the bolt visual positioning mechanism 9 to reach the initial imaging point. The bolt visual positioning mechanism 9 extends the camera 902 and the prism 903. (See below) 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 902 and prism 903. The tightening rotation mechanism 5 rotates the tightening mechanism 8 clockwise by an angle φ. Then, the tightening rotation mechanism 5 performs rotation angle compensation. 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 expressed by the formula Sa = The calculation f(π(△Y / tanφ-△X)φ / 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 controls the tightening shaft 802 to drive the sleeve 804 to cap bolt a1. The tightening shaft 802 drives the sleeve 804 to rotate according to the torque to tighten bolt a1. 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 the machine will stop), so that the sleeve 804 separates from bolt a1.

[0094] The tightening rotation mechanism 5 is controlled to rotate clockwise by an angle α, so that the sleeve 804 is aligned with the bolt a2. 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 a2 according to the torque. After tightening, the tightening torque or tightening angle of the bolt a2 needs to be checked. After the check is qualified, the tightening mechanism 8 controls the sleeve 804 to descend in the Z direction. Then, the tightening rotation mechanism is rotated clockwise by an angle α, and the tightening steps of the bolt a2 are repeated to tighten bolts a3-a10 in sequence. After all bolts are tightened, After passing the test, the tightening mechanism 8 and the tightening compensation mechanism 7 move in the Z and X directions respectively, causing the bolt visual positioning mechanism 9 and the tightening mechanism 8 to exit from the lower end face of the slewing bearing workpiece 10. The centering gripper 602 releases the slewing bearing workpiece 10, and then the vertical lifting mechanism 3 drives the centering gripper 602 to rise to the initial position to complete the reset operation. The tightening operation of the bolts 11 of the slewing bearing workpiece 10 is completed. The tightening data and results of all bolts 11 during the tightening operation (tightening torque or angle of all bolts 11) are stored. 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 clockwise by an angle -φ. Then, the tightening rotation mechanism 5 is controlled to perform repositioning motion trajectory compensation based on the compensation value Sb, where Sb = f(-π(△Y / sinφ)φ / 180°). This allows the bolt visual positioning mechanism 9 to perform photo positioning on bolt an according to the photo positioning steps of bolt a1. After photo positioning, the tightening rotation mechanism 5 rotates clockwise by an angle φ. Rotation angle compensation is performed through the tightening rotation mechanism 5, and displacement compensation is performed 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 San = f(π(△Y / tanφ-△X)φ / 180°, △Y / sinφ-△Y / tanφ+△X+△xn, △yn) is calculated, where △xn is the deviation value of the visual reference point from the center position of bolt an along the radial direction, and △yn is the deviation value of the visual reference point from the center position of bolt an along the vertical radial direction.

[0095] The second specific embodiment of the slewing bearing bolt positioning and tightening method of the present invention is as follows: Figure 16 The process shown is explained below:

[0096] First, the workpiece 10 is installed in place. The centering gripper 602 retracts to the designated point according to the diameter of the workpiece 10. The centering gripper 602 is judged to be in place. After it is in place, the centering gripper 602 is lowered by the vertical lifting mechanism 3. Then, the laser beam sensor 606 judges whether the centering gripper 602 has descended to the right position. After it is in place, the centering gripper 602 is controlled to clamp the workpiece 10 (if it is not in place, the centering gripper 602 continues to descend. If the workpiece 10 is not detected for a long time, an abnormal alarm is issued and the machine is stopped so that the staff can check the fault). The centering gripper 602 is judged to be clamped in place. After it is in place, the centering gripper 602 is controlled to press down by the vertical lifting mechanism 3 so that the axial positioning plane 604 is completely attached to the upper end face of the workpiece 10. After the centering gripper 602 is pressed down, the centering mechanism 6 completes the clamping and positioning of the workpiece 10. Under the adjustment of the floating mechanism 4, the rotation axis of the tightening rotation mechanism 5 is made to coincide with the central axis of the workpiece 10.

[0097] The tightening rotation mechanism 7 rotates to the initial position. The tightening compensation mechanism 7 and the tightening mechanism 8 move in the Z, X, and Y directions, causing the bolt visual positioning mechanism 9 to reach the initial imaging point. The bolt visual positioning mechanism 9 extends the camera 902 and the prism 903. (See below) 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. The tightening rotation mechanism 5 rotates the tightening mechanism 8 counterclockwise by an angle (α-φ). The rotation angle is compensated by the tightening rotation mechanism 5. The tightening compensation mechanism compensates for displacement in the X and Y directions. The angle compensation value, the X-direction displacement compensation value, and the Y-direction displacement compensation value are expressed by the formula Sa = f(π(ΔY / tanφ-ΔX)). (α-φ) / 180°, △Y / sinφ-△Y / tanφ+△X+△x, △y) are calculated to align the sleeve 804 with the center of bolt a1. Bolt a1 and bolt b1 are adjacent bolts. Then, the tightening mechanism 8 controls the sleeve 804 to move upward in the Z direction and controls the tightening shaft 802 to drive the sleeve 804 to align with bolt a1. The tightening shaft 802 drives the sleeve 804 to rotate according to the torque to tighten bolt a1. 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 move downward in the Z direction (if it is not qualified, an abnormality warning will be issued and the machine will stop), so that the sleeve 804 separates from bolt a1.

[0098] The tightening rotation mechanism 5 is controlled to rotate counterclockwise by an angle α, so that the sleeve 804 is aligned with the bolt a2. 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 a2 according to the torque. After tightening, the tightening torque or tightening angle of the bolt a2 needs to be checked. After the check is qualified, the tightening mechanism 8 controls the sleeve 804 to descend in the Z direction. Then, the tightening rotation mechanism is rotated clockwise by an angle α, and the tightening steps of the bolt a2 are repeated to tighten the bolts a3-a10 in sequence. After all the bolts are tightened, After passing the test, the tightening mechanism 8 and the tightening compensation mechanism 7 move in the Z and X directions respectively, causing the bolt visual positioning mechanism 9 and the tightening mechanism 8 to exit from the lower end face of the slewing bearing workpiece 10. The centering gripper 602 releases the slewing bearing workpiece 10, and then the vertical lifting mechanism 3 drives the centering gripper 602 to rise to the initial position to complete the reset operation. The tightening operation of the bolts 11 of the slewing bearing workpiece 10 is completed. The tightening data and results of all bolts 11 during the tightening operation (tightening torque or angle of all bolts 11) are stored. 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 the inspection, it is necessary to re-photograph and reposition the current bolt an (n ranges from 2 to 10). This is achieved by controlling the tightening rotation mechanism 5 to rotate counterclockwise by an angle -(α-φ). The tightening rotation mechanism 5 is then controlled to perform re-photograph and repositioning motion trajectory compensation based on the compensation value Sb, where Sb = f(-π(△Y / sinφ)(α-φ) / 180°). This allows the bolt visual positioning mechanism 9 to perform photograph and positioning of bolt an according to the photograph and positioning steps of bolt a1. After the photograph and positioning are completed, the tightening rotation mechanism 5 rotates counterclockwise by an angle (α-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, X-direction displacement compensation value, and Y-direction displacement compensation value are expressed by the formula San = f(π(△Y / tanφ-△X)). The values ​​are calculated as follows: (α-φ) / 180°, △Y / sinφ-△Y / tanφ+△X+△xn, △yn), where △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.

[0099] As can be seen from the above description of the various technical solutions of the present invention, the slewing bearing bolt positioning and tightening method of the present invention positions and clamps the slewing bearing workpiece. During the positioning and clamping process, the omnidirectional floating adjustment capability of the floating mechanism 4, under the reaction force of the slewing bearing workpiece, drives the tightening rotation mechanism 5 and the centering mechanism 6 to float and adjust together, ensuring that the rotation axis of the tightening rotation mechanism coincides with the central axis of the slewing bearing workpiece. After the positioning and clamping is completed, the bolt visual positioning mechanism 9 takes pictures of the bolts 11 on the slewing bearing workpiece 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.

[0100] Furthermore, the present invention also provides a readable storage medium storing executable instructions, characterized in that the executable instructions are used to implement the slewing bearing bolt positioning and tightening method provided by the present invention when executed by a machine.

[0101] 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.

[0102] 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.

[0103] 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 method for positioning and tightening bolts of a slewing bearing, characterized in that, The method for positioning and tightening the slewing bearing bolts includes the following steps: S1. Position and clamp the workpiece (10) so that the rotation axis of the tightening rotation mechanism (5) coincides with the central axis of the workpiece (10); S2. Take a picture of the bolt (11) using the bolt visual positioning mechanism (9) to obtain the positioning information of the bolt (11). Based on the positioning information, adjust the tightening mechanism (8) to the position of the bolt (11) 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. In step S1: After the workpiece (10) is in place, the centering jaws (602) retract to the designated position according to the diameter of the workpiece (10); The centering gripper (602) is controlled to descend, and the position information of the workpiece (10) is detected by the laser beam sensor (606) on the centering gripper (602) so that the centering gripper (602) stops descending when it reaches the pre-clamping position; The centering jaw (602) is pressed down and clamps the workpiece (10). The floating mechanism (4) synchronously drives the tightening rotation mechanism (5) and the centering jaw (602) to float and adjust, so as to follow the workpiece (10), thereby making the rotation axis of the tightening rotation mechanism (5) coincide with the central axis of the workpiece (10).

2. The method for positioning and tightening slewing bearing bolts according to claim 1, characterized in that, The floating mechanism (4) synchronously drives the tightening rotation mechanism (5) and the centering jaw (602) to perform floating adjustment, including the following steps: The first floating roller (405) and the second floating roller (406) arranged in a cross shape drive the tightening rotating mechanism (5) and the centering gripper (602) to perform displacement floating adjustment. The rotating structure with mutually perpendicular rotation axes drives the tightening rotating mechanism (5) and the centering gripper (602) to perform angle floating adjustment.

3. The method for positioning and tightening slewing bearing bolts according to claim 2, characterized in that, 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). The first floating roller (405) and the second floating roller (406) are arranged in a cross shape between the fixed mounting base (401) and the first floating mounting base (402) so that the first floating mounting base (402) can be adjusted relative to the fixed mounting base (401). The rotating structure includes a first shaft (407), a first bearing (408), a second shaft (409), and a second bearing (410). The first shaft (407) and the first bearing (410) are matched. The first bearing (408) is disposed 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). The matching second shaft (409) and the second bearing (410) are disposed 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). The tightening and rotating mechanism (5) and the centering jaw (602) are connected below the third floating mounting base (404).

4. The method for positioning and tightening slewing bearing bolts according to claim 1, characterized in that, In step S2: Adjust the bolt visual positioning mechanism (9) to the shooting point, take a picture of the bolt (11) and obtain the positioning information of the bolt (11); The tightening mechanism (8) is rotated by an angle φ or α-φ. Based on the positioning information, the compensation value is calculated. The tightening rotation mechanism (5) is controlled to perform rotation angle compensation, and the tightening compensation mechanism (7) is controlled to perform displacement compensation, so that the sleeve (804) of the tightening mechanism (8) is aligned with the center position of the bolt (11). The control tightening shaft (802) drives the sleeve (804) to cap the bolt (11) and tighten the bolt (11). Wherein, φ is the deviation angle between the visual reference point of the bolt visual positioning mechanism (9) and the sleeve (804) of the tightening mechanism (8), and α is the equal division angle of the bolt hole on the workpiece (10).

5. The method for positioning and tightening slewing bearing bolts according to claim 4, characterized in that, After tightening the bolt (11), the tightening torque or angle of the bolt (11) is detected. If the tightening torque or angle of the bolt (11) meets the set requirements, proceed to step S3; if the tightening torque or angle of the bolt (11) does not meet the set requirements, stop the operation and issue an abnormality reminder.

6. The method for positioning and tightening slewing bearing bolts according to claim 4, characterized in that, The tightening compensation mechanism (7) includes a first moving compensation structure and a second moving compensation structure disposed on the tightening rotation mechanism (5). The first moving 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 tightening rotation mechanism (5). 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 moving compensation structure is mounted on the first compensation slider (703a). The second moving compensation structure includes a second compensation servo unit (701b) and a second compensation linear slide rail (702b). The second compensation slider (703b) and the second compensation linear slide rail (702b) are 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). The tightening mechanism (8) and the bolt visual positioning mechanism (9) are connected to the second compensation slider (703b).

7. The method for positioning and tightening slewing bearing bolts according to claim 4, characterized in that, The steps of the bolt visual positioning mechanism (9) in taking pictures to position the bolt (11) include: The light path of the bolt (11) is deflected by 90° by a prism (903) located below the bolt (11) so that it can be reflected to the camera (904) along the shooting direction for shooting positioning. The deviation value of the visual reference point from the center position of the bolt (11) in the radial direction and the deviation value of the visual reference point from the center position of the bolt (11) in the direction perpendicular to the radial direction are analyzed.

8. The method for positioning and tightening slewing bearing bolts according to claim 4, characterized in that, In step S3: The tightening mechanism (8) is lowered so that the sleeve (804) is separated from the bolt (11); Control the tightening rotation mechanism (5) to rotate at equal intervals α of the bolt holes on the workpiece (10) so that the sleeve (804) is aligned with the center position of the next bolt (11) in sequence; Control the sleeve (804) to rise, and drive the sleeve (804) to cap the current bolt (11) through the tightening shaft (802) and tighten the bolt (11) until all the bolts (11) are tightened.

9. The method for positioning and tightening slewing bearing bolts according to claim 8, characterized in that, After tightening the bolt (11), check the tightening torque or angle of the bolt (11). If the tightening torque or angle of the bolt (11) meets the set requirements, repeat the above steps until all the bolts (11) are tightened.

10. The method for positioning and tightening slewing bearing bolts according to claim 9, characterized in that, If the tightening torque or angle of the bolt (11) does not meet the set requirements, repeat step S2 to re-photograph and reposition the current bolt (11) so as to re-identify and tighten the current bolt (11).

11. The method for positioning and tightening slewing bearing bolts according to claim 10, characterized in that, If the tightening torque or angle of the bolt (11) does not meet the set requirements, the tightening mechanism (8) is rotated by an angle -φ or -(α-φ) to align the bolt visual positioning mechanism (9) with the bolt (11) for repositioning by taking a picture.

12. The method for positioning and tightening slewing bearing bolts according to claim 8, characterized in that, After all the bolts (11) have been tightened, a reset operation is performed to store the tightening data of all the bolts (11).

13. A readable storage medium storing executable instructions, characterized in that, The executable instructions are used, when executed by a machine, to implement the slewing bearing bolt positioning and tightening method according to any one of claims 1-12.

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