A smart sorting and marking pre-assembly system for wheelset axle end accessories

Abstract

This invention discloses an intelligent sorting, marking, and pre-assembly system for wheelset axle end accessories, relating to the field of wheelset axle end accessory assembly technology. It includes a robot gripping device, a first storage device, a second storage device, a laser marking device for marking labels, an axle end accessory assembly platform device, an AGV (Automated Guided Vehicle) trolley, a wheelset positioning and lifting device, and a robot pre-assembly tightening device. The robot gripping device has the first and second storage devices on one side, and the laser marking device and the axle end accessory assembly platform device on the other side. The first storage device stores axle end caps and anti-loosening gaskets, and the second storage device stores axle end bolts. The AGV trolley transfers wheelsets with press-fitted bearings to the wheelset positioning and lifting device. The robot pre-assembly tightening device is located on one side of the positioning and lifting device for pre-assembly tightening of the wheelsets. This invention can automatically assemble axle end accessories and improve assembly accuracy and quality.

Description

Technical Field

[0001] This invention relates to the field of wheelset axle end accessory assembly technology, and in particular to a smart sorting and marking pre-assembly system for wheelset axle end accessories. Background Technology

[0002] Traditionally, the handling, assembly, and data entry of wheelset axle end caps and their accessories are primarily done manually. The usual practice involves manually moving and unloading axle end accessories using a trolley, manually pushing the wheelset with the bearings pressed into place to the axle end accessory installation station, and manually pre-assembling the accessories, recording, and uploading information. While this method meets the production flow requirements, it suffers from low automation, low production efficiency, high labor costs, and certain safety hazards. Furthermore, accessories such as axle end caps, marking plates, anti-loosening gaskets, and bolts are stored in a floor-like manner, occupying a large area, and the quantity stored is uncontrolled, making it difficult to keep track of and maintain consistency with the production rhythm, leading to accumulation or shortages.

[0003] To overcome the shortcomings of manual labor, some intelligent assembly equipment for axle end accessories exists in the prior art. For example, CN114055145A discloses an intelligent assembly unit for wheelset axle end accessories, including a wheelset, a wheelset positioning device installed in the middle of the track, a robot, a bolt vibratory feeder, a bolt indexing table, an end cover tray, a locking plate tray, and an assembly table symmetrically arranged on both sides of the track. The robot's arm is equipped with a special clamp. Although this solution can achieve automatic assembly of wheelset axle end accessories to a certain extent, the following problems still exist:

[0004] (1) The layout of this scheme occupies a large space; the production cycle is slow and there is still a problem of low work efficiency; (2) The wheelset positioning device is not adjustable, which is prone to inaccurate positioning and cannot be used for the installation of various models of wheelsets; (3) Although end cover trays, locking plate trays and other storage parts are set up, the above trays cannot be adjusted after placement, which is prone to problems such as incorrect placement and easy to cause gripping deviation; (4) Material delivery is relatively frequent and needs to be delivered to both sides of the track, which needs to meet the requirements of passing through the track, which is relatively complicated; (5) There is no clear control information collection and interaction, and the wheelset assembly process is prone to component information mismatch, which affects actual production and assembly quality. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a wheelset axle end accessory intelligent sorting and marking pre-assembly system that can automatically realize the assembly of axle end accessories and improve assembly accuracy and quality.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0007] Embodiments of the present invention provide an intelligent sorting and marking pre-assembly system for wheelset axle end accessories, comprising:

[0008] The robot gripping device has a first storage device and a second storage device on one side, and a laser marking device for marking the label and a shaft end accessory assembly platform device on the other side. The first storage device is used to store the shaft end cap and anti-loosening pad, and the second storage device is used to store the shaft end bolt.

[0009] AGV trolleys are used to transfer wheelsets with press-fitted bearings to wheelset positioning and lifting devices.

[0010] The robot pre-assembly tightening device is located on one side of the positioning and lifting device and is used for the pre-assembly tightening of wheelsets.

[0011] As a further implementation, the laser marking device for the signboard includes an operating workbench, a laser marking component installed on the operating workbench, and a signboard placement component;

[0012] The laser marking assembly includes a laser head capable of moving along three axes.

[0013] As a further implementation, the signboard placement assembly includes a motor lifting device and multiple guide support rods connected to the motor lifting device, the guide support rods being used to support the signboard.

[0014] As a further implementation, the first storage device includes a first tray assembly and a first base assembly, wherein the first base assembly is disposed below the first tray assembly;

[0015] The second storage device includes a second tray assembly and a second base assembly, the second base assembly being disposed below the second tray assembly.

[0016] As a further implementation, the first base assembly includes a first base frame, and a plurality of first universal bearings are symmetrically installed on both sides of the first base frame;

[0017] The first base frame is connected to a first bidirectional moving device, which is used to push the first tray assembly to move along the X and Y directions above the first universal bearing; a first motor drive device is installed at the center of the first base frame, which can drive the first tray assembly to rotate.

[0018] As a further implementation, the first tray assembly includes a lead screw connected to a first motor drive device, and a plurality of guide rods are provided around the lead screw. The lead screw and the guide rods are both connected to a positioning rod mounting plate, and the positioning rod mounting plate is equipped with a plurality of positioning rods.

[0019] As a further implementation, the second base assembly includes a second base frame, on which a plurality of second universal bearings are symmetrically mounted; the second base frame is connected to a second bidirectional moving device, which is used to push the second tray assembly to move along the X and Y directions above the second universal bearings.

[0020] As a further implementation, the second tray assembly includes a second tray frame having a plurality of bolt holes for placing shaft end bolts.

[0021] As a further implementation, the shaft end accessory assembly platform device includes a platform frame, on which multiple parallel magnetically coupled rodless cylinders are installed. The magnetically coupled rodless cylinders are connected to a positioning disk assembly, and bracket assemblies are symmetrically arranged on both sides of the magnetically coupled rodless cylinders.

[0022] The positioning disk assembly, under the action of a magnetically coupled rodless cylinder, can move the shaft end accessory assembly above the bracket assembly.

[0023] As a further implementation, the wheelset positioning and lifting device includes a support base frame, a screw jack is installed on the upper side of the support base frame, and lifting and positioning components are respectively connected to both ends of the screw jack. A wheel clamping assembly is provided inside the lifting and positioning assembly, which is used to clamp the wheelset after it is lifted.

[0024] The robot gripping device and the robot pre-assembly tightening device are each equipped with a visual recognition component.

[0025] The beneficial effects of this invention are as follows:

[0026] (1) The present invention includes an AGV trolley, a first storage device, a second storage device, a laser marking device for the identification board, a shaft end accessory assembly platform device, a robot gripping device, a wheelset positioning and lifting device, and a robot pre-assembly tightening device. The robot gripping device covers four areas: the first storage device, the second storage device, the laser marking device for the identification board, and the shaft end accessory assembly platform device. The robot pre-assembly tightening device is located on one side of the wheelset positioning and lifting device. The overall structure is compact and occupies little space.

[0027] The wheelset is transported using AGV trolleys, and the axle end accessory components are pre-positioned using automated material handling vehicles, improving material turnover efficiency and realizing automated and unmanned material transportation. The robot gripping device realizes intelligent sorting and gripping of axle end accessories; the wheelset positioning and lifting device realizes automatic positioning and lifting of wheelsets; and the robot pre-assembly and tightening device realizes intelligent gripping and pre-assembly tightening of axle end accessory components, improving the assembly quality and production efficiency of axle end accessory components and saving production costs.

[0028] (2) In the laser marking device for the marking board of the present invention, the laser head can move along the X-axis, Y-axis and Z-axis to ensure an effective printing area; the first storage device is used to store the shaft end cap and the anti-loosening pad, which can ensure the accurate positioning of the shaft end cap and the anti-loosening pad tray assembly, and can ensure that the height of the positioning rod is always not higher than the shaft end cap gripping height; the second storage device is used to store the shaft end bolts, which can ensure the accurate positioning of the shaft end bolt tray assembly.

[0029] (3) This invention utilizes the robot’s high-precision positioning, 3D vision’s high-precision recognition and tightening torque’s high-precision control to complete the gripping and placement of axle end accessory components. It can effectively avoid the accumulation or lack caused by the randomness of the number of axle end accessories, improve the efficiency and accuracy of the operation, and realize the unmanned and automated pre-assembly of wheelset axle end accessory components. Attached Figure Description

[0030] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention according to one or more embodiments;

[0032] Figure 2 This is a schematic diagram of the laser marking device for marking boards according to one or more embodiments of the present invention;

[0033] Figure 3 This is a schematic diagram of the signboard placement component structure according to one or more embodiments of the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of the first storage device according to one or more embodiments of the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of the first base assembly according to one or more embodiments of the present invention;

[0036] Figure 6 This is a schematic diagram of the end cap guide device according to one or more embodiments of the present invention;

[0037] Figure 7 This is a schematic diagram of the structure of the second storage device according to one or more embodiments of the present invention;

[0038] Figure 8 This is a schematic diagram of the structure of the second base assembly according to one or more embodiments of the present invention;

[0039] Figure 9This is a schematic diagram of the shaft end accessory assembly platform device according to one or more embodiments of the present invention;

[0040] Figure 10 This is a schematic diagram of the structure of the robot grasping device according to one or more embodiments of the present invention;

[0041] Figure 11 This is a schematic diagram of the shaft end attachment gripping device according to one or more embodiments of the present invention;

[0042] Figure 12 This is a schematic diagram of the structure of the first visual recognition component according to one or more embodiments of the present invention;

[0043] Figure 13 This is a schematic diagram of the end cap gripping component structure according to one or more embodiments of the present invention;

[0044] Figure 14 This is a schematic diagram of the structure of the second grasping component according to one or more embodiments of the present invention;

[0045] Figure 15 This is a schematic diagram of the bolt gripping assembly structure according to one or more embodiments of the present invention;

[0046] Figure 16 This is a schematic diagram of the wheelset positioning and lifting device according to one or more embodiments of the present invention;

[0047] Figure 17 This is a schematic diagram of the clamping wheel assembly structure according to one or more embodiments of the present invention;

[0048] Figure 18 This is a schematic diagram of the robot pre-assembly tightening device according to one or more embodiments of the present invention;

[0049] Figure 19 This is a schematic diagram of an intelligent control system according to one or more embodiments of the present invention.

[0050] The components include: 1. Wheelset; 2. AGV trolley; 3. Laser marking device for identification boards; 301. Operating workbench; 302. Operating interface; 303. Laser marking assembly; 304. Identification board placement assembly; 305. Dustproof bellows cover; 30301. Rodless cylinder; 30302. Laser head; 30303. Laser head moving device; 30401. Identification board; 30402. Guide support rod; 30403. Motor lifting device; 4. First storage device; 401. First tray assembly; 402. First base assembly; 40101. First tray frame; 40102. Anti-loosening pad; 40103. Shaft end cap; 40104. End cap guide device; 4010401. Lead screw; 4010402. Lead nut; 4010403. Guide rod; 4010404. Guide rod. Mounting plate, 4010405 positioning rod, 4010406 ​​positioning rod mounting plate, 40201 first base frame, 40202 first transverse cylinder assembly, 40203 first positioning cylinder assembly, 40204 first universal bearing, 40205 end cover tray baffle, 40206 first motor drive device, 4020301 first follower bearing, 4020302 first positioning plate, 5 second storage device, 501 second tray assembly, 502 second base assembly, 50101 second tray frame, 50102 shaft end bolt, 50201 second base frame, 50202 second transverse cylinder assembly, 50203 second positioning cylinder assembly, 50204 second universal bearing, 50205 bolt tray baffle. 5020301 Second positioning plate, 5020302 Second follower bearing, 6-axis end accessory assembly platform device, 601 Platform frame, 602 Magnetic coupling rodless cylinder, 603 Positioning disk assembly, 604 Bracket assembly, 605 Axis end accessory assembly, 60301 Guide rod cylinder, 60302 Positioning disk, 60401 Bracket support rod, 60402 Bracket support block, 7 Robot gripping device, 701 Four-axis robot, 702 Axis end accessory gripping device, 70201 First mounting base plate, 70202 First vision recognition component, 70203 First gripping component, 70204 Second gripping component, 70205 Third gripping component, 7020201 First camera adapter, 7020202 First camera mounting plate. 7020203 First Light Source Mounting Plate, 7020204 First Light Source, 7020205 First Camera, 7020301 First Cylinder Mounting Base, 7020302 First Thin Cylinder with Guide Rod, 7020303 First Gripper Mounting Plate, 7020304 First Parallel Opening and Closing Gripper, 7020305 End Cap Gripper, 7020401 Second Cylinder Mounting Base, 7020402 Second Thin Cylinder with Guide Rod, 7020403 Suction Cup Mounting Plate, 7020404 Vacuum Suction Cup Assembly, 7020501 First Pneumatic Swing Stage, 7020502 Second Parallel Opening and Closing Gripper, 7020503 Third Parallel Opening and Closing Gripper, 7020504 Second Gripper Mounting Plate, 7020505 Third Gripper Mounting Plate.7020506 Bolt Claws, 7020507 Variable Diameter Positioning Assembly, 702050701 First Variable Diameter Mounting Plate, 702050702 Variable Diameter Support Rod, 702050703 Second Variable Diameter Mounting Plate, 8 Wheelset Positioning Lifting Device, 801 Support Base Frame, 802 Screw Jack, 803 Lifting Positioning Assembly, 804 Clamping Wheel Assembly, 80301 Guide Rod Mounting Bracket, 80302 Lifting Guide Rod, 80303 Linear Bearing, 80304 Positioning V-Block, 80401 Clamping Wheel Cylinder, 80402 Clamping Plate, 804 03 Support screw, 80404 Clamping wheel mounting plate, 80405 Clamping wheel slide rail, 80406 Clamping wheel slider, 80407 Clamping wheel adapter block, 9 Robot pre-assembly tightening device, 901 Shaft end accessory pre-assembly tightening device, 902 Six-axis robot, 903 Six-axis robot mounting base plate, 904 Ground rail assembly, 90101 Second vision recognition assembly, 90401 Six-axis robot slide rail, 90402 Six-axis robot slider, 90403 Second motor drive device, 9040301 Gear, 9040302 Rack, 10 Intelligent control system. Detailed Implementation

[0051] Example 1:

[0052] This embodiment provides an intelligent sorting and marking pre-assembly system for wheelset axle end accessories, such as... Figure 1 As shown, the system includes an AGV trolley 2, a laser marking device for identification boards 3, a first storage device 4, a second storage device 5, a shaft end accessory assembly platform device 6, a robot gripping device 7, a wheelset positioning and lifting device 8, a robot pre-assembly tightening device 9, and an intelligent control system 10. The first storage device 4 and the second storage device 5 are arranged sequentially and are located on one side of the robot gripping device 7. The laser marking device for identification boards 3 and the shaft end accessory assembly platform device 6 are arranged on the other side of the robot gripping device 7 to ensure that the working area of ​​the robot gripping device 7 can cover the above four devices at the same time.

[0053] The AGV trolley 2 can transfer the wheelset 1, which has already had its bearings pressed in, to the wheelset positioning and lifting device 8, where the wheelset 1 is lifted and positioned. A robot pre-assembly tightening device 9 is set on one side of the wheelset positioning and lifting device 8. Through the above layout, the space utilization rate can be improved.

[0054] Specifically, the laser marking device 3 for the signboard is used to laser mark the signboard 30401, such as... Figure 2As shown, the system includes an operating workbench 301, a laser marking assembly 303, a label placement assembly 304, and a dustproof bellows cover 305. The operating workbench 301 houses an industrial control computer, printer, and electrical control system for information transmission. The operating workbench 301 is equipped with an operating interface 302 for information input and output, as well as the laser marking assembly 303 and the label placement assembly 304.

[0055] The laser marking assembly 303 includes a rodless cylinder 30301, a laser head 30302, and a laser head moving device 30303. The rodless cylinder 30301 is arranged along the Y-axis. The Z-axis moving device is slidably engaged with the rodless cylinder 30301. One end of the rodless cylinder 30301 is connected to the X-axis moving device. One side of the Z-axis moving device is connected to the laser head 30302 through the laser head moving device 30303. Thus, through the cooperation of the rodless cylinder 30301, the X-axis moving device, and the Z-axis moving device, the laser head 30302 has three degrees of freedom and can move along the X-axis, Y-axis, and Z-axis, ensuring that the laser marking area is always within the center range of the marking plate 30401.

[0056] In this embodiment, the X-axis moving device can adopt a motor-driven lead screw and nut structure, and the Z-axis moving device can adopt a motor or handwheel-driven lead screw and nut structure; the laser head moving device is used for the Y-axis fine adjustment of the laser head 30302, and can achieve linear motion as long as it can be used, such as a cylinder or linear motor.

[0057] like Figure 3 As shown, the signboard placement assembly 304 includes guide support rods 30402 and a motor lifting device 30403. The motor lifting device 30403 is mounted on the operating workbench 301 and is connected to multiple guide support rods 30402. The multiple guide support rods 30402 extend from the surface of the operating workbench 301 and pass through multiple signboards 30401 via the operating workbench 301. The motor lifting device 30403 includes a motor and a screw and nut mechanism connected to the motor. A support plate is connected to the nut, and the guide support rods 30402 pass through the support plate, allowing the support plate to move relative to the guide support rods 30402. The motor drives the screw to rotate, thereby lifting the signboards 30401.

[0058] After the topmost signboard 30401 is removed, the motor lifting device 30403 receives the information instruction and drives the signboard 30401 to rise, ensuring that the signboard 30401 that needs to be marked is always at the same height.

[0059] The first storage device 4 is used for the overall transportation and storage of the shaft end cap 50102 and the anti-loosening pad 40102, such as Figure 4As shown, the first storage device 4 includes a first pallet assembly 401 and a first base assembly 402, the first base assembly 402 being used to support the first pallet assembly 401. An automated material handling vehicle automatically transports the placed first pallet assembly 401 onto the first base assembly 402 in advance.

[0060] like Figure 5 As shown, the first base assembly 402 includes a first base frame 40201. First universal bearings 40204 are symmetrically arranged on the top of both sides of the first base frame 40201. The first universal bearings 40204 are mounted on the X-direction beam of the first base frame 40201, and multiple first universal bearings 40204 are provided. The two ends of the X-direction beam are respectively connected to end cover tray baffles 40205. A first bidirectional moving device is also installed on the first base frame 40201. The first bidirectional moving device pushes the first tray assembly 401 above the first universal bearings 40204 to a fixed position along the X and Y directions, ensuring accurate positioning.

[0061] Two parallel Y-guide rails are connected between the two X-axis beams. The Y-guide rails are slidably connected to the first positioning plate 4020302 via sliders. Multiple first follower bearings 4020301 are installed on the upper side of the first positioning plate 4020302.

[0062] The first bidirectional moving device includes a first transverse cylinder assembly 40202 and a first positioning cylinder assembly 40203. The first positioning cylinder assembly 40203 is fixed to the slider on one side of the Y-axis guide rail via a connecting plate. The cylinder is a dual-axis bidirectional reciprocating cylinder. The two first positioning plates 4020302 on both sides are respectively connected to the two piston guide rods of the cylinder, pushing the first tray assembly 401 to be positioned bidirectionally in the Y direction. The first transverse cylinder assembly 40202 is fixed to the connecting seat below the Y-axis guide rail on the other side, pushing the first tray assembly 401 to be positioned unidirectionally in the X direction.

[0063] A first motor drive device 40206 is also installed on the first base frame 40201. The first motor drive device 40206 includes a motor, a reducer, and a connecting shaft. The motor is connected to the connecting shaft through the reducer. A pneumatic chuck is installed on the connecting shaft. Multiple jaws (e.g., three jaws) are evenly distributed around the circumference of the pneumatic chuck. The pneumatic chuck is located between two Y-guide rails and can drive the lead screw 4010401 in the first tray assembly 401 to rotate.

[0064] The first pallet assembly 401 includes a first pallet frame 40101, a shaft end cap 40103, and an anti-loosening pad 40102 placed above the first pallet frame 40101. Figure 6As shown, the first pallet frame 40101 is provided with an end cap guide device 40104. The end cap guide device 40104 includes a lead screw 4010401, a lead nut 4010402, a guide rod 4010403, a guide rod mounting plate 4010404, a positioning rod 4010405, and a positioning rod mounting plate 4010406. The lead screw 4010401 is located at the center position and is connected to the first motor drive device 40206. It can rotate under the drive of the first motor drive device 40206.

[0065] The lead screw 4010401 is set vertically, i.e., in the Z direction. One end of the lead screw 4010401 is connected to the guide rod mounting plate 4010404, and the guide rod 4010403 is installed through the guide rod mounting plate 4010404. Multiple guide rods 4010403 are arranged around the lead screw 4010401. The other end of the lead screw 4010401 and the guide rod 4010403 are connected to the positioning rod mounting plate 4010406. The lead screw 4010401 cooperates with the positioning rod mounting plate 4010406 ​​through the nut 4010402. The guide rod 4010403 cooperates with the positioning rod mounting plate 4010406 ​​through the guide sleeve. Multiple sets of positioning rods 4010405 are connected to the positioning rod mounting plate 4010406, and the positioning rods 4010405 are set vertically.

[0066] After the first pallet assembly 401 is transported to the first base assembly 402 and accurately positioned, the jaws of the first motor drive device 40206 clamp the lead screw 4010401, driving the lead screw 4010401 to rotate and drive the positioning rod 4010405 to rise and fall, so as to ensure that after the uppermost shaft end cap 40103 is grabbed each time, the positioning rod 4010405 drops a certain height, ensuring that the height of the positioning rod 4010405 is never higher than the height of the uppermost shaft end cap 40103.

[0067] The second storage device 5 is used for the overall transportation and storage of the shaft end bolts 50102, such as Figure 7 and Figure 8 As shown, the second storage device 5 includes a second pallet assembly 501 and a second base assembly 502. The automatic material handling vehicle automatically transports the placed second pallet assembly 501 onto the second base assembly 502 in advance.

[0068] The second base assembly 502 includes a second base frame 50201, on which a second transverse cylinder assembly 50202, a second positioning cylinder assembly 50203, a second universal bearing 50204, and a bolt tray baffle 50205 are mounted. Its structural arrangement is similar to that of the first base assembly 402. The second transverse cylinder assembly 50202 and the second positioning cylinder assembly 50203 constitute a second bidirectional moving device. Specifically, the second universal bearing 50204 is symmetrically arranged on the top of the second base frame 50201. The second positioning cylinder assembly 50203 is installed on the side of one of the Y-guide rails and is arranged along the Y direction. The second transverse cylinder assembly 50202 is installed on the opposite side of the other Y-guide rail and is arranged along the X direction. The two Y-guide rails are connected to the second positioning plate 5020301 through a slider. Multiple second follower bearings 5020302 are mounted on the second positioning plate 5020301. The second pallet assembly 501 is moved to a fixed position along the X and Y directions above the second universal bearing 50204 by the second transverse cylinder assembly 50202 and the second positioning cylinder assembly 50203, which can ensure accurate positioning.

[0069] The second tray assembly 501 includes a second tray frame 50101, which has a plurality of bolt holes for arranging the shaft end bolts 50102 in a fixed pattern and angle so as to allow for the subsequent overall gripping of the shaft end bolts 50102.

[0070] The shaft end accessory assembly platform device 6 is used to complete the assembly and placement of the shaft end cap 40103, marking plate 30401, anti-loosening pad 40102, and shaft end bolt 50102, such as... Figure 9 As shown, the shaft end accessory assembly platform device 6 includes a platform frame 601. A bracket assembly 604 and a magnetically coupled rodless cylinder 602 are mounted on the upper side of the platform frame 601. Multiple magnetically coupled rodless cylinders 602 are spaced apart and parallel to each other. Each magnetically coupled rodless cylinder 602 is connected to a positioning plate assembly 603. The bracket assemblies 604 are symmetrically arranged on both sides of one end of each magnetically coupled rodless cylinder 602. The bracket assemblies 604 and the positioning plate assemblies 603 cooperate to support the shaft end accessory assembly 605.

[0071] The bracket assembly 604 includes a bracket support rod 60401 and a bracket support block 60402. The bracket support rod 60401 is perpendicular to the platform frame 601, and the bracket support block 60402 is connected to the bracket support block 60402. The bracket support block 60402 is used to place the shaft end accessory assembly 605 after it has been placed.

[0072] The positioning plate assembly 603 includes a guide rod cylinder 60301, on which a positioning plate 60302 is mounted for lifting and lowering the shaft end accessory assembly 605. The positioning plate assembly 603 is driven back and forth by the magnetically coupled rodless cylinder 602, moving the shaft end accessory assembly 605 above the bracket assembly 604. The guide rod cylinder 60301 then lowers, causing the shaft end accessory assembly 605 to fall onto the bracket support block 60402. The positioning plate assembly 603 then returns to its original position, and the same steps are repeated.

[0073] like Figure 10 As shown, the robot gripping device 7 includes a four-axis robot 701 and an end attachment gripping device 702. The end attachment gripping device 702 is connected to the end of the four-axis robot 701. The four-axis robot 701 drives the end attachment gripping device 702 to grip the end cap 40103, the marking plate 30401, the anti-loosening pad 40102 and the end bolt 50102 respectively within the required working space, and assemble them on the end attachment assembly platform device 6.

[0074] like Figure 11 As shown, the shaft end accessory gripping device 702 includes a first mounting base plate 70201. A first visual recognition component 70202, a first gripping component 70203, a second gripping component 70204, and a third gripping component 70205 are mounted on the lower side of the first mounting base plate 70201. In this embodiment, the first mounting base plate 70201 has a cross-shaped structure. The first visual recognition component 70202, the first gripping component 70203, the anti-loosening pad gripping component 70204, and the third gripping component 70205 are respectively mounted on a support plate of the cross-shaped structure.

[0075] like Figure 12 As shown, the first visual recognition component 70202 includes a first camera adapter 7020201, a first camera mounting plate 7020202, a first light source mounting plate 7020203, a first light source 7020204, and a first camera 7020205. The first camera 7020205 is mounted at the center of the first light source 7020204. The first light source 7020204 is connected to the first camera mounting plate 7020202 via the first light source mounting plate 7020203. The first camera mounting plate 7020202 is connected to the first camera adapter 7020201. The first camera adapter 7020201 is connected to the first mounting base plate 70201. In this embodiment, 3D vision is used to automatically recognize the angle and position of the grasped part.

[0076] like Figure 13As shown, the first gripping component 70203 includes a first cylinder mounting base 7020301, a first thin cylinder with guide rod 7020302, a first gripper mounting plate 7020303, a first parallel opening and closing gripper 7020304, and an end cap gripper 7020305. The first thin cylinder with guide rod 7020302 is connected to the first mounting base plate 70201 through the first cylinder mounting base 7020301, and the first thin cylinder with guide rod 7020302 mounts the end cap gripper 7020305 through the first gripper mounting plate 7020303 and the first parallel opening and closing gripper 7020304. The gripping and placement of the shaft end cap 40103 is realized by controlling the lifting and extending of the end cap gripper 7020305 through the cylinder.

[0077] like Figure 14 As shown, the second gripping component 70204 includes a second cylinder mounting base 7020401, a second thin cylinder with guide rod 7020402, a suction cup mounting plate 7020403, and a vacuum suction cup assembly 7020404. The second thin cylinder with guide rod 7020402 is connected to the first mounting base plate 70201 through the second cylinder mounting base 7020401, and the second thin cylinder with guide rod 7020402 is connected to the vacuum suction cup assembly 7020404 through the suction cup mounting plate 7020403. The vacuum suction cup assembly 7020404 picks up the label plate 30401 and the anti-loosening pad 40102. The cylinder controls the lifting and lowering of the vacuum suction cup assembly 7020404 to realize the gripping and placement of the label plate 30401 and the anti-loosening pad 40102.

[0078] like Figure 15 As shown, the third gripping component 70205 includes a first pneumatic swing platform 7020501, a second parallel opening and closing pneumatic gripper 7020502, a third parallel opening and closing pneumatic gripper 7020503, a second pneumatic gripper mounting plate 7020504, a third pneumatic gripper mounting plate 7020505, a bolt chuck 7020506, and a variable diameter positioning component 7020507. The variable diameter positioning component 7020507 is mounted on the lower side of the first pneumatic swing platform 7020501. The variable diameter positioning component 7020507 includes a first variable diameter mounting plate 702050701, a variable diameter support rod 702050702, and a second variable diameter mounting plate 702050703. Three variable diameter support rods 702050702 are evenly distributed between the first variable diameter mounting plate 702050701 and the second variable diameter mounting plate 702050703.

[0079] A second parallel opening and closing gripper 7020502 is connected between the first variable diameter mounting plate 702050701 and the second variable diameter mounting plate 702050703 via a second gripper mounting plate 7020504. The second parallel opening and closing gripper 7020502 is located at the center of the first variable diameter mounting plate 702050701 and the second variable diameter mounting plate 702050703.

[0080] In this embodiment, the first variable diameter mounting plate 702050701 has three evenly distributed support plates, the second variable diameter mounting plate 702050703 has a ring structure, the end of the second parallel opening and closing air gripper 7020502 passes through the second variable diameter mounting plate 702050703 and connects to three third parallel opening and closing air grippers 7020503, each third parallel opening and closing air gripper 7020503 is connected to the second variable diameter mounting plate 702050703 through a third air gripper mounting plate 7020505, and each third parallel opening and closing air gripper 7020503 is equipped with a set of bolt grippers 7020506; thus, the automatic synchronous overall gripping of three bolts can be achieved.

[0081] The first pneumatic swing table 7020501, the second parallel opening and closing pneumatic gripper 7020502, and the variable diameter positioning component 7020507 can automatically adjust the gripping position of the third gripping component 70205, which can meet the gripping of bolts 50102 at the ends of various indexed circular shafts of various vehicle models. The third parallel opening and closing pneumatic gripper 7020503 controls the opening and closing of the bolt chuck 7020506, realizing the gripping and placement of the shaft end bolts 50102.

[0082] In this embodiment, the AGV trolley 2 automatically transports the wheelset 1, whose bearings have already been press-fitted, to a position directly above the wheelset positioning and lifting device 8. The wheelset positioning and lifting device 8 is used for positioning and lifting the wheelset 1. Figure 16 As shown, the wheelset positioning and lifting device 8 includes a support base frame 801. The support base frame 801 is provided with a screw lift 802, a lifting and positioning component 803 and a wheel clamping component 804. Two sets of lifting and positioning components 803 are symmetrically arranged, and a wheel clamping component 804 is provided on the inner side of each set of lifting and positioning components 803.

[0083] The lifting and positioning assembly 803 is connected to the screw jack 802 to achieve lifting and lowering of the lifting and positioning assembly 803. The lifting and positioning assembly 803 includes a guide rod mounting bracket 80301, a lifting guide rod 80302, a linear bearing 80303, and a positioning V-block 80304. The bottom of the positioning V-block 80304 is connected to the screw jack 802, and the bottom of the positioning V-block 80304 is also connected to the lifting guide rod 80302. The lifting guide rod 80302 cooperates with the guide rod mounting bracket 80301 through the linear bearing 80303, and under the action of the screw jack 802 and the lifting guide rod 80302, the wheelset 1 is lifted and positioned.

[0084] like Figure 17As shown, the wheel clamping assembly 804 includes a wheel clamping cylinder 80401, a clamping plate 80402, a support screw 80403, and a wheel clamping mounting plate 80404, which are used to clamp the wheelset 1 after it is lifted to prevent the wheelset 1 from rotating. The clamping wheel assembly 804 is fixed to the support base frame 801 by the support screw 80403. Two clamping plates 80402 are arranged opposite each other on the clamping wheel mounting plate 80404. A clamping wheel slide rail 80405 is installed at the bottom of the clamping wheel mounting plate 80404. The clamping wheel slide rail 80405 is slidably connected to the clamping wheel slider 80406. The cylinder body of the clamping wheel cylinder 80401 is connected to one of the clamping plates 80402 through one clamping wheel slider 80406. The cylinder rod of the clamping wheel cylinder 80401 is connected to the other clamping plate 80402 through the other clamping wheel slider 80406. A moving groove is opened on the top of the clamping wheel mounting plate 80404, and the clamping plates 80402 on both sides can move in the moving groove. The clamping and retraction of the clamping plates 80402 on both sides are driven by the clamping wheel cylinder 80401.

[0085] like Figure 18 As shown, the robot pre-assembly tightening device 9 includes an axle end accessory pre-assembly tightening device 901, a six-axis robot 902, a six-axis robot mounting base plate 903, and a ground rail assembly 904. The ground rail assembly 904 is mounted on the ground, and the six-axis robot 902 is mounted on the ground rail assembly 904 via the six-axis robot mounting base plate 903. The axle end accessory pre-assembly tightening device 901 is located at the end of the six-axis robot 902. The six-axis robot 902 drives the axle end accessory pre-assembly tightening device 901 to grasp the axle end accessory assembly assembly platform device 6 and perform the same pre-assembly tightening steps on both ends of the wheelset 1.

[0086] The track assembly 904 has a rectangular frame structure. The upper surface of the track is equipped with a six-axis robot slide rail 90401 and a six-axis robot slider 90402. The six-axis robot slider 90402 is slidably connected to the six-axis robot slide rail 90401, and the six-axis robot mounting base plate 903 is fixed to the six-axis robot slider 90402. The track assembly 904 also has a second motor drive device 90403, which is connected to the six-axis robot 902 via a gear and rack mechanism. The second motor drive device 90403 drives the gear 9040301 to rotate, and through the meshing of the gear 9040301 and the rack 9040302, the six-axis robot 902 moves left and right on the track.

[0087] The shaft end accessory pre-assembly tightening device 901 is used to grip the shaft end accessory assembly 605. It is equipped with a second vision recognition component 90101. By taking a picture, it automatically identifies the distribution position and angle of the three bolt holes on the shaft end using 3D vision technology. Then, it automatically rotates the angle of the shaft end accessory pre-assembly tightening device 901 so that the angles of the three shaft end bolts 50102 of the shaft end accessory assembly 605 it grips are completely aligned and coincident with the angles of the three bolt holes, and performs automatic alignment pre-assembly tightening.

[0088] In this embodiment, the controllers or control cabinets of each device are connected to form the intelligent control system 10 of this system. For example... Figure 19 As shown, the system equipment selects mainstream fieldbus systems, such as Profinet and Profibus. All equipment uses the same fieldbus. The system software (i.e., data collection and control system, central control system) is connected to the factory information network system. It can be further developed based on OPC UA and communicate and exchange data with application servers such as HMIS, MES, and ERP through industrial Ethernet interface.

[0089] Specifically, the central control operating system integrates with the upstream MES and ERP information systems to achieve timely and effective information transmission. It receives production work order information from the upstream information systems and allocates the work content to each process. At the same time, it can upload actual work data to the upstream information systems in a timely manner, and can also provide feedback on quality inspection information and transmit information related to production anomalies.

[0090] The method for pre-assembling wheelset axle end accessories based on the above-mentioned pre-assembly system includes the following steps:

[0091] When the AGV trolley 2 receives the instruction transmitted by the control system, it automatically transports the wheelset 1, whose bearings have been pressed in the previous station, to the wheelset positioning and lifting device 8 in this pre-assembly system. Then, the AGV trolley 2 automatically leaves, and the wheelset 1 waits for the next control instruction to be lifted and positioned.

[0092] The laser marking device 3 receives and acquires upstream production information, automatically converts it into marking content information, moves the laser marking component 303 so that the laser head 30302 is aligned with the marking board 30401, and the motor lifting device 30403 lifts the stacked marking boards 30401 to a set fixed height. Then the laser head 30302 starts working to perform automatic laser marking. After the marking is completed, the information is automatically uploaded to the control system. The top marking board 30401 waits for the robot gripping device 7 to grab it. After being grabbed, the marking operation of the marking board 30401 continues to repeat the same steps.

[0093] The automated material handling vehicle automatically transports the first pallet assembly 401, which has been placed according to the process requirements, to the first base assembly 402 in advance. The first transverse cylinder assembly 40202 and the first positioning cylinder assembly 40203 on the first base frame 40201 push the first pallet assembly 401 to move in the X and Y directions. The end cover pallet baffle 40205 stops and limits it, thereby realizing the automatic and precise positioning of the first pallet assembly 401.

[0094] After the first pallet assembly 401 is positioned, the gripper on the first motor drive device 40206 clamps the lead screw 4010401 on the end cap guide device 40104. After the robot gripping device 7 has finished gripping the top layer of stacked shaft end caps 40103, the motor drives the lead screw 4010401 to rotate. The nut 4010402 drives the positioning rod mounting plate 4010406 ​​and the positioning rod 4010405 to descend to a fixed height, so that the highest point of the positioning rod 4010405 is lower than the height of the second layer of shaft end caps 40103. This process is repeated until all the shaft end caps 40103 placed on the first pallet assembly 401 are gripped. At this time, the positioning rod 4010405 is lowered to the lowest point. Before the first pallet assembly 401 places the shaft end caps 40103 again, the first motor drive device 40206 drives the positioning rod 4010405 to return to the highest point.

[0095] Similarly, the automated material handling vehicle automatically transports the second pallet assembly 501, which has been placed according to process requirements, to the second base assembly 502 in advance. The second transverse cylinder assembly 50202 and the second positioning cylinder assembly 50203 on the second base frame 50201 push the second pallet assembly 501 to move in the X and Y directions. The bolt pallet baffle 50205 stops and limits it, thereby realizing the automatic and precise positioning of the second pallet assembly 501. The shaft end bolts 50102 are placed on the second pallet frame 50101 according to a fixed shape and angle. This shape and angle can be changed according to the different pitch circles of the three shaft end bolts of different vehicle models. They are all uniformly distributed in 360° circumference, which meets the requirements of the robot gripping device to simultaneously grasp the three shaft end bolts 50102 as a whole.

[0096] The robot gripping device 7 intelligently sorts, grips, and places the shaft end cap 40103, the identification plate 30401, the anti-loosening pad 40102, and the shaft end bolt 50102 in sequence, in four steps:

[0097] First, the robotic gripping device 7 grips the shaft end cap 40103. The four-axis robot 701 moves the shaft end accessory gripping device 702 above the first tray assembly 401, and simultaneously drives the shaft end accessory gripping device 702 to rotate, so that the first vision recognition component 70202 is directly facing the center of the gripped shaft end cap 40103. The first light source 7020204 and the first camera 7020205 are turned on to take pictures. Using 3D vision technology, the initial angle and position of the three bolt through holes on the gripped shaft end cap 40103 are automatically identified. After data acquisition, the shaft end accessory gripping device 702 is automatically rotated, and the first gripping component 70203 is rotated to be directly above the shaft end cap 40103, so that the three end cap claws 7020305 correspond one-to-one with the three bolt through holes. The first thin-type cylinder with guide rod 7020302 extends, inserting the three end cap claws 7020305 into the bolt through holes. Inside, the first parallel opening and closing pneumatic gripper 7020304 opens, locking the three end cap grippers 7020305 onto the shaft end cap 40103. The first thin-type cylinder with guide rod 7020302 retracts, lifting the shaft end cap 40103. The shaft end accessory gripping device 702 automatically rotates, rotating the shaft end cap 40103 directly above the positioning disk assembly 603 of the shaft end accessory assembly platform device 6. The first thin-type cylinder with guide rod 7020302 extends... The shaft end cap 40103 is placed on the positioning disk 60302 of the positioning disk assembly 603, so that the three bolt through holes of the shaft end cap 40103 are completely aligned with the three through holes of the positioning disk 60302. The first parallel opening and closing pneumatic gripper 7020304 closes, separating the shaft end cap 40103 from the three end cap grippers 7020305. The first thin-type guide rod cylinder 7020302 retracts, completing the gripping of the shaft end cap 40103.

[0098] Second, the robot gripping device 7 grips the marking plate 30401. The four-axis robot 701 drives the shaft-end attachment gripping device 702 to move above the marking plate placement assembly 304, which has already been laser-marked. At the same time, the shaft-end attachment gripping device 702 is driven to rotate, so that the first vision recognition component 70202 is directly facing the center of the gripped marking plate 30401. The first light source 7020204 and the first camera 7020205 are turned on to take pictures. The initial angle and position of the gripped marking plate 30401 are automatically identified using 3D vision technology. After data acquisition, the shaft-end attachment gripping device 702 is automatically rotated, so that the second gripping component 70204 is directly above the marking plate 30401, and the vacuum suction cup component 7020404 is directly aligned with the triangular side of the marking plate 30401. The second thin cylinder with guide rod 7020402 extends. The vacuum suction cup assembly 7020404 is pressed firmly onto the upper surface of the label plate 30401. The vacuum suction cup is activated to hold the label plate 30401. The second thin cylinder with guide rod 7020402 retracts, lifting the label plate 30401. The shaft end accessory gripping device 702 rotates automatically, rotating the label plate 30401 directly above the positioning disk assembly 603 of the shaft end accessory assembly platform device 6. The second thin cylinder with guide rod 7020402 extends, placing the label plate 30401 above the shaft end cap 40103 that has been placed in the previous step, so that the three holes of the label plate 30401 completely overlap with the three through holes of the shaft end cap 40103. The vacuum suction cup is disconnected, separating the label plate 30401 from the vacuum suction cup assembly 7020404. The second thin cylinder with guide rod 7020402 retracts, completing the gripping of the label plate 30401.

[0099] Third, the robot gripping device 7 grips the anti-loosening pad 40102. The four-axis robot 701 drives the shaft end attachment gripping device 702 to move above the first tray assembly 401, and simultaneously drives the shaft end attachment gripping device 702 to rotate, so that the first vision recognition component 70202 is directly facing the center of the gripped anti-loosening pad 40102. The first light source 7020204 and the first camera 7020205 are turned on to take pictures. Using 3D vision technology, the initial angle and position of the gripped anti-loosening pad 40102 are automatically identified. After data acquisition, the shaft end attachment gripping device 702 is automatically rotated, and the second gripping component 70204 is rotated to be directly above the anti-loosening pad 40102, so that the vacuum suction cup component 7020404 is directly aligned with the triangular side of the anti-loosening pad 40102. The second thin cylinder with guide rod 7020402 extends to pull the vacuum suction cup. The disc assembly 7020404 presses against the upper surface of the anti-loosening pad 40102. The vacuum suction cup is activated to pick up the anti-loosening pad 40102. The second thin cylinder with guide rod 7020402 retracts, lifting the anti-loosening pad 40102. The shaft end accessory gripping device 702 rotates automatically, rotating the anti-loosening pad 40102 directly above the positioning disc assembly 603 of the shaft end accessory assembly platform device 6. The second thin cylinder with guide rod 7020402 extends, placing the anti-loosening pad 40102 above the previously placed label plate 30401, so that the three holes of the anti-loosening pad 40102 completely overlap with the three holes of the label plate 30401. The vacuum suction cup is disconnected, separating the anti-loosening pad 40102 from the vacuum suction cup assembly 7020404. The second thin cylinder with guide rod 7020402 retracts, completing the gripping of the anti-loosening pad 40102.

[0100] Fourth, the robot gripping device 7 grips the shaft end bolt 50102. The four-axis robot 701 moves the shaft end attachment gripping device 702 above the second tray assembly 501, and simultaneously drives the shaft end attachment gripping device 702 to rotate, so that the first vision recognition component 70202 is directly facing the center of the indexing circle of the three shaft end bolts 50102 being gripped simultaneously. The first light source 7020204 and the first camera 7020205 are turned on to take pictures. Using 3D vision technology, the initial angle and position of the three shaft end bolts 50102 being gripped simultaneously are automatically identified. After data acquisition is completed, the robot automatically... The rotating shaft end attachment gripping device 702 rotates the third gripping component 70205 to be directly above the center of the pitch circle of the three shaft end bolts 50102, so that the three sets of bolt jaws 7020506 correspond one-to-one with the three shaft end bolts 50102. At the same time, the height of the three sets of bolt jaws 7020506 is lowered until they are almost in contact with the upper surface of the second pallet frame 50101. The third parallel opening and closing pneumatic gripper 7020503 closes, clamping the three sets of bolt jaws 7020506 simultaneously with the three shaft end bolts 50102. The four-axis robot 701 drives the shaft end attachment gripping device 702 to rise. Lift the three shaft end bolts 50102, and simultaneously, the shaft end accessory gripping device 702 automatically rotates, rotating the three shaft end bolts 50102 directly above the positioning disk assembly 603 of the shaft end accessory assembly platform device 6, so that the three shaft end bolts 50102 are completely aligned with the three through holes of the positioning disk 60302. The four-axis robot 701 drives the shaft end accessory gripping device 702 to descend, inserting the three shaft end bolts 50102 into the three through holes of the shaft end cap 40103, the identification plate 30401, and the anti-loosening pad 40102 that have been placed in the previous three steps. The third parallel opening and closing pneumatic gripper 70... 20503 opens, separating the three shaft end bolts 50102 from the three sets of bolt grippers 7020506. The four-axis robot 701 drives the shaft end accessory gripping device 702 to rise, completing the gripping of the shaft end cover 40103. When gripping shaft end bolts 50102 of different vehicle models, the pitch circle diameter of the three sets of bolt grippers 7020506 can be changed by the swing of the first pneumatic swing platform 7020501, the opening and closing of the second parallel opening and closing pneumatic gripper 7020502, and the mechanical limit of the variable diameter positioning component 7020507, to meet the gripping requirements of different vehicle models.

[0101] The above four steps complete the overall assembly and placement of a shaft end accessory assembly 605.

[0102] The detection device on the shaft end accessory assembly platform device 6 detects that the shaft end accessory component 605 has been assembled and placed. The automatic control magnetic coupling rodless cylinder 602 moves the shaft end accessory component 605 placed above the positioning plate component 603 to the bracket component 604. The guide rod cylinder 60301 retracts and drops the shaft end accessory component 605 onto the bracket support block 60402 of the bracket component 604, waiting for the robot pre-assembly tightening device 9 to grasp it. The magnetic coupling rodless cylinder 602 drives the positioning plate component 603 back to its original position, and repeats the assembly and placement of the next shaft end accessory component 605.

[0103] The lifting and positioning of wheelset 1 are carried out simultaneously with the above process. The screw jack 802 of the wheelset positioning and lifting device 8 rotates, driving the positioning V-blocks 80304 on the symmetrically distributed lifting and positioning components 803 on both sides to rise synchronously, supporting the outer rings of the bearings at both ends of wheelset 1 and lifting wheelset 1 to a fixed height, so that the outer edge of the wheel disc is separated from the rail. The positioning V-blocks 80304 on both sides also play an axial positioning role. After wheelset 1 is lifted to a fixed height, the clamping cylinder 80401 of the clamping wheel assembly 804 pushes the symmetrical clamping plates 80402 on both sides to move inward at the same time, clamping the two sides of the wheel disc to prevent the wheelset from rotating, which facilitates the assembly and tightening of the axle end accessory assembly 605 in the next step.

[0104] The robot pre-assembly tightening device 9 grips the shaft end accessory assembly 605 on the shaft end accessory assembly platform device 6 for pre-assembly tightening. First, the six-axis robot 902 receives an information command, and the motor drive device 90403 drives the six-axis robot 902 to move along the ground rail assembly 904 to a suitable position. Then, the six-axis robot 902 drives the end shaft end accessory pre-assembly tightening device 901 to rotate and move to directly above the shaft end accessory assembly 605 on the shaft end accessory assembly platform device 6, so that the axial center of the second vision recognition component 90101 is directly aligned with the center of the pitch circle of the three shaft end bolts 50102 of the shaft end accessory assembly 605, and takes a picture. Using 3D vision technology, the angle and position of the three bolts are automatically identified. After completing the data information acquisition, the end shaft end accessory pre-assembly tightening device 901 is rotated and moved again to grip the shaft end accessory assembly 605 as a whole. Finally, the six-axis robot 902 drives the end shaft end accessory pre-assembly tightening device 901 to rotate. The robot moves to one side of wheelset 1, aligning the axial center of the second vision recognition component 90101 with the center of the pitch circle of the three bolt holes on the axle end of wheelset 1. It moves to a suitable distance, takes a picture, and automatically identifies the angle and position of the three bolt holes using 3D vision technology. After data acquisition, it automatically rotates and moves the end-of-axis accessory pre-assembly tightening device 901, ensuring that the angle of the three bolts on the axle end accessory component 605 perfectly coincides with the angle of the three bolt holes on the axle end of wheelset 1. Driven by the six-axis robot 902, the axle end accessory component 605 is attached to the axle end face of the wheelset. The axle end accessory pre-assembly tightening device 901 drives the three bolts to rotate simultaneously, completing the pre-assembly tightening. After the pre-assembly tightening of the axle end accessory component 605 on one side of wheelset 1 is complete, the six-axis robot 902 drives the end-of-axis accessory pre-assembly tightening device 901 to retract, and repeats the same steps to complete the pre-assembly tightening of the axle end accessory component 605 on the other side of wheelset 1.

[0105] After the entire pre-assembly system completes the pre-assembly of a wheelset axle end accessory component 605, the information is uploaded to the control system. The screw lift 802 of the wheelset positioning lifting device 8 rotates, driving the positioning V-blocks 80304 on the symmetrically distributed lifting positioning components 803 on both sides to descend synchronously, so that the pre-assembled and tightened wheelset falls onto the rail. The AGV trolley 2 receives the information instruction and automatically transports the wheelset to the next work station.

[0106] The assembly method of the aforementioned pre-assembly system is a complete process for the pre-assembly of wheelset axle end accessory components. By repeating the above assembly method steps, mass production of wheelset axle end accessory components can be carried out. The assembly method of the aforementioned pre-assembly system not only improves the efficiency and accuracy of production operations, but also realizes the unmanned and automated pre-assembly of wheelset axle end accessory components, which is more in line with the requirements of lean, digital and intelligent production.

[0107] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A smart sorting, marking, and pre-assembly system for wheelset axle end accessories, characterized in that, include: The robot gripping device has a first storage device and a second storage device on one side, and a laser marking device for marking the label and a shaft end accessory assembly platform device on the other side. The first storage device is used to store the shaft end cap and anti-loosening pad, and the second storage device is used to store the shaft end bolt. AGV trolleys are used to transfer wheelsets with press-fitted bearings to wheelset positioning and lifting devices. The robot pre-assembly tightening device is located directly in front of the positioning and lifting device and is used for the pre-assembly tightening of wheelsets. The first storage device includes a first tray assembly and a first base assembly, the first base assembly being disposed below the first tray assembly; the first base assembly includes a first base frame, and a plurality of first universal bearings are symmetrically mounted on both sides of the first base frame; The first base frame is connected to a first bidirectional moving device, which is used to push the first tray assembly to move along the X and Y directions above the first universal bearing; a first motor drive device is installed at the center of the first base frame, which can drive the first tray assembly to rotate. The shaft end accessory assembly platform device includes a platform frame, on which multiple parallel magnetically coupled rodless cylinders are installed. The magnetically coupled rodless cylinders are connected to a positioning disk assembly, and bracket assemblies are symmetrically arranged on both sides of the magnetically coupled rodless cylinders. The positioning disk assembly, under the action of a magnetically coupled rodless cylinder, can move the shaft end accessory assembly above the bracket assembly.

2. The intelligent sorting and marking pre-assembly system for wheelset axle end accessories according to claim 1, characterized in that, The laser marking device for the signboard includes an operating workbench, a laser marking component installed on the operating workbench, and a signboard placement component; The laser marking assembly includes a laser head capable of moving along three axes.

3. The intelligent sorting and marking pre-assembly system for wheelset axle end accessories according to claim 2, characterized in that, The signboard placement assembly includes a motor lifting device and multiple guide support rods connected to the motor lifting device, the guide support rods being used to support the signboard.

4. The intelligent sorting and marking pre-assembly system for wheelset axle end accessories according to claim 1, characterized in that, The second storage device includes a second tray assembly and a second base assembly, the second base assembly being disposed below the second tray assembly.

5. The intelligent sorting and marking pre-assembly system for wheelset axle end accessories according to claim 1, characterized in that, The first tray assembly includes a lead screw connected to a first motor drive device. The lead screw has multiple guide rods around its periphery. Both the lead screw and the guide rods are connected to a positioning rod mounting plate, which mounts multiple positioning rods.

6. The intelligent sorting and marking pre-assembly system for wheelset axle end accessories according to claim 4, characterized in that, The second base assembly includes a second base frame, on which a plurality of second universal bearings are symmetrically mounted; the second base frame is connected to a second bidirectional moving device, which is used to push the second tray assembly to move along the X and Y directions above the second universal bearings.

7. The intelligent sorting and marking pre-assembly system for wheelset axle end accessories according to claim 6, characterized in that, The second tray assembly includes a second tray frame with a plurality of bolt holes for placing shaft end bolts.

8. The intelligent sorting and marking pre-assembly system for wheelset axle end accessories according to claim 1, characterized in that, The wheelset positioning and lifting device includes a support base frame, a screw jack is installed on the upper side of the support base frame, and a lifting and positioning component is connected to both ends of the screw jack. The lifting and positioning component is provided with a clamping wheel assembly inside the lifting and positioning component, which is used to clamp the wheelset after it is lifted. The robot gripping device and the robot pre-assembly tightening device are each equipped with a visual recognition component.

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