CN114055145A - Intelligent assembling unit for wheel-shaft-end accessories and assembling method thereof - Google Patents
Intelligent assembling unit for wheel-shaft-end accessories and assembling method thereof Download PDFInfo
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- CN114055145A CN114055145A CN202111548083.4A CN202111548083A CN114055145A CN 114055145 A CN114055145 A CN 114055145A CN 202111548083 A CN202111548083 A CN 202111548083A CN 114055145 A CN114055145 A CN 114055145A
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- bolt
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- shaft end
- locking plate
- wheel set
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines 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
- B23P19/04—Machines 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
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines 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
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines 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
- B23P19/04—Machines 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
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/069—Multi-spindle machines
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- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention belongs to the technical field of wheel pair assembly of rail transit vehicles, and discloses an intelligent assembly unit for wheel-to-axle end accessories, which comprises a wheel pair, a wheel pair positioning device arranged in the middle of a rail, robots symmetrically arranged on two sides of the rail in a left-right mode, a bolt vibration disc, a bolt indexing table, an end cover tray, a locking plate tray and an assembling table, wherein a special clamp is arranged at the arm end of each robot, a plurality of axle end bolts are placed in the bolt vibration disc, and the output end of the bolt vibration disc is connected with the bolt indexing table; the end cover is placed in the end cover tray, and the locking plate is placed in the locking plate tray. The invention also discloses an intelligent wheel set shaft end accessory assembling method adopting the intelligent wheel set shaft end accessory assembling unit. The invention can automatically and efficiently complete the assembly of the shaft end bolt, the end cover and the locking plate, realizes the automation of the assembly of the wheel set shaft end accessory, and improves the working efficiency and the operation accuracy.
Description
Technical Field
The invention belongs to the technical field of rail transit vehicle wheel set assembly, and particularly relates to an intelligent assembly unit for wheel-to-axle end accessories and an assembly method thereof.
Background
The wheel set is a core component of the rail transit vehicle, and the assembly of the wheel set shaft end accessory is an important link in the process of new construction or overhaul assembly of the wheel set. At present, the assembly of wheel set shaft end accessories adopts a manual production operation mode, the wheel set after the bearing press fitting is finished is pushed to a shaft end accessory installation position by the manual work, the wheel set is positioned by a manual hand-operated setting wheel stopper, an end cover, a locking plate and a shaft end bolt are installed to the shaft end of the wheel set in sequence by the manual work, and the shaft end bolt is screwed to the qualified torque range by a manual hand-held screwing trigger. The existing assembly operation mode has the defects of low automation degree, low production efficiency and difficult guarantee of operation quality, and the assembly process needs a plurality of personnel to complete and has high labor cost; meanwhile, the low efficiency easily causes excessive buffer storage and accumulation of wheel sets to be assembled, and the accumulation problem needs to be solved, so that operating personnel needs to be increased, and non-virtuous cycle is formed.
Therefore, how to provide a wheel set shaft end accessory assembling operation method which has high automation degree, high production efficiency and good operation quality and can realize unmanned operation becomes a problem which needs to be solved by technical personnel in the field.
Disclosure of Invention
Aiming at the defects of the existing wheel set shaft end accessory assembling operation mode, the invention provides an intelligent wheel set shaft end accessory assembling unit and an assembling method thereof, and the adopted technical scheme is as follows:
a wheel-to-axle end accessory intelligent assembly unit comprises a wheel pair 1, a wheel pair positioning device 2 arranged in the middle of a track 3, a robot 4, a bolt vibration disc 6, a bolt indexing table 7, an end cover tray 9, a locking plate tray 10 and an assembling table 13 which are arranged on two sides of the track 3 in a bilateral symmetry mode, wherein a special fixture 5 is arranged at the arm end of the robot 4, the robot 4 drives the special fixture 5 to move in multiple degrees of freedom in a required operation space range, a plurality of axle end bolts 8 are arranged in the bolt vibration disc 6, and the output end of the bolt vibration disc 6 is connected with the bolt indexing table 7; an end cover 11 is arranged in the end cover tray 9, and a locking plate 12 is arranged in the locking plate tray 10.
Further, the wheelset positioning device 2 comprises an elevating platform 22 and two positioning blocks 21 installed above the elevating platform 22, wherein the elevating platform 22 can drive the positioning blocks 21 to lift up and contact the axle portion of the wheelset 1, so as to lift up the wheelset 1 as a whole, thereby limiting the rotation of the wheelset 1 and the movement of the wheelset in the direction of the rail 3.
Furthermore, the front end of the special clamp 5 is provided with a clamping jaw 51, the middle part of the special clamp is provided with three tightening shafts 52 which are uniformly distributed and installed on the circumference with the same diameter as the reference circle of the screw hole at the shaft end of the wheel pair, and the front end of each tightening shaft 52 is respectively provided with a sleeve 53 matched with the bolt 8 at the shaft end; the 3D vision sensor 54 is mounted on the outside of the special jig 5.
Further, the combining table 13 is composed of a bracket 131 and a 2D vision sensor 132 installed above the bracket 131; the bracket 131 is provided with a cylindrical platform for placing the preassembled end cover 11, the locking plate 12 and the three shaft end bolts 8.
Further, the bolt vibration disc 6 can overturn the shaft end bolts 8 placed in the bolt vibration disc to a designated orientation through mechanical vibration and sequentially convey the shaft end bolts to the bolt indexing table 7, and the bolt indexing table 7 can uniformly distribute and discharge every three shaft end bolts 8 according to the circumference with the same diameter as the wheel set shaft end screw hole indexing circle.
An intelligent assembling method for wheel-to-shaft end accessories adopts an intelligent assembling unit for the wheel-to-shaft end accessories, and comprises the following steps:
s1: automatic discharge of the shaft end bolt 8: the wheel set 1 to be assembled rolls to the upper part of the wheel set positioning device 2 along the track 3, the lifting platform 22 is lifted, the positioning block 21 is driven to be in contact with the axle of the wheel set 1 and integrally supports the wheel set 1 to leave the track 3, and the rotation of the wheel set 1 and the movement of the wheel set 1 along the direction of the track 3 are limited; the bolt vibration disc 6 overturns the shaft end bolts 8 placed in the bolt vibration disc to the designated orientation through mechanical vibration and sequentially conveys the shaft end bolts to the bolt indexing table 7, the bolt indexing table 7 executes indexing action, and the three shaft end bolts 8 are uniformly distributed and discharged according to the circumference with the same diameter as the wheel pair shaft end screw hole indexing circle.
S2: automatic stacking of the end cover 11 and the locking plate 12: under the identification and guidance of the 3D vision sensors 54 on the special fixtures 5 at the front ends of the robots 4 on the two sides of the track 3, the end covers 11 and the locking plates 12 are sequentially grabbed from the upper sides of the end cover trays 9 and 10 and stacked on the cylindrical platform of the support 131 in the stacking table 13.
S3: the end cover 11 and the locking piece 12 are preassembled: under the identification and guidance of the 3D vision sensors 54 on the special fixtures 5 at the front ends of the robots 4 on both sides of the track 3, sleeves 53 at the front ends of three tightening shafts 52 in the special fixtures 5 are used for grabbing three shaft end bolts 8 from the bolt indexing table 7 and pre-assembling the shaft end bolts with the end covers 11 and the locking plates 12 which are stacked in the assembling table 13.
S4: the preassembly of the end cover 11 and the locking plate 12 is detected and installed: the 2D vision sensor 132 arranged above the bracket 131 in the assembling table 13 identifies and confirms the pre-assembled end cover 11, the locking plate 12 and the three shaft end bolts 8, and after the pre-assembly is qualified, the robot 4 on the corresponding side drives the special clamp 5 at the front end to integrally grab the pre-assembled end cover 11, the locking plate 12 and the three shaft end bolts 8 in the assembling table 13 and the 3D vision sensor on the special clamp 5 identifies and guides the shaft ends arranged on the wheel pair 1 to be assembled.
S5: assembling the shaft end bolt 8: three shaft end bolts 8 are simultaneously screwed to the shaft end of the wheel pair 1 according to the specified torque range by three tightening shafts 52 in the special clamp 5, so that the assembly of the accessory at the shaft end of the wheel pair is completed, and the whole assembly process is completed automatically and unmanned.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention can automatically and efficiently complete the assembly of the shaft end bolt 8, the end cover 11 and the locking plate 12, realizes the automation of the assembly of the wheel set shaft end accessories and improves the working efficiency.
(2) The wheel set assembly line can be seamlessly connected into various wheel set production lines, the whole assembly process is carried out in an online passing mode, efficient automatic assembly is combined with intelligent control, and the problem of excessive wheel set cache accumulation can be effectively avoided.
(3) The invention also fully utilizes the advantages of high-precision positioning of the robot, accurate identification of the vision sensor, accurate torque control and the like, and improves the operation accuracy.
Drawings
FIG. 1 is an isometric view of a wheel-to-axle end accessory intelligent assembly unit of the present invention;
FIG. 2 is a top view of an intelligent wheel-axle end accessory assembly unit according to the present invention;
FIG. 3 is a schematic structural diagram of a wheel set positioning device 2 in an intelligent wheel set shaft end accessory assembling unit according to the invention;
FIG. 4 is a schematic structural diagram of a special fixture 5 in an intelligent assembling unit for wheel-axis end accessories according to the present invention;
FIG. 5 is a schematic structural diagram of an assembling table 13 in an intelligent assembling unit for wheel-axle end accessories according to the present invention;
fig. 6 is a schematic structural diagram of a bolt vibration disk 6 and a bolt indexing table 7 in an intelligent assembling unit for wheel-shaft end accessories according to the invention.
Reference numerals: 1. a wheel set; 2. a wheel set positioning device; 3. a track; 4. a robot; 5. a special fixture; 6. a bolt vibrating disk; 7. a bolt indexing table; 8. a shaft end bolt; 9. an end cap tray; 10. a locking plate tray; 11. an end cap; 12. a locking plate; 13. assembling the tables; 14. an electrical control cabinet; 21. positioning blocks; 22. a lifting platform; 51. a clamping jaw; 52. screwing a shaft; 53. a sleeve; 54. a 3D vision sensor; 131. a support; 132. a 2D vision sensor.
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 obtained by a person skilled in the art without making any inventive step are within the scope of protection of the present invention.
As shown in fig. 1-6, the invention discloses a wheel-to-axle end accessory intelligent assembly unit, which comprises a wheel pair 1, a wheel pair positioning device 2 arranged in the middle of a track 3, a robot 4, a bolt vibration disc 6, a bolt indexing table 7, an end cover tray 9, a locking plate tray 10 and an assembling table 13, wherein the robot 4, the bolt vibration disc 6, the bolt indexing table 7, the end cover tray 9, the locking plate tray 10 and the assembling table 13 are arranged on two sides of the track 3 in a bilateral symmetry manner, a special fixture 5 is arranged at the arm end of the robot 4, the robot 4 drives the special fixture 5 to move in a required operation space range with multiple degrees of freedom, a plurality of axle end bolts 8 are arranged in the bolt vibration disc 6, and the output end of the bolt vibration disc 6 is connected with the bolt indexing table 7; an end cover 11 is arranged in the end cover tray 9, and a locking plate 12 is arranged in the locking plate tray 10.
Preferably, the wheelset locating device 2 comprises an elevating platform 22 and two locating blocks 21 mounted above the elevating platform 22, and the elevating platform 22 can drive the locating blocks 21 to lift up and contact the axle portion of the wheelset 1, so as to lift up the wheelset 1 as a whole, thereby limiting the rotation of the wheelset 1 itself and the movement in the direction of the rail 3.
Preferably, the front end of the special clamp 5 is provided with a clamping jaw 51, the middle part of the special clamp is provided with three tightening shafts 52 which are uniformly distributed and installed on the circumference with the same diameter as the reference circle of the screw hole of the shaft end of the wheel pair, and the front end of each tightening shaft 52 is provided with a sleeve 53 matched with the bolt 8 of the shaft end; the 3D vision sensor 54 is mounted on the outside of the special jig 5.
Preferably, the combining table 13 is composed of a holder 131 and a 2D vision sensor 132 installed above the holder 131; the bracket 131 is provided with a cylindrical platform for placing the preassembled end cover 11, the locking plate 12 and the three shaft end bolts 8.
Preferably, the bolt vibration disc 6 can turn over the shaft end bolts 8 placed in the bolt vibration disc to a designated orientation through mechanical vibration and sequentially convey the shaft end bolts to the bolt indexing table 7, and the bolt indexing table 7 can uniformly distribute and discharge every three shaft end bolts 8 according to the circumference with the same diameter as the wheel set shaft end screw hole indexing circle.
An intelligent assembly unit for wheel-axle end accessories is centrally controlled by an electrical control cabinet 14.
The working principle of the intelligent wheel-shaft end accessory assembling method adopting the intelligent wheel-shaft end accessory assembling unit is as follows: the wheel set 1 to be assembled rolls to the upper part of the wheel set positioning device 2 along the track 3, the lifting platform 22 is lifted, the positioning block 21 is driven to be in contact with the axle of the wheel set 1 and integrally supports the wheel set 1 to leave the track 3, and the rotation of the wheel set 1 and the movement of the wheel set 1 along the direction of the track 3 are limited; the bolt vibration disc 6 overturns the shaft end bolts 8 placed in the bolt vibration disc to the designated orientation through mechanical vibration and sequentially conveys the shaft end bolts to the bolt indexing table 7, the bolt indexing table 7 executes indexing action, and the three shaft end bolts 8 are uniformly distributed and discharged according to the circumference with the same diameter as the wheel pair shaft end screw hole indexing circle.
Under the identification and guidance of the 3D vision sensors 54 on the special fixtures 5 at the front ends of the robots 4 on the two sides of the track 3, the end covers 11 and the locking plates 12 are sequentially grabbed from the upper sides of the end cover trays 9 and 10 and stacked on the cylindrical platform of the support 131 in the stacking table 13.
Under the identification and guidance of the 3D vision sensors 54 on the special fixtures 5 at the front ends of the robots 4 on both sides of the track 3, sleeves 53 at the front ends of three tightening shafts 52 in the special fixtures 5 are used for grabbing three shaft end bolts 8 from the bolt indexing table 7 and pre-assembling the shaft end bolts with the end covers 11 and the locking plates 12 which are stacked in the assembling table 13.
The 2D vision sensor 132 arranged above the bracket 131 in the assembling table 13 identifies and confirms the pre-assembled end cover 11, the locking plate 12 and the three shaft end bolts 8, and after the pre-assembly is qualified, the robot 4 on the corresponding side drives the special clamp 5 at the front end to integrally grab the pre-assembled end cover 11, the locking plate 12 and the three shaft end bolts 8 in the assembling table 13 and the 3D vision sensor on the special clamp 5 identifies and guides the shaft ends arranged on the wheel pair 1 to be assembled.
Three shaft end bolts 8 are simultaneously screwed to the shaft end of the wheel pair 1 according to the specified torque range by three tightening shafts 52 in the special clamp 5, so that the assembly of the accessory at the shaft end of the wheel pair is completed, and the whole assembly process is completed automatically and unmanned.
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 (6)
1. The utility model provides a wheel pair shaft end annex intelligence equipment unit which characterized in that: the wheel set positioning device comprises a wheel set (1), a wheel set positioning device (2) arranged in the middle of a track (3), robots (4), bolt vibration discs (6), bolt indexing tables (7), end cover trays (9), locking plate trays (10) and combination tables (13) which are arranged on two sides of the track (3) in bilateral symmetry, wherein special fixtures (5) are arranged at arm ends of the robots (4), a plurality of shaft end bolts (8) are arranged in the bolt vibration discs (6), and output ends of the bolt vibration discs (6) are connected with the bolt indexing tables (7); an end cover (11) is arranged in the end cover tray (9), and a locking plate (12) is arranged in the locking plate tray (10).
2. The intelligent assembly unit of claim 1 for wheel-to-axle end accessories, wherein: the wheel set positioning device (2) comprises a lifting platform (22) and two positioning blocks (21) arranged above the lifting platform (22), wherein the lifting platform (22) can drive the positioning blocks (21) to lift up and contact with an axle part of the wheel set (1), so that the wheel set (1) is integrally supported, and the rotation of the wheel set (1) and the movement of the wheel set along the direction of the track (3) are limited.
3. The intelligent assembly unit of claim 1 for wheel-to-axle end accessories, wherein: the front end of the special clamp (5) is provided with a clamping jaw (51), the middle part of the special clamp is provided with three tightening shafts (52) which are uniformly distributed and installed on the circumference of the same diameter as the reference circle of the screw hole at the shaft end of the wheel pair, and the front end of each tightening shaft (52) is provided with a sleeve (53) matched with the bolt (8) at the shaft end; the outer side of the special clamp (5) is provided with a 3D vision sensor (54).
4. The intelligent assembly unit of claim 1 for wheel-to-axle end accessories, wherein: the assembling table (13) consists of a bracket (131) and a 2D vision sensor (132) arranged above the bracket (131); the bracket (131) is provided with a cylindrical platform for placing the pre-assembled end cover (11), the locking plate (12) and the three shaft end bolts (8).
5. The intelligent assembly unit of claim 1 for wheel-to-axle end accessories, wherein: the bolt vibration disc (6) can overturn the shaft end bolts (8) placed in the bolt vibration disc to a specified orientation through mechanical vibration and sequentially convey the shaft end bolts to the bolt indexing table (7), and the bolt indexing table (7) can uniformly distribute and discharge every three shaft end bolts (8) according to the circumference with the same diameter as the wheel pair shaft end screw hole indexing circle.
6. An intelligent assembling method for a wheel-to-axle end accessory, which adopts the intelligent assembling unit for the wheel-to-axle end accessory as claimed in any one of claims 1 to 5, and is characterized in that: the method comprises the following steps:
s1: the shaft end bolt (8) is automatically discharged;
s2: the end cover (11) and the locking plate (12) are automatically stacked;
s3: the end cover (11) and the locking plate (12) are preassembled;
s4: the end cover (11) and the locking plate (12) are pre-assembled for detection and installation;
s5: and assembling the shaft end bolt (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111548083.4A CN114055145A (en) | 2021-12-17 | 2021-12-17 | Intelligent assembling unit for wheel-shaft-end accessories and assembling method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111548083.4A CN114055145A (en) | 2021-12-17 | 2021-12-17 | Intelligent assembling unit for wheel-shaft-end accessories and assembling method thereof |
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| Publication Number | Publication Date |
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| CN114055145A true CN114055145A (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111548083.4A Pending CN114055145A (en) | 2021-12-17 | 2021-12-17 | Intelligent assembling unit for wheel-shaft-end accessories and assembling method thereof |
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| CN (1) | CN114055145A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115254661A (en) * | 2022-07-01 | 2022-11-01 | 中国第一汽车股份有限公司 | Automatic bolt screening and tightening device, method, equipment and storage medium |
| CN116079393A (en) * | 2023-04-10 | 2023-05-09 | 潍柴动力股份有限公司 | Bolt feeding device and bolt assembly system |
-
2021
- 2021-12-17 CN CN202111548083.4A patent/CN114055145A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115254661A (en) * | 2022-07-01 | 2022-11-01 | 中国第一汽车股份有限公司 | Automatic bolt screening and tightening device, method, equipment and storage medium |
| CN115254661B (en) * | 2022-07-01 | 2024-06-11 | 中国第一汽车股份有限公司 | Automatic bolt screening and tightening device, method and equipment and storage medium |
| CN116079393A (en) * | 2023-04-10 | 2023-05-09 | 潍柴动力股份有限公司 | Bolt feeding device and bolt assembly system |
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