Intelligent grabbing and pre-assembling device and method for wheel set shaft end accessories

Abstract

The invention provides an intelligent grabbing and pre-assembling device and method for wheel set shaft end accessories, and relates to the field of wheel set pre-assembling. A mounting support comprises a front mounting plate and a rear mounting plate which are distributed at intervals and connected through a connecting piece; the shaft end accessory grabbing assembly comprises a plurality of shaft end cover clamping jaws arranged around the axis of the rear mounting plate, and the shaft end cover clamping jaws are mounted on the rear mounting plate through the track reducing assembly. The pre-tightening shaft installation assembly comprises a plurality of pre-tightening shafts with the tail ends provided with quick-change sleeves, and the pre-tightening shafts are installed on the front installation plate around the axis of the front installation plate. The bolt positioning assembly comprises a plurality of bolt clamping jaws arranged around the axis of the front mounting plate, and the bolt clamping jaws are mounted on the front mounting plate through connecting rods; in order to solve the problems that at present, control is complex and efficiency is low when the wheel set shaft end accessories are fed to the installation position, unmanned automatic grabbing and pre-tightening of the wheel set shaft end accessories are achieved by moving all pre-tightening shafts, bolt clamping jaws and shaft end cover claws, the working efficiency is improved, the wheel set pre-assembling quality is guaranteed, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The invention relates to the field of wheelset preassembly, and in particular to a device and method for intelligently grabbing and preassembling accessories at the ends of wheelsets. Background Art

[0002] When assembling the axle end accessories and pre-tightening the bolts of the wheelset in the rail transit industry, the existing operation method is to manually transport the wheelset along the ground track and place it in a fixed position, and then manually assemble the axle end cover, signboard, anti-loosening pad and axle end bolt to the wheelset axle end after manually comparing the axle end information with the signboard information, and finally complete the pre-tightening of the axle end bolts manually or with a pre-tightening machine. This traditional manual and semi-automatic operation method is prone to errors during operation, affecting the assembly quality, and is highly dependent on manual operation, resulting in low efficiency.

[0003] A Chinese patent (publication number CN 114227230 B) discloses a shaft end axle box cover reducing bolt tightening machine, which realizes rapid switching between the shaft end 3-axis tightening machine and the axle box cover 4-axis tightening machine by moving the tightening shaft and cooperating with the fixed tightening shaft, and can meet the tightening operation of the shaft end bolts and the axle box cover bolts covered by one tightening machine; but it still needs to additionally configure the wheelset shaft end accessories grasping and shifting mechanism to load the wheelset shaft end accessories to the installation position and match the operation of the shaft end axle box cover reducing bolt tightening machine, which increases the complexity of the equipment, and requires additional control of the tightening machine, the grasping and shifting mechanism to match the actions, which increases the complexity and difficulty of the control process and affects the work efficiency. Summary of the invention

[0004] The purpose of the present invention is to address the defects of the prior art and to provide a device and method for intelligent grasping and pre-assembly of wheelset axle end accessories. By moving each pre-tightening shaft, bolt clamp and axle end cover claw, unmanned automatic grasping and pre-tightening of wheelset axle end accessories can be achieved, thereby improving work efficiency, ensuring the quality of wheelset pre-assembly and reducing the labor intensity of workers.

[0005] The first object of the present invention is to provide a wheel set axle end attachment intelligent grabbing preassembly device, which adopts the following scheme: comprising:

[0006] A mounting bracket includes a front mounting plate and a rear mounting plate which are spaced apart and connected by a connecting piece;

[0007] The shaft end accessory grabbing assembly includes a plurality of shaft end cover jaws arranged around the axis of the rear mounting plate and respectively mounted on the rear mounting plate through a track diameter reducing assembly, the ends of the shaft end cover jaws pass through the front mounting plate and extend to the side of the front mounting plate away from the rear mounting plate, and the track diameter reducing assembly acts as a driving member to drive the shaft end cover jaws to move radially along the rear mounting plate;

[0008] The pre-tightening shaft installation assembly includes a plurality of pre-tightening shafts with quick-change sleeves at the ends thereof and is installed on the front installation plate around the axis of the front installation plate;

[0009] The bolt positioning assembly comprises a plurality of bolt clamping claws arranged around the axis of the front mounting plate and respectively mounted on the front mounting plate through connecting rods.

[0010] Furthermore, the shaft end accessory grabbing assembly also includes a track wheel diameter reducing disk and a follower. The track wheel diameter reducing disk is coaxially rotatably mounted on the rear mounting plate. A plurality of slide grooves are provided on the track wheel diameter reducing disk. Each bearing cover clamp is slidably matched with the rear mounting plate respectively, and a follower matching the slide groove is installed on the bearing cover clamp. When the follower is pushed by the track wheel diameter reducing disk, it drives the bearing cover clamp to move radially along the rear mounting plate.

[0011] Furthermore, the track wheel variable diameter disc is connected to a driver, and each bearing cover clamp is respectively mounted on the rear mounting plate through a slide rail and slider mechanism.

[0012] Furthermore, the pre-tightening shaft installation assembly also includes a pre-tightening shaft reducing assembly, and the pre-tightening shafts are respectively installed on the front mounting plate through the pre-tightening shaft reducing assembly to drive the pre-tightening shaft to move radially along the front mounting plate.

[0013] Furthermore, the pre-tightening shaft mounting assembly also includes a bolt top cap assembly mounted on the front mounting plate, the bolt top cap assembly includes a connected top cap pressure head and a top cap extension rod, the top cap extension rod is distributed parallel to the axis of the front mounting plate and can move axially relative to the front mounting plate.

[0014] Furthermore, the pre-tightening shaft is respectively equipped with a servo motor and a reducer, the servo unit is connected to the pre-tightening shaft through the reducer, and the pre-tightening shaft is extended to the side of the front mounting plate away from the rear mounting plate.

[0015] Furthermore, the bolt clamps are respectively connected to positioning reducing assemblies, and the positioning reducing assemblies drive the bolt clamps to move radially along the front mounting plate.

[0016] Furthermore, the bolt clamp comprises a claw hand, and the claw hand on the same bolt clamp forms a clamping portion to clamp the bolt.

[0017] The second object of the present invention is to provide a working method of the intelligent grabbing and preassembling device for wheelset axle end accessories as described in the first object, comprising:

[0018] Move the wheelset axle end attachment intelligent grabbing pre-assembly device to the axle end attachment position;

[0019] By moving multiple pre-tightening shafts to make their positions consistent with the layout positions of the shaft end bolts; moving multiple bolt clamps to clamp the screw rods of the shaft end bolts respectively; and moving multiple shaft end cover clamps to clamp the wheelset shaft end cover together;

[0020] The intelligent grabbing and pre-assembling device for the wheelset shaft end accessories moves, driving the shaft end bolts and the wheelset shaft end cover to move to the wheelset shaft end position, so that the wheelset shaft end cover matches the wheelset shaft end, and the shaft end bolts match the screw holes; the pre-tightening shaft matches the shaft end bolts for pre-tightening operation;

[0021] During the pre-tightening work, the bolt clamps and the shaft end cover claws are withdrawn successively until all the bolts are pre-tightened to the required standard.

[0022] Furthermore, the number of the pre-tightening shafts and bolt clamps matches the number of bolts installed on the wheelset axle end cover and corresponds one to one.

[0023] Compared with the prior art, the present invention has the following advantages and positive effects:

[0024] In order to solve the problem of complex and low efficiency in loading the wheelset axle end accessories to the installation position, the pre-tightening shafts, bolt clamps and axle end cover claws are moved to realize unmanned automatic grasping and pre-tightening of the wheelset axle end accessories, thereby improving operation efficiency, ensuring the quality of wheelset pre-assembly and reducing the labor intensity of workers.

[0025] The intelligent grabbing and pre-assembly device for wheelset axle end accessories can realize the intelligent grabbing and pre-assembly assembly line production operation of wheelset axle end accessories for trucks, buses, urban rail and subway vehicles in the rail transit industry. The grabbing and pre-tightening method is fast and efficient, has low requirements for the environment and space, and reduces manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] Figure 1 It is an isometric view of the intelligent grabbing preassembly device for the shaft end accessories of the bevel wheel in Examples 1 and 2 of the present invention.

[0028] Figure 2 It is a front view of the structure of the intelligent grabbing and preassembling device for the wheelset axle end accessories in Examples 1 and 2 of the present invention.

[0029] Figure 3 It is a structural isometric view of the track wheel diameter reducing assembly in the intelligent grabbing and preassembling device for the wheelset axle end accessories in Examples 1 and 2 of the present invention.

[0030] Figure 4 It is a right view of the track wheel diameter-changing assembly in the intelligent grabbing and preassembling device for the wheelset axle end accessories in Examples 1 and 2 of the present invention.

[0031] Figure 5It is an isometric view of the pre-tightening shaft installation assembly in the intelligent gripping and pre-assembly device for wheelset shaft end accessories in Examples 1 and 2 of the present invention.

[0032] Figure 6 It is a right view of the pre-tightening shaft installation assembly in the intelligent grasping and pre-assembly device for wheelset shaft end accessories in embodiments 1 and 2 of the present invention.

[0033] Figure 7 It is a left view of the pre-tightening shaft installation assembly in the intelligent grasping and pre-assembly device for wheelset shaft end accessories in embodiments 1 and 2 of the present invention.

[0034] Figure 8 It is an isometric view of the pre-tightening shaft in the intelligent gripping and pre-assembly device for wheelset axle end accessories in Examples 1 and 2 of the present invention.

[0035] Fig. 9 It is an isometric view of the pre-tightening shaft gear transmission in the intelligent grasping and pre-assembly device for wheelset shaft end accessories in Examples 1 and 2 of the present invention.

[0036] Fig.10 It is an isometric view of a bolt positioning assembly in the intelligent grabbing and preassembling device for wheelset axle end accessories in embodiments 1 and 2 of the present invention.

[0037] Fig.11 It is a left view of the bolt positioning assembly in the intelligent grabbing and preassembling device for the wheelset axle end accessories in Examples 1 and 2 of the present invention.

[0038] Fig.12 It is a working flow chart of the intelligent grabbing and preassembling device for the wheelset axle end accessories in Examples 1 and 2 of the present invention.

[0039] Among them, 1 robot mounting plate, 2 support mounting rod, 3 track wheel reducing assembly, 301 track wheel reducing cylinder, 30101 track wheel reducing cylinder mounting seat, 30102 track wheel reducing cylinder connecting plate, 30103 track wheel reducing cylinder push rod, 302 track reducing plate, 303 first track reducing assembly, 30301 first track slider clamp, 30302 first track slide rail, 30303 first track slider, 30304 first clamp mounting plate, 30305 first cam bearing follower, 30306 first track limit block, 304 second track reducing assembly, 30401 second track slider clamp, 30402 second track slide rail, 30403 second track slider, 30404 second clamp mounting plate , 30405 second cam bearing follower, 30406 second track limit block, 305 third track reducer assembly, 30501 third track slider clamp, 30502 third track slide rail, 30503 third track slider, 30504 third clamp mounting plate, 30505 third cam bearing follower, 30506 third track limit block, 306 first shaft end cover clamp, 307 second shaft end cover clamp, 308 third shaft end cover clamp, 309 fixture mounting seat, 310 bearing seat, 311 fixture shaft, 4 pre-tightening shaft mounting assembly, 401 first pre-tightening shaft reducer assembly, 40101 first reducer cylinder, 40102 first reducer cylinder connecting seat, 40103 first reducer cylinder joint connecting seat, 40 104 first reducing slider, 402 second pre-tightening shaft reducing assembly, 40201 second reducing cylinder, 40202 second reducing cylinder connecting seat, 40203 second reducing cylinder joint connecting seat, 40204 second reducing slider, 403 third pre-tightening shaft reducing assembly, 40301 third reducing cylinder, 40302 third reducing cylinder connecting seat, 40303 third reducing cylinder joint connecting seat, 40304 third reducing slider, 404 first bolt top cap assembly, 40401 first top cap cylinder, 40402 first top cap cylinder connecting seat, 40403 first top cap extension rod, 40404 first top cap pressure head, 405 second bolt top cap assembly, 40501 second top cap cylinder, 40502 second top cap cylinder Connecting seat, 40503 second top hat extension rod, 40504 second top hat pressure head, 406 third bolt top hat assembly, 40601 third top hat cylinder, 40602 third top hat cylinder connecting seat, 40603 third top hat extension rod, 40604 third top hat pressure head, 407 intermediate limit assembly, 40701 limit cylinder, 40702 limit cylinder mounting plate, 40703 limit connecting plate, 40704 limit guide rod, 40705 limit support rod, 40706 linear bearing, 4081 first pre-tightening shaft, 4082 second pre-tightening shaft, 4083 third pre-tightening shaft, 40801 servo motor, 40802 reducer, 40803 gear box, 40804 gear box cover, 40805 coil spring,40806 quick-change sleeve, 40807 spur gear, 40808 intermediate spur gear, 40809 spur gear spline shaft, 5 bolt positioning assembly, 501 first positioning reducing assembly, 50101 first positioning reducing cylinder, 50102 first positioning reducing cylinder connecting plate, 50103 first positioning slider connecting plate, 50104 first positioning push rod connecting plate, 50105 first positioning slide rail, 50106 first positioning slider, 502 second positioning reducing assembly, 50201 second positioning reducing cylinder, 50202 second positioning reducing cylinder connecting plate, 50203 second positioning slider connecting plate, 50204 second positioning push rod connecting plate, 50205 second positioning slide rail, 50206 second positioning slider, 503 third positioning reducing assembly, 50301 third positioning reducing Cylinder, 50302 third positioning reducer cylinder connecting plate, 50303 third positioning slider connecting plate, 50304 third positioning push rod connecting plate, 50305 third positioning slide rail, 50306 third positioning slider, 504 first bolt clamp, 50401 first electric claw hand, 50402 first bolt left claw hand, 50403 first bolt right claw hand, 505 second bolt clamp, 50501 second electric claw hand, 50502 second bolt left claw hand, 50503 second bolt right claw hand, 506 third bolt clamp, 50601 third electric claw hand, 50602 third bolt left claw hand, 50603 third bolt right claw hand, 505 connecting rod, 6 front mounting plate, 7 support rod, 8 rear mounting plate, 9 shield, 10 light source, 11 camera, 12 solenoid valve island, 13 distributor. , DETAILED DESCRIPTION

[0040] Example 1

[0041] In a typical embodiment of the present invention, Figure 1-Figure 12 As shown, a wheel set axle end accessories intelligent grabbing pre-assembly device is provided.

[0042] The current axle end axle box cover reducing bolt tightening machine can meet the needs of reducing bolt tightening, but it still needs to additionally configure the wheelset axle end accessories grasping and shifting mechanism to load the wheelset axle end accessories to the installation position and match the operation of the axle end axle box cover reducing bolt tightening machine, which increases the complexity of the equipment. Based on this, the present embodiment provides an intelligent grasping and pre-assembly device for wheelset axle end accessories. By moving each pre-tightening shaft, bolt clamp and axle end cover claw, unmanned automatic grasping and pre-tightening of the wheelset axle end accessories can be achieved, thereby improving work efficiency, ensuring the quality of wheelset pre-assembly, and reducing the labor intensity of workers.

[0043] The mounting bracket is composed of a front mounting plate 6, a rear mounting plate 8 and a connecting piece connecting the two. In this embodiment, the connecting piece is a support rod 7; the front mounting plate 6 and the rear mounting plate 8 are both disc-shaped and coaxially distributed.

[0044] The shaft end accessory grasping assembly 3 includes a plurality of shaft end cover jaws arranged around the axis of the rear mounting plate, and are respectively installed on the rear mounting plate through track diameter reducing assemblies. The track diameter reducing assemblies serve as driving members to drive the shaft end cover jaws to move radially along the rear mounting plate 8. In this embodiment, three shaft end cover jaws are provided, namely, a first shaft end cover jaw 306, a second shaft end cover jaw 307 and a third shaft end cover jaw 308, and are respectively fixed on the rear mounting plate 8 through track diameter reducing assemblies.

[0045] The pre-tightening shaft installation assembly 4 includes multiple pre-tightening shafts with sleeves at the ends, and are installed on the front mounting plate around the axis of the front mounting plate 6. There are three pre-tightening shafts, namely the first pre-tightening shaft 4081, the second pre-tightening shaft 4082, and the third pre-tightening shaft 4083, all of which are fixed on the front mounting plate 6.

[0046] The bolt positioning assembly 5 includes a plurality of bolt clamps arranged around the axis of the front mounting plate 6, namely a first bolt clamp 504, a second bolt clamp 505, and a third bolt clamp 506, and is fixed to the front mounting plate 6 via a connecting rod.

[0047] The first shaft end cover jaw 306, the second shaft end cover jaw 307 and the third shaft end cover jaw 308 are moved so that the line connecting the three forms an equilateral triangle with a set outer circle radius. Similarly, the first pre-tightening shaft 4081, the second pre-tightening shaft 4082 and the third pre-tightening shaft 4083 are moved so that the line connecting the three forms an equilateral triangle with a set outer circle radius. The first bolt jaw 504, the second bolt jaw 505 and the third bolt jaw 506 are moved so that the line connecting the three forms an equilateral triangle with a set outer circle radius, and the outer circle set by the shaft end cover jaws, the pre-tightening shaft and the bolt jaws is a concentric circle position.

[0048] There are various arrangements that can achieve the above functions, which can be achieved through curved movement or linear movement. Preferably, the shaft end cover clamping jaw, the pre-tightening shaft and the bolt clamping jaw all move in a linear manner.

[0049] like Figure 3 and Figure 4 As shown, the shaft end attachment grabbing assembly 3 also includes a track wheel diameter reducing disk 302, a driver for driving the track wheel diameter reducing disk, and a first track diameter reducing assembly 303, a second track diameter reducing assembly 304 and a third track diameter reducing assembly 305 installed on the rear mounting plate 8, and the track diameter reducing assembly includes a clamping jaw mounting plate, a slide rail, a slider matching the slide rail and a cam bearing follower connected to the track wheel diameter reducing disk, and a first shaft end cover clamping jaw 306, a second shaft end cover clamping jaw 307 and a third shaft end cover clamping jaw 308 are respectively installed on the clamping jaw mounting plates of the first track diameter reducing assembly 303, the second track diameter reducing assembly 304 and the third track diameter reducing assembly 305. In this embodiment, the driver is a track wheel diameter reducing cylinder 301.

[0050] The first track diameter reducing assembly 303, the second track diameter reducing assembly 304 and the third track diameter reducing assembly 305 are all slide rail and slider mechanisms, the first track slide 30302, the first track slider 30303, the second track slide 30402, the second track slider 30403, the third track slide 30502, the third track slider 30503, the first clamping jaw mounting plate 30304, the second clamping jaw mounting plate 30404 and the third clamping jaw mounting plate 30504 are installed on the inner side of the rear mounting plate 6, and the rest are on the outer side of the rear mounting plate 6, that is, the first track slider clamp 30301, the second track slider clamp 30401, the third track slider clamp 30501, the first cam bearing follower 30305, the second cam bearing follower 30405 and the third cam bearing follower 30505 are installed on the outer side of the rear mounting plate 8.

[0051] The track wheel reducing disk 302 is mounted on the rear mounting plate 8. There is a slide groove on the track wheel reducing disk 302 for driving the shaft end cover clamp to move and the track wheel reducing cylinder 301 is connected through the track wheel reducing cylinder push rod 30103. The track wheel reducing cylinder 301 is mounted on the track wheel reducing cylinder mounting seat 30101 through the track wheel reducing cylinder connecting plate 30102. The extension and retraction of the track wheel reducing cylinder guide rod are controlled by the solenoid valve to drive the track wheel reducing disk to rotate. Through the connection of various components, the first shaft end cover clamp 306, the second shaft end cover clamp 307 and the third shaft end cover clamp 308 are driven to move to the position that meets the requirements of the shaft end cover, thereby completing the shaft end cover grabbing work.

[0052] The first track diameter-changing assembly 303, the second track diameter-changing assembly 304 and the third track diameter-changing assembly 305 are respectively provided with limit blocks in the slide grooves of the track wheel diameter-changing disk 302, so as to ensure that the moving range of the shaft end cover clamp is limited within the maximum allowable stroke.

[0053] In this embodiment, the first track diameter-changing component 303 has a first track limit stop 30306 ; the second track diameter-changing component 304 has a second track limit stop 30406 ; and the third track diameter-changing component 305 has a third track limit stop 30506 .

[0054] like Figure 5-Figure 7 As shown, the pre-tightening shaft installation assembly 4 also includes a first pre-tightening shaft reducing assembly 401, a second pre-tightening shaft reducing assembly 402 and a third pre-tightening shaft reducing assembly 403, and all three include a reducing slider and a driver for driving the pre-tightening shaft to reduce the diameter. The first pre-tightening shaft 4081, the second pre-tightening shaft 4082 and the third pre-tightening shaft 4083 are respectively installed on the sliders of the first pre-tightening shaft reducing assembly 401, the second pre-tightening shaft reducing assembly 402 and the third pre-tightening shaft reducing assembly 403. In this embodiment, the driver is a double cylinder.

[0055] Except for the first reducing slider 40104, the second reducing slider 40204 and the third reducing slider 40304 which are installed on the outside of the front mounting plate 6, the other components of the first pre-tightening shaft reducing assembly 401, the second pre-tightening shaft reducing assembly 402 and the third pre-tightening shaft reducing assembly 403 are installed on the inside of the front mounting plate 6. The first reducing cylinder 40101 is installed on the first reducing cylinder connecting seat 40102, and the first reducing cylinder 40101 is connected to the first pre-tightening shaft 4081 through the first reducing cylinder joint connecting seat 40103; the second reducing cylinder 40201 is installed on the second reducing cylinder connecting seat 40202, and the second reducing cylinder 40202 is connected to the second pre-tightening shaft 4082 through the second reducing cylinder joint connecting seat 40203; the third reducing cylinder 40301 is installed on the third reducing cylinder connecting seat 40302, and the third reducing cylinder 40301 is connected to the third pre-tightening shaft 4083 through the third reducing cylinder joint connecting seat 40303.

[0056] By controlling the extension and retraction of the reducing cylinder guide rod to drive the reducing assembly to move, the pre-tightening shaft changes its diameter, so that the pre-tightening shaft can be applied to various vehicle models.

[0057] The first reducing slide block 40104, the second reducing slide block 40204 and the third reducing slide block 40304 are installed in the slide groove outside the front mounting plate 6, ensuring that the reducing range of the pre-tightening shaft is limited within the maximum allowable stroke.

[0058] The pre-tightening shaft installation assembly 4 also includes a first bolt top cap assembly 404, a second bolt top cap assembly 405 and a third bolt top cap assembly 406, and all three include a top cap extension rod, a top cap press head and a driver for driving the top cap press head to move. In this embodiment, the driver is a cylinder.

[0059] The first top hat extension rod 40403 and the first top hat pressure head 40404 are both located in the first pre-tightening shaft 4081, the first top hat cylinder 40401 is installed on the first top hat cylinder connecting seat 40402, and the first top hat cylinder connecting seat 40402 is installed on the first pre-tightening shaft 4081. Similarly, the second top hat extension rod 40503 and the second top hat pressure head 40504 are both located in the second pre-tightening shaft 4082, and the second top hat cylinder 40 501 is installed on the second top hat cylinder connecting seat 40502, the second top hat cylinder connecting seat 40502 is installed on the second pre-tightening shaft 4082, the third top hat extension rod 40603 and the third top hat pressure head 40604 are both located in the third pre-tightening shaft 4083, the third top hat cylinder 40601 is installed on the third top hat cylinder connecting seat 40602, and the third top hat cylinder connecting seat 40602 is installed on the third pre-tightening shaft 4083.

[0060] The top hat cylinder controls the movement of the top hat pressure head through the top hat extension rod. During the grabbing process of the shaft end cover, the top hat pressure head presses the bolt and fixes it, ensuring that the sleeve on the pre-tightening shaft can be smoothly inserted into the head of the bolt.

[0061] The intermediate limit assembly 407 is installed between the first pre-tightening shaft 4081, the second pre-tightening shaft 4082 and the third pre-tightening shaft 4083, and includes a limit connecting plate 40703, a limit guiding rod 40704, a linear bearing 40706 and a driver for driving the limit connecting plate 40703. In this embodiment, the driver is a cylinder.

[0062] The intermediate limit assembly 407 is installed on the inner side of the front mounting plate 6 through the limit support rod 40705. The limit cylinder 40701 is installed on the limit cylinder mounting plate 40702. The limit cylinder mounting plate 40702 is connected to the limit connecting plate 40703 through the limit guide rod 40704 and the linear bearing 40706. The limit cylinder 40701 drives the limit connecting plate to move along the direction of the limit guide rod 40704, so as to ensure the minimum diameter change position of the pre-tightening shaft.

[0063] like Figure 8 and Fig. 9 As shown, the first pre-tightening shaft 4081, the second pre-tightening shaft 4082 and the third pre-tightening shaft 4083 in this embodiment are mainly composed of a servo motor 40801, a planetary reducer 40802, a gear box 40803, a gear box cover 40804 and a coil spring 40805, and the components are driven by a spur gear 40807, an intermediate spur gear 40808 and a spur gear spline shaft 40809. A quick-change sleeve 40806 is provided on the first pre-tightening shaft 4081, the second pre-tightening shaft 4082 and the third pre-tightening shaft 4083. The pre-tightening shaft can be used to match tightening shafts of various models and specifications at home and abroad, can be replaced without distinction, has high torque accuracy and angle accuracy, high continuous tightening times, and is easy to repair and maintain.

[0064] like Fig.10 and Fig.11 As shown, the bolt positioning assembly 5 also includes a first positioning reducing assembly 501, a second positioning reducing assembly 502 and a third positioning reducing assembly 503, and all three include a positioning slide rail, a positioning slider and a driver for driving the positioning slider, and the first bolt clamp 504, the second bolt clamp 505 and the third bolt clamp 506 are respectively installed on the first positioning slider connecting plate 50103, the second positioning slider connecting plate 50203 and the third positioning slider connecting plate 50303. In this embodiment, the driver is a cylinder.

[0065] The first positioning reducer assembly 501, the second positioning reducer assembly 502 and the third positioning reducer assembly 503 are all slide rail slider mechanisms. The first positioning reducer cylinder 50101 is installed on the first positioning reducer cylinder connecting plate 50102. The first positioning reducer cylinder guide rod is connected to the first positioning push rod connecting plate 50104 and the first positioning push rod connecting plate 50104 is connected to the first positioning slider connecting plate 50103. Similarly, the second positioning reducer cylinder 50201 is installed on the second positioning reducer cylinder connecting plate 50202. The second positioning reducer cylinder guide rod is connected to the first positioning push rod connecting plate 50104. The rod is connected to the second positioning push rod connecting plate 50204 and the second positioning push rod connecting plate 50204 is connected to the second positioning slider connecting plate 50203, the third positioning reducing cylinder 50301 is installed on the third positioning reducing cylinder connecting plate 50302, the third positioning reducing cylinder guide rod is connected to the third positioning push rod connecting plate 50304 and the third positioning push rod connecting plate 50304 is connected to the third positioning slider connecting plate 50303, the cylinder body drives the positioning reducing assembly to move along the guide of the slide rail slider, thereby completing the diameter change of the bolt positioning assembly.

[0066] The first bolt clamp 504 is composed of a first electric gripper 50401, a first left bolt gripper 50402, and a first right bolt gripper 50403. Similarly, the second bolt clamp 505 is composed of a second electric gripper 50501, a second left bolt gripper 50502, and a second right bolt gripper 50503. The third bolt clamp 506 is composed of a third electric gripper 50601, a third left bolt gripper 50602, and a third right bolt gripper 50603. The electric gripper drives the left bolt gripper and the right bolt gripper to move to clamp the bolt.

[0067] Since there is a gap between the sleeve of the pre-tightened shaft and the head of the bolt, the bolt is prevented from sinking due to its gravity in the horizontal state during the assembly of the shaft end cover accessories, resulting in deviation between the bolt and the bolt hole. The bolt positioning assembly straightens the bolt by clamping the bolt, ensuring that the bolt can be smoothly aligned with the bolt hole during the assembly of the shaft end cover accessories.

[0068] The overall intelligent grasping pre-assembly device is installed on the robot connecting plate 1 through the support mounting rod 2, which plays a supporting and rotating role. The angular contact ball bearing in the fixture shaft 311 can be used to rotate the entire intelligent grasping pre-assembly device to align the shaft end bolts at different angles. The intelligent grasping pre-assembly device is connected to the robot arm structure through the robot connecting plate 1.

[0069] A camera 11 and a light source 10 are installed on the outside of the front mounting plate 8 , a solenoid valve island 12 and a distributor 13 are installed on the robot connecting plate 1 , and a protective cover 9 is installed between the front mounting plate 6 and the rear mounting plate 8 .

[0070] The intelligent grasping and pre-assembly device for wheelset axle end accessories provided in this embodiment can realize torque control, angle control, position control and zero-speed torque holding functions, ensuring the reliability of intelligent grasping and pre-tightening of the intelligent grasping and pre-tightening device for wheelset axle end accessories.

[0071] The intelligent grabbing and pre-assembling device for wheelset axle end accessories provided in this embodiment has the functions of displaying and printing tightening results, which is the prior art and will not be described in detail here.

[0072] The intelligent grabbing and preassembling device for wheelset axle end accessories provided in this embodiment has a network communication function and can exchange information with the outside world. It is a prior art and will not be described in detail here.

[0073] The pre-tightening shaft of the intelligent grasping and pre-assembly device for wheelset axle end accessories provided in this embodiment has the functions of forward rotation, reverse rotation and tightening synchronization, and each step of the pre-tightening process can be programmed arbitrarily. It is a prior art and will not be described in detail here.

[0074] The intelligent grabbing pre-assembly device for wheelset axle end accessories provided in this embodiment has alarm and self-diagnosis functions; emergency stop protection function; overload, overcurrent, overvoltage and overheating protection functions; all of which are prior art and will not be described in detail here.

[0075] Example 2

[0076] In another typical embodiment of the present invention, Figure 1-Figure 12 As shown, a working method of a wheel set axle end accessory intelligent grasping preassembly device is provided, using the wheel set axle end accessory intelligent grasping preassembly device as in Example 1.

[0077] A working method of a wheel set axle end attachment intelligent grabbing preassembly device, comprising:

[0078] Move the wheelset axle end attachment intelligent grabbing pre-assembly device to the axle end attachment position;

[0079] By moving multiple pre-tightening shafts so that their positions are consistent with the positions of the shaft end bolts; moving multiple bolt clamps to clamp the screw rods of the shaft end bolts respectively; and moving multiple shaft end cover clamps to clamp the wheelset shaft end cover together;

[0080] The intelligent grabbing and pre-assembling device for the wheelset shaft end accessories moves, driving the shaft end bolts and the wheelset shaft end cover to move to the wheelset shaft end position, so that the wheelset shaft end cover matches the wheelset shaft end, and the shaft end bolts match the screw holes; the pre-tightening shaft matches the shaft end bolts for pre-tightening operations;

[0081] During the pre-tightening work, the bolt clamps and the shaft end cover claws are withdrawn successively until all the bolts are pre-tightened to the required standard.

[0082] Specifically, the intelligent grasping and pre-assembly device for the wheelset axle end accessories is moved to the axle end accessories position, and the positions of the first pre-tightening shaft 4081, the second pre-tightening shaft 4082 and the third pre-tightening shaft 4083 are made consistent with the axle end bolt layout positions by moving the first bolt clamp 504, the second bolt clamp 505 and the third bolt clamp 506 to clamp the axle end bolt screw part, and the first axle end cover clamp 306, the second axle end cover clamp 307 and the third axle end cover clamp 308 are moved to clamp the wheelset axle end cover, and then the wheelset axle end accessories are driven to move to the wheelset axle end position, and the pre-tightening operation is performed, and the bolt clamps and the axle end cover claws are withdrawn successively until all bolts are pre-tightened to the standard.

[0083] Specifically, in this embodiment, Fig.12 As shown, the intelligent grabbing pre-assembly device for the wheel set shaft end accessories is moved to the shaft end accessories position, and the corresponding grabbing program is selected according to the vehicle model information; the cylinder is used to move each pre-tightening shaft so that the sleeve is inserted into the bolt head, and each bolt clamp is moved to clamp the bolt screw part, and each shaft end cover clamp is moved to clamp the wheel set shaft end cover; the intelligent grabbing pre-assembly device for the wheel set shaft end accessories drives the shaft end accessories to move to the wheel set shaft end position; after the position of the wheel set shaft end bolt hole is detected by the camera 11, the intelligent grabbing pre-assembly device for the wheel set shaft end accessories is rotated to make the shaft end screw The bolt is aligned with the bolt hole, and then the bolt clamps are reduced in diameter and moved to a place that does not affect the working area. The bolt top cap assembly in each pre-tightening shaft generates a certain pressure to support the shaft end bolt and start pre-tightening. Subsequently, the shaft end cover claws are reduced in diameter and moved to a place that does not affect the working area. Each pre-tightening shaft continues to pre-tighten the shaft end bolts. By observing whether the terminal alarms, it is observed whether each shaft end bolt is pre-tightened qualified. If it is unqualified, the terminal will alarm. If it is qualified, the pre-tightening is completed, and the wheelset shaft end accessory intelligent grasping pre-assembly device is reset to a place that does not affect the working area.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent grabbing and preassembling device for wheelset shaft end accessories, characterized in that: include: A mounting bracket includes a front mounting plate and a rear mounting plate which are spaced apart and connected by a connecting piece; The shaft end accessory grabbing assembly includes a plurality of shaft end cover jaws arranged around the axis of the rear mounting plate and respectively mounted on the rear mounting plate through a track diameter reducing assembly, the ends of the shaft end cover jaws pass through the front mounting plate and extend to the side of the front mounting plate away from the rear mounting plate, and the track diameter reducing assembly acts as a driving member to drive the shaft end cover jaws to move radially along the rear mounting plate; The pre-tightening shaft installation assembly includes a plurality of pre-tightening shafts with quick-change sleeves at the ends thereof and is installed on the front installation plate around the axis of the front installation plate; The bolt positioning assembly comprises a plurality of bolt clamping claws arranged around the axis of the front mounting plate and respectively mounted on the front mounting plate through connecting rods.

2. The intelligent grabbing and preassembling device for wheelset axle end accessories according to claim 1, characterized in that: The shaft end accessory grabbing assembly also includes a track wheel diameter reducing disk and a follower. The track wheel diameter reducing disk is coaxially rotatably installed on the rear mounting plate. A plurality of slide grooves are provided on the track wheel diameter reducing disk. Each bearing cover clamp is slidably matched with the rear mounting plate, and a follower matching the slide groove is installed on the bearing cover clamp. When the follower is pushed by the track wheel diameter reducing disk, it drives the bearing cover clamp to move radially along the rear mounting plate.

3. The intelligent grabbing and preassembling device for wheelset axle end accessories according to claim 2, characterized in that: The track wheel diameter reducing disc is connected with a driver, and each bearing cover clamp is respectively mounted on the rear mounting plate through a slide rail and slider mechanism.

4. The intelligent grabbing and preassembling device for wheelset axle end accessories according to claim 1, characterized in that: The pre-tightening shaft installation assembly also includes a pre-tightening shaft reducing assembly, and the pre-tightening shafts are respectively installed on the front mounting plate through the pre-tightening shaft reducing assembly to drive the pre-tightening shaft to move radially along the front mounting plate.

5. The intelligent grabbing and preassembling device for wheelset axle end accessories according to claim 1 or 4, characterized in that: The pre-tightening shaft installation assembly also includes a bolt top cap assembly installed on the front installation plate, the bolt top cap assembly includes a connected top cap pressure head and a top cap extension rod, the top cap extension rod is distributed parallel to the axis of the front installation plate and can move axially relative to the front installation plate.

6. The intelligent grabbing and preassembling device for wheelset axle end accessories according to claim 5, characterized in that: The pre-tightening shafts are respectively matched with servo motors and reducers. The servo motors are connected to the pre-tightening shafts through the reducers, and the pre-tightening shafts are extended to the side of the front mounting plate away from the rear mounting plate.

7. The intelligent grabbing and preassembling device for wheelset axle end accessories according to claim 1, characterized in that: The bolt clamps are respectively connected with positioning reducing components, and the positioning reducing components drive the bolt clamps to move radially along the front mounting plate.

8. The intelligent grabbing and preassembling device for wheelset axle end accessories according to claim 1, characterized in that: The bolt clamp comprises a claw hand, and the claw hand on the same bolt clamp forms a clamping portion to clamp the bolt.

9. A working method of a wheel set axle end attachment intelligent grabbing preassembly device, comprising: constructing a wheel set axle end attachment intelligent grabbing preassembly device as claimed in any one of claims 1 to 8, characterized in that: include: Move the wheelset axle end attachment intelligent grabbing pre-assembly device to the axle end attachment position; By moving multiple pre-tightening shafts to make their positions consistent with the layout positions of the shaft end bolts; moving multiple bolt clamps to clamp the screw rods of the shaft end bolts respectively; and moving multiple shaft end cover clamps to clamp the wheelset shaft end cover together; The intelligent grabbing and pre-assembling device for the wheelset shaft end accessories moves, driving the shaft end bolts and the wheelset shaft end cover to move to the wheelset shaft end position, so that the wheelset shaft end cover matches the wheelset shaft end, and the shaft end bolts match the screw holes; the pre-tightening shaft matches the shaft end bolts for pre-tightening operation; During the pre-tightening work, the bolt clamps and the shaft end cover claws are withdrawn successively until all the bolts are pre-tightened to the required standard.

10. The working method of the intelligent grabbing and preassembling device for wheelset axle end accessories according to claim 9, characterized in that: The number of the pre-tightening shafts and bolt clamps matches the number of bolts installed on the wheelset axle end cover and corresponds one to one.

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