Rail transit vehicle axle machining intelligent production line

Abstract

The application discloses a machining intelligent production line for a vehicle axle of a rail transit vehicle, and belongs to the field of rail transit vehicle axle machining equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of axle machining intelligent production line for rail transit vehicle. BACKGROUND

[0002] The axle of rail transit vehicle is generally large in size and heavy, and manual operation of hoisting equipment is required to lift the axle during machining operation, and the workpiece is stored in a regional plane, and the axle is transported by using freight vehicles, and the axle information is recorded manually. This production method has the problems of low efficiency, discontinuous operation of each process, high labor and equipment investment and maintenance cost, frequent mixed operation of man and machine, large occupation of plane storage site, and safety problem of plant area traffic. A kind of axle machining intelligent production line for rail transit vehicle is needed to be developed, which can meet the continuous and rapid conveying of axle for rail transit vehicle machining production, automatic lifting of axle, smaller occupation of axle storage, automatic transportation of axle, and digitalization of production process.

[0003] In the existing axle machining production, semi-gantry crane, cantilever crane and large bridge type rail crane are used for hoisting and transporting in each process, and the goods are stored in a plane stacking mode in a stacking area, and the goods are transported by using freight vehicles. This scheme has the characteristics of frequent mixed operation of man and machine, low storage capacity, large occupation area, discontinuous operation and high labor and equipment investment cost.

[0004] The existing technology mainly has the following problems:

[0005] 1. The hoisting is carried out by using semi-gantry crane, cantilever crane and large bridge type rail crane, and the operation efficiency is low, the investment and maintenance cost is high, manual operation is required during hoisting operation, the labor cost is high, and the hoisting machinery and personnel are frequently mixed to cause certain safety risk.

[0006] 2. The workpiece to be machined and finished product are stored and placed in a plane stacking mode in a regional area, which occupies a large area, the site layout is chaotic, and the continuity of each machining process is affected.

[0007] 3. The transportation cost of goods transported by using freight vehicles is high, and there is safety risk in the cross operation of plant area vehicles and personnel. SUMMARY

[0008] The present application aims to provide an axle machining intelligent production line for rail transit vehicle to solve the problems in the background technology.

[0009] In order to achieve the above object, the present application provides the following technical scheme: a rail transit vehicle axle machining intelligent production line, which comprises a V-shaped block conveyor, an automatic hoisting robot, a milling machine machining equipment area, a lathe machining equipment area, a vertical layered intelligent storage library, a shuttle axle carrier and an axle automatic transfer trolley; the V-shaped block conveyor has two sections, one section is used for stably conveying a blank axle to a machining area, and the other section is used for conveying a rough turning finished axle to the automatic transfer trolley; the end of the V-shaped block conveyor 1 is the machining equipment area, the automatic hoisting robot is horizontally arranged on the machining equipment area, covers a conveyor feeding station, a machining equipment, a standby machining rack, a standby storage rack and a conveyor discharge station, and the axle automatic transfer trolley is located at the end of the discharge conveyor.

[0010] Preferably, the rail transit vehicle axle machining intelligent production line has the following characteristics: the V-shaped block conveyor comprises an equipment rack, a servo motor, a double-shaft output speed reducer, a transmission shaft, a gear, a chain, a V-shaped bearing block, a supporting roller, a guide rib, a photoelectric switch and a limit switch; the equipment rack is a supporting framework of the conveyor; the servo motor is connected with the double-shaft output speed reducer and the transmission shaft in sequence; the gear is sleeved on the transmission shaft and connected with the chain; the V-shaped nylon bearing block is arranged on the upper part of the chain; the supporting rollers are arranged on the two sides of the V-shaped nylon bearing block; the V-shaped nylon bearing block is grooved and matched with the guide rib; and the guide rib is provided with a photoelectric sensor at the end.

[0011] Preferably, the automatic hoisting robot comprises a supporting frame, a translation main beam, a lifting main beam, a mechanical clamp jaw, a sliding block guide rail, a gear, a rack and a servo motor; the translation main beam is provided with left and right moving gears and racks, left and right moving sliding block guide rails and left and right moving servo motors; the torque is increased through a speed reducer; the left and right moving gears and racks are driven; the left and right moving sliding block guide rails are used for guiding and supporting; limit switches are arranged at the extreme positions to prevent position overshoot; the front and rear moving sliding block guide rails are arranged on the two sides of the top of the supporting frame; the front and rear moving racks are arranged in the front and rear moving sliding block guide rails and engaged with the front and rear moving gears; the front and rear moving gears are connected with the double-shaft output speed reducer, the transmission shaft and the front and rear moving gears in sequence; the front and rear moving gears are rotated and matched with the front and rear moving racks to drive the translation main beam; front and rear moving limit switches are arranged at the extreme positions of the front and rear moving gears to prevent position overshoot; the lifting main beam is based on the translation main beam, driven by a lifting servo motor, connected with a lifting sliding block guide rail and driven by a lifting gear and rack; lifting limit switches are arranged at the extreme positions of the lifting gear and rack to prevent position overshoot; the end of the lifting main beam is connected with a base shaft of the mechanical clamp jaw.

[0012] Preferably, the mechanical clamp jaw comprises a base shaft, a mechanical clamp jaw base, a second servo motor and a steel clamp jaw; the steel clamp jaw is connected to the mechanical clamp jaw base through a guide support sliding block; a nut seat is arranged on the upper end of the steel clamp jaw; a reverse threaded screw rod passes through the nut seat and is connected with the second servo motor; and a photoelectric sensor is further arranged on the mechanical clamp jaw.

[0013] Preferably, the vertical layered intelligent storage warehouse comprises a vertical light steel main frame, an axle storage rack, a shuttle axle carrier, a traveling crane rail and an upper support rail; the shuttle axle carrier is arranged in the vertical light steel main frame, and the shuttle axle carrier comprises a carrier frame, the upper end of the carrier frame is connected with the upper support rail, the lower end is connected with the traveling crane rail through a walking wheel, the axle storage rack is detachable, a nylon V-shaped block support is arranged on the upper part of the axle storage rack, and the middle part of the axle storage rack is left empty; the shuttle axle carrier is composed of a walking rail, a walking wheel, an upper support rail, a lifting mechanism, a fork lifting platform, a telescopic fork, a V-shaped bearing block, a sliding contact power supply and a servo motor, one iron rail is arranged on the upper and lower parts, the surface of the walking wheel is groove-shaped and can be clamped into the iron rail to serve as a guide support, the upper support rail is clamped into the top guide wheel of the shuttle axle carrier to serve as a guide support, the lifting mechanism is driven by a lifting servo motor II, the lifting servo motor II is sequentially connected with a double-shaft output speed reducer, a transmission shaft II and a right-angle steering gear, power is output to the two heavy load lifting screws on the two sides, the heavy load lifting screws are connected with the fork lifting platform through a nut seat, four groups of heavy load linear guide blocks are arranged on the two sides of the fork lifting platform, the fork lifting platform is provided with telescopic forks, two groups of V-shaped bearing blocks are arranged on the forks, the telescopic forks are connected with a translation servo motor II, and a translation rack and a gear are arranged at the bottom.

[0014] Preferably, the axle automatic transfer trolley comprises traveling wheels, rails, a jacking device, telescopic forks, V-shaped bearing blocks, a walking servo motor and a sliding contact power supply, the rails are laid from a warehouse exit station to a next processing workshop, the rails are supplied with power in a sliding contact mode, the two rails are connected with a low-voltage power supply, the axle automatic transfer trolley is supplied with power through the contact between a carbon brush at the bottom of the trolley and the rails; four groups of traveling wheels are driven by the walking servo motor through gear chain transmission; laser ranging radars are arranged at the front and rear ends of the trolley body to control automatic traveling; the jacking device is arranged in the trolley body and has a scissors fork structure, a servo cylinder is used as power, and the upper part is connected with a telescopic fork platform; a mechanical travel switch is arranged at the end of the rail.

[0015] The present application has the following advantages:

[0016] a. The automatic hoisting robot is different from half gantry crane, cantilever crane and bridge type rail crane, has low equipment investment and maintenance cost, low labor cost for unmanned operation, and eliminates the safety risks caused by frequent mixed operation of the hoisting machinery and personnel in the past. The automatic hoisting robot can be intelligently controlled by a remote terminal, and can run 24 hours a day, greatly improving the hoisting rhythm and efficiency.

[0017] b. The vertical layered intelligent storage warehouse is different from the area division type plane stacking storage mode, has a small occupied area, can be flexibly expanded according to needs, has large storage capacity, and the internal shuttle axle carrier can efficiently complete the warehouse exit and entry operation of the axle, real-time record and refresh the axle information in the warehouse, and the data can be displayed to a cloud digital platform.

[0018] c.The axle automatic transfer trolley is different from the freight vehicle transfer, can be automatically operated all day round without human input, has low cost, high axle transfer efficiency, high intelligence degree, the transferred axle is more stable and not easy to collide, and the safety risk of the factory truck driving is eliminated. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of the present application;

[0020] Figure 2 It is a structural view of the V-shaped block conveyor;

[0021] Figure 3 It is a structural view of the automatic hoisting robot;

[0022] Figure 4 It is a structural view of the mechanical clamping jaw;

[0023] Figure 5 It is a structural view of the shuttle type axle carrier;

[0024] Figure 6 Vertical layered intelligent storage library;

[0025] Figure 7 It is an axle automatic transfer trolley.

[0026] In the figure: 1 V-shaped block conveyor, 2 milling machine machining equipment area, 3 lathe machining equipment area, 4 shuttle axle carrier, 5 vertical layered intelligent storage library, 6 automatic hoisting robot, 8 axle automatic transfer trolley, 501 vertical light steel main frame, 502 axle storage rack, 603 servo motor two, 604 mechanical clamping jaw base, 605 base rotating shaft, 606 guide support sliding block, 607 nut base 1001 equipment rack, 608 reverse threaded screw rod, 8001 vehicle body, 8002 traveling wheel, 8003 laser ranging radar, 8004 walking servo motor, 8005 track, 8006 mechanical travel switch, 8007 translation guide support wheel, 8008 translation rack, 8009 telescopic fork base, 8010 V-shaped bearing block, 8011 fork tooth base, 8012 jacking device, 1002 servo motor, 1003 double shaft output speed reducer, 1004 transmission shaft, 1005 V-shaped bearing block, 1007 support roller, 1008 guide rib, 4001 walking wheel, 4003 heavy load lifting screw rod, 4005 heavy load linear guide block, 4006 gear, 4007 translation servo motor two, 4008 fork lifting platform, 4009 carrier frame, 4010 translation rack, 4011 telescopic fork tooth, 4012 V-shaped bearing block, 4015 lifting servo motor two, 4016 double shaft output speed reducer, 4017 transmission shaft two, 4018 right angle steering gear, 4019 upper support track, 4020 traveling track, 6001 mechanical clamping jaw, 6002 lifting main beam, 6003 lifting servo motor, 6004 lifting gear rack, 6005 lifting limit switch, 6006 lifting sliding block guide rail, 6007 left and right moving servo motor, 6008 forward and backward moving servo motor, 6009 transmission shaft, 6010 left and right moving gear rack, 6011 left and right moving sliding block guide rail, 6012 forward and backward moving gear, 6013 forward and backward moving rack, 6014 forward and backward moving sliding block guide rail, 6015 forward and backward moving limit switch, 6016 sliding contact power supply cable, 6017 buffer rack, 6018 support frame. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0028] Please refer to Figure 1This invention provides a technical solution: an intelligent production line for machining axles for rail transit vehicles. The intelligent production line includes a V-block conveyor 1, an automatic hoisting robot 6, a milling machine machining area 2, a lathe machining area 3, a vertical layered intelligent storage warehouse 5, a shuttle axle transporter 4, and an automatic axle transfer trolley 8. The V-block conveyor 1 has two sections: one section smoothly transports the rough axles to the machining area, and the other section delivers the rough-machined axles to the automatic transfer trolley. The machining equipment area 3 is located at the end of the V-block conveyor 1. The automatic hoisting robot 6 spans the machining equipment area, covering the conveyor loading station, machining equipment, waiting-to-be-machined material racks, waiting-to-be-warehouse material racks, and the conveyor outgoing station. The automatic axle transfer trolley 8 is located at the end of the outgoing conveyor.

[0029] like Figure 2 As shown, the V-shaped block conveyor 1 includes a frame 1001, a servo motor 1002, a dual-shaft output reducer 1003, a drive shaft 1004, gears, a chain, V-shaped bearing blocks 1005, support rollers 1007, guide ribs 1008, photoelectric switches, and limit switches. The frame 1001 serves as the support skeleton of the conveyor. The servo motor 1002 is connected in sequence to the dual-shaft output reducer 1003 and the drive shaft 1004. The gears are fitted into the drive shaft 1004 and connected to the chain. A V-shaped nylon bearing block 1005 is provided on the upper part of the chain. Support rollers 1007 are installed on both sides of the V-shaped nylon bearing block 1005. The V-shaped nylon bearing block 1005 has slots that cooperate with the guide ribs 1008. A photoelectric sensor is provided at the end of the guide ribs 1008.

[0030] like Figure 3As shown, the automatic hoisting machine 6 includes a support frame 6018, a translation main beam, a lifting main beam 6002, a mechanical clamp jaw 6001, a slider guide rail, a gear, a rack and a servo motor; the translation main beam is provided with left and right moving gear racks 6010, left and right moving slider guide rails 6011, left and right moving servo motors 6007, a reducer for reducing speed and increasing torque, left and right moving gear racks 6010 transmission, left and right moving slider guide rails 6011 for guiding and supporting, and limit switches at the limit positions to prevent position overshoot; the top of the support frame 6018 is provided with front and rear moving slider guide rails 6014, the front and rear moving slider guide rails 6014 are provided with front and rear moving racks 6013 and front and rear moving gears 6012 engaged, front and rear moving servo motors 6008 are connected with a double-shaft output reducer, a transmission shaft 6009 and the front and rear moving gears 6012 in sequence, the front and rear moving gears 6012 rotate and cooperate with the front and rear moving racks 6013 to drive the translation main beam, front and rear moving limit switches 6015 are arranged at the front and rear moving limit positions to prevent position overshoot; the lifting main beam 6002 is based on the translation main beam, driven by a lifting servo motor 6003, connected with a lifting slider guide rail 6006, driven by a lifting gear rack, provided with a lifting limit switch 6005 at the lifting limit position to prevent lifting position overshoot; the end of the lifting main beam 6002 is connected with a base rotating shaft 605 of the mechanical clamp jaw 6001. The support frame 6018 is a steel structure, powered by a sliding contact power cable 6016, the translation main beam, the lifting main beam and the main frame form a truss type mechanical arm with X / Y / Z three degrees of freedom, the translation main beam is provided with a rack, a linear guide rail and a servo motor for driving, a reducer for reducing speed and increasing torque, a helical gear rack transmission, a heavy load linear guide rail slider for guiding and supporting, and limit switches at the limit positions to prevent position overshoot. Linear guide rails are arranged on both sides of the top of the frame for guiding and supporting, racks are arranged and engaged with gears on the moving main beam, front and rear moving servo motors 6008 are connected with a double-shaft output reducer, a transmission shaft and a helical gear in sequence, the helical gear rotates and cooperates with the rack to drive the front and rear moving main beam, limit switches are arranged at the front and rear moving limit positions to prevent position overshoot. The left and right moving main beam is based on the front and rear moving main beam, driven by a servo motor, guided and supported by a slider guide rail, driven by a helical gear rack, provided with limit switches at the left and right moving limit positions to prevent left and right moving position overshoot. The lifting main beam is based on the translation main beam, driven by a servo motor, connected with a slider guide rail for guiding and supporting, driven by a lifting gear rack 6004, provided with a lifting limit switch 6005 at the lifting limit position to prevent lifting position overshoot. The end of the lifting main beam is assembled with a mechanical clamp jaw for grabbing an axle, the mechanical clamp jaw has one degree of rotational freedom, can adjust the axial position of the clamp jaw, is driven by a servo motor, is driven by a screw rod, the screw rod rotates to drive the nut seat to move the two sides of the clamp jaw in opposite directions, and an optical sensor is arranged to detect the position of the clamp jaw.The automatic hoisting robot can hoist the blank axle from the inlet conveyor to the standby processing rack, from the standby processing buffer rack 6017 to the machining milling machine or lathe, from the machining milling machine or lathe to the standby storage buffer rack, and from the machining milling machine or lathe to the outlet conveyor. The servo motor and the motion controller can realize high-precision control and accurate clamping and hoisting.

[0031] As shown in Figure 4 The mechanical gripper 6001 includes a base shaft 605, a mechanical gripper base 604, a servo motor 2 6003, and a steel gripper 601. The steel gripper 601 is connected to the mechanical gripper base 604 through a guide support sliding block 606. The upper end of the steel gripper 601 is provided with a nut seat 607. A reverse threaded screw rod 608 passes through the nut seat 607 and is connected with the servo motor 2 6003. The mechanical gripper 6001 is also provided with a photoelectric sensor. The mechanical gripper has a rotational degree of freedom and can adjust the axial position of the gripper. The gripper is driven by a servo motor, a screw rod transmission, and two opposite screw threads on the screw rod. The rotation of the screw rod drives the nut seat to move the two opposite grippers. The photoelectric sensor detects the position of the gripper.

[0032] As shown in Figures 5-6 The vertical layered intelligent storage library 5 includes a vertical light steel main frame 501, an axle storage rack 502, a shuttle axle carrier 4, a traveling rail 4020, and an upper support rail 4019. The shuttle axle carrier 4 is arranged in the vertical light steel main frame 501. The shuttle axle carrier 4 includes a carrier frame 4009. The upper end of the carrier frame 4009 is connected with the upper support rail 4019. The lower end is connected with the traveling rail 4020 through a walking wheel 4001. The axle storage rack 502 is detachable. The upper part of the rack is provided with a nylon V-shaped block support. The middle part of the axle storage rack 502 is left empty. The shuttle axle carrier 4 is composed of a traveling rail 4020, a walking wheel 4001, an upper support rail 4019, a lifting mechanism, a fork lifting platform 4008, a telescopic fork, a V-shaped bearing block 4012, a sliding contact power supply, and a servo motor. One iron rail is arranged above and below. The walking wheel 4001 has a groove-shaped wheel surface, which can be clamped into the iron rail for guiding and supporting. The upper support rail 4019 is clamped into the top guide wheel of the shuttle axle carrier 4 for guiding and supporting. The lifting mechanism is driven by a lifting servo motor 2 4015. The lifting servo motor 2 4015 is sequentially connected with a double-shaft output speed reducer 4016, a transmission shaft 2 4017, and a right-angle steering gear 4018 to output power to the two sides of a heavy-duty lifting screw rod 4003. The heavy-duty lifting screw rod 4003 is connected with the fork lifting platform 4008 through a nut seat. Four groups of heavy-duty linear guide blocks 4005 are arranged on the two sides of the fork lifting platform 4008. The fork lifting platform 4008 is provided with telescopic forks 4011. Two groups of V-shaped bearing blocks 4012 are arranged on the forks. The telescopic forks 4011 are connected with a translation servo motor 2 4007. The bottom is provided with a translation rack 4010 and a gear 4006.

[0033] The vertical light steel main frame is made of light steel material, has high strength and light weight, and the axle storage rack is detachable, can be expanded according to requirements, and can store two axles on a single group of racks. The upper part of the rack is provided with a nylon V-shaped block to bear the axle. The middle part of the storage rack is left empty to store axles by forklift. The shuttle type axle carrier is composed of a walking track, a walking wheel, an upper support track, a lifting mechanism, a forklift lifting platform, a telescopic fork, a V-shaped bearing block, a sliding contact power supply and a servo motor. It is arranged along the direction of the vertical warehouse and is a single track walking type. One rail is arranged on the upper and lower parts. The walking wheel surface is grooved and can be clamped into the rail for guiding and supporting. The upper support track is clamped into the top guide wheel of the carrier for guiding and supporting. The lifting mechanism is driven by a servo motor. The motor is sequentially connected with a double-shaft output speed reducer, a transmission shaft and a right-angle turner to output power to two heavy-duty ball screws. The rotation of the two ball screws drives the nut seat to connect the forklift lifting platform to make lifting action. Four heavy-duty linear guide blocks are arranged on both sides of the forklift lifting platform for guiding and supporting. The forklift lifting platform is provided with telescopic forks, and two nylon V-shaped bearing blocks are arranged on the forks to fork two axles. The inside of the telescopic fork is driven by a servo motor, and the bottom is driven by a gear and rack transmission. The edge of the telescopic fork body is provided with a translation support roller. The inner side of the fork base 8011 is notched to cooperate with the roller. When the telescopic fork is extended, the translation support roller can be inserted into the notch for guiding and supporting. When the axle forking operation is performed, the upper computer controls the shuttle type axle carrier to run to the specified rack position in the warehouse, the telescopic fork is inserted into the bottom of the axle, the lifting mechanism lifts the axle to separate from the rack, the fork is retracted to the platform, and then moves to the storage rack of the specified layer number. The fork holds the axle and extends above the storage rack. The lifting mechanism is lowered, the fork is retracted to the home position after the axle is left in the storage rack, and the system records and refreshes the axle information in the vertical warehouse.

[0034] As Figure 7As shown, the axle automatic transfer trolley 8 includes a travelling wheel 8002, a track 8005, a jacking device 8012, telescopic tines, a V-shaped load block 8010, a walking servo motor 8004, and a sliding contact power supply. The track 8005 is laid from the warehouse exit station to the next processing workshop, and is powered by rail sliding contact. Two tracks 8005 are connected to a low-voltage power supply and are isolated by an insulating material. The axle automatic transfer trolley 8 is powered by a carbon brush at the bottom of the track 8005. Four sets of travelling wheels 8002 are driven by the walking servo motor 8004 through gear chain transmission. Laser ranging radars 8003 are installed at the front and rear ends of the vehicle body 8001 to control automatic travel. The jacking device 8012 is built into the vehicle body 8001 and has a scissors fork structure. A servo cylinder is used as power, and the upper part is connected to a telescopic tine platform. A mechanical travel switch 8006 is provided at the end of the track 8005. Two sets of telescopic tines are driven by a servo motor. A translation rack 8008 is installed at the bottom of the telescopic tine. The telescopic tine side is provided with a translation guide support wheel 8007. The telescopic tine base 8009 is slotted on both sides. The rolling steel wheels freely enter and exit the slot of the telescopic tine base when the fork body extends and retracts, and play a guiding and supporting role in the linear motion of the fork body. A mechanical travel switch 8006 is provided at the end of the track to prevent the trolley from overshooting out of the track. During the warehouse exit operation, the axle automatic transfer trolley 8 automatically runs to the warehouse exit station, the telescopic tine extends out of the axle bottom, the V-shaped load block is opposite to the two axles above, the jacking device is lifted upward, the axle is lifted off the conveyor, the tine is retracted to bring the axle into the transfer trolley, and then the axle is lowered to run to the next production workshop.

[0035] Embodiment:

[0036] Taking rough milling and rough turning of a blank axle as an example, the blank axle is step by step forwarded to the milling machine and lathe machining equipment area by a V-shaped block conveyor. A high-power servo motor is used for driving, a reduction gearbox is used for speed reduction and torque amplification, a chain wheel and chain transmission is used, nylon V-shaped bearing blocks are installed on the chain for supporting the axle, supporting rollers are installed on both sides of the bearing blocks for offsetting the downward pressure of the axle and protecting the chain, a long rib is laid at the bottom of the chain to limit the movement of the supporting rollers, and the axle is step by step input into the machining area. A lifting station is provided at the end of the conveying line, a photoelectric sensor is installed at the lower side to trigger a signal machine to automatically lift and transport, and a limit switch is provided at the end to prevent the axle from falling off due to overpositioning. The automatic lifting robot is a truss type, the mechanical arm has three degrees of freedom in X, Y and Z directions, and the end mechanical gripper has one degree of freedom in rotation, so that the axial position of the axle entering the lathe can be adjusted.

[0037] When the blank axle hoisting operation is performed, the truss mechanical arm runs to the hoisting station, the Z-axis lifting main beam with mechanical clamps is lowered, the mechanical clamps are driven by the motor to close in the middle, the clamps are closed to grab the axle, the top of the clamp is connected with the sliding block guide rail to support and guide, the reverse threaded screw rod and the nut seat rotate to drive the clamps to move synchronously and oppositely, and the clamps realize the closing and opening action. After the clamps are closed, the feedback signal is fed back, the Z-axis lifting main beam grabs the axle to a safe height, the truss mechanical arm is hoisted to the upper side of the empty processing buffer rack, the Z-axis lowers to place the axle on the V-shaped nylon bearing block of the rack, the motor drives the clamps to open reversely synchronously, the Z-axis rises to the safe position to wait for the next hoisting instruction. After rough milling or rough turning processing is completed, the automatic hoisting robot moves to the upper side of the machine tool equipment in the same way, the machined qualified product is hoisted to the empty warehouse buffer rack, and the unqualified product is hoisted to the delivery conveyor and is transported to the unqualified product storage area by the automatic transfer trolley.

[0038] When the machined axle is stored in the warehouse, the photoelectric sensor is arranged at the lower side of the warehouse buffer rack, the upper computer controls the shuttle axle carrier to move to the buffer rack to carry the axle. The shuttle axle carrier is single-rail type, a servo motor is used as the traveling drive, laser ranging radars are arranged at the front and back to control the traveling distance. The fork lifting platform inside is driven by a servo motor, torque is transmitted to both sides through a straight shaft reducer, is connected with a right-angle steering gear, the steering gear is connected with a ball screw to rotate, the ball screw rotates to drive the nut seat to lift, the nut seat is connected with the fork lifting platform on both sides, four groups of heavy load sliding block guide rails are symmetrically arranged on both sides of the fork lifting platform to support and guide, the ball screw rotates to drive the fork lifting platform to lift to the carrying position. After the warehouse rack is reached, the telescopic fork is extended, the V-shaped bearing block on the fork body faces the axle above, the fork lifting platform lifts upward to separate the axle from the rack, the fork is retracted to carry the axle into the carrier, and then travels to the empty designated vertical storage rack, the lifting mechanism and the telescopic fork cooperate to place the axle on the storage rack, the finished axle information is recorded and refreshed, and the data is displayed to the cloud digital platform. When the delivery instruction is executed, the movement mode is the same, the axle is sent from the vertical storage rack to the rough turning processing buffer rack by the shuttle carrier.

[0039] When the axle transfer operation is performed, two photoelectric sensors are arranged at the bottom of the end of the outbound conveyor to detect whether there is material in the two transfer stations. When there is material, the upper computer controls the axle automatic transfer trolley to move. The trolley moves along the track and is driven by a servo motor. The two rails are connected with a low-voltage power supply and are in contact with the conductive blocks at the bottom of the trolley to supply power to the equipment. The periphery is made of insulating material. Laser ranging radars are arranged at the front and rear of the trolley to control the forward position. After the transfer trolley runs to the discharging station, the telescopic prongs are inserted into the bottom of the axle. The V-shaped supporting blocks on the prongs are opposite to the axle above. The jacking device is driven by a servo cylinder. The internal jacking is scissors fork type. The prong platform can lift the axle upward. The axle is separated from the V-shaped supporting blocks on the conveying line. The prongs are retracted to carry the axle into the transfer trolley. The prong platform is lowered to the home position. The axle is sent to the next processing workshop by the automatic transfer trolley.

[0040] The automatic equipment operation data information of the intelligent production line is collected by the upper computer and uploaded to the remote master control platform. The data is used for digital platform display. Users can remotely monitor the axle machining information, machining process status and equipment operation.

[0041] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A machining intelligent production line for axle of rail transit vehicle, characterized in that: The intelligent production line comprises a V-shaped block conveyor, an automatic hoisting robot, a milling machine machining equipment area, a lathe machining equipment area, a vertical layered intelligent storage library, a shuttle type axle carrier and an axle automatic transfer trolley; the V-shaped block conveyor comprises two sections, one section is used for stably conveying a blank axle to a machining area, and the other section is used for conveying a rough turning finished axle to the automatic transfer trolley; the V-shaped block conveyor is provided with the machining equipment area at the end, the automatic hoisting robot is horizontally arranged on the machining equipment area, covers a conveying machine loading station, a machining equipment, a standby machining rack, a standby storage rack and a conveying machine storage station, and the axle automatic transfer trolley is arranged at the end of the storage conveying machine. ​ The automatic hoisting robot comprises a support frame, a translation main beam, a lifting main beam, a mechanical clamp jaw, a sliding block guide rail, a gear, a rack and a servo motor; the translation main beam is provided with left and right moving gears and racks, left and right moving sliding block guide rails and left and right moving servo motors, the torque is increased through a speed reducer, the left and right moving gear racks are driven, the left and right moving sliding block guide rails are guided and supported, limit switches are arranged at extreme positions to prevent position overshoot; front and rear moving sliding block guide rails are arranged at the top of the support frame, front and rear moving racks and gears are arranged in the front and rear moving sliding block guide rails, a front and rear moving servo motor is sequentially connected with a double shaft output speed reducer, a transmission shaft and front and rear moving gears, the front and rear moving gears are rotated and cooperated with the front and rear moving racks to drive the translation main beam, front and rear moving limit switches are arranged at front and rear moving extreme positions to prevent front and rear moving position overshoot; the lifting main beam is based on the translation main beam, driven by a lifting servo motor, connected with a lifting sliding block guide rail and driven by a lifting gear rack, lifting limit switches are arranged at lifting extreme positions to prevent lifting position overshoot; the lifting main beam is connected with a base shaft of the mechanical clamp jaw at the end. The vertical layered intelligent storage library comprises a vertical light steel main frame, an axle storage rack, a shuttle type axle carrier, a travelling crane track and an upper support track; the shuttle type axle carrier is arranged in the vertical light steel main frame, the shuttle type axle carrier comprises a carrier frame, the carrier frame is connected with the upper support track at the upper end and connected with the travelling crane track through a walking wheel at the lower end, the axle storage rack is detachable, a nylon V-shaped block support is arranged at the upper part of the axle storage rack, and the middle part of the axle storage rack is left empty; the shuttle type axle carrier comprises a walking track, a walking wheel, an upper support track, a lifting mechanism, a fork lifting platform, a telescopic fork, a V-shaped bearing block, a sliding contact power supply and a servo motor, one iron track is arranged above and below, the walking wheel surface is in a groove shape and can be clamped into the iron track to be guided and supported, the upper support track is clamped into the top guide wheel of the shuttle type axle carrier to be guided and supported, the lifting mechanism is driven by a lifting servo motor two, the lifting servo motor two is sequentially connected with a double shaft output speed reducer, a transmission shaft two and a right angle turner, power is output to two sides of a heavy load lifting screw rod, the heavy load lifting screw rod is connected with the fork lifting platform through a nut seat, four groups of heavy load linear guide blocks are arranged at the two sides of the fork lifting platform, the fork lifting platform is provided with telescopic forks, two groups of V-shaped bearing blocks are arranged on the forks, the telescopic forks are connected with a translation servo motor two, and a translation rack and a gear are arranged at the bottom.

2. The axle machining intelligent production line for rail transit vehicles according to claim 1, characterized in that: The V-shaped block conveyor comprises an equipment rack, a servo motor, a double-shaft output speed reducer, a transmission shaft, a gear, a chain, a V-shaped bearing block, a supporting roller, a guide rib, an optical switch and a limit switch.

3. The axle machining intelligent production line for rail transit vehicles according to claim 1, characterized in that: The mechanical gripper comprises a base rotating shaft, a mechanical gripper base, a servo motor two and a steel gripper, the steel gripper is connected to the mechanical gripper base through a guide support sliding block, a nut seat is arranged at the upper end of the steel gripper, a reverse thread screw rod passes through the nut seat and is connected to the servo motor two; an optical sensor is further arranged on the mechanical gripper.

4. The axle machining intelligent production line for rail transit vehicles according to claim 1, characterized in that: The axle automatic transfer trolley comprises travelling wheels, tracks, a jacking device, telescopic tines, V-shaped bearing blocks, travelling servo motors and sliding contact power supply, the tracks are laid from the warehouse exit station to the next processing workshop, the tracks are used for sliding contact power supply, two tracks are connected to a low-voltage power supply, the axle automatic transfer trolley is connected to the tracks through carbon brushes at the bottom to transmit power, four groups of travelling wheels are driven through the travelling servo motors, gear chains are used for transmission, laser ranging radars are arranged at the front and rear ends of the trolley body to control automatic travelling, the jacking device is arranged in the trolley body and has a scissors fork structure, a servo cylinder is used as power, and a telescopic tine platform is connected to the upper part; Mechanical travel switches are arranged at the ends of the tracks.

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