Axle end threaded hole compliance automatic detection system and method

Abstract

The invention discloses an axle end threaded hole compliance automatic detection system and method, and the system comprises an axle transmission line which extends in the X-axis direction, a threaded hole compliance detection work station is arranged beside the axle transmission line, the threaded hole compliance detection work station comprises a pedestal, and a lifting platform which can move in the Z-axis direction on the pedestal. The lifting platform is provided with two positioning supporting seats used for supporting and positioning an axle and a portal frame extending in the Y-axis direction, and the portal frame is provided with two positioning clamping jaws capable of moving in the Y-axis direction and used for axially positioning the axle and a power source used for driving the positioning clamping jaws to move. The lifting platform is further provided with a multi-degree-of-freedom displacement unit, and the displacement end of the multi-degree-of-freedom displacement unit is connected with an end effector used for achieving axle end threaded hole detection. The axle detection efficiency is greatly improved, the manual detection cost is reduced, and the product quality consistency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of axle end threaded hole processing, and in particular relates to an axle end threaded hole compliance automatic detection system and method. Background Art

[0002] In the current actual situation, the threaded holes at the ends of axles of railway vehicles such as railway freight cars, railway locomotives, urban rails, railway passenger cars, and EMUs are inspected manually. Inspectors use handheld go / no-go gauges to screw in and out the threaded holes to detect the thread quality of the threaded holes. Since the production capacity of axles is 300 per shift, the manual inspection method requires a large number of inspectors, which has high labor costs. In addition, the results of manual inspections are greatly affected by human factors, and the consistency of the inspection results is not high. Therefore, it is urgent to develop a flexible, automated, and efficient axle end threaded hole inspection system and method that can effectively solve the above problems. Summary of the invention

[0003] The present invention discloses a system and method for automatically detecting compliance of threaded holes at the ends of axles, which can be used for flexible automatic detection of threaded holes at the ends of axles of railway vehicles such as railway freight cars, railway locomotives, urban rails, railway passenger cars, and EMUs, greatly improving the efficiency of axle detection, reducing manual detection costs, and improving product quality consistency. The system and method can detect threaded holes at the ends of axles of all models of railway vehicles, and have a high degree of flexibility, making the system very suitable for mass production of products.

[0004] The present invention discloses an automatic compliance detection system for threaded holes at the ends of axles, comprising an axle transmission line extending along the X-axis, a threaded hole compliance detection workstation arranged beside the axle transmission line, the threaded hole compliance detection workstation comprising a base, a lifting platform which can be displaced along the Z-axis on the base, two positioning support seats for supporting and positioning the axle and a gantry extending along the Y-axis are arranged on the lifting platform, two positioning clamps which can be displaced along the Y-axis for axially positioning the axle and a power source for driving the displacement of the positioning clamps are arranged on the gantry, a multi-degree-of-freedom displacement unit is also arranged on the lifting platform, and the displacement end of the multi-degree-of-freedom displacement unit is connected to an end actuator for realizing the detection of threaded holes at the ends of axles.

[0005] In a preferred embodiment of the present invention, the end effector includes a mounting frame, a tooling flange and a marker pen are arranged on the outer end surface of one side of the mounting frame, a 2D industrial camera is arranged on the outer end surface of the other side of the mounting frame, a go gauge / no-go gauge detection actuator and a 3D scanner are arranged in the middle of the mounting frame, and the go gauge / no-go gauge detection actuator is connected to the go gauge / no-go gauge.

[0006] In a preferred embodiment of the present invention, the mounting frame includes a top plate, a bottom plate and a vertical plate, the top plate and the bottom plate are arranged in parallel, the vertical plate and the top plate are arranged vertically, the top plate is provided with a tooling flange and a marker pen, the bottom plate is provided with a 2D industrial camera, and the vertical plate is provided with a go / no-go gauge detection actuator and a 3D scanner.

[0007] In a preferred embodiment of the present invention, the multi-degree-of-freedom displacement units include two, and each multi-degree-of-freedom displacement unit is connected to an end effector.

[0008] In a preferred embodiment of the present invention, the power source is a cylinder, one end of the cylinder is fixedly connected to the gantry, and the other end of the cylinder is fixedly connected to the positioning clamp.

[0009] In a preferred embodiment of the present invention, two positioning support seats are arranged in a mirror-symmetrical manner on both sides of the axle transmission line, and the two positioning support seats are located between the gantries.

[0010] In a preferred embodiment of the present invention, the multi-degree-of-freedom displacement unit is a six-axis industrial robot.

[0011] In a preferred embodiment of the present invention, the axle is an axle of a railway vehicle, and the railway vehicle includes a railway freight car, a railway locomotive, an urban rail, a railway passenger car, and an EMU.

[0012] The present invention also discloses a method for using a system for automatically detecting compliance of threaded holes at the ends of axles. The threaded hole compliance detection workstation is set up using an axle transmission line, and a lifting platform cooperates with a positioning clamp to fix the axle from the end face. The end effector identifies the specific spatial position and angle of the axle end face through a 3D scanner under the action of a multi-degree-of-freedom displacement unit, and a 2D camera takes a photo to accurately locate the specific position of the threaded hole, thereby completing the compliance detection of the threaded hole.

[0013] In a preferred embodiment of the present invention, the axle to be inspected is automatically transmitted to the inspection position of the threaded hole compliance inspection workstation through the axle transmission line; the axle to be inspected, the gantry and the multi-degree-of-freedom displacement unit are lifted as a whole by a lifting platform; the positioning claws on the multi-degree-of-freedom displacement unit fix the axle from the end face; the positioning claws are released after positioning; the 3D scanner identifies the specific spatial position and angle of the axle end face; the 2D industrial camera takes pictures to collect hole position data and accurately locates the threaded hole; the multi-degree-of-freedom displacement unit adjusts the angle of the end actuator to ensure that the rotating go / no-go gauge is perpendicular to the axle end face; the go / no-go gauge detection actuator drives the go / no-go gauge to perform threaded hole detection; if there are unqualified threaded holes, mark the end face of the shaft with a marker pen; after detection, the automatic lifting platform descends to drop the axle back onto the axle transmission line; the axle is transmitted to the next process.

[0014] The beneficial effects of the present invention are as follows: the automatic detection system and method provided by the present invention successfully solve the problems of low efficiency, high cost, poor consistency, etc. existing in traditional manual detection. It not only realizes high-efficiency, low-cost, and high-consistency detection, but also has flexibility and adaptability to mass production, representing a major breakthrough in the detection technology of threaded holes at the ends of axles. This innovation provides strong technical support for improving the production efficiency and product quality of my country's railway vehicle manufacturing industry, and has significant practical value and broad prospects for promotion and application.

[0015] The invention has high detection efficiency and is at the international leading level: the invention realizes the full automation of the detection of the threaded hole at the end of the axle by adopting advanced multi-degree-of-freedom displacement units, 3D scanners, 2D industrial cameras and other equipment. This innovative automated detection method greatly improves the detection speed and accuracy, making the detection efficiency reach the international leading level, and providing strong technical support for my country's railway vehicle manufacturing industry.

[0016] The present invention has the effect of significantly reducing labor costs: compared with the traditional manual detection method that requires a large number of people, the system realizes fully automated detection, greatly reducing human resource investment. This not only directly reduces production costs, but also improves production efficiency, creating more economic benefits for the enterprise.

[0017] The present invention has high consistency of test results: the automated system eliminates the influence of human factors and ensures the standardization and normalization of the test process. This makes the test results extremely consistent and reliable, effectively improves the stability of product quality control, and provides a strong guarantee for product quality.

[0018] The present invention has the function of realizing flexible detection: the system is designed with a flexible detection mechanism, which can adapt to different types of railway vehicle axles, including railway freight cars, railway locomotives, urban rails, railway passenger cars, EMUs, etc. This high degree of flexibility enables the system to quickly adapt to different production needs, improving the flexibility and adaptability of the production line.

[0019] The invention is suitable for mass production line: the system has high efficiency, high consistency and flexibility, making it very suitable for modern mass production line mode. It can meet the production requirements of high capacity and high quality, and provide reliable technical support for enterprises to achieve large-scale and standardized production.

[0020] The present invention has the effect of improving the overall quality of the product: through accurate and reliable automated detection, the system can effectively identify and mark unqualified threaded holes, thereby improving the overall quality level of the product. This not only enhances the reliability and safety of the product, but also enhances the brand image and market competitiveness of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments disclosed in the present invention, the drawings of the embodiments are briefly introduced below. These drawings are only used for illustrative purposes and are not intended to limit the protection scope of the present invention.

[0022] Figure 1 It is a front view of the present invention;

[0023] Figure 2 A top view of the present invention;

[0024] Figure 3 It is a schematic diagram of a threaded hole compliance inspection workstation of the present invention;

[0025] Figure 4 It is a front view of the end effector of the present invention;

[0026] Figure 5 is a side view of the end effector of the present invention;

[0027] Figure 6 A top view of the end effector of the present invention;

[0028] Figure 7 It is a front view of the axle to be tested of the present invention;

[0029] Figure 8 A side view of the axle to be tested of the present invention;

[0030] Fig. 9 The working process of the present invention is shown in FIG. Figure 1 ;

[0031] Fig.10 The workflow of the present invention is shown in FIG. Figure 2 ;

[0032] Fig.11 The workflow of the present invention is shown in FIG. Figure 3 ;

[0033] Fig.12 The workflow of the present invention is shown in FIG. Figure 4 . DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described in detail below by means of the accompanying drawings and by listing some optional embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The present invention discloses an automatic compliance detection system for axle end threaded holes, which aims to solve the problems of low efficiency, high cost, poor consistency, etc. in traditional manual detection methods. The present invention will be described in detail below in conjunction with specific implementation methods.

[0036] like Figures 1 to 12 As shown, the axle end threaded hole compliance automatic detection system of the present invention is mainly composed of two parts: an axle transmission line 1 extending along the X-axis and a threaded hole compliance detection workstation 2 arranged next to it. This layout design realizes the seamless connection between the detection process and the production line, greatly improving the overall production efficiency. The axle transmission line 1 is mainly responsible for the axle entering the detection actuator for detection, and after the detection, the axle is automatically transferred to the next process; the threaded hole compliance detection workstation 2 is mainly responsible for the automatic lifting of the axle, the fixed positioning of the axle, the positioning of the end threaded hole, the automatic detection of the end threaded hole through gauge, the automatic detection of the threaded hole depth, etc.

[0037] The threaded hole compliance inspection workstation 2 is the core of this system. Its structure is complex and sophisticated, including multiple components working together. First, the entire workstation is built on a solid base 21, which provides a stable foundation for the entire inspection system. The design of the base 21 takes into account factors such as earthquake resistance and anti-tilt, ensuring that the inspection accuracy will not be affected by external interference during the inspection process.

[0038] A lifting platform 22 that can move along the Z axis is installed on the base 21. The design of the lifting platform 22 greatly enhances the flexibility of the system, enabling it to adapt to axles of different heights, thereby expanding the application range of the system. The lifting platform 22 adopts a high-precision electric lifting mechanism, which can accurately control its height to ensure that the detection equipment is always in the best working position.

[0039] Two positioning support seats 23 for supporting and positioning the axle are provided on the lifting platform 22. The two positioning support seats 23 are arranged on both sides of the axle transmission line 1 in a mirror-symmetrical manner. This design can not only firmly support the axle, but also ensure that the axle remains horizontal during the detection process. The positioning support seat 23 adopts a V-groove design, which can adapt to axles of different diameters, further enhancing the adaptability of the system.

[0040] A gantry 24 extending along the Y axis is also installed on the lifting platform 22. The design of the gantry 24 fully considers rigidity and stability, and is made of high-strength alloy materials to ensure that no deformation or vibration occurs during the detection process. The gantry 24 provides a stable installation platform for other components and is the skeleton structure of the entire system.

[0041] Two positioning jaws 25 that can be displaced along the Y axis are provided on the gantry 24. The two positioning jaws 25 are used for axial positioning of the axle. They can be adjusted according to axles of different lengths to ensure that the axle is always in the best detection position. The positioning jaws 25 adopt a precise mechanical structure, which can firmly clamp the axle without damaging the axle surface. The positioning jaws 25 use a hydraulic clamping device to clamp the end face of the axle to correct the parallelism of the axle.

[0042] In order to drive the displacement of the positioning jaw 25, the system uses a power source 26. In this embodiment, the power source 26 is a cylinder, one end of which is fixedly connected to the gantry 24, and the other end is fixedly connected to the positioning jaw 25. This design is not only simple in structure and highly reliable, but also has a fast response speed, and can quickly and accurately adjust the position of the positioning jaw 25.

[0043] The most critical component on the lifting platform 22 is the multi-degree-of-freedom displacement unit 27. This system uses two multi-degree-of-freedom displacement units 27, each of which is connected to an end effector 28. The multi-degree-of-freedom displacement unit 27 uses a six-axis industrial robot. This design gives the system extremely high flexibility and precision. The six-axis robot can adjust any posture in three-dimensional space, can adapt to various complex detection requirements, and is the key to achieving high-precision automatic detection. The six-axis industrial robot has multiple degrees of freedom and can realize the posture adjustment of the through / no-go gauge thread detection device to meet the adaptive adjustment requirements of the axle placement deviation. As a motion mechanism for thread detection, the end load of the robotic arm is 25kg, the maximum working radius is 1650mm, and the repeatability accuracy is ±0.03mm. The end effector is the specific actuator for threaded hole compliance detection.

[0044] The end effector 28 is the core component for realizing specific detection functions. Figure 2 As shown, the main body of the end effector 28 is a carefully designed mounting frame 281. The mounting frame 281 is composed of a top plate, a bottom plate and a vertical plate, forming a stable three-dimensional structure. The top plate and the bottom plate are arranged in parallel, and the vertical plate is arranged perpendicular to the top plate. This structural design is not only high in strength, but also provides an ideal installation platform for various testing equipment. The end effector is mounted on a six-axis industrial robot. The specific spatial position and angle of the axle end face are identified by a 3D scanner. During the threaded hole detection, a 2D camera takes pictures to collect hole position data and accurately locates the hole position. The angle of the end effector is adjusted by the six-axis industrial robot to ensure that the rotating go / no-go gauge is perpendicular to the axle end face. The go / no-go gauge is installed on the go / no-go gauge detection actuator to perform automatic detection of the threaded hole. If there are unqualified threaded holes, mark the end face of the shaft with a marker.

[0045] A tooling flange 282 and a marking pen 283 are provided on one side outer end surface of the mounting frame 281. The design of the tooling flange 282 takes versatility into consideration, and different detection tools can be installed as needed. The marking pen 283 is used to mark the end surface of the axle when an unqualified threaded hole is detected. The marking pen 283 adopts a retractable design and only touches the axle surface when marking is required, avoiding unnecessary contact.

[0046] A 2D industrial camera 284 is provided on the outer end surface of the other side of the mounting frame 281. This high-resolution industrial camera is used to photograph the end surface of the axle and accurately locate the specific position of the threaded hole. The camera uses advanced image processing algorithms to quickly and accurately identify the position and shape of the threaded hole, providing accurate position information for subsequent inspection work.

[0047] In the middle of the mounting frame 281, a go / no-go gauge detection actuator 287 and a 3D scanner 286 are provided. The 3D scanner 286 uses structured light technology to quickly and accurately obtain the three-dimensional information of the axle end face and identify the specific spatial position and angle of the axle end face. This information is crucial to ensure that the detection tool can accurately align with the threaded hole.

[0048] The go / no-go gauge detection actuator 287 is connected with a go / no-go gauge 285 for actually performing compliance detection of the threaded hole. The go / no-go gauge detection actuator 287 is driven by a precision servo motor, which can accurately control the rotation speed and torque of the go / no-go gauge 285 to ensure the accuracy and repeatability of the detection process. The gauge / no-go gauge 285 is installed on the go / no-go gauge detection actuator to detect the thread quality of the threaded hole. The go / no-go gauge detection actuator consists of a servo motor, a torque sensor, and a controller. Go and no-go gauges are used to detect thread tolerances. The torque sensor can measure torque values ​​and speed values ​​in real time. The torque threshold is set by the controller to determine the quality and compliance of the thread. If the measured torque value exceeds the set threshold, this may indicate that there is a problem with the thread, such as the threaded hole is too tight or too loose, or other non-conformance conditions may occur. When the set torque threshold is exceeded, an alarm or thread non-compliance recording operation is usually triggered, which helps to ensure the quality and performance of the product. The tooling flange is connected to the six-axis industrial robot to drive the entire end effector to perform the detection work. The unqualified hole position marker is fixed on the actuator bearing frame to mark the unqualified axle threaded hole. The distance sensor 288 can measure the distance from the sensor to the end of the axle in real time to measure the depth of the threaded hole. The 2D industrial camera is used for the precise positioning of the threaded hole. The image data of the end face of the axle is obtained by the 2D camera, which can realize the precise positioning of the threaded center hole, the digital recognition of the end face QR code and barcode, etc. The camera resolution: 1408×1024, the measurement accuracy: 0.01mm, the calibration accuracy: 0.05mm, which can meet the processing tolerance requirement of 0.2mm for the threaded hole. The actuator bearing frame serves as the overall bearing structure of the end effector and installs other components. The 3D scanner combines structured light and industrial cameras to quickly obtain complete three-dimensional point cloud data on the surface of the object. The single measurement accuracy is less than 0.02mm, and there are no excessive requirements for the size, surface complexity, raw materials, color, etc. of the object to be measured. The specific spatial dimensions and angles of the axle end face are determined by a 3D scanner and fed back to the industrial robot to control the go / no-go gauge detection actuator to be perpendicular to the axle section to ensure detection accuracy.

[0049] The detection system of the present invention is applicable to axles of various railway vehicles, including but not limited to railway freight cars, railway locomotives, urban rails, railway passenger cars, EMUs, etc. This wide applicability enables the system to meet the needs of different types of vehicle production lines and has high practical value and market potential.

[0050] In actual use, the axle is first transported to the inspection position of the threaded hole compliance inspection workstation 2 through the axle transmission line 1. The system automatically identifies the axle model and adjusts the position of each component according to the preset parameters. The lifting platform 22 first adjusts the height to put the axle in the best inspection position. Then, the positioning clamp 25, driven by the cylinder power source 26, fixes it from both ends of the axle.

[0051] Next, the multi-degree-of-freedom displacement unit 27 starts working. First, the 3D scanner 286 scans the end face of the axle to obtain its precise spatial position and angle information. Then, the 2D industrial camera 284 takes a picture of the end face of the axle and accurately locates the position of the threaded hole through an image processing algorithm. Based on this information, the multi-degree-of-freedom displacement unit 27 accurately adjusts the position and angle of the end effector 28 to ensure that the go / no-go gauge 285 is fully aligned with the axis of the threaded hole.

[0052] The go / no-go gauge detection actuator 287 then drives the go / no-go gauge 285 to perform threaded hole detection. The system will determine whether the threaded hole is qualified according to the preset detection standard. If an unqualified threaded hole is detected, the marker 283 will make a clear and identifiable mark at the corresponding position.

[0053] After the test is completed, the system will automatically generate a test report, including detailed data such as axle information, test results, and unqualified items. The lifting platform 22 then descends, puts the axle back on the axle transmission line 1, and continues to move to the next process. The entire test process is fully automatic without manual intervention, which greatly improves the test efficiency and accuracy.

[0054] The process flow of this system is as follows: the axle to be inspected is automatically transmitted to the inspection position of the threaded hole compliance inspection workstation through the axle transmission line → the axle to be inspected, the axial correction mechanism and two six-axis industrial robots are lifted as a whole by an automatic lifting platform → the axial correction mechanism fixes the axle from the end face → the axial correction mechanism is released after positioning → the 3D scanner identifies the specific spatial position and angle of the axle end face → the 2D camera takes pictures to collect hole position data and accurately locates the threaded hole → the six-axis industrial robot adjusts the end effector angle to ensure that the rotating go / no-go gauge is perpendicular to the axle end face → the go / no-go gauge detection actuator drives the go / no-go gauge to perform threaded hole detection → if there is an unqualified threaded hole, a marker is used to mark the end face of the shaft → after the detection, the automatic lifting platform descends to drop the axle back on the axle transmission line → the axle is transmitted to the next process. This system is suitable for an ambient temperature of -10℃~50℃ and a relative humidity of ≤90%. The present invention has a reasonable structure, high stability, reliability, safety and durability, simple operation, convenient maintenance, and runs smoothly under the condition of continuous work of 22h under rated load. The appearance meets the requirements of GB 2893. According to the noise test of this system, the equipment noise is less than 85dB at a distance of 1m from the equipment; other conditions meet the requirements of GBZ 1. The connections of all moving and operating parts of this system are equipped with reliable anti-loosening measures and anti-overcurrent measures.

[0055] The present invention is further described by taking the efficient detection of compliance of threaded holes at the ends of axles of railway freight cars as an example, but is not limited to this workpiece.

[0056] The automatic compliance inspection system for threaded holes at the ends of axles uses an axle transmission line to automatically transfer the axle to the inspection position. The axial correction mechanism fixes the axle in position from the end face. The 3D scanner identifies the specific spatial position and angle of the axle end face. The 2D camera takes pictures to accurately locate the specific position of the threaded hole. The six-axis industrial robot carries the end effector to perform compliance inspection of the threaded hole.

[0057] 1. The axle end threaded hole compliance automatic detection system is generally composed of two parts: the axle transmission line and the threaded hole compliance detection workstation.

[0058] 2. The axle to be inspected is automatically transferred to the inspection position of the threaded hole compliance inspection workstation through the axle transfer line. Fig.10 as shown in the position in .

[0059] 3. Use an automatic lifting platform to lift the axle to be inspected, the axial correction mechanism and the six-axis industrial robot as a whole.

[0060] 4. The axial correction mechanism fixes the axle from the end face and releases it after the axle is positioned. Fig.11 and 12 as shown in the position in .

[0061] 5. The 3D scanner identifies the specific spatial position and angle of the axle end face; the 2D camera takes pictures to collect hole position data and accurately locates the threaded holes.

[0062] 6. As attached Figures 3 to 5 As shown, the six-axis industrial robot adjusts the angle of the end effector to ensure that the rotating go / no-go gauge is perpendicular to the end face of the axle.

[0063] 7. As attached Figures 3 to 5 As shown, the go / no-go gauge detection actuator drives the go / no-go gauge to detect the threaded holes. If there are unqualified threaded holes, mark the shaft end face with a marker.

[0064] 8. After the inspection, the automatic lifting platform descends and drops the axle back onto the axle transmission line, and the axle is transmitted to the next process.

[0065] The axle end threaded hole compliance automatic detection system of the present invention has the following significant advantages:

[0066] 1. High degree of automation greatly improves detection efficiency and reduces errors caused by human operation.

[0067] 2. High detection accuracy, through advanced 3D scanning and image processing technology, to ensure the accuracy of detection.

[0068] 3. It has strong adaptability and can adapt to axles of different models and sizes to meet the inspection needs of various railway vehicles.

[0069] 4. Efficiency is significantly improved. The automated testing process greatly shortens the testing time and improves production efficiency.

[0070] 5. The cost is greatly reduced, reducing the need for manual inspection and reducing labor costs.

[0071] 6. High reliability: machine detection eliminates the influence of human factors and improves the consistency and reliability of detection results.

[0072] 7. Easy to integrate. The system design takes into account the compatibility with existing production lines and is easy to integrate into existing production processes.

[0073] The axle end threaded hole compliance automatic detection system provided by the present invention is an efficient, accurate and reliable detection solution. It can not only significantly improve the detection efficiency and accuracy, but also greatly reduce production costs and improve product quality, which is of great significance to improving the overall level and international competitiveness of my country's railway vehicle manufacturing industry.

[0074] Those skilled in the art will readily appreciate that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, combinations, replacements, improvements, etc. made within the spirit and principles of the present invention are included within the protection scope of the present invention.

Claims

1. An automatic compliance detection system for threaded holes at the ends of axles, comprising an axle transmission line extending along the X-axis direction, characterized in that: A threaded hole compliance inspection workstation is arranged next to the axle transmission line, and the threaded hole compliance inspection workstation includes a base, a lifting platform on the base which can be displaced along the Z axis, two positioning support seats for supporting and positioning the axle and a gantry extending along the Y axis are arranged on the lifting platform, two positioning claws for axially positioning the axle which can be displaced along the Y axis and a power source for driving the displacement of the positioning claws are arranged on the gantry, and a multi-degree-of-freedom displacement unit is also arranged on the lifting platform, and the displacement end of the multi-degree-of-freedom displacement unit is connected to an end actuator for realizing the detection of the threaded holes at the ends of the axles.

2. The axle end threaded hole compliance automatic detection system according to claim 1, characterized in that: The end effector includes a mounting frame, a tooling flange and a marker pen are arranged on the outer end surface of one side of the mounting frame, a 2D industrial camera is arranged on the outer end surface of the other side of the mounting frame, a go gauge / no-go gauge detection actuator and a 3D scanner are arranged in the middle of the mounting frame, and the go gauge / no-go gauge detection actuator is connected to the go gauge / no-go gauge.

3. The axle end threaded hole compliance automatic detection system according to claim 1, characterized in that: The mounting frame includes a top plate, a bottom plate and a vertical plate, the top plate and the bottom plate are arranged in parallel, the vertical plate and the top plate are arranged vertically, the top plate is provided with a tooling flange and a marker pen, the bottom plate is provided with a 2D industrial camera, and the vertical plate is provided with a go / no-go gauge detection actuator and a 3D scanner.

4. The axle end threaded hole compliance automatic detection system according to claim 1, characterized in that: The multi-degree-of-freedom displacement units include two, and each multi-degree-of-freedom displacement unit is connected to an end effector.

5. The axle end threaded hole compliance automatic detection system according to claim 1, characterized in that: The power source is a cylinder, one end of which is fixedly connected to the gantry, and the other end of which is fixedly connected to the positioning clamp.

6. The axle end threaded hole compliance automatic detection system according to claim 1, characterized in that: The two positioning support seats are arranged mirror-symmetrically on both sides of the axle transmission line, and the two positioning support seats are located between the gantry.

7. The axle end threaded hole compliance automatic detection system according to claim 1, characterized in that: The multi-degree-of-freedom displacement unit is a six-axis industrial robot.

8. The axle end threaded hole compliance automatic detection system according to claim 1, characterized in that: The axle is an axle of a railway vehicle, and the railway vehicle includes a railway freight car, a railway locomotive, an urban rail, a railway passenger car, and an EMU.

9. A method for using the axle end threaded hole compliance automatic detection system according to any one of claims 1 to 8, characterized in that: The axle transmission line is used to set up a threaded hole compliance inspection workstation, and the lifting platform cooperates with the positioning clamp to fix the axle from the end face. The end effector uses a 3D scanner under the action of the multi-degree-of-freedom displacement unit to identify the specific spatial position and angle of the axle end face, and the 2D camera takes pictures to accurately locate the specific position of the threaded hole, thereby completing the compliance inspection of the threaded hole.

10. The method for using the axle end threaded hole compliance automatic detection system according to claim 9, characterized in that: The axle to be inspected is automatically transferred to the inspection position of the threaded hole compliance inspection workstation through the axle transmission line; the axle to be inspected, the gantry and the multi-degree-of-freedom displacement unit are lifted as a whole using a lifting platform; The positioning claws on the multi-degree-of-freedom displacement unit fix the axle from the end face; the positioning claws are released after positioning; the 3D scanner identifies the specific spatial position and angle of the axle end face; the 2D industrial camera takes pictures to collect hole position data and accurately locates the threaded hole; the multi-degree-of-freedom displacement unit adjusts the angle of the end effector to ensure that the rotating go / no-go gauge is perpendicular to the axle end face; the go / no-go gauge detection actuator drives the go / no-go gauge to perform threaded hole detection; if there are unqualified threaded holes, mark the end face of the shaft with a marker; after detection, the automatic lifting platform descends to drop the axle back onto the axle transmission line; the axle is transmitted to the next process.

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