High-flexibility automatic bolt gluing and tightening device for toothed bolts

Abstract

The application discloses a high-flexibility toothed bolt automatic bolt gluing and tightening device, which comprises a vibrating tray mechanism, an automatic feeding mechanism, an automatic gluing mechanism, a visual mistake-proofing mechanism, an automatic tightening mechanism, an automatic material taking mechanism and a workpiece rotating mechanism arranged on a rack, the workpiece rotating mechanism is used for placing a differential gear with toothed bolts, the vibrating tray mechanism is used for placing the toothed bolts and conveying the toothed bolts to the starting point of the automatic feeding mechanism, the automatic gluing mechanism and the visual mistake-proofing mechanism are sequentially arranged between the starting point and the ending point of the automatic feeding mechanism, the automatic material taking mechanism is arranged at the ending point of the automatic feeding mechanism, and the automatic material taking mechanism is used for taking the toothed bolts from the automatic feeding mechanism and conveying the toothed bolts to the automatic tightening mechanism. The application realizes automatic assembly and detection of the whole process of bolt gluing and tightening, and avoids failure risks caused by manual operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical processing manufacturing, in particular to a high-flexibility bolted gear bolt automatic bolt gluing and tightening equipment. BACKGROUND

[0002] At present, whether it is a fuel automobile or an electric automobile, during its driving process, the automobile power is transmitted to the main reducer through the engine or the motor, and then transmitted to the wheels at both ends through the speed reduction and torque increase of the reducer to drive the wheels to rotate. In this process, the last group of large gears fixed on the differential bear the maximum torque. At present, the mainstream way of assembling the differential and the large gear is bolt connection. In order to prevent the bolts from loosening (the number of connecting bolts is 6 to 14) during long-term high-load operation, the connecting bolts must be coated with anti-loosening anaerobic glue. At present, the worker manually immerses the threads of the bolt into the anaerobic glue solution for gluing, then manually pre-assembles the bolt into the connecting thread hole of the differential and the large gear by using the air gun, and then manually transfers the "differential / gear / bolt assembly" to a tightening special machine with a tightening shaft for bolt torque tightening.

[0003] Most of the existing technical solutions are manually operated, which is too dependent on people's subjective factors, and is prone to failure due to fatigue operation. The main defects are as follows: 1. Manual operation in the gluing and pre-assembly process cannot prevent errors, and is prone to missed gluing; 2. Manual material taking cannot prevent errors of different lengths of bolts, and is prone to use wrong bolts; 3. The manual method of taking the bolt for gluing and soaking cannot achieve quantitative gluing, and often results in excessive or insufficient gluing; 4. Manual operation of anaerobic glue results in dripping everywhere. The first two failure modes of the above problems will cause functional failure of the product, such as bolt loosening causing abnormal noise; and in severe cases, safety accidents such as reducer assembly jamming causing the vehicle to be unable to drive.

[0004] The information disclosed in the above BACKGROUND section is only to increase the understanding of the overall background of the present application, and should not be regarded as acknowledging or implying in any form that the information constitutes prior art known to those skilled in the art. SUMMARY

[0005] In view of the above existing defects, the present application aims to provide a high-flexibility bolted gear bolt automatic bolt gluing and tightening equipment, which realizes automatic assembly and detection of the whole process of bolt gluing and tightening, and avoids the failure risk caused by human operation.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] The utility model provides a high flexible automatic bolt glueing and tightening equipment of toothed bolt, including setting on the vibrating tray mechanism of rack, automatic feeding mechanism, automatic glueing mechanism, visual mistake proofing mechanism, automatic tightening mechanism, automatic material taking mechanism and workpiece rotation mechanism, the workpiece rotation mechanism is used for placing differential gear belt tooth, the vibrating tray mechanism is used for placing toothed bolt, and toothed bolt is transported to the starting point of automatic feeding mechanism, between the starting point and the terminal point of automatic feeding mechanism, automatic glueing mechanism and visual mistake proofing mechanism are set gradually in proper order, the automatic material taking mechanism sets up in the terminal point of automatic feeding mechanism, the automatic material taking mechanism is used for taking toothed bolt from automatic feeding mechanism and sends to automatic tightening mechanism, and automatic tightening mechanism is opposite to workpiece rotation mechanism, and it is convenient for automatic tightening mechanism to tighten toothed bolt to the tooth of differential gear.

[0008] Further, the vibrating tray mechanism includes a tray, a variable frequency motor connected to the tray, a feeding cylinder and a guide groove arranged on the tray, the tray is vibrated by the variable frequency motor, the bolts are rearranged and rise to the bolt guide groove, and then are transported to the discharge port by the bolt guide groove, an in-place sensor and a feeding cylinder are arranged at the discharge port, the in-place sensor detects whether the bolts are in place, and the bolts are transported to the automatic feeding mechanism by the feeding cylinder.

[0009] Further, the automatic feeding mechanism includes a servo variable position mechanism and a turntable driven by the servo variable position mechanism.

[0010] Further, M6-M14 different size bolt grooves are arranged on the edge of the turntable.

[0011] Further, the turntable is uniformly arranged with 8 docking stations in the counterclockwise direction around the turntable, including a nailing station, a glueing station, a detection station, a sorting station, two nail outlet stations and two waiting stations, and the servo variable position mechanism drives the turntable by 45 degrees per step.

[0012] Further, the utility model also includes a nail taking station, which is communicated with the nail outlet station through a buffer bin.

[0013] Further, the automatic gluing mechanism comprises a bolt clamp, a glue gun, upper and lower pressing cylinders, a precision electronic pressure regulating valve, a bolt rotating servo motor and a glue gun lifting servo motor, two ends of the bolt clamp are connected with the upper and lower pressing cylinders, the bolt centering and clamping are realized through the upper and lower pressing cylinders, the bolt rotating servo motor is arranged beside the bolt clamp, the rotation of the bolt clamp is driven by a bolt rotating synchronous belt, the glue gun is also arranged beside the bolt clamp, the glue gun is automatically transported and fed up and down by the glue gun lifting servo motor, the precision electronic pressure regulating valve is arranged between the glue gun and the glue warehouse to realize accurate control of the anaerobic glue output, the bolt is uniformly rotated by the bolt rotating servo motor, the glue needle is automatically transported and fed up and down by the glue gun lifting servo motor, the bolt rotation and the up and down feeding are linked through the PLC general control system, and the thread gluing is realized according to the bolt specification.

[0014] Further, the visual error-proofing mechanism comprises a bolt clamp, an intelligent camera, upper and lower pressing cylinders and a bolt rotating servo motor, two ends of the bolt clamp are connected with the upper and lower pressing cylinders, the bolt centering and clamping are realized through the upper and lower pressing cylinders, the bolt rotating servo motor is arranged beside the bolt clamp, the rotation of the bolt clamp is driven by a bolt rotating synchronous belt, the intelligent camera is also arranged beside the bolt clamp, the intelligent camera takes pictures of several threads on the fixed position of the bolt at 360°, then identifies the color difference between "with glue" and "without glue" through the internal processor to detect whether the gluing quality of each thread is qualified, and feeds back the detection result to the PLC, the intelligent camera can also call the self-learning function of the internal processor to compare with the historical defect mode to double-check whether the gluing quality is qualified, in addition, the intelligent camera can also calculate the length and thread diameter of the bolt according to the shape of the bolt to prevent the risk of wrong bolt use.

[0015] Further, the automatic material taking mechanism comprises a self-centering clamp jaw, a clamp jaw centering cylinder, a clamp jaw lifting cylinder, a bolt feeding cylinder, a center distance adjusting servo device and a center distance adjusting reverse screw pair, the self-centering clamp jaw is sequentially connected with the clamp jaw centering cylinder, the clamp jaw lifting cylinder and the center distance adjusting reverse screw pair, the center distance adjusting servo device is arranged on one side of the center distance adjusting reverse screw pair, and the bolt feeding cylinder is arranged beside the self-centering clamp jaw and connected with a pin taking station of the automatic feeding mechanism. The material taking and tightening position conversion are realized by moving the clamp jaw lifting cylinder and the clamp jaw centering cylinder, the compatibility of different division circle bolts is realized through the center distance adjusting servo device, the clamp jaw of the automatic material taking mechanism is connected with the automatic tightening mechanism, the center distance adjusting servo device is used for driving the screw rod to rotate, when the reverse screw rotates, the corresponding sliding plates can move leftward and rightward through the nut pairs arranged at two ends, and then the left / right center distance synchronous adjustment is realized.

[0016] Further, the automatic tightening mechanism comprises a tightening shaft, a lifting servo module, a tightening servo motor, a speed reducer mechanism, a torque sensor, a displacement sensor, a bolt adapter, a center distance adjustment servo motor, a center distance adjustment reverse screw rod, a tightening adapter and a workpiece pressing mechanism, the tightening shaft is connected with an input shaft through the tightening adapter, the input shaft is connected with the tightening servo motor and the lifting servo module through the torque sensor and the displacement sensor respectively, and the input shaft is arranged on the center distance adjustment reverse screw rod and provided with the center distance adjustment servo motor on one side of the center distance adjustment reverse screw rod. The diagonal tightening of the bolt is realized by the tightening servo motor and the lifting servo module, the compatibility of different division circle bolts is realized by the center distance adjustment servo motor, the torque sensor is used for monitoring the reverse torque of the bolt in the servo tightening process in real time, and the displacement sensor is used for detecting the tightening amount of the bolt in the tightening process, and the tightening is stopped after the set target is reached.

[0017] Further, the workpiece rotating mechanism comprises a workpiece rotating servo motor, a gear reducer, a self-centering clamp jaw and a centering cylinder, the self-centering clamp jaw is arranged above the centering cylinder, the centering cylinder is arranged above the gear reducer, and the workpiece rotating servo motor is in rotary transmission connection with the gear reducer. The workpiece fixed angle rotation is realized by the workpiece rotating servo motor, and the compatibility of different outer diameter workpieces is realized by the pneumatic clamp jaw.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] The vibration disc feeding cooperates with the multi-station servo displacement mechanism to realize the tooling switching-free compatibility of feeding of different specifications of screws; the non-contact displacement sensor cooperates with the visual system to realize the mistake-proofing verification of different specifications of bolt lengths and diameters; the precision glue supply pump is carried with the servo module and the servo displacement mechanism to realize the full-automatic switching compatibility of glue coating of different bolt pitches; the intelligent camera cooperates with the servo displacement mechanism to realize the 360° glue leakage prevention verification; the left-right symmetrical arrangement of the tightening devices cooperates with the servo displacement mechanism to realize the full-automatic diagonal tightening of all bolts; and the two tightening motors cooperate with the center distance servo adjustment device to realize the full-automatic switching compatibility of different division circle bolts. After the high-flexibility toothed bolt automatic screw gluing and tightening equipment is used, various potential failure risks in the manual gluing and pre-assembly process are eliminated, the one-time off-line qualification rate and product reliability are improved, the labor intensity of employees is reduced, and the labor cost is saved: 1. the same equipment can be compatible with M6-M14 different specifications, 6-18 different numbers of toothed bolts for automatic gluing and tightening; 2. 100% mistake-proofing of defects such as glue leakage, discontinuous gluing and wrong screw use is realized; 3. 100% gluing effect, tightening angle and displacement monitoring and tracing are realized; 4. 40 sets of 12-bolt type products can be automatically glued and tightened per hour. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 As: the product process schematic diagram of the present application is realized;

[0021] Figure 2 As: the overall structure diagram of the equipment of the present application is realized;

[0022] Figure 3 As: the vibrating tray mechanism diagram of the present application is realized;

[0023] Figure 4 As: the bolt dispensing mechanism diagram of the present application is realized;

[0024] Figure 5 As: the thread gluing mechanism diagram of the present application is realized;

[0025] Figure 6 As: the glue amount checking mechanism diagram of the present application is realized;

[0026] Figure 7 As: the bolt picking mechanism diagram of the present application is realized;

[0027] Figure 8 As: the bolt pre-tightening mechanism diagram of the present application is realized;

[0028] Figure 9 As: the assembly rotating mechanism diagram of the present application is realized;

[0029] Figure 10 As: the PLC overall control system framework diagram of the present application is realized;

[0030] Figure 11 As: the operation logic diagram of the PLC overall control system of the present application is realized;

[0031] In the figure, 1-vibration tray mechanism; 2-automatic feeding mechanism; 3-automatic gluing mechanism; 4-vision error-proofing mechanism; 5-automatic tightening mechanism; 6-automatic material taking mechanism; 7-workpiece rotating mechanism; 8-differential gear belt tooth; 9-toothed bolt; 101-tray; 102-variable frequency motor; 103-feeding cylinder; 104-guiding groove; 105-in-place sensor; 201-servo variable position mechanism; 202-rotary table; 203-bolt groove; 204-upper nailing station; 205-gluing station; 206-detecting station; 207-sorting station; 208-outlet station; 209-waiting station; 210-nail taking station; 211-cached bin; 301-first bolt clamp; 302-glue gun; 303-first upper and lower pressing cylinder; 304-precision electronic pressure regulating valve; 305-first bolt rotating servo motor; 306-glue gun lifting servo motor; 401-second bolt clamp; 402-intelligent camera; 403-second upper and lower pressing cylinder; 404-second bolt rotating servo motor; 601-first self-centering clamp jaw; 602-clamp jaw centering cylinder; 603-clamp jaw lifting cylinder; 604-bolt feeding cylinder; 605-first center distance adjustment servo device; 606-first center distance adjustment reverse screw rod pair; 501-tightening shaft; 502-lifting servo module; 503-tightening servo motor; 504-reducer mechanism; 505-torque sensor; 506-displacement sensor; 507-bolt adapter; 508-second center distance adjustment servo motor; 509-second center distance adjustment reverse screw rod; 510-tightening adapter; 511-workpiece pressing mechanism; 701-workpiece rotating servo motor; 702-gear reducer, 703-second self-centering clamp jaw; 704-centering cylinder DETAILED DESCRIPTION

[0032] To describe the technical content of the present application, the purposes and effects achieved, the following will be described in conjunction with the embodiments and the accompanying drawings. In the description of the embodiments, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments and simplifying the description, and therefore cannot be understood as limiting the application.

[0033] As Figure 2As shown, a highly flexible automatic bolt gluing and tightening device for toothed bolts includes a vibrating feeder mechanism 1, an automatic feeding mechanism 2, an automatic gluing mechanism 3, a visual error prevention mechanism 4, an automatic tightening mechanism 5, an automatic material handling mechanism 6, and a workpiece rotation mechanism 7, all mounted on a frame. The workpiece rotation mechanism 7 is used to hold the differential gear teeth. The vibrating feeder mechanism 1 holds the toothed bolts 9 and transports them to the starting point of the automatic feeding mechanism 2. Between the starting and ending points of the automatic feeding mechanism 2, the automatic gluing mechanism 3 and the visual error prevention mechanism 4 are sequentially arranged. The automatic material handling mechanism 2 is located at the ending point of the automatic feeding mechanism and is used to remove the toothed bolts 9 from the automatic feeding mechanism 2 and deliver them to the automatic tightening mechanism 6. The automatic tightening mechanism 6 is positioned opposite the workpiece rotation mechanism 7 to facilitate tightening the toothed bolts onto the differential gear teeth. Figure 1 As shown.

[0034] In this embodiment, the vibrating feeder mechanism 1, as follows: Figure 3 As shown, the system includes a material tray 101, a variable frequency motor 102 connected to the material tray, a feeding cylinder 103 and a guide groove 104 set on the material tray 1. The variable frequency motor 102 drives the material tray 101 to vibrate, rearranges the bolts neatly and raises them to the bolt guide groove 104, and then conveys them to the discharge port by the bolt guide groove 104. A position sensor 105 and a feeding cylinder are set at the discharge port. The position sensor 105 detects whether the bolts are in place, and the bolts are then conveyed to the automatic feeding mechanism 2 by the feeding cylinder 103.

[0035] In this embodiment, such as Figure 4 As shown, the automatic feeding mechanism 2 consists of a servo positioning mechanism 201 and a turntable 202 driven by it.

[0036] In this embodiment, such as Figure 4 As shown, bolt grooves 203 of different specifications from M6 to M14 are provided on the edge of the turntable 202.

[0037] In this embodiment, such as Figure 4 As shown, around the turntable 202, there are a total of 8 docking stations arranged counterclockwise: nailing station 204, gluing station 205, inspection station 206, sorting station 207, nail dispensing station 208×2, and waiting station 209×2. The servo positioning mechanism 201 drives the turntable at 45° per step.

[0038] In this embodiment, such as Figure 4 As shown, it also includes a nail removal station 210, which is connected to the nail dispensing station 208 through a buffer hopper 211.

[0039] In this embodiment, such as Figure 5As shown, the automatic glue applying mechanism 3 includes a first bolt clamp 301, a glue gun 302, a first upper and lower pressing cylinder 303, a precision electronic pressure regulating valve 304, a bolt rotation servo motor 305 and a glue gun lifting servo motor 306. The two ends of the first bolt clamp 301 are connected to the upper and lower pressing cylinders 303, and the bolt centering clamping is realized through the upper and lower pressing cylinders 303. The bolt rotation servo motor 305 is arranged beside the first bolt clamp 301, and the rotation of the first bolt clamp 301 is driven by the bolt rotation synchronous belt. The glue gun 302 is also arranged beside the first bolt clamp 301, and the automatic transportation feeding of the glue gun 302 is driven up and down by the glue gun lifting servo motor 302. The precision electronic pressure regulating valve 304 is arranged between the glue gun 302 and the glue bin, which is used to realize the accurate control of the anaerobic glue discharge amount. The bolt rotation servo motor 305 realizes the uniform rotation of the bolt fixation, the glue gun lifting servo motor 306 realizes the automatic transportation feeding of the glue gun 302 up and down, the PLC general control system realizes the linkage of the bolt rotation and the up and down feeding, and the thread glue applying according to the bolt specification is realized.

[0040] In this embodiment, as shown in Figure 6 The visual mistake-proofing mechanism 4 includes a second bolt clamp 401, an intelligent camera 402, a second upper and lower pressing cylinder 403 and a second bolt rotation servo motor 404. The two ends of the second bolt clamp 401 are connected to the second upper and lower pressing cylinder 403, and the bolt centering clamping is realized through the second upper and lower pressing cylinder 403. The second bolt rotation servo motor 404 is arranged beside the second bolt clamp 401, and the rotation of the second bolt clamp 401 is driven by the bolt rotation synchronous belt. The intelligent camera 402 is also arranged beside the second bolt clamp 401. After the intelligent camera 402 takes pictures of several threads on the fixed position of the bolt, the color difference of "with glue" and "without glue" is recognized by the internal processor to determine whether the glue applying quality of each thread is qualified. The detection result is fed back to the PLC general control system. For the workpieces with not obvious color difference of "with glue" and "without glue", the intelligent camera 402 can also call the self-learning function of the internal processor to compare with the historical defect mode to double-check whether the glue applying quality is qualified. In addition, the intelligent camera 402 can also calculate the length and thread diameter of the bolt according to the shape of the bolt, so as to prevent the risk of wrong bolt use.

[0041] In this embodiment, as shown in Figure 7As shown, the automatic material taking mechanism 6 includes a first self-centering clamp jaw 601, a clamp jaw centering cylinder 602, a clamp jaw lifting cylinder 603, a bolt feeding cylinder 604, a first center distance adjustment servo device 605, and a first center distance adjustment reverse screw rod pair 606. The first self-centering clamp jaw 601 is connected to the first center distance adjustment reverse screw rod pair 606 in sequence through the clamp jaw centering cylinder 602 and the clamp jaw lifting cylinder 603. The first center distance adjustment servo device 605 is arranged on one side of the first center distance adjustment reverse screw rod pair 606. The bolt feeding cylinder 604 is arranged beside the first self-centering clamp jaw 601 and connected to the pin taking station 210 of the automatic feeding mechanism 2. The material taking and position conversion are realized by moving the clamp jaw lifting cylinder 603 and the clamp jaw centering cylinder 602. The compatibility of different division circle bolts is realized by the first center distance adjustment servo device 605. The clamp jaw of the automatic material taking mechanism 6 is connected to the automatic tightening mechanism 7. The first center distance adjustment servo device 605 is used to drive the screw rod to rotate. When the reverse screw rod rotates, the nut pairs arranged on both ends can move left and right towards each other, thereby realizing the synchronous adjustment of the left / right center distance.

[0042] In this embodiment, as shown in Figure 8 As shown, the automatic tightening mechanism 5 includes a tightening shaft 501, a lifting servo module 502, a tightening servo motor 503, a speed reducer mechanism 504, a torque sensor 505, a displacement sensor 506, a bolt adapter 507, a second center distance adjustment servo motor 508, a second center distance adjustment reverse screw rod 509, a tightening adapter 510, and a workpiece pressing mechanism 511. The tightening shaft 501 is connected to an input shaft through the tightening adapter 510. The input shaft is connected to the tightening servo motor 503 and the lifting servo module 502 through the torque sensor 505 and the displacement sensor 506, respectively. The input shaft is further arranged on the second center distance adjustment reverse screw rod 509. The second center distance adjustment servo motor 508 is arranged on one side of the second center distance adjustment reverse screw rod 509. The tightening servo motor 503 and the lifting servo module 502 drive the tightening shaft 501 to realize the diagonal tightening of the bolt. The second center distance adjustment servo motor 508 realizes the compatibility of different division circle bolts. The torque sensor 505 is used to monitor the reverse torque and displacement of the bolt in the servo tightening process in real time. The displacement sensor 506 is used to detect the tightening amount of the bolt in the tightening process. The tightening is stopped when the set target is reached.

[0043] In this embodiment, as shown in Figure 9As shown, the workpiece rotation mechanism 7 includes a workpiece rotation servo motor 701, a gear reducer 702, a second self-centering gripper 703, and a centering cylinder 704. The second self-centering gripper 703 is positioned above the centering cylinder 704, which in turn is positioned above the gear reducer 702. The workpiece rotation servo motor 701 and the gear reducer 702 are connected by a rotary transmission. The workpiece rotation servo motor 701 enables fixed-angle rotation of the workpiece, while the pneumatic gripper ensures compatibility with workpieces of different outer diameters.

[0044] In this implementation, the control framework of the PLC central control system is as follows: Figure 10 As shown, an HMI (Human Machine Interface) is installed, connecting to the variable frequency motor, position sensor, and feeding cylinder of the automatic feeding mechanism; the servo positioning mechanism of the automatic feeding mechanism; the glue gun, upper and lower clamping cylinders, precision electronic pressure regulating valve, bolt rotation servo motor, and glue gun lifting servo motor of the automatic gluing mechanism; the intelligent camera, upper and lower clamping cylinders, and bolt rotation servo motor of the visual error prevention mechanism; the gripper centering cylinder, gripper lifting cylinder, bolt feeding cylinder, and center distance adjustment servo device of the automatic picking mechanism; the automatic tightening mechanism and lifting servo module, tightening servo motor, torque sensor, displacement sensor, and center distance adjustment servo motor; and the workpiece rotation mechanism and workpiece rotation servo motor and centering cylinder. The specific control logic of the PLC is as follows: Figure 11 As shown, it will not be elaborated upon here.

[0045] The specific operation process of this invention is as follows:

[0046] The vibrating feeder mechanism 1 rearranges the disordered bolts into a neat arrangement and raises them to the discharge port through vibration and the shape characteristics of the bolts. The one-time bolt filling capacity is ≥1000 bolts. The vibrating feeder is already a mature product in the industry. By improving its bolt guide groove, it can achieve compatibility with bolts of different specifications.

[0047] The automatic feeding mechanism 2 rotates the bolt rotating table according to the set angle through the planar servo displacement device to realize the function requirements of the eight workstations, including the upper nail workstation connected with the vibrating tray mechanism 1, the glue coating workstation connected with the threaded glue coating mechanism 3, the detection workstation connected with the glue quantity detection mechanism 4, the sorting workstation connected with the unqualified product removing mechanism, the bolt outlet workstation connected with the buffer bin, and the bolt taking workstation connected with the bolt picking mechanism 3. According to the number of workstations, the bolt rotating table is evenly distributed in the corresponding groove (360° / 8=45° / groove), and different hole diameters are processed at equal intervals according to the bolt specifications (M6 to M12, a total of 5 bolts, 45° / 5=9° / hole pitch), so as to realize the compatibility of different specifications of bolts on the same tooling plate. The groove position switching of different products is realized through the servo displacement mechanism, that is, the initial angle corresponding to the groove position of different specifications of bolts is input in the PLC program to realize the compatibility without replacing the rotating table tooling. The servo displacement mechanism is directly connected with the center shaft of the rotating table through the planetary reduction mechanism driven by the servo motor, so that the angular control accuracy of the rotating table can reach 0.01°.

[0048] The automatic glue coating mechanism 3 realizes the bolt centering clamping through the up-down pressing cylinder, realizes the precise control of the anaerobic glue outlet amount through the precise electronic pressure regulating valve, realizes the uniform rotation of the bolt through the bolt rotating device, realizes the automatic transportation and feeding of the glue needle up and down through the servo lifting mechanism, realizes the linkage of the bolt rotation and the up-down feeding through the control program, realizes the thread glue coating function according to the bolt specifications, and ensures that each thread can be uniformly coated. For example, only the bolt specification M14×1.5 needs to be input, and the glue gun can automatically move 1.5 mm for each rotation of the bolt, thereby realizing the compatibility of different pitch bolts. A displacement sensor is designed on the lower pressing cylinder mounting seat for bolt length error prevention.

[0049] After the high-flexibility toothed bolt automatic bolt glue coating and tightening equipment is adopted, the various potential failure risks in the manual glue coating and pre-assembly process are eliminated, the first-time offline qualification rate and product reliability are improved, the labor intensity of employees is reduced, and the labor cost is saved: 1. The same equipment can be compatible with M6-M14 different specifications and 6-18 different numbers of toothed bolts for automatic glue coating and tightening; 2. 100% error prevention of missing glue coating, discontinuous glue coating, and wrong screw use; 3. 100% realization of glue coating effect, tightening angle, and displacement monitoring and tracing; 4. Every hour can complete the automatic glue coating and tightening of 40 sets of 12-bolt type products.

[0050] Although the application has been described in detail above with specific embodiments, some modifications or improvements can be made on the basis of the application, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the application are within the scope of the application claimed.

Claims

1. A highly flexible automatic bolt gluing and tightening device for toothed bolts, characterized in that: The system includes a vibrating feeder mechanism, an automatic feeding mechanism, an automatic gluing mechanism, a visual error prevention mechanism, an automatic tightening mechanism, an automatic material handling mechanism, and a workpiece rotation mechanism, all mounted on a frame. The workpiece rotation mechanism is used to place the differential belt teeth. The vibrating feeder mechanism is used to place the teethed bolts and transport them to the starting point of the automatic feeding mechanism. Between the starting and ending points of the automatic feeding mechanism, the automatic gluing mechanism and the visual error prevention mechanism are sequentially arranged. The automatic material handling mechanism is located at the ending point of the automatic feeding mechanism and is used to remove the teethed bolts from the automatic feeding mechanism and transport them to the automatic tightening mechanism. The automatic tightening mechanism is arranged opposite to the workpiece rotation mechanism to facilitate the automatic tightening mechanism tightening the teethed bolts onto the differential belt teeth. The automatic glue application mechanism includes a first bolt clamp, a glue gun, first upper and lower clamping cylinders, a precision electronic pressure regulating valve, a bolt rotation servo motor, and a glue gun lifting servo motor. The first bolt clamp is connected to the first upper and lower clamping cylinders at both ends, which center and clamp the toothed bolt. The first bolt rotation servo motor is located beside the first bolt clamp and drives its rotation via a bolt rotation synchronous belt. The glue gun is also located beside the first bolt clamp and is automatically fed up and down by the glue gun lifting servo motor. A precision electronic pressure regulating valve is installed between the glue gun and the glue tank to accurately control the amount of anaerobic glue dispensed. The first bolt rotation servo motor ensures the toothed bolt rotates at a fixed speed, and the glue gun lifting servo motor enables automatic up and down feeding of the glue gun. The visual error prevention mechanism includes a second bolt clamp, a smart camera, second upper and lower clamping cylinders, and a second bolt rotation servo motor. The two ends of the second bolt clamp are connected to the second upper and lower clamping cylinders, which center and clamp the toothed bolt. The second bolt rotation servo motor is located beside the second bolt clamp and rotates the second bolt clamp via a bolt rotation timing belt. The smart camera is also located beside the second bolt clamp. The automatic feeding mechanism comprises a servo positioning mechanism and a turntable driven by it; The turntable is provided with bolt slots of different specifications from M6 to M14 on its edge.

2. The highly flexible automatic bolt gluing and tightening equipment for toothed bolts according to claim 1, characterized in that: The vibrating feeder mechanism includes a feeder, a variable frequency motor connected to the feeder, a feeding cylinder and a guide groove set on the feeder. The variable frequency motor drives the feeder to vibrate, which rearranges the toothed bolts neatly and raises them to the guide groove. The guide groove then transports them to the discharge port. A position sensor and a feeding cylinder are set at the discharge port. The position sensor detects whether the toothed bolts are in place, and the toothed bolts are then transported to the automatic feeding mechanism by the feeding cylinder.

3. The highly flexible automatic bolt gluing and tightening equipment for toothed bolts according to claim 1, characterized in that: Around the turntable, there are a total of 8 docking stations arranged counterclockwise: nailing station, glue application station, inspection station, sorting station, 2 nail dispensing stations, and 2 waiting stations. The servo positioning mechanism drives the turntable at 45° per step.

4. The highly flexible automatic bolt gluing and tightening equipment for toothed bolts according to claim 3, characterized in that: It also includes a nail removal station, which is connected to the nail dispensing station via a buffer hopper.

5. The highly flexible automatic bolt gluing and tightening equipment for toothed bolts according to claim 4, characterized in that: The automatic feeding mechanism includes a first self-centering gripper, a gripper centering cylinder, a gripper lifting cylinder, a bolt feeding cylinder, a first center distance adjustment servo device, and a first center distance adjustment reverse screw pair. The first self-centering gripper is connected to the first center distance adjustment reverse screw pair in sequence through the gripper centering cylinder and the gripper lifting cylinder. The first center distance adjustment servo device is located on one side of the first center distance adjustment reverse screw pair. The bolt feeding cylinder is located next to the first self-centering gripper and connected to the bolt picking station of the automatic feeding mechanism.

6. The highly flexible automatic bolt gluing and tightening equipment for toothed bolts according to claim 1, characterized in that: The automatic tightening mechanism includes a tightening shaft, a lifting servo module, a tightening servo motor, a reducer mechanism, a torque sensor, a displacement sensor, a bolt adapter, a second center distance adjustment servo motor, a second center distance adjustment reverse screw, a tightening adapter, and a workpiece clamping mechanism. The tightening shaft is connected to an input shaft via the tightening adapter. The input shaft is connected to the tightening servo motor and the lifting servo module via the torque sensor and the displacement sensor, respectively. The input shaft is also mounted on the second center distance adjustment reverse screw, and a second center distance adjustment servo motor is mounted on one side of the second center distance adjustment reverse screw.

7. The highly flexible automatic bolt gluing and tightening equipment for toothed bolts according to claim 1, characterized in that: The workpiece rotation mechanism includes a workpiece rotation servo motor, a gear reducer, a second self-centering gripper, and a centering cylinder. The second self-centering gripper is positioned above the centering cylinder, which in turn is positioned above the gear reducer. The workpiece rotation servo motor and the gear reducer are connected by a rotary transmission.

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