An intelligent assembly system and method based on a six-degree-of-freedom robot

Abstract

The invention discloses an intelligent assembly system based on a six-degree-of-freedom robot. The ground slide rail 2 is provided with at least one ground rail assembly robot 1, one of the ground slide rails 2 is provided with a rack structure for driving the ground rail assembly robot 1 to move, and the other ground slide rail 2 is provided with Rack structure and trolley line; the ground rail assembly robot 1 includes a central control and drive module 1.1, a tightening axle box 1.3 and an intelligent manipulator 1.5. The invention also discloses an intelligent assembly method. The intelligent assembly system of the present invention automatically completes the addressing, positioning and assembly operations of multiple wheel sets in the longitudinal direction, saves the work steps and time of manually pushing the wheels to transport parts and aligning the wheels, and improves the work efficiency.

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 CRH3 Harmony EMU wheel set axle end gland: (1) Truss slide rail + Single rope suspension multi-spindle nutrunner. The way to realize it is to fix and install multiple tightenin...

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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