A kind of air distribution mechanism roller tappet automatic assembly equipment and assembly method

Abstract

This application discloses an automatic assembly equipment and method for valve train roller tappets, belonging to the field of engine parts installation technology. It includes a body conveying mechanism, a tappet feeding mechanism, a tappet loading mechanism, and a bolt tightening mechanism. The tappet feeding mechanism includes a material conveying rack and a multi-station material handling execution component. The material conveying rack carries and orderly conveys several roller tappets to a preset material handling station. The multi-station material handling execution component is equipped with several material handling grippers. The grippers pick up the roller tappets output from the material conveying rack and transfer them to a posture docking station. A vision acquisition unit acquires the spatial posture of the roller tappets at the posture docking station. A posture adjustment module drives the grippers to rotate the roller tappets circumferentially so that the long positioning grooves of the roller tappets match the preset assembly posture. Multiple grippers and multiple expansion sleeves operate synchronously, with a continuous and compact process, adapting to the rhythm of large-scale production lines to achieve fully automatic alignment and assembly of the roller tappets.

Description

Technical Field

[0001] This application belongs to the field of engine parts installation technology, and in particular relates to an automatic assembly equipment and method for valve train roller tappets. Background Technology

[0002] Roller tappets are core transmission components of the engine valve train. Their main function is to convert the rotational motion of the camshaft cam into linear reciprocating motion, thereby driving the valves to open and close precisely. They directly determine the operational stability, transmission accuracy, and overall service life of the engine valve train. Roller tappets require extremely high surface precision. During operation, they undergo continuous reciprocating motion. Any scratches or impact damage to the surface can easily lead to movement stagnation and accelerated wear, severely affecting the normal operation of the engine. Furthermore, the roller tappets have elongated positioning holes, and their vertical displacement is restricted by bolts. During assembly, it is necessary to ensure the alignment accuracy of multiple sets of tappet angles, coaxiality, and positioning holes, making assembly quality control quite challenging. Currently, engine roller tappet assembly is still mainly done manually with semi-automatic operation. The overall assembly process is as follows: operators manually pick up the roller tappets from the material rack, roughly adjust the tappet installation angle by visual inspection or simple tooling; manually complete the initial alignment of the assembly position; and then tighten the tappet bolts using a manual wrench or semi-automatic tightening equipment. A single engine requires the assembly of multiple roller tappets, and this manual assembly mode has exposed many technical defects in industrialized mass production. First, the tappets are prone to assembly damage. During the manual insertion of the tappets into the mounting holes in the engine block, the tappets are prone to bumping and scratching against the hole walls, further aggravating surface damage. The continuous reciprocating motion of the roller tappets causes scratches to continuously expand, directly leading to tappet jamming and failure, significantly reducing the service life of the components. Second, insufficient positioning accuracy easily leads to assembly failure. The assembly process suffers from several drawbacks. First, manual angle adjustment errors and poor positioning accuracy of rigid fixtures make it difficult to ensure the coaxiality of multiple tappets with the engine body. Second, the alignment of the tappet's long positioning holes relies on manual visual inspection; forced tightening of bolts due to misalignment can easily damage the tappet body, resulting in poor assembly consistency and a high defect rate. Third, assembly efficiency is low, and labor costs are high. Each engine requires multiple roller tappets, and the entire process—from material handling and alignment to placement, tightening, and transfer—relies on repetitive manual operations. This is cumbersome, slow-paced, labor-intensive, and prone to operator fatigue and errors, making it unsuitable for the demands of large-scale, high-efficiency modern engine production lines. Fourth, assembly pass rates are unstable, and rework costs are high. Manual operation suffers from angle adjustment errors, uneven tightening torque, and inaccurate positioning hole alignment. Poor consistency in the assembly of multiple tappets necessitates disassembly and rework of defective parts, increasing production losses and hindering overall assembly capacity. Therefore, it is necessary to develop an automated assembly equipment for roller tappets that can achieve fully automatic feeding, precise positioning, flexible clamping, and damage-free assembly in order to solve the above-mentioned technical pain points. Summary of the Invention

[0003] This invention provides an automatic assembly equipment and method for valve train roller tappets, which solves the problems of easy damage to parts caused by manual or semi-automatic assembly of roller tappets, insufficient positioning accuracy, low efficiency, high labor costs, and poor assembly consistency, or at least provides a beneficial alternative.

[0004] To achieve the above objectives, the present invention provides the following technical solution: An automatic assembly equipment for valve train roller tappets includes a body conveying mechanism, a tappet feeding mechanism, a tappet loading mechanism, and a bolt tightening mechanism. The pusher feeding mechanism includes a material conveying rack and a multi-station material handling execution component. The material conveying rack is used to carry and orderly convey a number of roller pushers to a preset material handling station. The multi-station material handling execution component is equipped with a number of material handling grippers, a vision acquisition unit, and an attitude adjustment module. The material handling grippers are used to pick up the roller pushers output from the material conveying rack and move them to the attitude docking station. The vision acquisition unit is used to acquire the spatial attitude of the roller pushers at the attitude docking station. The attitude adjustment module drives the material handling grippers to rotate the roller pushers circumferentially so that the long positioning groove of the roller pushers matches the preset assembly attitude. The tappet loading mechanism is used to pick up the roller tappet after attitude calibration at the attitude docking station and place it into the corresponding mounting hole of the engine body that is transported to the position by the body conveying mechanism. The bolt tightening mechanism is used to automatically tighten the bolts of the roller tappets inserted into the mounting holes, thereby achieving fully automatic alignment and assembly of the roller tappets.

[0005] In a preferred implementation, the multi-station material handling execution component includes a first support, on which a slide assembly capable of three-axis movement is integrated. The lifting execution end of the slide assembly is equipped with a material handling gripper, a vision acquisition unit, and an attitude adjustment module connected to the material handling gripper. The slide assembly drives the material handling gripper to complete the material handling and conveying action of the roller tappet. The vision acquisition unit acquires the tappet's attitude information, and the attitude adjustment module drives the material handling gripper to rotate to complete the circumferential attitude calibration of the tappet.

[0006] In a preferred embodiment, the attitude docking station is provided with a cup cylinder that matches the number of roller tappets to be assembled. The height of the cup cylinder is less than the height of the roller tappets, and the inner diameter is greater than the outer diameter of the roller tappets, which is used to limit and support the roller tappets.

[0007] In a preferred embodiment, the cup at the attitude docking station is mounted on a support frame, and a precision positioning mechanism is provided on one side of the support frame. The precision positioning mechanism includes a moving frame, a positioning cylinder, a plug adapted to the positioning groove of the roller tappet, and a sensing component. The end of the plug has a tapered structure and is movably mounted on the moving frame. The sensing component is linked with the plug. The positioning cylinder drives the moving frame to insert the plug into the positioning groove of the roller tappet. The sensing component is used to detect the alignment status of the plug and the positioning groove. If the alignment is abnormal, a feedback signal is given to recalibrate the tappet attitude.

[0008] In a preferred embodiment, the tappet loading mechanism includes a second bracket, on which a translation component, a tappet fine-tuning component, and a lifting slide component are sequentially mounted. The translation component and the tappet fine-tuning component work together to achieve precise alignment with the attitude docking station and the engine block mounting hole. The lifting slide component drives several expansion sleeve mechanisms at the actuator end to extend into the groove at the end of the roller tappet and tighten to clamp and pick up the tappet, or to contract and loosen to accurately place the tappet into the engine block mounting hole.

[0009] In a preferred implementation, the translation component includes a translation support plate, and a tappet fine-tuning component is disposed on the translation support plate. The tappet fine-tuning component includes a servo drive unit, a transverse adjustment screw, and a cantilever support frame. The servo drive unit is driven by the transverse adjustment screw, and the moving nut of the screw is fixedly connected to the cantilever support frame. The bottom end of the cantilever support frame is slidably adapted to the linear guide rail on the translation support plate via a guide slider, and the cantilever support frame is connected to the lifting slide assembly. The servo drive unit drives the cantilever support frame to drive the lifting slide assembly to complete the position fine-tuning and alignment based on the feedback signal of the engine block hole position acquired by vision. The lifting slide assembly is also provided with a precision alignment mechanism, which includes a locking cylinder, a guide sleeve, and a pin. The output end of the locking cylinder is connected to the pin, and the pin passes through the inside of the guide sleeve. The locking cylinder can drive the pin to insert into the positioning hole on the upper surface of the machine before the tappet, so as to achieve precise positioning of the machine body.

[0010] In a preferred embodiment, the expansion sleeve mechanism includes a drive cylinder, an expansion sleeve core rod, an expansion sleeve outer sleeve, an expansion sleeve connecting rod, an expansion sleeve expansion head, and expansion sleeve grippers. The output end of the drive cylinder is connected to the expansion sleeve core rod, which passes through the outer sleeve. The two ends of the expansion sleeve connecting rod are respectively fixed to the expansion sleeve core rod and the expansion sleeve expansion head. The expansion sleeve grippers are sleeved on the outer side of the expansion sleeve expansion head. An exhaust hole is provided on the outer wall of the outer sleeve. The drive cylinder drives the expansion sleeve core rod to move axially, thereby opening the expansion sleeve grippers or causing them to retract and retract, thus releasing the roller tappet.

[0011] In a preferred embodiment, the expansion sleeve head is provided with an inclined portion, and the inner side of the expansion sleeve jaws is provided with an inclined guide groove that matches the shape of the inclined portion; when the expansion sleeve head moves up and down along the axial direction, its inclined portion slides relative to the inclined guide groove, converting the axial power into radial driving force, driving the expansion sleeve jaws to radially expand or contract.

[0012] In a preferred implementation, the bolt tightening mechanism employs a tightening robot, which is equipped with a bolt storage bin on its side. The tightening robot is equipped with a vision detection unit, which is used to identify and detect the offset of the engine block mounting holes, thereby achieving precise alignment and tightening of the bolts.

[0013] The assembly method for installing tappets in the automatic assembly equipment for valve train rollers includes the following steps: S1. Feeding and conveying: The manual staff simply arranges the rollers and pushers in rows and places them in the multi-layer independent movable material conveying rack. The material conveying rack transports multiple sets of rollers and pushers to the preset material picking station in batches, realizing automated batch feeding. The machine body conveying mechanism transports the engine body to the assembly station. S2, Material Picking and Positioning: The three-coordinate slide assembly of the pusher feeding mechanism moves in linkage, controlling the cylinder-type flexible picking claw to simultaneously pick up the roller pusher to be assembled, smoothly transfer and accurately place it into the cup cylinder of the attitude docking station. The cup cylinder limits and supports the lower part of the pusher, while the upper part is exposed for easy attitude detection. S3. Preliminary attitude calibration: A high-definition industrial camera acquires attitude images of all rollers and tappets inside the cup. The system identifies the actual position of the long positioning slot through an image comparison algorithm, and controls the rotation servo motor of the attitude adjustment module to drive the corresponding roller and tappet to rotate circumferentially, thus completing the preliminary attitude calibration of all tappets and long positioning slots to be aligned. S4. Precise Alignment Verification: The side precision positioning mechanism of the support frame is activated, and the positioning cylinder drives the moving frame to insert the conical plug into the long positioning slot of the roller tappet. The insertion displacement of the plug is detected by the sensing component linked to the plug to determine the positioning accuracy of the positioning slot. If the alignment displacement meets the standard and the verification is qualified, the process proceeds to the next step. If there is an angle or position deviation, the system feeds back a signal and repeats step S3 to readjust and calibrate the tappets with abnormal postures until all tappets are aligned and qualified. S5. Machine Position Recognition and Deviation Compensation: The tappet loading mechanism is activated, and the translation component drives the overall expansion sleeve mechanism to move directly above the attitude docking station. Then, the lifting slide assembly descends, and multiple expansion sleeve mechanisms extend into the end slots of the roller tappets, using axial power to radially expand and clamp the tappets. The rear translation component then moves the tappets to above the machine mounting holes. The vision unit captures and identifies the actual position of the side holes on the machine body, and compares it with the standard position to obtain the parking deviation. The tappet fine-tuning component completes micron-level position compensation through the servo drive unit and the transverse adjustment screw. The locking cylinder of the precision alignment mechanism extends, and the pin is inserted into the positioning hole on the upper plane of the machine body first to complete the secondary reference locking. The lifting slide assembly drives the tappets to fall vertically and smoothly, placing them into the machine mounting holes without bumps or scratches. The expansion sleeve mechanism retracts and releases to complete the placement. S6. The tightening robot is equipped with a vision detection unit to identify the alignment status of the mounting holes on the machine body and the positioning slots of the tappets in real time. After the tightening robot is accurately aligned, it automatically tightens the limit bolts according to the preset torque. The bolts pass through the side holes of the machine body and extend into the long positioning slots of the tappets, which only restricts the tappets from coming out and does not lock the reciprocating motion of the tappets, thus completing the fully automatic assembly of the roller tappets.

[0014] The above structure has the following beneficial effects: 1. The automatic assembly equipment for the gas distribution mechanism roller tappets of this application realizes the fully automated assembly of the roller tappets, requiring only manual material replenishment, replacing manual material picking, alignment, tightening and other operations, with a high degree of automation.

[0015] 2. The automatic assembly equipment for the valve train roller tappet of this application features multiple grippers and multiple expansion sleeves operating simultaneously, with a smooth and compact process that effectively improves assembly efficiency and is compatible with the pace of large-scale production lines.

[0016] 3. The automatic assembly equipment for the valve train roller tappet of this application protects the high-precision working surface of the tappet, has controllable tightening torque, good assembly consistency, and significantly saves labor costs.

[0017] 4. The automatic assembly equipment for the valve train roller tappet of this application adopts a cylinder-driven expansion sleeve clamping structure with a conical inclined surface to achieve elastic tensioning and positioning of the tappet, avoiding surface damage to the tappet caused by traditional rigid clamps. The coaxiality of the clamping is controlled within 0.02mm, and the tensioning / releasing response time is <1s, improving the clamping stability by 80%. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and, together with their description, serve to explain this application and do not constitute an undue limitation of the invention. In the drawings: Figure 1 A schematic three-dimensional structural diagram of one embodiment of the automatic assembly equipment for the valve train roller tappets of this application is shown. Figure 2 The illustration shows a top view of one embodiment of the automatic assembly equipment for the valve train roller tappets of this application; Figure 3 The illustration shows a side view of one embodiment of the automatic assembly equipment for the valve train roller tappets of this application. Figure 4 A top view schematic diagram of one embodiment of the attitude docking station of this application is shown; Figure 5 The diagram illustrates a partially enlarged structural schematic of one embodiment of the precision positioning mechanism of this application; Figure 6 It is illustrated Figure 2 A schematic top view enlarged of one embodiment of the central tappet loading mechanism; Figure 7 A schematic side view of one embodiment of the pushrod feeding mechanism of this application is shown. Figure 8 A schematic diagram illustrating one embodiment of the attitude adjustment module of the pushrod feeding mechanism of this application is shown. Figure 9 The diagram illustrates a schematic embodiment of the tappet fine-tuning component of the tappet loading mechanism of this application. Figure 10 A schematic diagram illustrating one embodiment of the expansion mechanism and the precision alignment mechanism of this application is shown. Figure 11 A schematic diagram illustrating the internal structure of one embodiment of the expansion mechanism of this application is shown. Figure 12 It is illustrated Figure 11 A partially enlarged schematic diagram of the implementation method; Figure 13 A schematic diagram illustrating the structural implementation of the expansion sleeve head and the expansion sleeve jaws in cooperation is shown. Figure 14 A schematic diagram illustrating the assembly state of an embodiment where the expansion sleeve clamping tappet is installed on the engine; Label Explanation: 1. Tightening robot; 10. Bolt storage bin; 2. Assembly rack; 3. Column feeding mechanism; 30. Material conveying rack; 31. Multi-station material handling assembly; 310. First support; 311. Slide assembly; 32. Material handling gripper; 33. Vision acquisition unit; 34. Attitude adjustment module; 4. Tappet loading mechanism; 40. Second bracket; 410. Translation bearing plate; 4100. Guide slide rail; 411. Translation push cylinder; 42. Tappet fine adjustment assembly; 420. Servo drive unit; 421. Lateral adjustment screw; 422. Cantilever support frame; 43. Lifting slide assembly; 44. Expansion sleeve mechanism; 440. Drive cylinder; 441. Expansion sleeve core rod; 442. Expansion sleeve outer sleeve; 443. Expansion sleeve connecting rod; 444. Expansion sleeve expansion head; 4440. Inclined part; 445. Expansion sleeve gripper; 4450. Inclined guide groove; 45. Precision alignment mechanism; 450. Locking cylinder; 451. Pin; 5. Attitude docking station; 50. Cup / cup; 51. Support frame; 52. Precision positioning mechanism; 520. Moving frame; 521. Positioning cylinder; 522. Plug; 6. Body conveying mechanism; 60. Engine; 600. Engine side hole; 7. Tappet; 70. Tappet positioning groove. Detailed Implementation

[0019] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit and scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0020] The present invention will now be described with reference to the accompanying drawings.

[0021] The specific solution adopted is as follows: like Figure 1-14 As shown in the figure, this embodiment of an automatic assembly equipment for a gas distribution mechanism roller tappet mainly consists of a machine body conveying mechanism 6, a tappet feeding mechanism 3, a tappet loading mechanism 4, and a bolt tightening mechanism. The whole system realizes fully automatic material picking, posture calibration, alignment assembly, and bolt tightening of the roller tappet 7. The operator only needs to add roller tappet 7 to the material conveying rack to complete the material preparation. No manual intervention is required in the core assembly processes such as alignment, placement, and tightening.

[0022] The pusher feeding mechanism 3 includes a material conveying rack 30 and a multi-station material handling execution component 31. The material conveying rack is set as a multi-layer independent movable structure, as shown in Figure 1. It is a two-layer structure, with each layer of the rack being independently driven and fed individually. Roller pushers 7 are arranged in rows along the conveying direction in each layer of the rack. Multiple roller pushers 7 can be placed in a single row simultaneously. The rack outputs the array of roller pushers 7 to the preset material handling station to achieve batch and orderly material supply.

[0023] The multi-station material handling execution component 31 is equipped with corresponding group material handling grippers 32, which correspond to the number of roller pushers 7 to be assembled. It is also equipped with a vision acquisition unit 33 and an attitude adjustment module 34. During operation, the operator places the roller pushers 7 in rows to the corresponding workstations of the multi-layer material conveying rack. The rack moves and conveys the roller pushers 7 layer by layer independently, synchronously conveying them to the underside of the material handling grippers 32. The material handling grippers 32 pick up the corresponding roller pushers 7 and move them to the attitude docking station 5. The vision acquisition unit 33 acquires the spatial attitude and the position of the long strip positioning groove of the roller pushers 7 on the attitude docking station 5. The attitude adjustment module drives the material handling grippers 32 to drive the roller pushers 7 to rotate precisely in the circumference, so that the long strip positioning groove 70 of the roller pushers 7 is adjusted to the preset assembly attitude, completing the attitude calibration.

[0024] The tappet loading mechanism 4 picks up the roller tappets 7 after posture calibration and precisely places them into the corresponding mounting holes on the engine 60 body, which are then conveyed to the machine body by the body conveying mechanism 6. The placement process is smooth and controllable, avoiding collisions and scratches between the tappets 7 and the machine body hole walls. The bolt tightening mechanism automatically tightens the bolts on the multiple sets of roller tappets 7 that have been installed, precisely controlling the tightening torque to complete the fully automatic alignment and assembly of the roller tappets 7. After assembly, the machine body conveying mechanism 6 transports the assembled machine body to the next process, realizing continuous automated assembly production in a cycle.

[0025] This equipment uses a multi-layered, independently movable material conveyor rack for batch feeding. Operators only need to place the pushers 7, achieving automated feeding, significantly reducing manual labor intensity, and adapting to the pace of large-scale batch production. A vision acquisition and attitude adjustment module precisely calibrates the attitude of the pushers 7, ensuring the alignment accuracy of the long pusher positioning slots, eliminating manual alignment deviations, preventing bolt tightening from damaging the pushers 7, and improving assembly consistency. Automated and smooth placement of the pushers 7 effectively prevents them from bumping and scratching against the machine body mounting holes, reducing surface damage to parts, avoiding subsequent movement jamming and failure, and extending the service life of components. Multiple grippers simultaneously pick up and load materials, and bolts are automatically and accurately tightened, greatly improving assembly efficiency. The tightening torque is stable and controllable, significantly increasing the assembly qualification rate, reducing rework and disassembly losses, and lowering production and labor costs.

[0026] See Figure 1 , Figure 3 , Figure 7 and Figure 8The multi-station material handling execution component 31 includes a first support 310, on which a slide assembly 311 capable of precise three-axis movement is integrated. The slide assembly 311 consists of a horizontal movement module, a crossbeam, and a lifting module. The crossbeam can move horizontally along the first support 310, and the lifting module can move horizontally along the crossbeam. At the same time, the lifting module itself has a vertical lifting adjustment function. Through the linkage of the horizontal, vertical, and longitudinal directions, the material handling mechanism can achieve precise displacement adjustment of the X, Y, and Z coordinates in the whole space, and can flexibly adapt to the material handling and conveying actions of rollers and pushers 7 with different station heights and spacings.

[0027] The mounting plate of the lifting actuator of the slide assembly 311 integrates multiple sets of material picking claws 32, a vision acquisition unit 33, and a posture adjustment module connected to the material picking claws 32. The material picking claws 32 adopt pneumatic cylinder type flexible claws. The gripping end of the claw is covered with a polyurethane flexible anti-slip buffer pad. The gripping process is a flexible contact gripping, which can reliably clamp the roller tappet 7 column body while avoiding rigid clamping that causes indentations, bumps, and scratches on the outer surface of the tappet 7, thus protecting the integrity of the high-precision working surface of the roller tappet 7.

[0028] The vision acquisition unit 33 is a high-definition industrial camera, directly fixed on the mounting plate of the lifting module. When moving horizontally, it can reach the upper side of the attitude docking station 5 for close-range focusing and shooting, greatly improving image clarity and accurately acquiring the circumferential attitude of the roller tappet 7 and the actual position of the elongated positioning groove. In terms of the operation process, after the material handling gripper 32 clamps the roller tappet 7 and moves it to the attitude docking station 5 and places it in place, the camera moves to the shooting position to complete image acquisition. The system compares the acquired actual attitude image with the preset standard attitude image through existing image comparison algorithms to determine the angle deviation of the elongated positioning groove.

[0029] The attitude adjustment module adopts a high-precision rotary servo motor. The output end of the servo motor is coaxially connected to the corresponding material handling jaw 32, which can drive the material handling jaw 32 to drive the roller tappet 7 to achieve circumferential rotation and complete the angle calibration.

[0030] In this embodiment, only one set of material handling jaws 32 can be selected to be equipped with a rotary servo motor. The three-axis movement of the slide table brings the rotary servo motor to the position where the push pin 7 needs to be adjusted, driving the corresponding roller push pin 7 to rotate precisely and adjust the angle, so as to achieve uniform posture calibration of the roller push pin 7.

[0031] See Figure 4 and Figure 5 The attitude docking station 5 is equipped with a cup 50 that matches the number of roller tappers 7 to be assembled. The height of the cup 50 is less than the height of the roller tappers 7, and the inner diameter is greater than the outer diameter of the roller tappers 7. It is used to limit and support the roller tappers 7.

[0032] This embodiment is adapted to the Weichai WP10.5H 10.5L inline six-cylinder diesel engine 60. This engine requires the installation of 12 roller tappets 7, including 6 standard cylindrical roller tappets 7 and 6 irregularly shaped roller tappets 7 with a single flat side. All roller tappets 7 have elongated positioning slots, and all elongated positioning slots must face the same direction during assembly. The attitude docking station 5 is equipped with 12 sets of cups 50, each cup 50 supporting one of the 12 roller tappets 7. The cylinder-type flexible gripper of the multi-station material handling execution component 31 synchronously moves the roller tappets 7 to the attitude docking station 5 and smoothly places them into the corresponding cups 50. The cups 50 limit and support the lower part of the roller tappets 7, while the upper part of the roller tappets 7 is exposed, facilitating close-range attitude recognition by the visual acquisition unit 33.

[0033] Furthermore, the cup 50 of the attitude docking station 5 is fixedly installed on the support frame 51. A precision positioning mechanism 52 is set on one side of the support frame 51 corresponding to the position of the cup 50. This mechanism is used to perform secondary precision positioning tests on the roller tappet 7 after attitude calibration to ensure that the orientation of the long positioning groove is completely consistent and to meet the assembly requirements of the engine 60.

[0034] In specific implementation, the precision positioning mechanism 52 includes a moving frame 520, a positioning cylinder 521, a plug 522 adapted to the positioning groove of the roller tappet, and a sensing component. The sensing component can be a digital display dial gauge displacement sensor, which combines the high-precision detection capability and signal transmission function of a dial gauge, and can convert mechanical displacement into electrical signal feedback. The end of the plug 522 is designed with a tapered structure to facilitate guidance when there is a slight deviation in the positioning groove. The plug 522 is movably assembled in the guide sleeve inside the moving frame 520 and can move horizontally back and forth along the guide sleeve. The non-plug end of the plug 522 is precisely docked and fixedly linked with the probe of the digital display dial gauge displacement sensor. That is, the axial displacement of the plug 522 will synchronously drive the extension and retraction of the sensor probe, realizing real-time detection and signal conversion of displacement.

[0035] Once the visual acquisition unit 33 completes the initial attitude calibration, aligning the elongated positioning slots of the 12 roller tappers 7 with the preset orientation, the positioning cylinder 521 is activated, driving the moving frame 520 to move the 12 sets of plugs 522 a uniform design distance toward the cup cylinder 50. If the elongated positioning slot of a certain roller tapper 7 is precisely aligned and its orientation fully meets the preset requirements, the conical plug 522 will smoothly insert into the positioning slot without any additional displacement at the end of the plug 522. The displacement detected by the digital dial indicator displacement sensor will be the preset standard value, and the sensing component will output a normal alignment signal. If there is a slight angular deviation in the positioning slot, the conical plug 522 will be subjected to an additional lateral force from the side wall of the positioning slot when inserted, forcing the plug 522 to slightly retract along the guide sleeve toward the non-insertion end, causing the displacement sensor probe to extend and retract. At this time, the displacement detected by the sensor deviates from the preset standard value, and the sensing component will output an abnormal alignment signal.

[0036] After receiving an alignment error signal, the overall control system of this application will control the slide assembly 311 to move the three-axis coordinate system and drive the material handling gripper 32 connected to the attitude adjustment module to the alignment error position. It will then drive the roller tappet 7 in the corresponding cup cylinder 50 to make a small angle adjustment. After the adjustment is completed, it will drive the plug 522 to perform insertion detection again until the displacement detected by the displacement sensor meets the standard. This confirms that the positioning slot is accurately aligned and the orientation is uniform, and the fine positioning process is completed.

[0037] The entire precision positioning process requires no manual intervention, achieving automatic judgment of alignment status and automatic recalibration of attitude, ensuring that the long positioning slots of the 12 roller tappets 7 all face the same side, meeting the assembly accuracy requirements of the engine 60.

[0038] See Figure 6 , Figure 9 and Figure 10 In this embodiment, the assembly frame 2 is arranged vertically with a first support 310 and a second support 40. The first support 310 is used to arrange the multi-station material handling execution component 31, and the second support 40 is used to arrange the pusher loading mechanism 4. The vertical space layout is compact, and the actions do not interfere with each other. The pusher loading mechanism 4 is installed on the second support 40. The second support 40 is sequentially equipped with a translation component, a pusher fine-tuning component 42, and a lifting slide component 43. The end of the lifting slide component 43 is connected to the expansion sleeve mechanism 44. The expansion sleeve mechanism 44 corresponds to the posture. The position and quantity of multiple cups 50 at the receiving station 5; the translation component can drive the whole to achieve a large stroke horizontal translation, and come to the attitude docking station 5 or above the mounting hole of the engine 60 body; the tappet fine adjustment component 42 is linked with the translation component to achieve high-precision position compensation; the lifting slide component 43 is responsible for vertical feeding, driving multiple sets of expansion sleeve mechanisms 44 at the actuator end to extend into the corresponding roller tappet 7 end slots, and after expansion and tightening, the whole is picked up, and after assembly, it shrinks and loosens, and the multiple roller tappets 7 are simultaneously and accurately placed into the corresponding mounting holes of the body.

[0039] The translation component includes a translation support plate 410, and a pusher fine-tuning component 42 is disposed on the translation support plate 410. The translation support plate 410 is translated by a translation push cylinder 411 and a slider rail structure disposed on the second bracket 40.

[0040] During operation, the engine 60 is transported to the preset installation position via the body conveying mechanism 6. Although the conveying mechanism has been precisely controlled to ensure that the engine 60 stops at the design reference position after it is in place, there will still be a slight parking deviation in actual production. If this deviation is not compensated, the roller tappet 7 will not be able to be precisely aligned with the mounting hole of the body, thus affecting the assembly accuracy.

[0041] To solve this problem, a high-definition industrial camera with a fixed viewing angle is installed next to the mounting position of the machine body. The camera is positioned facing the side of the engine 60 and is specifically designed to capture and identify the actual position of the engine side hole 600. This engine side hole 600 is used to pass through a limiting bolt. After the bolt passes through the side hole, it extends into the long positioning groove of the roller tappet 7. Its core function is to prevent the roller tappet 7 from disengaging from the mounting hole vertically and circumferentially, rather than locking the tappet 7. This ensures the normal linear reciprocating motion of the tappet 7 afterwards. Therefore, the positional accuracy of the side hole directly determines the assembly alignment accuracy of the roller tappet 7. The accurate position of the side hole means that the position of the mounting positioning hole of the tappet 7 is accurate.

[0042] After the camera captures images of the engine side hole 600, the system uses an image comparison algorithm to compare the actual position of the side hole with the preset design position, accurately identifying the positional deviation data. Because the engine 60 is large and heavy, coarse adjustments would be cumbersome, inefficient, and could damage the engine surface. Therefore, instead of adjusting the engine 60's position to compensate for the deviation, precise compensation is achieved using the tappet fine-tuning component 42 of the tappet loading mechanism 4.

[0043] Specifically, the control system converts the identified side hole position deviation data into control signals and transmits them to the high-precision servo drive unit 420 of the tappet fine-tuning component 42. The servo drive unit 420 starts, stops, and reverses precisely according to the deviation signal. It drives the moving nut that is driven by the transverse adjustment screw 421, which in turn drives the cantilever support frame 422 that is fixed to the moving nut. Since the bottom end of the cantilever support frame 422 slides and adapts to the linear guide rail 4100 on the translation bearing plate 410 through the guide slider, it can achieve smooth and non-jamming micro-displacement adjustment. Finally, it drives the lifting slide assembly 43 connected to the cantilever support frame 422 to complete the micron-level position fine-tuning, accurately compensate for the machine body conveying deviation and parking deviation, and ensure that the expansion sleeve mechanism 44 at the execution end of the lifting slide assembly 43 is precisely aligned with the engine 60 body mounting hole, laying the foundation for subsequent assembly.

[0044] The lifting slide assembly 43 integrates a precision alignment mechanism 45 to further improve assembly positioning accuracy. This precision alignment mechanism consists of a locking cylinder 450, a guide sleeve, and a pin 451. The guide sleeve is vertically fixed to the execution end of the lifting slide assembly 43, and the pin 451 is movably inserted inside the guide sleeve, allowing for smooth up-and-down extension along the guide sleeve. The locking cylinder 450 is vertically arranged on one side of the lifting slide assembly 43, with its output end rigidly connected to the top of the pin 451, ensuring precise and stable extension and retraction of the pin 451. Before the expansion sleeve mechanism 44 descends and contacts the roller tappet 7, the locking cylinder 450 extends in advance, driving the pin 451 to first insert into the positioning hole on the upper surface of the engine 60 body, achieving secondary precise positioning between the lifting slide assembly 43 and the engine 60 body, firmly locking the assembly reference, preventing positional deviations caused by vibration or other factors, and further eliminating misalignment of the tappet 7 caused by body positional deviation or reference deviation.

[0045] The expansion sleeve mechanism 44 adopts an elastic conical expansion sleeve structure, which is driven by air pressure to achieve expansion and clamping from the inner wall of the end of the tappet 7. The clamping force is uniform and gentle, and will not damage the high-precision outer circular surface of the roller tappet 7. At the same time, it can flexibly adapt to the end slots of cylindrical and irregularly shaped tappets 7 to ensure that all tappets 7 are clamped stably and reliably.

[0046] See Figure 11 , Figure 12 and Figure 13 In this embodiment, the number of expansion sleeve mechanism 44 corresponds to the number of roller tappets 7, and is fixedly assembled on the execution end of the lifting slide assembly 43 of the tappet loading mechanism 4. It simultaneously completes the picking and releasing of multiple tappets 7, is pneumatically driven throughout, has smooth operation, reliable clamping, and does not damage the high-precision surface of the tappets 7.

[0047] Each expansion sleeve mechanism 44 includes a drive cylinder 440, an expansion sleeve core rod 441, an expansion sleeve outer sleeve 442, an expansion sleeve connecting rod 443, an expansion sleeve expansion head 444, and an expansion sleeve gripper 445. These components work precisely together to achieve flexible clamping and smooth release of the pusher 7. The specific working process is as follows: The output end of the drive cylinder 440 is rigidly connected to the top of the expansion sleeve core rod 441 to ensure smooth transmission of driving force. The expansion sleeve outer sleeve 442 is a hollow cylindrical structure with a smooth guide hole inside. The expansion sleeve core rod 441 moves movably through the guide hole of the expansion sleeve outer sleeve 442, allowing for smooth axial up-and-down displacement along the guide hole. A circular vent hole is provided on the outer wall of the expansion sleeve outer sleeve 442 corresponding to the position of the expansion sleeve gripper 445 to discharge compressed air generated during the opening and closing of the expansion sleeve gripper 445, preventing air pressure buildup from affecting the sensitivity of the action, and preventing dust and impurities from entering the expansion sleeve, ensuring long-term stable operation of the mechanism.

[0048] See Figure 12 and Figure 13The expansion sleeve connecting rod 443 is a cylindrical structure, with both ends rigidly connected to the bottom end of the expansion sleeve core rod 441 and the top end of the expansion sleeve expansion head 444, respectively, to ensure that the axial displacement of the expansion sleeve core rod 441 can be synchronously transmitted to the expansion sleeve expansion head 444. The expansion sleeve expansion head 444 is provided with an inclined portion 4440, and the expansion sleeve clamp 445 includes multiple flexible clamps arranged circumferentially. An inclined guide groove 4450 is opened on its inner side, which is completely adapted to the shape and angle of the inclined portion 4440 of the expansion sleeve expansion head 444. The expansion sleeve clamp 445 is sleeved on the outside of the inclined portion 4440 of the expansion sleeve expansion head 444. The two fit tightly and slide smoothly without any jamming.

[0049] When the lifting slide assembly 43 descends to the attitude docking station 5, the expansion sleeve clamp 445 of the expansion sleeve mechanism 44, in a retracted state, arrives at the end slot of the roller tappet 7 inside the cup cylinder 50, and the drive cylinder 440 retracts. At this time, the inclined part 4440 of the expansion sleeve head 444 slides relative to the inclined guide groove 4450 on the inner side of the expansion sleeve clamp 445. Since the inclined part 4440 is a conical structure, the axial upward force of the expansion sleeve head 444 is converted into the radial outward driving force of the expansion sleeve clamp 445, pushing the expansion sleeve clamp 445 to spread evenly in the radial direction until the outer wall of the expansion sleeve clamp 445 is tightly fitted with the inner wall of the end slot of the roller tappet 7, thereby achieving the expansion and clamping of the tappet 7. When the tappet 7 is moved above the mounting hole of the engine 60, after precise positioning and calibration, the lifting slide assembly 43 descends to place the tappet 7 into the mounting hole. At this time, the drive cylinder 440 extends with air, and the inclined part 4440 of the expansion sleeve head 444 slides in opposite directions relative to the inclined guide groove 4450 of the expansion sleeve claw 445. The radial driving force disappears, and the expansion sleeve claw 445 disengages from the groove at the end of the roller tappet 7, completing the release of the tappet 7 and ensuring that the tappet 7 is placed stably in the mounting hole without deviation or impact.

[0050] As a preferred embodiment of this application, the bolt tightening mechanism adopts a tightening robot 1, which replaces manual wrenches or semi-automatic tightening equipment. The tightening torque is precise and controllable. A bolt storage bin 10 is configured next to the tightening robot 1 to realize automatic bolt replenishment. There is no need for frequent manual picking and putting of bolts, reducing manual intervention. The tightening robot 1 is equipped with a vision detection unit. The vision detection unit on the robot can identify and detect the offset status of the mounting hole position of the engine 60 body and the positioning groove 70 of the tappet in real time, accurately capture the slight position deviation, and realize the precise alignment of the bolt with the long positioning groove of the tappet 7 and the side hole of the body. The overall automation level is high, and the action is smoothly linked with the tappet loading mechanism 4. The tightening efficiency is much higher than that of manual operation.

[0051] The assembly method for installing the tappet 7 of the valve train roller assembly equipment includes the following steps: S1. Feeding and conveying: The rollers 7 are neatly arranged and placed in multiple independent and movable material conveying racks. The material conveying racks transport multiple sets of rollers 7 to the preset material picking station in batches in an orderly manner to realize automated batch feeding. The machine body conveying mechanism 6 transports the engine 60 body to the assembly station. S2, Material Picking and Positioning: The three-coordinate slide assembly 311 of the pusher feeding mechanism 3 moves in linkage, controlling the cylinder-type flexible picking claw 32 to simultaneously pick up the roller pusher 7 to be assembled, smoothly transfer and accurately place it into the cup 50 of the attitude docking station 5. The cup 50 limits and supports the lower part of the pusher 7, and the upper part is exposed for easy attitude detection. S3. Preliminary attitude calibration: A high-definition industrial camera acquires attitude images of all rollers and tappers 7 inside the cup cylinder 50; the system identifies the actual position of the long strip positioning groove through an image comparison algorithm, controls the rotation servo motor of the attitude adjustment module to drive the corresponding rollers and tappers 7 to rotate circumferentially, and completes the preliminary attitude calibration of all tappers 7 with the long strip positioning grooves facing the same direction. S4. Precise alignment verification: The side precision positioning mechanism 52 of the support frame 51 is activated, and the positioning cylinder drives the moving frame 520 to move the conical plug 522 into the long positioning groove of the roller taper 7; the insertion displacement of the plug 522 is detected by the sensing component linked to the plug 522 to determine the positioning accuracy of the positioning groove. If the alignment displacement meets the standard and the verification is qualified, proceed to the next process; if there is an angle or position deviation, the system will provide a feedback signal and repeat step S3 to readjust and calibrate the abnormal posture of the muzzle 7 until all muzzle 7 are aligned and qualified. S5. Machine Position Recognition and Deviation Compensation: The pusher loading mechanism 4 is activated, and the translation component drives the overall expansion sleeve mechanism to move directly above the attitude docking station 5. Then, the lifting slide assembly 43 descends, and multiple expansion sleeve mechanisms 44 extend into the end slots of the roller pusher 7, using axial power to radially expand and clamp the pusher 7. The translation component then drives the pusher 7 to move above the machine mounting hole. The vision unit captures and identifies the actual position of the side hole of the machine body, and compares it with the standard position to obtain the parking deviation. The pusher fine adjustment assembly 42 completes micron-level position compensation through the servo drive unit 420 and the transverse adjustment screw. The locking cylinder of the precision alignment mechanism extends, and the pin 451 is inserted into the positioning hole on the upper plane of the machine body to complete the secondary reference locking. The lifting slide assembly 43 drives the pusher 7 to fall vertically and smoothly, and it is placed into the machine mounting hole without bumping or scratching. The expansion sleeve mechanism 44 retracts and loosens to complete the placement. S6. Tightening robot 1 is equipped with a vision detection unit to identify the alignment status of the mounting hole of the machine body and the positioning groove of the tappet 70 in real time. After the tightening robot 1 is accurately aligned, it automatically tightens the limit bolt according to the preset torque. The bolt passes through the side hole of the machine body and extends into the long positioning groove of the tappet 7, which only restricts the tappet 7 from coming out and does not lock the reciprocating motion of the tappet 7, and finally completes the fully automatic assembly operation of the roller tappet 7.

[0052] For any parts not mentioned in this invention, existing technologies can be used or referenced.

[0053] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in the present invention, and these should all be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automatic assembly device for valve train roller tappets, characterized in that, This includes the body conveying mechanism, the pusher feeding mechanism, the pusher loading mechanism, and the bolt tightening mechanism; The pusher feeding mechanism includes a material conveying rack and a multi-station material handling execution component. The material conveying rack is used to carry and orderly convey a number of roller pushers to a preset material handling station. The multi-station material handling execution component is equipped with a number of material handling grippers, a vision acquisition unit, and an attitude adjustment module. The material handling grippers are used to pick up the roller pushers output from the material conveying rack and move them to the attitude docking station. The vision acquisition unit is used to acquire the spatial attitude of the roller pushers at the attitude docking station. The attitude adjustment module drives the material handling grippers to rotate the roller pushers circumferentially so that the long positioning groove of the roller pushers matches the preset assembly attitude. The tappet loading mechanism is used to pick up the roller tappet after attitude calibration at the attitude docking station and place it into the corresponding mounting hole of the engine body that is transported to the position by the body conveying mechanism. The bolt tightening mechanism is used to automatically tighten the bolts of the roller tappets inserted into the mounting holes, thereby achieving fully automatic alignment and assembly of the roller tappets.

2. The automatic assembly equipment for the valve train roller tappets according to claim 1, characterized in that, The multi-station material handling execution component includes a first bracket, on which a slide assembly capable of three-axis movement is integrated. The lifting execution end of the slide assembly is equipped with the material handling gripper, a vision acquisition unit, and an attitude adjustment module connected to the material handling gripper. The slide assembly drives the material handling gripper to complete the material handling and conveying action of the roller tappet. The vision acquisition unit acquires the tappet's attitude information, and the attitude adjustment module drives the material handling gripper to rotate to complete the circumferential attitude calibration of the tappet.

3. The automatic assembly equipment for the valve train roller tappets according to claim 1, characterized in that, The attitude docking station is equipped with a cup cylinder that matches the number of roller tappets to be assembled. The height of the cup cylinder is less than the height of the roller tappets, and the inner diameter is greater than the outer diameter of the roller tappets. It is used to limit and support the roller tappets.

4. The automatic assembly equipment for the valve train roller tappets according to claim 3, characterized in that, The cup cylinder at the attitude docking station is mounted on a support frame, and a precision positioning mechanism is provided on one side of the support frame. The precision positioning mechanism includes a moving frame, a positioning cylinder, a plug adapted to the positioning groove of the roller tappet, and a sensing component. The end of the plug has a tapered structure and is movably mounted on the moving frame. The sensing component is linked with the plug. The positioning cylinder drives the moving frame to insert the plug into the positioning groove of the roller tappet. The sensing component is used to detect the alignment status of the plug and the positioning groove. When the alignment is abnormal, a feedback signal is given to recalibrate the tappet attitude.

5. The automatic assembly equipment for the valve train roller tappets according to claim 1, characterized in that, The tappet loading mechanism includes a second bracket, on which a translation component, a tappet fine-tuning component, and a lifting slide assembly are mounted. The translation component and the tappet fine-tuning component work together to achieve precise alignment with the attitude docking station and the engine block mounting hole. The lifting slide assembly drives several expansion sleeve mechanisms at the actuator end to extend into the end slot of the roller tappet and tighten to clamp and pick up the tappet, or contract and loosen to accurately place the tappet into the engine block mounting hole.

6. The automatic assembly equipment for the valve train roller tappets according to claim 5, characterized in that, The translation assembly includes a translation support plate, and a tappet fine-tuning assembly is disposed on the translation support plate. The tappet fine-tuning assembly includes a servo drive unit, a transverse adjustment screw, and a cantilever support frame. The servo drive unit is driven by the transverse adjustment screw, and the moving nut of the screw is fixedly connected to the cantilever support frame. The bottom end of the cantilever support frame slides with a linear guide rail on the translation support plate via a guide slider, and the cantilever support frame is connected to the lifting slide assembly. The servo drive unit drives the cantilever support frame to drive the lifting slide assembly to complete the position fine-tuning and alignment based on the feedback signal of the engine block hole position acquired by vision. The lifting slide assembly is also equipped with a precision alignment mechanism, which includes a locking cylinder, a guide sleeve, and a pin. The output end of the locking cylinder is connected to the pin, and the pin passes through the inside of the guide sleeve. The positioning cylinder can drive the pin to insert into the positioning hole on the upper surface of the machine before the tappet, so as to achieve precise positioning of the machine body.

7. The automatic assembly equipment for the valve train roller tappets according to claim 5, characterized in that, The expansion sleeve mechanism includes a drive cylinder, an expansion sleeve core rod, an expansion sleeve outer sleeve, an expansion sleeve connecting rod, an expansion sleeve expansion head, and expansion sleeve clamps. The output end of the drive cylinder is connected to the expansion sleeve core rod, which passes through the outer sleeve. The two ends of the expansion sleeve connecting rod are respectively fixed to the expansion sleeve core rod and the expansion sleeve expansion head. The expansion sleeve clamps are sleeved on the outside of the expansion sleeve expansion head. An exhaust hole is provided on the outer wall of the outer sleeve. The drive cylinder drives the expansion sleeve core rod to move axially, opening the expansion sleeve clamps or retracting them to release the roller tappet.

8. The automatic assembly equipment for the valve train roller tappets according to claim 7, characterized in that, The expansion sleeve head is provided with an inclined portion, and the inner side of the expansion sleeve jaws is provided with an inclined guide groove that matches the shape of the inclined portion; when the expansion sleeve head moves up and down along the axial direction, its inclined portion slides relative to the inclined guide groove, converting the axial power into radial driving force, driving the expansion sleeve jaws to expand or contract radially.

9. The automatic assembly equipment for the valve train roller tappets according to claim 1, characterized in that, The bolt tightening mechanism employs a tightening robot, which is equipped with a bolt storage bin on its side. The tightening robot is also equipped with a vision detection unit, which is used to identify and detect the offset of the engine block mounting holes, thereby achieving precise alignment and tightening of the bolts.

10. An assembly method for installing tappets using an automatic assembly equipment for valve train roller tappets according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1. Feeding and conveying: The manual staff simply arranges the rollers and pushers in rows and places them in the multi-layer independent movable material conveying rack. The material conveying rack transports multiple sets of rollers and pushers to the preset material picking station in batches, realizing automated batch feeding. The machine body conveying mechanism transports the engine body to the assembly station. S2, Material Picking and Positioning: The three-coordinate slide assembly of the pusher feeding mechanism moves in linkage, controlling the cylinder-type flexible picking claw to simultaneously pick up the roller pusher to be assembled, smoothly transfer and accurately place it into the cup cylinder of the attitude docking station. The cup cylinder limits and supports the lower part of the pusher, while the upper part is exposed for easy attitude detection. S3. Preliminary attitude calibration: A high-definition industrial camera acquires attitude images of all rollers and tappets inside the cup. The system identifies the actual position of the long positioning slot through an image comparison algorithm, and controls the rotation servo motor of the attitude adjustment module to drive the corresponding roller and tappet to rotate circumferentially, thus completing the preliminary attitude calibration of all tappets and long positioning slots to be aligned. S4. Precise Alignment Verification: The side precision positioning mechanism of the support frame is activated, and the positioning cylinder drives the moving frame to insert the conical plug into the long positioning slot of the roller tappet. The insertion displacement of the plug is detected by the sensing component linked to the plug to determine the positioning accuracy of the positioning slot. If the alignment displacement meets the standard and the verification is qualified, the process proceeds to the next step. If there is an angle or position deviation, the system feeds back a signal and repeats step S3 to readjust and calibrate the tappets with abnormal postures until all tappets are aligned and qualified. S5. Machine Position Recognition and Deviation Compensation: The tappet loading mechanism is activated, and the translation component drives the overall expansion sleeve mechanism to move directly above the attitude docking station. Then, the lifting slide assembly descends, and multiple expansion sleeve mechanisms extend into the end slots of the roller tappets, using axial power to radially expand and clamp the tappets. The rear translation component then moves the tappets to above the machine mounting holes. The vision unit captures and identifies the actual position of the side holes on the machine body, and compares it with the standard position to obtain the parking deviation. The tappet fine-tuning component completes micron-level position compensation through the servo drive unit and the transverse adjustment screw. The locking cylinder of the precision alignment mechanism extends, and the pin is inserted into the positioning hole on the upper plane of the machine body first to complete the secondary reference locking. The lifting slide assembly drives the tappets to fall vertically and smoothly, placing them into the machine mounting holes without bumps or scratches. The expansion sleeve mechanism retracts and releases to complete the placement. S6. The tightening robot is equipped with a vision detection unit to identify the alignment status of the mounting holes on the machine body and the positioning slots of the tappets in real time. After the tightening robot is accurately aligned, it automatically tightens the limit bolts according to the preset torque. The bolts pass through the side holes of the machine body and extend into the long positioning slots of the tappets, which only restricts the tappets from coming out and does not lock the reciprocating motion of the tappets, thus completing the fully automatic assembly of the roller tappets.

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