An automatic detection system for detecting the stiffness of a metal-rubber joint of a rail vehicle

Abstract

The application discloses an automatic detection system for rigidity detection of metal-rubber joints of rail vehicles, which comprises detection equipment capable of adapting to metal-rubber joints of various specifications, a mechanical hand capable of taking and placing metal-rubber joints of various specifications and an intelligent control system, the mechanical hand can reach the detection equipment, the mechanical hand and the detection equipment are automatically controlled by the control system to work, and rigidity detection of metal-rubber joints of various specifications is automatically completed. The detection equipment comprises a detection rack capable of clamping and detecting metal-rubber joints and a pressure head placing rack capable of placing various pressure heads. The automatic detection system further comprises a to-be-detected piece input device and a detected piece output device extending to the grabbing range of the mechanical hand. The automatic detection system has the advantages that the labor intensity of operators can be greatly reduced, the automatic detection system can adapt to metal-rubber joints of all specifications and the investment of detection equipment is saved, and full-automatic flow operation can be realized, so that the detection efficiency is remarkably improved.

Description

Technical Field

[0001] This invention relates to an automatic detection system for testing the stiffness of metal-rubber joints in rail vehicles, belonging to the field of metal-rubber joint technology. Background Technology

[0002] Metal-rubber joints are vibration damping elements made by vulcanizing a metal jacket and a mandrel. Depending on the installation location, metal-rubber joints have different functions. For traction joints, they are used to transmit traction and braking forces between the bogie and the car body during train operation, and to accommodate the torsion and deflection of the car body relative to the bogie within a certain range. For boom joints, they are installed between the primary boom and the frame for boom positioning and to transmit longitudinal forces.

[0003] According to the product technical specifications, axial stiffness and radial stiffness need to be tested during mass production. The principle of stiffness test is as follows: the test piece is the actual product. The product is pressed into a special sleeve or tooling. A certain load is applied to the two outer connecting parts (i.e., the metal outer sleeve and the metal mandrel part) of the test piece. The deformation of the product under a certain load is tested to obtain the stiffness value of the product.

[0004] Traditional inspection of metal rubber joints involves manual loading and unloading on a single machine (inspection table). Because rail vehicle metal rubber joints are diverse in type and size, and larger pieces are very heavy, manual handling is extremely strenuous and inefficient. Furthermore, this traditional single-machine manual loading and unloading method also has the following problems:

[0005] During handling, metal-to-metal collisions can easily damage the product, affecting its appearance.

[0006] Different specifications require different tooling;

[0007] Customizing different tooling heads for different product specifications results in high costs, long lead times, and high management costs.

[0008] Each product requires a custom-made press-fit sleeve, and the metal outer surface of the product is stretched after testing, resulting in high costs and difficulties in on-site tooling management.

[0009] Employees placed products in the test positions according to the inspection criteria, resulting in large test errors.

[0010] After searching, we were unable to find any patent documents related to solving the above problems, let alone any patent documents that could systematically solve the above problems. Summary of the Invention

[0011] The technical problem to be solved by this invention is: how to reduce labor intensity and improve detection efficiency.

[0012] To address the above problems, the technical solution proposed by this invention is as follows:

[0013] An automatic testing system for testing the stiffness of metal-rubber joints in rail vehicles includes a testing device capable of adapting to various sizes of metal-rubber joints, a robotic arm capable of handling various sizes of metal-rubber joints, and an intelligent control system. The robotic arm can reach the testing device, and the control system automatically controls the robotic arm and the testing device to automatically complete the stiffness testing of various sizes of metal-rubber joints.

[0014] Furthermore, the testing equipment includes a testing stand capable of clamping and testing various metal-rubber joints, and a pressure head placement rack capable of holding various pressure heads.

[0015] Furthermore, it also includes an input device for the part to be inspected and an output device for the part to be inspected that extend into the gripping range of the robotic arm.

[0016] Furthermore, the testing platform, pressure head placement rack, test piece input device, and test piece output device are arranged in a semi-circular pattern, with the robotic arm positioned at the center of this semi-circle.

[0017] Furthermore, the detection equipment consists of two sets, arranged in a semi-circular pattern on both sides of the robot arm. The two sets of detection equipment include a workpiece input device and a workpiece output device, which are arranged in a circular pattern around the robot arm with the robot arm as the center.

[0018] Furthermore, the control system has an information recording device, which has a barcode scanner for scanning the metal rubber joint to be inspected, and the recording device is installed on the input device for the part to be inspected.

[0019] Furthermore, the upper part of the pressure head has a mounting rod, the middle part of which is the gripping position of the robot arm, and the two sides of the gripping position have gripping planes; the upper outer periphery of the mounting rod has two flange-shaped clamping flanges, and an annular clamping groove is formed between the two clamping flanges; the mounting rods of different specifications of pressure heads and the structural settings and dimensions on the mounting rods are the same.

[0020] Furthermore, the testing platform includes a clamping device and a pressure applying device; the clamping device includes clamping block one and clamping block two symmetrically arranged front and rear, each with an arc-shaped clamping concave surface, and shaft end rest block one and shaft end rest block two symmetrically arranged left and right. The bottom of the arc-shaped clamping concave surface of clamping block one and clamping block two has a horizontal end face rest. Clamping block one and clamping block two can slide towards each other, and the arc-shaped clamping concave surface clamps the outer peripheral surface of the vertical metal rubber joint's outer sleeve. The end face of the outer sleeve rests on clamping block one and clamping block two. On the end face support of Block 2, the shaft end support block 1 and shaft end support block 2 are used to support the end shafts at both ends of the metal rubber joint so that the metal rubber joint is placed horizontally; the pressure applying device has a pressure seat that can slide downward to apply pressure, and the bottom of the pressure seat has a clamping plate 1 and a clamping plate 2, with a clamping plate gap between the clamping plate 1 and the clamping plate 2. The clamping plate gap is larger than the diameter of the mounting rod of the pressure head but smaller than the diameter of the clamping flange. The thickness of the clamping plate 1 and the clamping plate 2 is smaller than the width of the clamping groove. The clamping plate 1 and the clamping plate 2 can slide up and down under the action of force.

[0021] Furthermore, the top surfaces of shaft end support block one and shaft end support block two are flush with the end face support platforms of clamping block one and clamping block two, so as to assist the end face support platform to support the lower end face of the outer sleeve during axial inspection.

[0022] Furthermore, the pressure head placement frame has multiple layers of hanging plates, each layer of hanging plates having an outward-facing notch for hooking the upper end of the pressure head mounting rod. The width of the notch is greater than the diameter of the pressure head mounting rod but less than the diameter of the clamping flange, and the thickness of the hanging plate is less than the thickness of the clamping groove on the pressure head.

[0023] Furthermore, the inspection component input device includes a platform, a forward conveyor chain group, a reverse conveyor chain group, a front transverse frame, a rear transverse frame, a bottom transfer plate, and a conforming tray. The forward and reverse conveyor chain groups are arranged side-by-side at the center of the platform, at the same height. The front and rear transverse frames are respectively located at the front and rear ends of the platform. Each of the front and rear transverse frames is equipped with a relay drive chain group. The bottom transfer plate is placed on the relay drive chain group and can travel along the relay drive chain group, the forward conveyor chain group, and the reverse conveyor chain group. The conforming tray is placed on the bottom transfer plate and travels with it. It is used to place various types of metal rubber joints to be inspected. The front and rear transverse frames can move laterally on the platform under the push of an electric cylinder, so that the relay drive chain group can be aligned with the forward and reverse conveyor chain groups front and back.

[0024] Furthermore, the conformal carrier has multiple metal rubber joint placement positions of various specifications. The center of the carrier surface has a main placement area. The main placement area has multiple metal rubber joint placement positions of different diameters arranged in a stepped manner from the inside to the outside. The center of the main placement area has a shaft hole position shared by all metal rubber joint placement positions in this area. The outer periphery of the main placement area is the secondary placement area of ​​the metal rubber joints, which also has multiple metal rubber joint placement positions. Beneficial effects

[0025] 1. It can eliminate the need for manual loading and unloading of materials onto the testing bench. Manual operation is limited to placing the test pieces on the test piece input device and removing them from the test piece output device, which greatly reduces the labor intensity of operators.

[0026] 2. It can adapt to all specifications of metal-rubber joints, saving investment in testing equipment;

[0027] 3. It can achieve fully automated assembly line operation, significantly improving testing efficiency;

[0028] 4. It can prevent damage to the detection components caused by accidental manual operation.

[0029] 5. Capable of mixed testing of test pieces of different specifications;

[0030] 6. It can trace and detect historical records through the computer system. Attached Figure Description

[0031] Figure 1 This is a schematic diagram showing the layout of various devices in an automatic testing system used for detecting the stiffness of metal-rubber joints in rail vehicles.

[0032] Figure 2 A three-dimensional schematic diagram of a robotic arm in an automatic detection system;

[0033] Figure 3 A three-dimensional schematic diagram of the pressure head in an automatic detection system;

[0034] Figure 4 This is a three-dimensional schematic diagram of the testing platform in an automatic testing system;

[0035] Figure 5 for Figure 4 A partial schematic diagram showing the clamping device;

[0036] Figure 6 for Figure 4 A partial schematic diagram showing the pressure application device;

[0037] Figure 7 A three-dimensional schematic diagram of the clamping device horizontally clamping a metal-rubber joint during radial stiffness testing;

[0038] Figure 8 A three-dimensional schematic diagram of the clamping device vertically clamping a metal-rubber joint during axial stiffness testing;

[0039] Figure 9 This is a three-dimensional schematic diagram of the pressure head placement frame in an automatic detection system;

[0040] Figure 10 A three-dimensional schematic diagram of the input device for the part to be inspected in an automatic inspection system;

[0041] Figure 11 for Figure 10 A partial schematic diagram;

[0042] Figure 12 This is a three-dimensional schematic diagram of the input device for the workpiece to be inspected in an automatic inspection system. The diagram shows that the metal rubber joint loaded on the bottom transfer tray is conveyed backward by the reciprocating conveyor chain.

[0043] Figure 13 This is a three-dimensional schematic diagram of the adaptable carrier disk;

[0044] Figure 14 A three-dimensional schematic diagram showing the parallel arrangement of the input device for the part to be inspected, the output device for the defective product, and the output device for the inspected part in the layout of an automatic inspection system.

[0045] Figure 15 A basic process flow diagram for the automatic detection system to inspect metal-rubber joints.

[0046] In the diagram: 1. Testing bench; 101. Clamping device; 1011. Clamping block one; 1012. Clamping block two; 1013. Shaft end support block one; 1014. Shaft end support block two; 1015. End face support; 102. Pressing device; 1021. Pressure seat; 1023. Clamping plate one; 1024. Clamping plate two; 1025. Clamping plate spacing; 2. Pressure head placement frame; 201. Hanging plate; 202. Clamping notch; 3. Robotic arm; 4. Pressure head; 401. Mounting rod; 4012. Gripping plane; 402. Clamping flange; 403. Clamping groove; 404. Radial pressure foot; 405. 5. Axial pressure foot; 6. Inspection piece input device; 7. Stand; 8. Reverse conveyor chain assembly; 9. Return conveyor chain assembly; 10. Front transverse frame; 11. Rear transverse frame; 12. Relay drive chain assembly; 13. Bottom transfer plate; 14. Adaptive carrier plate; 15. Placement position; 16. Shaft hole position; 17. Inspection piece output device; 18. Non-conforming product output device; 19. Information collection device; 10. Barcode scanner; 10. Printing scanning device; 11. Resistance testing stand; 12. Engraving stand; 13. Metal rubber joint; 14. Outer casing; 15. End shaft. Detailed Implementation

[0047] The present invention will be further described below with reference to embodiments and accompanying drawings: Example 1

[0048] like Figure 1 As shown in Figure 9, an automatic testing system for detecting the stiffness of metal-rubber joints in rail vehicles includes a testing device capable of accommodating various sizes of metal-rubber joints 12, a robotic arm 3 capable of handling various sizes of metal-rubber joints 12, and an intelligent control system. The robotic arm 3 can reach the testing device, change the pressure head 4 to suit the metal-rubber joint 12 to be tested, and grip or ungrip the metal-rubber joint 12. The control system automatically controls the robotic arm and testing device, automatically completing the stiffness testing of various sizes of metal-rubber joints 12 without any human intervention during the intermediate testing process. This eliminates the need for manual pressure head changing and loading / unloading operations, significantly reducing the labor intensity of operators. Simultaneously, the automated and mechanized assembly line operation significantly improves the testing efficiency of the metal-rubber joints 12.

[0049] The testing equipment includes a testing stand 1 capable of clamping and testing various metal-rubber joints 12, and a pressure head placement rack 2 capable of holding various pressure heads 4.

[0050] like Figure 10 , 14 As shown, the above-mentioned automatic detection system for detecting the stiffness of metal-rubber joints in rail vehicles also includes a workpiece input device 5 and a workpiece output device 6 that extend to the gripping range of the robotic arm.

[0051] like Figure 1 As shown, the above-mentioned testing stand 1, pressure head placement rack 2, test piece input device 5 and test piece output device 6 are arranged in a semi-circular pattern. The robot arm 3 is located at the center of this semi-circular pattern, ensuring that the robot arm 3 can reach the working area with only a small rotation angle.

[0052] like Figure 6 As shown, to facilitate the quick replacement of the pressure head 4, the upper part of the pressure head 4 is provided with a mounting rod 401. The middle part of the mounting rod 401 is the gripping position of the robot arm 3, and the two sides of the gripping position have gripping planes 4012. The upper outer periphery of the mounting rod 401 has two flange-shaped clamping flanges 402, and an annular clamping groove 403 is formed between the two clamping flanges 402. The mounting rods 401 of different specifications of pressure heads 4 have the same structure and size. In this way, a uniform clamping and placement position can be set. When clamping or placing the pressure head, there is no need to temporarily adjust the clamping mechanism or temporarily select the placement position before clamping or placing the pressure head 4.

[0053] The lower part of the pressure head 4 is the pressure foot, which is divided into a radial pressure foot 404 with a concave arc surface on the bottom and a cylindrical axial pressure foot 405.

[0054] like Figure 4 As shown in Figure 8, the testing stand 1 includes a clamping device 101 and a pressure device 102. The clamping device 101 includes clamping blocks 1011 and 1012 with arc-shaped clamping concave surfaces arranged symmetrically front and rear, and shaft end rest blocks 1013 and 1014 with symmetrical arrangements on the left and right. The bottom of the arc-shaped clamping concave surfaces of clamping blocks 1011 and 1012 has a horizontal end face rest 1015. Clamping blocks 1011 and 1012 can slide towards each other to clamp the outer peripheral surface of the outer sleeve 1201 of the vertical metal rubber joint 12 with the arc-shaped clamping concave surfaces. The end face of the outer sleeve 1201 rests on the end face rest 1015 of clamping blocks 1011 and 1012 to accommodate the axial testing of the metal rubber joint 12. The shaft end support block 1013 and shaft end support block 2014 are used to support the end shafts 1202 at both ends of the metal rubber joint 12, so that the metal rubber joint 12 is placed horizontally to accommodate the radial detection of the metal rubber joint 12. The pressure device 102 has a pressure seat 1021 that can slide downward to apply pressure. The bottom of the pressure seat 1021 has a clamping plate 1023 and a clamping plate 2024. There is a clamping plate gap 1025 between the clamping plate 1023 and the clamping plate 2024. The clamping plate gap 1025 is larger than the diameter of the mounting rod 401 of the pressure head 4 but smaller than the diameter of the clamping flange 402. The thickness of the clamping plate 1023 and the clamping plate 2024 is smaller than the width of the clamping groove 403. The clamping plate 1023 and the clamping plate 2024 can slide up and down under the action of force. In application, the robotic arm only needs to grasp the mounting rod 401 to push the mounting rod 401 of the pressure head 4 into the clamping gap 1025 between the clamping plate 1023 and the clamping plate 2 1024, so that the clamping plate 1023 and the clamping plate 2 1024 are located in the clamping groove 403. Then, the clamping plate 1023 and the clamping plate 2 1024 are pushed upward by a pneumatic or electric mechanism, pressing the upper clamping flange 402 tightly against the bottom of the pressure seat 1021, thereby clamping the pressure head 4. Since the clamping blocks 1011 and 1012 of the clamping device 101, and the shaft end rest blocks 1013 and 1014 of the shaft end rest block can be adjusted in opposite directions, and the pressure head 4 of the pressure application device 102 can also be adapted for replacement, only one testing bench 1 is needed to clamp and test various specifications of metal rubber joints 12 to be inspected.

[0055] The top surfaces of shaft end support block 1013 and shaft end support block 2014 are flush with the end face support platform 1015 of clamping block 1011 and clamping block 2012, and are used to support the lower end face of outer sleeve 1201 during axial inspection.

[0056] like Figure 9As shown, the pressure head placement frame 2 has multiple layers of hanging plates 201. Each hanging plate 201 has an outward-facing notch 202 for holding the upper end of the mounting rod 401 of the pressure head 4. The width of the notch 202 is greater than the diameter of the mounting rod 401 of the pressure head 4, but smaller than the diameter of the clamping flange 402. The thickness of the hanging plate 201 is less than the thickness of the clamping groove 403 on the pressure head 4. In application, the robot arm only needs to grasp the mounting rod 401 to push the mounting rod 401 of the pressure head 4 into the notch 202. The upper clamping flange 402 hangs on the hanging plates 201 on both sides of the notch 202, thus placing the pressure head 4 on the pressure head placement frame 2 for later use.

[0057] like Figure 10 As shown in Figure 14, the inspection piece input device 5 includes a platform 501, a forward conveyor chain group 502, a reverse conveyor chain group 503, a front transverse transfer frame 504, a rear transverse transfer frame 505, a bottom transfer tray 507, and a conformal carrier tray 508. The forward conveyor chain group 502 and the reverse conveyor chain group 503 are arranged side by side and at the same height in the middle of the platform 501. The front transverse transfer frame 504 and the rear transverse transfer frame 505 are respectively arranged at the front and rear ends of the platform 501. Both the front transverse transfer frame 504 and the rear transverse transfer frame 505 are equipped with a relay transmission chain group 506. The transfer tray 507 is placed on the relay drive chain group 506 and can travel along the relay drive chain group 506, the forward conveyor chain group 502 and the return conveyor chain group 503. The conformal carrier tray 508 is placed on the bottom transfer tray 507 and travels with the bottom transfer tray 507. It is used to place various types of metal rubber joints 12 to be inspected. The front transverse transfer frame 504 and the rear transverse transfer frame 505 can move laterally on the platform 501 under the push of the electric cylinder, so that the relay drive chain group 506 can be aligned with the forward conveyor chain group 502 and the return conveyor chain group 503 in a straight line.

[0058] The conformal carrier 508 has multiple metal rubber joint 12 placement positions 5081 of various specifications. The center of the carrier surface has a main placement area. The main placement area has multiple metal rubber joint 12 placement positions 5081 of different diameters arranged in a stepped manner from the inside to the outside. The center of the main placement area is a shaft hole position 50811 shared by all the metal rubber joint 12 placement positions 5081 in this area. The outer periphery of the main placement area is the secondary placement area of ​​the metal rubber joint 12, which also has multiple metal rubber joint 12 placement positions 5081.

[0059] In application, the bottom transfer tray 507 rests on the front transverse frame 504 at the front of the input device 5 for the workpiece to be inspected. The metal rubber joint 12 to be inspected is placed on the suitable metal rubber joint 12 placement position 5081 on the conformal carrier 508 on the bottom transfer tray 507. The front transverse frame 504 moves laterally so that the relay drive chain group 506 is aligned with the reciprocating conveyor chain group 502. The relay drive chain group 506 is started, and the bottom transfer tray 507 carrying the metal rubber joint 12 to be inspected is moved from the relay drive chain group 506. The metal rubber joint 12 is transferred to the reciprocating conveyor chain 502; the reciprocating conveyor chain 502 is started, causing the bottom transfer tray 507 carrying the metal rubber joint 12 to be inspected to be transported forward; the relay transmission chain 506 on the rear transverse frame 505 at the rear of the input device 5 is aligned with the reciprocating conveyor chain 502, and the bottom transfer tray 507 carrying the metal rubber joint 12 to be inspected is transferred to the rear transverse frame 505; the robot arm 3 clamps, removes, and clamps the metal rubber joint 12 onto the inspection table 1. Then, the empty bottom transfer tray 507 with the metal rubber joint 12 removed is transferred by the rear transverse frame 505 to the return conveyor chain 503, and the return conveyor chain 503 transfers the empty bottom transfer tray 507 forward to the front transverse frame 504.

[0060] The function of the inspection output device 6 is to output the qualified metal rubber joint 12 into another process flow. Its structural principle is the same as that of the inspection input device 5.

[0061] This automatic inspection system also includes a non-conforming product output device 7. Products that fail the inspection are picked up by the robotic arm 3 and placed on the non-conforming product output device 7 for output.

[0062] like Figure 10 , 12 As shown in Figure 14, the control system has an information recording device 8, which includes a barcode scanner 801 for scanning the metal rubber joint 12 to be inspected. The recording device is mounted on the inspection input device 5. In application, when the metal rubber joint 12 to be inspected is stopped on the front transverse frame 504, the barcode scanner 801 scans the metal rubber joint 12 to obtain model information and transmits the recorded information to the information storage and processing center of the control system, whereby the processing center generates various control commands.

[0063] The control system controls at least the reference Figure 15 :

[0064] 1. The robotic arm selects a suitable pressure head 4 from the pressure head placement rack 2 and transfers it to the testing table 1;

[0065] 2. The test bench 1 automatically adjusts the distance between the first clamping block 1011 and the second clamping block 1012, and the distance between the first shaft end support block 1013 and the second shaft end support block 1014, in order to clamp the metal rubber joint 12.

[0066] 3. The robotic arm picks up the metal rubber joint 12 from the rear end of the workpiece input device 5 and clamps it onto the inspection table 1;

[0067] 4. Clamp the metal rubber joint 12 on the test bench 1;

[0068] 5. Test bench 1 performs compression stiffness testing and transmits the testing information to the control system;

[0069] 6. The robotic arm 3 picks up the metal rubber joint 12 that has completed the inspection from the inspection table 1 and transfers it to the inspection piece output device 6, or to other processing positions.

[0070] A scanning device 9 for classification and printing of the control system is also provided at the front end of the output device 6 for classifying and printing the inspection information of the metal rubber joint 12 that has been inspected.

[0071] The above control system ensures that the robotic arm and related equipment perform operations strictly according to preset standards, preventing misoperation and avoiding collision damage to the inspected parts, a common practice in traditional manual operations. Furthermore, because it can temporarily select appropriate indenters and adjust clamping dimensions based on the model and specifications of the inspected parts, it allows for mixed inspection of different models without the need for model-specification categorization in special circumstances. Additionally, the control system's computer stores and retrieves inspection history.

[0072] The basic process flow of this embodiment is as follows (see attached). Figure 15 As shown. Example 2

[0073] like Figure 1 As shown, the difference from Embodiment 1 is that there are two sets of detection devices, arranged in a semi-circle on both sides of the robot arm 3. The two sets of detection devices include a workpiece input device 5 and a workpiece output device 6, which are arranged in a ring around the robot arm 3 with the robot arm 3 as the center. In this way, the detection efficiency is further improved without increasing the robot arm 3 and the workpiece input device 5 and the workpiece output device 6. Example 3

[0074] like Figure 1 As shown, the difference between this system and the above embodiment is that the automatic detection system is also equipped with a resistance detection stand 10, and the metal rubber joint 12 that completes the stiffness detection can perform resistance testing. Example 4

[0075] The difference between this system and the above embodiments is that the automatic detection system is also equipped with a lettering stand 11, which can include non-inspection items in the detection process, eliminating the need for a separate processing procedure for lettering the metal rubber joint 12.

[0076] like Figure 1As shown, the above embodiments are only used to describe the present invention more clearly, and should not be regarded as limiting the scope of protection covered by the present invention. Any equivalent modifications should be regarded as falling within the scope of protection covered by the present invention.

Claims

1. An automatic detection system for testing the stiffness of metal-rubber joints in rail vehicles, characterized in that: The system includes a testing device capable of adapting to various sizes of metal rubber joints (12), a robotic arm (3) capable of handling various sizes of metal rubber joints (12), and an intelligent control system. The robotic arm (3) can reach the testing device, and the control system automatically controls the operation of the robotic arm and the testing device to automatically complete the stiffness testing of various sizes of metal rubber joints (12). The testing device includes a testing stand (1) capable of clamping and testing various sizes of metal rubber joints (12) and a pressure head placement rack (2) capable of placing various pressure heads (4). The pressure head (4) has a mounting rod (401) on its upper part, and the middle part of the mounting rod (401) is the gripping position of the robotic arm (3). The mounting rod (401) has two gripping surfaces (4012) on both sides of the mounting position; the upper outer periphery of the mounting rod (401) has two flange-shaped clamping flanges (402), and an annular clamping groove (403) is formed between the two clamping flanges (402); the mounting rods (401) of different specifications of pressure heads (4) have the same structural settings and dimensions; the testing table (1) includes a clamping device (101) and a pressure device (102); the clamping device (101) includes a clamping block one (1011) and a clamping block two (1012) with arc-shaped clamping concave surfaces arranged symmetrically in front and behind, and a shaft end support block one (1013) and a shaft end support block two arranged symmetrically in the left and right. (1014) The bottom of the arc-shaped gripping concave surface of the gripping block one (1011) and gripping block two (1012) has a horizontal end face support (1015). The gripping block one (1011) and gripping block two (1012) can slide towards each other and grip the outer peripheral surface of the outer sleeve (1201) of the vertical metal rubber joint (12) by the arc-shaped gripping concave surface. The end face of the outer sleeve (1201) rests on the end face support (1015) of the gripping block one (1011) and gripping block two (1012). The shaft end support block one (1013) and shaft end support block two (1014) are used to support the end shafts (1202) at both ends of the metal rubber joint (12) so that the metal The rubber joint (12) is placed horizontally; the pressure device (102) has a pressure seat (1021) that can slide downward to apply pressure. The bottom of the pressure seat (1021) has a clamping plate one (1023) and a clamping plate two (1024). There is a clamping plate gap (1025) between the clamping plate one (1023) and the clamping plate two (1024). The clamping plate gap (1025) is larger than the diameter of the mounting rod (401) of the pressure head (4) but smaller than the diameter of the clamping flange (402). The thickness of the clamping plate one (1023) and the clamping plate two (1024) is smaller than the width of the clamping groove (403). The clamping plate one (1023) and the clamping plate two (1024) can slide up and down under the action of force.The top surfaces of shaft end support block one (1013) and shaft end support block two (1014) are flush with the end face support platform (1015) of clamping block one (1011) and clamping block two (1012), so that the auxiliary end face support platform (1015) can support the lower end face of the outer sleeve (1201) during axial inspection.

2. The automatic detection system for detecting the stiffness of metal-rubber joints in rail vehicles according to claim 1, characterized in that: It also includes a workpiece input device (5) that extends into the gripping range of the robotic arm and a workpiece output device (6).

3. The automatic detection system for detecting the stiffness of metal-rubber joints in rail vehicles according to claim 2, characterized in that: The testing platform (1), the pressure head placement frame (2), the test piece input device (5), and the test piece output device (6) are arranged in a semi-circular pattern, and the robotic arm (3) is located at the center of the semi-circle.

4. The automatic detection system for detecting the stiffness of metal-rubber joints in rail vehicles according to claim 3, characterized in that: The detection equipment consists of two sets, which are arranged in a semi-circular pattern on both sides of the robot (3). The two sets of detection equipment include a test piece input device (5) and a test piece output device (6), which are arranged in a circular pattern around the robot (3) with the robot (3) as the center.

5. The automatic detection system for detecting the stiffness of metal-rubber joints in rail vehicles according to claim 2, characterized in that: The control system has an information recording device (8), which has a barcode scanner (801) for scanning the metal rubber joint (12) to be inspected. The recording device is installed on the input device (5) for the part to be inspected.

6. The automatic detection system for detecting the stiffness of metal-rubber joints in rail vehicles according to claim 1, characterized in that: The pressure head placement frame (2) has multiple hanging plates (201). Each hanging plate (201) has an outward-facing notch (202) for hanging the upper end of the mounting rod (401) of the pressure head (4). The width of the notch (202) is greater than the diameter of the mounting rod (401) of the pressure head (4) but smaller than the diameter of the clamping flange (402). The thickness of the hanging plate (201) is less than the thickness of the clamping groove (403) on the pressure head (4).

7. The automatic detection system for detecting the stiffness of metal-rubber joints in rail vehicles according to claim 2, characterized in that: The inspection piece input device (5) includes a platform (501), a forward conveyor chain group (502), a reverse conveyor chain group (503), a front transverse frame (504), a rear transverse frame (505), a bottom transfer tray (507), and a conformal carrier tray (508). The forward conveyor chain group (502) and the reverse conveyor chain group (503) are arranged side by side and at the same height in the middle of the platform (501). The front transverse frame (504) and the rear transverse frame (505) are respectively arranged at the front and rear ends of the platform (501). Both the front transverse frame (504) and the rear transverse frame (505) are equipped with relay transmission chain groups (506). The transfer tray (507) is placed on the relay transmission chain group (506) and can travel along the relay transmission chain group (506), the forward conveyor chain group (502) and the return conveyor chain group (503). The conformal carrier tray (508) is placed on the bottom transfer tray (507) and travels with the bottom transfer tray (507). It is used to place various types of metal rubber joints (12) to be inspected. The front transverse frame (504) and the rear transverse frame (505) can move laterally on the platform (501) under the push of the electric cylinder, so that the relay transmission chain group (506) can be aligned with the forward conveyor chain group (502) and the return conveyor chain group (503) in front and behind.

8. The automatic detection system for detecting the stiffness of metal-rubber joints in rail vehicles according to claim 7, characterized in that: The conformal carrier (508) has multiple metal rubber joint (12) placement positions (5081) of various specifications. The center of the carrier surface has a main placement area. The main placement area is set with multiple metal rubber joint (12) placement positions (5081) of different diameters from the inside to the outside in a stepped manner. The center of the main placement area is set with a shaft hole (50811) shared by all the metal rubber joint (12) placement positions (5081) in the main placement area. The outer periphery of the main placement area is the secondary placement area of ​​the metal rubber joint (12). The secondary placement area is also set with multiple metal rubber joint (12) placement positions (5081).

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