CN116393981A

CN116393981A - Slewing bearing bolt positioning and tightening system, method and readable storage medium

Info

Publication number: CN116393981A
Application number: CN202310344776.4A
Authority: CN
Inventors: 付玲; 奉华; 吴强; 毛青; 谭伟松; 尹凯; 王海鸥
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2023-03-31
Filing date: 2023-03-31
Publication date: 2023-07-07

Abstract

The invention relates to mechanical assembly equipment, and provides a slewing bearing bolt positioning and tightening system, which comprises the following components: the centering mechanism is used for positioning and clamping the slewing bearing workpiece; the tightening mechanism is arranged along the periphery of the centering mechanism so as to be capable of carrying out cap recognition and tightening on the bolts on the slewing bearing workpiece positioned by the centering mechanism in the working process; the bolt visual positioning mechanism is arranged on the tightening mechanism so as to be capable of photographing and positioning the center position of the bolt; and the tightening and rotating mechanism is used for driving the bolt visual positioning mechanism and the tightening mechanism to synchronously rotate around the central axis of the slewing bearing workpiece. In addition, the invention also provides a slewing bearing bolt positioning and tightening method and a readable storage medium. The positioning and tightening system for the slewing bearing bolt can realize full-automatic tightening of the bolt, has qualified and reliable torque, avoids manual missed tightening and wrong tightening, and improves production efficiency.

Description

Slewing bearing bolt positioning and tightening system, method and readable storage medium

Technical Field

The invention relates to mechanical assembly equipment, in particular to a slewing bearing bolt positioning and tightening system. In addition, the invention also relates to a slewing bearing bolt positioning and tightening method and a readable storage medium.

Background

Slewing bearings are widely used in the real world industry and are known as: the joint of machine is an important driving part necessary for the machine which needs to make relative rotation movement between two objects and simultaneously bear axial force, radial force and tipping moment. With the rapid development of the mechanical industry, the slewing bearing is widely applied to the industries of ship equipment, engineering machinery, light industrial machinery, metallurgical machinery, medical machinery, industrial machinery and the like.

In the assembly process, the slewing bearing and the turntable are required to be fastened through bolts, however, the requirement on the tightening torque of the bolts is very strict, the tightening torque is very high, and the number of the bolts required to be tightened is also large. The common slewing bearing bolt tightening method is to manually tighten by using a torque wrench or manually confirm a cap by adopting an electric tightening gun of a booster arm and then semi-automatically tighten, wherein the manual tightening by using the torque wrench has high labor intensity, and the slewing bearing is relatively large in integral volume after being combined with a turntable, so that the manual operation is easy to miss or misplace; the electric tightening gun with the power-assisted arm is used for semi-automatic tightening, and because the space of a workpiece of the slewing bearing is often narrow, the equipment is difficult to operate, individual bolts cannot be tightened, and the risk of collision with the workpiece is involved. In addition, the tightening methods are all operated manually, so that the tightening torque of each bolt cannot be ensured to be accurate and balanced, and the production efficiency cannot meet the development requirements of the modern industry.

Disclosure of Invention

The invention aims to solve the technical problem of providing a slewing bearing bolt positioning and tightening system, which can realize full-automatic tightening of bolts, has qualified and reliable torque, avoids manual missed tightening and wrong tightening, and improves production efficiency.

Correspondingly, the technical problem to be solved by the invention is to provide a positioning and screwing method for the slewing bearing bolt, which can realize full-automatic screwing of the bolt, has qualified and reliable torque, avoids manual missed screwing and wrong screwing, and improves the production efficiency.

In addition, the invention provides a readable storage medium which can be executed by a machine to control corresponding equipment in the application process to realize full-automatic screwing of the slewing bearing bolt, the torque is qualified and reliable, manual missing screwing and wrong screwing are avoided, and the production efficiency is improved.

In order to solve the technical problems, the invention provides a slewing bearing bolt positioning and tightening system, which comprises: the centering mechanism is used for positioning and clamping the slewing bearing workpiece; the tightening mechanism is arranged along the periphery of the centering mechanism so as to be capable of carrying out cap recognition and tightening on the bolts on the slewing bearing workpiece positioned by the centering mechanism in the working process; the bolt visual positioning mechanism is arranged on the tightening mechanism so as to be capable of photographing and positioning the center position of the bolt; and the tightening and rotating mechanism is used for driving the bolt visual positioning mechanism and the tightening mechanism to synchronously rotate around the central axis of the slewing bearing workpiece.

Preferably, the method further comprises: a fixed base; the tightening compensation mechanism is arranged between the tightening rotation mechanism and the tightening mechanism, so that the tightening rotation mechanism can drive the tightening mechanism and the bolt visual positioning mechanism to synchronously rotate around the central axis of the slewing bearing workpiece through the tightening compensation mechanism, and the tightening compensation mechanism can carry out position compensation on the tightening mechanism according to the positioning result of the bolt visual positioning mechanism; the screwing rotating mechanism and the centering mechanism are connected with the fixed base through the floating mechanism, so that the centering mechanism can adaptively float and adjust in the process of positioning and clamping the slewing bearing workpiece, and the rotating axis of the screwing rotating mechanism coincides with the central axis of the slewing bearing workpiece.

As a specific implementation manner, the floating mechanism comprises a fixed mounting seat, a first floating mounting seat, a second floating mounting seat and a third floating mounting seat which are sequentially arranged from top to bottom, the fixed mounting seat is connected with the fixed base, a first floating roller and a second floating roller which are arranged in a crisscross manner are arranged between the fixed mounting seat and the first floating mounting seat, so that the first floating mounting seat can be subjected to displacement adjustment relative to the fixed mounting seat, a first shaft and a first bearing which are matched are arranged between the first floating mounting seat and the second floating mounting seat, so that the second floating mounting seat can rotate relative to the first floating mounting seat, a second shaft and a second bearing which are matched are arranged between the second floating mounting seat and the third floating mounting seat, so that the third floating mounting seat can rotate relative to the second floating mounting seat, the rotation axis of the first bearing is perpendicular to the rotation axis of the second bearing, and the tightening rotation mechanism and the centering mechanism are connected to the lower side of the third floating mounting seat.

Preferably, a first limiting rod for limiting the rotation angle of the first floating installation seat and the second floating installation seat is arranged between the first floating installation seat and the second floating installation seat, and a second limiting rod for limiting the rotation angle of the second floating installation seat and the third floating installation seat is arranged between the second floating installation seat and the third floating installation seat.

As a specific implementation manner, the tightening rotation mechanism comprises a tightening slewing bearing, a cross beam arranged on the periphery of the tightening slewing bearing and a servo turntable arranged below the tightening slewing bearing, the tightening slewing bearing is arranged below the third floating mounting seat, the servo turntable can drive the cross beam to rotate around the central axis of the tightening slewing bearing, and the cross beam is connected with the tightening compensation mechanism.

Preferably, two cross beams are arranged on the periphery of the tightening slewing bearing, the two cross beams are arranged in a central symmetry mode, and the two cross beams are respectively connected with the tightening compensation mechanism.

As a specific implementation mode, the centering mechanism comprises a centering mounting seat connected to the lower portion of the servo turntable, a plurality of centering clamping jaws arranged below the centering mounting seat and a centering servo unit, wherein the centering mounting seat is connected to the lower portion of the servo turntable, the plurality of centering clamping jaws are uniformly distributed along the circumferential direction of the central axis of the tightening slewing bearing, and the centering servo unit can drive the plurality of centering clamping jaws to synchronously move along the radial direction, so that the plurality of centering clamping jaws mutually cooperate to clamp the slewing bearing workpiece.

The centering clamping jaw comprises an axial positioning plane and a radial positioning boss, wherein the axial positioning plane is arranged corresponding to the upper end face of the slewing bearing workpiece, the radial positioning boss is arranged corresponding to the outer peripheral face of the slewing bearing workpiece, the axial positioning plane is used for positioning the axial direction of the slewing bearing workpiece, and the radial positioning bosses of the centering clamping jaw are matched with each other to clamp the outer peripheral face of the slewing bearing workpiece, so that the central axis of the tightening slewing bearing coincides with the central axis of the slewing bearing workpiece.

In particular, the centering servo unit comprises a servo motor which is in screw drive with the centering jaw.

Preferably, the centering mechanism is provided with a clamping jaw positioning detection device for detecting the positional relationship between the centering clamping jaw and the slewing bearing workpiece.

Specifically, the clamping jaw positioning detection device comprises laser correlation sensors, and pairs of laser correlation sensors are arranged at the lower ends of every two adjacent centering clamping jaws.

Specifically, a vertical lifting mechanism is arranged between the fixed mounting seat and the fixed base, so that the fixed mounting seat can be controlled to lift and move relative to the fixed base.

As a specific embodiment, the tightening compensation mechanism comprises a first motion compensation structure and a second motion compensation structure, wherein the first motion compensation structure is arranged on the cross beam, the first motion compensation structure comprises a first compensation servo unit, a first compensation linear sliding rail and a first compensation sliding block, the first compensation linear sliding rail is arranged below the cross beam in the radial direction, the first compensation servo unit can drive the first compensation sliding block to move on the first compensation linear sliding rail, the second motion compensation structure is arranged on the first compensation sliding block, the second motion compensation structure comprises a second compensation servo unit, a second compensation linear sliding rail and a second compensation sliding block, the second compensation linear sliding rail is arranged below the first compensation sliding block, the guide of the second compensation linear sliding rail is perpendicular to the guide of the first compensation linear sliding rail, and the second compensation servo unit can drive the second compensation sliding block to move on the second compensation linear sliding rail.

As a specific implementation mode, the tightening mechanism comprises a tightening mounting bracket, a tightening shaft, a special head and a sleeve, wherein the tightening mounting bracket is arranged below the second compensation sliding block, the tightening shaft is movably arranged on the tightening mounting bracket, the sleeve is matched with the shape of a bolt to be tightened, and the tightening shaft drives the sleeve to rotate through the special head, so that the sleeve can be used for recognizing a cap and tightening the bolt.

Preferably, the rotation axes of the sleeve and the tightening shaft are parallel to each other, a first gear and a second gear which are in meshed transmission are arranged in the special head, the first gear is connected with the tightening shaft, and the second gear is connected with the sleeve.

Preferably, a laser range finder for detecting the distance between the special head and the slewing bearing workpiece is arranged on the special head.

Specifically, the tightening installation support is provided with an air cylinder and a tightening linear sliding rail, the tightening shaft is installed on a tightening sliding block corresponding to the tightening linear sliding rail, and the air cylinder can drive the tightening sliding block to move up and down on the tightening linear sliding rail.

As a specific implementation mode, the bolt visual positioning mechanism comprises a visual positioning support, a camera and a prism, wherein the visual positioning support is installed on the tightening sliding block, the camera and the prism are installed on the visual positioning support, and the prism is located below the bolt so as to deflect an optical path of the bolt by 90 degrees and reflect the optical path to the camera along the photographing direction of the camera to perform photographing positioning.

Preferably, the visual positioning support is provided with a guide rail sliding block mechanism and a visual telescopic driving unit, the camera and the prism are mounted on a sliding block of the guide rail sliding block mechanism, and the visual telescopic driving unit can drive the sliding block to move on a guide rail of the guide rail sliding block mechanism.

Correspondingly, the invention provides a positioning and tightening method of the slewing bearing bolt, which comprises the following steps of:

s1, positioning and clamping a slewing bearing workpiece so that a rotation axis of a tightening rotation mechanism coincides with a central axis of the slewing bearing workpiece;

s2, photographing and positioning a bolt of the slewing bearing workpiece, obtaining a positioning result of the bolt, adjusting a tightening mechanism to the position of the bolt according to the positioning result, and carrying out cap recognition and tightening on the bolt;

s3, the tightening rotating mechanism drives the tightening mechanism to rotate sequentially until the next bolt is subjected to cap recognition and tightening until all the bolts are tightened.

In a specific embodiment, in step S1, during positioning and clamping the slewing bearing workpiece, the tightening rotation mechanism may perform floating adjustment to follow the slewing bearing workpiece, so that a rotation axis of the tightening rotation mechanism coincides with a central axis of the slewing bearing workpiece.

In a specific embodiment, in step S2, the tightening mechanism is rotated by an angle phi in the first rotation direction, and the position compensation is performed according to the following formula:

Sa＝f(π(△Y/tanφ-△X)φ/180°，△Y/sinφ-△Y/tanφ+△X+△x，△y)

Wherein phi is the deviation angle value of the visual reference point and the sleeve of the tightening mechanism, deltaX is the deviation value of the visual reference point and the sleeve along the radial direction, deltaY is the deviation value of the visual reference point and the sleeve along the vertical radial direction, deltax is the deviation value of the visual reference point and the central position of the bolt along the radial direction, deltay is the deviation value of the visual reference point and the central position of the bolt along the vertical radial direction; or alternatively

In step S2, the tightening mechanism (8) is rotated by an angle alpha-phi in a second rotational direction, and position compensation is performed according to the following formula:

wherein phi is the deviation angle value of the visual reference point and the sleeve of the tightening mechanism, alpha is the equal division angle of the bolt hole on the slewing bearing workpiece, deltaX is the deviation value of the visual reference point and the sleeve along the radial direction, deltaY is the deviation value of the visual reference point and the sleeve along the vertical radial direction, deltax is the deviation value of the visual reference point and the central position of the bolt along the radial direction, and Deltay is the deviation value of the visual reference point and the central position of the bolt along the vertical radial direction.

Specifically, in step S2, the tightening torque or angle of the bolt is checked, and if the tightening torque or angle is acceptable, step S3 is performed; if the operation is not qualified, stopping the operation and sending out an abnormal reminding; in step S3, after each bolt is screwed, checking the screwing torque or angle, if the screwing torque or angle is qualified, turning to the next bolt for cap recognition and screwing; if the bolt is unqualified, the current bolt is photographed and positioned again, and the position compensation is carried out on the tightening mechanism according to the positioning result, so that the cap can be recognized again and the current bolt can be tightened.

In addition, the invention further provides a readable storage medium, and executable instructions are stored on the readable storage medium, wherein the executable instructions are used for realizing the slewing bearing bolt positioning and tightening method in any one of the technical schemes when being executed by a machine.

Through the scheme, the beneficial effects of the invention are as follows:

according to the positioning and screwing system for the slewing bearing bolt, the centering mechanism is used for positioning and clamping the slewing bearing workpiece, after the positioning and clamping are finished, the bolt on the slewing bearing workpiece to be screwed can be photographed and positioned through the bolt visual positioning mechanism, so that the central position of the bolt can be confirmed, the bolt visual positioning mechanism is arranged on the screwing mechanism, the relative position between the bolt visual positioning mechanism and the screw visual positioning mechanism is fixed, the screwing mechanism can be driven to rotate around the central axis of the slewing bearing workpiece through the screwing rotating mechanism, the screwing mechanism can be aligned to the bolt to be screwed, the screwing mechanism can be used for recognizing the cap and screwing the bolt, the full-automatic screwing of the slewing bearing bolt is realized, the torque is qualified and reliable, the manual missing screwing and the wrong screwing are avoided, and the production efficiency is improved.

In addition, the slewing bearing bolt positioning and tightening system is further provided with a tightening compensation mechanism and a floating mechanism, wherein the floating mechanism can follow up the slewing bearing workpiece to carry out floating adjustment in the process of positioning and clamping the slewing bearing workpiece by the centering mechanism, and the self-adaptive adjustment of the tightening rotation mechanism is realized by enabling the rotation axis of the tightening rotation mechanism to coincide with the central axis of the slewing bearing workpiece under the condition that the slewing bearing workpiece is inclined; and when the bolt visual positioning mechanism shoots and positions the bolt, the tightening compensation mechanism can further perform position compensation on the tightening mechanism, and the accuracy of the tightening mechanism in aligning with the center position of the bolt is improved.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:

FIG. 1 is a schematic diagram of one embodiment of a slewing bearing bolt positioning and tightening system of the present invention;

FIG. 2 is a schematic side view of one embodiment of a slewing bearing bolt positioning and tightening system of the present invention;

FIG. 3 is a schematic view of a construction of one embodiment of a vertical lift mechanism;

FIG. 4 is a schematic diagram of one embodiment of a floating mechanism;

FIG. 5 is a schematic view of the structure of one embodiment of a tightening and rotating mechanism;

FIG. 6 is a schematic structural view of one embodiment of a centering mechanism;

FIG. 7 is a schematic illustration of one embodiment of a centering mechanism positioning a slewing bearing workpiece;

FIG. 8 is a schematic illustration of one embodiment of a jaw positioning detection device detecting a slewing bearing workpiece;

FIG. 9 is a schematic structural view of the mechanism of the slewing bearing bolt positioning tightening system of the present invention below the tightening rotary mechanism;

FIG. 10 is a schematic view of a structure of an embodiment of a visual bolt positioning mechanism in a photographing positioning state;

FIG. 11 is a schematic diagram II of a structure of an embodiment of a visual bolt positioning mechanism in a photographing positioning state;

FIG. 12 is a step diagram of a method of positioning and tightening a slewing bearing bolt of the present invention;

FIG. 13 is a schematic view of a first embodiment of a method of positioning and tightening a slewing bearing bolt in accordance with the present invention;

FIG. 14 is a schematic view of a second embodiment of a method of positioning and tightening a slewing bearing bolt of the present invention;

FIG. 15 is a flow chart of a first embodiment of the slewing bearing bolt positioning tightening system of the present invention;

FIG. 16 is a flow chart of a second embodiment of the slewing bearing bolt positioning tightening system of the present invention.

Description of the reference numerals

1 fixed base 2 fixed mounting system

3 vertical lifting mechanism

301 vertical lifting driving unit 302 vertical lifting cylinder

303 guide post

4 floating mechanism

401 fixed mount 402 first floating mount

403 second floating mount 404 third floating mount

405 first floating roller 406 second floating roller

407 first shaft 408 first bearing

409 second shaft 410 second bearing

411 first stop bar 412 second stop bar

5 screw up rotary mechanism

501 screw up slewing bearing 502 crossbeam

503 servo turntable

6 centering mechanism 602 centering jaw

601 centering mount 604 axial positioning plane

603 centering servo unit 606 laser correlation sensor

605 radial positioning boss

7 screw up compensation mechanism 702a first compensation linear slide

701a first compensation servo unit 701b second compensation servo unit

703a first compensating slide 703b second compensating slide

702b second compensation linear slide rail

8 screw-down mechanism 802 screw-down shaft

801 screw mounting bracket 804 sleeve

803 special head 806 screw up linear slide rail

805 cylinder

807 screw up slider

9-bolt visual positioning mechanism 902 light source

901 vision positioning support 904 camera

903 prism 11 bolt

10 centre line of shooing of slewing bearing work piece B bolt

A visual reference point center line D sleeve center

C visual reference point

Detailed Description

The following detailed description of the embodiments of the invention is provided in connection with the accompanying drawings, it being understood that the embodiments described herein are for purposes of illustration and explanation only, and the scope of the invention is not limited to the following embodiments.

In the description of the present invention, unless explicitly stated or limited otherwise, the terms "forming," "providing," "arranging," "connecting," etc. are to be construed broadly, and for example, the connection may be a direct connection, an indirect connection via an intermediary, a fixed connection, a removable connection, or an integral connection; either directly or indirectly via intermediate connectors, or by communication between or interaction between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless otherwise indicated, the azimuth or positional relationships indicated by the azimuth words "upper", "lower", "clockwise", "counterclockwise", etc., are based on the azimuth or positional relationships shown in the drawings, and are contacted only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention; the directional terms of the present invention should be construed in connection with its actual installation state.

For convenience of description, an XYZ coordinate system is set up below, wherein the Z direction is a direction of a rotation central axis of the tightening mechanism 5, the X direction is a radial direction of the rotation central axis passing through the tightening mechanism 8, specifically, the X direction is a radial direction of the rotation central axis passing through a center of the sleeve 804, and the Y direction is a direction perpendicular to the X direction and the Z direction, and since the tightening mechanism 5 drives the tightening mechanism 8 to rotate around the rotation central axis, the X direction and the Y direction change with rotation of the tightening mechanism 8.

The invention provides a slewing bearing bolt positioning and tightening system, which is shown in fig. 1-11, and is a specific embodiment of the slewing bearing bolt positioning and tightening system, and comprises a centering mechanism 6, a tightening mechanism 8, a bolt visual positioning mechanism 9 and a tightening and rotating mechanism 5, wherein the centering mechanism 6 is used for positioning and clamping a slewing bearing workpiece 10, the tightening mechanism 8 is arranged along the periphery of the centering mechanism 6 so as to be capable of carrying out cap recognition and tightening on a bolt 11 on the slewing bearing workpiece 10 positioned by the centering mechanism in the working process, the bolt visual positioning mechanism 9 is arranged on the tightening mechanism 8 so as to be capable of photographing the central position of the positioning bolt 11, and the tightening and rotating mechanism 5 is used for driving the bolt visual positioning mechanism 9 and the tightening mechanism 8 to synchronously rotate around the central axis of the slewing bearing workpiece 10 so as to photograph and position and tighten the central position of the bolt 11.

According to the slewing bearing bolt positioning and tightening system, the slewing bearing workpiece 10 is positioned and clamped through the centering mechanism 6, after the positioning and clamping are finished, the bolt 11 on the slewing bearing workpiece 10 to be tightened can be photographed and positioned through the bolt visual positioning mechanism 9, so that the central position of the bolt 11 can be confirmed, the bolt visual positioning mechanism 9 is arranged on the tightening mechanism 8, the relative position between the bolt visual positioning mechanism 9 and the tightening mechanism is fixed, the tightening mechanism 8 can be driven to rotate around the central axis of the slewing bearing workpiece 10 through the tightening rotating mechanism 5, the tightening mechanism 8 can be aligned with the bolt 11 to be tightened, the tightening mechanism 8 can recognize caps and tighten the bolt 11, the slewing bearing bolt is fully automatically tightened, the torque is qualified and reliable, manual missing and wrong tightening are avoided, and the production efficiency is improved.

When the bolt visual positioning mechanism 9 performs photographing positioning on the central position of the bolt 11, the central position of the bolt 11 may have offset in the X direction and the Y direction, so that after the tightening compensating mechanism 7 rotates the tightening mechanism 8 according to the photographing positioning result, the tightening compensating mechanism 7 also needs to perform displacement compensation in the X direction and the Y direction, as a specific embodiment, referring to fig. 1 and 2, the slewing bearing bolt positioning tightening system of the present invention further includes the tightening compensating mechanism 7, and the tightening compensating mechanism 7 is disposed between the tightening rotating mechanism 5 and the tightening mechanism 8, so that the tightening rotating mechanism 5 can drive the tightening mechanism 8 and the bolt visual positioning mechanism 9 to synchronously rotate around the central axis of the slewing bearing workpiece 10 through the tightening compensating mechanism 7, and the tightening compensating mechanism can perform position compensation in the X direction and the Y direction on the tightening mechanism 8 according to the positioning result of the bolt visual positioning mechanism 9, so that the tightening mechanism 8 can completely align the central position of the bolt 11, thereby performing cap recognition and tightening. In addition, the displacement compensation in the X direction and the Y direction and the rotation movement of the tightening rotation mechanism 5 are carried out under the condition that the rotation central axis of the tightening rotation mechanism 5 coincides with the central axis of the slewing bearing workpiece 10, so as to ensure that the Z direction is the central axis direction of the slewing bearing workpiece 10, however, due to the positioning precision error of the slewing bearing workpiece 10 or a carrier, a certain inclination angle exists between the workpiece and the horizontal plane, so that the rotation central axis of the tightening rotation mechanism 5 coincides with the central axis of the slewing bearing workpiece 10, preferably, the slewing bearing bolt positioning tightening system further comprises a fixed base 1 and a floating mechanism 4, the tightening rotation mechanism 5 and the centering mechanism 6 are connected with the fixed base 1 through the floating mechanism 4, so that the floating mechanism 4 can self-adaptively carry out floating adjustment in the process of positioning the centering rotation mechanism 6 by the floating mechanism 10, and the counter force of the slewing bearing workpiece 10 to the centering rotation mechanism 6, the central axes of the tightening rotation mechanism 5 and the centering mechanism 6 are the same, and the central axes of the slewing rotation mechanism 5 and the centering rotation mechanism 6 are identical, the centering rotation mechanism is completely coincident with the central axis 5 under the condition that the positioning precision error of the slewing bearing workpiece 10 is the ideal condition, and the fact that the positioning error of the slewing bearing workpiece is completely coincident with the central axis 10 is completely produced under the condition that the condition of the slewing bearing workpiece 10, and the positioning error is completely coincident condition, and the positioning error is realized, therefore, by the mechanism of the invention, the rotation axis of the tightening rotation mechanism 5 and the central axis of the slewing bearing workpiece 10 are basically overlapped, namely, the rotation axis of the tightening rotation mechanism 5 and the central axis of the slewing bearing workpiece 10 have deviation which does not influence the operation of the device of the invention, and the axes of the tightening rotation mechanism 5 and the slewing bearing workpiece 10 are also considered to be overlapped, and the protection scope of the invention is also realized. The fixed base 1 is used for bearing the whole weight of the slewing bearing bolt positioning and tightening system, and has various structural forms, and referring to fig. 1, the fixed base 1 can be a portal frame formed by combining sectional materials through bolt connection, or can be directly the top of a factory building.

As a specific embodiment of the floating mechanism 4, referring to fig. 1 and 4, the floating mechanism 4 comprises a fixed mounting seat 401, a first floating mounting seat 402, a second floating mounting seat 403 and a third floating mounting seat 404 which are sequentially arranged from top to bottom, the fixed mounting seat 401 is connected with a fixed base 1, a first floating roller 405 and a second floating roller 406 which are arranged in a crisscross manner are arranged between the fixed mounting seat 401 and the first floating mounting seat 402, wherein the first floating roller 405 is arranged along the X direction, the second floating roller 406 is arranged along the Y direction, the fixed mounting seat 401 is connected with two ends of a shaft of the first floating roller 405, the second floating roller 406 is connected with a shell of the first floating roller 405, the first floating mounting seat 402 is connected with two ends of the shaft of the second floating roller 406, and the shells of the first floating roller 405 and the second floating roller 406 can axially float relative to the shaft under the action of an external force, so that the first floating mounting seat 402 can perform displacement floating adjustment in the X direction and the Y direction relative to the fixed mounting seat 401; and a first shaft 407 and a first bearing 408 are arranged between the first floating mounting seat 402 and the second floating mounting seat 403, so that the second floating mounting seat 403 can rotate relative to the first floating mounting seat 402, a second shaft 409 and a second bearing 410 are arranged between the second floating mounting seat 403 and the third floating mounting seat 404, so that the third floating mounting seat 404 can rotate relative to the second floating mounting seat 403, the rotation axis of the first bearing 408 is perpendicular to the rotation axis of the second bearing 410, and therefore the third floating mounting seat 404 can rotate and adjust relative to the first floating mounting seat 402 around X direction and Y direction, and the tightening rotary mechanism 5 and the centering mechanism 6 are connected below the third floating mounting seat 404, so that the tightening rotary mechanism 5 and the centering mechanism 6 are driven to perform universal floating adjustment in the process of positioning and clamping the slewing bearing workpiece 10 by the centering mechanism 6. In order to enable the floating mechanism 4 to automatically return to the initial position in the non-operating state, a centering spring, a pneumatic damper or a hydraulic damper may be disposed inside the first floating roller 405 and the second floating roller 406 to perform centering return, and the first shaft 407 and the second bearing 408 are preferably located in the middle of the second floating mount 403, so that the second floating mount 403 may automatically return to the horizontal state under the action of gravity, the third floating mount 404 and the second floating mount 403 are the same, and further preferably, torsion springs may be disposed between the first shaft 407 and the first bearing 408 and between the second shaft 409 and the second bearing 410 to perform automatic return of the second floating mount 403 and the third floating mount 404 by torsion forces of the torsion springs.

As a preferred embodiment of the floating mechanism 4, referring to fig. 4, the first shaft 407 is arranged along the Y direction, so that the second floating mount 403 can rotate around the Y direction relative to the first floating mount 402, the second shaft 409 is arranged along the X direction, so that the third floating mount 404 can rotate around the X direction relative to the second floating mount 403, wherein a first limiting rod 411 for limiting the rotation angle of the first floating mount 402 and the second floating mount 403 is arranged between the first floating mount 402 and the second floating mount 403, two first limiting rods 411 are symmetrically arranged corresponding to two ends of the second floating mount 403 along the X direction, a second limiting rod 412 for limiting the rotation angle of the second floating mount 403 and the third floating mount 404 is arranged between the second floating mount 403 and the third floating mount 404, and thus under the combined action of the first limiting rod 411 and the second limiting rod 412, the rotation angle of the third floating mount 404 relative to the X direction and the Y direction of the first floating mount 402 is limited, and the floating rotation angle of the floating mechanism 4 is avoided, and the requirement of the rotation angle of the floating mechanism in the X direction and the Y direction is met.

As a specific embodiment of the tightening rotation mechanism 5, referring to fig. 1 and 5, the tightening rotation mechanism 5 includes a tightening slewing bearing 501, a cross beam 502 disposed on the outer periphery of the tightening slewing bearing 501, and a servo turntable 503 disposed below the tightening slewing bearing 501, the tightening slewing bearing 501 is mounted below the third floating mount 404 so as to be capable of performing floating adjustment following the floating mechanism 4, and the servo turntable 503 is capable of driving the cross beam 502 to rotate around the central axis of the tightening slewing bearing 501, and the cross beam 502 is connected with the tightening compensation mechanism 7 so as to drive the tightening compensation mechanism 7, the tightening mechanism 8 and the bolt vision positioning mechanism 9 to rotate synchronously. Preferably, referring to fig. 1 and 5, the periphery of the tightening slewing bearing 501 is provided with two cross beams 502, the two cross beams 502 are arranged in a central symmetry manner, the two cross beams 502 are respectively connected with the tightening compensation mechanism 7, the cross beams 502 at two ends can enable the stress of the tightening slewing bearing 501 to be more balanced, the tightening compensation mechanism is convenient to rotate in the operation process, and the tightening compensation mechanisms 8 on the two cross beams 502 can operate simultaneously, so that the working efficiency of the tightening slewing bearing is improved.

As a specific embodiment of the centering mechanism 6, referring to fig. 1 and 6, the centering mechanism 6 includes a centering mount 601 connected below the servo turntable 503, a plurality of centering jaws 602 disposed below the centering mount 601, and a centering servo unit 603, the centering mount 601 is connected below the servo turntable 503, the plurality of centering jaws 602 are uniformly distributed along the central axis of the tightening slewing bearing 501 in the circumferential direction, and the centering servo unit 603 can drive the plurality of centering jaws 602 to move synchronously in the radial direction, so that the plurality of centering jaws 602 cooperate with each other to clamp the slewing bearing workpiece 10. Specifically, the centering clamping jaw 602 includes an axial positioning plane 604 corresponding to the upper end surface of the slewing bearing workpiece 10 and a radial positioning boss 605 corresponding to the outer peripheral surface of the slewing bearing workpiece 10, the axial positioning plane 604 is used for positioning the axial direction of the slewing bearing workpiece 10, the radial positioning bosses 605 of the plurality of centering clamping jaws 602 are mutually matched to clamp the outer peripheral surface of the slewing bearing workpiece 10, so that the central axis of the tightening slewing bearing 501 coincides with the central axis of the slewing bearing workpiece 10, preferably, the radial positioning bosses 605 are rotatably arranged, friction force between the radial positioning bosses 605 and the outer peripheral surface of the slewing bearing workpiece 10 in the laminating process is reduced, and the radial positioning accuracy of the slewing bearing workpiece 10 is prevented from being influenced by abrasion. In addition, the centering servo unit 603 includes a servo motor, and the servo motor is in screw transmission with the centering clamping jaw 602 so as to drive the centering clamping jaw 602 to perform positioning and clamping, and the centering servo unit 603 can also directly drive the centering clamping jaw 602 by adopting a servo electric cylinder.

It should be noted that, referring to fig. 7, the centering mechanism 6 is axially positioned by attaching an axial positioning plane 604 on the centering jaw 602 to an upper end face of the slewing bearing workpiece 10, during positioning, the centering jaw 602 needs to be lifted and pressed against the upper end face of the slewing bearing workpiece 10, as the slewing bearing bolt positioning and tightening system of the present invention, referring to fig. 1 and 2, a vertical lifting mechanism 3 is provided between the fixed mount 401 and the fixed base 1, so as to control the fixed mount 401 to lift and move relative to the fixed base 1, specifically, referring to fig. 3, the vertical lifting mechanism 3 is suspended and lifted below the fixed base 1 by the fixed mount system 2, the vertical lifting mechanism 3 comprises a vertical lifting driving unit 301, a vertical lifting air cylinder 302 and a guide post 303, wherein the vertical lifting driving unit 301 is preferably a servo electric cylinder or a hydraulic cylinder, two ends of the vertical lifting driving unit 301 are respectively connected with the fixed base 1 and the fixed mounting seat 401 so as to drive the floating mechanism 4 to drive the centering mechanism 6 to vertically lift, the guide post 303 is arranged between the fixed base 1 and the fixed mounting seat 401 along the vertical direction so as to accurately guide the vertical lifting movement, and the vertical lifting air cylinder 302 is arranged between the fixed base 1 and the fixed mounting seat 401 and is used for balancing the weight of the floating mechanism 4 and each part connected below the floating mechanism. It is conceivable that the floating mechanism 4 is fixedly mounted directly below the fixed base 1, and positioning is performed by moving the entire slewing bearing work-piece 10 vertically upward so that the upper end surface of the slewing bearing work-piece 10 approaches the axial positioning plane 604 on the centering jaw 602.

In order to prevent the axial positioning plane 604 of the centering jaw 602 from directly striking the upper end face of the slewing bearing workpiece 10 when the centering jaw 602 is driven to approach the upper end face of the slewing bearing workpiece 10 by the vertical lifting motion, as a preferred embodiment of the centering mechanism 6, a jaw positioning detection device for detecting the positional relationship between the centering jaw 602 and the slewing bearing workpiece 10 is provided on the centering mechanism 6, as shown in fig. 6. As a specific embodiment of the jaw positioning detection device, the jaw positioning detection device includes a laser correlation sensor 606, and pairs of laser correlation sensors 606 are disposed at the lower ends of every two adjacent centering jaws 602. Taking three centering jaws 602 as an example, during the descending movement of the centering jaws 602, three sets of laser correlation sensors 606 emit and receive each other, when the centering jaws 602 descend to the position shown in fig. 7, the axial positioning plane 604 is not attached to the upper end surface of the slewing bearing workpiece 10, and a small gap exists between the two, see fig. 8, at this time, since the correlation lasers emitted by the three sets of laser correlation sensors 606 are blocked by the slewing bearing workpiece 10, that is, the centering jaws 602 can be detected to descend in place, the descending is stopped, at this time, the outer peripheral surface of the slewing bearing workpiece 10 is clamped by controlling the centering jaws 602 to perform radial positioning, and after the radial positioning is completed, the centering jaws 602 are controlled to press down again, so that the axial positioning plane 604 is attached to the upper end surface of the slewing bearing workpiece 10 to perform axial positioning, wherein the clamping of the centering jaws 602 in place and the pressing of the axial positioning plane 604 into place can be determined by setting a pressure sensor or a distance measuring sensor. In another embodiment of the jaw positioning detection device, taking three centering jaws 602 as an example, two laser correlation sensors 606 may be disposed at the lower end of one centering jaw 602, and one laser correlation sensor 606 may be disposed at the lower end of the other two centering jaws 602, so as to form two sets of correlation lasers, and when both sets of correlation lasers are blocked by the slewing bearing workpiece 10, it can be detected that the centering jaw 602 has fallen in place, and the lowering is stopped.

As a specific embodiment of the tightening compensating mechanism 7, referring to fig. 1 and 9, the tightening compensating mechanism 7 includes a first movement compensating structure provided on the cross member 502 and a second movement compensating structure, the first movement compensating structure including a first compensation servo unit 701a, a first compensation linear slide 702a, and a first compensation slide 703a, the first compensation linear slide 702a being arranged below the cross member 502 in a radial direction (X direction), the first compensation servo unit 701a being capable of driving the first compensation slide 703a to move in the X direction on the first compensation linear slide 702a, the second movement compensating structure being mounted on the first compensation slide 703a, the second movement compensating structure including a second compensation servo unit 701b, a second compensation linear slide 702b, and a second compensation slide 703b, the second compensation linear slide 702b being arranged below the first compensation slide 703a, and the second compensation linear slide 702b being oriented perpendicular to the orientation of the first compensation linear slide 702a, i.e., the second compensation linear slide 702b being arranged in the Y direction, such that the second compensation servo unit 701b is capable of driving the second compensation slide 703b in the Y direction. It should be noted that, the first compensation servo unit 701a and the second compensation servo unit 701b may be driven by a servo motor and a ball screw, or may be directly driven by a servo motor cylinder.

As a specific embodiment of the tightening mechanism 8, referring to fig. 1 and 9, the tightening mechanism 8 includes a tightening mounting bracket 801, a tightening shaft 802, a special head 803 and a sleeve 804, the tightening mounting bracket 801 is mounted below the second compensating slide 703b, so that the tightening compensating mechanism 7 can drive the tightening mechanism 8 to move in the X-direction and the Y-direction, the tightening shaft 802 is movably mounted on the tightening mounting bracket 801, the sleeve 804 is matched with the shape of the bolt 11 to be tightened, the tightening shaft 802 drives the sleeve 804 to rotate through the special head 803, the tightening shaft 802 can move in the Z-direction relative to the tightening mounting bracket 801, so as to drive the sleeve 804 to approach the bolt 11, the sleeve 804 drives the bolt 11 to rotate by a certain angle, the bolt 11 is matched with the first tooth thread of the corresponding bolt hole on the slewing bearing workpiece 10, that is, the sleeve 804 can recognize the bolt 11, the subsequent smooth screwing of the bolt 11 is facilitated, so that the sliding defect is avoided, and the bolt 11 is screwed again after the cap is successful. Because the tightening requirements of the bolt 11 are very strict, the tightening shaft 802 needs to detect that the bolt 11 is being tightened in place, and preferably a torque sensor and/or an angle sensor are provided in the tightening shaft 802 to be able to detect the torque of the bolt 11 and/or the number of tightening turns of the bolt 11, ensuring that the bolt 11 is being tightened in place.

Specifically, the special head 803 is configured such that the sleeve 804 can extend into the lower portion of the slewing bearing workpiece 10 to perform the tightening operation of the bolt 11, the rotation axes of the sleeve 804 and the tightening shaft 802 are parallel to each other, the rotation axis directions of the sleeve 804 and the tightening shaft 802 are Z-directions, the sleeve 804 is located at a side of the tightening shaft 802 close to the central axis of the slewing bearing workpiece 10, a first gear and a second gear which are meshed with each other are provided in the special head 803, the first gear and the second gear are spur gears, the first gear is connected with the tightening shaft 802 in a transmission manner, the second gear is connected with the sleeve 804 in a transmission manner, and the rotation of the tightening shaft 802 can enable the sleeve 804 to rotate through the meshing transmission of the first gear and the second gear, so that the cap can be recognized and the bolt 11 can be tightened. In addition, sometimes, in order to meet the arrangement requirement, an inclination angle exists between the direction of the rotation axis of the tightening shaft 802 and the Z direction, and the direction of the rotation axis of the sleeve 804 is the Z direction, at this time, the first gear and the second gear may be provided as a pair of bevel gears which are meshed with each other to realize torque transmission of the tightening shaft 802 to the sleeve 804.

Specifically, referring to fig. 9, the tightening mounting bracket 801 is provided with an air cylinder 805 and a tightening linear rail 806, the tightening shaft 802 is mounted on a tightening slider 807 corresponding to the tightening linear rail 806, and a telescopic rod of the air cylinder 805 is connected to the tightening slider 807 so that the air cylinder 805 can drive the tightening slider 807 to move up and down on the tightening linear rail 806 to achieve the Z-direction movement of the sleeve 804.

In order to avoid collision between the special head 803 and the sleeve 804 and the slewing bearing workpiece 10 during the Z-direction movement and the X-direction movement, a laser distance meter (not shown in the figure) for detecting the distance between the special head 803 and the slewing bearing workpiece 10 is preferably provided on the special head 803, and the laser distance meter can measure the distance between the special head 803 and the slewing bearing workpiece 10 in the X-direction and the Z-direction, so as to detect the distance between the special head 803 and the slewing bearing workpiece 10 in the X-direction and the Z-direction in real time.

As a specific embodiment of the bolt visual positioning mechanism 9, referring to fig. 10 and 11, the bolt visual positioning mechanism 9 includes a visual positioning bracket 901, a camera 904, and a prism 903, the visual positioning bracket 901 is mounted on a tightening slider 807 and can be lifted and lowered in Z direction in synchronization with the tightening mechanism 8, the camera 904 and the prism 903 are mounted on the visual positioning bracket 901, the prism 903 is located below the bolt 11 to deflect the light path of the bolt 11 by 90 ° along the photographing direction of the camera 904 and reflect the light path to the camera 904 for photographing and positioning, and the prism 903 is preferably a right angle prism and can be used for supporting the lower part of the workpiece 10 according to the slewingThe space is selected to be of a suitable size to facilitate insertion under the bolt 11. Specifically, the center line a of the visual reference point of the camera 904 is parallel to the X direction, the intersection point of the center line a of the visual reference point and the reflecting surface of the prism 903 is the visual reference point C, the reflection of the center position of the bolt 11 by the prism 903 along the bolt photographing center line B can be photographed by the camera 904 for positioning, and the picture is processed, the deviation value Δx and the deviation value Δy of the center position of the visual reference point C and the bolt 11 along the X direction are obtained, and the deviation value Δ0X and the deviation value Δ2Y of the visual reference point C and the sleeve center D of the sleeve 804 along the X direction are both fixed deviation values, so that the sleeve 804 is rotated by phi about the center axis of the rotary support center 10 in the first rotation direction, and then the position of the sleeve 11 is compensated according to the formulas sa=f (Δ3y/tan Φ - Δx) phi/180 °, [ Δy/sin ] [ Δy+ [ Δx+ ], and Δy) corresponding to the rotation angle compensation, the X displacement compensation and the displacement compensation of the sleeve 804 and the displacement compensation of the sleeve are performed, respectively, and the displacement of the sleeve is aligned with the center position of the sleeve 11 to the center position of the sleeve is the center 8. In the above description, the bolts 11 are aligned with the centers of the bushes 804 and the photographing positions, and it is conceivable that since the bolts 11 of the slewing bearing work 10 are uniformly distributed around the axial direction of the center axis thereof and the bisecting angle of the bolt holes is Δ1, the bushes 804 can be rotated around the center axis of the slewing bearing center 10 in the second rotational direction (the second rotational direction is opposite to the first rotational direction) (Δ4- Φ) after the deviation Δx in the X-direction and the deviation Δy in the Y-direction of the center position of the visual reference point C and the bolts 11 are obtained, according to the equation

And performing position compensation, namely corresponding to rotation angle compensation, X-displacement compensation and Y-displacement compensation, so as to align the center D of the sleeve with the center position of the adjacent bolt 11 of the photographing positioning bolt 11.

After photographing and positioning, the sleeve 804 needs to be moved along the Z direction to be close to the bolt 11 for cap recognition and screwing, in order to avoid collision between the camera 904 and the prism 903 and the lower end face of the bolt 11 or the slewing bearing workpiece 10, a guide rail sliding block mechanism and a visual telescopic driving unit are arranged on the visual positioning bracket 901, the camera 904 and the prism 903 are mounted on a sliding block of the guide rail sliding block mechanism, the visual telescopic driving unit can drive the sliding block to move on a guide rail of the guide rail sliding block mechanism, the camera 904 and the prism 903 retract along the X direction and move out from the lower end face of the slewing bearing workpiece 10, and the visual telescopic driving unit can be one of an air cylinder, a hydraulic cylinder or an electric cylinder, or the visual telescopic driving unit can realize telescopic movement of the camera 904 and the prism 903 through motor matched with screw transmission.

In addition, as a preferred embodiment of the bolt visual positioning mechanism 9, a light source 902 for adjusting the brightness of light when the camera 904 photographs is further arranged on the visual positioning bracket 901, the light source 902 can be a light emitting device commonly used in the market, a light shield is arranged on a shell of the light emitting device, the light shield ensures the centralization of light emission, the light source 902 can shine a photographing area when the camera 904 needs to photograph, the photographing environment is prevented from being darker, the camera 904 photographs unclear, the judgment of the central position of the bolt 11 to be screwed is influenced, the light source 902 is preferably blue light, the influence of ambient light can be avoided, the installation positions of the camera 904 and the light source 902 are relatively fixed, and debugging is required before installation, so that the camera 904 can photograph clear data information of the central position of the bolt 11 to be screwed under the irradiation of the light source 902.

The description of the specific embodiments and preferred embodiments of the slewing bearing bolt positioning and tightening system of the present invention is provided above, and in order to better understand the technical solution of the slewing bearing bolt positioning and tightening system of the present invention, the working procedure thereof will be described below according to the specific examples shown in fig. 1 to 11.

Referring to fig. 13 and 14, the number of bolts 11 to be assembled on the slewing bearing workpiece 10 is 20, the aliquoting angle of the bolt holes corresponding to the bolts 11 is α, two cross beams 502 are arranged on the periphery of a tightening slewing bearing 501 of the slewing bearing bolt positioning and tightening system, the two cross beams 502 are symmetrically arranged relative to the rotation center of the tightening rotation mechanism 5, and a tightening compensation mechanism 7, a tightening mechanism 8 and a bolt vision positioning mechanism 9 are correspondingly arranged below the two cross beams 502, so that the symmetrical bolts 11 can be simultaneously positioned, the bolt vision positioning mechanism 9 photographs and positions the bolt numbers b1-b10, and the bolt numbers a1-a10 of the tightening mechanism 8 are screwed, and a flow chart of a first specific embodiment of the slewing bearing bolt positioning and tightening system is shown in fig. 15: firstly, installing a slewing bearing workpiece 10 in place, folding a centering clamping jaw 602 to a designated point according to the diameter of the slewing bearing workpiece 10, judging that the centering clamping jaw 602 is folded in place, and controlling the centering clamping jaw 602 to descend through a vertical lifting mechanism 3 after the slewing bearing workpiece 10 is in place; then, judging whether the centering clamping jaw 602 descends to be in place through the laser correlation sensor 606, after the centering clamping jaw 602 is controlled to clamp the slewing bearing workpiece 10 (if the centering clamping jaw 602 is not in place, the centering clamping jaw 602 is controlled to descend continuously, if the slewing bearing workpiece 10 is not detected continuously, an abnormal alarm is sent out and the machine is stopped so as to facilitate the inspection of faults by workers), judging that the centering clamping jaw 602 is clamped to be in place, after the centering clamping jaw 602 is in place, controlling the centering clamping jaw 602 to press down through the vertical lifting mechanism 3 so as to completely attach the axial positioning plane 604 to the upper end surface of the slewing bearing workpiece 10, and after the centering clamping jaw 602 is pressed down to be in place, completing clamping positioning of the slewing bearing workpiece 10 through the centering mechanism 6, wherein the rotation axis of the tightening rotation mechanism 5 coincides with the central axis of the slewing bearing workpiece 10 under the regulation action of the floating mechanism 4; then the tightening rotary mechanism 5 is rotated to an initial position, the tightening compensation mechanism 7 and the tightening mechanism 8 move in the Z direction, the X direction and the Y direction so that the bolt visual positioning mechanism 9 reaches an initial photographing point, the bolt visual positioning mechanism 9 extends out of the camera 904 and the prism 903, see fig. 13, the photographing positioning bolt b1 is successfully photographed, and after the photographing positioning is successful, the bolt visual positioning mechanism obtains deviation values delta X and delta Y (if the photographing positioning is unsuccessful, the photographing positioning bolt b1 is continuously photographed, and if the photographing positioning is failed for a plurality of times, abnormal reminding and shutdown are sent out); the screw visual positioning mechanism 9 is retracted to the camera 9024 and the prism 903, the tightening rotation mechanism 5 is rotated by a clockwise rotation angle phi, the tightening compensation mechanism performs displacement compensation to the X direction and the Y direction by the tightening rotation mechanism 5, the angle compensation value, the X displacement compensation value and the Y displacement compensation value are calculated by the sub Sa=f (pi (delta Y/tan phi-delta X) phi/180 DEG, delta Y/sin phi-delta Y/tan phi + delta X + delta X, delta Y), so that the sleeve 804 is aligned to the center position of the screw a1, the screw a1 and the screw b1 are the same screw, then the sleeve 804 is controlled to perform Z upward movement by the tightening mechanism 8, the sleeve 804 is recognized as a cap by the rotation of the tightening shaft 802, the tightening torque of the screw a1 is required to be checked after the tightening is completed by the tightening shaft 802, after the checking is qualified, controlling the tightening mechanism 8 to control the sleeve 804 to descend in the Z direction (if the checking is not qualified, sending out an abnormal reminding and stopping), then rotating the tightening rotating mechanism clockwise by an angle alpha to enable the sleeve 804 to be aligned with the bolt a2, then controlling the sleeve 804 to ascend in the Z direction through the tightening mechanism 8, enabling the sleeve 804 to recognize a cap through rotation of the tightening shaft 802, then tightening the bolt a2 through the tightening shaft 802 according to torque, after the tightening is finished, checking the tightening torque or the tightening angle of the bolt a2, after the checking is finished, controlling the tightening mechanism 8 to control the sleeve 804 to descend in the Z direction, then rotating the tightening rotating mechanism clockwise by the angle alpha, repeating the tightening steps of the bolt a2 to sequentially tighten the bolts a3-a10, after all bolts are screwed and qualified, the tightening mechanism 8 and the tightening compensation mechanism 7 respectively move in the Z direction and the X direction, so that the bolt visual positioning mechanism 9 and the tightening mechanism 8 withdraw from the lower end face of the slewing bearing workpiece 10, the centering clamping jaw 602 loosens the slewing bearing workpiece 10, the centering clamping jaw 602 is driven to be lifted to an initial position by the vertical lifting mechanism 3, the tightening operation of the bolts 11 of the slewing bearing workpiece 10 is completed, all tightening data and results (tightening torque or angle of all the bolts 11) in the tightening operation process are uploaded, and finally, all abnormal reminding and centralized alarming are carried out, so that the subsequent staff can conveniently process. In addition, when the tightening torque or the angle of the bolts a2-a10 is checked to be unqualified, the current bolt an (n is in the range of 2-10), the clockwise rotation angle-phi of the tightening rotation mechanism 5 is controlled, so that the bolt visual positioning mechanism 9 can take a picture of the bolt an according to the photographing positioning step of the bolt a1, after the photographing positioning is finished, the tightening rotation mechanism 5 rotates clockwise by an angle phi, the tightening rotation mechanism 5 performs rotation angle compensation on the X direction and the Y direction, the angle compensation value, the X displacement compensation value and the Y displacement compensation value are calculated by the formula san=f (pi (delta Y/tan phi-delta X) phi/180 DEG, delta Y/sin phi-delta Y plus delta X plus delta xn and delta yn, wherein delta xn is a deviation value of the visual reference point and the center position of the bolt an in the radial direction, and delta xn is a difference value of the visual reference point and the center position of the bolt an in the radial direction. It should be noted that, when the tightening torque or the angle inspection of the bolts a2 to a10 is not acceptable, it is necessary to control the clockwise rotation angle- Φ of the tightening rotation mechanism 5 to realign the bolt visual positioning mechanism 9 to the bolt an for photographing and positioning, however, in the previous process of tightening the bolt a1, angle compensation is performed by the tightening rotation mechanism 5, so that in order to be able to ensure that the prism 903 can be located below the bolt an to be able to capture the center position image of the bolt an, after the clockwise rotation angle- Φ of the tightening rotation mechanism 5, it is preferable to perform angle compensation by the tightening rotation mechanism 5 to re-photograph the bolt visual positioning mechanism 9, the compensation value sb=f (-pi (- Δy/sin Φ) Φ/180 °).

The procedure of the first embodiment of the slewing bearing bolt positioning and tightening system according to the present invention is shown in fig. 15, in which the bolt after photographing and positioning is the same bolt as the tightening bolt, that is, the bolt b1 is the same bolt as the bolt a1, however, since the bolts 11 of the slewing bearing workpiece 10 are uniformly distributed around the axial direction of the central axis thereof, the bisecting angle of the bolt hole is α, as the second embodiment of the slewing bearing bolt positioning and tightening system according to the present invention, the bolt after photographing and positioning and the tightening bolt may be adjacent bolts, that is, the bolt b1 and the bolt a1 are adjacent bolts, and the procedure of the second embodiment of the slewing bearing bolt positioning and tightening system according to the present invention is shown in fig. 16:

firstly, installing a slewing bearing workpiece 10 in place, folding a centering clamping jaw 602 to a designated point according to the diameter of the slewing bearing workpiece 10, judging that the centering clamping jaw 602 is folded in place, and controlling the centering clamping jaw 602 to descend through a vertical lifting mechanism 3 after the slewing bearing workpiece 10 is in place; then, the laser correlation sensor 606 is used to determine whether the centering jaw 602 is lowered into position, and after the centering jaw 602 is controlled to hold the slewing bearing workpiece 10 (if notIf the slewing bearing workpiece 10 is not detected continuously, an abnormal alarm is sent out and the device is stopped so as to facilitate the inspection of faults by workers, the centering clamping jaw 602 is clamped in place to be judged, after the centering clamping jaw 602 is in place, the vertical lifting mechanism 3 is used for controlling the centering clamping jaw 602 to press down so as to completely attach the axial positioning plane 604 to the upper end surface of the slewing bearing workpiece 10, after the centering clamping jaw 602 is pressed down in place, the centering mechanism 6 is used for completing the clamping and positioning of the slewing bearing workpiece 10, and under the regulation action of the floating mechanism 4, the rotation axis of the screwing rotary mechanism 5 coincides with the central axis of the slewing bearing workpiece 10; then the tightening rotary mechanism 5 is rotated to an initial position, the tightening compensation mechanism 7 and the tightening mechanism 8 move in the Z direction, the X direction and the Y direction so that the bolt visual positioning mechanism 9 reaches an initial photographing point, the bolt visual positioning mechanism 9 extends out of the camera 902 and the prism 903, as shown in fig. 14, the photographing positioning bolt b1 is successfully photographed, the bolt visual positioning mechanism obtains deviation values delta X and delta Y (if the photographing positioning is unsuccessful, the photographing positioning bolt b1 is continuously photographed, and if the photographing positioning is failed for a plurality of times, abnormal reminding and shutdown are sent out); the screw visual positioning mechanism 9 is retracted to the camera 902 and the prism 903, the tightening rotation mechanism 5 rotates counterclockwise by an angle (alpha-phi), the rotation angle compensation is performed by the tightening rotation mechanism 5, the tightening compensation mechanism performs displacement compensation to the X direction and the Y direction, and the angle compensation value, the X displacement compensation value and the Y displacement compensation value pass through sub-units

According to calculation, the sleeve 804 is aligned to the center position of the bolt a1, the bolt a1 and the bolt b1 are adjacent bolts, then the sleeve 804 is controlled by the tightening mechanism 8 to perform Z-direction ascending movement, the sleeve 804 is enabled to recognize a cap through rotation of the tightening shaft 802, the bolt a1 is tightened by the tightening shaft 802 according to torque, after the tightening is completed, the tightening torque or the tightening angle of the bolt a1 is required to be checked, after the checking is passed, the sleeve 804 is controlled by the tightening mechanism 8 to perform Z-direction descending (if the checking is failed, abnormal reminding and stopping are sent), and then the tightening rotation mechanism is reversedThe sleeve 804 is aligned to the bolt a2 by the needle rotation angle alpha, then the sleeve 804 is controlled to perform Z-direction ascending movement through the tightening mechanism 8, the sleeve 804 is enabled to recognize a cap through the rotation of the tightening shaft 802, the bolt a2 is tightened according to the torque through the tightening shaft 802, after the tightening is completed, the tightening torque or the tightening angle of the bolt a2 is required to be checked, after the checking is qualified, the tightening mechanism 8 is controlled to control the sleeve 804 to perform Z-direction descending, then the tightening rotation mechanism is rotated anticlockwise by the angle alpha, the tightening steps of the bolt a2 are repeated, so that the bolts a3-a10 can be sequentially tightened, after all the bolts are tightened and qualified, the tightening mechanism 8 and the tightening compensation mechanism 7 respectively perform Z-direction and X-direction movements, so that the bolt vision positioning mechanism 9 and the tightening mechanism 8 withdraw from the lower end face of the slewing bearing workpiece 10, the slewing bearing workpiece 10 is loosened by the centering clamping jaw 602 is driven to be lifted to the initial position by the vertical lifting mechanism 3, the tightening operation of the bolt 11 of the slewing bearing workpiece 10 is completed, all the tightening operations of the slewing bearing workpiece 10 and all the tightening data or all the tightening angles (11) in the tightening process are convenient for warning personnel after all the tightening angles are processed. In addition, when the tightening torque or angle of the bolts a2-a10 is checked to be unqualified, the current bolt an (n is in the range of 2-10) needs to be subjected to photographing positioning again, and the tightening rotation mechanism 5 is controlled to rotate counterclockwise by an angle- (alpha-phi) so that the bolt vision positioning mechanism 9 can perform photographing positioning on the bolt an according to the photographing positioning step of the bolt a1, and after the photographing positioning is completed, the tightening rotation mechanism 5 rotates counterclockwise by an angle (alpha-phi) and performs rotation angle compensation through the tightening rotation mechanism 5, the tightening compensation mechanism performs displacement compensation on X direction and Y direction, and the angle compensation value, the X displacement compensation value and the Y displacement compensation value pass through the valve >

Calculating, wherein Deltaxn is a deviation value of the visual reference point and the bolt an central position along the radial direction, deltayn is a deviation of the visual reference point and the bolt an central position along the vertical radial directionDifference value. It should be noted that, when the tightening torque or the angle of the bolts a2 to a10 is not checked properly, the tightening rotation mechanism 5 needs to be controlled to rotate counterclockwise by the angle- (α - Φ) to realign the bolt visual positioning mechanism 9 with the bolt an for photographing and positioning, however, in the previous process of tightening the bolt a1, the angle compensation is performed by the tightening rotation mechanism 5, so that the prism 903 can be located below the bolt an to capture the center position image of the bolt an, and after the tightening rotation mechanism 5 rotates counterclockwise by the angle- (α - Φ), the bolt visual positioning mechanism 9 is photographed again by the tightening rotation mechanism 5, preferably by the angle compensation value

Correspondingly, the invention also provides a slewing bearing bolt positioning and screwing method, which is based on the slewing bearing bolt positioning and screwing system or other devices provided by the invention, and is shown in fig. 12, and comprises the following steps of:

S1, positioning and clamping a slewing bearing workpiece 10 so that the rotation axis of a screwing rotary mechanism 5 coincides with the central axis of the slewing bearing workpiece 10;

s2, photographing and positioning a bolt 11 of the slewing bearing workpiece 10, obtaining a positioning result of the bolt 11, adjusting the position of the tightening mechanism 8 to the position of the bolt 11 according to the positioning result, and performing cap recognition and tightening on the bolt 11;

s3, the tightening rotating mechanism 5 drives the tightening mechanism 8 to rotate to the next bolt 11 in sequence to carry out cap recognition and tightening until all bolts 11 are completely tightened.

As a preferred embodiment of the slewing bearing bolt positioning and tightening method of the present invention, in step S1, the tightening rotation mechanism 5 is capable of performing floating adjustment to follow up the slewing bearing workpiece 10 during positioning and clamping of the slewing bearing workpiece 10, so that the rotation axis of the tightening rotation mechanism 5 coincides with the central axis of the slewing bearing workpiece 10.

As a specific embodiment of the positional compensation in step S2, the tightening mechanism 8 is rotated by an angle Φ in the first rotational direction, and positional compensation of the rotational angle, the X-directional displacement, and the Y-directional displacement is performed according to the following equation:

Sa＝f(π(△Y/tanφ-△X)φ/180°，△Y/sinφ-△Y/tanφ+△X+△x，△y)

wherein, phi is the deviation angle value of the visual reference point and the sleeve 804 of the tightening mechanism 8, deltaX is the deviation value of the visual reference point and the sleeve 804 along the radial direction, deltaY is the deviation value of the visual reference point and the sleeve 804 along the vertical radial direction, deltax is the deviation value of the visual reference point and the central position of the bolt 11 along the radial direction, deltay is the deviation value of the visual reference point and the central position of the bolt 11 along the vertical radial direction.

In the case where the bolt and the tightening bolt for photographing and positioning are the same bolt, the position compensation method used is conceivable that since the bolts 11 of the slewing bearing workpiece 10 are uniformly distributed around the axial direction of the center thereof, the bolt and the tightening bolt after photographing and positioning may be adjacent bolts, as another embodiment of the position compensation in step S2, the tightening mechanism 8 is rotated by the angle α - Φ in the second rotation direction (the second rotation direction is opposite to the first rotation direction), and the position compensation of the rotation angle, the X-directional displacement, and the Y-directional displacement is performed according to the following expression:

wherein phi is the deviation angle value of the visual reference point and the sleeve 804 of the tightening mechanism 8, alpha is the equal division angle of the bolt hole on the slewing bearing workpiece 10, deltaX is the deviation value of the visual reference point and the sleeve 804 along the radial direction, deltaY is the deviation value of the visual reference point and the sleeve 804 along the vertical radial direction, deltax is the deviation value of the visual reference point and the central position of the bolt 11 along the radial direction, deltay is the deviation value of the visual reference point and the central position of the bolt 11 along the vertical radial direction.

Further, in step S2, the tightening torque or angle of the bolt 11 is checked, and if it is acceptable, the process proceeds to step S3; if the operation is not qualified, stopping the operation and sending out an abnormal reminding;

In step S3, after each bolt 11 is screwed, checking the screwing torque or angle, if the screwing torque or angle is qualified, turning to the next bolt 11 for cap recognition and screwing; if the current bolt 11 is unqualified, the current bolt 11 is photographed again for positioning, and the position of the tightening mechanism 8 is compensated according to the positioning result, so that the current bolt 11 can be re-capped and tightened.

In addition, the invention also provides a readable storage medium, and executable instructions are stored on the readable storage medium, and the executable instructions are used for realizing the slewing bearing bolt positioning and tightening method provided by the invention when the executable instructions are executed by a machine.

As can be seen from the above description of the various technical solutions of the present invention, the centering mechanism 6 is mainly used to drive the tightening rotating mechanism 5 and the centering mechanism 6 to float and adjust together under the reaction force of the slewing bearing workpiece 10 by using the adjusting capability of the floating mechanism 4 in the positioning and clamping process of the slewing bearing workpiece 10, so as to ensure that the rotation axis of the tightening rotating mechanism 5 coincides with the central axis of the slewing bearing workpiece 10, after the positioning and clamping process is completed, the bolt 11 on the slewing bearing workpiece 10 to be tightened is photographed and positioned by the bolt visual positioning mechanism 9, so that the central position of the bolt 11 is determined, the relative position between the bolt visual positioning mechanism 9 and the tightening mechanism 8 is fixed, therefore, the deviation between the photographed visual reference point and the sleeve 804 is known, and at this time, according to the photographing positioning result and the deviation, the sleeve 804 can be position-compensated by the tightening rotating mechanism 5 and the tightening compensating mechanism 7, so that the sleeve 804 can be aligned with the bolt 11 to be screwed, thereby realizing full automatic tightening of the slewing bearing by the tightening mechanism, thereby achieving the qualified and reliable tightening torque, and error-free production.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention.

In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition.

Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.

Claims

1. A slewing bearing bolt positioning and tightening system, comprising:

the centering mechanism (6) is used for positioning and clamping a slewing bearing workpiece (10);

a tightening mechanism (8) provided around the centering mechanism (6) so as to be capable of capping and tightening bolts (11) on the slewing bearing workpiece (10) positioned by the centering mechanism (6) during operation;

The bolt visual positioning mechanism (9) is arranged on the tightening mechanism (8) so as to be capable of photographing and positioning the center position of the bolt (11);

and the tightening rotating mechanism (5) is used for driving the bolt visual positioning mechanism (9) and the tightening mechanism (8) to synchronously rotate around the central axis of the slewing bearing workpiece (10).

2. The slewing bearing bolt positioning and tightening system as recited in claim 1, further comprising:

a fixed base (1);

the tightening compensation mechanism (7) is arranged between the tightening rotation mechanism (5) and the tightening mechanism (8), so that the tightening rotation mechanism (5) can drive the tightening mechanism (8) and the bolt visual positioning mechanism (9) to synchronously rotate around the central axis of the slewing bearing workpiece (10) through the tightening compensation mechanism (7), and the tightening compensation mechanism can carry out position compensation on the tightening mechanism (8) according to the positioning result of the bolt visual positioning mechanism (9);

the floating mechanism (4), screw up rotary mechanism (5) with centering mechanism (6) are jointly through floating mechanism (4) connect fixed base (1), make centering mechanism (6) location clamp slewing bearing work piece (10) in-process, floating mechanism (4) can self-adaptation float and adjust, so that screw up rotary mechanism's (5) rotation axis with slewing bearing work piece (10) central axis coincidence.

3. The slewing bearing bolt positioning and tightening system according to claim 2, characterized in that the floating mechanism (4) comprises a fixed mounting seat (401), a first floating mounting seat (402), a second floating mounting seat (403) and a third floating mounting seat (404) which are sequentially arranged from top to bottom, the fixed mounting seat (401) is connected with the fixed base (1), a first floating roller (405) and a second floating roller (406) which are arranged in a crisscross manner are arranged between the fixed mounting seat (401) and the first floating mounting seat (402), so that the first floating mounting seat (402) can be displaced and adjusted relative to the fixed mounting seat (401), a first bearing (407) and a first bearing (408) which are matched are arranged between the first floating mounting seat (402) and the second floating mounting seat (403) so that the second floating mounting seat (403) can rotate relative to the first floating mounting seat (402), a second bearing (409) is arranged between the second floating mounting seat (403) and the third floating mounting seat (403) so that the second bearing (408) can rotate relative to the first bearing (408) and the second bearing (410) which are matched, the tightening rotation mechanism (5) and the centering mechanism (6) are connected below the third floating mount (404).

4. The slewing bearing bolt positioning and tightening system according to claim 3, wherein a first limiting rod (411) for limiting the rotation angle of the first floating mounting seat (402) and the second floating mounting seat (403) is arranged between the first floating mounting seat and the second floating mounting seat, and a second limiting rod (412) for limiting the rotation angle of the second floating mounting seat (403) and the third floating mounting seat (404) is arranged between the second floating mounting seat and the third floating mounting seat.

5. A slewing bearing bolt positioning and tightening system as claimed in claim 3, wherein the tightening rotation mechanism (5) comprises a tightening slewing bearing (501), a cross beam (502) arranged on the periphery of the tightening slewing bearing (501) and a servo turntable (503) arranged below the tightening slewing bearing (501), the tightening slewing bearing (501) is arranged below the third floating mounting seat (404), the servo turntable (503) can drive the cross beam (502) to rotate around the central axis of the tightening slewing bearing (501), and the cross beam (502) is connected with the tightening compensation mechanism (7).

6. The slewing bearing bolt positioning and tightening system according to claim 5, wherein two cross beams (502) are arranged on the periphery of the tightening slewing bearing (501), the two cross beams (502) are arranged in a central symmetry mode, and the two cross beams (502) are respectively connected with the tightening compensation mechanism (7).

7. The slewing bearing bolt positioning and tightening system according to claim 5, wherein the centering mechanism (6) comprises a centering mounting seat (601) connected below the servo turntable (503), a plurality of centering clamping jaws (602) arranged below the centering mounting seat (601) and a centering servo unit (603), the centering mounting seat (601) is connected below the servo turntable (503), the plurality of centering clamping jaws (602) are uniformly distributed along the circumference of the central axis of the tightening slewing bearing (501), and the centering servo unit (603) can drive the plurality of centering clamping jaws (602) to synchronously move along the radial direction so that the plurality of centering clamping jaws (602) mutually clamp the slewing bearing workpiece (10).

8. The slewing bearing bolt positioning and tightening system according to claim 7, wherein the centering clamping jaw (602) comprises an axial positioning plane (604) arranged corresponding to an upper end face of the slewing bearing workpiece (10) and a radial positioning boss (605) arranged corresponding to an outer peripheral face of the slewing bearing workpiece (10), the axial positioning plane (604) is used for positioning an axial direction of the slewing bearing workpiece (10), and the radial positioning bosses (605) of the plurality of centering clamping jaws (602) mutually cooperate to clamp the outer peripheral face of the slewing bearing workpiece (10) so that a central axis of the tightening slewing bearing (501) coincides with the central axis of the slewing bearing workpiece (10).

9. The slewing bearing bolt positioning and tightening system according to claim 7, characterized in that the centering servo unit (603) comprises a servo motor which is screw driven with the centering jaws (602).

10. The slewing bearing bolt positioning and tightening system according to claim 7, characterized in that the centering mechanism (6) is provided with a clamping jaw positioning detection device for detecting the positional relationship between the centering clamping jaw (602) and the slewing bearing workpiece (10).

11. The slewing bearing bolt positioning and tightening system according to claim 10, wherein the clamping jaw positioning detection device comprises laser correlation sensors (606), and pairs of the laser correlation sensors (606) are arranged at the lower ends of every two adjacent centering clamping jaws (602).

12. The slewing bearing bolt positioning and tightening system according to any one of claims 3-11, characterized in that a vertical lifting mechanism (3) is arranged between the fixed mounting seat (401) and the fixed base (1) so as to control the fixed mounting seat (401) to lift and move relative to the fixed base (1).

13. The slewing bearing bolt positioning and tightening system according to claim 5, characterized in that the tightening compensation mechanism (7) comprises a first motion compensation structure and a second motion compensation structure provided on the cross beam (502), the first motion compensation structure comprising a first compensation servo unit (701 a), a first compensation linear slide (702 a) and a first compensation slide (703 a), the first compensation linear slide (702 a) being arranged radially below the cross beam (502), the first compensation servo unit (701 a) being able to drive the first compensation slide (703 a) to move on the first compensation linear slide (702 a), the second motion compensation structure being mounted on the first compensation slide (703 a), the second motion compensation structure comprising a second compensation servo unit (701 b), a second compensation linear slide (702 b) and a second compensation slide (703 b), the second compensation linear slide (702 b) being arranged radially below the first compensation slide (703 a) and the second compensation linear slide (702 b) being able to drive the second compensation slide (703 b) to move vertically on the first compensation linear slide (703 a).

14. The slewing bearing bolt positioning and tightening system according to claim 13, wherein the tightening mechanism (8) comprises a tightening mounting bracket (801), a tightening shaft (802), a special head (803) and a sleeve (804), the tightening mounting bracket (801) is mounted below the second compensating slide (703 b), the tightening shaft (802) is movably mounted on the tightening mounting bracket (801), the sleeve (804) is in contour fit with the bolt (11) to be tightened, and the tightening shaft (802) drives the sleeve (804) to rotate through the special head (803) so that the sleeve (804) can recognize a cap and tighten the bolt (11).

15. The slewing bearing bolt positioning and tightening system according to claim 14, characterized in that the sleeve (804) is parallel to the rotation axis of the tightening shaft (802), and that a first gear and a second gear are arranged in the special head (803) and are in meshed transmission with each other, the first gear being connected to the tightening shaft (802), and the second gear being connected to the sleeve (804).

16. The slewing bearing bolt positioning and tightening system according to claim 14, characterized in that a laser distance meter for detecting the distance between the special head (803) and the slewing bearing workpiece (10) is arranged on the special head (803).

17. The slewing bearing bolt positioning and tightening system according to claim 14, wherein the tightening mounting bracket (801) is provided with a cylinder (805) and a tightening linear rail (806), the tightening shaft (802) is mounted on a tightening slider (807) corresponding to the tightening linear rail (806), and the cylinder (805) is capable of driving the tightening slider (807) to move up and down on the tightening linear rail (806).

18. The slewing bearing bolt positioning tightening system according to claim 17, characterized in that the bolt visual positioning mechanism (9) comprises a visual positioning bracket (901), a camera (904) and a prism (903), the visual positioning bracket (901) is mounted on the tightening slide block (807), the camera (904) and the prism (903) are mounted on the visual positioning bracket (901), and the prism (903) is located below the bolt (11) so as to be capable of deflecting an optical path of the bolt (11) by 90 ° in a photographing direction of the camera (904) for photographing and positioning.

19. The slewing bearing bolt positioning and tightening system according to claim 18, wherein a guide rail slide block mechanism and a visual telescopic driving unit are arranged on the visual positioning bracket (901), the camera (904) and the prism (903) are mounted on a slide block of the guide rail slide block mechanism, and the visual telescopic driving unit can drive the slide block to move on a guide rail of the guide rail slide block mechanism.

20. The positioning and tightening method for the slewing bearing bolt is characterized by comprising the following steps of:

s1, positioning and clamping a slewing bearing workpiece (10) so that the rotation axis of a screwing rotation mechanism (5) coincides with the central axis of the slewing bearing workpiece (10);

s2, photographing and positioning a bolt (11) of the slewing bearing workpiece (10), obtaining a positioning result of the bolt (11), adjusting a screwing mechanism (8) to the position of the bolt (11) according to the positioning result, and recognizing and screwing the bolt (11);

s3, the tightening rotating mechanism (5) drives the tightening mechanism (8) to rotate in sequence until the next bolt (11) is subjected to cap recognition and tightening until all the bolts (11) are completely tightened.

21. The slewing bearing bolt positioning and tightening method according to claim 20, characterized in that in step S1, during positioning and clamping of the slewing bearing workpiece (10), the tightening rotation mechanism (5) is capable of floating adjustment to follow the slewing bearing workpiece (10) so that the rotation axis of the tightening rotation mechanism (5) coincides with the central axis of the slewing bearing workpiece (10).

22. The slewing bearing bolt positioning and tightening method as set forth in claim 20, characterized in that in step S2, the tightening mechanism (8) is rotated by an angle Φ in a first rotational direction and position-compensated according to the following equation:

Sa＝f(π(△Y/tanφ-△X)φ/180°，△Y/sinφ-△Y/tanφ+△X+△x，△y)

Wherein phi is a deviation angle value of a visual reference point and a sleeve (804) of the tightening mechanism (8), deltaX is a deviation value of the visual reference point and the sleeve (804) along a radial direction, deltaY is a deviation value of the visual reference point and the sleeve (804) along a vertical radial direction, deltax is a deviation value of the visual reference point and a central position of the bolt (11) along the radial direction, deltay is a deviation value of the visual reference point and the central position of the bolt (11) along the vertical radial direction; or alternatively

Sa＝f(π(△Y/tanφ-△X)(α-φ)/180°，△Y/sinφ-△Y/tanφ+△X+△x，△y)

wherein phi is the deviation angle value of a visual reference point and a sleeve (804) of the tightening mechanism (8), alpha is the equally dividing angle of a bolt hole on the slewing bearing workpiece (10), deltaX is the deviation value of the visual reference point and the sleeve (804) along the radial direction, deltaY is the deviation value of the visual reference point and the sleeve (804) along the vertical radial direction, deltax is the deviation value of the visual reference point and the central position of the bolt (11) along the radial direction, and Deltay is the deviation value of the visual reference point and the central position of the bolt (11) along the vertical radial direction.

23. The slewing bearing bolt positioning and tightening method as set forth in claim 20, wherein,

in step S2, checking the tightening torque or angle of the bolt (11), and if the tightening torque or angle is qualified, entering step S3; if the operation is not qualified, stopping the operation and sending out an abnormal reminding;

in step S3, after each bolt (11) is screwed, checking the screwing torque or angle, if the screwing torque or angle is qualified, turning until the next bolt (11) is capped and screwed; if the bolt (11) is unqualified, the current bolt (11) is photographed and positioned again, and the position compensation is carried out on the tightening mechanism (8) according to the positioning result so as to be capable of re-recognizing the cap and tightening the current bolt (11).

24. A readable storage medium having stored thereon executable instructions for implementing the slewing bearing bolt positioning tightening method of any one of claims 20-23 when executed by a machine.