A large torque running-in apparatus

Abstract

The present application relates to the technical field of steering system, and particularly relates to a large-torque running-in equipment. The large-torque running-in equipment comprises a rack, a tray conveying and positioning module, a shell positioning module, a gear adjusting module, a taking and placing module, a toothed hub adjusting module and a screw adjusting module. The rack is connected with the gear adjusting module. The top of the gear adjusting module is connected with the shell positioning module. The toothed hub adjusting module is arranged on the left and right sides of the shell positioning module. The tray conveying and positioning module is arranged on the front side of the shell positioning module. The screw adjusting module is arranged on the rear side of the shell positioning module. The taking and placing module is connected with the rack on the side of the tray conveying and positioning module. Compared with the prior art, the large-torque running-in equipment is provided, a general processing equipment is designed, the processing requirements of four types of shell assemblies can be met through simple modification, the design structure is stable, the space utilization rate is high, the compatibility is strong, and the rapid import of different design products can be met.

Description

Technical Field

[0001] This invention relates to the field of steering system technology, specifically a high-torque break-in device. Background Technology

[0002] A high-torque steering system has emerged in the automotive industry. Compared to traditional steering systems, its steering control unit (SCU) housing subassembly involves an additional adjustment screw and worm gear break-in process, thus requiring corresponding break-in equipment to complete the manufacturing process. The steering control unit (SCU) housing subassembly comprises four structural types depending on the worm gear orientation and angle; currently, there is no good design solution that can be compatible with all four structural designs.

[0003] Therefore, a new break-in equipment structure needs to be designed to meet compatibility requirements. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention provides a high-torque break-in device and designs a universal processing equipment that can meet the processing requirements of four types of housing assemblies through simple modification. The design is stable, has high space utilization, strong compatibility, and can meet the rapid introduction of different design products.

[0005] To achieve the above objectives, a high-torque break-in device is designed, comprising a frame, a pallet conveying and positioning module, a housing positioning module, a gear adjustment module, a pick-and-place module, a gear hub adjustment module, and a screw adjustment module. The device is characterized by: a gear adjustment module connected to the frame; a housing positioning module connected to the top of the gear adjustment module; gear hub adjustment modules located on the left and right sides of the housing positioning module; a pallet conveying and positioning module located on the front side of the housing positioning module; and a screw adjustment module located on the rear side of the housing positioning module. A pick-and-place module is connected to the frame on one side of the pallet conveying and positioning module.

[0006] The screw adjustment module includes a gun head assembly, a gun head moving module, and a gun head lifting mechanism. The top of the gun head lifting mechanism is connected to the bottom of the gun head moving module, and the top of the gun head moving module is connected to the gun head assembly.

[0007] The gun head assembly includes a gun head connecting base plate, a gun head drive motor, a connecting rod, a guide rod, and a gun head. The gun head connecting base plate is connected to the gun head drive motor via a motor connector. The drive shaft of the gun head drive motor is connected to one end of the connecting rod via a coupling. The other end of the connecting rod abuts against one end of a spring. The other end of the spring abuts against one end of the guide rod. The other end of the guide rod is connected to the gun head. A guide sleeve is fitted on the outside of the guide rod. A position sensor is provided on one side of the guide sleeve.

[0008] The gun head moving module includes a Y-axis drive motor, a Y-axis moving slide rail, a Y-axis moving slider, a lower base plate, an upper base plate, an X-axis moving slide rail, an X-axis moving slider, an X-axis moving cylinder, and a connecting base plate. The Y-axis drive motor is connected to the lower base plate via a motor connector. The drive shaft of the Y-axis drive motor is connected to the Y-axis moving slider via a slider connector. The bottom of the Y-axis moving slider is slidably connected to the Y-axis moving slide rail. The top of the Y-axis moving slider is connected to the back of the upper base plate. The X-axis moving cylinder is connected to the upper base plate. The extension shaft of the X-axis moving cylinder is connected to the connecting base plate. The bottom of the connecting base plate is slidably connected to the X-axis moving slide rail via the X-axis moving slider. The bottom of the X-axis moving slide rail is fixedly connected to the upper base plate. The bottom of the Y-axis moving slide rail is fixedly connected to the lower base plate.

[0009] The gun head lifting mechanism includes a lifting motor and a lifting screw assembly. The drive shaft of the lifting motor is connected to one end of the lifting screw assembly via a coupling, and the other end of the lifting screw assembly is connected to the lower base plate. A screw adjustment module bracket is provided on the outside of the lifting screw assembly, and the screw adjustment module bracket is connected to the frame.

[0010] The gear hub adjustment module includes a pressing cylinder, a pressing block, a gear assembly, a rotating tooling assembly, an arc-shaped moving module, and a gear hub adjustment module bracket. The bottom of the gear hub adjustment module bracket is connected to the frame, and the arc-shaped moving module is connected to the middle of the gear hub adjustment module bracket. The rotating tooling assembly is connected to the arc-shaped moving module through a rotating tooling assembly connecting plate. A gear assembly is provided on the upper side of the rotating tooling assembly, and a pressing block is provided above the gear assembly. The top of the pressing block is connected to the extension shaft of the pressing cylinder, and the pressing cylinder is located at the top of the gear hub adjustment module bracket.

[0011] The gear assembly includes a rotary gear and a gear motor. The drive shaft of the gear motor is connected to the shaft of the rotary gear, and the gear motor is fixedly connected to the connecting plate of the rotary tooling assembly through a motor connector.

[0012] The arc-shaped moving module includes a base plate, an arc-shaped slider, an arc-shaped small slide rail, and an arc-shaped large slide rail. The arc-shaped small slide rail is connected to one side of the base plate, and the arc-shaped large slide rail is connected to the other side of the base plate. The arc-shaped small slide rail and the arc-shaped large slide rail are at the same center, and the arc-shaped small slide rail and the arc-shaped large slide rail are respectively connected to the back of the rotating tooling assembly connecting plate through the arc-shaped slider.

[0013] The inner side of the arc-shaped sliding rail of the arc-shaped moving module is provided with arc-shaped teeth that mesh with the rotating gear of the gear assembly.

[0014] The rotary tooling assembly includes a rotary tooling assembly base plate, a cylinder, a movable slider, a movable slide rail, a connecting plate, a rotary tooling drive motor, a second guide rod, and a rotary tooling. The back of the rotary tooling assembly base plate is fixedly connected to the rotary tooling assembly connecting plate. A cylinder is provided on the rotary tooling assembly base plate, and the extension shaft of the cylinder is connected to the connecting plate. The bottom of the connecting plate is slidably connected to the movable slide rail via a movable slider. The movable slide rail is fixedly connected to the rotary tooling assembly base plate. The rotary tooling drive motor is connected to the connecting plate via a motor connector. The drive shaft of the rotary tooling drive motor is connected to one end of the second guide rod via a coupling. The other end of the second guide rod abuts against one end of a second spring, and the other end of the second spring abuts against the rotary tooling. A second guide sleeve is sleeved on the outside of the second guide rod.

[0015] The housing positioning module includes a housing positioning module bracket, a positioning platform, a positioning fixture, a housing pressing cylinder, a housing pressing head, a housing transplanting cylinder, and a transplanting connector. The bottom of the housing positioning module bracket is connected to a positioning platform, and the positioning platform is equipped with a positioning fixture. The positioning fixture is connected to the housing transplanting cylinder through the transplanting connector. The housing pressing head is located above the positioning fixture. The top of the housing pressing head is connected to the extension shaft of the housing pressing cylinder, and the housing pressing cylinder is located at the top of the housing positioning module bracket.

[0016] The working process of the high-torque break-in equipment is as follows:

[0017] S1, the pallet conveying and positioning module conveys the pallet containing the housing assembly to the designated position;

[0018] S2, after the tray holding the housing assembly is transported to the designated position, the pick-and-place module picks up the housing assembly and places it on the housing positioning module;

[0019] S3, the housing positioning module delivers the housing assembly to the positioning fixture through the housing transfer cylinder, and presses the housing assembly with the housing pressing head;

[0020] S4, the gear adjustment module and screw adjustment module below and behind the housing positioning module simultaneously perform no-load torque test on the housing assembly;

[0021] S5, After the no-load torque test is completed, the screw adjustment module completes the adjustment process of the screws on the housing assembly;

[0022] S6, After the screw adjustment module finishes its work, the gear hub adjustment module completes the rotation process of the worm gear assembly in the housing assembly according to the setting of the worm gear angle of different products.

[0023] S7. After the above process is completed, the housing positioning module will send out the housing assembly, the pick-and-place module will clamp the housing assembly onto the pallet, and the pallet will be transported to the next work station through the pallet conveying positioning module.

[0024] The connecting base plate of the gun head moving module is connected to the back of the gun head connecting base plate of the gun head assembly.

[0025] The gear adjustment module includes a gear adjustment module bracket, a gear adjustment motor, a torque sensor, a connecting rod, a torque protector, a gear contouring fixture, and a lifting cylinder. The bottom of the gear adjustment module bracket is connected to the gear adjustment motor via a motor connector. The drive shaft of the gear adjustment motor is connected to one end of the torque sensor. The other end of the torque sensor is connected to one end of connecting rod one. The other end of connecting rod one is connected to one end of the torque protector via coupling four. The other end of the torque protector is connected to one end of connecting rod two. The other end of connecting rod two is connected to the gear contouring fixture, which penetrates the positioning platform and is located on the positioning platform. The bottom sides of the positioning platform are respectively connected to the extension shafts of the lifting cylinder, and the bottom of the lifting cylinder is connected to the top of the gear adjustment module bracket.

[0026] The pick-and-place module includes a pick-and-place module bracket, a robotic arm, a gripper connecting rod, and pneumatic grippers. The bottom of the pick-and-place module bracket is fixedly connected to the frame, and the top of the pick-and-place module bracket is connected to one end of the robotic arm. The other end of the robotic arm is connected to several pneumatic grippers through the gripper connecting rod.

[0027] The pneumatic gripper is provided in at least two sets.

[0028] The pallet conveying and positioning module includes a pallet conveying mechanism, a pallet lifting mechanism, and a pallet positioning structure. The pallet conveying mechanism is located on the frame in front of the gear adjustment module. The left and right sides above the pallet conveying mechanism are connected to the left pallet horizontal positioning structure and the right pallet horizontal positioning structure respectively through connecting brackets. The pallet lifting mechanism is located on the frame below the left pallet horizontal positioning structure and the right pallet horizontal positioning structure respectively.

[0029] The specific procedure for the no-load torque test of the screw adjustment module in step S4 is as follows:

[0030] S411, the X-axis moving cylinder pushes the connecting base plate and the gun head assembly on it forward through the X-axis moving slider;

[0031] S412, after the gun head contacts the screw on the housing assembly, the gun head and the guide rod 1 behind it move backward relative to the guide sleeve 1, and the spring 1 is compressed;

[0032] S413, guide rod one and position sensor are connected by a hinge, and position sensor moves backward synchronously with guide rod one;

[0033] S414, the gun head drive motor drives the gun head to rotate 180° in both directions to ensure that the gun head enters the housing screw;

[0034] S415, the position sensor detects the protruding feature on the guide sleeve. If the position sensor detects it, the gun head drive motor drives the gun head to rotate in reverse, causing the screw to be turned outward until the sensor no longer detects a signal. Then the gun head drive motor drives the gun head to rotate in the forward direction until the sensor is triggered, and the device sets the current screw angle to the initial angle.

[0035] The specific procedure for the no-load torque test of the gear adjustment module in step S4 is as follows:

[0036] S441, the gear adjustment motor drives the gear contouring fixture to rotate more than 360°, and the no-load torque of the gear end of the test housing is tested.

[0037] S442, the initial point of torque value is moved backward and the end point of value is moved forward to avoid the acceleration and deceleration phase of the drive device, ensuring that the value taking process is not affected by the acceleration during the acceleration and deceleration phase, and ensuring that the effective value taking range is not less than 360°.

[0038] S443, the turbine in the gear-following tooling drive housing assembly rotates 360°, calculates the average torque, and subtracts this average value from the average value of the no-load torque test in step S441. The difference is compared with the set range. If it is within the range, it is considered qualified; otherwise, it is unqualified. In the qualified state, the current angle of the screw tightening gun is recorded and set as the reference point.

[0039] The specific process of the gear hub adjustment module in step S6 is as follows:

[0040] S61, the gear motor drives the rotating gear to rotate, and through the meshing of the rotating gear and the arc-shaped large slide rail, the rotating tooling assembly connecting plate and the rotating tooling assembly on it move to the target position;

[0041] S62, the cylinder pushes the connecting plate forward, causing the rotating tool to fit tightly against the gear hub of the housing assembly, which in turn causes the guide rod two behind it to move backward, compressing the spring two. The position detection sensor is connected to the guide rod two via a hinge, and the position detection sensor moves backward synchronously.

[0042] S63, the rotary tooling drive motor drives the rotary tooling to rotate continuously in both directions. The position detection sensor detects the state of the protrusion on the guide sleeve 2. If it is detected, that is, the rotary tooling has been fitted into the gear hub, the rotary tooling drive motor stops rotating. Otherwise, the rotary tooling drive motor continues to rotate until the set maximum angle.

[0043] The specific workflow of the pallet conveying and positioning module in step S1 is as follows:

[0044] S11, the pallet conveying mechanism conveys the pallets containing the housing assembly on the left and right sides to the front of the gear adjustment module;

[0045] S12, the pallet lifting mechanism under the left and right pallets lifts the left and right pallets upward until it contacts the horizontal positioning structure of the left pallet and the horizontal positioning structure of the right pallet respectively and stops.

[0046] S13, when it is necessary to lower, the pallet lifting mechanism operates in reverse, lowering the pallets on the left and right sides, and the pallet conveying mechanism transports them to the next work station.

[0047] Compared with the prior art, this invention provides a high-torque break-in device and designs a set of universal processing equipment. Through simple modification, it can meet the processing requirements of four types of housing assemblies. The design structure is stable, has high space utilization, strong compatibility, and can meet the rapid introduction of different design products. Attached Figure Description

[0048] Figure 1 This is a three-dimensional view of the structure of the present invention.

[0049] Figure 2 This is a top view of the structure of the present invention.

[0050] Figure 3 This is a side view of the structure of the present invention.

[0051] Figure 4 The diagram shows four different types of housing assemblies.

[0052] Figure 5 This is a three-dimensional structural view of the screw adjustment module in this invention.

[0053] Figure 6 This is a cross-sectional view of the gun head assembly in the screw adjustment module.

[0054] Figure 7 This is a three-dimensional structural view of the gun head moving module in the screw adjustment module.

[0055] Figure 8 This is a three-dimensional structural diagram of the gun head lifting mechanism in the screw adjustment module.

[0056] Figure 9 This is a three-dimensional view of the gear hub adjustment module in this invention.

[0057] Figure 10 This is a three-dimensional structural view of the arc-shaped moving module in the gear hub adjustment module.

[0058] Figure 11 This is a three-dimensional structural view of the gear assembly in the gear hub adjustment module.

[0059] Figure 12 This is a three-dimensional structural view of the rotating tooling assembly in the gear hub adjustment module.

[0060] Figure 13 for Figure 12 A sectional view.

[0061] Figure 14 This is a schematic diagram of the combination of the housing positioning module and the gear adjustment module in this invention.

[0062] Figure 15 This is a three-dimensional structural view of the housing positioning module.

[0063] Figure 16 This is a three-dimensional structural diagram of the gear adjustment module.

[0064] Figure 17 for Figure 16 A sectional view.

[0065] Figure 18 This is a three-dimensional view of the pick-and-place module in this invention. Detailed Implementation

[0066] The present invention will now be further described with reference to the accompanying drawings.

[0067] like Figures 1 to 3 as well as Figures 5 to 18 As shown, a gear adjustment module 4 is connected to the frame 7, and a housing positioning module 3 is connected to the top of the gear adjustment module 4. Gear hub adjustment modules 2 are respectively located on the left and right sides of the housing positioning module 3. A pallet conveying positioning module 6 is located on the front side of the housing positioning module 3, and a screw adjustment module 1 is located on the rear side of the housing positioning module 3. A pick-and-place module 5 is connected to the frame 7 located on one side of the pallet conveying positioning module 6.

[0068] The screw adjustment module 1 includes a gun head assembly, a gun head moving module, and a gun head lifting mechanism. The top of the gun head lifting mechanism is connected to the bottom of the gun head moving module, and the top of the gun head moving module is connected to the gun head assembly.

[0069] The gun head assembly includes a gun head connecting base plate, a gun head drive motor, a connecting rod, a guide rod, and a gun head. The gun head connecting base plate 1-1 is connected to the gun head drive motor 1-2 via a motor connector. The drive shaft of the gun head drive motor 1-2 is connected to one end of the connecting rod 1-3 via a coupling 1-9. The other end of the connecting rod 1-3 abuts against one end of the spring 1-4. The other end of the spring 1-4 abuts against one end of the guide rod 1-5. The other end of the guide rod 1-5 is connected to the gun head 1-6. A guide sleeve 1-7 is sleeved on the outside of the guide rod 1-5. A position sensor 1-8 is provided on one side of the guide sleeve 1-7.

[0070] The gun head moving module includes a Y-axis drive motor, a Y-axis moving slide rail, a Y-axis moving slider, a lower base plate, an upper base plate, an X-axis moving slide rail, an X-axis moving slider, an X-axis moving cylinder, and a connecting base plate. The lower base plate 1-10 is connected to the Y-axis drive motor 1-13 via a motor connector. The drive shaft of the Y-axis drive motor 1-13 is connected to the Y-axis moving slider 1-12 via a slider connector. The bottom of the Y-axis moving slider 1-12 is slidably connected to the Y-axis moving slide rail 1-11. The top of block 1-12 is connected to the back of the upper base plate 1-14. An X-axis moving cylinder 1-17 is connected to the upper base plate 1-14. The extension shaft of the X-axis moving cylinder 1-17 is connected to the connecting base plate 1-16. The bottom of the connecting base plate 1-16 is slidably connected to the X-axis moving slide rail 1-15 through the X-axis moving slider 1-18. The bottom of the X-axis moving slide rail 1-15 is fixedly connected to the upper base plate 1-14. The bottom of the Y-axis moving slide rail 1-11 is fixedly connected to the lower base plate 1-10.

[0071] The gun head lifting mechanism includes a lifting motor and a lifting screw assembly. The drive shaft of the lifting motor 1-19 is connected to one end of the lifting screw assembly 1-21 via a coupling 1-20. The other end of the lifting screw assembly 1-21 is connected to the lower base plate 1-10. A screw adjustment module bracket 1-22 is provided on the outside of the lifting screw assembly 1-21. The screw adjustment module bracket 1-22 is connected to the frame 7.

[0072] The gear hub adjustment module 2 includes a pressing cylinder, a pressing block, a gear assembly, a rotating tooling assembly, an arc-shaped moving module, and a gear hub adjustment module bracket. The bottom of the gear hub adjustment module bracket 2-1 is connected to the frame 7, and the arc-shaped moving module is connected to the middle of the gear hub adjustment module bracket 2-1. The rotating tooling assembly is connected to the rotating tooling assembly via a rotating tooling assembly connecting plate 2-4. A gear assembly is provided on the upper side of the rotating tooling assembly, and a pressing block 2-3 is provided above the gear assembly. The top of the pressing block 2-3 is connected to the extension shaft of the pressing cylinder 2-2, and the pressing cylinder 2-2 is located at the top of the gear hub adjustment module bracket 2-1.

[0073] The gear assembly includes a rotary gear and a gear motor. The drive shaft of the gear motor 2-5 is shaft-connected to the rotary gear 2-6, and the gear motor 2-5 is fixedly connected to the rotary tooling assembly connecting plate 2-4 through a motor connector.

[0074] The arc-shaped moving module includes a base plate, an arc-shaped slider, an arc-shaped small slide rail, and an arc-shaped large slide rail. One side of the base plate 2-7 is connected to the arc-shaped small slide rail 2-8, and the other side of the base plate 2-7 is connected to the arc-shaped large slide rail 2-9. The arc-shaped small slide rail 2-8 and the arc-shaped large slide rail 2-9 are at the same center, and the arc-shaped small slide rail 2-8 and the arc-shaped large slide rail 2-9 are respectively connected to the back of the rotating tooling assembly connecting plate 2-4 through the arc-shaped slider 2-10.

[0075] The inner side of the arc-shaped sliding rail 2-9 of the arc-shaped moving module is provided with arc-shaped teeth that mesh with the rotating gear 2-6 of the gear assembly.

[0076] The rotary tooling assembly includes a base plate, a cylinder, a movable slider, a movable slide rail, a connecting plate, a rotary tooling drive motor, a guide rod, and a rotary tooling. The back of the base plate 2-11 is fixedly connected to the connecting plate 2-4. A cylinder 2-12 is mounted on the base plate 2-11, and the extension shaft of the cylinder 2-12 is connected to the connecting plate 2-15. The bottom of the connecting plate 2-15 is slidably connected to the movable slide rail 2-14 via a movable slider 2-13. The movable slide rail 2-14 is fixedly connected to the base plate 2-11 of the rotating tooling assembly; the rotating tooling drive motor 2-16 is connected to the connecting plate 2-15 through the motor connector; the drive shaft of the rotating tooling drive motor 2-16 is connected to one end of the guide rod 2-18 through the coupling 3 2-17; the other end of the guide rod 2-18 abuts against one end of the spring 2-19; ​​the other end of the spring 2-19 abuts against the rotating tooling 2-20; and the guide sleeve 2-21 is sleeved on the outside of the guide rod 2-18.

[0077] The housing positioning module 3 includes a housing positioning module bracket, a positioning platform 1, a positioning fixture, a housing pressing cylinder, a housing pressing head, a housing transplanting cylinder, and a transplanting connector. The bottom of the housing positioning module bracket 3-1 is connected to the positioning platform 1 3-5. The positioning platform 1 3-5 is provided with a positioning fixture 3-4. The positioning fixture 3-4 is connected to the housing transplanting cylinder 3-7 through the transplanting connector 3-6. The housing pressing head 3-3 is provided above the positioning fixture 3-4. The top of the housing pressing head 3-3 is connected to the extension shaft of the housing pressing cylinder 3-2, and the housing pressing cylinder 3-2 is located at the top of the housing positioning module bracket 3-1.

[0078] The working process of the high-torque break-in equipment is as follows:

[0079] S1, the pallet conveying and positioning module 6 conveys the pallet containing the housing assembly to the designated position;

[0080] S2, after the tray holding the housing assembly is transported to the designated position, the pick-and-place module 5 picks up the housing assembly and places it on the housing positioning module 3;

[0081] S3, the housing positioning module 3 delivers the housing assembly to the positioning fixture 3-4 through the housing transfer cylinder 3-7, and presses the housing assembly through the housing pressing head 3-3;

[0082] S4, the gear adjustment module 4 and screw adjustment module 1 below and behind the housing positioning module 3 simultaneously perform no-load torque test on the housing assembly.

[0083] S5, After the no-load torque test is completed, the screw adjustment module 1 completes the adjustment process of the screws on the housing assembly;

[0084] S6, after the screw adjustment module 1 has finished working, the gear hub adjustment module 2 completes the rotation process of the worm gear assembly in the housing assembly according to the setting of the worm gear angle of different products.

[0085] S7. After the above process is completed, the housing positioning module 3 sends out the housing assembly, the pick-and-place module 5 picks up the housing assembly and places it on the pallet, and then transports it to the next station through the pallet conveying and positioning module 6.

[0086] The connecting base plate 1-16 of the gun head moving module is connected to the back of the gun head connecting base plate 1-1 of the gun head assembly.

[0087] The gear adjustment module 4 includes a gear adjustment module bracket, a gear adjustment motor, a torque sensor, a connecting rod, a torque protector, a gear contouring fixture, and a lifting cylinder. The bottom of the gear adjustment module bracket 4-16 is connected to the gear adjustment motor 4-8 via a motor connector. The drive shaft of the gear adjustment motor 4-8 is connected to one end of the torque sensor 4-9. The other end of the torque sensor 4-9 is connected to one end of the connecting rod 4-10. The other end of the connecting rod 4-10 is connected to one end of the torque protector 4-12 via a coupling 4-11. The other end of the torque protector 4-12 is connected to one end of the connecting rod 4-14. The other end of the connecting rod 4-14 is connected to the gear contouring fixture 4-15. The gear contouring fixture 4-15 passes through the positioning platform 4-5 and is located on the positioning platform 4-5. The bottom sides of the positioning platform 4-5 are respectively connected to the extension shafts of the lifting cylinder 4-13. The bottom of the lifting cylinder 4-13 is connected to the top of the gear adjustment module bracket 4-16.

[0088] The pick-and-place module 5 includes a pick-and-place module bracket, a robotic arm, a gripper connecting rod, and pneumatic grippers. The bottom of the pick-and-place module bracket 5-1 is fixedly connected to the frame 7, and the top of the pick-and-place module bracket 5-1 is connected to one end of the robotic arm 5-2. The other end of the robotic arm 5-2 is connected to several pneumatic grippers 5-4 through the gripper connecting rod 5-3.

[0089] The pneumatic gripper 5-4 is provided with at least two sets.

[0090] The pallet conveying and positioning module 6 includes a pallet conveying mechanism, a pallet lifting mechanism, and a pallet positioning structure. The pallet conveying mechanism 6-1 is provided on the frame 7 in front of the gear adjustment module 4. The left and right sides above the pallet conveying mechanism 6-1 are respectively connected to the left pallet horizontal positioning structure 6-3 and the right pallet horizontal positioning structure 6-4 through the connecting brackets 6-2. The pallet lifting mechanism 6-5 is provided on the frame 7 below the left pallet horizontal positioning structure 6-3 and the right pallet horizontal positioning structure 6-4.

[0091] The specific procedure for the no-load torque test of the screw adjustment module 1 in step S4 is as follows:

[0092] S411, the X-direction moving cylinder 1-17 pushes the connecting base plate 1-16 and the gun head assembly on it forward through the X-direction moving slider 1-18;

[0093] S412, after the gun head 1-6 contacts the screw on the housing assembly, the gun head 1-6 and the guide rod 1-5 behind it retract relative to the guide sleeve 1-7, and the spring 1-4 is compressed.

[0094] S413, guide rod 1-5 and position sensor 1-8 are connected by a hinge, and position sensor 1-8 moves backward synchronously with guide rod 1-5;

[0095] S414, the gun head drive motor 1-2 drives the gun head 1-6 to rotate 180° in both directions to ensure that the gun head 1-6 enters the housing screw;

[0096] S415, position sensor 1-8 detects the protruding feature on guide sleeve 1-7. If position sensor 1-8 detects it, gun head drive motor 1-2 drives gun head 1-6 to reverse, causing the screw to be turned outward until sensor 1-8 no longer detects a signal; then gun head drive motor 1-2 drives gun head 1-6 to rotate forward until sensor 1-8 is triggered, and the device sets the current screw angle to the initial angle.

[0097] The specific procedure for the no-load torque test of the gear adjustment module 4 in step S4 is as follows:

[0098] S441, the gear adjusting motor 4-8 drives the gear contouring fixture 4-15 to rotate more than 360°, and tests the no-load torque at the gear end of the housing;

[0099] S442, the initial point of torque value is moved backward and the end point of value is moved forward to avoid the acceleration and deceleration phase of the drive device, ensuring that the value taking process is not affected by the acceleration during the acceleration and deceleration phase, and ensuring that the effective value taking range is not less than 360°.

[0100] S443, the turbine in the drive housing assembly of the gear contouring tool 4-15 rotates 360°, calculates the average torque, and subtracts this average value from the average value of the no-load torque test in step S441. The difference is compared with the set range. If it is within the range, it is considered qualified; otherwise, it is unqualified. In the qualified state, the current angle of the screw tightening gun is recorded and set as the reference point.

[0101] The specific process of the gear hub adjustment module 2 in step S6 is as follows:

[0102] S61, the gear motor 2-5 drives the rotary gear 2-6 to rotate, and through the meshing of the rotary gear 2-6 and the arc-shaped large slide rail 2-9, the rotary tooling assembly connecting plate 2-4 and the rotary tooling assembly on it move to the target position;

[0103] S62, cylinder 2-12 pushes connecting plate 2-15 forward, causing rotating tool 2-20 to fit against the gear hub of housing assembly, and then causing guide rod 2-18 behind it to move backward, compressing spring 2-19. Position detection sensor is connected to guide rod 2-18 through hinge, and position detection sensor moves backward synchronously.

[0104] S63, the rotary tooling drive motor 2-16 drives the rotary tooling 2-20 to rotate continuously in both directions. The position detection sensor detects the state of the protrusion on the guide sleeve 2-21. If it is detected, that is, the rotary tooling 2-20 has been fitted into the gear hub, the rotary tooling drive motor 2-16 stops rotating. Otherwise, the rotary tooling drive motor 2-16 continues to rotate until the set maximum angle.

[0105] The specific workflow of the pallet conveying and positioning module 6 in step S1 is as follows:

[0106] S11, the pallet conveying mechanism 6-1 conveys the pallets containing the housing assembly on the left and right sides to the front of the gear adjustment module 4;

[0107] S12, the pallet lifting mechanism 6-5 under the left and right pallets lifts the left and right pallets upward until it contacts the horizontal positioning structure 6-3 of the left pallet and the horizontal positioning structure 6-4 of the right pallet respectively and stops.

[0108] S13, when it is necessary to lower, the pallet lifting mechanism 6-5 operates in reverse to lower the pallets on the left and right sides, and the pallet conveying mechanism 6-1 transports them to the next work station.

[0109] like Figure 4 As shown, the key features of the SCU are as follows: the SCU can be designed with the following differences: the adjusting nut has two positions in the horizontal direction, the worm has four angles in the vertical direction, and the worm has one angle in the vertical direction.

[0110] Pallet conveying and positioning module: The pallet is lifted by the pallet lifting mechanism 6-5, and the horizontal positioning structure 6-3 on the left side of the pallet and the horizontal positioning structure 6-4 on the right side of the pallet, as well as the positioning features on the pallet, ensure the horizontal height and provide a stable positioning accuracy, which prepares for the subsequent pick-and-place module 5 to pick up and place the housing assembly.

[0111] Pick-and-place module: The robotic arm 5-2 moves up and down and horizontally, and the pneumatic gripper 5-4 performs the gripping action of SCU; one pneumatic gripper 5-4 grips the SCU to be processed, and the other picks and places the completed SCU, reducing the cycle time.

[0112] Housing positioning module: The cooperation of positioning fixture 3-4 and housing pressing head 3-3 ensures the positioning accuracy of the housing assembly in terms of horizontal / center / angle.

[0113] Gear Hub Adjustment Module: There are two sets of this module, installed opposite each other. The module includes a base plate with an arc-shaped guide rail, a gear hub rotation mechanism that can move forward and backward, and a mechanism that meshes with the arc-shaped guide rail and can rotate to adjust the angle.

[0114] Detailed description of the processing procedure of this invention:

[0115] 1. Depending on the material condition, one of the two sets of opposing gear hub adjustment modules is activated.

[0116] 2. The gear motor 2-5 drives the rotating gear 2-6 to rotate. Through the meshing of the rotating gear 2-6 and the arc-shaped large slide rail 2-9, the rotating tooling assembly connecting plate 2-4 and the rotating tooling assembly on it move to the target position. This action allows the equipment to be compatible with products with four different toothed hub orientations: up, down, left, and right.

[0117] 3. Automatic Type Change - Screw Adjustment Module: The Y-axis drive motor 1-13 drives the upper base plate 1-14 and its modules to move left and right along the linear guide rail to reach the target position via the lead screw and the Y-axis moving slider 1-12. This action allows the equipment to adjust the screw position of two different products.

[0118] 4. Housing assembly clamping and positioning: The robotic arm 5-2 drives the pneumatic gripper 5-4 to clamp the housing assembly to be processed and place it in the positioning fixture 3-4; the housing pressing cylinder 3-2 drives the housing pressing head 3-3 to press down and fasten the housing assembly.

[0119] 5. No-load torque test (ER1): The X-axis moving cylinder 1-17 pushes the connecting base plate 1-16 and the gun head assembly on it forward through the X-axis moving slider 1-18; after the gun head 1-6 contacts the screw on the housing assembly, the gun head 1-6 and the guide rod 1-5 behind it retract relative to the guide sleeve 1-7, and the spring 1-4 is compressed; the guide rod 1-5 and the position sensor 1-8 are connected by a hinge, and the position sensor 1-8 retracts synchronously with the guide rod 1-5; the gun head drive motor 1-2 drives the gun head 1-6 to rotate 180° in both directions to ensure that the gun head 1-6 enters the housing screw; the position sensor 1-8 detects the protrusion feature on the guide sleeve 1-7. If the position sensor 1-8 detects it, the gun head drive motor 1-2 drives the gun head 1-6 to reverse, driving the screw to be turned outward until the sensor 1-8 no longer detects a signal; then the gun head drive motor 1-2 drives the gun head 1-6 to rotate forward until the sensor 1-8 is triggered, and the equipment sets the current screw angle to the initial angle. The servo-driven gun head rapidly feeds to a fixed angle based on the initial angle.

[0120] Through the above process, regardless of the original angle of the screw within the housing, it will be adjusted to a fixed state, ensuring the stability of the part's condition. During subsequent rapid feed, the screw will not touch the support bearing within the housing, thus eliminating any quality risks.

[0121] 6. The gear adjustment motor 4-8 drives the gear contouring fixture 4-15 to rotate the gears of the housing assembly and test the no-load torque. This process is performed synchronously with step 5 to reduce cycle time. The stability of step 5 ensures the stability of the housing assembly during this process, meaning that the screws are not in contact with the support bearings during the test.

[0122] The gear rotates more than 360° while the torque at the gear end is measured. The initial point for torque measurement is moved backward and the final point is moved forward to avoid the acceleration and deceleration phases of the drive device, ensuring that the measurement process is not affected by the acceleration during the acceleration and deceleration phases, and ensuring that the effective measurement range is not less than 360°.

[0123] The measured average / maximum / minimum / fluctuation values ​​of torque are compared with the set values ​​to determine whether the process is qualified.

[0124] 7. Finding the trigger point: The gun head drive motor 1-2 drives the screw to tighten, and the gun head 1-6 is fed slowly. The synchronous gear adjustment motor 4-8 drives the gear to rotate and tests its no-load torque. The no-load torque is compared in real time with the torque recorded in step 5 (to ensure effectiveness, the torque comparison must be at the same angle). When the torque increase value measured in this step relative to step 5 reaches a certain set value, the screw tightening fixture and the gear drive fixture stop operating.

[0125] The gear-following fixture 4-15 drives the turbine to rotate 360°, calculates its average torque, and subtracts this average from the average value of the no-load torque test in Description 1. The difference is compared with the set range; if it is within the range, it is considered qualified; otherwise, it is unqualified. In the qualified state, the current angle of the screw tightening gun is recorded and set as the reference point.

[0126] Failure modes that are misjudged by individual torque spikes can be identified by comparing average values.

[0127] As shown above, the state at which the worm and turbine begin to contact is found by increasing the torque, and the corresponding angle of the adjusting nut is determined.

[0128] According to the above description, if the comparison result is not qualified, the online adjustment process is initiated. Depending on the direction of the difference offset, the screw tightening fixture is tightened or loosened, and then the retest is continued until the difference is within the set range.

[0129] 8. Adjust the screws and tighten them: Tighten the screws to a fixed angle based on the reference point to ensure that the meshing depth of the turbine and gear meets the break-in depth requirements at this tightening angle.

[0130] 9. Turbine and worm gear break-in: Gear motor 2-5 drives rotary gear 2-6 to rotate. Through the meshing of rotary gear 2-6 and arc-shaped large slide rail 2-9, rotary tooling assembly connecting plate 2-4 and its rotary tooling assembly move to the target position; cylinder 2-12 pushes connecting plate 2-15 forward, causing rotary tooling 2-20 to fit tightly against the toothed hub of the housing assembly, and then causing guide rod 2-18 behind it to move backward, compressing spring 2-19. Position detection sensor is connected to guide rod 2-18 through a hinge, and position detection sensor moves backward synchronously; rotary tooling drive motor 2-16 drives rotary tooling 2-20 to rotate continuously in both directions. Position detection sensor detects the state of the protrusion on guide sleeve 2-21. If it is detected, that is, rotary tooling 2-20 has been fitted into the toothed hub, rotary tooling drive motor 2-16 stops rotating; otherwise, rotary tooling drive motor 2-16 continues to rotate until the set maximum angle.

[0131] The above process ensures that the drive rotating fixture 2-20 has fully entered the gear hub before the break-in period, ensuring that the subsequent running and angles are effective.

[0132] The rotary tooling drive motor 2-16 adds a fixed load torque to the gear hub end, and the gear adjustment motor 4-8 adds a fixed speed drive torque to the gear end. The turbine / gear is run-in at a fixed angle by rotating forward / reverse at a set speed, so that the turbine surface will produce creep through the run-in.

[0133] 10. Loosen the adjusting screw: Based on the reference point, loosen the adjusting screw to a fixed angle. The angle value is derived from the product design to ensure that at this angle, the adjusting screw no longer presses the worm gear against the turbine by compressing the bracket bearing bushing in the worm gear assembly.

[0134] 11. No-load torque test (ER2): The turbine rotates 360°, and the torque is tested during the process. The average / maximum / minimum / fluctuation value of the torque is compared with the set range to determine whether the process is qualified.

[0135] The maximum value of ER2 should be set within a smaller range than the maximum value of FTT, leaving room for adjustment to accommodate the increase in torque after the screws are tightened.

[0136] 12. Adjust the screws and tighten them: Tighten the screws at a fixed angle based on the reference point. By tightening the screws fully, the screws will press against the support bearing bushing in the worm gear assembly, so that the worm gear fits against the turbine gear and the gap between the turbine gear and the worm gear is eliminated.

[0137] 13. No-load torque test (FTT): The turbine rotates 360°, and the torque is tested during the process. The average / maximum / minimum / fluctuation value of the torque is compared with the set value. If the result is within the range, it is considered qualified. The difference (Δ) between the FTT average value and the ER2 average value is calculated and compared with the set value. If Δ is greater than the set value, it is considered qualified. By comparing the average values, failure modes that are misjudged by individual torque spikes can be identified.

[0138] If all of the above are satisfactory, the result is satisfactory; otherwise, the online rework process will be initiated.

[0139] 14. Detailed description of online rework process: If the difference (△) is greater than the set value and the maximum value exceeds the upper limit, adjust the screw to loosen the fixing angle, retest (FTT) and judge; if the difference is less than the set value and the maximum value is less than the upper limit, adjust the screw to tighten the fixing angle, retest (FTT) and judge; if the difference is less than the set value and the maximum value exceeds the upper limit, it is judged as unqualified; set an upper limit for the number of times the screw can be loosened / tightened, if the number of times the screw is adjusted exceeds the set value, it is judged as unqualified.

[0140] By following the above process, it is only necessary to design different SCU positioning fixtures for different products to ensure the compatibility of the equipment with products of different designs.

Claims

1. A high-torque break-in device, comprising a frame, a pallet conveying and positioning module, a housing positioning module, a gear adjustment module, a pick-and-place module, a gear hub adjustment module, and a screw adjustment module, characterized in that: A gear adjustment module (4) is connected to the frame (7). The top of the gear adjustment module (4) is connected to the housing positioning module (3). Gear hub adjustment modules (2) are located on the left and right sides of the housing positioning module (3). A pallet conveying positioning module (6) is located on the front side of the housing positioning module (3). A screw adjustment module (1) is located on the rear side of the housing positioning module (3). A pick-and-place module (5) is connected to the frame (7) located on one side of the pallet conveying positioning module (6). The screw adjustment module (1) includes a gun head assembly, a gun head moving module, and a gun head lifting mechanism. The top of the gun head lifting mechanism is connected to the bottom of the gun head moving module, and the top of the gun head moving module is connected to the gun head assembly. The gun head assembly includes a gun head connecting base plate, a gun head drive motor, a connecting rod, a guide rod, and a gun head. The gun head connecting base plate (1-1) is connected to the gun head drive motor (1-2) via a motor connector. The drive shaft of the gun head drive motor (1-2) is connected to one end of the connecting rod (1-3) via a coupling (1-9). The other end of the connecting rod (1-3) abuts against one end of the spring (1-4). The other end of the spring (1-4) abuts against one end of the guide rod (1-5). The other end of the guide rod (1-5) is connected to the gun head (1-6). A guide sleeve (1-7) is sleeved on the outside of the guide rod (1-5). A position sensor (1-8) is provided on one side of the guide sleeve (1-7). The gun head moving module includes a Y-axis drive motor, a Y-axis moving slide rail, a Y-axis moving slider, a lower base plate, an upper base plate, an X-axis moving slide rail, an X-axis moving slider, an X-axis moving cylinder, and a connecting base plate. The Y-axis drive motor (1-13) is connected to the lower base plate (1-10) via a motor connector. The drive shaft of the Y-axis drive motor (1-13) is connected to the Y-axis moving slider (1-12) via a slider connector. The bottom of the Y-axis moving slider (1-12) is slidably connected to the Y-axis moving slide rail (1-11). The top is connected to the upper base plate (1-14), and the back is connected to the upper base plate (1-14). An X-axis moving cylinder (1-17) is connected to the upper base plate (1-14). The extension shaft of the X-axis moving cylinder (1-17) is connected to the connecting base plate (1-16). The bottom of the connecting base plate (1-16) is slidably connected to the X-axis moving slide rail (1-15) through the X-axis moving slider (1-18). The bottom of the X-axis moving slide rail (1-15) is fixedly connected to the upper base plate (1-14). The bottom of the Y-axis moving slide rail (1-11) is fixedly connected to the lower base plate (1-10). The gun head lifting mechanism includes a lifting motor and a lifting screw assembly. The drive shaft of the lifting motor (1-19) is connected to one end of the lifting screw assembly (1-21) via a coupling (1-20), and the other end of the lifting screw assembly (1-21) is connected to the lower base plate (1-10). A screw adjustment module bracket (1-22) is provided on the outside of the lifting screw assembly (1-21), and the screw adjustment module bracket (1-22) is connected to the frame (7). The gear hub adjustment module (2) includes a pressing cylinder, a pressing block, a gear assembly, a rotating tooling assembly, an arc-shaped moving module, and a gear hub adjustment module bracket. The bottom of the gear hub adjustment module bracket (2-1) is connected to the frame (7), and the arc-shaped moving module is connected to the middle of the gear hub adjustment module bracket (2-1). The rotating tooling assembly is connected to the rotating tooling assembly via a rotating tooling assembly connecting plate (2-4). A gear assembly is provided on the upper side of the rotating tooling assembly, and a pressing block (2-3) is provided above the gear assembly. The top of the pressing block (2-3) is connected to the extension shaft of the pressing cylinder (2-2), and the pressing cylinder (2-2) is located on the top of the gear hub adjustment module bracket (2-1). The gear assembly includes a rotary gear and a gear motor. The drive shaft of the gear motor (2-5) is axially connected to the rotary gear (2-6), and the gear motor (2-5) is fixedly connected to the rotary tooling assembly connecting plate (2-4) through a motor connector. The arc-shaped moving module includes a base plate, an arc-shaped slider, an arc-shaped small slide rail, and an arc-shaped large slide rail. One side of the base plate (2-7) is connected to the arc-shaped small slide rail (2-8), and the other side of the base plate (2-7) is connected to the arc-shaped large slide rail (2-9). The arc-shaped small slide rail (2-8) and the arc-shaped large slide rail (2-9) are at the same center, and the arc-shaped small slide rail (2-8) and the arc-shaped large slide rail (2-9) are respectively connected to the back of the rotating tooling assembly connecting plate (2-4) through the arc-shaped slider (2-10). The inner side of the arc-shaped sliding rail (2-9) of the arc-shaped moving module is provided with arc-shaped teeth that mesh with the rotating gear (2-6) of the gear assembly; The rotary tooling assembly includes a base plate, a cylinder, a movable slider, a movable slide rail, a connecting plate, a rotary tooling drive motor, a guide rod, and a rotary tooling. The back of the base plate (2-11) is fixedly connected to the connecting plate (2-4). A cylinder (2-12) is mounted on the base plate (2-11). The extension shaft of the cylinder (2-12) is connected to the connecting plate (2-15). The bottom of the connecting plate (2-15) is slidably connected to the movable slide rail (2-14) via a movable slider (2-13). The rail (2-14) is fixedly connected to the base plate (2-11) of the rotating tooling assembly; the rotating tooling drive motor (2-16) is connected to the connecting plate (2-15) through the motor connector; the drive shaft of the rotating tooling drive motor (2-16) is connected to one end of the guide rod (2-18) through the coupling three (2-17); the other end of the guide rod (2-18) abuts against one end of the spring two (2-19); the other end of the spring two (2-19) abuts against the rotating tooling (2-20); and the guide sleeve two (2-21) is sleeved on the outside of the guide rod two (2-18). The housing positioning module (3) includes a housing positioning module bracket, a positioning platform, a positioning fixture, a housing pressing cylinder, a housing pressing head, a housing transplanting cylinder, and a transplanting connector. The bottom of the housing positioning module bracket (3-1) is connected to the first positioning platform (3-5). The first positioning platform (3-5) is provided with a positioning fixture (3-4). The positioning fixture (3-4) is connected to the housing transplanting cylinder (3-7) through the transplanting connector (3-6). The housing pressing head (3-3) is provided above the positioning fixture (3-4). The top of the housing pressing head (3-3) is connected to the extension shaft of the housing pressing cylinder (3-2). The housing pressing cylinder (3-2) is located at the top of the housing positioning module bracket (3-1). The working process of the high-torque break-in equipment is as follows: S1, the pallet conveying and positioning module (6) conveys the pallet containing the housing assembly to the designated position; S2, after the tray holding the housing assembly is transported to the designated position, the pick-and-place module (5) picks up the housing assembly and places it on the housing positioning module (3); S3, the housing positioning module (3) delivers the housing assembly to the positioning fixture (3-4) through the housing transfer cylinder (3-7), and presses the housing assembly through the housing pressing head (3-3); S4, the gear adjustment module (4) below and behind the housing positioning module (3) and the screw adjustment module (1) simultaneously perform no-load torque tests on the housing assembly; S5, After the no-load torque test is completed, the screw adjustment module (1) completes the adjustment process of the screws on the housing assembly; S6, After the screw adjustment module (1) finishes its work, the gear hub adjustment module (2) completes the rotation process of the worm gear assembly in the housing assembly according to the setting of the worm gear angle of different products; S7. After the above process is completed, the housing positioning module (3) sends out the housing assembly, the pick-and-place module (5) picks up the housing assembly and places it on the pallet, and then transports it to the next station through the pallet conveying positioning module (6).

2. The high-torque break-in equipment according to claim 1, characterized in that: The connecting base plate (1-16) of the gun head moving module is connected to the back of the gun head connecting base plate (1-1) of the gun head assembly.

3. The high-torque break-in equipment according to claim 1, characterized in that: The gear adjustment module (4) includes a gear adjustment module bracket, a gear adjustment motor, a torque sensor, a connecting rod, a torque protector, a gear contouring fixture, and a lifting cylinder. The bottom of the gear adjustment module bracket (4-16) is connected to the gear adjustment motor (4-8) via a motor connector. The drive shaft of the gear adjustment motor (4-8) is connected to one end of the torque sensor (4-9). The other end of the torque sensor (4-9) is connected to one end of the connecting rod (4-10). The other end of the connecting rod (4-10) is connected to the torque sensor (4-11) via a coupling (4-11). One end of the torque protector (4-12) is connected to the other end of the connecting rod (4-14), and the other end of the connecting rod (4-14) is connected to the gear contouring fixture (4-15). The gear contouring fixture (4-15) passes through the positioning platform (4-5) and is located on the positioning platform (4-5). The bottom sides of the positioning platform (4-5) are respectively connected to the extension shaft of the lifting cylinder (4-13), and the bottom of the lifting cylinder (4-13) is connected to the top of the gear adjustment module bracket (4-16).

4. The high-torque break-in equipment according to claim 1, characterized in that: The pick-and-place module (5) includes a pick-and-place module bracket, a robotic arm, a gripper connecting rod, and pneumatic grippers. The bottom of the pick-and-place module bracket (5-1) is fixedly connected to the frame (7), and the top of the pick-and-place module bracket (5-1) is connected to one end of the robotic arm (5-2). The other end of the robotic arm (5-2) is connected to several pneumatic grippers (5-4) through the gripper connecting rod (5-3).

5. The high-torque break-in equipment according to claim 4, characterized in that: The pneumatic gripper (5-4) is provided in at least two sets.

6. The high-torque break-in equipment according to claim 1, characterized in that: The pallet conveying and positioning module (6) includes a pallet conveying mechanism, a pallet lifting mechanism, and a pallet positioning structure. The pallet conveying mechanism (6-1) is provided on the frame (7) in front of the gear adjustment module (4). The left and right sides above the pallet conveying mechanism (6-1) are connected to the left pallet horizontal positioning structure (6-3) and the right pallet horizontal positioning structure (6-4) respectively through the connecting bracket (6-2). The pallet lifting mechanism (6-5) is provided on the frame (7) below the left pallet horizontal positioning structure (6-3) and the right pallet horizontal positioning structure (6-4).

7. The high-torque break-in equipment according to claim 1, characterized in that: The specific procedure for the no-load torque test of the screw adjustment module (1) in step S4 is as follows: S411, the X-axis moving cylinder (1-17) pushes the connecting base plate (1-16) and the gun head assembly on it forward through the X-axis moving slider (1-18); S412, after the gun head (1-6) contacts the screw on the housing assembly, the gun head (1-6) and the guide rod (1-5) behind it retract relative to the guide sleeve (1-7), and the spring (1-4) is compressed; S413, guide rod 1 (1-5) and position sensor (1-8) are connected by a hinge, and position sensor (1-8) moves backward synchronously with guide rod 1 (1-5); S414, the gun head drive motor (1-2) drives the gun head (1-6) to rotate 180° in both directions, ensuring that the gun head (1-6) enters the housing screw; S415, the position sensor (1-8) detects the protrusion on the guide sleeve (1-7). If the position sensor (1-8) detects it, the gun head drive motor (1-2) drives the gun head (1-6) to reverse, causing the screw to be turned outward until the sensor (1-8) no longer detects a signal. Then the gun head drive motor (1-2) drives the gun head (1-6) to rotate forward until the sensor (1-8) is triggered, and the device sets the current angle of the screw to the initial angle.

8. The high-torque break-in equipment according to claim 1, characterized in that: The specific procedure for the no-load torque test of the gear adjustment module (4) in step S4 is as follows: S441, the gear adjusting motor (4-8) drives the gear contouring fixture (4-15) to rotate more than 360°, and tests the no-load torque at the gear end of the housing; S442, the initial point of torque value is moved backward and the end point of value is moved forward to avoid the acceleration and deceleration phase of the drive device, ensuring that the value taking process is not affected by the acceleration during the acceleration and deceleration phase, and ensuring that the effective value taking range is not less than 360°. S443, the gear contouring tool (4-15) drives the turbine in the housing assembly to rotate 360°, calculates the average torque, and subtracts this average value from the average value of the no-load torque test in step S441. The difference is compared with the set range. If it is within the range, it is considered qualified; otherwise, it is unqualified. In the qualified state, the current angle of the screw tightening gun is recorded and set as the reference point.

9. The high-torque break-in equipment according to claim 1, characterized in that: The specific process of the gear hub adjustment module (2) in step S6 is as follows: S61, the gear motor (2-5) drives the rotary gear (2-6) to rotate. Through the meshing of the rotary gear (2-6) and the arc-shaped large slide rail (2-9), the rotary tooling assembly connecting plate (2-4) and the rotary tooling assembly on it move to the target position. S62, the cylinder (2-12) pushes the connecting plate (2-15) forward, causing the rotating tool (2-20) to press against the gear hub of the housing assembly, and then causing the guide rod (2-18) behind it to move backward, compressing the spring (2-19). The position detection sensor is connected to the guide rod (2-18) through a hinge, and the position detection sensor moves backward synchronously. S63, the rotary tooling drive motor (2-16) drives the rotary tooling (2-20) to rotate continuously in both directions. The position detection sensor detects the state of the protrusion on the guide sleeve (2-21). If it is detected, that is, the rotary tooling (2-20) has been fitted into the gear hub, the rotary tooling drive motor (2-16) stops rotating. Otherwise, the rotary tooling drive motor (2-16) continues to rotate until the set maximum angle.

10. A high-torque break-in device according to claim 1, characterized in that: The specific workflow of the pallet conveying and positioning module (6) in step S1 is as follows: S11, the pallet conveying mechanism (6-1) conveys the pallets on the left and right sides containing the housing assembly to the front of the gear adjustment module (4); S12, the pallet lifting mechanism (6-5) under the left and right pallets lifts the left and right pallets upward until it contacts the horizontal positioning structure (6-3) of the left pallet and the horizontal positioning structure (6-4) of the right pallet respectively and stops. S13, when it is necessary to lower, the pallet lifting mechanism (6-5) operates in reverse to lower the pallets on the left and right sides, and the pallet conveying mechanism (6-1) transports them to the next work station.

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