An automatic maintenance line and method for a suspension rod joint of a motor train unit

Abstract

The application discloses a kind of automatic overhaul line and overhaul method of motor train unit suspension rod piece node, wherein a kind of automatic overhaul line of motor train unit suspension rod piece node includes manipulator with ground rail, size detection module being arranged in the ground rail side, retreats node and inner hole processing module, smears lubricant and installs node module and post-processing module, and the size detection module, retreats node and inner hole processing module, smears lubricant and installs node module and post-processing module between the suspension rod piece node to be overhauled are switched using manipulator linkage, to complete the overhaul work of suspension rod piece node.The application can automatically overhaul the suspension rod piece node of motor train unit, improve the overhaul efficiency, shorten the overhaul time and reduce the overhaul intensity.

Description

Technical Field

[0001] This invention relates to a node inspection line and inspection method, and more particularly to an automated inspection line and inspection method for the suspension rod nodes of a high-speed train, belonging to the field of node inspection technology. Background Technology

[0002] EMU, also known as "EMU train", is a type of modern train consisting of several powered cars (EMU cars) and unpowered cars (trailer cars). The train operates in a fixed formation mode during its normal service life.

[0003] The suspension system of a high-speed train is an important guarantee for the normal operation of rail transit vehicles. It improves the dynamic performance of the vehicle, eliminates stability problems that occur during vehicle operation, and provides passengers with a safe, fast and comfortable riding experience.

[0004] However, as the service life of high-speed trains increases, the suspension system ages and wears down, leading to stability, safety, and smoothness issues during operation, which negatively impacts passenger safety and comfort. Suspension links are a crucial component of the suspension system; therefore, after a period of service, these links must be inspected to ensure the train's stability, safety, and smoothness during operation.

[0005] There are many types of suspension rod nodes, including axle box assemblies, drawbar assemblies, suspension rod assemblies, connecting rod assemblies, traction beam assemblies, leaf spring assemblies, etc. Taking the connecting rod assembly as an example, such as... Figure 1 As shown, the suspension rod node 1 includes a component body 111 and a rubber node 112. An inner hole is provided at the end of the component body 111, and the rubber node 112 is press-fitted into the inner hole of the component body 111. During maintenance, the old rubber node 112 needs to be removed from the inner hole of the component body 111, and then the inner hole of the component body 111 needs to be cleaned, polished, and inspected. After inspection, a new rubber node 112 needs to be re-press-fitted into the inner hole of the component body 111. In the prior art, the maintenance of suspension rod nodes is mostly carried out manually, resulting in long maintenance time, low efficiency, and high maintenance intensity.

[0006] No relevant patent documents on the maintenance of suspension rod nodes of EMU trains have been found.

[0007] In summary, how to design an automated maintenance line and method for the suspension rod nodes of high-speed trains, so as to automatically inspect and maintain the suspension rod nodes of high-speed trains, improve maintenance efficiency, shorten maintenance time and reduce maintenance intensity, is an urgent technical problem to be solved. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to address the problems existing in the prior art by providing an automated maintenance line and method for the suspension rod nodes of EMU trains. This method can automatically inspect the suspension rod nodes of EMU trains, thereby improving maintenance efficiency, shortening maintenance time and reducing maintenance intensity.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: an automated maintenance line for suspension rod nodes of EMU trains, including a robotic arm with a ground rail, a dimension detection module set on one side of the ground rail, a node removal and inner hole processing module, a lubricant application and node installation module, and a post-processing module. The robotic arm is used to switch the suspension rod node to be inspected between the dimension detection module, the node removal and inner hole processing module, the lubricant application and node installation module, and the post-processing module in a coordinated manner, thereby completing the maintenance work of the suspension rod node.

[0010] Preferably, the node removal and inner hole processing module includes a node removal mechanism and a cleaning and grinding mechanism. The node removal mechanism includes a node removal press conveying platform, a node removal press disposed on the node removal press conveying platform, and a node conveying platform disposed below the node removal press platform. The suspension rod node to be inspected is placed on the workpiece tray, which is placed on the node removal press conveying platform, and the node tray is placed on the node conveying platform.

[0011] Preferably, the unloading press includes a column, a fixed beam disposed on the top of the column, and a movable beam slidably connected to the column. A main cylinder is disposed on the fixed beam and is connected to the movable beam. Under the action of the main cylinder, the movable beam can move up and down along the column. The bottom of the movable beam is equipped with a quick-change mechanism for the pressure head, and the pressure head for extruding the rubber node is connected to the bottom of the movable beam through the quick-change mechanism. The quick-change mechanism for the pressure head includes a base block set on the bottom of the movable beam and auxiliary cylinder one and auxiliary cylinder two set on both sides of the base block. An L-shaped clamping block one is set on auxiliary cylinder one, and an L-shaped clamping block two is set on auxiliary cylinder two. Under the action of auxiliary cylinder one and auxiliary cylinder two, L-shaped clamping blocks one and L-shaped clamping blocks two can move up and down. The pressure head includes a pressure rod and a pressure head body disposed on one end of the pressure rod. A pressure rod flange is disposed on the outer circumferential surface of the other end of the pressure rod. The L-shaped clamping block one and L-shaped clamping block two move upward to contact the bottom of the pressure rod flange, thereby pressing the other end of the pressure rod against the bottom of the base block.

[0012] Preferably, a node guiding and centering mechanism is also provided in the unloading node press conveying platform and located above the node conveying platform. The node guiding and centering mechanism includes a left V-shaped plate and a right V-shaped plate. A left drive cylinder and a right drive cylinder are also provided in the unloading node press conveying platform. The left drive cylinder is connected to the left V-shaped plate through a transmission connection, and the right drive cylinder is connected to the right V-shaped plate through a transmission connection. Under the action of the left drive cylinder and the right drive cylinder, the left V-shaped plate and the right V-shaped plate can move relatively closer or relatively farther apart. The node conveying platform includes a left conveyor chain, a right conveyor chain, and a lifting mechanism disposed between the left and right conveyor chains. The lifting mechanism includes a lifting cylinder and a lifting plate connected to the lifting cylinder. The lifting plate of the lifting mechanism can lift the node trays placed on the left and right conveyor chains.

[0013] Preferably, the cleaning and polishing mechanism includes a cleaning and polishing conveying platform, on which a cleaning agent spraying station, a cleaning station, and a polishing station are sequentially arranged; an XYZ three-axis moving mechanism and a spraying head are arranged on the cleaning and polishing conveying platform located at the cleaning agent spraying station. The spray head includes a rod-shaped pneumatic motor mounted on an XYZ three-axis moving mechanism and a brush head that is connected and driven by the pneumatic motor. An outer cylinder is also mounted on the XYZ three-axis moving mechanism. One end of the pneumatic motor is connected to the XYZ three-axis moving mechanism, and the other end of the pneumatic motor passes through and protrudes from the outer cylinder. The brush head is connected to the other end of the pneumatic motor protruding from the outer cylinder, thus positioning the brush head below the bottom surface of the outer cylinder. A through-flow liquid channel is provided inside the outer cylinder wall along its axial direction, with one end connected to the cleaning agent delivery pipe of the cleaning agent delivery device. Air holes are opened on the outer circumferential surface of the pneumatic motor, and a gap is left between the outer circumferential surface of the pneumatic motor and the inner circumferential surface of the outer cylinder, forming an annular channel. A collection trough is provided on the cleaning and polishing conveying platform located at the cleaning agent spraying station.

[0014] Preferably, the lubricant application and assembly module includes a conveying platform, a lubricant application mechanism disposed on the conveying platform, and an assembly press; The conveying platform includes a platform body and an air-suspended mobile platform set on the platform body, with the node assembly tray placed on the air-suspended mobile platform. The platform body is equipped with guide rail one and guide rail two. The air-suspended mobile platform includes a bottom pneumatic plate and a support plate mounted on the bottom pneumatic plate. Compressed air is injected downwards from the bottom pneumatic plate to generate force, thereby suspending the air-suspended mobile platform on the platform body. The size of the support plate is larger than that of the bottom pneumatic plate, so that the four edges of the support plate are exposed beyond the four edges of the bottom pneumatic plate. The bottom pneumatic plate is positioned between guide rail one and guide rail two, and the width D of the bottom pneumatic plate matches the distance L between guide rail one and guide rail two, so that the bottom pneumatic plate is guided by guide rail one and guide rail two when moving. When the air-suspended mobile platform is in a suspended state, the opposite sides of the exposed support plate are located above the top surfaces of guide rail one and guide rail two, respectively, with a gap between them. When the air-suspended mobile platform falls, the opposite sides of the exposed support plate contact the top surfaces of guide rail one and guide rail two, respectively, so that the air-suspended mobile platform and the platform body form an integrated force-bearing structure. A platform transmission mechanism is also provided on the platform body, which is connected to the air-suspended mobile platform; when the air-suspended mobile platform is in a suspended state, the platform transmission mechanism can drive the air-suspended mobile platform to move back and forth along the platform body.

[0015] This invention also discloses a maintenance method for the automated maintenance line as described above. First, a robotic arm places the suspension rod node to be maintained into the node removal and inner hole processing module for node removal and cleaning / grinding of the inner hole of the component body in the removed suspension rod node. Then, the robotic arm sends the component body into the dimension detection module for dimension detection. Next, the robotic arm places the component body and rubber node into the lubricant application and node assembly module for reassembly into a suspension rod node. Finally, the robotic arm sends the assembled suspension rod node into the post-processing module for post-processing, thus completing the maintenance.

[0016] Preferably, the node removal and inner hole processing module includes a node removal mechanism and a cleaning and polishing mechanism; After the robotic arm places the suspension rod node to be inspected into the node removal and inner hole processing module, the old rubber node in the suspension rod node is first removed from the inner hole of the component body by the node removal mechanism. Then the component body is sent into the cleaning and polishing mechanism to clean and polish the inner hole of the component body.

[0017] Preferably, the node removal mechanism includes a node removal press conveying platform, a node removal press disposed on the node removal press conveying platform, and a node conveying platform disposed below the node removal press platform; The suspension rod node to be inspected is placed on the workpiece tray, which is placed on the node removal press conveying platform, and the node tray is placed on the node conveying platform. During node removal, the workpiece pallet with the suspension rod node is first moved directly below the node removal press via the node removal press conveyor platform. Then, the node removal press is controlled to press down on the rubber node in the suspension rod node. The workpiece pallet has a tray through hole for the rubber node to fall off. When the node removal press press presses down on the rubber node, the rubber node falls onto the node pallet through the tray through hole on the workpiece pallet. The node pallet with the rubber node is then conveyed out by the node conveyor platform. The node removal press conveyor platform conveys the remaining component body and workpiece pallet together to the cleaning and grinding mechanism for cleaning and grinding.

[0018] Preferably, the rubber node retraction press includes a column, a fixed beam disposed on the top of the column, and a movable beam slidably connected to the column. A main cylinder is disposed on the fixed beam and is connected to the movable beam. Driven by the movement of the main cylinder, the movable beam can move up and down along the column. A quick-change mechanism for the pressure head is installed at the bottom of the movable beam, and the pressure head for extruding the rubber node is connected to the bottom of the movable beam through the quick-change mechanism for the pressure head. The pressure head includes a pressure rod and a pressure head body disposed on one end of the pressure rod. A pressure rod flange is disposed on the outer peripheral surface of the other end of the pressure rod. The L-shaped clamping block one and L-shaped clamping block two move upward to contact the bottom of the pressure rod flange, thereby pressing the other end of the pressure rod against the bottom of the base block. When the pressure head needs to be replaced, first control the movement of auxiliary cylinder one and auxiliary cylinder two to drive L-shaped clamping blocks one and two to move down and open. Then, use a robotic arm to move the pressure head horizontally and take it out. Next, use the robotic arm to move the pressure head to be replaced horizontally back in, so that the pressure rod flange on the other end of the pressure rod of the pressure head to be replaced is located at L-shaped clamping blocks one and L-shaped clamping blocks two. Then control the movement of auxiliary cylinder one and auxiliary cylinder two to drive L-shaped clamping blocks one and L-shaped clamping blocks two to move upward. The upward movement of L-shaped clamping blocks one and L-shaped clamping blocks two makes contact with the bottom of the pressure rod flange, so that the other end of the pressure rod is pressed against the bottom of the base block, realizing the rapid replacement of the pressure head.

[0019] Preferably, a node guiding and centering mechanism is further provided in the node retraction press conveying platform and located above the node conveying platform. The node guiding and centering mechanism includes a left V-shaped plate and a right V-shaped plate. A left drive cylinder and a right drive cylinder are also provided in the node retraction press conveying platform. The left drive cylinder is connected to the left V-shaped plate through a transmission mechanism, and the right drive cylinder is connected to the right V-shaped plate through a transmission mechanism. Under the action of the left drive cylinder and the right drive cylinder, the left V-shaped plate and the right V-shaped plate can move relatively closer or relatively farther apart. The node conveying platform includes a left conveying chain, a right conveying chain, and a lifting mechanism disposed between the left conveying chain and the right conveying chain. The lifting mechanism includes a lifting cylinder and a lifting plate connected to the lifting cylinder. The lifting plate of the lifting mechanism can lift the node trays placed on the left conveying chain and the right conveying chain. Before removing the node, the lifting plate of the lifting mechanism first lifts the node tray, causing it to detach from the left and right conveyor chains. Then, the left and right V-shaped plates are controlled to move closer together until they form a guide channel near the outer circumference of the rubber node. The rubber node is then squeezed by the node removal press, causing it to fall. The guide channel guides the falling process, ensuring the rubber node lands on the node tray. The left and right V-shaped plates are then controlled to continue moving closer together until they contact the outer circumference of the rubber node, thus centering the rubber node on the node tray. After centering, the left and right V-shaped plates are controlled to move away from each other and open. Then, the lifting plate of the lifting mechanism is lowered, and the node tray with the rubber node is placed back on the left and right conveyor chains.

[0020] Preferably, the cleaning and polishing mechanism includes a cleaning and polishing conveying platform, on which a cleaning agent spraying station, a cleaning station, and a polishing station are sequentially arranged; an XYZ three-axis moving mechanism and a spraying head are arranged on the cleaning and polishing conveying platform located at the cleaning agent spraying station. The spray head includes a rod-shaped pneumatic motor mounted on an XYZ three-axis moving mechanism and a brush head that is connected and driven by the pneumatic motor. An outer cylinder is also mounted on the XYZ three-axis moving mechanism. One end of the pneumatic motor is connected to the XYZ three-axis moving mechanism, and the other end of the pneumatic motor passes through and protrudes from the outer cylinder. The brush head is connected to the other end of the pneumatic motor protruding from the outer cylinder, thus positioning the brush head below the bottom surface of the outer cylinder. A through-flow liquid channel is provided inside the outer cylinder wall along its axial direction, with one end connected to the cleaning agent delivery pipe of the cleaning agent delivery device. Air holes are opened on the outer circumferential surface of the pneumatic motor, and a gap is left between the outer circumferential surface of the pneumatic motor and the inner circumferential surface of the outer cylinder, forming an annular channel. A collection trough is provided on the cleaning and polishing conveying platform located at the cleaning agent spraying station. When spraying cleaning agent, the cleaning agent is first delivered to the brush head through the liquid channel of the outer cylinder through the cleaning agent delivery pipe. The pneumatic motor drives the brush head to rotate, and then the XYZ three-axis moving mechanism drives the brush head to extend into the inner hole of the component body. The brush head is brushed along the inner circumferential surface of the inner hole. At the same time, the compressed air inside the pneumatic motor is sprayed out through the air holes on its outer circumferential surface. Some of the sprayed compressed air is guided downward by the annular channel and blown onto the brush head, causing the cleaning agent to fall downward into the collection tank.

[0021] Preferably, the lubricant application and assembly module includes a conveying platform, a lubricant application mechanism disposed on the conveying platform, and an assembly press; The conveying platform includes a platform body and an air-suspended mobile platform mounted on the platform body, with the node assembly tray placed on the air-suspended mobile platform; The component body is placed on the node assembly tray by a robotic arm, and then the node assembly tray containing the component body is placed on the conveying platform by the robotic arm. The new rubber node is then placed on the inner hole of the component body by the robotic arm. The node assembly tray containing the component body and the rubber node is then transported to the lubricating mechanism by the conveying platform. The lubricating mechanism applies lubricant to the outer circumference of the exposed rubber node. The node assembly tray containing the component body and the rubber node is then transported to the position below the node assembly press by the conveying platform. Finally, the rubber node is squeezed into the inner hole of the component body by the press head of the node assembly press, thereby completing the assembly of the suspension rod node. When the air-suspended mobile platform moves, it is in a suspended state and is separated from the platform body to facilitate movement; when pressing rubber nodes, the air-suspended mobile platform is in a stationary state and the supply of compressed air to the air-suspended mobile platform is cut off, causing it to fall onto the platform body and contact the platform body to form an integrated structure. When the air-suspended mobile platform moves to the lubricant application mechanism to apply lubricant, it is also necessary to keep the air-suspended mobile platform stationary and cut off the supply of compressed air to the air-suspended mobile platform so that it falls onto the platform body and contacts the platform body to form an integrated structure.

[0022] The beneficial effects of this invention are as follows: By designing an automated maintenance line for suspension member nodes, this invention can automatically inspect and maintain the suspension member nodes of the EMU, improving maintenance efficiency, shortening maintenance time, and reducing maintenance intensity. The quick-change mechanism for pressure heads allows for rapid replacement of different types of pressure heads, further improving work efficiency and shortening working time. The designed node guiding and centering mechanism ensures that rubber nodes fall smoothly onto the node tray and adjusts their position on the tray, guaranteeing the smooth progress of automated maintenance. When a rubber node falls, the node tray disengages from the left and right conveyor chains, preventing impact on the conveyor chains and thus extending the service life of the node conveyor platform. By designing a spray head that combines a brush head and cleaning agent, the brush head cleans grease from the inner holes while simultaneously applying the cleaning agent, rather than spraying it directly. This ensures the cleaning agent adheres well to the inner holes, preventing excessive spillage and improving the cleaning effect on the component's internal pores. A guide structure is also designed to direct compressed air, guiding the cleaning agent delivered to the brush head downwards. This prevents the cleaning agent from being flung everywhere and instead collects residual cleaning agent in the collection tank, avoiding environmental pollution. During node installation, an air-suspended moving platform is designed to remain suspended, ensuring smooth movement. During the pressing of the rubber node, the air-suspended moving platform and the platform body form an integrated structure, sharing the pressure to press the rubber node in place, thus ensuring the smooth progress of the node installation work. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of a linkage assembly in a suspension rod node; Figure 2 This is a schematic diagram of the layout structure of the automated maintenance line in an embodiment of the present invention; Figure 3This is a three-dimensional structural diagram of the node removal and component inner hole processing module in an embodiment of the present invention; Figure 4 This is a three-dimensional structural diagram of the retraction mechanism in an embodiment of the present invention; Figure 5 This is a schematic diagram of the front view of the retraction mechanism in an embodiment of the present invention; Figure 6 for Figure 5 Enlarged structural diagram of section A in the middle; Figure 7 for Figure 5 A partial structural diagram of the centrally located node conveyor platform; Figure 8 This is a partial three-dimensional structural diagram of the node guiding centering mechanism in the node conveying platform of this invention embodiment; Figure 9 This is a schematic diagram illustrating the principle and structure of the node removal operation in an embodiment of the present invention. Figure 1 ; Figure 10 This is a schematic diagram illustrating the principle and structure of the node removal operation in an embodiment of the present invention. Figure 2 ; Figure 11 This is a schematic diagram illustrating the principle and structure of the node removal operation in an embodiment of the present invention. Figure 3 ; Figure 12 This is a partial three-dimensional structural diagram of the cleaning and polishing mechanism located at the cleaning agent spraying station in an embodiment of the present invention; Figure 13 This is a three-dimensional structural diagram of the spray head in the cleaning and polishing mechanism of this invention. Figure 14 This is a three-dimensional structural diagram of the outer cylinder of the spray head in an embodiment of the present invention; Figure 15 This is a partial axial cross-sectional view of the spray head during the application of cleaning agent in an embodiment of the present invention; Figure 16 This is a partial three-dimensional structural diagram of the cleaning and polishing mechanism in an embodiment of the present invention, located at the cleaning station and the polishing station. Figure 17 This is a schematic diagram of the main structure of applying lubricant and installing the node module in an embodiment of the present invention; Figure 18 This is a three-dimensional structural diagram of the lubricant application and assembly module after removing the assembly node press in an embodiment of the present invention. Figure 19 for Figure 18 Enlarged structural diagram of section B in the middle; Figure 20 This is a three-dimensional structural diagram of the air-suspended mobile platform in an embodiment of the present invention. Figure 1 ; Figure 21 This is a three-dimensional structural diagram of the air-suspended mobile platform in an embodiment of the present invention. Figure 2 ; Figure 22 This is a partial three-dimensional structural diagram of the bottom plate cylinder of the node assembly tray in an embodiment of the present invention; Figure 23 This is a partial three-dimensional structural diagram of the node assembly tray after the bottom plate cylinder is placed into the positioning ring of the air suspension mobile platform bearing plate in an embodiment of the present invention. In the diagram: 1. Suspension rod node, 111. Component body, 112. Rubber node, 2. Ground rail, 3. Robotic arm, 4. Dimension detection module, 5. Node removal and component inner hole processing module, 6. Lubricant application and node installation module, 7. Post-processing module, 8. Node removal mechanism, 9. Cleaning and grinding mechanism, 911. Cleaning and grinding conveyor platform, 912. Cleaning agent spraying station, 913. Cleaning station, 914. Grinding station, 10. Node removal press conveyor platform, 101. Boss, 102. Boss through hole, 11. Node removal press, 113. Column, 114. Fixed 115. Fixed beam, 116. Movable beam, 12. Main cylinder, 12. Node conveyor platform, 121. Left conveyor chain, 122. Right conveyor chain, 123. Lifting cylinder, 124. Lifting plate, 13. Workpiece pallet, 14. Node pallet, 15. Press head quick change mechanism, 151. Base block, 152. Auxiliary cylinder one, 153. Auxiliary cylinder two, 154. L-shaped clamping block one, 155. L-shaped clamping block two, 16. Press head, 161. Press rod, 162. Press head body, 163. Press rod flange, 17. Left V-shaped plate, 18. Right V-shaped plate, 19. Left drive cylinder, 20. Right drive cylinder 21. Visual inspection mechanism; 211. Camera; 22. XYZ three-axis moving mechanism one; 23. Spray head; 24. Pneumatic motor one; 241. Air hole; 25. Brush head one; 26. Outer cylinder one; 27. Liquid channel; 28. Cleaning agent delivery pipe; 29. ​​Annular channel one; 30. XYZ three-axis moving mechanism two; 31. Cleaning head; 32. XYZ three-axis moving mechanism three; 33. Grinding head; 34. Conveying platform; 35. Lubricant application mechanism; 351. Support; 352. Lubricant tank; 353. Lubricant application robot; 36. Assembly node press; 37. 371. Node assembly pallet; 372. Base plate; 373. Base plate cylinder; 374. Outer flange; 375. Arc-shaped groove; 38. Platform body; 381. Guide rail one; 382. Guide rail two; 39. Air suspension moving platform; 391. Bottom pneumatic plate; 392. Bearing plate; 40. Platform transmission mechanism; 401. Transmission belt; 41. Air inlet; 42. Air outlet; 43. Gas guide groove; 44. Positioning ring; 45. Limiting block one; 46. Limiting block two; 47. Power cylinder one; 48. Power cylinder two; 49. Directional pin; 50. Support frame; 51. Rotary power cylinder. Detailed Implementation

[0024] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example: Figure 2As shown, an automated maintenance line for suspension member nodes of a high-speed train includes a robotic arm 3 with a ground rail 2, a dimension detection module 4 located on one side of the ground rail 2, a node removal and inner hole processing module 5, a lubricant application and node installation module 6, and a post-processing module 7. The robotic arm 3 is a six-axis robotic arm that can move back and forth along the ground rail 2. The dimension detection module 4 is a three-dimensional dimension detection module. The robotic arm 3 is used to link and switch the suspension member node to be inspected between the dimension detection module 4, the node removal and inner hole processing module 5, the lubricant application and node installation module 6, and the post-processing module 7, thereby completing the maintenance work of the suspension member node.

[0026] During maintenance, the robotic arm 3 first places the suspension rod node to be maintained into the node removal and inner hole processing module 5 for node removal and cleaning / grinding of the inner hole of the component body after node removal. Then, the robotic arm 3 sends the component body into the dimension detection module 4 for dimension detection. Next, the robotic arm 3 places the component body and rubber node into the lubricant application and node assembly module 6 for reassembly into the suspension rod node. Finally, the robotic arm 3 sends the assembled suspension rod node into the post-processing module 7 for post-processing, completing the maintenance. The post-processing module 7 mainly performs maintenance marking and visual inspection of the suspension rod node. During operation, if damage to the component body or rubber node is detected requiring replacement, the robotic arm can place the new component body or rubber node into the lubricant application and node assembly module for reassembly into the suspension rod node.

[0027] This embodiment designs an automated maintenance line for suspension member nodes, which can automatically inspect and maintain the suspension member nodes of the EMU, improving maintenance efficiency, shortening maintenance time, and reducing maintenance intensity.

[0028] like Figure 3 As shown, the node removal and inner hole processing module 5 includes a node removal mechanism 8 and a cleaning and polishing mechanism 9. The node removal mechanism 8 removes the old rubber node 112 from the inner hole of the component body 111, and then the component body 111 is fed into the cleaning and polishing mechanism 9 to clean and polish the inner hole of the component body 111. Figure 4As shown, the node removal mechanism 8 includes a node removal press conveying platform 10, a node removal press 11 disposed on the node removal press conveying platform 10, and a node conveying platform 12 disposed below the node removal press conveying platform 10; the suspension rod node 1 to be repaired is placed on the workpiece tray 13, the workpiece tray 13 is placed on the node removal press conveying platform 10, the node removal press conveying platform 10 uses a chain or other transmission mechanism to transport the workpiece tray 13, the node removal press conveying platform 10 can drive the workpiece tray 13 to move back and forth, and a node tray 14 is placed on the node conveying platform 12. When removing nodes, the workpiece tray 13 with the suspension rod node 1 is first moved to directly below the node removal press 11 by the node removal press conveyor platform 10. Then, the node removal press 11 is controlled to press down on the rubber node 112 in the suspension rod node 1. The workpiece tray 13 has a tray through hole for the rubber node 112 to fall. When the node removal press 11 presses down on the rubber node 112, the rubber node 112 falls through the tray through hole on the workpiece tray 13 onto the node tray 14. The node tray 14 with the rubber node 112 is then conveyed out by the node conveyor platform 12 and taken out and stored by a six-axis robot. The node removal press conveyor platform 10 then conveys the remaining component body 111 and the workpiece tray 13 after node removal to the cleaning and polishing mechanism 9 for cleaning and polishing.

[0029] like Figure 4 and Figure 5 As shown, the node removal press 11 is a four-column press, comprising a column 113, a fixed beam 114 mounted on the top of the column 113, and a movable beam 115 slidably connected to the column 113. A main cylinder 116 is mounted on the fixed beam 114 and connected to the movable beam 115. Driven by the movement of the main cylinder 116, the movable beam 115 can move up and down along the column 113. A quick-change mechanism 15 for the pressure head is installed at the bottom of the movable beam 115. The pressure head 16 for extruding the rubber node 112 is connected to the bottom of the movable beam 115 through this mechanism. Since there are many types of suspension rod nodes, different types of pressure heads are required for different types of suspension rod nodes during node removal. The quick-change mechanism allows for rapid replacement of different types of pressure heads, further improving work efficiency and shortening working time.

[0030] like Figure 5 and Figure 6As shown, the quick-change mechanism 15 for the pressure head includes a base block 151 disposed on the bottom of the movable beam 115 and auxiliary cylinders 152 and 153 disposed on both sides of the base block 151. An L-shaped clamping block 154 is disposed on the auxiliary cylinder 152, and an L-shaped clamping block 155 is disposed on the auxiliary cylinder 153. Driven by the movement of the auxiliary cylinders 152 and 153, the L-shaped clamping blocks 154 and 155 can move up and down. The pressure head 16 includes a pressure rod 161 and a pressure head body 162 disposed on one end of the pressure rod 161. A pressure rod flange 163 is disposed on the outer circumferential surface of the other end of the pressure rod 161. By moving the L-shaped clamping blocks 154 and 155 upwards to contact the bottom of the pressure rod flange 163, the other end of the pressure rod 161 is pressed against the bottom of the base block 151. Different pressure head bodies 162 are designed according to different types of suspension rod nodes, but the pressure rod 161 and pressure rod flange 163 of the pressure head have the same structure.

[0031] When the pressure head needs to be replaced, first control the movement of auxiliary cylinder 152 and auxiliary cylinder 253 to drive L-shaped clamping block 154 and L-shaped clamping block 255 to move down and open. Then, use a robotic arm to move the pressure head horizontally and take it out. Then, use the robotic arm to move the pressure head to be replaced horizontally back in, so that the pressure rod flange 163 on the other end of the pressure rod of the pressure head to be replaced is located at L-shaped clamping block 154 and L-shaped clamping block 255. Then control the movement of auxiliary cylinder 152 and auxiliary cylinder 253 to drive L-shaped clamping block 154 and L-shaped clamping block 255 to move up. The L-shaped clamping block 154 and L-shaped clamping block 255 move upward and contact the bottom of the pressure rod flange 163, so that the other end of the pressure rod 161 is pressed against the bottom of the base block 151, realizing the quick replacement of the pressure head.

[0032] like Figure 7 As shown, a boss 101 is provided on the conveying platform 10 of the retraction press, and a boss through hole 102 is also provided on the boss 101. The boss 101 serves as a force-bearing structure during the retraction of the rubber node 112. When the press head extrudes the rubber node 112, the boss 101 supports the workpiece tray 13. After the rubber node 112 is extruded, it falls onto the node tray 14 in sequence through the tray through hole on the workpiece tray 13 and the boss through hole 102 on the boss 101.

[0033] like Figure 8As shown, a node guiding and centering mechanism is also provided in the unloading press conveying platform 10 and above the node conveying platform 12. The node guiding and centering mechanism includes a left V-shaped plate 17 and a right V-shaped plate 18. A left drive cylinder 19 and a right drive cylinder 20 are also provided in the unloading press conveying platform 10. The left drive cylinder 19 is connected to the left V-shaped plate 17 for transmission, and the right drive cylinder 20 is connected to the right V-shaped plate 18 for transmission. Under the action of the left drive cylinder 19 and the right drive cylinder 20, the left V-shaped plate 17 and the right V-shaped plate 18 can move relatively closer or relatively farther apart. The left V-shaped plate 17 and the right V-shaped plate 18 are respectively located on both sides below the boss through hole 102. Before the rubber node 112 falls out of the boss through hole 102, the left V-shaped plate 17 and the right V-shaped plate 18 are controlled to move relatively close until they are close to the outer peripheral surface of the rubber node 112 to form a guide channel, guiding the rubber node 112 to fall onto the node tray 14. During the falling process, the left V-shaped plate 17 and the right V-shaped plate 18 do not contact the outer peripheral surface of the rubber node 112 but leave a certain gap. After the rubber node 112 falls onto the node tray 14, the left V-shaped plate 17 and the right V-shaped plate 18 are controlled to continue moving relatively close until they contact the outer peripheral surface of the rubber node 112, thereby using the left V-shaped plate 17 and the right V-shaped plate 18 to center the rubber node 112 and adjust its position on the node tray 14 for the next operation. By designing a node guiding and centering mechanism, it is ensured that the rubber node can fall smoothly onto the node tray and that its position on the node tray can be adjusted, thus ensuring the smooth progress of automated maintenance work.

[0034] like Figure 7 As shown, the node conveying platform 12 includes a left conveyor chain 121, a right conveyor chain 122, and a lifting mechanism disposed between the left and right conveyor chains 121 and 122. The lifting mechanism includes a lifting cylinder 1231 and a lifting plate 1232 connected to the lifting cylinder 1231. The lifting plate 1232 of the lifting mechanism can lift the node tray 14 placed on the left and right conveyor chains 121 and 122. Before the rubber node 112 falls, the node tray 14 is first lifted to detach it from the left and right conveyor chains 121 and 122. After the rubber node 112 falls onto the node tray 14, the node tray 14 with the rubber node 112 is then lowered and placed back onto the left and right conveyor chains 121 and 122. This avoids the impact on the conveyor chains when the rubber node falls, thereby improving the service life of the node conveying platform.

[0035] like Figures 9 to 11As shown, before the node removal, the lifting plate 1232 of the lifting mechanism first lifts the node tray 14, causing the node tray 14 to separate from the left conveyor chain 121 and the right conveyor chain 122. Then, the left V-shaped plate 17 and the right V-shaped plate 18 are controlled to move relatively close until they form a guide channel near the outer peripheral surface of the rubber node 112. Then, the node removal press 11 is used to squeeze the rubber node 112, causing the rubber node 112 to fall. The guide channel guides the falling process of the rubber node 112, so that the rubber node 112 falls into the node. Place the rubber node 112 on the node tray 14; then control the left V-shaped plate 17 and the right V-shaped plate 18 to continue moving closer to each other until they contact the outer peripheral surface of the rubber node 112, thereby using the left V-shaped plate 17 and the right V-shaped plate 18 to center the rubber node 112 on the node tray 14. After centering, control the left V-shaped plate 17 and the right V-shaped plate 18 to move away from each other and open. Then control the lifting plate 1232 of the lifting mechanism to move down and place the node tray 14 with the rubber node 112 back on the left conveyor chain 121 and the right conveyor chain 122.

[0036] like Figure 4 As shown, a vision inspection mechanism 21 is also provided on the side of the retraction press 11. After the rubber node 112 is retracted, the retraction press conveyor platform 10 is first controlled to move, driving the workpiece tray 13 containing the component body 111 to a position below the camera 211 of the vision inspection mechanism 21. The camera 211 inspects the inner hole of the component body 111 to check for cracks or other problems. After the inspection is completed, the retraction press conveyor platform 10 is controlled to move, driving the workpiece tray 13 containing the component body 111 to the cleaning and polishing mechanism 9 for cleaning and polishing.

[0037] like Figure 3 As shown, the cleaning and polishing mechanism 9 includes a cleaning and polishing conveying platform 911, on which a cleaning agent spraying station 912, a cleaning station 913 and a polishing station 914 are sequentially arranged.

[0038] like Figure 12 As shown, an XYZ three-axis moving mechanism 22 and a spray head 23 are installed on the cleaning and polishing conveyor platform 911 located at the cleaning agent spraying station 912. After the retractable press conveyor platform 10 moves the workpiece tray 13 containing the component body 111 onto the cleaning and polishing conveyor platform 911, it is then moved to the cleaning agent spraying station 912 via the cleaning and polishing conveyor platform 911. The XYZ three-axis moving mechanism 22 drives the spray head 23 to spray cleaning agent onto the inner hole of the component body 111.

[0039] Because the inner pores of component body 111 have a thick layer of grease, if cleaning agent is sprayed directly onto the inner pores, the cleaning agent will easily fall off. By the time it reaches the next cleaning station 913, there will be very little cleaning agent left on the inner pores, thus failing to achieve a good cleaning effect. Therefore, the applicant has also designed the spray head 23 accordingly. Figure 13 and Figure 14 As shown, the spray head 23 includes a rod-shaped pneumatic motor 24 mounted on an XYZ three-axis moving mechanism 22 and a brush head 25 that is connected and driven by the pneumatic motor 24. The brush head 25 is made of nylon and can be rotated by the pneumatic motor 24. An outer cylinder 26 is also mounted on the XYZ three-axis moving mechanism 22. One end of the pneumatic motor 24 is connected to the XYZ three-axis moving mechanism 22, and the other end of the pneumatic motor 24 passes through the outer cylinder 26 and protrudes from it. The brush head 25 is connected to the other end of the pneumatic motor 24 that protrudes from the outer cylinder 26, so that the brush head 25 is located below the bottom surface of the outer cylinder 26. Along the axial direction of the outer cylinder 26, a plurality of liquid channels 27 are provided inside the cylinder wall of the outer cylinder 26, and one end of the liquid channel 27 is connected to the cleaning agent delivery pipe 28 of the cleaning agent delivery device.

[0040] like Figure 15 As shown (solid arrows in the figure represent the flow direction of the cleaning agent, and hollow arrows represent the flow direction of the compressed gas), when spraying the cleaning agent, the cleaning agent is first delivered to the brush head 25 through the liquid channel 27 of the outer cylinder 26 via the cleaning agent delivery pipe 28. The pneumatic motor 24 is controlled to drive the brush head 25 to rotate, and then the XYZ three-axis moving mechanism 22 (not shown in the figure) is controlled to drive the brush head 25 to extend into the inner hole of the component body 111 and brush along the inner circumferential surface of the inner hole. In this way, by using the brush head and the cleaning agent in combination, the cleaning agent is applied to the inner hole while the brush head cleans the grease in the inner hole, instead of being sprayed directly. This allows the cleaning agent to adhere well to the inner hole, avoiding the problem of excessive cleaning agent falling off, thereby improving the cleaning effect of the inner hole of the component body 111.

[0041] During operation, since the brush head 25 is constantly rotating, if the flow direction of the cleaning agent cannot be controlled, it will be flung everywhere by the brush head 25, causing environmental pollution. Therefore, the applicant has installed a collection tank (not shown in the figure) on the cleaning and polishing conveying platform 911 located at the cleaning agent spraying station 912. The collection tank is located below the brush head 25. An air hole 241 is opened on the outer peripheral surface of the pneumatic motor 24. A gap is left between the outer peripheral surface of the pneumatic motor 24 and the inner peripheral surface of the outer cylinder 26, forming an annular channel 29. When the pneumatic motor 24 is working, the compressed air inside it is ejected through the air hole 241 on its outer peripheral surface. Part of the ejected compressed air is guided downwards by the annular channel 29 and blown onto the brush head 25. This also guides the cleaning agent delivered to the brush head 25 downwards, preventing the cleaning agent from being flung everywhere by the brush head 25, but instead causing it to fall downwards into the collection tank, thus collecting residual cleaning agent and avoiding environmental pollution. To increase the amount of compressed air sprayed downwards, the top of the annular channel 1 can be sealed, allowing all the compressed air to be discharged downwards, thereby increasing the guiding effect of the compressed air.

[0042] like Figure 16 As shown, an XYZ three-axis moving mechanism 2 30 and a cleaning head 31 are installed on the cleaning and grinding conveying platform 911 located at the cleaning station 913. After the retractable press conveying platform 10 moves the sprayed workpiece tray 13 containing the component body 111 to the cleaning station 913, the XYZ three-axis moving mechanism 2 30 drives the cleaning head 31 to clean the inner hole of the component body 111.

[0043] The structure of the cleaning head 31 is similar to that of the spray head 23 (see reference). Figure 13 and Figure 15The only difference is the absence of a liquid channel. The cleaning head 31 includes a rod-shaped pneumatic motor 2 mounted on an XYZ three-axis moving mechanism 2 30 and a brush head 2 that is connected and driven by the pneumatic motor 2. The brush head 2 is also made of nylon and can be rotated by the pneumatic motor 2. An outer cylinder 2 is also mounted on the XYZ three-axis moving mechanism 2 30. One end of the pneumatic motor 2 is connected to the XYZ three-axis moving mechanism 2 30, and the other end of the pneumatic motor 2 passes through and protrudes from the outer cylinder 2. The brush head 2 is connected to the other end of the pneumatic motor 2 protruding from the outer cylinder 2, thus positioning the brush head 2 below the bottom surface of the outer cylinder 2. Air holes are formed on the outer circumferential surface of the pneumatic motor II, and a gap is left between the outer circumferential surface of the pneumatic motor II and the inner circumferential surface of the outer cylinder II, forming an annular channel II. When the pneumatic motor II is working, the compressed air inside it is ejected through the air holes on its outer circumferential surface. Some of the ejected compressed air is guided downwards by the annular channel II and blown onto the brush head II, which guides the dust and debris on the brush head II downwards. A collection trough II is also set on the cleaning and polishing conveying platform located at the cleaning station. The dust and debris falling downwards falls into the collection trough II for collection, preventing environmental pollution. To increase the amount of compressed air injected downwards, the top of the annular channel II can be sealed, allowing all the compressed air to be discharged downwards, thereby increasing the guiding effect of the compressed air.

[0044] During cleaning, the pneumatic motor 2 drives the brush head 2 to rotate, and simultaneously, compressed air ejected by the pneumatic motor 2 is used to blow air towards the brush head 2. Then, the XYZ three-axis moving mechanism 30 is controlled to drive the brush head 2 into the inner hole of the component body 111, cleaning along the inner circumferential surface of the inner hole. In this way, by using the brush head 2 and compressed air in conjunction, the brush head 2 cleans the inner hole while the compressed air blows the dust generated during cleaning downwards, causing the dust to fall into the collection tank 2 for collection, thus preventing environmental pollution.

[0045] like Figure 16 As shown, an XYZ three-axis moving mechanism 32 and a grinding head 33 are mounted on the cleaning and grinding conveying platform 911 located at the grinding station 914. After the unloading press conveying platform 10 moves the cleaned workpiece tray 13 containing the component body 111 to the grinding station 914, the XYZ three-axis moving mechanism 32 drives the grinding head 33 to grind the inner hole of the component body 111.

[0046] The structure of the grinding head 33 is the same as that of the cleaning head 31 (see reference). Figure 13 and Figure 15The only difference is that the brush head material of the polishing head 33 is different from that of the cleaning head 31 and the spray head 23. That is, the brush heads of the cleaning head 31 and the spray head 23 are made of nylon, while the brush head of the polishing head 33 is made of metal, such as copper wire.

[0047] The grinding head 33 includes a rod-shaped pneumatic motor 3 mounted on an XYZ three-axis moving mechanism 32 and a brush head 3 that is connected and driven by the pneumatic motor 3. The brush head 3 is made of copper wire and can be rotated by the pneumatic motor 3. An outer cylinder 3 is also provided on the XYZ three-axis moving mechanism 32. One end of the pneumatic motor 3 is connected to the XYZ three-axis moving mechanism 32, and the other end of the pneumatic motor 3 passes through the outer cylinder 3 and is exposed outside the outer cylinder 3. The brush head 3 is connected to the other end of the pneumatic motor 3 exposed outside the outer cylinder 3, so that the brush head 3 is located below the bottom end face of the outer cylinder 3. Air holes are formed on the outer circumferential surface of the pneumatic motor three. A gap is left between the outer circumferential surface of the pneumatic motor three and the inner circumferential surface of the outer cylinder three, forming an annular channel three. When the pneumatic motor three is working, the compressed air inside it is ejected through the air holes on its outer circumferential surface. Some of the ejected compressed air is guided downward by the annular channel three and blown onto the brush head three, which plays a downward guiding role for the dust and debris on the brush head three. A collection trough three is also set on the cleaning and grinding conveying platform located at the grinding station. The dust and debris falling downward falls into the collection trough three for collection, avoiding environmental pollution. To increase the amount of compressed air injected downward, the top of the annular channel three can be sealed, so that all the compressed air is discharged downward, thereby increasing the guiding effect of the compressed air.

[0048] During polishing, the pneumatic motor 3 drives the brush head 3 to rotate, and simultaneously, compressed air injected by the pneumatic motor 3 blows towards the brush head 3. Then, the XYZ three-axis moving mechanism 32 drives the brush head 3 to extend into the inner hole of the component body 111, polishing along the inner circumferential surface of the inner hole. In this way, by using the brush head 3 and compressed air in conjunction, the brush head polishes the inner hole while the compressed air blows the dust generated during polishing downwards, causing the dust to fall into the collection tank 3 for collection, thus preventing environmental pollution.

[0049] like Figure 17As shown, the lubricant application and node assembly module 6 includes a conveying platform 34, a lubricant application mechanism 35 disposed on the conveying platform 34, and a node assembly press 36. The robot arm 3 places the component body 111 onto the node assembly tray 37, and then places the node assembly tray 37 containing the component body 111 onto the conveying platform 34. The robot arm 3 then places the new rubber node 112 onto the inner hole of the component body 111. Since the rubber node 112 has not yet been compressed, its outer peripheral surface is exposed outside the inner hole of the component body 111. The conveying platform 34 then transports the node assembly tray 37 containing the component body 111 and the rubber node 112 to the lubricant application mechanism 35. The lubricant application mechanism 35 applies lubricant to the exposed outer peripheral surface of the rubber node 112. The conveying platform 34 then transports the node assembly tray 37 containing the component body 111 and the rubber node 112 to the position below the node assembly press 36. Finally, the press head of the node assembly press 36 compresses the rubber node 112 into the inner hole of the component body 111, thereby completing the assembly of the suspension rod node.

[0050] The lubricant application mechanism 35 includes a bracket 351 mounted on the conveying platform 34, a lubricant tank 352 mounted on the bracket 351, and a lubricant application robot 353. During operation, the lubricant application robot 353 applies the lubricant from the lubricant tank 352 to the outer peripheral surface of the exposed rubber nodes 112. In this embodiment, the lubricant application robot 353 can be a four-axis robot.

[0051] The node assembly tray 37 includes a base plate 371 and a base plate cylinder 372 disposed on the bottom of the base plate 371. One end of the inner hole of the component body 111 of the rubber node to be pressed is placed on the base plate 371 on the side of the base plate cylinder 372.

[0052] like Figure 18As shown, the conveying platform 34 includes a platform body 38 and an air-suspended moving platform 39 mounted on the platform body 38. The node assembly tray 37 is placed on the air-suspended moving platform 39. The bracket 351 of the lubricant application mechanism 35 and the node assembly press 36 are mounted on the platform body 38. When moving, the air-suspended moving platform 39 is in a suspended state, separated from the platform body 38 for movement. When pressing rubber nodes, the air-suspended moving platform 39 is stationary and its compressed air supply is cut off, causing it to fall onto the platform body 38 and form an integral structure with it. This is because pressing rubber nodes requires withstanding significant pressure. The air-suspended moving platform and the platform body form an integral structure to share the pressure, thus ensuring the smooth progress of the node assembly work. In addition, when the air suspension mobile platform 39 moves to the lubricant application mechanism 35 to apply lubricant, the air suspension mobile platform 39 needs to be stationary and the supply of compressed air to the air suspension mobile platform 39 needs to be cut off so that it falls onto the platform body 38 and contacts the platform body 38 to form an integral structure. This can better ensure the application effect of the lubricant.

[0053] like Figures 18 to 21 As shown, guide rail 381 and guide rail 382 are provided on the platform body 38. The air-suspended mobile platform 39 includes a bottom pneumatic plate 391 and a support plate 392 disposed on the bottom pneumatic plate 391. By injecting compressed air downward from the bottom pneumatic plate 391, a force is generated, thereby suspending the air-suspended mobile platform 39 on the platform body 38. The size of the support plate 392 is larger than the size of the bottom pneumatic plate 391, so that the four peripheries of the support plate 392 are exposed outside the four peripheries of the bottom pneumatic plate 391. The bottom pneumatic plate 391 is located between guide rail 381 and guide rail 382. The width D of 391 matches the distance L between guide rail 381 and guide rail 382, ​​so that when moving, guide rail 381 and guide rail 382 guide the bottom pneumatic plate 391. When the air-suspended mobile platform 39 is in a suspended state, the opposite sides of the exposed bearing plate 392 are located above the top surfaces of guide rail 381 and guide rail 382, ​​with a gap between them. When the air-suspended mobile platform 39 falls, the opposite sides of the exposed bearing plate 392 contact the top surfaces of guide rail 381 and guide rail 382, ​​so that the air-suspended mobile platform 39 and the platform body 38 form an integrated force-bearing structure.

[0054] like Figure 18 and Figure 19As shown, a platform transmission mechanism 40 is also provided on the platform body 38, which is connected to the air-suspended mobile platform 39. When the air-suspended mobile platform 39 is in a suspended state, the platform transmission mechanism 40 can drive the air-suspended mobile platform 39 to move back and forth along the platform body 38. In this embodiment, the platform transmission mechanism 40 adopts a synchronous belt transmission mechanism, and the transmission belt 401 of the synchronous belt transmission mechanism is connected to the support plate 392 of the air-suspended mobile platform 39, so that the air-suspended mobile platform 39 can be driven to move back and forth under the action of the synchronous belt transmission mechanism.

[0055] like Figure 20 and Figure 21 As shown, an air inlet 41 is provided on the support plate 392, and an air outlet 42 is provided on the bottom pneumatic plate 391. A gas guide groove 43 is also provided on the bottom surface of the bottom pneumatic plate 391. The air inlet 41 is connected to the air outlet 42, and the air outlet 42 is connected to the gas guide groove 43. When air is supplied, compressed air is injected downward through the air inlet 41, the air outlet 42 and the gas guide groove 43 in sequence, thereby making the air suspension mobile platform 39 suspend in a suspended state.

[0056] like Figure 22 and Figure 20 As shown, an outer flange 373 is provided at the bottom end of the bottom plate cylinder 372 of the node assembly tray, and a positioning ring 44 is provided on the top surface of the bearing plate 392. The outer diameter of the outer flange 373 matches the inner diameter of the positioning ring 44. A cylinder limiting mechanism is also provided on the top surface of the bearing plate 392. The cylinder limiting mechanism includes a limiting block 45 and a limiting block 46 slidably connected to the bearing plate 392, and a power cylinder 47 and a power cylinder 48 provided on the bearing plate 392. The limiting blocks 45 and 46 are located above the positioning ring 44 on both sides. The power cylinder 47 is connected to the limiting block 45, and the power cylinder 48 is connected to the limiting block 46. Under the drive of the power cylinders 47 and 48, the limiting blocks 45 and 46 can move relatively closer or relatively farther apart.

[0057] like Figure 23As shown, when the node assembly tray is placed on the support plate 392, the outer flange 373 of the bottom plate cylinder of the node assembly tray is placed on the support plate 392 located in the positioning ring 44. Then, the power cylinder 47 and the power cylinder 48 are controlled to move, causing the limiting block 45 and the limiting block 46 to move closer to each other, so that the limiting block 45 and the limiting block 46 are located above the outer flange 373 of the bottom plate cylinder, thereby forming an axial limit on the outer flange 373 of the bottom plate cylinder. This setting is to prevent the node assembly tray from moving together when the robot removes the suspension rod node after the suspension rod node is assembled. In this embodiment, by using the limiting blocks and the outer flange of the bottom plate cylinder to form a limiting structure, it can ensure that the suspension rod node and the node assembly tray can be separated smoothly, and the robot can smoothly remove the suspension rod node.

[0058] like Figure 20 , Figure 22 and Figure 23 As shown, a directional pin 49 is also provided on the bearing plate 392 located in the positioning ring 44, and an arc-shaped groove 374 is provided on the outer flange 373 of the bottom plate cylinder. The radius of the arc-shaped groove 374 matches the radius of the directional pin 49. When the node assembly tray is placed on the bearing plate 392, the directional pin 49 is engaged in the arc-shaped groove 374 to position the node assembly tray.

[0059] like Figure 20 As shown, a base plate support mechanism is also provided on the support plate 392. The base plate support mechanism includes a support frame 50 rotatably connected to the support plate 392 and a rotary power cylinder 51 disposed on the support plate 392. The rotary power cylinder 51 is pultrusively connected to the support frame 50. The support frame 50 is located on the side of the base plate cylinder 372 away from the node assembly tray. It only serves as a support and does not bear the pressure during the pressing of the rubber nodes. When supporting the node assembly tray 37, the support frame 50 is in a vertical state. However, since the robot arm removes the node assembly tray 37 from the support plate 392 in a horizontal direction (as shown by the hollow arrow in the figure), the vertical support frame 50 will obstruct the base plate cylinder 372 of the node assembly tray. Therefore, it is necessary to first control the rotary power cylinder 51 to rotate the support frame 50 90 degrees to a horizontal state to avoid the base plate cylinder 372, and then control the robot arm to remove the node assembly tray. This ensures the normal progress of maintenance work.

[0060] In summary, this invention, through the design of an automated maintenance line for suspension member nodes, enables automatic maintenance of suspension member nodes in high-speed trains, improving maintenance efficiency, shortening maintenance time, and reducing maintenance intensity. The quick-change pressure head mechanism allows for rapid replacement of different types of pressure heads, further improving work efficiency and shortening working time. The designed node guiding and centering mechanism ensures that rubber nodes fall smoothly onto the node tray and adjusts their position on the tray, guaranteeing the smooth progress of automated maintenance. When a rubber node falls, the node tray disengages from the left and right conveyor chains, preventing impact on the conveyor chains and thus extending the service life of the node conveyor platform. By designing a spray head that combines a brush head and cleaning agent, the brush head cleans grease from the inner holes while simultaneously applying the cleaning agent, rather than spraying it directly. This ensures the cleaning agent adheres well to the inner holes, preventing excessive spillage and improving the cleaning effect on the component's internal pores. A guide structure is also designed to direct compressed air, guiding the cleaning agent delivered to the brush head downwards. This prevents the cleaning agent from being flung everywhere and instead collects residual cleaning agent in the collection tank, avoiding environmental pollution. During node installation, an air-suspended moving platform is designed to remain suspended, ensuring smooth movement. During the pressing of the rubber node, the air-suspended moving platform and the platform body form an integrated structure, sharing the pressure to press the rubber node in place, thus ensuring the smooth progress of the node installation work.

[0061] In this embodiment, "multiple" refers to "two or more". The above embodiments are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various changes or modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions should also fall within the protection scope of this invention, which is defined by the claims.

Claims

1. An automated maintenance line for suspension member nodes of a high-speed train, characterized in that: The system includes a robotic arm (3) with a ground rail (2), a dimension detection module (4) set on one side of the ground rail (2), a node removal and inner hole processing module (5), a lubricant application and node installation module (6), and a post-processing module (7). The robotic arm (3) is used to switch the suspension rod node to be inspected between the dimension detection module (4), the node removal and inner hole processing module (5), the lubricant application and node installation module (6), and the post-processing module (7) to complete the inspection of the suspension rod node. The node removal and inner hole processing module (5) includes a node removal mechanism (8) and a cleaning and grinding mechanism (9). The node removal mechanism (8) includes a node removal press conveying platform (10), a node removal press (11) set on the node removal press conveying platform (10), and a node conveying platform (12) set below the node removal press conveying platform (10). The suspension rod node (1) to be inspected is placed on the workpiece tray (13), which is placed on the node unloading press conveying platform (10), and the node tray (14) is placed on the node conveying platform (12). The unloading press (11) includes a column (113), a fixed beam (114) set on the top of the column (113), and a movable beam (115) slidably connected to the column (113). A main cylinder (116) is set on the fixed beam (114). The main cylinder (116) is connected to the movable beam (115). Driven by the movement of the main cylinder (116), the movable beam (115) can move up and down along the column (113). The bottom of the movable beam (115) is equipped with a quick-change mechanism (15) for extruding the rubber node (112), and the pressure head (16) of the extruding rubber node (112) is connected to the bottom of the movable beam (115) through the quick-change mechanism for extruding the pressure head. The quick-change mechanism (15) for pressure heads includes a base block (151) set on the bottom of the movable beam (115) and auxiliary cylinders 1 (152) and 2 (153) set on both sides of the base block (151). An L-shaped clamping block 1 (154) is set on the auxiliary cylinder 1 (152), and an L-shaped clamping block 2 (155) is set on the auxiliary cylinder 2 (153). Under the action of the auxiliary cylinders 1 (152) and 2 (153), the L-shaped clamping block 1 (154) and the L-shaped clamping block 2 (155) can move up and down. The pressure head (16) includes a pressure rod (161) and a pressure head body (162) disposed on one end of the pressure rod (161). A pressure rod flange (163) is provided on the outer peripheral surface of the other end of the pressure rod (161). The L-shaped clamping block one (154) and the L-shaped clamping block two (155) move upward to contact the bottom of the pressure rod flange (163), thereby pressing the other end of the pressure rod (161) against the bottom of the base block (151).

2. The automated maintenance line according to claim 1, characterized in that: In the retraction press conveying platform (10) and above the node conveying platform (12), a node guide centering mechanism is also provided. The node guide centering mechanism includes a left V-shaped plate (17) and a right V-shaped plate (18). In the retraction press conveying platform (10), a left drive cylinder (19) and a right drive cylinder (20) are also provided. The left drive cylinder (19) is connected to the left V-shaped plate (17) through transmission, and the right drive cylinder (20) is connected to the right V-shaped plate (18) through transmission. Under the action of the left drive cylinder (19) and the right drive cylinder (20), the left V-shaped plate (17) and the right V-shaped plate (18) can move relatively closer or relatively farther apart. The node conveying platform (12) includes a left conveying chain (121), a right conveying chain (122), and a lifting mechanism disposed between the left conveying chain (121) and the right conveying chain (122). The lifting mechanism includes a lifting cylinder (1231) and a lifting plate (1232) connected to the lifting cylinder (1231). The lifting plate (1232) of the lifting mechanism can lift the node tray (14) placed on the left conveying chain (121) and the right conveying chain (122).

3. The automated maintenance line according to claim 1, characterized in that: The cleaning and polishing mechanism (9) includes a cleaning and polishing conveying platform (911), on which a cleaning agent spraying station (912), a cleaning station (913) and a polishing station (914) are arranged in sequence; an XYZ three-axis moving mechanism (22) and a spraying head (23) are arranged on the cleaning and polishing conveying platform (911) located at the cleaning agent spraying station (912); The spray head (23) includes a rod-shaped pneumatic motor (24) mounted on an XYZ three-axis moving mechanism (22) and a brush head (25) that is connected to the pneumatic motor (24) for transmission. An outer cylinder (26) is also mounted on the XYZ three-axis moving mechanism (22). One end of the pneumatic motor (24) is connected to the XYZ three-axis moving mechanism (22), and the other end of the pneumatic motor (24) passes through the outer cylinder (26) and is exposed outside the outer cylinder (26). The brush head (25) is connected to the other end of the pneumatic motor (24) exposed outside the outer cylinder (26). This allows the brush head (25) to be positioned below the bottom end face of the outer cylinder (26); along the axial direction of the outer cylinder (26), a through-flow liquid channel (27) is provided inside the cylinder wall of the outer cylinder (26), one end of which is connected to the cleaning agent delivery pipe (28) of the cleaning agent delivery device; an air hole (241) is opened on the outer peripheral surface of the pneumatic motor (24), and a gap is left between the outer peripheral surface of the pneumatic motor (24) and the inner peripheral surface of the outer cylinder (26), forming an annular channel (29); a collection tank is provided on the cleaning and polishing delivery platform (911) located at the cleaning agent spraying station (912).

4. The automated maintenance line according to claim 1, characterized in that: The lubricant application and node assembly module (6) includes a conveying platform (34), a lubricant application mechanism (35) and a node assembly press (36) mounted on the conveying platform (34). The conveying platform (34) includes a platform body (38) and an air-suspended mobile platform (39) set on the platform body (38), and the node assembly tray (37) is placed on the air-suspended mobile platform (39); Guide rail one (381) and guide rail two (382) are provided on the platform body (38). The air-suspended mobile platform (39) includes a bottom pneumatic plate (391) and a support plate (392) provided on the bottom pneumatic plate (391). By spraying compressed air downward from the bottom pneumatic plate (391) to form a force, the air-suspended mobile platform (39) is suspended on the platform body (38). The size of the support plate (392) is larger than that of the bottom pneumatic plate (391), so that the four peripheries of the support plate (392) are exposed outside the four peripheries of the bottom pneumatic plate (391). The bottom pneumatic plate (391) is located between guide rail one (381) and guide rail two (382). The width D of 391 matches the distance L between guide rail 1 (381) and guide rail 2 (382), so that when moving, guide rail 1 (381) and guide rail 2 (382) guide the bottom pneumatic plate (391); when the air suspension moving platform (39) is in a suspended state, the opposite sides of the exposed bearing plate (392) are located above the top surfaces of guide rail 1 (381) and guide rail 2 (382), with a gap between them; when the air suspension moving platform (39) falls, the opposite sides of the exposed bearing plate (392) contact the top surfaces of guide rail 1 (381) and guide rail 2 (382), so that the air suspension moving platform (39) and the platform body (38) form an integrated force-bearing structure; A platform transmission mechanism (40) is also provided on the platform body (38), which is connected to the air suspension mobile platform (39). When the air suspension mobile platform (39) is in a suspended state, the platform transmission mechanism (40) can drive the air suspension mobile platform (39) to move back and forth along the platform body (38) under the action of the platform transmission mechanism (40).

5. A maintenance method for an automated maintenance line according to any one of claims 1 to 4, characterized in that: First, the robot (3) places the suspension rod node (1) to be repaired into the node removal and inner hole processing module (5) for node removal operation and cleans and polishes the inner hole of the component body (111) in the suspension rod node after node removal. Then, the robot (3) sends the component body (111) into the dimension detection module (4) for dimension detection. Then, the robot (3) places the component body (111) and rubber node (112) into the lubricant application and node assembly module (6) to reassemble them into the suspension rod node (1). Finally, the robot (3) sends the assembled suspension rod node (1) into the post-processing module (7) for post-processing operation, and finally completes the repair.

6. The maintenance method according to claim 5, characterized in that: The node removal and inner hole processing module (5) includes a node removal mechanism (8) and a cleaning and polishing mechanism (9). After the robot (3) places the suspension rod node to be inspected into the node removal and inner hole processing module (5), the old rubber node (112) in the suspension rod node is first removed from the inner hole of the component body (111) by the node removal mechanism (8), and then the component body (111) is sent into the cleaning and polishing mechanism (9) to clean and polish the inner hole of the component body (111).

7. The maintenance method according to claim 6, characterized in that: The node removal mechanism (8) includes a node removal press conveying platform (10), a node removal press (11) disposed on the node removal press conveying platform (10), and a node conveying platform (12) disposed below the node removal press conveying platform (10). The suspension rod node (1) to be inspected is placed on the workpiece tray (13), which is placed on the node unloading press conveying platform (10), and the node tray (14) is placed on the node conveying platform (12). When removing nodes, the workpiece tray (13) with the suspension rod node (1) is first moved to the underside of the node removal press (11) by the node removal press conveying platform (10). Then, the node removal press (11) is controlled to press down the rubber node (112) in the suspension rod node (1). The workpiece tray (13) has a tray through hole for the rubber node (112) to fall. When the node removal press (11) presses down the rubber node (112), the rubber node (112) falls through the tray through hole on the workpiece tray (13) onto the node tray (14). The node tray (14) with the rubber node (112) is then conveyed out by the node conveying platform (12). The node removal press conveying platform (10) conveys the remaining component body (111) and the workpiece tray (13) after node removal to the cleaning and polishing mechanism (9) for cleaning and polishing.

8. The maintenance method according to claim 7, characterized in that: The retraction press (11) includes a column (113), a fixed beam (114) set on the top of the column (113), and a movable beam (115) slidably connected to the column (113). A main cylinder (116) is set on the fixed beam (114). The main cylinder (116) is connected to the movable beam (115). Driven by the movement of the main cylinder (116), the movable beam (115) can move up and down along the column (113). A quick-change mechanism (15) for pressing heads is installed at the bottom of the movable beam (115). The pressing head (16) for pressing the rubber node (112) is connected to the bottom of the movable beam (115) through the quick-change mechanism for pressing heads. The pressure head (16) includes a pressure rod (161) and a pressure head body (162) disposed on one end of the pressure rod (161). A pressure rod flange (163) is provided on the outer peripheral surface of the other end of the pressure rod (161). The L-shaped clamping block one (154) and the L-shaped clamping block two (155) move upward to contact the bottom of the pressure rod flange (163), thereby pressing the other end of the pressure rod (161) against the bottom of the base block (151). When the pressure head needs to be replaced, first control the movement of the auxiliary cylinder one (152) and auxiliary cylinder two (153) to drive the L-shaped clamping block one (154) and L-shaped clamping block two (155) to move down and open. Then, use the robot arm to move the pressure head horizontally to take it out. Then, use the robot arm to move the pressure head to be replaced horizontally back in, so that the pressure rod flange (163) on the other end of the pressure rod of the pressure head to be replaced is located between the L-shaped clamping block one (154) and L-shaped clamping block two (155). At position 155), the movement of the auxiliary cylinder one (152) and auxiliary cylinder two (153) is controlled to drive the L-shaped clamping block one (154) and L-shaped clamping block two (155) to move upward. The L-shaped clamping block one (154) and L-shaped clamping block two (155) move upward and contact the bottom of the pressure rod flange (163), so that the other end of the pressure rod (161) is pressed against the bottom of the base block (151), realizing the quick replacement of the pressure head.

9. The maintenance method according to claim 7, characterized in that: A node guiding and centering mechanism is also provided in the retracting node press conveying platform (10) and above the node conveying platform (12). The node guiding and centering mechanism includes a left V-shaped plate (17) and a right V-shaped plate (18). A left drive cylinder (19) and a right drive cylinder (20) are also provided in the retracting node press conveying platform (10). The left drive cylinder (19) is connected to the left V-shaped plate (17) for transmission, and the right drive cylinder (20) is connected to the right V-shaped plate (18) for transmission. Under the action of the left drive cylinder (19) and the right drive cylinder (20), the node guiding and centering mechanism includes a left V-shaped plate (17) and a right V-shaped plate (18) for transmission. The left V-shaped plate (17) and the right V-shaped plate (18) can move relatively close to each other or relatively far apart; the node conveying platform (12) includes a left conveying chain (121), a right conveying chain (122) and a lifting mechanism disposed between the left conveying chain (121) and the right conveying chain (122). The lifting mechanism includes a lifting cylinder (1231) and a lifting plate (1232) connected to the lifting cylinder (1231). The lifting plate (1232) of the lifting mechanism can lift the node tray (14) placed on the left conveying chain (121) and the right conveying chain (122). Before removing the node, the lifting plate (1232) of the lifting mechanism lifts the node tray (14) so ​​that the node tray (14) is separated from the left conveyor chain (121) and the right conveyor chain (122). Then, the left V-shaped plate (17) and the right V-shaped plate (18) are controlled to move relatively close until they form a guide channel near the outer circumference of the rubber node (112). Then, the node removal press (11) is used to squeeze the rubber node (112) so that the rubber node (112) falls off. The falling process of the rubber node (112) is guided by the guide channel so that the rubber node (112) falls onto the node tray (1232). 14) On; then control the left V-plate (17) and the right V-plate (18) to continue moving closer to each other until they contact the outer periphery of the rubber node (112), thereby using the left V-plate (17) and the right V-plate (18) to center the rubber node (112) on the node tray (14). After centering, control the left V-plate (17) and the right V-plate (18) to move away from each other and open. Then control the lifting plate (1232) of the lifting mechanism to move down and place the node tray (14) with the rubber node (112) back on the left conveyor chain (121) and the right conveyor chain (122).

10. The maintenance method according to claim 5, characterized in that: The cleaning and polishing mechanism (9) includes a cleaning and polishing conveying platform (911), on which a cleaning agent spraying station (912), a cleaning station (913) and a polishing station (914) are arranged in sequence; an XYZ three-axis moving mechanism (22) and a spraying head (23) are arranged on the cleaning and polishing conveying platform (911) located at the cleaning agent spraying station (912); The spray head (23) includes a rod-shaped pneumatic motor (24) mounted on an XYZ three-axis moving mechanism (22) and a brush head (25) that is connected to the pneumatic motor (24) for transmission. An outer cylinder (26) is also mounted on the XYZ three-axis moving mechanism (22). One end of the pneumatic motor (24) is connected to the XYZ three-axis moving mechanism (22), and the other end of the pneumatic motor (24) passes through the outer cylinder (26) and is exposed outside the outer cylinder (26). The brush head (25) is connected to the other end of the pneumatic motor (24) exposed outside the outer cylinder (26). This allows the brush head (25) to be positioned below the bottom end face of the outer cylinder (26); along the axial direction of the outer cylinder (26), a through liquid channel (27) is provided inside the cylinder wall of the outer cylinder (26), one end of which is connected to the cleaning agent delivery pipe (28) of the cleaning agent delivery device; an air hole (241) is opened on the outer peripheral surface of the pneumatic motor (24), and a gap is left between the outer peripheral surface of the pneumatic motor (24) and the inner peripheral surface of the outer cylinder (26), forming an annular channel (29); a collection tank is provided on the cleaning and polishing delivery platform (911) located at the cleaning agent spraying station (912); When spraying cleaning agent, the cleaning agent is first delivered to the brush head (25) through the liquid channel (27) of the outer cylinder (26) via the cleaning agent delivery pipe (28). The pneumatic motor (24) is controlled to drive the brush head (25) to rotate. Then, the XYZ three-axis moving mechanism (22) is controlled to drive the brush head (25) to extend into the inner hole of the component body (111) and brush along the inner circumferential surface of the inner hole. At the same time as brushing, the compressed air inside the pneumatic motor (24) will be sprayed out through the air hole (241) on its outer circumferential surface. Part of the sprayed compressed air is guided downward by the annular channel (29) and blown onto the brush head (25), causing the cleaning agent to fall downward into the collection tank.

11. The maintenance method according to claim 5, characterized in that: The lubricant application and node assembly module (6) includes a conveying platform (34), a lubricant application mechanism (35) and a node assembly press (36) mounted on the conveying platform (34). The conveying platform (34) includes a platform body (38) and an air-suspended mobile platform (39) set on the platform body (38), and the node assembly tray (37) is placed on the air-suspended mobile platform (39); The component body (111) is placed on the node assembly tray (37) by the robot (3), and then the node assembly tray (37) containing the component body (111) is placed on the conveying platform (34) by the robot (3). Then, the new rubber node (112) is placed on the inner hole of the component body (111) by the robot (3). Then, the node assembly tray (37) containing the component body (111) and the rubber node (112) is transported to the lubrication application area by the conveying platform (34). At the lubricant mechanism (35), lubricant is applied to the outer peripheral surface of the exposed rubber node (112) using the lubricant application mechanism (35). Then, the node assembly tray (37) containing the component body (111) and the rubber node (112) is transported to the position below the node assembly press (36) using the conveying platform (34). Finally, the rubber node (112) is squeezed into the inner hole of the component body (111) by the pressure head of the node assembly press (36), thereby completing the assembly of the suspension rod node. When the air suspension mobile platform (39) moves, it is in a suspended state and is separated from the platform body (38) so that it can move; when the rubber node is pressed, the air suspension mobile platform (39) is in a stationary state and the supply of compressed air to the air suspension mobile platform (39) is cut off, so that it falls onto the platform body (38) and contacts the platform body (38) to form an integral structure. When the air suspension mobile platform (39) moves to the lubricant application mechanism (35) to apply lubricant, it is also necessary to keep the air suspension mobile platform (39) stationary and cut off the supply of compressed air to the air suspension mobile platform (39) so that it falls onto the platform body (38) and contacts the platform body (38) to form an integral structure.

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