Intelligent assembly system and method based on six-degree-of-freedom robot

Abstract

The invention discloses an intelligent assembly system based on six-degree-of-freedom robot. The intelligent assembly system comprises a working table (3), a lifting platform (4) arranged on the working table (3) and ground sliding rails (2) symmetrically arranged on the two sides of the working table (3), wherein at least one ground rail type assembly robot (1) is arranged on the ground sliding rails (2), the ground slide rail (2) is provided with a rack structure for driving the ground rail type assembly robot (1) to move, and the other ground slide rail (2) is provided with a rack structureand a sliding contact line; and the ground rail type assembly robot (1) comprises a central control and driving module (1.1), a tightening shaft box (1.3) and an intelligent manipulator (1.5). The invention further comprises an intelligent assembly method. According to the intelligent assembly system, addressing, positioning and assembly operations of a plurality of wheels on workpieces in the longitudinal direction are automatically completed, the operation steps and time for carrying the parts and aligning the wheels to the parts by the manual pushing wheels are saved, and the working efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of wheel set maintenance equipment, and more specifically relates to an intelligent assembly system and method based on a six-degree-of-freedom robot. Background technique [0002] At present, the multi-axis simultaneous tightening and assembly of the CRH3 Harmony EMU wheel-to-axle end gland fastening bolts in the railway industry mainly adopts a horizontal trolley type calibration device, which is mainly composed of bottom wheels, steel structure racks, handrails, simulation The shaft end and the left and right outriggers are combined. [0003] At present, the maintenance and assembly workshops of EMU depots and EMU operating stations all over the country are mainly used for the tightening and assembly of the fastening bolts of the wheel set shaft end glands of the CRH3 Harmony EMU. There are mainly the following types: (1) Truss slide rail + Single rope suspension multi-spindle nutrunner. The way to real...

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 workbench; in addition to manually moving and tightening the axle box booster 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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