Automatic assembling machine for bolts and gaskets

Abstract

The automatic bolt and gasket assembling machine comprises a rotary disc, a bolt feeding module, a gasket assembling module and an unloading module are arranged on the edge of the rotary disc, positioning grooves are formed in the edge of the bolt feeding module and the edge of the rotary disc, a limiting strip is located on the edge of the rotary disc and matched with the positioning grooves to position bolts according to the shape, and one end of the limiting strip is used for guiding the bolts; the gasket press-fitting module comprises a stacking barrel located over the corresponding positioning grooves, the upper portion of the stacking barrel is in butt joint with a vibration disc rail for conveying gaskets, at least three sets of rotating rods are arranged at the bottom of the outer wall of the stacking barrel along the circumference, the rotating rods are sequentially and fixedly connected with pushing and blocking discs and bearing discs from top to bottom in the axial direction, and the pushing and blocking discs are provided with tooth openings; according to the automatic assembling machine for the bolt gaskets, the gaskets can be effectively separated through the stacking barrel, the pushing and blocking disc and the bearing disc, meanwhile, the phenomenon that blocking is easily caused due to the narrow space is avoided, and the stability of gasket assembling is higher.

Description

Technical Field

[0001] The invention relates to the technical field of gasket assembly, in particular to an automatic bolt gasket assembly machine. Background Art

[0002] Bolts and washers are commonly used connectors in mechanical connections. The combination of the two has the advantages of reliable and convenient connection. A large number of bolts and washers are required in the production of many equipment, so bolt and washer assembly machines came into being.

[0003] The prior art discloses some machines for automatic assembly of bolts and washers, such as the automatic bolt and washer installation device disclosed in patent publication number CN105798602B. Although the device can realize automatic assembly of bolts and washers, the positioning of the bolts is not stable enough. The bolts slide down obliquely on the guide surface and then enter the track slide with a vertical upward opening. In this process, the bolts have the problem of adjusting the axis angle. Moreover, because the bolt rod is threaded, when the end of the bolt rod reaches the track slide in an oblique state, the thread will first contact the port edge of the track slide, resulting in the problem of being stuck. The same is true for a bolt and washer assembly device disclosed in publication number CN102990351B. Both the washers and bolts have the problem of being stuck. The above-mentioned problem is that in the process of the gasket entering the gasket groove in the gasket guide groove, there can only be one gasket at a time, otherwise the next gasket will be supported by the previous gasket. In addition, because the gasket itself has a small mass and the space above the gasket groove is narrow, there may be an inclined frame between the gasket guide groove and the gasket groove. On the other hand, the T-shaped opening opened at the top of the bolt guide tube, because the axis of the bolt must be kept vertical, the inner diameter of the bolt guide tube can only be slightly larger than the maximum diameter of the bolt head, because too large will cause the bolt axis to be not vertical, thus losing the positioning function and unable to align with the center hole of the gasket. Because of this, the loading of the bolt is relatively slow and requires precise alignment, otherwise the bolt will be tilted and supported by the edge of the T-shaped opening at the top. To this end, we propose an automatic assembly machine for bolt gaskets. Summary of the invention

[0004] The object of the present invention is to provide a bolt washer automatic assembly machine to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: an automatic bolt and gasket assembly machine, comprising a turntable, the edge of which is provided with at least a bolt loading module, a gasket assembly module and a discharge module in sequence along the rotation direction;

[0006] The bolt feeding module screens and guides the bolts through the vibrating plate, and places the bolts upside down on the turntable through the guide rail;

[0007] The unloading module transports the assembled bolts and gaskets to the finger placement area through the robotic arm;

[0008] The edge of the turntable is evenly spaced with a number of positioning grooves with edge openings for inverted bolts, and the spacing between the bolt feeding module, the gasket assembly module, the gasket pressing module, the virtual position detection module and the unloading module is an integer multiple of the spacing between two adjacent positioning grooves;

[0009] The limit bar is located at the edge of the turntable and follows the shape, cooperates with the positioning groove to locate the bolt, and one end is used for bolt guidance;

[0010] The gasket pressing module includes a stacking barrel located directly above the corresponding positioning groove, the top of the stacking barrel is connected to the vibration plate track for conveying the gasket, at least three groups of rotating rods are arranged along the circumference of the bottom of the outer wall of the stacking barrel, and the sum of the angles between the three groups of rotating rods is greater than 180°, and a push plate and a bearing plate are fixedly connected to the rotating rod along the axial direction from top to bottom in sequence, the push plate is provided with a tooth mouth, and the bearing plate is located below the tooth mouth, the thickness of the push plate is less than or equal to the thickness of a single gasket assembled, and when the rotating rod rotates, the lowest gasket falls from the tooth mouth on the push plate to the bearing plate, and then falls from the bearing plate to the bolt rod for assembly.

[0011] Preferably, a tray is fixed on the rotating rod, and the tray is located below the carrying plate. When the rotating rod rotates, the gasket is detached from the carrying plate and is received by the tray. A push plate is also fixed on the rotating rod, and the upper surface is higher than the upper surface of the tray by at least one gasket thickness. The outer diameter surface of each push plate contacts the outer diameter surface of the gasket and rotates to make the gasket suspended in the air.

[0012] Preferably, the outer wall of the rotating rod is connected to a push plate 2 in an axially sliding manner thereof. The push plate 2 is initially at the same height as the push plate 1. As the rotating rod rotates, the gasket is transferred from the outer diameter surface of the push plate 1 to the outer diameter surface of the push plate 2. The rotating rod is hollow and a fixing rod extending into the rotating rod is also fixed to the outer wall of the stacking barrel. A non-full-circle spiral guide is provided on the fixing rod and the inner wall of the push plate 2, so that the push plate 2 gradually moves downward as the rotating rod rotates to insert the gasket into the bolt rod. A spring is provided between the push plate 2 and the rotating rod. After the gasket is inserted into the bolt, the push plate 2 is reset.

[0013] Preferably, the outer diameter surface of the push plate 1 and / or the push plate 2 is provided with an inner groove.

[0014] Preferably, the bolt feeding module is provided with a second sensor for detecting the bolts at its corresponding positioning groove.

[0015] Preferably, the rotating rod is movably arranged along the radial direction of the stacking cylinder.

[0016] Preferably, the distance between the carrying plate and the tray along the axial direction of the rotating rod is three to ten gasket thicknesses.

[0017] Preferably, it also includes a gasket pressing module, which is composed of a pressing cylinder that can move up and down above the corresponding positioning groove to press the gasket toward the nut end of the bolt. The gasket pressing module is located between the gasket assembly module and the unloading module.

[0018] Preferably, it also includes a virtual position detection module arranged between the gasket pressing module and the unloading module, which is composed of a sensor arranged above the corresponding positioning groove to detect the height of the gasket after pressing.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention can effectively separate the gaskets through the stacking tube, the push plate and the bearing plate, and at the same time avoid the phenomenon of blockage caused by narrow space, so that the stability of gasket assembly is higher;

[0021] The present invention can assemble the gasket onto the bolt rod more stably and accurately by providing a tray and a push plate 1, and the push plate 1 can position and calibrate the gasket, thereby improving its accuracy;

[0022] The present invention uses a push plate 2 that can move up and down when rotating, so that during installation, the gasket can be sent onto the bolt rod instead of falling, that is, the gasket installation stability and efficiency are better. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure on the rotating rod of the present invention;

[0025] Figure 3 for Figure 2 A structural diagram from another perspective;

[0026] Figure 4 This is an exploded view of the structure on the rotating rod;

[0027] Figure 5 A schematic diagram of a top view of a rotating rod of a gasket assembly module;

[0028] Figure 6 A schematic diagram of the state of a bearing pad of a bearing plate;

[0029] Figure 7 It is a schematic diagram of the state of the bearing pad of the pallet;

[0030] Figure 8 This is a schematic diagram of the state where the push plate holds the gasket;

[0031] Fig. 9 A front view showing the state of the gasket supporting the pallet and the position of the bolts;

[0032] Fig.10 This is a front view of the push plate 2 holding the gasket and the bolt position.

[0033] In the figure: 1-turntable; 101-positioning groove; 2-limiting strip; 3-palletizing tube; 4-turn rod; 5-push plate; 501-tooth mouth; 6-carrying plate; 7-pressing cylinder; 8-sensor 1; 9-tray; 10-push plate 1; 11-push plate 2; 12-fixing rod; 13-spring; 14-sensor 2; 001-inner groove. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 The present invention provides a technical solution: an automatic bolt and gasket assembly machine, comprising:

[0036] The turntable 1 is in the shape of a disk. A drive is provided at the bottom center of the turntable 1 to rotate the turntable 1. A positioning groove 101 is provided on the upper surface of the turntable 1. The positioning groove 101 is in a U shape and is evenly distributed on the edge of the positioning groove 101. The opening faces outward. Figure 1 In the state shown, it rotates counterclockwise, and a bolt loading module, a gasket assembly module and a discharge module are sequentially arranged in the counterclockwise direction, and the spacing between each module is an integral multiple of the spacing between two adjacent positioning grooves 101, and one module corresponds to one positioning groove 101;

[0037] The bolt feeding module mainly orients the disordered bolts through the vibration plate, and transports them to the positioning slots 101 at the corresponding positions through the track. The bolts are transported to the corresponding positioning slots 101 in an inverted state, and enter the next process as the turntable 1 rotates;

[0038] A limiting strip 2 is arranged on the edge of the turntable 1. The limiting strip 2 is in the form of a circular ring with an opening. The bolt loading module is located at the opening of the limiting strip 2, and the positioning groove 101 of the subsequent corresponding module is limited by the limiting strip 2. The end of the limiting strip 2 located behind the bolt loading module is conical, so that when the turntable 1 rotates, the limiting strip 2 can push the loading bolts in the bolt loading module to fit the inner wall of the positioning groove 101, thereby limiting and positioning.

[0039] See also Figure 2 , Figure 3 , Figure 5 and Figure 6 After the bolt feeding module is the gasket assembly module, the gasket assembly module is mainly used to put the gasket on the rod of the bolt. The gasket assembly module includes a stacking barrel 3, the upper end of the stacking barrel 3 is docked with the output track of the gasket vibration disk, and the gaskets are discharged one by one by the vibration disk, and then enter the stacking barrel 3 in sequence for stacking. The stacking barrel 3 is mainly set to prevent the gaskets output by the vibration disk from being discontinuous and having vacancies. Stacking can effectively avoid this. The outer wall of the stacking barrel 3 is rotatably connected to at least three groups of rotating rods 4, and the three points determine the circle. Therefore, there are at least three groups, and if there are two groups, the gasket may fall from the gap. Three groups are set and preferably have uniform circumferential spacing. In the non-uniform distribution state, the circumferential angle of the three groups of rotating rods 4 must be greater than 180° to avoid the gap distance between two adjacent rotating rods 4 being greater than or equal to the diameter of the gasket. The following is described in terms of three groups. The axis of the rotating rod 4 is parallel to the axis of the stacking barrel 3, and is Figure 2 As shown, the push plate 5 and the carrier plate 6 are fixed from top to bottom in sequence, the edge of the push plate 5 is provided with a tooth opening 501, and the carrier plate 6 is located below the position of the tooth opening 501 to supplement part of the tooth opening 501, a gear is fixed at the upper end of the rotating rod 4, and the gears on each rotating rod 4 are uniformly driven by a gear belt. Figure 5 and Figure 6 The perspective shown is clockwise rotation, and the thickness of the push plate 5 is less than or equal to that of a single assembled gasket, so that the push plate 5 can separate the gaskets and separate one gasket at a time for assembly;

[0040] See also Figure 4 , an annular protruding wall is provided on the outer wall of the rotating rod 4, a mounting groove corresponding to the annular protruding wall is provided at the center of the lower surface of the push plate 5, and an inverted screw hole is provided on the carrying plate 6, so that the carrying plate 6 and the push plate 5 are installed and fixed together;

[0041] Specifically, after the gasket enters the stacking tube 3 from the output track of the vibrating plate, the gasket is stacked in the stacking tube 3 due to the restriction of the push plate 5. When the bolt reaches the bottom of the stacking tube 3, that is, the gasket assembly module, after passing through the bolt feeding module, the gear on the rotating rod 4 is driven by the driving component, thereby driving the rotating rod 4 to rotate. The initial state is as follows: Figure 5 As shown in FIG. 1 , in a top view, the gasket is first supported by the push plate 5, and then the rotating rod 4 rotates clockwise, as shown in FIG. Figure 6As shown, the lowest gasket is separated from the push plate 5 and falls onto the carrying plate 6, and due to the thickness limitation of the push plate 5 and the limitation of the lower edge of the stacking tube 3, the other gaskets are still in the stacking tube 3 and are carried on the push plate 5 again under the continuous rotation of the rotating rod 4, and the gasket on the carrying plate 6 is separated from the carrying plate 6 and falls as the rotating rod 4 continues to rotate, because it is positioned by one end of the tooth mouth 501 before falling, and the three-point positioning makes the axis of the gasket coincide with the axis of the bolt and the gasket is located directly above the bolt, and the lower end of the stacking tube 3 is close to the end of the bolt, so that the gasket is as close to the bolt as possible, which is convenient for assembly;

[0042] The unloading module is located at the end of the turntable 1, and is mainly used to clamp and move the assembled bolts through a movable mechanical arm.

[0043] The distance between the carrier plate 6 and the tray 9 should not be too large to prevent the gasket from bouncing and flying out under the action of the reaction force when it falls, and to prevent the gasket from tilting and falling out. Therefore, setting a smaller distance can avoid the above situation.

[0044] Furthermore, a second sensor 14 is provided on the bolt feeding module. The second sensor 14 is used to detect whether there is a bolt in the positioning groove 101 on the turntable 1 corresponding to the bolt feeding module. Because the bolts transported by the vibration plate have a virtual position (i.e. discontinuous), and the turntable 1 performs periodic angular rotation, when a virtual position is detected, the action of the next workstation is not generated, that is, it is also idle. When a non-virtual position is detected subsequently, assembly is performed again. The second sensor 14 can be a distance sensor or a color sensor, and it only needs to detect that the bolt is in the corresponding position.

[0045] The rotating rod 4 is movably arranged along the radial direction of the stacking barrel 3, that is, the distance between the axis of the rotating rod 4 and the axis of the stacking barrel 3 can be adjusted, thereby changing the position of each plate, so as to be suitable for gaskets of different sizes. If the size difference is too large, it is necessary to replace a different stacking barrel 3.

[0046] A gasket pressing module and a virtual position detection module are also arranged in sequence between the gasket assembly module and the unloading module. The gasket pressing module is mainly composed of a pressing cylinder 7 installed on a movable device such as a cylinder, and the axis of the pressing cylinder 7 is vertical and moves up and down. The pressing cylinder 7 is a hollow tube, and its inner diameter is larger than the rod diameter of the bolt and smaller than the outer diameter of the gasket. The gasket is pressed into the nut end of the bolt rod by moving the pressing cylinder 7 downward. The virtual position detection module is used to detect whether the gasket is pressed into position, and is also used to prevent multiple gaskets from being assembled, that is, to avoid multiple gaskets from being assembled at one time in the gasket assembly module. Once a virtual position is detected (no gasket or multiple gaskets), it will be moved to the defective product area by a subsequent robotic arm. Sensor 1 8 and sensor 2 14 can be the same or different, and it only needs to detect the height of the gasket to make a judgment.

[0047] See also Figure 2 , Figure 3 and Figure 7 , Figure 8 and Fig. 9 On the basis of the previous embodiment, the rotating rod 4 is located below the carrying plate 6 and a tray 9 is fixed thereto. The tray 9 is used to receive the gasket dropped from the carrying plate 6. Figure 7 As shown, the gasket is kept stable on the tray 9, and a push plate 10 is also fixed on the rotating rod 4. The thickness of the push plate 10 is greater than or equal to the thickness of a gasket, and the lower surface of the push plate 10 is at the same height as the upper surface of the tray 9. In the rotation direction of the rotating rod 4, the tray 9 first contacts the gasket, and the tray 9 and the push plate 10 have an overlapping section;

[0048] Furthermore, the tray 9 and the push plate 10 are an integrated structure, and the tray 9 and the push plate 10 are invertedly mounted on the outer wall of the rotating rod 4 through ribs;

[0049] Specifically, after the gasket is detached from the supporting plate 6, the gasket falls onto the tray 9. As the rotating rod 4 rotates, the tray 9 will also drive the gasket to rotate. After rotation, the edge of the gasket contacts the edge of the push plate 10, and the edges of the three push plates 10 lift the gasket. After continuing to rotate, the gasket rotates in the air, but its position does not change. When it rotates to the outer edge end of the push plate 10, the gasket falls, thereby being assembled.

[0050] See also Figure 2 , Figure 3 , Figure 4 , Figure 7 and Figure 8 Whether it is through the push plate 10 or the carrier plate 6, both of them make the gasket fall and be installed on the rod part of the bolt. Even if the initial height of the gasket falling is as close to the bolt as possible, there is still a gap, and there is a situation that it is not assembled. In order to avoid this situation, a push plate 2 11 is set at the lower end of the rotating rod 4 along its axial direction. The cross-section of the push plate 2 11 is L-shaped, and the two side walls are slidably connected to the rotating rod 4 through ribs along the axial direction of the rotating rod 4. The rotating rod 4 is a hollow rod. The fixing rod 12 is fixed on the outer wall of the stacking tube 3. The fixing rod 12 extends into the rotating rod 4 and is coaxially arranged therewith. A spiral guide is arranged between the side wall of 12 and the inner wall of the push plate 2 11, that is, when the push plate 2 11 rotates with the rotating rod 4, under the action of the spiral guide, the push plate 2 11 moves downward along the axial direction of the rotating rod 4, and the spiral guide is not in the entire circumferential direction. The initial state of the push plate 2 11 is adjacent to and fits with the push plate 1 10, and the two are at the same height. The thickness of the horizontal part of the push plate 2 11 is the same as that of the push plate 10. A spring 13 is also arranged between the upper end surface of the push plate 2 11 and the inner wall of the rotating rod 4, and the spring 13 is used to reset the push plate 2 11;

[0051] Furthermore, the rotating rod 4 is composed of two plate-shaped ring-shaped plates, which are fixed and assembled by screws or the like;

[0052] Specifically, after the gasket is clamped by the push plate 10, because the push plate 2 11 is adjacent to and in contact with the push plate 10, the gasket is transferred to the push plate 2 11 and clamped by the push plate 2 11. As the rotating rod 4 rotates, the spiral groove on the inner wall of the push plate 2 11 contacts and slides with the spiral ribs on the surface of the fixed rod 12, causing the height of the push plate 2 11 to drop. During the descent, the gasket rotates and the height drops, but the horizontal position remains unchanged. Therefore, the assembly is completed instead of falling directly onto the bolt, thereby avoiding the problem of assembly failure. After assembly, the rotating rod 4 continues to rotate, the push plate 2 11 disengages from the spiral ribs, and resets under the action of the spring 13 to perform the next cycle.

[0053] Further, the outer diameter surface of the push plate 10 and / or the push plate 2 11 is provided with an inner groove 001, that is, Figure 3 As shown, the design of the inner groove 001 ensures that there is no risk of premature falling off during the rotation of the gasket, and it can stably enter the rod of the bolt for assembly.

[0054] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bolt washer automatic assembly machine, comprising: A turntable (1) has an edge on which at least a bolt loading module, a gasket assembly module and a discharge module are sequentially arranged along the rotation direction; The bolt feeding module screens and guides the bolts through a vibrating plate and places the bolts upside down on a turntable (1) through a guide rail; The unloading module transports the assembled bolts and gaskets to the designated placement area through a robotic arm; Features: The edge of the rotating disk (1) is evenly spaced and provided with a plurality of positioning grooves (101) with edge openings for inverting bolts, and the spacing between the bolt loading module, the gasket assembly module and the unloading module is an integer multiple of the spacing between two adjacent positioning grooves (101); A limit strip (2), the limit strip (2) is located at the edge of the turntable (1) and follows the shape, cooperates with the positioning groove (101) to position the bolt, and one end of the limit strip (2) is used for bolt guidance; The gasket pressing module comprises a stacking tube (3) located just above the corresponding positioning groove (101), the top of the stacking tube (3) is connected to the vibration plate track for conveying the gasket, at least three groups of rotating rods (4) are arranged along the circumference of the bottom of the outer wall of the stacking tube (3), the sum of the angles between the three groups of rotating rods (4) is greater than 180 degrees, a push plate (5) and a bearing plate (6) are fixedly connected to the rotating rod (4) in sequence from top to bottom along the axial direction, a tooth opening (501) is provided on the push plate (5), and the bearing plate (6) is located below the tooth opening (501), the thickness of the push plate (5) is less than or equal to the thickness of a single gasket to be assembled, and when the rotating rod (4) rotates, the bottom gasket falls from the tooth opening (501) on the push plate (5) to the bearing plate (6), and then falls from the bearing plate (6) to the bolt rod for assembly.

2. The bolt washer automatic assembly machine according to claim 1, characterized in that: A tray (9) is also fixed on the rotating rod (4), and the tray (9) is located below the supporting plate (6). When the rotating rod (4) rotates, the gasket is separated from the supporting plate (6) and is received by the tray (9). A push plate (10) is also fixed on the rotating rod (4), and the upper surface of the push plate (10) is higher than the upper surface of the tray (9) by at least one gasket thickness. The outer diameter surface of the push plate (10) contacts the outer diameter surface of the gasket and rotates to make the gasket suspended in the air.

3. The bolt washer automatic assembly machine according to claim 2, characterized in that: The outer wall of the rotating rod (4) is connected to a push plate 2 (11) in a sliding manner along its axial direction. In an initial state, the push plate 2 (11) is at the same height as the push plate 1 (10). As the rotating rod (4) rotates, the gasket is transferred from the outer diameter surface of the push plate 1 (10) to the outer diameter surface of the push plate 2 (11). The rotating rod (4) is hollow and a fixing rod (12) extending into the rotating rod (4) is fixed to the outer wall of the stacking tube (3). The fixing rod (12) and the inner wall of the push plate 2 (11) are provided with a non-full-circle spiral guide, so that the push plate 2 (11) gradually moves downward as the rotating rod (4) rotates to insert the gasket into the bolt rod. A spring (13) is provided between the push plate 2 (11) and the rotating rod (4). After the gasket is inserted into the bolt, the push plate 2 (11) is reset.

4. The bolt washer automatic assembly machine according to claim 2 or 3, characterized in that: An inner groove (001) is provided on the outer diameter surface of the push plate 1 (10) and / or the push plate 2 (11).

5. The bolt washer automatic assembly machine according to claim 1, characterized in that: The bolt feeding module is provided with a second sensor (14) for detecting the bolts at its corresponding positioning groove (101).

6. The bolt washer automatic assembly machine according to claim 1, characterized in that: The rotating rod (4) is movably arranged along the radial direction of the stacking cylinder (3).

7. The bolt washer automatic assembly machine according to claim 1, characterized in that: The distance between the carrier plate (6) and the tray (9) along the axial direction of the rotating rod (4) is three to ten gasket thicknesses.

8. The bolt washer automatic assembly machine according to claim 1, characterized in that: It also includes a gasket pressing module, which is composed of a pressing cylinder (7) located above the corresponding positioning groove (101) and can move up and down, and presses the gasket against the head support surface of the bolt. The gasket pressing module is located between the gasket assembly module and the unloading module.

9. The bolt washer automatic assembly machine according to claim 8, characterized in that: It also includes a virtual position detection module arranged between the gasket pressing module and the unloading module, which is composed of a sensor (8) arranged above the corresponding positioning groove (101) to detect the height of the gasket after pressing.

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