Intelligent screwing and assembling system based on crawler type six-axis robots

Abstract

The invention relates to an intelligent screwing and assembling system based on crawler type six-axis robots. The intelligent screwing and assembling system based on the crawler type six-axis robot comprises the robots, conveying lines and recognizing systems. The conveying lines include the small part conveying lines and the wheel pair workpiece conveying line. The small part conveying lines arearranged on the two sides of the wheel pair workpiece conveying line. The robots are arranged on one side of the small part conveying lines. The recognizing systems are arranged on the robots. According to the intelligent screwing and assembling system based on the crawler type six-axis robots, through the recognizing systems of the six-axis robots, parts needing to be assembled are recognized, mechanical arms of the robots are used for picking up the assembling parts and installing the parts on wheel pair workpieces on the wheel pair workpiece conveying line, the intelligent degree is high, the application range is wide, and the intelligent screwing and assembling system is suitable for bolt assembling and screwing scenes of D-series high-speed trains, metro trains, municipal administrative area railway trains, interurban railway trains and other structures.

Description

technical field [0001] The invention relates to a component assembly and a bolt tightening device applied to a repairing station of a wheel-to-axlebox component of a vehicle group, and in particular to an intelligent tightening assembly system based on a crawler-type six-axis robot. Background technique [0002] At present, in the maintenance and assembly workshops of EMU depots and EMU operating stations across the country, the parts assembly and bolt tightening operation modes for the advanced wheel repair and axle box component inspection stations of the Harmony and Fuxing EMUs are mainly as follows: [0003] (1) Truss slide rail + single rope suspension tightening shaft. The way to realize it is to fix and install multiple tightening shafts in an axle box simply and mechanically. The axle box is suspended by a flexible steel wire rope or a spring balancer. The top of the wire rope is fixed on a slide rail. Through manual operation, it can be Realize sliding left and rig...

AI Technical Summary

Problems solved by technology

The main body is a gantry frame structure that can slide on the ground track. Although the main structure of the equipment will not block the traveling path of the crane hook and has little effect on the hoisting of the crane in the workshop, the main body of the equipment will occupy a part of the length, reducing the number of workshops. The number of workpieces placed on the ground wheel-to-workpiece conveying line; in addition to manually moving the tightening shaft assist arm, the operator also needs to hold the remote control to operate the gantry slide rail to move along the ground track, which increases the workload

When using multi-axis tightening, it is necessary to manually slide the power-assisted arm to feed; when aligning, the operator needs to visually measure the angular position of the workpiece hole, and then manually rotate the axle box to a certain angle to perform alignment. The data cannot be quantified and stored. The dependence is large, and the manual participation is relatively high

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