CN110958563A - Multi-axis robot intelligent fastening workshop networking system - Google Patents
Multi-axis robot intelligent fastening workshop networking system Download PDFInfo
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- CN110958563A CN110958563A CN201911202310.0A CN201911202310A CN110958563A CN 110958563 A CN110958563 A CN 110958563A CN 201911202310 A CN201911202310 A CN 201911202310A CN 110958563 A CN110958563 A CN 110958563A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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Abstract
The invention discloses a networking system of a multi-axis robot intelligent fastening workshop, which comprises a central controller, a wheel set transportation line, a sliding rail assembly, a laser positioning module and an automatic addressing module, wherein the automatic addressing module comprises a flaw detection module, a data antenna module and a communication module; the data antenna module can read data information of the wheel set; the self-wireless communication module can transmit the data information of the wheel pair to the central controller; and the tightening axle box is used for realizing the matching of the position of the tightening axle and the actual hole position direction of the wheel set according to the wheel set information acquired by the automatic addressing module, and the central controller controls the tightening axle box to fasten the wheel set according to the acquired data information of the wheel set. The workshop networking system automatically finishes the addressing and positioning operation of a plurality of wheel set workpieces in the longitudinal direction, saves the operation steps and time for manually pushing wheel set conveying parts and aligning the wheel sets, and improves the operation efficiency.
Description
Technical Field
The invention belongs to the technical field of wheel set equipment, and particularly relates to a networking system of an intelligent fastening workshop of a multi-axis robot.
Background
The running safety of the motor train unit train must ensure that each part is absolutely reliable to overhaul and maintain, and the wheel pairs in the parts are very important, so that the quality control of the overhaul of the parts at the shaft ends of the wheel pairs must be enhanced in the actual overhaul operation, including the improvement of precision control and the control of operation process clamping, and the work efficiency is improved.
At present, the main structural forms of equipment used for wheel-to-shaft end assembly operation of CRH3 and CRH2 motor train units in the railway industry are as follows, and the main characteristics and the defects are as follows:
(1) the fixed station formula: the fixed upright columns or the fixed cross beams are adopted to fix the tightening axle boxes, the equipment and the tightening axle are fixed in position, workpieces move and need to be pushed to move on the track by workers, the workpieces are dry and live one by one, the manual labor of the workers is large, and the efficiency is low.
(2) Simple mechanical type: the tightening axle box is hoisted by a steel wire rope, the top end of the steel wire rope is provided with a pulley which can slide along a rail, workpieces are sequentially arranged and fixed during dry life, and the tightening axle box slides along the rail, so that the labor intensity of workers is reduced, but the axle box structure is simple mechanical transmission, torque control, storage and transmission are avoided, process control is avoided, the intelligent degree is low, and the operation quality cannot be guaranteed.
(3) A servo control type: compared with the former two methods, the tightening shaft in the case is controlled by the servo motor, the torque control is accurate, but the system has no process control and system guide error-proofing mechanism on the field operation sequence, and the system is lack of intelligent management.
Several existing operation modes need manual participation, have strong dependence on experience and personal technology of operators, can not quantize data of each operation step and link in the operation process, and when the operators change, the operation consistency of parts in different batches can not be ensured, and a complete and real field operation database can not be formed.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a multi-axis robot intelligent fastening workshop networking system which automatically finishes the addressing and positioning operation of a plurality of wheel set workpieces in the longitudinal direction by adopting a laser positioning sensor technology, a vision and image recognition processing technology and combining a servo robot control technology, a gear rack slide rail and the like, saves the operation steps and time for manually pushing wheel set conveying parts and aligning the wheel sets, and improves the operation efficiency.
In order to achieve the above object, according to an aspect of the present invention, there is provided a multi-axis robot intelligent fastening shop networking system, including:
the central controller is used for data communication with each module;
the wheel set conveying line is used for bearing wheel sets and performing circular motion;
the sliding rail assembly is meshed through a gear and a rack and is connected to the sliding rail;
the laser positioning module is used for positioning and ranging the wheel set;
the automatic addressing module is used for carrying out self-adaptive clamping and positioning on the wheel set in cooperation with the wheel set transportation line and acquiring information of the wheel set, and comprises a flaw detection module, a data antenna module and a communication module, wherein the flaw detection module is used for carrying out flaw detection on the wheel set; the data antenna module can read data information of the wheel set; the self-wireless communication module can transmit the data information of the wheel pair to the central controller;
and the tightening axle box is used for driving the wheel set to move to a corresponding position through the sliding rail assembly according to the wheel set information acquired by the automatic addressing module, so that the position of the tightening axle is matched with the actual hole position direction of the wheel set, and the central controller controls the tightening axle box to fasten the wheel set according to the acquired data information of the wheel set.
Furthermore, the central controller comprises an alarm indication module, a servo motor driver, a signal receiving and transmitting processor, a tightening shaft controller and a data synchronizer, and sends data to the wireless communication module of the automatic addressing module in a WIFI, Bluetooth or 5G mode.
Further, the tightening axle box comprises a laser range finder and a hole site identification camera, and the laser range finder and the hole site identification camera are in data communication with a signal transmitting module of the central controller.
Further, the slide rail assembly comprises a longitudinal slide rail assembly, a transverse slide rail assembly and a vertical slide rail assembly.
Furthermore, the longitudinal slide rail assembly is provided with the laser positioning module, and the transverse slide rail assembly can be positioned in the longitudinal direction.
Furthermore, the transverse slide rail assembly is arranged on the longitudinal slide rail, longitudinal rail driving servo motors are installed at two ends of the transverse slide rail assembly, and the longitudinal rail driving servo motors can drive the two ends of the transverse slide rail assembly to synchronously slide on the longitudinal slide rail according to system instructions.
Furthermore, a laser positioning sensor is arranged on the servo motor and is in data communication with a signal transmitting module of the central controller.
Further, vertical slide rail set spare with locate horizontal rail drive servo motor on the horizontal slide rail set spare is connected, vertical slide rail set spare through the rack and pinion structure with horizontal slide rail set spare's horizontal slide rail is connected, but vertical slide rail set spare lateral sliding.
Further, the tightening shaft box assembly is hung at the end position of the lowest end of the vertical slide rail assembly, and the tightening shaft box assembly can complete up-and-down and horizontal feeding movement.
Furthermore, a positioning sensor is arranged on the automatic workpiece conveying line and is in data communication with a signal transmitting module of the central controller.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) according to the networking system of the multi-axis robot intelligent fastening workshop, the laser positioning sensor technology, the vision and image recognition processing technology and the servo robot control technology, the gear rack sliding rail and the like are combined, the addressing and positioning operation of a plurality of wheel set workpieces in the longitudinal direction is automatically completed, the operation steps and time for manually pushing wheel sets to convey parts and aligning the wheel sets are saved, and the operation efficiency is improved.
(2) According to the networking system of the multi-axis robot intelligent fastening workshop, the laser positioning sensor technology, the vision and image recognition processing technology and the servo robot control technology, the gear rack sliding rail and the like are combined, so that the positioning and distance measuring operation of a single wheel pair workpiece in the vertical direction is automatically completed, the operation steps and time for aligning the workpiece by manually operating the power-assisted arm are saved, and the working efficiency is improved.
(3) According to the networking system of the multi-axis robot intelligent fastening workshop, the laser positioning sensor technology, the vision and image recognition processing technology, the servo motor control technology and the like are combined, self-adaptive adjustment of the posture and the angle of the tightening axle box when the posture of the wheel to the workpiece connecting hole is different, axial automatic feeding, bolt tightening and automatic returning and zero returning operation are automatically completed, the steps and time for manually operating the alignment, feeding and tightening of the tightening axle box are saved, and the operation efficiency is improved.
Drawings
Fig. 1 is a schematic diagram of a system architecture according to an embodiment of the present invention;
fig. 2 is a component diagram of a multi-axis robot intelligent fastening workshop networking system provided by the embodiment of the invention;
FIG. 3 is a schematic diagram of a networking system of a multi-axis robot intelligent fastening workshop provided by the embodiment of the invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The wheel set is the part of the rolling stock contacting with the steel rail and consists of left and right wheels firmly pressed on the same axle. The wheel pair is used to ensure the running and steering of the rolling stock on the rail, bear all static and dynamic loads from the rolling stock, transfer the static and dynamic loads to the rail and transfer the loads generated by the irregularity of the lines to the parts of the rolling stock. In addition, the drive and braking of the rolling stock are also effected via wheel pairs. The assembly pressure and the press-fitting process of the axle and the wheel are strictly required, and the distance between the inner sides of the wheel sets must be ensured within the range of 1353 +/-3 millimeters. In order to ensure the smooth running of the rolling stock and reduce the interaction force and running resistance of the wheel and the rail, the processing ovality and eccentricity of the axle journal and the wheel tread and the taper of the axle journal cannot exceed the specified limit.
Fig. 1 illustrates an exemplary system architecture to which embodiments of the present invention may be applied, which may be a server 100, where the server 100 may include a processor 110, a communication interface 120, and a memory 130.
The communication interface 120 is used for the terminal device to perform communication, receive and transmit information transmitted by the terminal device, and implement communication.
The processor 110 is a control center of the server 100, connects various parts of the entire server 100 using various interfaces and routes, performs various functions of the server 100 and processes data by operating or executing software programs and/or modules stored in the memory 130 and calling data stored in the memory 130. Alternatively, processor 110 may include one or more processing units.
The memory 130 may be used to store software programs and modules, and the processor 110 executes various functional applications and data processing by operating the software programs and modules stored in the memory 130. The memory 130 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to a business process, and the like. Further, the memory 130 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
It should be noted that the structure shown in fig. 1 is only an example of a multi-axis robot intelligent fastening workshop networking system, and the embodiment of the present invention does not limit this.
An embodiment of the present invention provides a multi-axis robot intelligent fastening workshop networking system, as shown in fig. 2 and 3, including
The central controller is also called a central control cabinet and is used for data communication with each module;
further, the central control cabinet comprises an alarm indication module, a servo motor driver, a signal receiving and transmitting processor, a tightening shaft controller and a data synchronizer.
Furthermore, the signal transceiver module of the central control cabinet sends data to the wireless communication module in the automatic addressing and positioning module in a wireless WIFI, Bluetooth or 5G mode and the like.
Furthermore, the laser positioning sensors arranged on all the servo motors are in data communication with the signal transmitting module of the central control cabinet in a wired mode.
Furthermore, the laser range finder and the hole site identification camera which are arranged on the tightening axle box are in data communication with the signal transmitting module of the central control cabinet in a wired mode.
Furthermore, a positioning sensor on the automatic workpiece conveying line is in data communication with a signal transmitting module of the central control cabinet in a wired mode.
Furthermore, a central computer on the central control cabinet performs data intercommunication with the motor train section workshop section network in a wireless WIFI, Bluetooth or 5G mode and the like.
The automatic workpiece conveying line is used for carrying wheel pair movement;
furthermore, a positioning sensor on the automatic workpiece conveying line is in data communication with a signal transmitting module of the central control cabinet in a wired mode.
Furthermore, the automatic conveying line automatically conveys the wheel set workpiece to the lower side of corresponding equipment, the wheel set workpiece is self-adaptively clamped and positioned by matching with the positioning and addressing module, and the wheel set workpiece is automatically conveyed to the next station after the operation is finished.
The sliding rail assembly is meshed through a gear and a rack and is connected to the sliding rail;
the laser positioning module can position and measure distance of the wheel pair;
furthermore, all the laser positioning sensors are installed to carry out data communication with a signal transmitting module of the central control cabinet in a wired mode.
The automatic addressing module can be matched with the workpiece conveying line to perform self-adaptive clamping and positioning on the workpiece;
further, a flaw detection module in the automatic addressing and positioning module carries out integral flaw detection on the wheel set workpiece in a mode of wirelessly transmitting detection rays;
further, an RFID (radio frequency identification) data antenna in the automatic addressing and positioning module reads data information of an RFID label on the workpiece in a wireless transmission and scanning mode;
furthermore, the wireless communication module in the automatic addressing positioning module transmits data to the signal receiving and transmitting module of the central control cabinet in a wireless WIFI, Bluetooth or 5G mode and the like.
And the axle box is tightened, and the axle box can move to a corresponding position according to the wheel set information acquired by the automatic addressing module, so that the position of the tightening shaft is consistent with the direction of the actual hole position of the wheel set, and the tightening shaft is driven to rotate.
Furthermore, the screwing shaft box component is hung at the end position of the lowest end of the vertical slide rail, and can complete up-and-down and horizontal feeding movement under the driving of the vertical slide rail.
Furthermore, the automatic addressing module also comprises a flaw detection module, an RFID data antenna module and a communication module,
further, the flaw detection module detects flaws of the wheel set;
further, the RFID data antenna module can read the data information of the wheel pair;
further, the wireless communication module can transmit the data information of the wheel pair to the central controller,
further, the central controller controls the tightening axle box to fasten the wheel set according to the acquired data information of the wheel set.
Furthermore, the automatic addressing module can detect the distance data between the automatic addressing module and the wheel pair in real time, transmit the data to a signal transceiving processor of the central controller, and transmit the data to the central computer after processing.
Further, after receiving the data, the central computer analyzes and calculates the data through system software, and sends an instruction to the central controller signal transceiver processor, the signal transceiver processor converts the instruction and sends the signal to the servo motor, and the servo motor drives the tightening axle box to move towards the wheel pair through the instruction conversion.
Further, the axes of the respective shafts of the tightening shafts in the tightening shaft box coincide and are aligned with the axes of the respective bolt hole sites of the wheel pair to be tightened.
Further, the tightening axle boxes may determine, via the laser positioning module, whether the axis of each shaft of the tightening axle coincides and aligns with the axis of each bolt hole of the wheel pair to be tightened.
Further, if the axes of the respective shafts of the tightening shafts coincide and are aligned with the axes of the respective bolt hole sites of the wheel pair to be tightened, the next operation is performed.
Further, if the axes of the respective shafts of the tightening shafts do not coincide and align with the axes of the respective bolt hole sites of the wheelset to be tightened, the tightening axle boxes are adjusted until the axes of the respective shafts of the tightening shafts coincide and align with the axes of the respective bolt hole sites of the wheelset to be tightened, and then the next operation can be performed.
Further, the central controller controls a servo motor, and the servo motor drives the tightening axle box to move towards the wheel pair direction, so that the tightening work of the wheel pair is completed.
Furthermore, after the tightening shaft box finishes fastening the wheel pair, the servo motor drives the wheel pair to finish withdrawal operation under the control of the central controller.
The sliding rail assembly further comprises a longitudinal sliding rail assembly, a transverse sliding rail assembly and a vertical sliding rail assembly.
Furthermore, the longitudinal slide rail assembly is provided with the laser positioning module, and the transverse slide rail assembly can be positioned in the longitudinal direction.
Furthermore, the longitudinal slide rail assemblies are two in total, the whole longitudinal slide rail assemblies are of a steel structure, the slide rails are of a gear rack structure, and the slide rails are meshed with a driving mechanism on the transverse slide rail to provide a track for the slide rails to move in the longitudinal direction;
furthermore, the end head of the longitudinal slide rail is also provided with a laser ranging and positioning instrument for assisting the transverse slide rail assembly to move and position in the longitudinal direction;
furthermore, the transverse slide rail assembly is arranged on the longitudinal slide rail, longitudinal rail driving servo motors are installed at two ends of the transverse slide rail assembly, and the longitudinal rail driving servo motors can enable two ends of the transverse slide rail assembly to synchronously slide on the longitudinal slide rail according to system instructions.
Further, vertical slide rail set spare is connected with horizontal rail drive servo motor, and vertical slide rail set spare is connected with horizontal slide rail of horizontal slide rail set spare through rack and pinion structure, but vertical slide rail set spare lateral sliding.
Further, vertical slide rail set spare is connected through the transfer connection motor cabinet with horizontal rail drive servo motor, through rack and pinion structure and horizontal slide rail set spare horizontal slide rail to being connected, can be along horizontal slip.
Furthermore, a vertical driving servo motor on the vertical slide rail assembly is connected with the transfer connecting motor base and then connected with the vertical direction slide rail through a worm and gear mechanism, and the vertical slide rail can move up and down in the vertical direction along the transfer connecting motor base through the motor driving.
Further, the tightening shaft box assembly is hung at the end position of the lowest end of the vertical slide rail assembly, and the tightening shaft box assembly can finish up-and-down and horizontal feeding movement.
Furthermore, the central controller sends data to the wireless communication module of the automatic addressing module in a wireless mode, and the central controller is in data communication with the laser positioning module in a wired mode.
Furthermore, the staff can access the system operation data on the motor train section server through a mobile phone, a tablet personal computer, a desktop computer, a notebook computer and the like, and check, examine and trace the operation content and the later result.
According to the networking system of the multi-axis robot intelligent fastening workshop provided by the embodiment of the invention, by combining a laser positioning sensor technology, a servo robot control technology, a rack and pinion slide rail and the like, the addressing and positioning operation of a plurality of wheel set workpieces in the longitudinal direction is automatically completed, the positioning and distance measuring operation of a single wheel set workpiece in the vertical direction is automatically completed, the self-adaptive adjustment of the posture and the angle of a tightening axle box when the posture of a wheel to a workpiece connecting hole is different, the axial automatic feeding, the bolt tightening and the automatic returning to zero operation are automatically completed, the manual operation steps and time are saved, and the operation efficiency is improved.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a multiaxis robot intelligence fastening workshop networking system which characterized in that includes:
the central controller is used for data communication with each module;
the wheel set conveying line is used for bearing wheel sets and performing circular motion;
the sliding rail assembly is meshed through a gear and a rack and is connected to the sliding rail;
the laser positioning module is used for positioning and ranging the wheel set;
the automatic addressing module is used for carrying out self-adaptive clamping and positioning on the wheel set in cooperation with the wheel set transportation line and acquiring information of the wheel set, and comprises a flaw detection module, a data antenna module and a communication module, wherein the flaw detection module is used for carrying out flaw detection on the wheel set; the data antenna module can read data information of the wheel set; the self-wireless communication module can transmit the data information of the wheel pair to the central controller;
and the tightening axle box is used for driving the wheel set to move to a corresponding position through the sliding rail assembly according to the wheel set information acquired by the automatic addressing module, so that the position of the tightening axle is matched with the actual hole position direction of the wheel set, and the central controller controls the tightening axle box to fasten the wheel set according to the acquired data information of the wheel set.
2. The multi-axis robot intelligent fastening shop networking system of claim 1, wherein: the central controller comprises an alarm indication module, a servo motor driver, a signal receiving and transmitting processor, a tightening shaft controller and a data synchronizer, and sends data to the wireless communication module of the automatic addressing module in a WIFI, Bluetooth or 5G mode.
3. The multi-axis robot intelligent fastening shop networking system of claim 1, wherein: the tightening axle box comprises a laser range finder and a hole site identification camera, and the laser range finder and the hole site identification camera are in data communication with a signal transmitting module of the central controller.
4. Multi-axis robotic intelligent fastening shop networking system according to any of the claims 1-3, characterized in that: the slide rail assembly comprises a longitudinal slide rail assembly, a transverse slide rail assembly and a vertical slide rail assembly.
5. The multi-axis robot intelligent fastening shop networking system of claim 4, wherein: the longitudinal sliding rail assembly is provided with the laser positioning module, and the transverse sliding rail assembly can be positioned in the longitudinal direction.
6. The multi-axis robot intelligent fastening shop networking system of claim 5, wherein: the transverse sliding rail assembly is arranged on the longitudinal sliding rail, longitudinal rail driving servo motors are installed at two ends of the transverse sliding rail assembly, and the longitudinal rail driving servo motors can drive the two ends of the transverse sliding rail assembly to synchronously slide on the longitudinal sliding rail according to system instructions.
7. The multi-axis robot intelligent fastening shop networking system of claim 6, wherein: and the servo motor is provided with a laser positioning sensor which is in data communication with a signal transmitting module of the central controller.
8. The multi-axis robot intelligent fastening shop networking system of claim 4, wherein: the vertical sliding rail assembly is connected with a transverse rail driving servo motor arranged on the transverse sliding rail assembly, the vertical sliding rail assembly is connected with a horizontal sliding rail of the transverse sliding rail assembly through a gear rack structure, and the vertical sliding rail assembly can transversely slide.
9. Multi-axis robotic intelligent fastening shop networking system according to any of the claims 5-8, characterized in that: the tightening shaft box assembly is hung at the end position of the lowest end of the vertical slide rail assembly, and the tightening shaft box assembly can finish up-and-down and horizontal feeding movement.
10. Multi-axis robotic intelligent fastening shop networking system according to any of the claims 1-3, characterized in that: and a positioning sensor is arranged on the automatic workpiece conveying line and is in data communication with a signal transmitting module of the central controller.
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Application publication date: 20200403 |