CN111015197B - Six robot automatic intelligent assembly system are repaiied to EMUs senior level - Google Patents

Six robot automatic intelligent assembly system are repaiied to EMUs senior level Download PDF

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Publication number
CN111015197B
CN111015197B CN201911405911.1A CN201911405911A CN111015197B CN 111015197 B CN111015197 B CN 111015197B CN 201911405911 A CN201911405911 A CN 201911405911A CN 111015197 B CN111015197 B CN 111015197B
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framework
sliding rail
movably mounted
motor
main body
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CN111015197A (en
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徐娜
周滔
李光耀
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Loteem Beijing Rail Transit Technology Co Ltd
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Loteem Beijing Rail Transit Technology Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06Screw or nut setting or loosening machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • B23P19/006Holding or positioning the article in front of the applying tool

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention discloses an automatic intelligent assembly system of a six-axis robot for advanced maintenance of a motor train unit, which comprises a workshop main body, wherein workshop stand columns are fixedly arranged at the corner positions of the outer surface of the upper end of the workshop main body and the middle positions of the front end and the rear end of the outer surface of the upper end of the workshop main body, a longitudinal beam hoop supporting assembly is movably arranged at the middle position of the outer surface of the workshop stand column, a longitudinal slide rail beam is movably arranged at one end, close to the workshop main body, of the outer surface of the upper end of the longitudinal beam hoop supporting assembly, an electric control system box is movably arranged at the rear end position of one side of the outer surface of the upper end of the workshop main body, and turnover operation mechanisms are fixedly arranged at two sides of the outer surface of the upper end of the workshop main body. The automatic intelligent assembly system of the six-axis robot for the high-grade repair of the motor train unit has a wider application range, is not limited to the motor train unit, can be used for other similar structures such as subways, urban railways and intercity railway train structures, and further can be expanded to other bolt assembling and screwing scenes.

Description

Six robot automatic intelligent assembly system are repaiied to EMUs senior level
Technical Field
The invention relates to the field of automatic intelligent assembly, in particular to an automatic intelligent assembly system of a six-axis robot for advanced repair of a motor train unit.
Background
The utility model provides an automatic intelligent assembly system of six robots are repaiied to EMUs senior level, mainly used CRH3 and the higher screw up and the assembly operation of repairing the frame and overhauing station fastening bolt of repairing of harmonious EMUs.
At present, motor train sections and motor train operation stations all over the country have the following main operation modes of screwing and assembling fastening bolts for the high-grade repair frame of the CRH3 and the CRH motor train unit:
the manual and ordinary mechanical tool is realized by a plurality of operators, each operator holds an ordinary mechanical wrench to perform bolt tightening and assembling operation, the wrench is set to be a fixed torque value, the operator operates the wrench to perform bolt tightening, when the tightening torque of a workpiece reaches a target torque, the wrench can make a click sound, and the operator immediately withdraws from a ratchet head to perform subsequent operation.
The implementation mode of the digital tool is that a plurality of operators take a digital wrench with data acquisition to tighten and assemble a bolt, the torque value of the wrench can be adjusted steplessly according to system setting, the operators operate the wrench to tighten the bolt, when the tightening torque of a workpiece reaches a target torque, the wrench can give out click sound and light alarm prompts and upload the collected torque value to system software, and the operators can withdraw from a ratchet head immediately to perform subsequent operation.
The manual and power-assisted mechanical arm type tightening tool is in a fixed station form, a power-assisted arm main body is of a rocker arm structure, a wrench is of an electric type, and the wrench is arranged at the tail end of a power-assisted arm through a special support and a fastening screw; the operating personnel can hold the handle on the helping hand arm, and the operation spanner is sought the position and is counterpointed to the bolt that will fasten on the framework work piece, relies on electric spanner itself to realize screwing up the operation.
The problems existing in the field use process of the above operation modes are as follows:
in the mode, although the wrench can prompt an operator through a mechanical sound, the result is only one prompt, in the operation process, when the wrench reaches a target torque, a mechanical structure in the wrench is triggered to make a sound, the operator hears the sound, and after the sound is processed by the brain, information is sent to arms and arms of the operator, so that a sound transmission process is added, zero seconds of time may exist in the middle of the sound transmission process, and the operation of the wrench by the arms of the operator is always operated in the time, which is equal to the fact that the operator tightens the torque for zero seconds after the torque reaches, so that in most cases, in the mode, the bolt torque is over, the operation error is large, the operation data cannot be quantized and collected, and the operation process is not recorded; the number of the wrenches is large, maintenance and verification are required every day, and the workload of operators is large; and a framework workpiece can be operated only by the cooperation of a plurality of persons each time, so that the efficiency is relatively low.
Compared with a common mechanical wrench, the manual digital tool with data acquisition can acquire and record data, but the digital wrench has high requirements on hand feeling of operators and can be put on duty only after special training; the number of the wrenches is large, special maintenance and verification are required every day, and the workload of operators is large; and a framework workpiece can be operated only by the cooperation of a plurality of persons each time, so that the efficiency is relatively low.
Compared with the former two operation modes, the manual and power-assisted mechanical arm type tightening shaft tool can automatically stop rotating after the tightening shaft reaches a torque value, and has high tightening precision; the assembly of all the bolts covering the upper surface of the whole framework can be realized by using one electric tool, and the number of the wrenches is relatively small; but the bolt at the bottom of the framework can not be overhauled by the aid of the power-assisted mechanical arm, and the dependence on operators is still large; the coverage range of the power-assisted mechanical arm is limited, only one framework workpiece can be covered, multiple sets of equipment are needed to meet the requirement of simultaneous operation of multiple framework workpieces, and the manufacturing cost is high.
Therefore, the automatic intelligent assembly system for the six-axis robot for the advanced repair of the motor train unit is provided.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the automatic intelligent assembly system of the six-axis robot for the high-grade repair of the motor train unit, which has wider application range, is not limited to the motor train unit, can be used for other similar structures such as trains of subways, urban railways and intercity railways, and further can be expanded to other bolt assembling and screwing scenes.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an automatic intelligent assembly system of a six-axis robot for the advanced repair of a motor train unit comprises a workshop main body, workshop stand columns are fixedly arranged at the corner positions of the outer surface of the upper end of the workshop main body and at the middle positions of the front end and the rear end of the outer surface of the upper end of the workshop main body, a longitudinal beam hoop supporting assembly is movably arranged at the middle position of the outer surface of the workshop stand columns, a longitudinal slide rail beam is movably arranged at one end, close to the workshop main body, of the outer surface of the upper end of the longitudinal beam hoop supporting assembly, an electric control system box is movably arranged at the rear end position of one side of the outer surface of the upper end of the workshop main body, turnover operation mechanisms are fixedly arranged at two sides of the outer surface of the upper end of the workshop main body, a motor train framework workpiece is movably arranged at the outer surface of the upper end of each turnover operation mechanism, a transverse slide rail beam is movably arranged between every two adjacent longitudinal slide rail beams, and arch-shaped supporting beams are fixedly arranged at two sides of the outer surface of the upper end of each transverse slide rail beam, and arched supporting beam's lower extreme fixed mounting has horizontal beam sliding guide, horizontal beam sliding guide's upper end surface is equipped with horizontal beam rack guide, movable mounting has vertical roof beam connection groove rail between horizontal sliding rail roof beam and the vertical slide rail roof beam, and vertical roof beam connection groove rail is close to one end surface one side movable mounting of horizontal sliding rail roof beam and has servo drive motor, horizontal beam sliding guide's upper end surface intermediate position movable mounting has slide rail roof beam changeover mechanism, and slide rail roof beam changeover mechanism's lower extreme movable mounting has vertical slide rail roof beam subassembly, the lower extreme movable mounting of vertical slide rail roof beam subassembly has the axle subassembly of screwing up, one side movable mounting that arched supporting beam kept away from the workshop main part has the framework addressing positioning mechanism.
Preferably, the equal fixed mounting in upper end surface both sides of upset operation mechanism has steel structure support, steel structure support keeps away from one side surface upper end position movable mounting of upset operation mechanism has vertical rotatory servo motor, and steel structure support is close to one side surface upper end position movable mounting of upset operation mechanism has the framework to bear the frock, the framework bears the frock and is close to one side surface lower extreme position movable mounting of steel structure support and has the framework horizontal clamping motor, and the framework bears the frock and keep away from one side surface of steel structure support and correspond the position movable mounting of framework horizontal clamping motor and have the framework horizontal clamping slide mechanism, vertical rotatory servo motor and framework horizontal clamping motor all with electric control system case between electric connection.
Preferably, the vertical rotary servo motor is rotatably connected with the framework bearing tool, and the framework horizontal clamping motor is rotatably connected with the framework horizontal clamping sliding mechanism.
Preferably, the upper end movable mounting who screws up the axle subassembly has horizontal rotation servo motor, and horizontal rotation servo motor's lower extreme movable mounting has the holder, the front end surface movable mounting of holder has the carousel, and the lower extreme surface movable mounting of holder has screws up a connecting piece, the front end surface movable mounting who screws up a connecting piece has the axle of screwing up, and screws up the rear end fixed surface of a connecting piece and install the camera support, the upper end surface movable mounting of camera support has the visual identification camera, horizontal rotation servo motor and visual identification camera all with electric control system case between electric connection.
Preferably, the included angle between the retainer and the tightening shaft connecting piece is 45 degrees.
Preferably, the longitudinal beam connecting groove rail is in sliding connection with the longitudinal sliding rail beam.
Preferably, the sliding rail beam switching mechanism is connected with the transverse beam sliding guide rail in a sliding manner through the transverse beam rack guide rail.
Preferably, the servo drive motor and the framework addressing and positioning mechanism are electrically connected with the electric control system box.
(III) advantageous effects
The invention provides an automatic intelligent assembly system of a six-axis robot for advanced maintenance of a motor train unit, which has the following beneficial effects:
(1) by adopting the laser positioning sensor technology, the vision and image recognition processing technology and combining with the servo robot control technology, the gear rack slide rail and the like to form a 3-axis robot, the addressing positioning and bolt tightening assembly operation of the tightening shaft on a plurality of framework workpieces in the horizontal plane direction is automatically completed, the operation steps and time of manually surrounding the framework workpieces are saved, and the operation efficiency is improved.
(2) By adopting the laser positioning sensor technology, the vision and image recognition processing technology and combining the technology with the servo motor control technology, the numerical control machine wheel disc motor technology and the like to form a 5-axis robot, the automatic adjustment, horizontal automatic feeding, bolt screwing and automatic returning and zero returning operations of the posture and the angle of the screwing shaft in the four vertical surface directions of the framework workpiece are automatically completed, the steps and time for manually operating the alignment, feeding and screwing of the screwing shaft are saved, and the operation efficiency is improved.
(3) The special clamping tool and the special turnover mechanism are designed on the ground of a workshop where equipment is located, and the positioning sensor technology and the 5-axis robot on the front side of the framework are combined to act in a matching mode to form a 6-axis robot, so that the automatic screwing operation of mounting parts on the back side of a workpiece of the framework is realized; the problem that parts on the back of a framework cannot be automatically operated by a tightening shaft in a rocker arm type power-assisted arm operation mode is solved.
(4) By adopting the arch bridge structure, the transverse sliding rail beam is designed into an integrated steel structure form, under the condition of large span, the beam body is ensured to be firm and strong, meanwhile, less materials are used, and the weight is reduced compared with the steel structure sliding rail beam in a common form; by introducing the golden section ratio, the whole beam body looks beautiful and elegant; through setting up vertical direction slide rail at roof beam body intermediate position, compare with ordinary slide rail form, the focus is placed in the middle, has increased the stability of structure.
(5) The system quantifies and collects material distribution data, workpiece operation data and data of cooperative action of all component modules of the equipment in the operation process, uploads the data to the server and provides data support for the subsequent establishment and operation of intelligent workshops and digital factories.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a six-axis robot automated intelligent assembly system of the present invention;
FIG. 2 is a schematic structural view of a transverse sliding rail beam of the six-axis robot automated intelligent assembly system of the present invention;
FIG. 3 is a schematic structural view of a tightening shaft assembly of the six-axis robot automated intelligent assembly system of the present invention;
fig. 4 is a schematic structural view of a turnover operation mechanism of the six-axis robot automated intelligent assembly system of the invention.
In the figure: 1. an electric control system box; 2. a transverse slide rail beam; 3. a longitudinal slide rail beam; 4. a bullet train frame workpiece; 5. a turnover operation mechanism; 6. the longitudinal beam hoop support assembly; 7. a workshop upright post; 8. screwing down the shaft assembly; 9. a vertical sliding rail beam assembly; 10. a slide rail beam switching mechanism; 11. a frame addressing and positioning mechanism; 12. a workshop main body; 21. an arched support beam; 22. the longitudinal beam is connected with the groove rail; 23. a servo drive motor; 24. a transverse beam sliding guide rail; 25. a transverse beam rack guide rail; 51. a vertical rotation servo motor; 52. a steel structure bracket; 53. a framework bearing tool; 54. a frame horizontal clamping motor; 55. a framework horizontal clamping sliding mechanism; 81. a horizontal rotation servo motor; 82. a holder; 83. a visual recognition camera; 84. a camera support; 85. screwing down the shaft connecting piece; 86. screwing a shaft; 87. a turntable.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, the present invention provides a technical solution: an automatic intelligent assembly system of a six-axis robot for advanced maintenance of a motor train unit is shown in figures 1-2 and comprises a workshop main body 12, workshop stand columns 7 are fixedly arranged at the corner positions of the outer surface of the upper end of the workshop main body 12 and the middle positions of the front end and the rear end of the outer surface of the upper end of the workshop main body 12, a longitudinal beam hoop supporting assembly 6 is movably arranged at the middle position of the outer surface of the workshop stand column 7, a longitudinal slide rail beam 3 is movably arranged at one end, close to the workshop main body 12, of the outer surface of the upper end of the longitudinal beam hoop supporting assembly 6, an electric control system box 1 is movably arranged at the rear end position of one side of the outer surface of the upper end of the workshop main body 12, turnover operation mechanisms 5 are fixedly arranged at two sides of the outer surface of the upper end of the workshop main body 12, motor train frame workpieces 4 are movably arranged at the outer surface of the upper end of the turnover operation mechanisms 5, and a transverse slide rail beam 2 is movably arranged between every two adjacent longitudinal slide rail beams 3, the two sides of the outer surface of the upper end of the transverse sliding rail beam 2 are both fixedly provided with an arched supporting beam 21, the lower end of the arched supporting beam 21 is fixedly provided with a transverse beam sliding guide rail 24, the outer surface of the upper end of the transverse beam sliding guide rail 24 is provided with a transverse beam rack guide rail 25, a longitudinal beam connecting groove rail 22 is movably arranged between the transverse sliding rail beam 2 and the longitudinal sliding rail beam 3, and one side of the outer surface of one end of the longitudinal beam connecting groove rail 22 close to the transverse sliding rail beam 2 is movably provided with a servo driving motor 23, the middle position of the outer surface of the upper end of the transverse beam sliding guide rail 24 is movably provided with a sliding rail beam switching mechanism 10, and the lower end of the sliding rail beam switching mechanism 10 is movably provided with a vertical sliding rail beam component 9, the lower end of the vertical sliding rail beam component 9 is movably provided with a tightening shaft component 8, a framework addressing and positioning mechanism 11 is movably arranged on one side of the arched supporting beam 21 away from the workshop main body 12;
as shown in fig. 3, a horizontal rotation servo motor 81 is movably mounted at the upper end of the tightening shaft assembly 8, a holder 82 is movably mounted at the lower end of the horizontal rotation servo motor 81, a rotary table 87 is movably mounted on the outer surface of the front end of the holder 82, a tightening shaft connector 85 is movably mounted on the outer surface of the lower end of the holder 82, a tightening shaft 86 is movably mounted on the outer surface of the front end of the tightening shaft connector 85, a camera bracket 84 is fixedly mounted on the outer surface of the rear end of the tightening shaft connector 85, a visual recognition camera 83 is movably mounted on the outer surface of the upper end of the camera bracket 84, and the horizontal rotation servo motor 81 and the visual recognition camera 83 are both electrically connected with the electronic control system box 1;
as shown in fig. 4, the steel structure support 52 is fixedly mounted on both sides of the outer surface of the upper end of the turnover operation mechanism 5, the vertical rotary servo motor 51 is movably mounted on the upper end of the outer surface of one side of the steel structure support 52 far away from the turnover operation mechanism 5, the framework bearing tool 53 is movably mounted on the upper end of the outer surface of one side of the steel structure support 52 close to the turnover operation mechanism 5, the framework horizontal clamping motor 54 is movably mounted on the lower end of the outer surface of one side of the framework bearing tool 53 close to the steel structure support 52, the framework horizontal clamping sliding mechanism 55 is movably mounted on the outer surface of one side of the framework bearing tool 53 far away from the steel structure support 52 corresponding to the position of the framework horizontal clamping motor 54, and the vertical rotary servo motor 51 and the framework horizontal clamping motor 54 are electrically connected with the electric control system box 1.
By adopting the technical scheme, the framework horizontal clamping motor 54 on the framework bearing tool 53 in the turnover operation mechanism 5 is instructed to rotate, the framework horizontal clamping sliding mechanism 55 is simultaneously pushed forwards from two sides of a framework workpiece, the bullet train framework workpiece 4 is positioned and clamped from two sides and the up-down direction, the framework addressing and positioning mechanism 11 is started to work and starts to collect data, the servo drive motor 23 receives a signal to start to rotate, the transverse sliding rail beam 2 is driven to slide on the longitudinal sliding rail beam 3, after the framework addressing and positioning mechanism 11 searches the bullet train framework workpiece 4, the central axis of the transverse sliding rail beam 2 is aligned with the central position of the bullet train framework workpiece 4 through the compensation amount pre-designed by the system, the system drives the transverse sliding rail beam 2 to slide on the longitudinal sliding rail beam 3, and the vertical sliding rail beam assembly 9 is borne by the sliding rail beam switching mechanism 10 to slide on the transverse beam rack guide rail 25 of the transverse sliding rail beam 2, the assembly and tightening operation of the surface parts and the bolts on the bullet train frame workpieces 4 can be completed by combining the longitudinal sliding of the transverse sliding rail beam 2 on the longitudinal sliding rail beam 3, the transverse sliding rail beam switching mechanism 10 carries the vertical sliding rail beam assembly 9 and the tightening shaft assembly 8 to move transversely on the transverse beam rack guide rail 25 of the transverse sliding rail beam 2, and then the horizontal rotation of the horizontal rotation servo motor 81 of the tightening shaft assembly 8 and the oblique rotation of the turntable 87 are combined, the assembly and tightening operation of the surface parts and the bolts on the vertical surface of the bullet train frame workpieces 4 can be completed, a plurality of bullet train frame workpieces 4 are simultaneously operated, after the assembly operation of the top surface and four inner parts and the bolts of the front bullet train frame workpiece 4 is completed, under the data guidance of the frame addressing and positioning mechanism 11, the transverse sliding rail beam 2 longitudinally slides to the position of the next bullet train frame workpiece 4 through the longitudinal sliding rail beam 3, continuing the previous operation, completing the operation of the frame parts on the top surface and the four vertical surfaces, receiving the instruction by the vertical rotating servo motor 51 on the overturning operation mechanism 5, overturning the bullet train frame workpiece 4 by 180 degrees through the simultaneous action of the two vertical rotating servo motors 51, preparing for assembling and installing the parts at the bottom of the bullet train frame workpiece 4 when the transverse slide rail beam 2 returns, after the transverse slide rail beam 2 finishes the bolt assembling operation of the parts on the top of the rest bullet train frame workpiece 4 and the four vertical surfaces, performing return sliding on the longitudinal slide rail beam 3 under the guidance of the data of the frame addressing and positioning mechanism 11, simultaneously completing the position and posture adjustment of the vertical slide rail beam assembly 9 and the tightening shaft assembly 8 according to the visual identification camera 83 on the tightening shaft assembly 8, continuing the bolt assembling of the parts on the bottom surface of the bullet train frame workpiece 4, and repeating the steps, and finally, after the system finishes the operation of all the part bolts on the bottom surface of the turned bullet train frame workpiece 4, the system automatically returns to the zero position, and the system finishes the operation.
Specifically, as shown in fig. 4, the equal fixed mounting in upper end surface both sides of upset operating mechanism 5 has steel structure support 52, steel structure support 52 keeps away from one side surface upper end position movable mounting of upset operating mechanism 5 has vertical rotatory servo motor 51, and steel structure support 52 is close to one side surface upper end position movable mounting of upset operating mechanism 5 has the framework to bear frock 53, the framework bears frock 53 and is close to one side surface lower extreme position movable mounting of steel structure support 52 and has framework horizontal clamping motor 54, and the framework bears frock 53 and keeps away from one side surface of steel structure support 52 and corresponds the position movable mounting of framework horizontal clamping motor 54 and have framework horizontal clamping slide mechanism 55, vertical rotatory servo motor 51 and framework horizontal clamping motor 54 all with electrical system case 1 between electric connection.
By adopting the technical scheme, the framework horizontal clamping motor 54 on the framework bearing tool 53 in the turnover operation mechanism 5 is instructed to rotate, the framework horizontal clamping sliding mechanism 55 is simultaneously pushed forwards from two sides of the framework workpiece, the bullet train framework workpiece 4 is positioned and clamped from two sides and the up-down direction, the vertical rotary servo motor 51 on the turnover operation mechanism 5 receives the instruction, the bullet train framework workpiece 4 is turned over by 180 degrees through the simultaneous action of the two vertical rotary servo motors 51, and preparation is made for assembling and installing parts at the bottom of the bullet train framework workpiece 4 when the transverse slide rail beam 2 returns.
Specifically, as shown in fig. 4, the vertical rotary servomotor 51 is rotatably connected to the frame carrying tool 53, and the frame horizontal clamping motor 54 is rotatably connected to the frame horizontal clamping sliding mechanism 55.
By adopting the technical scheme, the framework horizontal clamping motor 54 on the framework bearing tool 53 in the turnover operation mechanism 5 is instructed to rotate, the framework horizontal clamping sliding mechanism 55 is simultaneously pushed forwards from two sides of the framework workpiece, the bullet train framework workpiece 4 is positioned and clamped from two sides and the up-down direction, the vertical rotation servo motor 51 on the turnover operation mechanism 5 receives the instruction, and the bullet train framework workpiece 4 is turned over by 180 degrees by the simultaneous action of the two vertical rotation servo motors 51.
Specifically, as shown in fig. 3, the upper end movable mounting of the tightening shaft assembly 8 is provided with a horizontal rotation servo motor 81, the lower end movable mounting of the horizontal rotation servo motor 81 is provided with a retainer 82, the front end outer surface movable mounting of the retainer 82 is provided with a turntable 87, the lower end outer surface movable mounting of the retainer 82 is provided with a tightening shaft connecting piece 85, the front end outer surface movable mounting of the tightening shaft connecting piece 85 is provided with a tightening shaft 86, the rear end outer surface fixed mounting of the tightening shaft connecting piece 85 is provided with a camera bracket 84, the upper end outer surface movable mounting of the camera bracket 84 is provided with a visual recognition camera 83, and the horizontal rotation servo motor 81 and the visual recognition camera 83 are electrically connected with the electric control system box 1.
By adopting the technical scheme, the sliding rail beam switching mechanism 10 bears the vertical sliding rail beam assembly 9 and the tightening shaft assembly 8 to move transversely on the transverse beam rack guide rail 25 of the transverse sliding rail beam 2, and then the horizontal rotation of the horizontal rotating servo motor 81 of the tightening shaft assembly 8 and the oblique rotation of the turntable 87 are combined, so that the assembly and the tightening operation of the surface part and the bolt on the vertical surface of the bullet train frame workpiece 4 can be completed, and the vertical sliding rail beam assembly 9 and the tightening shaft assembly 8 are adjusted in position and posture according to the visual identification camera 83 on the tightening shaft assembly 8.
Specifically, as shown in fig. 3, the angle between the retainer 82 and the tightening shaft coupling 85 is 45 °.
By adopting the technical scheme, the assembling and the screwing operation of the vertical surface part and the bolt on the bullet train frame workpiece 4 can be completed by combining the horizontal rotation of the horizontal rotation servo motor 81 of the screwing shaft component 8 and the oblique rotation of the turntable 87.
In particular, as shown in fig. 1 and 2, the longitudinal beam connecting groove rail 22 is slidably connected with the longitudinal sliding rail beam 3.
By adopting the above technical scheme, the servo driving motor 23 drives the longitudinal beam connecting groove rail 22 to slide on the longitudinal slide rail beam 3, thereby driving and driving the transverse slide rail beam 2 to slide on the longitudinal slide rail beam 3.
Specifically, as shown in fig. 1 and 2, the trolley bar changeover mechanism 10 is slidably connected to the transverse beam sliding rail 24 through a transverse beam rack rail 25.
By adopting the technical scheme, the sliding rail beam switching mechanism 10 bears the vertical sliding rail beam assembly 9 and the tightening shaft assembly 8 to move transversely on the transverse beam rack guide rail 25 of the transverse sliding rail beam 2, and then the horizontal rotation of the horizontal rotating servo motor 81 of the tightening shaft assembly 8 and the oblique rotation of the turntable 87 are combined, so that the assembly and the tightening operation of the vertical surface part and the bolt on the bullet train frame workpiece 4 can be completed.
Specifically, as shown in fig. 1 and fig. 2, the servo driving motor 23 and the frame addressing positioning mechanism 11 are electrically connected to the electronic control system box 1.
By adopting the technical scheme, the frame addressing and positioning mechanism 11 is used for searching the bullet train frame workpiece 4, and the transverse slide rail beam 2 is driven to slide on the longitudinal slide rail beam 3 by the driving of the servo driving motor 23.
The using method comprises the following steps: when the system is used, firstly, the system is started up for self-inspection, all coordinate axes return to zero positions, then a bullet train framework workpiece 4 carrying conveying line is started, a carrying crane carries the bullet train framework workpiece 4 in place, a framework horizontal clamping motor 54 on a framework bearing tool 53 in an overturning operation mechanism 5 obtains instructions to rotate, a framework horizontal clamping sliding mechanism 55 is pushed forwards from two sides of the framework workpiece simultaneously, the bullet train framework workpiece 4 is positioned and clamped from two sides and the up-and-down direction, a framework addressing and positioning mechanism 11 is started up to work to start data collection, a servo driving motor 23 receives signals to start rotating to drive a transverse sliding rail beam 2 to slide on a longitudinal sliding rail beam 3, and after the framework addressing and positioning mechanism 11 searches the bullet train framework workpiece 4, the central axis of the transverse sliding rail beam 2 is aligned with the central position of the bullet train framework workpiece 4 through compensation amount designed in advance by the system, the system completes the assembly and tightening operation of the upper surface parts and the bolts on the bullet train frame workpieces 4 by driving the transverse sliding rail beam 2 to slide on the longitudinal sliding rail beam 3, combining the sliding rail beam switching mechanism 10 to bear the vertical sliding rail beam assembly 9 to slide on the transverse beam rack guide rail 25 of the transverse sliding rail beam 2, combining the transverse sliding rail beam 2 to longitudinally slide on the longitudinal sliding rail beam 3, carrying the vertical sliding rail beam assembly 9 and the tightening shaft assembly 8 to transversely move on the transverse beam rack guide rail 25 of the transverse sliding rail beam 2 by the sliding rail beam switching mechanism 10, combining the horizontal rotation of the horizontal rotation servo motor 81 of the tightening shaft assembly 8 and the oblique rotation of the turntable 87, completing the assembly and tightening operation of the upper surface parts and the bolts on the bullet train frame workpieces 4, simultaneously operating a plurality of bullet train frame workpieces 4, and completing the assembly operation of the upper surface parts and the four parts and the bolts on the front bullet train frame workpieces 4, under the data guidance of the frame addressing positioning mechanism 11, the transverse slide rail beam 2 slides to the position of the next bullet train frame workpiece 4 along the longitudinal direction through the longitudinal slide rail beam 3, the former operation is continued, the frame parts of the top surface and the four vertical surfaces are operated, the vertical rotary servo motor 51 on the overturning operation mechanism 5 receives the instruction, the bullet train frame workpiece 4 is overturned by 180 degrees through the simultaneous action of the two vertical rotary servo motors 51, the preparation is made for assembling and installing the parts at the bottom of the bullet train frame workpiece 4 when the transverse slide rail beam 2 returns, after the bolt assembling operation of the parts of the top of the rest bullet train frame workpieces 4 and the four vertical surfaces is completed, the transverse slide rail beam 2 performs the return sliding on the longitudinal slide rail beam 3 under the data guidance of the frame addressing positioning mechanism 11, and simultaneously the vertical slide rail beam assembly 9 and the tightening shaft assembly 8 finishes the position and posture adjustment according to the visual recognition camera 83 on the tightening shaft assembly 8, and (4) continuing to assemble the bolts of the parts on the bottom surface of the bullet train frame workpiece 4, repeating the process, and finally, after the system finishes the bolt operation of all the parts on the bottom surface of the reversed bullet train frame workpiece 4, automatically returning the system to the zero position, finishing the work of the system, starting the conveying line for conveying the bullet train frame workpiece 4 again, conveying the bullet train frame workpiece 4 which is finished in operation away from the station, and continuing to perform the subsequent workpiece operation.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. The utility model provides an automatic intelligent assembly system of six robots are repaiied to EMUs senior level, includes workshop main part (12), its characterized in that: the workshop stand column is characterized in that a workshop stand column (7) is fixedly mounted at the corner position of the outer surface of the upper end of the workshop main body (12) and at the middle positions of the front end and the rear end of the outer surface of the upper end of the workshop main body (12), a longitudinal beam hoop supporting assembly (6) is movably mounted at the middle position of the outer surface of the workshop stand column (7), a longitudinal slide rail beam (3) is movably mounted at one end, close to the workshop main body (12), of the outer surface of the upper end of the workshop main body (12), an electric control system box (1) is movably mounted at the rear end of one side of the outer surface of the upper end of the workshop main body (12), overturning operation mechanisms (5) are fixedly mounted on two sides of the outer surface of the upper end of the overturning operation mechanisms (5), a motor car frame workpiece (4) is movably mounted on the outer surface of the upper end of the overturning operation mechanisms (5), and a steel structure support (52) is fixedly mounted on two sides of the outer surface of the upper end of the overturning operation mechanisms (5), the structure is characterized in that a vertical rotary servo motor (51) is movably mounted at the upper end of the outer surface of one side of the steel structure support (52) far away from the overturning operation mechanism (5), a framework bearing tool (53) is movably mounted at the upper end of the outer surface of one side of the steel structure support (52) near the overturning operation mechanism (5), a framework horizontal clamping motor (54) is movably mounted at the lower end of the outer surface of one side of the framework bearing tool (53) near the steel structure support (52), a framework horizontal clamping sliding mechanism (55) is movably mounted at the position of the outer surface of one side of the framework bearing tool (53) far away from the steel structure support (52) corresponding to the framework horizontal clamping motor (54), the vertical rotary servo motor (51) and the framework horizontal clamping motor (54) are electrically connected with an electric control system box (1), and a transverse sliding rail beam (2) is movably mounted between two adjacent longitudinal sliding rail beams (3), the upper end outer surface of the transverse sliding rail beam (2) is fixedly provided with an arched supporting beam (21) on both sides, the lower end of the arched supporting beam (21) is fixedly provided with a transverse beam sliding guide rail (24), the upper end outer surface of the transverse beam sliding guide rail (24) is provided with a transverse beam rack guide rail (25), a longitudinal beam connecting groove rail (22) is movably arranged between the transverse sliding rail beam (2) and the longitudinal sliding rail beam (3), a servo driving motor (23) is movably arranged on one side of the outer surface of one end of the longitudinal beam connecting groove rail (22) close to the transverse sliding rail beam (2), the sliding rail beam switching mechanism (10) is movably arranged at the middle position of the outer surface of the upper end of the transverse beam sliding guide rail (24), the lower end of the sliding rail beam switching mechanism (10) is movably arranged with a vertical sliding rail beam assembly (9), and the lower end of the vertical sliding rail beam assembly (9) is movably arranged with a tightening shaft assembly (8), a framework addressing and positioning mechanism (11) is movably arranged on one side of the arched supporting beam (21) far away from the workshop main body (12),
the vertical rotary servo motor (51) is rotatably connected with the framework bearing tool (53), the framework horizontal clamping motor (54) is rotatably connected with the framework horizontal clamping sliding mechanism (55), the horizontal rotary servo motor (81) is movably mounted at the upper end of the tightening shaft assembly (8), the retainer (82) is movably mounted at the lower end of the horizontal rotary servo motor (81), the turntable (87) is movably mounted at the outer surface of the front end of the retainer (82), the tightening shaft connecting piece (85) is movably mounted at the outer surface of the lower end of the retainer (82), the tightening shaft (86) is movably mounted at the outer surface of the front end of the tightening shaft connecting piece (85), the camera support (84) is fixedly mounted at the outer surface of the rear end of the tightening shaft connecting piece (85), and the visual identification camera (83) is movably mounted at the outer surface of the upper end of the camera support (84), the horizontal rotation servo motor (81) and the visual recognition camera (83) are electrically connected with the electric control system box (1).
2. The automatic intelligent assembly system of the six-axis robot for the advanced repair of the motor train unit according to claim 1, characterized in that: the included angle between the retainer (82) and the tightening shaft connecting piece (85) is 45 degrees.
3. The automatic intelligent assembly system of the six-axis robot for the advanced repair of the motor train unit according to claim 1, characterized in that: the longitudinal beam connecting groove rail (22) is in sliding connection with the longitudinal sliding rail beam (3).
4. The automatic intelligent assembly system of the six-axis robot for the advanced repair of the motor train unit according to claim 1, characterized in that: the sliding rail beam switching mechanism (10) is in sliding connection with the transverse beam sliding guide rail (24) through the transverse beam rack guide rail (25).
5. The automatic intelligent assembly system of the six-axis robot for the advanced repair of the motor train unit according to claim 1, characterized in that: the servo driving motor (23) and the framework addressing and positioning mechanism (11) are electrically connected with the electric control system box (1).
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CN114742883B (en) * 2022-03-30 2024-09-24 华中科技大学 Automatic assembly method and system based on plane workpiece positioning algorithm
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CN206305755U (en) * 2016-12-21 2017-07-07 江苏保力自动化科技有限公司 A kind of production line of assembled-type house wall framework
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