Intelligent axle machining production line for rail transit vehicles

Abstract

The invention discloses an axle machining intelligent production line for a rail transit vehicle. The intelligent production line comprises a V-shaped block conveyor, an automatic hoisting robot, a milling machine machining equipment area, a lathe machining equipment area, a vertical layered intelligent storage warehouse, a shuttle type axle transporter and an axle automatic transfer trolley. The equipment is relatively low in investment and maintenance cost, relatively low in manpower cost of unmanned operation hoisting, and capable of eliminating the safety risk caused by frequent mixed operation of hoisting machinery and personnel in the past. And intelligent control can be achieved through a remote terminal, 24-hour all-weather operation is achieved, and the lifting rhythm and the lifting efficiency are greatly improved.

Description

Technical Field

[0001] The invention relates to an intelligent production line for machining axles for rail transit vehicles. Background Art

[0002] The axles used in rail transit vehicles are generally large in size and heavy in weight. During machining operations, manual operation of lifting equipment is required to lift the axles, divide the area into flat storage areas for workpieces, use freight vehicles to centrally transfer the axles, and manually record the axle information. This production method has problems such as low efficiency, discontinuous operations in various processes, high manpower and equipment investment and maintenance costs, frequent mixed operations of man and machine, large flat storage space, and factory driving safety. It is necessary to develop an intelligent production line for machining axles for rail transit vehicles, which can meet the needs of continuous and rapid conveying of axles, automated lifting of axles, small footprint and large-capacity storage of axles, automated transfer of axles, and digitalization of production processes for machining axles for rail transit vehicles.

[0003] In the existing axle machining production, semi-gantry cranes, cantilever cranes, and large bridge-type rail vehicles are mostly used for distribution and lifting in each process. The stacking area is divided into flat stacking to store the goods, and the goods are centrally transported by freight vehicles. This solution has the characteristics of frequent mixed operations of man and machine, low storage capacity and large floor space, discontinuous process operations, and high investment costs of manpower and equipment.

[0004] The existing technology mainly has the following problems: 1. The lifting equipment such as semi-gantry crane, cantilever crane, large bridge-type rail crane, etc. is used for lifting. The operation efficiency is low, the investment and maintenance costs are high, the lifting operation requires manual operation, the labor cost is high, and the frequent mixed operation of lifting machinery and personnel brings certain safety risks.

[0005] 2. The workpieces to be processed and finished parts are stored and stacked in a flat area, which occupies a large area and has a chaotic site layout, affecting the continuity of each processing procedure.

[0006] 3. The transportation cost of centralized transfer of goods by freight vehicles is high, and the driving of vehicles and the cross-operation of personnel in the factory area pose safety hazards. Summary of the invention

[0007] The object of the present invention is to provide an intelligent production line for machining axles for rail transit vehicles to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent production line for machining axles for rail transit vehicles, the intelligent production line comprising a V-block conveyor, an automatic lifting robot, a milling machine machining equipment area, a lathe machining equipment area, a vertical layered intelligent storage warehouse, a shuttle-type axle transporter and an axle automatic transfer trolley; the V-block conveyor has two sections, one section is used to smoothly convey the blank axle to the machining area, and the other section is used to deliver the rough-machined axle to the automatic transfer trolley; the end of the V-block conveyor 1 is the machining equipment area, and the automatic lifting robot spans the machining equipment area, covering the conveyor loading station, machining equipment, material racks waiting for machining, material racks waiting for storage and conveyor outbound station, and the axle automatic transfer trolley is located at the end of the outbound conveyor.

[0009] Preferably, according to claim 1, an intelligent production line for axle machining of rail transit vehicles is characterized in that: the V-block conveyor includes an equipment frame, a servo motor, a dual-axis output reducer, a transmission shaft, gears, chains, V-shaped bearing blocks, support rollers, guide ribs, photoelectric switches and limit switches, the equipment frame is the supporting skeleton of the conveyor, the servo motor is connected to the dual-axis output reducer and the transmission shaft in sequence, the gear is inserted into the transmission shaft and connected to the chain, a V-shaped nylon bearing block is provided on the upper part of the chain, support rollers are installed on both sides of the V-shaped nylon bearing block, the V-shaped nylon bearing block is slotted to cooperate with the guide ribs, and a photoelectric sensor is provided at the end of the guide rib.

[0010] Preferably, the automatic lifting machine comprises a supporting frame, a translation main beam, a lifting main beam, a mechanical clamp, a slider guide rail, a gear, a rack and a servo motor; the translation main beam is provided with a left and right shifting gear rack, a left and right shifting slider guide rail, and a left and right shifting servo motor, which is decelerated and increased by a reducer to increase the torque, and the left and right shifting gear rack is driven, and the left and right shifting slider guide rail is used as a guide support, and limit switches are installed at the extreme positions to prevent the position from overshooting; forward and backward shifting slider guide rails are arranged on both sides of the top of the supporting frame, and forward and backward shifting slider guide rails are provided with forward and backward shifting racks that mesh with the forward and backward shifting gears, and the forward and backward shifting servo motor is connected with the dual-axis output reducer, the transmission shaft, and the forward and backward shifting gears in sequence, and the forward and backward shifting gears rotate and cooperate with the forward and backward shifting racks to drive the translation main beam, and a forward and backward shifting limit switch is provided at the forward and backward shifting limit position to prevent the forward and backward shifting position from overshooting; the lifting main beam is based on the translation main beam, driven by the lifting servo motor, connected to the lifting slider guide rail, and driven by the lifting gear rack, and a lifting limit switch is provided at the lifting limit position to prevent the lifting position from overshooting; the end of the lifting main beam is connected to the base rotating shaft of the mechanical clamp.

[0011] Preferably, the mechanical clamp includes a base rotating shaft, a mechanical clamp base, a second servo motor and a steel clamp. The steel clamp is connected to the mechanical clamp base through a guide support slider. A nut seat is provided at the upper end of the steel clamp, and a reverse threaded screw passes through the nut seat and is connected to the second servo motor. A photoelectric sensor is also provided on the mechanical clamp.

[0012] Preferably, the vertical layered intelligent storage library includes a vertical light steel main frame, an axle storage rack, a shuttle axle transporter, a driving track and an upper support track; the shuttle axle transporter is arranged in the vertical light steel main frame, the shuttle axle transporter includes a transporter frame, the upper end of the transporter frame is connected to the upper support track, and the lower end is connected to the driving track through a running wheel, the axle storage rack is detachable, a nylon V-shaped block bearing is installed on the upper part of the material rack, and the middle part of the axle storage rack is left empty; the shuttle axle transporter consists of a running track, a running wheel, an upper support track, a lifting mechanism, a forklift lifting platform, a telescopic fork, a V-shaped bearing block, a sliding contact power supply, and a servo electric mechanism The upper and lower parts are composed of a rail respectively. The surface of the contoured wheel is grooved and can be inserted into the rail as a guide support. The upper support rail is inserted into the guide wheel on the top of the shuttle axle transporter as a guide support. The lifting mechanism is driven by a lifting servo motor 2. The lifting servo motor 2 is connected in sequence to a dual-axis output reducer, a second transmission shaft, and a right-angle steering gear to output power to the heavy-load lifting screws on both sides. The heavy-load lifting screws are connected to the fork-lifting platform through a nut seat. Four groups of heavy-load linear guide blocks are arranged on both sides of the fork-lifting platform. The fork-lifting platform is equipped with telescopic fork teeth, and two groups of V-shaped bearing blocks are installed on the fork teeth. The telescopic fork teeth are connected to the translation servo motor 2, and a translation rack and gear are provided at the bottom.

[0013] Preferably, the axle automatic transfer trolley includes running wheels, tracks, jacking devices, telescopic fork teeth, V-shaped load-bearing blocks, traveling servo motors, and sliding contact power supplies. The tracks are laid from the outbound station to the next processing workshop, and are powered by rail sliding contact. The two tracks are connected to a low-voltage power supply, and the carbon brushes at the bottom of the axle automatic transfer trolley contact the tracks to transmit electricity; the four sets of running wheels are driven by running servo motors and gear chains; laser ranging radars are installed at the front and rear ends of the vehicle body for controlling automatic driving, and the jacking device is built into the vehicle body, which is a scissors fork structure, powered by a servo electric cylinder, and connected to a telescopic fork tooth platform at the top; a mechanical travel switch is provided at the end of the track.

[0014] The beneficial effects of the present invention are: a. This automatic lifting robot is different from semi-gantry cranes, cantilever cranes, bridge-type rail vehicles and other lifting equipment. The equipment investment and maintenance costs are low, the manpower cost of unmanned operation is low, and the safety risks caused by the frequent mixed operation of lifting machinery and personnel in the past are eliminated. It can be controlled intelligently by a remote terminal and operate 24 hours a day, greatly improving the lifting rhythm and lifting efficiency.

[0015] b. This vertical layered intelligent storage library is different from the flat stacking storage method with divided areas. It occupies a small area, and the detachable shelves can be flexibly expanded according to needs. It has a large storage capacity, and the internal shuttle axle transporter can efficiently complete the axle outbound and inbound operations, and the axle information in the warehouse can be recorded and refreshed in real time. The data can be displayed on the cloud digital platform.

[0016] c. This automatic axle transfer vehicle is different from the transfer of freight vehicles. It can operate automatically 24 hours a day without manpower input, with low cost, high axle transfer efficiency and high degree of intelligence. The transfer axles are more stable and less prone to collision, eliminating the safety risks of trucks driving in the factory area. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 This is the structural diagram of the V-block conveyor; Figure 3 This is the structural diagram of the automatic lifting robot; Figure 4 This is the structural diagram of the mechanical gripper; Figure 5 This is the structural diagram of the shuttle axle transporter; Figure 6 Vertical hierarchical intelligent storage repository; Figure 7 Automatic transfer trolley for axles.

[0018] In the figure: 1 V-block conveyor, 2 milling machine processing equipment area, 3 lathe processing equipment area, 4 shuttle axle transporter, 5 vertical layered intelligent storage, 6 automatic lifting robot, 8 axle automatic transfer trolley, 501 vertical light steel main frame, 502 axle storage rack, 603 servo motor 2, 604 mechanical gripper base, 605 base shaft, 606 guide support slider, 607 nut seat 1001 equipment frame, 608 reverse thread screw, 8001 car body, 8002 running wheel, 8003 laser ranging radar, 8004 running servo motor, 8005 track, 8006 mechanical travel switch, 8007 translation guide support wheel, 8008 translation rack, 8009 telescopic fork base, 8010 V-type load-bearing block, 8011 fork base, 8012 lifting device, 1002 servo motor, 1003 dual-axis output reducer, 1004 transmission shaft, 1005 V-type load-bearing block, 1007 support roller, 1008 guide rib, 4001 walking wheel, 4003 heavy-duty lifting screw, 4005 heavy-duty linear guide block, 4006 gear, 4007 translation servo motor 2, 4008 fork lift platform, 4009 conveyor frame, 4010 translation rack, 4011 telescopic fork, 4012 V-shaped bearing block, 4015 lifting servo motor 2, 4016 dual-axis output reducer, 4017 transmission shaft 2, 4018 right-angle steering gear, 4019 upper support rail, 4020 driving rail, 6001 mechanical gripper, 6002 lifting main beam, 6003 lifting servo motor, 6004 lifting gear rack, 6005 lifting limit switch, 6006 lifting slider guide, 6007 left and right servo motor, 6008 front and back servo motor, 6009 transmission shaft, 6010 left and right gear rack, 6011 left and right slider guide, 6012 front and back gear, 6013 front and back rack, 6014 front and back slider guide, 6015 front and back limit switch, 6016 sliding contact power supply cable, 6017 cache rack, 6018 support frame. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1The present invention provides a technical solution: an intelligent production line for machining axles for rail transit vehicles, the intelligent production line comprising a V-block conveyor 1, an automatic lifting robot 6, a milling machine machining equipment area 2, a lathe machining equipment area 3, a vertical layered intelligent storage warehouse 5, a shuttle axle transporter 4 and an axle automatic transfer trolley 8; the V-block conveyor 1 has two sections, one section is used to smoothly transport the blank axle to the machining area, and the other section is used to send the rough-machined axle to the automatic transfer trolley; the end of the V-block conveyor 1 is the machining equipment area 3, the automatic lifting robot 6 spans the machining equipment area, covering the conveyor loading station, machining equipment, waiting for machining racks, waiting for storage racks and conveyor outbound station, and the axle automatic transfer trolley 8 is located at the end of the outbound conveyor.

[0021] like Figure 2 As shown, the V-block conveyor 1 includes an equipment frame 1001, a servo motor 1002, a dual-axis output reducer 1003, a transmission shaft 1004, gears, chains, V-shaped bearing blocks 1005, support rollers 1007, guide ribs 1008, photoelectric switches and limit switches. The equipment frame 1001 is the supporting skeleton of the conveyor. The servo motor 1002 is connected to the dual-axis output reducer 1003 and the transmission shaft 1004 in sequence. The gear is inserted into the transmission shaft 1004 and connected to the chain. A V-shaped nylon bearing block 1005 is provided on the upper part of the chain. Support rollers 1007 are installed on both sides of the V-shaped nylon bearing block 1005. The V-shaped nylon bearing block 1005 is slotted to cooperate with the guide ribs 1008, and a photoelectric sensor is provided at the end of the guide ribs 1008.

[0022] like Figure 3As shown, the automatic lifting machine 6 includes a support frame 6018, a translation main beam, a lifting main beam 6002, a mechanical clamp 6001, a slider guide rail, a gear, a rack and a servo motor; the translation main beam is provided with a left and right moving gear rack 6010, a left and right moving slider guide rail 6011, and a left and right moving servo motor 6007, which is decelerated and increased by a reducer to increase the torque, and the left and right moving gear rack 6010 is driven, and the left and right moving slider guide rail 6011 is used as a guide support, and limit switches are installed at the extreme positions to prevent position overshoot; front and rear moving slider guide rails 6014 are arranged on both sides of the top of the support frame 6018, and the front and rear moving slider guide rails 6014 are provided with a front and rear moving rack 6013 and a front and rear moving gear 6 012 is meshed, the forward and backward movement servo motor 6008 is connected with the dual-axis output reducer, the transmission shaft 6009, and the forward and backward movement gear 6012 in sequence, and the forward and backward movement gear 6012 rotates and cooperates with the forward and backward movement rack 6013 to drive the translational main beam, and a forward and backward movement limit switch 6015 is provided at the forward and backward movement limit position to prevent the forward and backward movement position from overshooting; the lifting main beam 6002 is based on the translation main beam, driven by the lifting servo motor 6003, connected to the lifting slider guide rail 6006, and the lifting gear rack is driven. A lifting limit switch 6005 is provided at the lifting limit position to prevent the lifting position from overshooting; the end of the lifting main beam 6002 is connected to the base rotating shaft 605 of the mechanical clamp 6001. The support frame 6018 is a steel structure, powered by a sliding contact power supply cable 6016. The translation main beam, the lifting main beam and the main frame form a truss-type mechanical arm with three degrees of freedom in X / Y / Z. The translation main beam is equipped with a rack, a linear guide, and is driven by a servo motor. The torque is increased by a reducer, and the helical gear rack is driven. The heavy-duty linear guide slider is used as a guide support. Limit switches are installed at the extreme positions to prevent position overshoot. Linear guides are arranged on both sides of the top of the frame for guide support. Racks are installed to mesh with the gears on the moving main beam. The forward and backward servo motor 6008 is connected to the dual-axis output reducer, the transmission shaft, and the helical gear in turn. The helical gear rotates and cooperates with the rack to drive the forward and backward main beam. A limit switch is set at the forward and backward limit position to prevent forward and backward position overshoot. The left and right moving main beam is based on the forward and backward moving main beam, driven by a servo motor, and the slider guide is used as a guide support. The helical gear rack is driven. A limit switch is set at the left and right limit position to prevent left and right position overshoot. The lifting main beam is based on the translation main beam, driven by a servo motor, connected to the slider rail as a guide support, and driven by the lifting gear rack 6004. A lifting limit switch 6005 is provided at the lifting limit position to prevent overshoot of the lifting position. A mechanical gripper is installed at the end of the lifting main beam to grab the axle. The mechanical gripper has a rotational degree of freedom and can adjust the axial position of the gripper. The gripper is driven by a servo motor and a screw rod. The threads on both sides of the screw rod are in opposite directions. The rotation of the screw rod drives the nut seat to connect the grippers on both sides to move in opposite directions. A photoelectric sensor is installed to detect that the gripper is in place.The automatic lifting robot can lift the blank axle from the entrance conveyor to the waiting processing material rack, from the waiting processing buffer rack 6017 to the machining milling machine or lathe, from the machining milling machine or lathe to the waiting storage buffer rack, and from the machining milling machine or lathe to the outbound conveyor. Servo motors plus motion controllers can achieve high-precision control, precise gripping, and precise lifting.

[0023] like Figure 4 As shown, the mechanical clamp 6001 includes a base rotating shaft 605, a mechanical clamp base 604, a servo motor 6003 and a steel clamp 601, wherein the steel clamp 601 is connected to the mechanical clamp base 604 via a guide support slider 606, a nut seat 607 is provided at the upper end of the steel clamp 601, and a reverse threaded screw 608 passes through the nut seat 607 and is connected to the servo motor 6003; a photoelectric sensor is also provided on the mechanical clamp 6001; the mechanical clamp has rotational freedom and can adjust the axial position of the clamp, the clamp is driven by a servo motor and a screw, the threads on both sides of the screw are in opposite directions, and the rotation of the screw drives the nut seat to connect the clamps on both sides to move towards each other, and a photoelectric sensor is installed to detect whether the clamp is in place.

[0024] like Figure 5-6 As shown, the vertical layered intelligent storage warehouse 5 includes a vertical light steel main frame 501, an axle storage rack 502, a shuttle axle transporter 4, a driving track 4020 and an upper support track 4019; the shuttle axle transporter 4 is arranged in the vertical light steel main frame 501, and the shuttle axle transporter 4 includes a transporter frame 4009, the upper end of the transporter frame 4009 is connected to the upper support track 4019, and the lower end is connected to the driving track 4020 through the running wheel 4001, the axle storage rack 502 is detachable, and a nylon V-shaped block bearing is installed on the upper part of the material rack, and the middle part of the axle storage rack 502 is left empty; the shuttle axle transporter 4 is composed of a running track 4020, a running wheel 4001, an upper support track 4019, a lifting mechanism, a forklift lifting platform 4008, a telescopic fork, a V-shaped bearing block 4012, a sliding contact power supply, and a servo motor, and each is arranged on the upper and lower parts. A rail, the wheel surface of the running wheel 4001 is grooved and can be inserted into the rail as a guide support, the upper support rail 4019 is inserted into the top guide wheel of the shuttle axle transporter 4 as a guide support, the lifting mechanism is driven by a lifting servo motor 4015, the lifting servo motor 4015 is connected in sequence to a double-axis output reducer 4016, a transmission shaft 4017, and a right-angle steering gear 4018, and the power is output to the heavy-duty lifting screw rods 4003 on both sides, the heavy-duty lifting screw rods 4003 are connected to the fork-lifting lifting platform 4008 through a nut seat, four groups of heavy-duty linear guide blocks 4005 are arranged on both sides of the fork-lifting lifting platform 4008, the fork-lifting lifting platform 4008 is equipped with telescopic fork teeth 4011, and two groups of V-shaped bearing blocks 4012 are installed on the fork teeth, the telescopic fork teeth 4011 are connected to the translation servo motor 4007, and a translation rack 4010 and a gear 4006 are arranged at the bottom.

[0025] The vertical light steel main frame is made of light steel, with high strength and light weight. The axle storage rack is detachable and can be expanded according to demand. Two axles can be stored on a single set of material racks. Nylon V-blocks are installed on the upper part of the material rack to carry the axles. The middle part of the storage rack is left empty for forklifts to store axles. The shuttle axle transporter consists of a running track, a running wheel, an upper support track, a lifting mechanism, a forklift lifting platform, a telescopic fork, a V-shaped bearing block, a sliding contact power supply, and a servo motor. It is arranged along the vertical warehouse direction. It is a single-track running method. One rail is arranged above and below. The running wheel surface is grooved and can be inserted into the rail for guide support. The upper support track is inserted into the top guide wheel of the transporter for guide support. The lifting mechanism is driven by a servo motor. The motor is connected to the double-axis output reducer, the transmission shaft, and the right-angle steering gear in sequence to output power to the heavy-duty ball screws on both sides. The two sets of ball screws rotate to drive the nut seat to connect the forklift lifting platform for lifting and lowering. Four sets of heavy-duty linear guide blocks are set on both sides of the forklift lifting platform for guide support. The forklift lifting platform is equipped with telescopic forks, and two sets of nylon V-shaped bearing blocks are installed on the forks to forklift two axles. The telescopic forks are driven by servo motors inside, and the bottom is driven by gear racks. The edge of the telescopic fork body is equipped with translation support rollers. The inner side of the fork base 8011 is notched to cooperate with the rollers. When telescoping, the translation support rollers can be inserted into the notches as guide supports. When the axle is forked, the upper computer controls the shuttle axle transporter to run to the designated storage rack position, the telescopic forks extend into the bottom of the axle, the lifting mechanism lifts the axle upward to separate from the rack, the forks retract back to the platform, and move to the storage rack with the specified number of layers. The forks lift the axle and extend it above the storage rack. The lifting mechanism descends, and the axle is left on the storage rack. The forks retract back to their original positions, and the system records and refreshes the axle information in the vertical warehouse.

[0026] like Figure 7As shown, the axle automatic transfer trolley 8 includes running wheels 8002, tracks 8005, lifting devices 8012, telescopic fork teeth, V-shaped load-bearing blocks 8010, running servo motors 8004, and sliding contact power supplies. The tracks 8005 are laid from the outbound station to the next processing workshop, and are powered by rail sliding contact. The two tracks 8005 are connected to the low-voltage power supply and isolated by insulating materials. The carbon brushes at the bottom of the axle automatic transfer trolley 8 contact the tracks 8005 to transmit electricity; the four sets of running wheels 8002 are driven by the running servo motors 8004 and the gear chain transmission; the front and rear ends of the car body 8001 are equipped with laser The ranging radar 8003 is used to control the automatic driving. The lifting device 8012 is built into the vehicle body 8001. It is a scissor fork structure, powered by a servo electric cylinder, and connected to the telescopic fork platform at the top. A mechanical travel switch 8006 is provided at the end of the track 8005. The two sets of telescopic forks are driven by a servo motor. A translation rack 8008 is installed at the bottom of the telescopic forks. The gear rack is driven. A translation guide support wheel 8007 is installed on the side of the telescopic forks. Slots are opened on both sides of the telescopic fork base 8009. When the fork body is extended and retracted, the rolling steel wheel can freely enter and exit the slot of the telescopic fork base, which plays a guiding and supporting role for the linear motion of the fork body. A mechanical travel switch 8006 is provided at the end of the track to prevent the trolley from overshooting and going out of the track. During the outbound operation, the axle automatic transfer trolley 8 automatically runs to the outbound station, the telescopic fork teeth extend out of the bottom of the axle, the V-shaped load-bearing block faces the two axles above, the jacking device is lifted upward, the axle is lifted off the conveyor, the fork teeth retract and bring the axle into the transfer trolley, and then descends to support the axle to run to the next production workshop. Example

[0027] Taking the rough milling and rough turning of blank axles as an example, the blank axles are conveyed forward to the milling machine and lathe machining equipment area through a V-block conveyor in a step-by-step manner. They are driven by a high-power servo motor, and the reduction box reduces the speed to amplify the torque of the dual-axis output. The sprocket chain is driven. The chain is equipped with a nylon V-shaped bearing block to support the axle. Support rollers are installed on both sides of the bearing block to offset the pressure under the axle to protect the chain. Long ribs are laid at the bottom of the chain to limit the movement of the support rollers. The axles are input into the machining area one by one in a step-by-step manner. A lifting station is set at the end of the conveyor line. A photoelectric sensor is installed on the lower side. The robot automatically comes to lift when the material signal is triggered. A limit switch is set at the end to prevent the axle from being transported too far and falling. The automatic lifting robot is a truss type. The mechanical arm has three degrees of freedom X\Y\Z. The mechanical gripper at the end has one degree of rotation freedom, which can adjust the axial position of the axle entering the machine tool.

[0028] When the rough axle is hoisted, the truss robot arm moves to the lifting station, the Z-axis lifting main beam with the mechanical gripper descends, and the mechanical gripper is driven by the motor to close in the middle. The gripper closes and grabs the axle, and the top of the gripper is connected to the slider rail as a guide support. The reverse threaded screw and the nut seat rotate to drive the gripper to move synchronously in opposite directions, and the gripper closes and opens. After the gripper is closed, a feedback signal is sent, the Z-axis lifting main beam grabs the axle to a safe height, and the truss robot arm lifts it to the upper side of the empty cache rack to be processed. The Z-axis descends and places the axle on the V-shaped nylon bearing block of the material rack. The motor drives the gripper to open synchronously in the opposite direction, and the Z-axis rises to a safe position to wait for the next lifting instruction. After the rough milling or rough turning process is completed, the automatic lifting robot moves to the upper side of the machine tool equipment in the same way, and the qualified machined products are lifted to the empty cache rack to be stored, and the unqualified products are lifted to the outbound conveyor and transported to the unqualified product storage area by the automatic transfer trolley.

[0029] When the axles that have passed the processing are put into storage, a photoelectric sensor is installed on the lower side of the storage buffer rack. When the presence of material is detected, the host computer controls the shuttle axle transporter to transport the axles to the buffer rack. The shuttle axle transporter is a single-track type, with a servo motor as the driving drive, and laser ranging radars are installed at the front and rear to control the travel distance. The internal fork-tine lifting platform is driven by a servo motor, and the torque is transmitted to both sides by the right-angle shaft reducer, which is connected to the right-angle steering gear. The steering gear is connected to the ball screw to rotate it. The rotation of the ball screw drives the nut seat to rise and fall. The nut seat is connected to both sides of the fork-tine lifting platform. Four sets of heavy-duty slider guides are symmetrically arranged on both sides of the fork-tine lifting platform as guide supports. The ball screw rotates to drive the fork-tine lifting platform to the handling station. After reaching the storage rack, the telescopic fork extends, the V-shaped bearing block on the fork body faces the upper axle, the fork lifting platform lifts the axle upward to separate from the rack, the fork retracts and brings the axle into the transporter, and then moves to the vacant designated vertical storage rack, the lifting mechanism and telescopic fork cooperate to place the axle on the storage rack, and the vertical axle information is recorded and refreshed after completion, and the data is displayed on the cloud digital platform. When executing the outbound instruction, the movement mode is the same, and the shuttle transporter sends the axle from the vertical storage rack to the buffer rack for rough turning.

[0030] During the axle transfer operation, two photoelectric sensors are installed at the bottom of the end of the outbound conveyor to detect whether there is material at the two transfer stations. When there is material, the upper computer controls the axle automatic transfer trolley to go there. The trolley moves on a track and is driven by a servo motor. The two rails are connected to the low-voltage power supply and contact the conductive block at the bottom of the trolley to power the equipment. It is surrounded by insulating materials. The front and rear parts of the trolley are equipped with laser ranging radars to control the forward position. After the transfer trolley runs to the outbound station, the telescopic fork tine extends into the bottom of the axle, and the V-shaped load-bearing block on the fork tine faces the upper axle. The jacking device is driven by a servo electric cylinder, and the internal jacking is a scissor fork type, which can lift the axle upward with the fork tine platform. The axle is separated from the V-shaped load-bearing block of the conveyor line, and the fork tine retracts to bring the axle into the transfer trolley. The fork tine platform descends and returns to its position, and the axle is sent to the next processing workshop by the automatic transfer trolley.

[0031] The operating data of the automated equipment of the intelligent production line is collected by the host computer and uploaded to the remote master control platform. The data is displayed on the digital platform, and users can remotely monitor the machining information, processing status and equipment operation status of each axle.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent production line for machining axles for rail transit vehicles, characterized by: The intelligent production line includes a V-block conveyor, an automatic lifting robot, a milling machine machining equipment area, a lathe machining equipment area, a vertical layered intelligent storage library, a shuttle axle transporter and an axle automatic transfer cart; the V-block conveyor has two sections, one section is used to smoothly convey the blank axle to the machining area, and the other section is used to deliver the rough-turned axle to the automatic transfer cart; the end of the V-block conveyor is the machining equipment area, and the automatic lifting robot spans the machining equipment area, covering the conveyor loading station, machining equipment, material racks waiting for machining, material racks waiting for storage and conveyor outbound stations, and the axle automatic transfer cart is located at the end of the outbound conveyor.

2. The intelligent production line for machining axles for rail transit vehicles according to claim 1 is characterized by: The V-block conveyor includes an equipment frame, a servo motor, a dual-axis output reducer, a transmission shaft, gears, chains, V-shaped bearing blocks, support rollers, guide ribs, photoelectric switches and limit switches. The equipment frame is the supporting skeleton of the conveyor. The servo motor is connected to the dual-axis output reducer and the transmission shaft in sequence. The gear is inserted into the transmission shaft and connected to the chain. A V-shaped nylon bearing block is provided on the upper part of the chain. Support rollers are installed on both sides of the V-shaped nylon bearing block. The V-shaped nylon bearing block is slotted to cooperate with the guide ribs, and a photoelectric sensor is provided at the end of the guide ribs.

3. The intelligent production line for machining axles for rail transit vehicles according to claim 1 is characterized by: The automatic lifting machine comprises a supporting frame, a translation main beam, a lifting main beam, a mechanical clamp, a slider guide rail, a gear, a rack and a servo motor; the translation main beam is provided with a left and right shifting gear rack, a left and right shifting slider guide rail, and a left and right shifting servo motor, which is decelerated and increased by a reducer to increase the torque, and the left and right shifting gear rack is driven, and the left and right shifting slider guide rail is used as a guide support, and limit switches are installed at the extreme positions to prevent the position from overshooting; forward and backward shifting slider guide rails are arranged on both sides of the top of the supporting frame, and the forward and backward shifting slider guide rails are provided with a forward and backward shifting rack that meshes with the forward and backward shifting gear, and the forward and backward shifting servo motor is connected with the dual-axis output reducer, the transmission shaft, and the forward and backward shifting gear in sequence, and the forward and backward shifting gear rotates and cooperates with the forward and backward shifting rack to drive the translation main beam, and a forward and backward shifting limit switch is provided at the forward and backward shifting limit position to prevent the forward and backward shifting position from overshooting; the lifting main beam is based on the translation main beam, driven by the lifting servo motor, connected to the lifting slider guide rail, and driven by the lifting gear rack, and a lifting limit switch is provided at the lifting limit position to prevent the lifting position from overshooting; the end of the lifting main beam is connected to the base rotating shaft of the mechanical clamp.

4. The intelligent production line for machining axles for rail transit vehicles according to claim 3 is characterized by: The mechanical clamp includes a base rotating shaft, a mechanical clamp base, a second servo motor and a steel clamp. The steel clamp is connected to the mechanical clamp base through a guide support slider. A nut seat is provided at the upper end of the steel clamp, and a reverse threaded screw rod passes through the nut seat and is connected to the second servo motor. A photoelectric sensor is also provided on the mechanical clamp.

5. The intelligent production line for machining axles for rail transit vehicles according to claim 1 is characterized by: The vertical layered intelligent storage library comprises a vertical light steel main frame, an axle storage rack, a shuttle axle transporter, a driving track and an upper support track; the shuttle axle transporter is arranged in the vertical light steel main frame, the shuttle axle transporter comprises a transporter frame, the upper end of the transporter frame is connected to the upper support track, and the lower end is connected to the driving track through a running wheel, the axle storage rack is detachable, a nylon V-shaped block bearing is installed on the upper part of the material rack, and the middle part of the axle storage rack is left empty; the shuttle axle transporter is composed of a running track, a running wheel, an upper support track, a lifting mechanism, a forklift lifting platform, a telescopic fork, a V-shaped bearing block, a sliding contact power supply, and a servo motor. A rail is arranged above and below, and the surface of the contoured wheel is grooved and can be inserted into the rail as a guide support. The upper support rail is inserted into the guide wheel on the top of the shuttle axle transporter as a guide support. The lifting mechanism is driven by a lifting servo motor 2. The lifting servo motor 2 is connected in sequence to the dual-axis output reducer, the second transmission shaft, and the right-angle steering gear to output power to the heavy-load lifting screws on both sides. The heavy-load lifting screws are connected to the fork-lifting platform through a nut seat. Four groups of heavy-load linear guide blocks are arranged on both sides of the fork-lifting platform. The fork-lifting platform is equipped with telescopic fork teeth, and two groups of V-shaped bearing blocks are installed on the fork teeth. The telescopic fork teeth are connected to the translation servo motor 2, and a translation rack and gear are provided at the bottom.

6. The intelligent production line for machining axles for rail transit vehicles according to claim 1 is characterized by: The axle automatic transfer trolley comprises running wheels, tracks, lifting devices, telescopic forks, V-shaped load-bearing blocks, running servo motors, and sliding contact power supplies. The tracks are laid from the outbound station to the next processing workshop, and are powered by rail sliding contact. The two tracks are connected to the low-voltage power supply, and the carbon brushes at the bottom of the axle automatic transfer trolley contact the tracks to transmit electricity; the four sets of running wheels are driven by running servo motors and gear chains; the front and rear ends of the vehicle body are equipped with laser ranging radars for controlling automatic driving, and the lifting device is built into the vehicle body, which is a scissor fork structure, powered by a servo electric cylinder, and connected to a telescopic fork platform at the top; A mechanical travel switch is provided at the end of the track.

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