Centering device, tightening device and method for determining the axis of rotation, readable storage medium

Abstract

The application relates to a centering structure and discloses a centering device, a tightening device, a method for determining the rotating axis of the tightening device and a readable storage medium, the centering device comprising a floating mechanism installed on a support seat and a centering mechanism for positioning a workpiece, the centering mechanism comprising at least three centering clamps uniformly distributed in the circumferential direction and a driving mechanism for driving the centering clamps to synchronously move in the radial direction, and the floating mechanism is connected with the centering mechanism so that the centering mechanism is coincident with the axis of the workpiece through the self-adaptive floating of the floating mechanism. The centering device can ensure that the axis of the tightening device is always coincident with the axis of the slewing bearing structure.

Description

Technical Field

[0001] This invention relates to a centering structure, specifically a centering device. It also relates to a tightening device, a method for determining the rotation axis of the tightening device, and a readable storage medium. Background Technology

[0002] Intelligent assembly is the development direction of the large machinery industry. Compared with other industries, the large machinery industry has its own unique characteristics in achieving intelligent assembly. The parts to be assembled are large in size and weight, and the manufacturing precision is relatively low, which poses challenges to intelligent assembly equipment and brings considerable difficulties to its implementation. As a result, for a long time, this industry has continued to use the outdated assembly mode, mainly relying on manual and assisted mechanical assembly, which has restricted the improvement of production capacity and assembly quality, and has also prevented the realization of a higher degree of digital assembly and management.

[0003] To adapt to the development requirements of intelligent and efficient manufacturing, the large-scale machinery product assembly sector has increased its investment in intelligent assembly equipment in recent years, hoping to change the slow, inefficient, and almost primitive assembly methods that rely mainly on manual assembly.

[0004] A typical example is the bolt assembly of a slewing bearing structure. To address this, those skilled in the art have designed a tightening device for slewing bearing structures. When using this device, the axis of the tightening device must always be aligned with the axis of the slewing bearing structure. However, due to factors such as the positioning error of the slewing bearing structure itself, its tilt angle, and the application of a reverse force to the tightening device, the axis of the tightening device is prone to deviating from the axis of the slewing bearing structure. This prevents the tightening device from effectively and automatically positioning and tightening the bolts on the slewing bearing structure. Summary of the Invention

[0005] The technical problem to be solved by the first aspect of the present invention is to provide a centering device that can ensure that the axis of the tightening equipment and the slewing bearing structure always coincides.

[0006] The technical problem to be solved by the second aspect of the present invention is to provide a tightening device that can ensure that the axis of the tightening device and the slewing bearing structure always coincides.

[0007] The technical problem to be solved by the third aspect of the present invention is to provide a method for determining the rotation axis of a tightening device, which can ensure that the axis of the tightening device and the slewing bearing structure always coincide.

[0008] The technical problem to be solved by the fourth aspect of the present invention is to provide a readable storage medium for implementing a method for determining the rotation axis of a tightening device.

[0009] To solve the above-mentioned technical problems, the first aspect of the present invention provides a centering device, including a floating mechanism mounted on a support base and a centering mechanism for positioning a workpiece. The centering mechanism includes at least three circumferentially distributed centering jaws and a driving mechanism for driving each of the centering jaws to move synchronously radially. The floating mechanism is connected to the centering mechanism so that the centering mechanism coincides with the axis of the workpiece through the adaptive floating of the floating mechanism.

[0010] In some embodiments, the centering jaw includes a lower surface for pressing the upper surface of the workpiece and a radial positioning boss for holding the outer side of the workpiece. The radial positioning boss is located in the outer region of the lower surface of the centering jaw, or the radial positioning boss is located on the outer side of the centering jaw and protrudes from the lower surface of the centering jaw.

[0011] In some embodiments, the bottom of the centering gripper is provided with an anti-collision detection device for detecting the movement position of the centering gripper.

[0012] In some embodiments, the collision detection device is a laser beam sensor.

[0013] In some embodiments, the drive mechanism includes a ball screw mechanism, and the centering gripper is connected to the corresponding ball screw mechanism in a transmission connection.

[0014] In some embodiments, the floating mechanism includes a floating top plate, a floating support plate, and a floating bottom plate. The floating top plate is connected to the floating support plate via a first floating component, so that the floating top plate and the floating support plate can float relative to each other in a first direction. The floating support plate is connected to the floating bottom plate via a second floating component, so that the floating support plate and the floating bottom plate can float relative to each other in a second direction. The first direction intersects with the second direction.

[0015] In some embodiments, a floating roller mechanism is provided on the top of the floating top plate. The floating roller mechanism includes a first floating roller assembly and a second floating roller assembly. The arrangement direction of the first floating roller assembly intersects with the arrangement direction of the second floating roller assembly, and the housing of the first floating roller assembly is connected to the second roller of the second floating roller assembly.

[0016] In some embodiments, the first floating roller assembly is arranged along the first direction, and the second floating roller assembly is arranged along the second direction.

[0017] In some embodiments, limiting components for restricting the floating angle are respectively provided between the floating top plate and the floating support plate and between the floating support plate and the floating bottom plate.

[0018] In some embodiments, the limiting component includes a limiting rod, and the limiting rod is respectively provided between the floating top plate and the floating support plate and between the floating support plate and the floating bottom plate.

[0019] A second aspect of the present invention provides a tightening device, including a lifting system, a tightening rotation mechanism, a tightening mechanism, and a centering device as described in any of the above technical solutions. The lifting system, the floating mechanism, and the tightening rotation mechanism are connected sequentially from top to bottom. The tightening mechanism and the centering mechanism are installed at the bottom of the tightening rotation mechanism, and the tightening mechanism is symmetrically arranged on both sides of the centering mechanism.

[0020] A third aspect of the present invention provides a method for determining the rotation axis of a tightening device, the method comprising the following steps:

[0021] S1. Control the centering mechanism to descend to the set position;

[0022] S2. Control each centering jaw to move radially synchronously and grip the workpiece;

[0023] S3. Control the centering mechanism to continue descending, so that the lower surface of each centering jaw presses against the upper surface of the workpiece.

[0024] In some embodiments, in step S1, the descent position of the centering mechanism is detected in real time, and if the detection result indicates that the centering mechanism has not descended to the set position, the centering mechanism is controlled to continue descending.

[0025] In some embodiments, in step S1, a laser beam sensor is used to detect the position of the centering gripper in real time, and when the laser beam of the laser beam sensor is blocked, the descent of the centering mechanism is stopped.

[0026] In some embodiments, the centering mechanism is connected to the floating mechanism so that the centering mechanism and the workpiece can move together under the action of the floating mechanism, thereby ensuring that the centering mechanism and the workpiece axis coincide.

[0027] In some embodiments, before controlling the centering mechanism to descend to a set position, each of the centering jaws is controlled to retract to a set point according to the diameter of the workpiece.

[0028] A fourth aspect of the present invention provides a readable storage medium storing executable instructions, characterized in that the executable instructions, when executed by a machine, implement the method for determining the rotation axis of a tightening device as described in any of the above technical solutions.

[0029] The beneficial effects of the present invention through the above technical solution are as follows:

[0030] By setting multiple centering jaws evenly distributed around the circumference and driving each centering jaw to move radially synchronously, the rotation axis of the tightening device can be made to coincide with the axis of the workpiece. Moreover, through the adaptive floating of the floating mechanism, the tightening device can follow the movement of the workpiece, thereby ensuring that the rotation axis of the tightening device and the axis of the workpiece are always in a coincident state, which facilitates the automatic positioning and tightening of bolts with precision.

[0031] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0032] 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:

[0033] Figure 1 This is one of the structural schematic diagrams of the tightening device in a specific embodiment of the present invention;

[0034] Figure 2 This is the second structural schematic diagram of the tightening device in a specific embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the lifting system in a specific embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the floating mechanism in a specific embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the tightening and rotating mechanism in a specific embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the centering mechanism in a specific embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the centering mechanism in use in a specific embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the usage state of the anti-collision detection device in a specific embodiment of the present invention;

[0041] Figure 9 This is a structural schematic diagram of the tightening compensation mechanism and the tightening mechanism in a specific embodiment of the present invention;

[0042] Figure 10 This is one of the flowcharts of the method for determining the rotation axis of the tightening device in a specific embodiment of the present invention;

[0043] Figure 11 This is the second flowchart of the method for determining the rotation axis of the tightening device in a specific embodiment of the present invention;

[0044] Figure 12 This is one of the structural schematic diagrams of the lifting mechanism in a specific embodiment of the present invention;

[0045] Figure 13 This is the second structural schematic diagram of the lifting mechanism in a specific embodiment of the present invention.

[0046] Explanation of reference numerals in the attached figures

[0047] 1. Truss system 2. Fixed installation system

[0048] 3 Lifting System 310 Lifting Servo Electric Cylinder

[0049] 320 lifting cylinder, 330 guide column

[0050] 4. Floating Mechanism 41. Floating Top Plate

[0051] 42 Floating support plate 43 Floating bottom plate

[0052] 411 First floating roller assembly 412 Second floating roller assembly

[0053] 421 First floating component 422 Second floating component

[0054] 430 Limiting rod 5 Tightening rotating mechanism

[0055] 510 slewing bracket 520 crossbeam

[0056] 530 servo rotary table with 6 centering mechanisms

[0057] 610 Centering gripper; 611 Radial positioning boss

[0058] 621 First ball screw mechanism; 622 First motor

[0059] 630 Collision Detection Device 710 Second Motor

[0060] 720 Second ball screw mechanism; 730 First guide mechanism

[0061] 740 Second guide mechanism; 750 Third ball screw mechanism

[0062] 810 Tightening bracket 820 Tightening cylinder

[0063] 830 Third Guide Mechanism 840 Tightening Shaft

[0064] 850 special head 860 sleeve Detailed Implementation

[0065] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of the present invention by way of example, but should not be used to limit the scope of the present invention. The present invention can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0066] These embodiments are provided to make the invention thorough and complete, and to fully express the scope of the invention to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​set forth in these embodiments should be interpreted as merely exemplary and not as limiting.

[0067] It should be noted that, in the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, are 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, and therefore should not be construed as a limitation of this invention. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0068] It should also be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device.

[0069] Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or more of the stated features.

[0070] All terms used in this invention have the same meaning as understood by one of ordinary skill in the art to which this invention pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0071] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0072] like Figures 1 to 9 As shown in the figure, a specific embodiment of the present invention provides a centering device, including a floating mechanism 4 and a centering mechanism 6. The floating mechanism 4 is mounted on a support base, and the centering mechanism 6 is used to position the workpiece. The centering mechanism 6 includes at least three centering jaws 610 and a driving mechanism. Each centering jaw 610 is evenly arranged along the circumference. The driving mechanism is used to drive each centering jaw 610 to move synchronously radially to achieve clamping of the workpiece. The floating mechanism 4 is connected to the centering mechanism 6. Through the adaptive floating of the floating mechanism 4, the centering mechanism 6 is made to coincide with the axis of the workpiece.

[0073] To better understand the technical solution of the present invention, the centering device of the present invention is applied to a specific tightening device. The tightening device includes a tightening rotation mechanism 5 and a tightening mechanism 8. Both the tightening mechanism 8 and the centering mechanism 6 are installed at the bottom of the tightening rotation mechanism 5, and the tightening mechanism 8 is symmetrically arranged on both sides of the centering mechanism 6. Taking the workpiece as a slewing bearing structure as an example, the centering jaws 610 of the centering mechanism 6 move synchronously radially to grip the slewing bearing structure and achieve positioning. Furthermore, the centering jaws 610 are evenly arranged circumferentially, ensuring that the forces acting on the slewing bearing structure in all directions are canceled out. This also ensures that the axis of the centering mechanism 6 coincides with the axis of the slewing bearing structure. The floating mechanism 4 is located at the top of the tightening rotation mechanism 5. When the reference plane of the slewing bearing structure (such as the upper surface of the slewing bearing structure) has a certain angle of inclination with the horizontal plane, the adaptive floating of the floating mechanism 4 allows the centering mechanism 6 to tilt along with the slewing bearing structure at the same angle, ensuring that the axis of the centering mechanism 6 always coincides with the axis of the slewing bearing structure. In other words, the rotation axis of the tightening rotation mechanism 5 always coincides with the axis of the slewing bearing structure, thus enabling relatively accurate automatic positioning and tightening of the bolts to be tightened on the slewing bearing structure. It should be noted that the workpiece is not limited to a slewing bearing structure and can also be other circular workpieces.

[0074] As one embodiment of tightening equipment, such as Figure 1 and Figure 2As shown, the tightening device includes a truss system 1, a fixed installation system 2, a lifting mechanism 3, a floating mechanism 4, a tightening rotation mechanism 5, a centering mechanism 6, a tightening compensation mechanism 7, and a tightening mechanism 8. The lifting mechanism 3 is installed on the truss system 1 through the fixed installation system 2. The floating mechanism 4 is installed at the bottom of the lifting mechanism 3. The tightening rotation mechanism 5 is installed at the bottom of the floating mechanism 4. The centering mechanism 6 and the tightening mechanism 8 are both installed at the bottom of the tightening rotation mechanism 5, and the axis of the centering mechanism 6 coincides with the rotation axis of the tightening rotation mechanism 5. The tightening mechanisms 8 are symmetrically arranged on both sides of the centering mechanism 6. The tightening mechanism 8 is installed at the bottom of the tightening mechanism 8 through the tightening compensation mechanism 7. A vision system is installed on the side of the special head of the tightening mechanism 8.

[0075] The truss system 1 uses profiles, assembled into a frame structure through bolt connections and welding, to support the overall weight of the tightening equipment. In one specific embodiment, the support base can be the truss system 1. The fixed installation system 2 uses a mounting base made of metal plates and profiles to suspend the tightening equipment under the truss system 1, fixing the entire tightening equipment to the central area below the truss system 1. The lifting mechanism 3 drives the floating mechanism 4, tightening rotation mechanism 5, centering mechanism 6, tightening compensation mechanism 7, and tightening mechanism 8 within the tightening equipment to perform precise lifting and lowering movements. The floating mechanism 4 enables the tightening rotation mechanism 5, centering mechanism 6, tightening compensation mechanism 7, and tightening mechanism 8 below it to float omnidirectionally within a certain angle. The tightening rotation mechanism 5 drives the tightening compensation mechanism 7, tightening mechanism 8, and vision system to rotate as a whole. The centering mechanism 6 positions the workpiece. The tightening compensation mechanism 7 drives the tightening mechanism 8 and vision system to move precisely. The tightening mechanism 8 tightens the bolts.

[0076] In a specific embodiment, such as Figure 6 As shown, the centering mechanism 6 includes a centering bracket, a centering gripper 610 at the bottom of the centering bracket, and a drive mechanism mounted on top of the centering bracket. The drive mechanism can consist of a first ball screw mechanism 621 and a first motor 622. The first ball screw mechanism 621 comprises a screw, nut, steel balls, preload plate, reverser, and dust cover, and is used to convert rotary motion into linear motion. The first motor 622 is an electromagnetic device that converts or transmits electrical energy based on the law of electromagnetic induction; its function is to generate driving torque, serving as a power source for electrical appliances or various machines. The first motor 622 provides power to the first ball screw mechanism 621, thereby driving the corresponding centering gripper 610 to move radially.

[0077] The centering jaw 610 has a lower surface, the shape of which generally matches the outer contour of the workpiece so that the lower surface of the centering jaw 610 can press against the upper surface of the workpiece. In order to hold the workpiece from the outside, a radial positioning boss 611 can be provided in the outer region of the lower surface of the centering jaw 610, or a radial positioning boss 611 can be provided on the outer side of the centering jaw 610. The radial positioning boss 611 should protrude from the lower surface of the centering jaw 610, so that the radial positioning boss 611 below each centering jaw 610 can hold the workpiece from the outer side of the workpiece.

[0078] Furthermore, such as Figure 7 As shown, to prevent collisions between the centering jaw 610 and the workpiece during its movement, an anti-collision detection device 630 can be installed at the bottom of the centering jaw 610. The anti-collision detection device 630 is used to detect the moving position of the centering jaw 610. The anti-collision detection device 630 can be installed on the outer region of the lower surface of the centering jaw 610, or it can be installed on the outer side of the centering jaw 610 and protrude from the lower surface of the centering jaw 610. Specifically, the anti-collision detection device 630 is a laser beam sensor, such as... Figure 8 As shown, taking three centering jaws 610 as an example, two anti-collision detection devices 630 are set below one centering jaw 610, and one anti-collision detection device 630 is set below each of the other two centering jaws 610, thus forming two sets of laser beam sensors. When the centering jaw 610 descends to a certain position, the laser beams emitted by both sets of laser beam sensors are blocked, thereby detecting the workpiece and controlling the centering mechanism 6 to drive the centering jaws 610 to clamp the workpiece. Alternatively, two anti-collision detection devices 630 can be set below each centering jaw 610, thus forming three sets of laser beam sensors. When the centering jaw 610 descends to a certain position, the laser beams emitted by both sets of laser beam sensors are blocked, thereby detecting the workpiece and controlling the centering mechanism 6 to drive the centering jaws 610 to clamp the workpiece.

[0079] In a specific embodiment, the lifting mechanism 3 can drive the floating mechanism 4, the tightening rotation mechanism 5, the centering mechanism 6, the tightening compensation mechanism 7, and the tightening mechanism 8 in the tightening device to perform precise lifting and lowering movements. For example... Figure 3As shown, the lifting mechanism 3 includes a lifting servo electric cylinder 310, a lifting air cylinder 320, and a guide column 330. It has two mounting plates. One mounting plate is installed on the top of the lifting servo electric cylinder 310, the lifting air cylinder 320, and the guide column 330 for connection with the fixed installation system 2. The other mounting plate is installed on the bottom of the lifting servo electric cylinder 310, the lifting air cylinder 320, and the guide column 330 for connection with the floating mechanism 4. The lifting servo electric cylinder 310, lifting air cylinder 320, and guide column 330 are arranged sequentially from the inside out. Specifically, the lifting servo electric cylinder 310 is surrounded by lifting air cylinders 320, and the guide column 330 is arranged on the outer side of the lifting air cylinders 320. The lifting servo electric cylinder 310 drives the floating mechanism 4, tightening rotation mechanism 5, centering mechanism 6, tightening compensation mechanism 7, and tightening mechanism 8 in the tightening equipment to perform precise lifting movements. The lifting air cylinder 320 balances the weight of the floating mechanism 4, tightening rotation mechanism 5, centering mechanism 6, tightening compensation mechanism 7, and tightening mechanism 8 below it. The guide column 330 serves a guiding function. For example, Figure 12 and Figure 13 As shown, the lifting servo electric cylinder 310 and three or four lifting air cylinders 320 are arranged in a triangle or rectangle, that is, the lifting servo electric cylinder 310 is located in the center, and each lifting air cylinder 320 is located at one corner of the triangle or rectangle.

[0080] As a specific embodiment of the floating mechanism 4, such as Figure 4 As shown, the floating mechanism includes a floating top plate 41, a floating support plate 42, and a floating bottom plate 43. The floating top plate 41 is connected to the floating support plate 42 via a first floating component 421. Under the action of the first floating component 421, the floating top plate 41 and the floating support plate 42 can float relative to each other in a first direction. At the same time, the floating support plate 42 is connected to the floating bottom plate 43 via a second floating component 422. Under the action of the second floating component 422, the floating support plate 42 and the floating bottom plate 43 can float relative to each other in a second direction. The first direction and the second direction intersect, thereby realizing the function of omnidirectional floating.

[0081] The specific value of the angle between the first direction and the second direction can be selected according to actual needs.

[0082] Furthermore, a floating roller mechanism is provided on the top of the floating top plate 41. The floating roller mechanism includes a first floating roller assembly 411 and a second floating roller assembly 412. The arrangement direction of the first floating roller assembly 411 intersects the arrangement direction of the second floating roller assembly 412, and the housing of the first floating roller assembly 411 is connected to the second floating roller of the second floating roller assembly 412.

[0083] The first floating roller assembly 411 can be arranged along the first direction, and the second floating roller assembly 412 can be arranged along the second direction. The first floating roller assembly 411 includes a sliding bearing and a first roller. The sliding bearing is sleeved on the first roller. Under the action of the sliding bearing, the first roller can have a certain amount of free movement relative to the sliding bearing in the first direction. Similarly, the second floating roller assembly 412 includes a sliding bearing and a second roller. The sliding bearing is sleeved on the second roller. Under the action of the sliding bearing, the second roller can have a certain amount of free movement relative to the sliding bearing in the second direction.

[0084] Furthermore, a centering spring is provided inside the first floating roller assembly 411 for resetting the first roller, and a centering spring is provided inside the second floating roller assembly 412 for resetting the second roller. Specifically, a spring can be installed at each end of the first roller along the first direction. When the first floating roller assembly 411 is in a non-operating state, the first roller is in the neutral position. When the first floating roller assembly 411 is in an operating state, one end of the spring on the first roller is in an extended state, and the other end of the spring on the first roller is in a compressed state. When the external force on the first floating roller assembly 411 is eliminated, the first roller automatically returns to the neutral position. Similarly, a spring can be installed at each end of the second roller along the second direction. When the second floating roller assembly 411 is not in operation, the second roller is in the neutral position. When the second floating roller assembly 411 is in operation, one end of the spring on the second roller is in an extended state, and the other end of the spring on the second roller is in a compressed state. When the external force on the first floating roller assembly 411 is eliminated, the first roller automatically returns to the neutral position. This gives both the first floating roller assembly 411 and the second floating roller assembly 412 a reset function.

[0085] In a specific embodiment, such as Figure 4 As shown, a limiting component for restricting the floating angle is provided between the floating top plate 41 and the floating support plate 42, and a limiting component for restricting the floating angle is also provided between the floating support plate 42 and the floating bottom plate 43. Specifically, the limiting component includes a limiting rod 430. A limiting rod 430 is provided between the floating top plate 41 and the floating support plate 42, and a limiting rod 430 is also provided between the floating support plate 42 and the floating bottom plate 43, thereby controlling the floating mechanism to float omnidirectionally within a certain angle.

[0086] In a specific embodiment, a reset component for resetting is provided between the floating top plate 41 and the floating support plate 42, and a reset component for resetting is also provided between the floating support plate 42 and the floating bottom plate 43; the first floating component 421 and the second floating component 422 are both composed of shafts and bearings, thereby enabling relative rotation between the floating top plate 41 and the floating support plate 42 and between the floating support plate 42 and the floating bottom plate 43.

[0087] As one embodiment of the reset assembly, the reset assembly may include at least one pair of elastic elements. Along a first direction, elastic elements are symmetrically arranged on both sides of the first floating assembly 421. When the floating top plate 41 and the floating support plate 42 rotate relative to each other under the action of an external force, the elastic element on one side of the first floating assembly 421 is in a stretched state, and the elastic element on the other side is in a compressed state. After the external force is removed, under the action of the elastic elements, the floating top plate 41 and the floating support plate 42 return to their initial state, that is, the elastic elements on both sides of the first floating assembly 421 are in the same elastic state. Similarly, along a second direction, elastic elements are symmetrically arranged on both sides of the second floating assembly 422. When the floating support plate 42 and the floating bottom plate 43 rotate relative to each other under the action of an external force, the elastic element on one side of the second floating assembly 422 is in a stretched state, and the elastic element on the other side is in a compressed state. After the external force is removed, under the action of the elastic elements, the floating support plate 42 and the floating bottom plate 43 return to their initial state, that is, the elastic elements on both sides of the second floating assembly 422 are in the same elastic state. Among them, the elastic element can be a spring, rubber, or other component with elastic deformation characteristics.

[0088] Alternatively, as another embodiment of the reset assembly, a torsion spring can be provided between the first floating assembly 421 and the floating top plate 41, and a torsion spring can be provided between the second floating assembly 422 and the floating support plate 42. This enables automatic reset functions between the floating top plate 41 and the floating support plate 42, and between the floating support plate 42 and the floating bottom plate 43.

[0089] In a specific embodiment, such as Figure 5 As shown, the tightening rotation mechanism 5 includes a rotary support 510, a crossbeam 520, and a servo turntable 530. The rotary support 510 is installed below the floating mechanism 4. The crossbeam 520 is fitted onto the rotary support 510 and is connected to the servo turntable 530 via a transmission connection. Driven by the servo turntable 530, the crossbeam 520 can rotate around the axis of the rotary support 510. The centering mechanism 6 is installed below the servo turntable 530, and the tightening compensation mechanism 7 is installed on the crossbeam 520 and is symmetrically arranged about the centering mechanism 6.

[0090] Furthermore, for ease of explanation and description, the following references are provided. Figure 1 and Figure 4 As shown, establish a coordinate system with the X direction as the first direction and the Y direction as the second direction. The X direction refers to the left-right direction along the tightening device, the Y direction refers to the front-back direction along the tightening device, and the Z direction refers to the up-down direction along the tightening device.

[0091] As a specific embodiment of the tightening compensation mechanism 7, such as Figure 9As shown, a second motor 710 and a second ball screw mechanism 720 are arranged above the crossbeam 520, and a first guide mechanism 730 is arranged below the crossbeam 520. The first guide mechanism 730 consists of a linear slide rail and a slider. The first guide mechanism 730 is laid along the X direction. Driven by the second motor 710, the second ball screw mechanism 720 can drive the tightening mechanism 8 below it to move along the X direction. Below the first guide mechanism 730, a second guide mechanism 740 and a third ball screw mechanism 750 are installed. The second guide mechanism 740 consists of a linear slide rail and a slider. The second guide mechanism 740 is laid along the Y direction. Driven by the motor, the third ball screw mechanism 750 can drive the tightening mechanism 8 below it to move along the second guide mechanism 740 along the Y direction, thereby compensating for the movement of the tightening mechanism 8.

[0092] Furthermore, as a specific embodiment of the tightening mechanism 8, such as Figure 9 As shown, the tightening mechanism 8 includes a tightening bracket 810, a tightening cylinder 820, a third guide mechanism 830, a tightening shaft 840, a special head 850, and a sleeve 860. The tightening bracket 810 is installed below the tightening compensation mechanism 7. The tightening cylinder 820, the third guide mechanism 830, and the tightening shaft 840 are mounted on the tightening bracket 810. The third guide mechanism 830 consists of a linear slide rail and a slider, and is laid along the Z direction. The tightening shaft 840 is connected to the third guide mechanism 830. Driven by the tightening cylinder 820, the tightening shaft 840 can move along the Z-direction. A special head 850 is installed at the bottom of the tightening shaft 840, and a sleeve 860 is installed at the other end of the special head 850. The special head 850 can transfer the torque of the tightening shaft 840 to the sleeve 860. The rotation direction of the tightening shaft 840 is different from that of the sleeve 860. That is to say, the special head 850 can change the tightening direction of the tightening gun, which is convenient for bolt tightening operations on slewing bearing structures with narrow workpiece spaces. Combined with the tightening compensation mechanism 7, the special head 850 can be driven to move within the narrow workpiece space to cap and tighten the bolts. In addition, laser rangefinders along the Z and X directions are installed on the tightening mechanism 8 to detect the distance between the special head 850 of the tightening mechanism and the workpiece in real time to prevent collisions.

[0093] Furthermore, a vision system can be installed on the side of the special head 850, consisting of an industrial camera, a light source, a right-angle prism, a cylinder, and a linear guide rail. The industrial camera, light source, and right-angle prism are mounted on a support, which is connected to the linear guide rail and also to the cylinder. Driven by the cylinder, the support moves along the linear guide rail within the confined workpiece space. With the help of the right-angle prism, the industrial camera can photograph the position of the bolt, which is then fed back to the control system. The control system controls the tightening equipment, enabling the special head 850 to accurately identify and tighten the bolt. Taking a slewing bearing structure as an example, the linear guide rail is arranged radially along the slewing bearing structure. The control system is a relatively conventional control technology solution in the field. Based on the knowledge of the technical solution of this invention, those skilled in the art can select it according to design needs, and it will not be elaborated further here.

[0094] During the use of tightening equipment, it is necessary to ensure that the rotation axis of the tightening equipment coincides with the axis of the workpiece. In actual operation, the workpiece can have a certain tilt angle, that is, the reference surface of the workpiece (such as the upper surface of the slewing bearing structure) has a certain tilt angle with the horizontal plane. For ease of description, the following explanation will take the slewing bearing structure as an example.

[0095] Therefore, such as Figure 11 As shown, the present invention provides a method for determining the rotation axis of a tightening device, which includes the following steps:

[0096] S1. Control the centering mechanism 6 to descend to the set position;

[0097] S2. Control each centering jaw 610 to move radially synchronously and clamp the workpiece;

[0098] S3. Control the centering mechanism 6 to continue descending, so that the lower surface of each centering jaw 610 presses against the upper surface of the workpiece.

[0099] In the initial state, the centering jaws 610 of the centering mechanism 6 are in an extended state. If the centering mechanism 6 is directly lowered to the set position, the centering jaws 610 may not be able to press against the upper surface of the slewing bearing structure. To address this, before the centering mechanism 6 is lowered to the set position, the centering jaws 610 can be controlled to retract to the set point according to the diameter of the slewing bearing structure. Specifically, generally, the shape of the lower surface of the centering gripper 610 is basically consistent with the shape of the outer contour of the upper surface of the slewing bearing structure, that is, the lower surface of the centering gripper 610 can be arc-shaped. In this way, each centering gripper 610 can be controlled to retract to a set position, which is a set point, so that when viewed from above and below, the inner edge of the lower surface of the centering gripper 610 just fits against the outer contour of the upper surface of the slewing bearing structure, or the lower surface of the centering gripper 610 partially overlaps with the upper surface of the slewing bearing structure. In this way, when the centering mechanism 6 is controlled to descend to the set position, the situation where the lower surface of the centering gripper 610 cannot press against the upper surface of the slewing bearing structure can be completely avoided.

[0100] Furthermore, if the centering mechanism 6 descends to the set position, the lower surface of the centering jaws 610 directly presses against the upper surface of the slewing bearing structure. In this case, if the centering jaws 610 are then controlled to retract, the friction between the lower surface of the centering jaws 610 and the upper surface of the slewing bearing structure will affect the retraction process of each centering jaw 610 and cause significant wear to the equipment. Therefore, it is necessary to control the centering mechanism 6 to descend to a position where there is a certain gap between the lower surface of the centering jaws 610 and the upper surface of the slewing bearing structure; this position can be the set position.

[0101] To address this, an anti-collision mechanism can be designed, which involves real-time detection of the descent position of the centering mechanism 6. If the detection result indicates that the centering mechanism 6 has not descended to the set position, the centering mechanism 6 is controlled to continue descending; if the detection result indicates that the centering mechanism 6 has descended to the set position, the centering mechanism 6 is controlled to stop descending. Specifically, an anti-collision detection device 630 can be used to detect the descent position of the centering mechanism 6 in real time. The anti-collision detection device 630 can be a laser beam sensor. The laser beam sensor is used to detect the position of the centering gripper 610 in real time. When the laser beam of the laser beam sensor is blocked, it indicates that the centering mechanism 6 has descended to the set position. At this time, the descent of the centering mechanism 6 can be stopped to prevent the lower surface of the centering gripper 610 from colliding with the upper surface of the slewing bearing structure.

[0102] Furthermore, by utilizing the characteristics of the floating mechanism 4, the centering mechanism 6 can move together with the slewing bearing structure under the action of the floating mechanism 4, thereby making the rotation axis of the tightening equipment coincide with the axis of the slewing bearing structure, ensuring the accuracy of the tightening equipment in positioning and tightening the bolts.

[0103] As one specific embodiment, such as Figure 10 As shown, the method for determining the rotation axis of the tightening device of the present invention includes the following steps:

[0104] Transport the workpiece to the workstation and fix it in place at the workstation;

[0105] Based on the diameter of the workpiece, control each centering jaw 610 of the centering mechanism 6 to retract to the designated point.

[0106] The system detects whether each centering gripper 610 is in the correct position. The first motor 622 is a servo motor with its own detection element, which can detect the radial movement distance of the centering gripper 610 and the external force it bears, thereby determining whether each centering gripper 610 is in the correct position. If each centering gripper 610 is not in the correct position, the system continues to detect until each centering gripper 610 is found to be in the correct position.

[0107] Then, the centering gripper 610 of the centering mechanism 6 is controlled to descend by the lifting mechanism 3. The centering mechanism 6 can be equipped with detection elements such as limit switches and laser sensors. When the centering mechanism 6 descends to the set position, if no workpiece is detected, an alarm message is transmitted to the control system. The control system controls the alarm to sound an abnormal alarm and at the same time controls the tightening equipment to stop.

[0108] When the centering mechanism 6 descends to the set position, if the presence of the workpiece is detected, the centering jaws 610 of the centering mechanism 6 are controlled to retract and finally hold the workpiece tightly. During the retraction of the centering jaws 610, when it is detected that the centering jaws 610 have held the workpiece tightly, the radial movement of the centering jaws 610 is stopped.

[0109] Then, the centering mechanism 6 is controlled to continue descending until the workpiece is pressed. The lifting servo cylinder 310 of the lifting mechanism 3 is a servo motor with its own detection element, which can detect the external force on the centering gripper 610 and thus determine whether the centering gripper 610 is pressed down. If the centering gripper 610 is not pressed down in place during the descent of the centering mechanism 6, the centering mechanism 6 is controlled to continue descending; otherwise, the centering mechanism 6 is controlled to stop descending.

[0110] The combination of the floating mechanism 4 and the centering mechanism 6 ensures that the rotation axis of the tightening equipment and the axis of the slewing bearing structure are always aligned. Therefore, after the centering jaw 610 is pressed down, the tightening rotation mechanism 5 can be controlled to rotate to the initial position, which is set in the control system according to the actual operation requirements.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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 tightening apparatus characterized by comprising: The device comprises a lifting mechanism (3), a tightening rotating mechanism (5), a tightening mechanism (8) and a centering device, the centering device comprises a floating mechanism (4) installed on a support seat and a centering mechanism (6) for positioning a workpiece, the centering mechanism (6) comprises at least three circumferentially distributed centering clamps (610) and a driving mechanism for driving the centering clamps (610) to move radially synchronously, the floating mechanism (4) is connected with the centering mechanism (6) to make the centering mechanism (6) coincide with the axis of the workpiece through the self-adaptive floating of the floating mechanism (4); The lifting mechanism (3), the floating mechanism (4) and the tightening rotating mechanism (5) are sequentially connected from top to bottom, the lifting mechanism (3) is installed on a truss system (1) through a fixed mounting system (2), the floating mechanism (4) is installed at the bottom of the lifting mechanism (3), the tightening rotating mechanism (5) is installed at the bottom of the floating mechanism (4), the tightening mechanism (8) and the centering mechanism (6) are installed at the bottom of the tightening rotating mechanism (5), the axis of the centering mechanism (6) coincides with the rotating axis of the tightening rotating mechanism (5), the tightening mechanisms (8) are symmetrically arranged on both sides of the centering mechanism (6), the tightening mechanisms (8) are installed at the bottom of the tightening mechanisms (8) through a tightening compensation mechanism (7), and the side of the special head of the tightening mechanism (8) is provided with a visual system. The tightening mechanism (8) comprises a tightening support (810), a tightening cylinder (820), a third guide mechanism (830), a tightening shaft (840), a special head (850) and a sleeve (860), the tightening support (810) is installed below the tightening compensation mechanism (7), the tightening cylinder (820), the third guide mechanism (830) and the tightening shaft (840) are arranged on the tightening support (810), the third guide mechanism (830) is composed of a linear sliding rail and a sliding block, the third guide mechanism (830) is laid along the Z direction, the tightening shaft (840) is connected with the third guide mechanism (830), the tightening shaft (840) can move along the Z direction under the driving of the tightening cylinder (820), the bottom end of the tightening shaft (840) is provided with the special head (850), the other end of the special head (850) is provided with the sleeve (860), the special head (850) is used for converting the torque of the tightening shaft (840) to the sleeve (860), and the rotating direction of the tightening shaft (840) is different from that of the sleeve (860).

2. The tightening apparatus according to claim 1, characterized by The centering clamp (610) comprises a lower surface for pressing the upper surface of the workpiece and a radial positioning boss (611) for clamping the outer side surface of the workpiece, the radial positioning boss (611) is located in the outer side area of the lower surface of the centering clamp (610), or the radial positioning boss (611) is located on the outer side surface of the centering clamp (610) and protrudes from the lower surface of the centering clamp (610).

3. The tightening apparatus according to claim 1, characterized by, The bottom of the centering clamp jaw (610) is provided with an anti-collision detection device (630) for detecting the moving position of the centering clamp jaw (610).

4. The tightening apparatus according to claim 3, characterized by The anti-collision detection device (630) is a laser transmission sensor.

5. The tightening apparatus according to claim 1, characterized by The driving mechanism comprises a first ball screw mechanism (621), and the centering clamp jaw (610) is drivingly connected with the corresponding first ball screw mechanism (621).

6. The tightening apparatus according to any one of claims 1 to 5, characterized by, The floating mechanism comprises a floating top plate (41), a floating support plate (42) and a floating bottom plate (43), the floating top plate (41) is connected with the floating support plate (42) through a first floating assembly (421) so that the floating top plate (41) and the floating support plate (42) can relatively float in a first direction, the floating support plate (42) is connected with the floating bottom plate (43) through a second floating assembly (422) so that the floating support plate (42) and the floating bottom plate (43) can relatively float in a second direction, and the first direction intersects with the second direction.

7. The tightening apparatus according to claim 6, characterized by The floating top plate (41) is provided at the top with a floating roller mechanism, the floating roller mechanism comprises a first floating roller assembly (411) and a second floating roller assembly (412), the arrangement direction of the first floating roller assembly (411) intersects with the arrangement direction of the second floating roller assembly (412), and the shell of the first floating roller assembly (411) is connected with the second roller of the second floating roller assembly (412).

8. The tightening apparatus according to claim 7, characterized by The first floating roller assembly (411) is arranged in the first direction, and the second floating roller assembly (412) is arranged in the second direction.

9. The tightening apparatus according to claim 6, characterized by Limiting assemblies for limiting the floating angle are respectively arranged between the floating top plate (41) and the floating support plate (42) and between the floating support plate (42) and the floating bottom plate (43).

10. The tightening apparatus according to claim 9, characterized in that, The limiting assembly comprises a limiting rod (430), and the limiting rod (430) is arranged between the floating top plate (41) and the floating support plate (42) and between the floating support plate (42) and the floating bottom plate (43).

11. A method of determining the rotational axis of a tightening device, characterized in that The determination method is applied to the tightening device of claim 1, and comprises the following steps: S1, controlling the centering mechanism (6) to descend to a set position; S2, controlling each centering clamp jaw (610) to synchronously move radially and tightly hold a workpiece; S3, controlling the centering mechanism (6) to continue descending so that the lower surface of each centering clamp jaw (610) presses the upper surface of the workpiece.

12. The method of claim 11, wherein: In the step S1, the descending position of the centering mechanism (6) is detected in real time, and when the detection result is that the centering mechanism (6) has not descended to the set position, the centering mechanism (6) is controlled to continue descending.

13. The method according to claim 12, wherein In the step S1, a laser transmission sensor is used to detect the position of the centering clamp jaw (610) in real time, and when the transmission laser of the laser transmission sensor is blocked, the centering mechanism (6) is stopped from descending.

14. The method of claim 11, wherein: The centering mechanism (6) is connected with the floating mechanism (4) and can follow the workpiece with the floating mechanism (4) so as to ensure that the centering mechanism (6) coincides with the workpiece axis.

15. The method of claim 11, wherein: Before the centering mechanism (6) is controlled to descend to a set position, each centering jaw (610) is controlled to close to a set point according to the diameter of the workpiece.

16. A readable storage medium, characterized by, The readable storage medium has executable instructions stored thereon, and the executable instructions are used to implement the method for determining the rotation axis of the tightening device according to any one of claims 11 to 15 when executed by a machine.

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