Air spring automatic assembly production line and automatic assembly method

Abstract

The invention provides an air spring automatic assembly production line and an automatic assembly method. The air spring automatic assembly production line comprises an automatic assembly area, a man-machine cooperation area, a routine test area and a post-processing area which are arranged in sequence. The man-machine collaboration area comprises a collaboration area robot, and collaboration assembly equipment and collaboration feeding and discharging equipment which are arranged along the two sides of the collaboration area robot; the automatic assembly area comprises an assembly area robot, and assembly equipment and assembly loading and unloading equipment which are arranged around the assembly area robot; the routine test area comprises a test area robot, and test equipment and test feeding equipment which are arranged around the test area robot. The automatic assembly method of the automatic assembly production line for the air springs comprises the steps of man-machine cooperation assembly, automatic assembly, automatic detection, post-treatment and the like. According to the air spring automatic assembly production line and the automatic assembly method, the problems that an existing air spring production scheme is low in automation degree and insufficient in universality are solved.

Description

Technical Field

[0001] The present invention relates to the field of air springs, and particularly to an automatic assembly production line and an automatic assembly method for air springs. Background Art

[0002] With the development of railway passenger car technology, passengers have higher and higher requirements for the smoothness and comfort of passenger cars. The air spring vibration reduction technology has made great progress in China, and most main engine factories also adopt air spring devices when designing vehicles. An air spring includes an auxiliary spring, an airbag, a snap ring and a cover plate, and the snap ring is cancelled for some types of air springs. Different assembly processes need to be adopted for different types of air springs. For example, one process is to first assemble the airbag and the snap ring, then assemble the airbag snap ring assembly with the auxiliary spring, and finally install the cover plate; another process is to first assemble the airbag and the cover plate, then install the snap ring, and finally assemble the airbag snap ring cover plate assembly with the auxiliary spring. After retrieval, a Chinese invention patent with the application number of "202311596853.1", the name of "Air Spring Assembly System and Air Spring Assembly Control Method", and the applicant of "CRRC Qingdao Sifang Co., Ltd." discloses a similar solution.

[0003] However, the above solution only provides a system for automatically completing the feeding of the upper cover, snap ring and capsule and the installation of screws, and cannot completely realize the entire production process of the air spring. And it can only be aimed at a single production process and cannot adapt to the production of multiple types of air springs. Therefore, the present invention provides an air spring automatic assembly production line that can automatically complete the air spring assembly process and can adapt to the production processes of multiple types of air springs. Summary of the Invention

[0004] To solve the problems of low automation and insufficient versatility in the existing air spring production solutions, the present invention provides an air spring automatic assembly production line and an automatic assembly method to solve the above problems.

[0005] The air spring automatic assembly production line includes an automatic assembly area, a human-machine collaboration area, a routine test area and a post-treatment area arranged in sequence; the human-machine collaboration area includes a collaboration area robot, and collaboration assembly equipment and collaboration loading and unloading equipment arranged on both sides thereof; the automatic assembly area includes an assembly area robot, and assembly equipment and assembly loading and unloading equipment arranged around it; the routine test area includes a test area robot, and test equipment and test loading equipment arranged around it; the post-treatment area includes a post-treatment conveyor line, and post-treatment equipment and post-treatment unloading equipment arranged in sequence along its conveying direction.

[0006] In a preferred embodiment of the air spring automatic assembly production line provided by the present invention, the collaborative area robot is a ground rail robot. Along one side of it, a plurality of racks, an auxiliary spring collaborative assembly device, and a collaborative conveyor line are sequentially arranged. Along the other side of it, a plurality of racks, an airbag collaborative assembly device, another auxiliary spring collaborative assembly device, and another collaborative conveyor line are sequentially arranged; some of the racks serve as the collaborative feeding device, the auxiliary spring collaborative assembly device and the airbag collaborative assembly device serve as the collaborative assembly device, and the collaborative conveyor line serves as the collaborative discharging device; The assembly area robot is a ground rail robot. The ground rail direction is perpendicular to that of the collaborative area robot. An auxiliary spring buffer device and an air spring buffer device are arranged between the two. The assembly device and a plurality of racks are arranged around the assembly area robot. The auxiliary spring buffer device and some of the racks serve as the assembly feeding device, and the air spring buffer device serves as the assembly discharging device; The test area robot is a ground rail robot. The ground rail direction is perpendicular to that of the collaborative area robot. One side of the test area robot is a collaborative conveyor line, and a plurality of the test devices are arranged on the other side. A plurality of racks are arranged at one end of the test area robot, and the other end is the post-treatment area. The racks serve as the test feeding device; The conveying direction of the post-treatment conveyor line is perpendicular to the ground rail direction of the test area robot. A re-tightening device, a marking device, and a gantry crane are sequentially arranged along the conveying direction of the post-treatment conveyor line. The re-tightening device and the marking device serve as the post-treatment devices, and the gantry crane serves as the post-treatment discharging device.

[0007] In a preferred embodiment of the air spring automatic assembly production line provided by the present invention, one or more fixture storage areas are provided in each of the automatic assembly area, the human-machine collaboration area, and the routine test area; calibration equipment and positioning equipment are provided in each of the automatic assembly area, the human-machine collaboration area, and the routine test area; vision recognition mechanisms are arranged at the ends of the collaborative area robot, the assembly area robot, and the test area robot; Along one side of the collaborative area robot, a calibration equipment, four racks, an auxiliary spring collaborative assembly device, and a collaborative conveyor line are sequentially arranged. Positioning equipment is also provided at the calibration equipment. The four racks serve as the NG rack, the large part rack, the cover plate rack, and the auxiliary spring rack in sequence; on the other side, three racks, an airbag collaborative assembly device, an auxiliary spring collaborative assembly device, and a collaborative conveyor line are sequentially arranged. The three racks serve as the large part rack, the cover plate rack, and the auxiliary spring rack in sequence. The conveying direction of the collaborative conveyor line is parallel to the ground rail direction of the collaborative area robot; There are two racks respectively provided on the far side of the auxiliary spring collaborative assembly equipment, and all four racks serve as small part racks; at the end of the robot in the collaborative area, a fixture library is provided at the position between two collaborative conveying lines; between the robot in the collaborative area and a set of auxiliary spring collaborative assembly equipment, there is a fixture table, and at one end of the robot in the collaborative area close to the automatic assembly area, there is a fixture table.

[0008] An air spring buffer device, an auxiliary spring buffer device and a fixture table are successively arranged between the robot in the assembly area and the robot in the collaborative area; On the side of the robot in the assembly area away from the robot in the collaborative area, there are three racks successively arranged, and the three racks respectively serve as snap ring racks or airbag racks; at one end of the robot in the assembly area close to the fixture table, there are a calibration device and two racks successively arranged, one rack serves as a snap ring rack or an airbag rack, and one serves as an NG rack, with a total of two snap ring racks and two airbag racks; At one end of the robot in the assembly area close to the air spring buffer device, there is the assembly device, and a positioning device is arranged between the assembly device and the air spring buffer device.

[0009] On the side of the robot in the test area close to the robot in the collaborative area, there is successively a collaborative conveying line, a flipping device, a fixture table and another collaborative conveying line, and on the other side, there are multiple test devices; a positioning device and a fixture table are arranged between the test devices, and at one end of the robot in the test area, there are a calibration device and two racks, both of which serve as cover plate racks, and the other end is the post-processing area.

[0010] In a preferred embodiment of the air spring automatic assembly production line provided by the present invention, the calibration device includes a calibration base, a calibration rotating platform, a calibration sensor and a calibration visual recognition mechanism. The calibration rotating platform and the calibration sensor are provided on the top of the calibration base. At a position beside the calibration base and keeping a certain interval from it, the calibration visual recognition mechanism is installed, and its lens faces the calibration rotating platform; the positioning device includes a positioning visual recognition mechanism, and its lens is vertically upward.

[0011] The auxiliary spring collaborative assembly equipment includes a circulating conveyor line, and its conveying direction is perpendicular to the ground rail direction of the robot in the collaborative area; on the side of the far end of the auxiliary spring collaborative assembly equipment close to the collaborative conveyor line, there are two racks serving as small part racks; between the auxiliary spring collaborative assembly equipment, the small part racks and a nearby collaborative conveyor line is the manual working station; The airbag collaborative assembly equipment includes a reciprocating conveyor line, and its conveying direction is perpendicular to the ground rail direction of the robot in the collaborative area; one end of the airbag collaborative assembly equipment away from the robot in the collaborative area is the manual working station.

[0012] Both the auxiliary spring buffer device and the air spring buffer device are multi-station turntables, each including a base and a rotating platform disposed on the top of the base. On the rotating platform of the auxiliary spring buffer device, a plurality of loading toolings are arranged in an annular array. On the rotating platform of the air spring buffer device, a plurality of unloading toolings are arranged in an annular array. Sensors are provided beside each of the loading toolings or the unloading toolings. The air spring buffer device is further provided with a suction device, which includes a gantry, a suction lifting mechanism and a suction execution mechanism. The gantry straddles one of the unloading toolings in the air spring buffer device, and the suction lifting mechanism is provided at a position directly above the unloading tooling. The movable end of the suction lifting mechanism faces downward, and the suction execution mechanism is provided thereon.

[0013] The assembly device includes a workbench, an airbag necking unit, a snap ring lifting unit, an airbag flattening unit, a rotary pressing unit, a transfer unit, an assembly vision recognition mechanism and an assembly tooling. At the bottom inside the workbench, the airbag necking unit and the assembly tooling are arranged side by side. The snap ring lifting unit is disposed along the periphery of the airbag necking unit. At the top inside the workbench, at positions directly above the airbag necking unit and the assembly tooling, the airbag flattening unit and the rotary pressing unit are respectively provided. The assembly vision recognition mechanism is provided between the airbag flattening unit and the rotary pressing unit, and the lens of the assembly vision recognition mechanism faces vertically downward. The transfer unit is provided at the back inside the workbench. The airbag necking unit includes a necking stand, a necking lifting device and clamping jaws. The necking lifting device is disposed inside the necking stand, and its movable end faces upward and penetrates through the tabletop of the necking stand. A plurality of the clamping jaws are arranged in an annular array on the top of the necking stand and are simultaneously connected to the movable end and the necking stand movably, and open and close as the movable end moves up and down. The snap ring lifting unit includes a lifting stand, a lifting lifting device and a support arm. The lifting lifting device is disposed inside the lifting stand and includes a lifting ring that performs a lifting action. The lifting ring surrounds the necking stand, and a plurality of the support arms are vertically arranged in an annular array on the lifting ring. An opening for all the clamping jaws and all the support arms to move is provided on the tabletop of the lifting stand, and the support arms and the clamping jaws are arranged alternately. The airbag flattening unit includes a flattening lifting device, a flattening bracket, a downward pressing device, and a lifting device; the movable end of the flattening lifting device faces downward and is provided with the flattening bracket, and the downward pressing device and the lifting device are installed on the flattening bracket; the lifting device includes a plurality of claws arranged in a circular array, and moves centripetally to perform a lifting action on the lower edge of the combined position of the airbag and the buckle; the downward pressing device includes a plurality of pressing plates arranged in a circular array, and moves downward to perform a flattening action on the upper edge of the combined position of the airbag and the buckle. The rotary pressing unit includes a pressing lifting device, a pressing rotary device, and a pressing claw; the movable end of the pressing lifting device faces downward and is provided with the pressing rotary device, and a plurality of the pressing claws are arranged in a circular array on the lower surface of the pressing rotary device, and all the pressing claws are capable of synchronously moving centripetally or centrifugally.

[0014] The test equipment includes a loading unit and a detection unit; the loading unit includes a base, a loading device, a transfer device, and a detection tooling, the loading device and the transfer device are provided on the base, the detection tooling is respectively arranged on the loading device and the transfer device, and under the drive of the loading device and the transfer device, they move closer to or away from each other; the detection unit includes a moving device, a vision device, a drawing device, and a laser device, the moving device is arranged on the base, the vision device and the drawing device are arranged at the movable end of the moving device, and the laser device is arranged at the fixed end of the moving device. A linear slide is laid flat on the top of the base as the transfer device, and the lower half of the detection tooling is installed at the movable end of the linear slide; a lifting mechanism is provided on the top of the base as the loading device, the movable end of the loading device extends above the transfer device, and the upper half of the detection tooling is installed on one side close to the transfer device. The moving device includes a lifting mechanism and a translation mechanism connected in sequence, the fixed end of the lifting mechanism is provided with the laser device, the translation mechanism faces the loading device, and the drawing device and the vision device are arranged at the movable end of the translation mechanism.

[0015] The air spring double-axis re-tightening device includes a frame, an air spring clamping and lifting mechanism arranged on the frame, and a rotating mechanism arranged on the frame and located above the air spring clamping and lifting mechanism. XYZ three-axis moving mechanism one and XYZ three-axis moving mechanism two are symmetrically arranged on the rotating mechanism, a torque gun one is arranged on XYZ three-axis moving mechanism two, and a torque gun two is arranged on XYZ three-axis moving mechanism two; a camera one and a camera two are respectively arranged on the torque gun one and the torque gun two; the automatic scribing device includes a scribing manipulator, a scribing camera arranged on the scribing manipulator, and a scribing mechanism.

[0016] Automated assembly method for an air spring automated assembly production line, including: I. Assembly of Class A products, including: Step 1: Auxiliary spring assembly, including: Step 1.1: The collaborative area robot picks up the auxiliary spring body from the auxiliary spring material rack and transports it to the auxiliary spring collaborative assembly equipment, denoted as the first collaborative work station; For large air springs: Step 1.2: The collaborative area robot picks up the bottom plate from the large parts material rack to the auxiliary spring body, and ensures their alignment based on the visual recognition mechanism of the collaborative area robot; Step 1.3: The auxiliary spring collaborative assembly equipment transports the bottom plate and the auxiliary spring body to the manual work station, and the operator completes the connection of the bottom plate and the auxiliary spring body; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the first collaborative work station, and the collaborative area robot flips the bottom plate auxiliary spring assembly; Step 1.5: The collaborative area robot picks up the support plate from the large parts material rack to the bottom plate auxiliary spring assembly, and ensures their alignment based on the visual recognition mechanism of the collaborative area robot; Step 1.6: The auxiliary spring collaborative assembly equipment transports the support plate and the bottom plate auxiliary spring assembly to the manual work station, and the operator completes the assembly of the auxiliary spring; For small air springs: Step 1.2: The auxiliary spring collaborative assembly equipment transports the auxiliary spring body to the manual work station, and the operator takes the bottom plate from the small parts material rack and completes the connection of the bottom plate and the auxiliary spring body; Step 1.3: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the first collaborative work station, and the collaborative area robot flips the bottom plate auxiliary spring assembly; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the manual work station, and the operator takes the support plate from the small parts material rack and completes the assembly of the auxiliary spring; Subsequent steps: Step 1.7: The auxiliary spring collaborative assembly equipment transports the auxiliary spring to the first collaborative work station, and the collaborative area robot picks up the auxiliary spring and moves it above the positioning equipment in this area; The positioning equipment identifies the pin hole and pin shaft positions at the bottom of the auxiliary spring, and the collaborative area robot places the auxiliary spring accurately on the auxiliary spring buffer equipment according to the recognition result; The collaborative area robot places the auxiliary spring that is not correctly assembled on the NG material rack in this area; Step 2: Airbag buckle assembly, including: Step 2.1: The assembly area robot picks up the buckle from the buckle material rack and places it on the buckle lifting unit, and the buckle lifting unit descends to the specified height Step 2.2: The robot in the assembly area picks up the airbag from the airbag rack and moves it to the calibration equipment in this area. The calibration equipment rotates the airbag to a specific angle; Step 2.3: The robot in the assembly area picks up the airbag from the calibration equipment and moves it to the airbag closing unit. Based on the visual recognition mechanism of the robot in the assembly area, ensure that the airbag and the buckle are aligned, and the jaws of the airbag closing unit contract to the specified position; Step 2.4: The buckle lifting unit rises and holds up the buckle to the specified height; Step 2.5: The airbag flattening mechanism descends to the specified height, holds the buckle and the airbag respectively on the upper and lower sides, and applies pressure to flatten the edge of the airbag; Step 2.6: While performing Steps 2.4 and 2.5, the robot in the assembly area picks up the auxiliary spring from the auxiliary spring buffer device and moves it above the positioning equipment in this area; The positioning equipment identifies the pin hole and pin shaft positions at the bottom of the auxiliary spring. According to the recognition result, the robot in the assembly area accurately places the auxiliary spring on the assembly tooling; Step 2.7: The transfer unit moves to both sides below the buckle, picks up the airbag buckle assembly. At the same time, the jaws of the airbag closing unit open. The transfer unit moves the airbag buckle assembly in the direction of the assembly tooling and pauses when passing through the assembly visual recognition mechanism on the way; Step 2.8: The assembly visual recognition mechanism determines whether the buckle hole position is offset; If there is no offset, continue to move the airbag buckle assembly onto the auxiliary spring; If there is an offset, the robot in the assembly area adjusts the relative orientation of the airbag buckle assembly, then puts it back into the transfer unit and continues to move the airbag buckle assembly onto the auxiliary spring; Step 2.9: The rotary press-fitting unit descends to press the lower sub-mouth of the airbag into the auxiliary spring; ascends, rotates a certain angle and then descends again, repeating the press-fitting action many times; Step 2.10: The robot in the assembly area picks up the assembled auxiliary spring airbag assembly and moves it above the positioning equipment in this area. The positioning equipment identifies the pin hole and pin shaft positions at the bottom of the auxiliary spring. According to the recognition result, the robot in the assembly area accurately places the correctly assembled auxiliary spring airbag assembly on the air spring buffer device; Place the auxiliary spring airbag assembly that is not correctly assembled on the NG rack in this area; Step 3: Cover plate assembly, including: Step 3.1: The suction lifting mechanism in the air spring buffer device descends, so that the suction actuator sucks the buckle in the auxiliary spring airbag assembly. Then the suction lifting mechanism ascends, driving the airbag to lift, exposing the underlying auxiliary spring; Step 3.2: The collaborative area robot grips the auxiliary spring airbag assembly with the airbag lifted from the air spring buffer device, and at the same time disconnects the suction actuator; the collaborative area robot moves the auxiliary spring airbag assembly to the collaborative conveyor line; Step 3.3: The collaborative area robot clamps the cover plate from the cover plate rack to the auxiliary spring airbag assembly, and based on the visual recognition mechanism of the collaborative area robot, ensures the alignment of the cover plate and the auxiliary spring airbag assembly, and the operator completes the assembly of the cover plate; Step 3.4: The collaborative conveyor line moves the assembled air spring from the manual work station to one end close to the test area robot; Step 4: Torsional deformation test, including: Step 4.1: The test area robot clamps the air spring from the collaborative conveyor line and moves it above the positioning device in this area; The positioning device identifies the pin hole and pin shaft positions at the bottom of the auxiliary spring, and the test area robot accurately places the air spring on the lower half detection tooling in the test equipment according to the recognition result; Step 4.2: The upper and lower half detection toolings in the test equipment load and clamp the air spring, pressurize and complete the detection to obtain the detection result; Step 4.3: The test area robot transfers the air spring to the post-treatment conveyor line; Step 5: Post-treatment, including: Step 5.1: For the detection result obtained in Step 4.2, the unqualified air springs are directly passed through and reach the NG station of the overhead crane, and are taken offline manually; Step 5.2: For the detection result obtained in Step 4.2, the qualified air springs are first transported to the re-tightening equipment for bolt re-tightening work; Step 5.3: Then they are transported to the marking equipment for marking work; Step 5.4: Finally, they reach the qualified station of the overhead crane and are manually packed.

[0017] II. For the assembly of Class B products, including: Step 1: Auxiliary spring assembly, including: Step 1.1: The collaborative area robot clamps the auxiliary spring body from the auxiliary spring rack and transports it to the auxiliary spring collaborative assembly equipment, denoted as the first collaborative work station; For large air springs: Step 1.2: The collaborative area robot clamps the bottom plate from the large parts rack to the auxiliary spring body, and based on the visual recognition mechanism of the collaborative area robot, ensures their alignment; Step 1.3: The auxiliary spring collaborative assembly equipment transports the bottom plate and the auxiliary spring body to the manual work station, and the operator completes the connection of the bottom plate and the auxiliary spring body; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the first collaborative station, and the collaborative area robot flips the bottom plate auxiliary spring assembly; Step 1.5: The collaborative area robot picks up the support plate from the large part rack to the bottom plate auxiliary spring assembly, and ensures their alignment based on the visual recognition mechanism of the collaborative area robot; Step 1.6: The auxiliary spring collaborative assembly equipment transports the support plate and the bottom plate auxiliary spring assembly to the manual station, and the operator completes the assembly of the auxiliary spring; For small air springs: Step 1.2: The auxiliary spring collaborative assembly equipment transports the auxiliary spring body to the manual station, and the operator takes the bottom plate from the small part rack and completes the connection between the bottom plate and the auxiliary spring body; Step 1.3: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the first collaborative station, and the collaborative area robot flips the bottom plate auxiliary spring assembly; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the manual station, and the operator takes the support plate from the small part rack and completes the assembly of the auxiliary spring; Subsequent steps: Step 1.7: The auxiliary spring collaborative assembly equipment transports the auxiliary spring to the first collaborative station, and the collaborative area robot picks up the auxiliary spring and moves it above the positioning equipment in this area; The positioning equipment identifies the positions of the pin holes and pin shafts at the bottom of the auxiliary spring, and the collaborative area robot accurately places the auxiliary spring on the auxiliary spring buffer equipment according to the recognition result; The collaborative area robot places the auxiliary spring that is not correctly assembled on the NG rack in this area; Step 2: Airbag assembly, including: Step 2.1: The assembly area robot picks up the auxiliary spring from the auxiliary spring buffer equipment and moves it above the positioning equipment in this area; The positioning equipment identifies the positions of the pin holes and pin shafts at the bottom of the auxiliary spring, and the assembly area robot accurately places the auxiliary spring on the assembly tooling according to the recognition result; Step 2.2: The assembly area robot picks up the airbag from the airbag rack and moves it to the calibration equipment in this area, and the calibration equipment rotates the airbag to a specific angle; Step 2.3: The assembly area robot picks up the airbag from the calibration equipment to the auxiliary spring, and ensures the alignment of the airbag and the auxiliary spring based on the visual recognition mechanism of the assembly area robot; The rotary press-fitting unit descends, presses the lower sub-mouth of the airbag into the auxiliary spring; ascends, rotates a certain angle and then descends again, repeating the press-fitting action for many times; Step 2.5: The robot in the assembly area picks up the assembled auxiliary spring airbag assembly, moves it above the positioning device in this area. The positioning device identifies the positions of the pin holes and pin shafts at the bottom of the auxiliary spring. According to the identification results, the robot in the assembly area accurately places the correctly assembled auxiliary spring airbag assembly on the air spring buffer device; Place the auxiliary spring airbag assemblies that are not correctly assembled on the NG rack in this area; Step 3: Transfer, including: The robot in the cooperation area grips the auxiliary spring airbag assembly from the air spring buffer device and moves the auxiliary spring airbag assembly to the cooperation conveyor line; the cooperation conveyor line continues to move the auxiliary spring airbag assembly to one end close to the robot in the test area.

[0018] Step 4: Torsional deformation test, including: Step 4.1: The robot in the test area picks up the auxiliary spring airbag assembly from the cooperation conveyor line and moves it above the positioning device in this area; The positioning device identifies the positions of the pin holes and pin shafts at the bottom of the auxiliary spring. According to the identification results, the robot in the test area accurately places the auxiliary spring airbag assembly on the lower half detection tooling in the test equipment; Step 4.2: The robot in the test area picks up the cover plate from the cover plate rack in this area and places it on the auxiliary spring airbag assembly; Step 4.3: The upper and lower half detection toolings in the test equipment load and grip the auxiliary spring airbag assembly and the cover plate, complete the assembly by pressurization, and complete the detection to obtain the detection results; Step 4.3: The robot in the test area transfers the air spring to the post-treatment conveyor line; Step 5: Post-treatment, including: Step 5.1: For the detection results obtained in Step 4.3, the unqualified air springs directly pass through, reach the NG station of the overhead crane, and are manually taken offline; Step 5.2: For the detection results obtained in Step 4.3, the qualified air springs also directly pass through, reach the qualified station of the overhead crane, and are manually packed.

[0019] III. Change any one or more of the three racks close to the airbag cooperation assembly equipment in the human-machine cooperation area into airbag racks, and the remaining racks are deactivated or continue to be used; Deactivate a set of auxiliary spring cooperation assembly equipment close to the airbag cooperation assembly equipment. Transfer the workers and small part racks in the deactivated auxiliary spring cooperation assembly equipment to the end of the airbag cooperation assembly equipment far from the cooperation area robot, and use the end of the airbag cooperation assembly equipment far from the cooperation area robot as a new manual work station; For the assembly of Class C products, including: Step 1: Auxiliary spring assembly, including: Step 1.1: The robot in the collaboration area picks up the auxiliary spring body from the auxiliary spring material rack and transports it to the auxiliary spring collaborative assembly equipment, denoted as the first collaboration station; For large air springs: Step 1.2: The robot in the collaboration area picks up the bottom plate from the large part material rack to the auxiliary spring body, and ensures their alignment based on the visual recognition mechanism of the robot in the collaboration area; Step 1.3: The auxiliary spring collaborative assembly equipment transports the bottom plate and the auxiliary spring body to the manual station, and the operator completes the connection of the bottom plate and the auxiliary spring body; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate - auxiliary spring assembly to the first collaboration station, and the robot in the collaboration area flips the bottom plate - auxiliary spring assembly; Step 1.5: The robot in the collaboration area picks up the support plate from the large part material rack to the bottom plate - auxiliary spring assembly, and ensures their alignment based on the visual recognition mechanism of the robot in the collaboration area; Step 1.6: The auxiliary spring collaborative assembly equipment transports the support plate and the bottom plate - auxiliary spring assembly to the manual station, and the operator completes the assembly of the auxiliary spring; For small air springs: Step 1.2: The auxiliary spring collaborative assembly equipment transports the auxiliary spring body to the manual station, and the operator picks up the bottom plate from the small part material rack and completes the connection of the bottom plate and the auxiliary spring body; Step 1.3: The auxiliary spring collaborative assembly equipment transports the bottom plate - auxiliary spring assembly to the first collaboration station, and the robot in the collaboration area flips the bottom plate - auxiliary spring assembly; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate - auxiliary spring assembly to the manual station, and the operator picks up the support plate from the small part material rack and completes the assembly of the auxiliary spring; Subsequent steps: Step 1.7: The auxiliary spring collaborative assembly equipment transports the auxiliary spring to the first collaboration station, and the robot in the collaboration area picks up the auxiliary spring and moves it to the collaborative conveyor line; The robot in the collaboration area places the auxiliary spring that is not correctly assembled on the NG material rack in this area; Step 2: Airbag buckle assembly, including: Step 2.1: The robot in the collaboration area picks up the cover plate from the cover plate material rack in this area and places it on the airbag collaborative assembly equipment, denoted as the second collaboration station; Step 2.2: The robot in the collaboration area continues to pick up the airbag from the airbag material rack in this area and moves it to the calibration equipment in this area; Step 2.3: The robot in the collaboration area picks up the airbag from the calibration equipment to the cover plate, and ensures their alignment based on the visual recognition mechanism of the robot in the collaboration area; Step 2.4: The airbag collaborative assembly equipment transports the cover plate and the airbag to the manual station, and the operator places the inflation tooling on the airbag; Step 2.5: The airbag collaborative assembly equipment transports the cover plate, airbag, and inflation tooling to the second collaborative station. The collaborative area robot moves the cover plate, airbag, and inflation tooling from the second collaborative station to the collaborative conveyor line. The collaborative conveyor line moves the cover plate, airbag, and inflation tooling to one end near the test area robot. The test area robot moves the cover plate, airbag, and inflation tooling from the collaborative conveyor line to the lower half of the test equipment on the lower half of the test equipment; Step 2.6: The upper and lower half of the test equipment on the test equipment load and clamp the cover plate, airbag, and inflation tooling, and complete the assembly after pressurization; Step 2.7: The test area robot moves the airbag cover plate assembly and inflation tooling from the test equipment to the collaborative conveyor line. The collaborative conveyor line moves the airbag cover plate assembly and inflation tooling to one end near the airbag collaborative assembly equipment. The collaborative area robot moves the airbag cover plate assembly and inflation tooling from the collaborative conveyor line to the second collaborative station; Step 2.8: The airbag collaborative assembly equipment moves the airbag cover plate assembly and inflation tooling to the manual station. The operator removes the inflation tooling, then the operator takes the buckle from the small parts rack, and finally the operator completes the assembly of the buckle and the airbag cover plate assembly; Step 2.9: The airbag collaborative assembly equipment transports the airbag cover plate buckle assembly to the second collaborative station. The collaborative area robot transports the airbag cover plate buckle assembly to the collaborative conveyor line. The collaborative conveyor line transports the airbag cover plate buckle assembly to one end near the test area robot; Step 3: Torsional deformation test, including: Step 3.1: The test area robot clamps the auxiliary spring from the collaborative conveyor line and moves it above the positioning equipment in this area; The positioning equipment identifies the pin hole and pin shaft positions at the bottom of the auxiliary spring. The test area robot accurately places the auxiliary spring on the lower half of the test equipment in the test equipment according to the recognition result; Step 3.2: The test area robot clamps the airbag cover plate buckle assembly from the collaborative conveyor line and moves it to the flipping bracket to complete the flipping of the airbag cover plate buckle assembly; Step 3.3: The test area robot moves the airbag cover plate buckle assembly to the calibration equipment in this area. The calibration equipment rotates the airbag cover plate buckle assembly to a specific angle; Step 3.4: The test area robot clamps the airbag cover plate buckle assembly from the calibration equipment to the auxiliary spring, and ensures the alignment of the two based on the visual recognition mechanism of the test area robot; Step 3.5: The upper and lower half of the test equipment on the test equipment load and clamp the airbag cover plate buckle assembly and the auxiliary spring, complete the assembly after pressurization, and complete the inspection to obtain the inspection result; Step 3.6: The test area robot transports the air spring to the post-treatment conveyor line; Step 4: Post-treatment, including: Step 4.1: For the inspection results obtained in Step 3.5, the unqualified air springs are directly passed through and reach the NG station of the overhead crane, where they are taken offline manually. Step 4.2: For the inspection results obtained in Step 3.5, the qualified air springs are first conveyed to the re-tightening equipment for bolt re-tightening work. Step 4.3: Then they are conveyed to the marking equipment for marking work. Step 4.4: Finally, they reach the qualified station of the overhead crane and are packed manually.

[0020] In a preferred embodiment of the automatic assembly method of the air spring automatic assembly production line provided by the present invention, in the assembly step 2.2 of Class A products, the assembly step 2.2 of Class B products, the assembly step 2.2 of Class C products, and the assembly step 3.3 of Class C products, "the calibration equipment rotates the airbag to a specific angle" includes: An identification label is preset on the surface of the airbag. When the calibration sensor senses that there is an item placed on the calibration rotating platform, the calibration rotating platform starts and drives the item to rotate. The calibration vision recognition mechanism tracks the position of the identification label in real time and controls the rotating platform to stop when the airbag rotates to the correct angle.

[0021] In a preferred embodiment of the automatic assembly method of the air spring automatic assembly production line provided by the present invention, in the assembly step 4.3 of Class B products, the assembly step 2.6 of Class C products, and the assembly step 3.5 of Class C products, "assembly" includes: The upper and lower detection toolings on the test equipment load and clamp the auxiliary spring airbag assembly and the cover plate, or the cover plate, the airbag and the inflation tooling, or the airbag cover buckle assembly and the auxiliary spring. At this time, the inflation hole of the detection tooling is hermetically docked with one or more air ducts of the cover plate or the auxiliary spring or the inflation tooling, and high-pressure gas is filled into the airbag until the limit air pressure is reached. Under the impact force of the air pressure, the airbag is clamped tightly with the cover plate, or the airbag is clamped tightly with the auxiliary spring, thus completing the assembly. In the assembly step 4.2 of Class A products, the assembly step 4.3 of Class B products, and the assembly step 3.5 of Class C products, "detection" includes: Adjust and maintain the air pressure inside the air spring for a period of time. Meanwhile, the drawing device draws a plurality of positioning points on the airbag of the air spring, the laser device irradiates the airbag of the air spring with dots or lines or a mesh of laser, and the vision device takes pictures of the initial positions of the laser and the positioning points. During the process of maintaining the air pressure, the vision device takes pictures of the current positions of the laser and the positioning points multiple times at preset time intervals. Release the pressure. The vision device takes pictures of the final positions of the laser and the positioning points, then unloads, and identifies and analyzes the images taken multiple times.

[0022] In a preferred embodiment of the automated assembly method of the air spring automated assembly production line provided by the present invention, the "bolt re-tightening work" in the assembly step 5.2 of Class A products and the assembly step 4.2 of Class C products includes: The air spring clamping and lifting mechanism lifts and clamps the air spring. Camera 1 and Camera 2 take pictures to determine the orientation of a pair of bolts that need to be re-tightened, calculate the difference angle between the actual orientations of Torque Gun 1 and Torque Gun 2 and the orientation of the pair of bolts that need to be re-tightened, and the rotating mechanism drives the two torque guns to rotate so that the line A between Torque Gun 1 and Torque Gun 2 coincides with the line B between the pair of bolts that need to be re-tightened. Camera 1 and Camera 2 take pictures again to determine the actual plane coordinate positions of a pair of bolts that need to be re-tightened, calculate the difference between the actual plane coordinate positions of Torque Gun 1 and Torque Gun 2 and the actual plane coordinate positions of the pair of bolts that need to be re-tightened, and then use the XY-axis movement in the XYZ three-axis movement mechanism 1 and the XYZ three-axis movement mechanism 2 to accurately position the horizontal positions of the two torque guns so that the central axes of the two torque guns coincide with the central axes of a pair of symmetric bolts on the air spring respectively. Finally, use the Z-axis movement in the XYZ three-axis movement mechanism 1 and the XYZ three-axis movement mechanism 2 to make the two torque guns re-tighten a pair of symmetric bolts on the air spring; repeat this process until all the bolts are re-tightened.

[0023] The "marking work" in the assembly step 5.3 of Class A products and the assembly step 4.3 of Class C products includes: first, take pictures of the bolt positions through the marking camera, and then control the marking manipulator to drive the marking mechanism to perform marking operations on each bolt.

[0024] Compared with the prior art, the air spring automated assembly production line and the automated assembly method provided by the present invention have the following beneficial effects: 1. In the solution provided by the present invention, most of the processes in the air spring production process are automated, reducing the proportion of manual work and streamlining the personnel. Material distribution and material handling are completed by equipment, greatly reducing the labor intensity of workers, shortening the overall production cycle, and improving the efficiency.

[0025] 2. The air spring automated assembly production line provided by the present invention is suitable for the production processes of various types of air springs, and has the advantages of wide application and high production efficiency.

[0026] 3. The solution provided by the present invention includes a human-machine collaboration area, which combines the flexibility of manual labor and the high efficiency of machine transportation, and is suitable for various types of air spring production processes.

[0027] 4. The solution provided by the present invention includes an automatic assembly area. In the assembly equipment, a single driving component is used to drive all the jaws to open and close synchronously, which is more stable in structure, reduces the failure rate, and ensures that the assembly equipment can perform assembly operations stably and efficiently.

[0028] In the assembly equipment, the combined position of the buckle and the airbag is flattened by the method of lifting from below and pressing from above, which has a better flattening effect; in the airbag flattening unit, the lifting and rotating opening and closing method is used to realize the lifting of the buckle, which is more stable in structure. The lower sub-mouth of the airbag is pressed into the auxiliary spring by the method of rotary press-fitting, and the press-fitting quality is ensured by repeated press-fitting at multiple angles.

[0029] 5. The solution provided by the present invention includes a routine test area. The test equipment uses laser irradiation as the reference point position, and uses the method of drawing points on the surface of the airbag of the air spring as the real-time point position. The deformation amount of the airbag is accurately recorded by measuring the offset between the two, and accurate detection is finally realized. The scheme of using multiple positioning points instead of drawing lines is adopted, and the operation of drawing positioning points can be realized through a two-dimensional moving device, which effectively reduces the equipment production and use costs without affecting the detection accuracy and detection efficiency.

[0030] 6. The solution provided by the present invention is provided with a vision mechanism on the robot to perform pose recognition when picking up materials, adapt to the situation of material skew, and ensure accurate picking up.

[0031] 7. When performing visual analysis during the picking of materials in the solution provided by the present invention, the pose data such as bolt holes in the materials are simultaneously recognized and aligned when placing the materials, and no alignment correction operations need to be performed again during the assembly process, improving the assembly efficiency.

[0032] 8. The solution provided by the present invention organically combines the production processes of air springs such as transportation, assembly and detection, ensuring rapid product changeover and flexible production. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a top view of an air spring automatic assembly production line; Figure 2 is Figure 1 the top view of the human-machine collaboration area in Figure 3 is Figure 1 the top view of the automatic assembly area in Figure 4 is Figure 1Top view of the middle routine test area; Figure 5 is Figure 1 Top view of the middle post - processing area; Figure 6 is Figure 2 Partial enlarged view of the location of the middle airbag cooperation assembly equipment and auxiliary spring cooperation assembly equipment; Figure 7 Stereo view of the auxiliary spring buffer equipment; Figure 8 Stereo view of the assembly area calibration equipment; Figure 9 Stereo view of the air spring buffer equipment; Figure 10 Front view of the assembly equipment; Figure 11 is Figure 9 Partial enlarged view of the location of the middle airbag closing unit and buckle lifting unit; Figure 12 Stereo view of the airbag closing unit in the open state; Figure 13 Stereo view of the airbag closing unit in the tightened state; Figure 14 Stereo view of the buckle lifting unit; Figure 15 Stereo view of the airbag flattening unit; Figure 16 Stereo view of the airbag flattening unit from another perspective; Figure 17 Front view of the rotary press - fitting unit; Figure 18 Stereo view of the rotary press - fitting unit; Figure 19 Top view of the transfer unit; Figure 20 Stereo view of the transfer unit; Figure 21 Stereo view of the test equipment; Figure 22 Partial enlarged view of the test equipment at the loading unit; Figure 23 Partial enlarged view of the test equipment at the detection unit; Figure 24 Partial enlarged view of the detection unit at the drawing device; Figure 25 Stereo view of the detection unit; Figure 26 Stereo view of the air spring double - axis re - tightening device; Figure 27 Partial front view at the rotating mechanism; Figure 28 Partial perspective view of the torque gun area; Figure 29 Partial front view of the socket wrench storage mechanism area; Figure 30 Partial perspective view of the automatic scribing device area.

[0034] Reference numerals in the figure: Human-machine collaboration area 1, automatic assembly area 2, routine test area 3, post-processing area 4; Collaboration area robot 11, collaboration area fixture table 12, large part rack 13, collaboration area cover plate rack 14, collaboration area auxiliary spring rack 15, airbag collaboration assembly equipment 16, auxiliary spring collaboration assembly equipment 17, collaboration conveyor line 18, fixture library 19, collaboration area NG part rack 110, collaboration area calibration equipment 111, collaboration area positioning equipment 112, small part rack 113; Assembly area robot 21, assembly equipment 22, assembly area positioning equipment 23, air spring buffer equipment 24, auxiliary spring buffer equipment 25, assembly area fixture table 26, assembly area NG part rack 27, assembly area snap ring rack 28, assembly area calibration equipment 29, assembly area airbag rack 210; Workbench 221, airbag necking unit 222, snap ring lifting unit 223, airbag flattening unit 224, rotary pressing unit 225, transfer unit 226, assembly vision recognition mechanism 227, assembly tooling 228; Necking bench 2221, necking lifting device 2222, gripper 2223, lifting platform 2224; Lifting bench 2231, lifting lifting device 2232, support arm 2233, lifting ring 2234; Flattening lifting device 2241, flattening support 2242, downward pressing device 2243, lifting device 2244, lifting ring 2245; Pressing lifting device 2251, pressing rotary device 2252, pressing claw 2253; Translation mechanism 2261, up and down mechanism 2262, opening and closing mechanism 2263; Gantry 241, suction lifting mechanism 242, electromagnet 243, air spring tooling 244; Base 251, rotating platform 252, sensor 253, auxiliary spring tooling 254; Calibration base 291, calibration rotating platform 292, calibration sensor 293, calibration vision recognition mechanism 294; Test area robot 31, test equipment 32, test area positioning equipment 33, test area fixture table 34, test area cover plate rack 35, test area calibration equipment 36; Base 321, loading device 322, transfer device 323, detection tooling 324; Inflation hole 3241, filling block 3242, limiting hole 3243; Moving device 325, vision device 326, laser device 327, drawing device 328, mounting bracket 329; Vision recognition mechanism 3261, fill light 3262; Buffer 3281, connecting rod 3282, fixture 3283, drawing tool 3284; Post-treatment conveyor line 41, re-tightening equipment 42, scribing equipment 43, overhead crane 44; Frame 421, air spring clamping and lifting mechanism 422, rotating mechanism 423, XYZ three-axis moving mechanism I 424, XYZ three-axis moving mechanism II 425, torque gun I 426, torque gun II 427, camera I 428, camera II 429, socket wrench storage mechanism I 4210, socket wrench storage mechanism II 4211, sliding plate 4212, connecting arm 4213, socket wrench storage rack 4214; Slewing bearing 4231, rotation drive motor 4232; Scribing manipulator 431, scribing camera 432, scribing mechanism 433. Specific implementation mode

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Embodiment 1:

[0036] Please refer to Figures 1 to 5 respectively, which are the top views of the air spring automatic assembly production line provided by the present invention, and the top views of separating the human-machine collaboration area 1, automatic assembly area 2, routine test area 3 and post-treatment area 4 therein.

[0037] Rotate Figure 1 clockwise by 90°, with the automatic assembly area 2 on the left. Expressions related to Figure 1 hereinafter will be based on Figure 1 the perspective after rotation and will not be elaborated further.

[0038] In the middle of the automatic assembly area 2 is the assembly area robot 21. The assembly area robot 21 is a ground rail robot, and according to Figure 1 the shown perspective, the ground rail direction is the up and down direction. A vision recognition mechanism is provided at the end of the assembly area robot 21.

[0039] Starting from the 12 o'clock position in the clockwise direction, around the robot 21 in the assembly area, there are successively arranged an assembly device 22, an assembly area positioning device 23, an air spring buffer device 24, an auxiliary spring buffer device 25, an assembly area fixture table 26, an assembly area NG rack 27, an assembly area snap ring rack 28, an assembly area calibration device 29, an assembly area airbag rack 210, another assembly area airbag rack 210, and another assembly area snap ring rack 28.

[0040] Figure 1 The middle area of Figure 1 is the human-robot collaboration area 1, and in the middle of the area is the collaboration area robot 11. The collaboration area robot 11 is a ground rail robot. According to Figure 1 the shown perspective, the ground rail direction is the left-right direction. A visual recognition mechanism is provided at the end of the collaboration area robot 11.

[0041] Starting from the 9 o'clock position in the clockwise direction, around the collaboration area robot 11, there are successively arranged a collaboration area fixture table 12, a large part rack 13, a collaboration area cover plate rack 14, a collaboration area auxiliary spring rack 15, an airbag collaboration assembly device 16, an auxiliary spring collaboration assembly device 17, a collaboration conveyor line 18, a fixture library 19, another collaboration conveyor line 18, another auxiliary spring collaboration assembly device 17, another collaboration area auxiliary spring rack 15, another collaboration area cover plate rack 14, another large part rack 13, a collaboration area NG rack 110, a collaboration area calibration device 111, and a collaboration area positioning device 112. At the position between the lower auxiliary spring collaboration assembly device 17 and the collaboration area robot 11, there is another collaboration area fixture table 12.

[0042] At the distal ends of the two auxiliary spring collaboration assembly devices 17 on the side close to the collaboration conveyor line 18, there are respectively provided two small part racks 113. The area enclosed by the collaboration conveyor line 18, the auxiliary spring collaboration assembly device 17, and the small part racks 113 on the same side is used as a manual work station.

[0043] Figure 1 Taking the right area of Figure 1 as an example, the middle of the area is the test area robot 31. The test area robot 31 is a ground rail robot. According to Figure 1 the shown perspective, the ground rail direction is the up-down direction. A visual recognition mechanism is provided at the end of the test area robot 31.

[0044] Starting from the 12 o'clock position in the clockwise direction, around the test area robot 31, there are successively arranged a post-processing area 4, a test device 32, a test device 32, a test area positioning device 33, a test device 32, a test area fixture table 34, a test device 32, a test area cover plate rack 35, another test area cover plate rack 35, a test area calibration device 36, a collaboration conveyor line 18, another test area fixture table 34, a flipping bracket 37, and another collaboration conveyor line 18.

[0045] Figure 1 The upper right area is the post - processing area 4. The long strip structure extending horizontally in the area is the post - processing conveyor line 41. Along the post - processing conveyor line 41 from left to right, a re - tightening device 42, a scribing device 43 and a gantry crane 44 are arranged in sequence. The gantry crane 44 laterally transfers the items on the post - processing conveyor line 41, and manual operations such as packing the finished products or taking the defective products offline are carried out.

[0046] Next, while explaining the automated assembly method of the air spring automated assembly line, the specific structural details of the air spring automated assembly line will be described. The automated assembly method of the air spring automated assembly line includes: I. For the assembly of type A products, it includes: Please refer to Figure 2 and Figure 6 , which are respectively the top view of the human - machine collaboration area 1 in the air spring automated assembly line provided by the present invention, and the partial enlarged view of the positions of the airbag collaboration assembly device and the auxiliary spring collaboration assembly device in the human - machine collaboration area 1.

[0047] Step 1: Auxiliary spring assembly, including: Step 1.1: The core of the auxiliary spring collaboration assembly device 17 is a set of circulating conveyor lines, including two reverse conveyor lines arranged side by side, which achieve circulation by transferring at the end. The end of the auxiliary spring collaboration assembly device 17 close to the collaboration area robot 11 is denoted as the first collaboration station.

[0048] The collaboration area robot 11 picks up the auxiliary spring body from any one of the auxiliary spring racks 15 in the collaboration area, transports it to the first collaboration station of the nearest auxiliary spring collaboration assembly device 17. The collaboration area robot 11 records the pose of the auxiliary spring body based on the visual recognition device. At this time, all the auxiliary spring bodies are in the reverse state with the bottom facing up, which is convenient for installing the bottom plate.

[0049] For labor protection considerations, different assembly processes are adopted for large air springs and small air springs. The judgment criterion is whether the weight of the bottom plate or support plate used for assembling the auxiliary spring exceeds 10 kg. For large air springs (exceeding 10 kg): Step 1.2: The collaboration area robot 11 picks up the bottom plate from the large - part rack 13 and moves it to the auxiliary spring body located at the first collaboration station.

[0050] The collaboration area robot 11 records the pose of the bottom plate based on the visual recognition device, and combines it with the pose of the auxiliary spring body to align the bottom plate with the auxiliary spring body.

[0051] Step 1.3: The auxiliary spring collaboration assembly device 17 moves to transport the bottom plate and the auxiliary spring body to the manual work station. After arriving at the manual work station, the worker completes the connection between the bottom plate and the auxiliary spring body to form the bottom plate - auxiliary spring assembly.

[0052] Step 1.4: The auxiliary spring collaborative assembly device 17 continues to move, transporting the bottom plate auxiliary spring assembly back to the first collaborative station. The collaborative area robot 11 flips the bottom plate auxiliary spring assembly so that the auxiliary spring returns to its normal orientation, facilitating the installation of the support plate.

[0053] Step 1.5: The collaborative area robot 11 picks up the support plate from the large parts rack 13 and moves it to the bottom plate auxiliary spring assembly located at the first collaborative station.

[0054] The collaborative area robot 11 records the pose of the support plate based on the vision recognition device and aligns the support plate with the main body of the auxiliary spring in combination with the pose of the main body of the auxiliary spring.

[0055] Step 1.6: The auxiliary spring collaborative assembly device 17 moves to transport the support plate and the bottom plate auxiliary spring assembly to the manual station. After arriving at the manual station, the operator completes the connection of the support plate and the bottom plate auxiliary spring assembly to complete the assembly of the auxiliary spring.

[0056] For small air springs (not exceeding 10 kg): Step 1.2: The auxiliary spring collaborative assembly device 17 moves to transport the main body of the auxiliary spring to the manual station. While the main body of the auxiliary spring is moving, the operator takes the bottom plate from the small parts rack 113. After the main body of the auxiliary spring arrives at the manual station, the operator completes the connection of the bottom plate and the main body of the auxiliary spring to form the bottom plate auxiliary spring assembly.

[0057] Step 1.3: The auxiliary spring collaborative assembly device 17 moves, and the collaborative area robot 11 flips the bottom plate auxiliary spring assembly so that the auxiliary spring returns to its normal orientation, facilitating the installation of the support plate.

[0058] Step 1.4: The auxiliary spring collaborative assembly device 17 moves to transport the bottom plate auxiliary spring assembly to the manual station. While the bottom plate auxiliary spring assembly is moving, the operator takes the support plate from the small parts rack 113. After the bottom plate auxiliary spring assembly arrives at the manual station, the operator completes the connection of the support plate and the bottom plate auxiliary spring assembly to complete the assembly of the auxiliary spring.

[0059] Subsequent steps: Step 1.7: The auxiliary spring collaborative assembly device 17 moves to transport the auxiliary spring back to the first collaborative station. The collaborative area robot 11 picks up the auxiliary spring and moves it above the collaborative area positioning device 112.

[0060] The structures of all positioning devices are the same. Only the structure of the collaborative area positioning device 112 will be described here, and the structures of the assembly area positioning device 23 and the test area positioning device 33 will not be elaborated. The collaborative area positioning device 112 is a vision recognition device with the lens facing vertically upward.

[0061] After the collaborative area robot 11 moves the auxiliary spring above the collaborative area positioning device 112, the collaborative area positioning device 112 takes a picture of the bottom of the auxiliary spring, identifies the image obtained by the shooting, and obtains the accurate positions of the pin holes and pin shafts at the bottom of the auxiliary spring.

[0062] According to the recognition result, the collaborative area robot 11 accurately places the auxiliary spring on the auxiliary spring buffer device 25.

[0063] For the auxiliary springs that are not correctly assembled and generated in any process of step 1, the collaborative area robot 11 places them on the collaborative area NG rack 110.

[0064] Please also refer to Figure 3 and Figures 7 to 9 , which are respectively the top view of the automatic assembly area 2 in the air spring automatic assembly production line provided by the present invention, and the three-dimensional views of the assembly area calibration device, the auxiliary spring buffer device, and the air spring buffer device in the automatic assembly area 2.

[0065] Step 2: Airbag buckle assembly, including: Step 2.1: The assembly area robot 21 clamps a buckle from any assembly area buckle rack 28 and moves it into the assembly device 22. The assembly area robot 21 records the pose of the buckle based on the visual recognition device.

[0066] Step 2.2: The assembly area robot 21 clamps an airbag from any assembly area airbag rack 210 and moves it onto the assembly area calibration device 29.

[0067] All the calibration device structures are the same. Here, only the structure of the assembly area calibration device 29 will be described, and the structures of the collaborative area calibration device 111 and the test area calibration device 36 will not be elaborated. The assembly area calibration device 29 includes a calibration base 291, a calibration rotating platform 292, a calibration sensor 293, and a calibration visual recognition mechanism 294.

[0068] The calibration base 291 is a square bracket. A calibration rotating platform 292 that rotates in the horizontal plane is installed at the middle position of its top. A vertical rod is respectively provided at two diagonal positions of the top, and a pair of calibration sensors 293 are oppositely installed on the vertical rods to detect whether an airbag is placed on the calibration rotating platform 292. The calibration visual recognition mechanism 294 is installed near the calibration base 291 through a separate vertical column, and its lens is directly facing the calibration rotating platform 292.

[0069] An identification label is preset on the surface of the airbag. When the calibration sensor 293 senses that an airbag is placed on the calibration rotating platform 292, the calibration rotating platform 292 starts and drives the airbag to rotate. The calibration vision recognition mechanism 294 tracks the position of the identification label in real time and controls the calibration rotating platform 292 to stop when the airbag rotates to the correct angle.

[0070] Step 2.3: The robot 21 in the assembly area picks up the adjusted airbag from the calibration device 29 and moves it into the assembly device 22. The robot 21 in the assembly area records the pose of the airbag based on the vision recognition device and aligns it with the buckle pose.

[0071] Steps 2.4 and 2.5: The assembly device 22 assembles the buckle and the airbag into an airbag buckle assembly, and the specific assembly process is described in detail later.

[0072] Step 2.6: While performing Steps 2.4 and 2.5, the robot 21 in the assembly area picks up the auxiliary spring from the auxiliary spring buffer device 25 and moves it above the assembly area positioning device 23. The robot 21 in the assembly area accurately places the auxiliary spring on the assembly device 22 according to the recognition result.

[0073] The auxiliary spring buffer device 25 includes a base 251, a rotating platform 252, a sensor 253, and an auxiliary spring tooling 254. The base 251 is a square bracket, and a rotating platform 252 that rotates in the horizontal plane and has a diameter larger than the edge of the base 251 is installed at the middle position of its top. Four auxiliary spring toolings 254 are respectively arranged in a circular array on the rotating platform 252.

[0074] On both sides of each blanking tooling 254, a pair of sensors 253 are respectively arranged through vertical rods to detect whether an auxiliary spring is placed on the auxiliary spring tooling 254.

[0075] The robot 11 in the cooperation area places the assembled auxiliary spring on the nearest auxiliary spring tooling 254. When the sensor 253 senses that an auxiliary spring is placed, the rotating platform 252 immediately rotates 90°, creating space for the robot 11 in the cooperation area to place the next auxiliary spring.

[0076] Steps 2.7, 2.8, and 2.9: The assembly device 22 assembles the airbag buckle assembly and the auxiliary spring into an auxiliary spring airbag assembly, and the specific assembly process is described in detail later.

[0077] Step 2.10: The robot 21 in the assembly area picks up the auxiliary spring airbag assembly and moves it above the assembly area positioning device 23. The robot 21 in the assembly area accurately places the correctly assembled auxiliary spring airbag assembly on the air spring buffer device 24 according to the recognition result.

[0078] The structure of the air spring buffer device 24 is basically the same as that of the auxiliary spring buffer device 25, including a base, a rotating platform, a sensor, and an air spring tooling 244.

[0079] Specifically, a magnetic attraction device is also provided at the air spring buffer device 24. The magnetic attraction device includes a gantry 241, a suction lifting mechanism 242, and an electromagnet 243.

[0080] The gantry 241 straddles the air spring buffer device 24 above an air spring tooling 244, and a suction lifting mechanism 242 is provided above this air spring tooling 244. The suction lifting mechanism 242 is a slide table structure, with a horizontally extended bracket on its slider, and two electromagnets 243 are provided at the bottom of the bracket. The electromagnet 243 is used to hold the buckle in the air spring, so as to lift the airbag, facilitating clamping of the air spring from the position of the auxiliary spring.

[0081] The assembly area robot 21 places the assembled air spring on the nearest air spring tooling 244. When the sensor senses that an air spring is placed, the rotating platform then rotates 90°, creating space for the assembly area robot 21 to place the next air spring.

[0082] The assembly area robot 21 directly places the auxiliary spring airbag assembly that is not correctly assembled on the assembly area NG rack 27 without passing through the assembly area positioning device 23.

[0083] Please also refer to Figures 10 to 20 , which are respectively the front view, partial enlarged view of the assembly equipment in the air spring automatic assembly production line provided by the present invention, the three-dimensional views of the open and tightened states of the airbag closing unit, the three-dimensional views of the buckle lifting unit and the airbag flattening unit, the front view and three-dimensional view of the rotary pressing unit, and the top view and three-dimensional view of the transfer unit.

[0084] The assembly equipment 22 includes a workbench 221, an airbag closing unit 222, a buckle lifting unit 223, an airbag flattening unit 224, a rotary pressing unit 225, a transfer unit 226, an assembly vision recognition mechanism 227, and an assembly tooling 228.

[0085] The left half of the bottom in the workbench 221 is a combination of the airbag closing unit 222 and the buckle lifting unit 223. The airbag closing unit 222 includes a closing bench 2221, a closing lifting device 2222, and a clamping jaw 2223. The closing lifting device 2222 is an electric telescopic rod, and its main body part including a motor and other mechanisms is installed in the closing bench 2221, with the telescopic rod facing upward.

[0086] A column is provided at the top center of the closing stand 2221, and a lifting platform 2224 is provided around the column, and 9 clamping claws 2223 are radially hinged at the top of the column. Guide rods are provided at the four corners of the lifting platform 2224, the bottom of which is connected to the movable end of the closing lifting device 2222, and a flange is provided around the column at the top.

[0087] The clamping claw 2223 is generally in an L-shaped structure, with the sharp corner hinged to the top of the column, the lower end hinged to the flange through a connecting rod, and the upper end bent toward the center for clamping the airbag.

[0088] Under the above structure, the closing lifting device 2222 drives the lifting platform to slide up and down along the guide rod. When rising, the flange drives the connecting rod to expand outward, thereby driving the upper end of the clamping claw 2223 to tighten; conversely, when descending, the connecting rod is closed, thereby driving the upper end of the clamping claw 2223 to open.

[0089] The buckle lifting unit 223 includes a lifting platform 2231, a lifting and lifting device 2232 and a supporting arm 2233. The lifting and lifting device 2232 includes two vertically arranged screw rods. To reduce the overall height, the bottom of the screw rods is connected to the same motor through a right-angle transmission mechanism. It also includes a lifting ring 2234 connected to the nuts of the two screw rods at the same time, and the lifting ring 2234 surrounds the closing platform 2221.

[0090] Three groups of supporting arms 2233 are arranged on the lifting ring, and each group of supporting arms 2233 includes two vertically arranged upright poles. After the upright poles pass through the table of the lifting platform 2231, supporting heads for connecting with buckles are arranged at the top. In addition to three groups of openings for the supporting arms 2233 to pass through, the table of the lifting platform 2231 is also provided with 9 conical openings for the clamping claws 2223 to move. The supporting arms 2233 and the clamping claws 2223 are arranged alternately, that is, there are three clamping claws 2223 between adjacent supporting arms 2233.

[0091] Under the above structure, the three groups of supporting arms 2233 rise and fall synchronously with the lifting ring, and do not interfere with the opening and closing of the clamping claw 2223. The supporting head is a stepped structure with an arc, and the three supporting heads cooperate to form a circle of grooves, which can lift the buckle ring from bottom to top.

[0092] The right half of the bottom of the workbench 221 is erected at the same height as the tabletop of the lifting platform 2231 and is provided with an assembly tool 228 .

[0093] The airbag flattening unit 224 is disposed in the left half of the top of the workbench 221 , which is located directly above the airbag closing unit 222 and the buckle lifting unit 223 .

[0094] The airbag flattening unit 224 includes a flattening lifting device 2241, a flattening bracket 2242, a downward pressing device 2243, and a lifting device 2244. The flattening lifting device 2241 is an electric telescopic rod, and its main body part including mechanisms such as a motor is installed on the workbench 221. The telescopic rod faces downward and is installed with the flattening bracket 2242. Guide rods are provided at the four corners of the flattening bracket 2242 to maintain stability.

[0095] The flattening bracket 2242 is a double-layer bracket, and the top of the upper platform is connected to the flattening lifting device 2241. A small lifting mechanism is arranged through the upper platform, driving the lifting ring 2245 arranged around it to move up and down.

[0096] Three connecting rods are radially hinged around the lifting ring 2245. The connecting rods penetrate through the lower platform of the flattening bracket 2242 and are hinged to three claw holders arranged at the bottom of the lower platform. The three claw holders are all connected to the bottom of the lower platform through radially arranged slide rails. The above-mentioned small lifting mechanism, lifting ring, connecting rods, claw holders, and slide rails constitute the lifting device 2244.

[0097] The downward pressing device 2243 includes a cylinder and a pressing plate. The cylinder is fixed to the top of the lower platform of the flattening bracket 2242. The piston rod of the cylinder penetrates downward through the lower platform and is connected to the pressing plate. The pressing plate is also provided with guide rods to be connected to the lower layer of the flattening bracket 2242 to maintain stability. Three groups of downward pressing devices 2243 are arranged in a circular array in the flattening bracket 2242.

[0098] Under the above structure, the flattening bracket 2242, the downward pressing device 2243, and the lifting device 2244 are lifted and lowered synchronously under the drive of the flattening lifting device 2241. The downward pressing device 2243 realizes the functions of pressing and releasing by controlling the telescopic movement of the pressing plate through the cylinder; the lifting device 2244 drives the three claw holders to approach or move away through the up and down movement of the lifting ring, realizing the functions of lifting and releasing. The structure of the claw holder is similar to that of the supporting head, and it is also used to lift the buckle from the bottom up.

[0099] In the upper right part of the top of the workbench 221, at a position directly above the assembly tooling 228, a rotary pressing unit 225 is provided. The rotary pressing unit 225 includes a pressing lifting device 2251, a pressing rotary device 2252, and a pressing claw 2253.

[0100] The pressing lifting device 2251 is an electric telescopic rod, and its main body part including mechanisms such as a motor is installed on the workbench 221. The telescopic rod faces downward and is installed with the pressing rotary device 2252. Guide rods are provided at the four corners of the pressing rotary device 2252 to maintain stability.

[0101] The press-fitting rotary device 2252 includes a mounting plate for connecting with the press-fitting lifting device 2251. A rotary plate is rotatably connected to the bottom of the mounting plate. A gear ring is provided at the edge of the rotary plate, and a driving motor engaging with the gear ring is provided at the edge of the mounting plate.

[0102] Three groups of sliding tables are radially arranged at the bottom of the rotary plate, and three press-fitting claws 2253 are arranged in a circular array on the sliders of the sliding tables.

[0103] Under the above structure, the press-fitting rotary device 2252 and the press-fitting claws 2253 are lifted and lowered synchronously under the drive of the press-fitting lifting device 2251. The press-fitting claws 2253 perform press-fitting actions at different angles under the drive of the press-fitting rotary device 2252; the press-fitting claws 2253 perform press-fitting actions at circular positions with different diameters under the drive of the three groups of sliding tables.

[0104] The lower end of the press-fitting claw 2253 is used to press the lower mouth of the airbag into the auxiliary spring. At the same time, considering that the diameter of the lower mouth of some airbags is larger than that of the upper mouth, an inward concave structure is provided on the outside of the press-fitting claw 2253. In the above situation, the press-fitting claws 2253 can be first gathered, and after extending into the upper mouth, the press-fitting claws 2253 are then expanded and pressed down to perform the press-fitting action.

[0105] The transfer unit 226 includes a translation mechanism 2261, a vertical and horizontal mechanism 2262, and an opening and closing mechanism 2263 arranged in sequence. The translation mechanism 2261 is used to move left and right between the airbag closing unit 222 and the assembly tooling 228; the vertical and horizontal mechanism 2262 is used to lift the assembled airbag buckle assembly at the position of the airbag closing unit 222 and lower it at the position of the assembly tooling 228; the opening and closing mechanism 2263 is used to clamp or release the assembled airbag buckle assembly.

[0106] A chuck similar to the structure of the pulling claw and the supporting head is provided inside the opening and closing mechanism 2263, which is also used to lift the buckle from the bottom up.

[0107] Step 2: Assembly of the airbag buckle, specifically including: Step 2.1: In the initial state, the clamping claws 2223 are closed, the supporting arms 2233 extend, the flattening lifting device 2241 and the press-fitting lifting device 2251 retract, the translation mechanism 2261 is in the left position, the vertical and horizontal mechanism 2262 is in the high position, and the opening and closing mechanism 2263 is in the open position.

[0108] The assembly area robot 21 picks up the buckle from any buckle storage rack 28 in the assembly area and places it on the supporting arm 2233, and the buckle fits with the three supporting heads.

[0109] Subsequently, the supporting arm 2233 and the buckle descend to the low position. At this time, the buckle no longer interferes with the clamping claws 2223, and the clamping claws 2223 open to prepare to receive the airbag.

[0110] Step 2.2: The robot 21 in the assembly area picks up an airbag from any airbag rack 210 in the assembly area and moves it to the assembly area calibration device 29 to complete calibration.

[0111] Step 2.3: The robot 21 in the assembly area picks up the adjusted airbag from the calibration device 29 and moves it to the gripper 2223. The gripper 2223 contracts to a specified position to clamp and contract the airbag body without touching the connecting edge at the top of the airbag. The robot 21 in the assembly area records the pose of the airbag based on the vision recognition device and aligns it with the buckle pose.

[0112] Step 2.4: The support arm 2233 extends to lift the buckle, passes it through the clamped airbag, and contacts and locks under the connecting edge at the top of the airbag.

[0113] Step 2.5: The pressing device 2243 and the lifting device 2244 descend. The claws of the lifting device 2244 expand and then close after descending in place to realize the lifting of the buckle. Subsequently, the pressing plate in the pressing device 2243 moves down to flatten the airbag and make it fit with the buckle.

[0114] Step 2.6: While performing Steps 2.4 and 2.5, the robot 21 in the assembly area picks up the auxiliary spring from the auxiliary spring buffer device 25 and moves it above the assembly area positioning device 23. The robot 21 in the assembly area accurately places the auxiliary spring on the assembly tooling 228 according to the recognition result.

[0115] Step 2.7: The up-down mechanism 2262 descends, the opening-closing mechanism 2263 closes together to hold the buckle. The gripper 2223 opens, the up-down mechanism 2262 moves up, and the translation mechanism 2261 moves right, and pauses when moving the airbag buckle assembly below the assembly vision recognition mechanism 227.

[0116] Step 2.8: The assembly vision recognition mechanism 227 determines whether the buckle hole position is offset; If there is no offset, continue to move the airbag buckle assembly onto the auxiliary spring; If there is an offset, the robot 21 in the assembly area adjusts the relative orientation of the airbag buckle assembly and then puts it back into the transfer unit 226, and continues to move the airbag buckle assembly onto the auxiliary spring.

[0117] Step 2.9: The three press-fitting claws 2253 move to a suitable circular position, descend to press the lower sub-mouth of the airbag into the auxiliary spring; move up, the press-fitting rotary device 2252 rotates 60°, descend again, and repeat the press-fitting action; move up again, and repeat the rotation and press-fitting actions multiple times.

[0118] Step 2.10: A pressure sensing system is provided at the press-fitting lifting device 2251 to judge the quality of the air spring according to the pressure curve during the press-fitting process.

[0119] The robot 21 in the assembly area acts according to the judgment result: Pick up the qualified air spring and move it above the assembly area positioning device 23. According to the recognition result, the robot 21 in the assembly area accurately places the auxiliary spring on the air spring buffer device 24; pick up the defective air spring and place it on the NG rack 27 in the assembly area.

[0120] Please also refer to Figure 2 、 Figure 3 and Figure 9 , which are respectively the top view of the human-machine collaboration area 1, the top view of the automatic assembly area 2, and the three-dimensional view of the air spring buffer device in the air spring automatic assembly production line provided by the present invention.

[0121] Step 3: Cover plate assembly, including: Step 3.1: The suction and lifting mechanism 242 in the air spring buffer device 24 descends, so that the electromagnet 243 sucks the snap ring in the auxiliary spring airbag assembly. Subsequently, the suction and lifting mechanism 242 rises, driving the airbag to lift and exposing the underlying auxiliary spring; Step 3.2: The robot 11 in the collaboration area grips the auxiliary spring airbag assembly with the airbag lifted from the air spring buffer device 24, and at the same time the electromagnet 243 disconnects; the robot 11 in the collaboration area moves the auxiliary spring airbag assembly to the collaboration conveyor line 18; Step 3.3: The robot 11 in the collaboration area picks up the cover plate from the collaboration area cover plate rack 14 and places it on the auxiliary spring airbag assembly. Based on the visual recognition mechanism of the robot 11 in the collaboration area, ensure that the cover plate and the auxiliary spring airbag assembly are aligned, and the assembly of the cover plate is completed manually.

[0122] Step 3.4: The collaboration conveyor line 18 moves the assembled air spring from the manual work station to one end close to the test area robot 31.

[0123] Please refer to Figure 4 , which is the top view of the routine test area 3 in the air spring automatic assembly production line provided by the present invention.

[0124] Step 4: Torsional deformation test, including: Step 4.1: The test area robot 31 picks up the air spring from the collaboration conveyor line 18 and moves it above the test area positioning device 33. According to the recognition result, the test area robot 31 accurately places the air spring on the test equipment 32.

[0125] Step 4.2: The test equipment 32 loads and grips the air spring, pressurizes and completes the detection to obtain the detection result. The specific detection process will be described in detail later.

[0126] Step 4.3: The robot 31 in the test area transports the air spring to the post-treatment conveyor line 41.

[0127] Please also refer to Figures 21 to 25 , which are the three-dimensional view of the test equipment, the partial enlarged view at the loading unit, the partial enlarged view at the detection unit, the partial enlarged view at the drawing device, and the three-dimensional view of the separate detection unit respectively.

[0128] The test equipment 32 includes a loading unit and a detection unit.

[0129] The loading unit includes a base 321, a loading device 322, a transfer device 323, and a detection tooling 324; the detection unit includes a moving device 325, a vision device 326, a laser device 327, and a drawing device 328.

[0130] The base 321 has a T-shaped structure, and a linear slide is laid along the central axis of its top as the transfer device 323. The linear slide is a common part, and its specific structure will not be described in detail here. A lower half detection tooling 324 is installed on the linear slide.

[0131] The lower half detection tooling 324 is generally in a disc-shaped structure, and an inflation hole 3241 is provided at the center position of the top. The inflation hole is connected downward with a pressure charging pipeline (not drawn in the attached drawing), and the pressure charging pipeline is equipped with an opening and closing valve (not drawn in the attached drawing).

[0132] On the top surface of the lower half detection tooling 324, three limiting grooves are arranged side by side at an angle parallel to the linear slide, and a filling block 3242 is detachably arranged therein. A plurality of limiting holes 3243 are distributed on the filling block 3242 and other positions on the top surface.

[0133] The design of the limiting grooves and the limiting holes 3243 is to enable the detection tooling 324 to adapt to various types of air springs. The working principle of the limiting grooves is that, according to the type of air spring being processed currently, it can be selected whether to install the filling block 3242 to adapt to the position of the bottom pin shaft of different air springs. The working principle of the limiting holes 3243 is that at the position of the bottom pin shaft of the type of air spring being processed currently, limiting holes 3243 are all provided to achieve adaptation.

[0134] Take Figure 21 The left end of the transfer device 323 in the shown perspective as the loading end, and the other end as the loading end. At the two-wing positions of the base 321, a gantry-type lifting mechanism is provided, which straddles the loading end of the transfer device 323 above as the loading device 322.

[0135] In the loading device 322, the crossbeam directly above the loading end of the transfer device 323 is a movable component, and the upper half detection tooling 324 is installed at its bottom.

[0136] The upper half detection tooling 324 is generally in a disc-shaped structure. An inflation hole (covered in the attached drawing) is provided at the center position of the bottom, and a pressure charging pipeline (not drawn in the attached drawing) is connected upward to the inflation hole. The pressure charging pipeline is equipped with an opening and closing valve (not drawn in the attached drawing).

[0137] On the bottom surface of the upper half detection tooling 324, a plurality of limiting holes 3243 are provided based on the same principle as the lower half detection tooling 324. And in other embodiments, a plurality of inflation holes can be provided, and pressure charging pipelines are respectively connected upward.

[0138] From Figure 21 the shown angle, at the corner position on the left side of the top surface of the base 321, an additional small platform is provided for installing the moving device 325.

[0139] The moving device 325 includes a lifting mechanism vertically arranged on the small platform and a translation mechanism horizontally arranged on the slider of the lifting mechanism. Both the lifting mechanism and the translation mechanism adopt linear modules. Linear modules are common parts, and the vertical combination of two sets of linear modules is also a common solution, so the specific structure in this regard will not be elaborated here.

[0140] On the slider of the translation mechanism, a mounting bracket 329 is arranged at an angle parallel to its moving direction. The mounting bracket 329 extends towards the loading end, which plays a role in increasing the stroke of the translation mechanism and avoiding interfering with the transfer device 323. The moving device 325 is installed at an angle where the translation mechanism forms an approximately 45° angle with the transfer device 323, so that the translation mechanism can point to the loading device 322 without interfering with the transfer device 323 and the air spring it loads.

[0141] At the top of the end of the mounting bracket 329 close to the loading device 322, a visual recognition mechanism 3261 is installed at an angle parallel to it. The lens of the camera faces the loading device 322 and extends outside the mounting bracket 329. A ring-shaped fill light 3262 is arranged around the lens. The visual recognition mechanism 3261 and the fill light 3262 form the visual device 326.

[0142] At the tip of the end of the mounting bracket 329 close to the loading device 322, a long strip-shaped cantilever platform is installed at an angle parallel to it. A drawing device 328 is arranged on the cantilever platform, including a buffer 3281, a connecting rod 3282, a fixture 3283, and a drawing tool 3284 arranged coaxially.

[0143] The buffer 3281 adopts a spring buffer and is installed through an L-shaped plate. The diameter of the connecting rod 3282 is larger than that of the telescopic rod of the spring buffer. A hoop is arranged outside the connecting rod 3282 and fixed on the cantilever platform. The hoop only limits the position and does not restrict the sliding of the connecting rod. The fixture 3283 is a square fixture and directly lies flat on the top of the cantilever platform and slides; the drawing tool 3284 adopts a marker pen.

[0144] In addition, in the relaxed state of the buffer 3281, motion sensors 3285 are arranged at positions on both sides of the telescopic rod of the buffer 3281. Here, optoelectronic sensors are adopted. The height of the sensing light is between the telescopic rod of the buffer 3281 and the connecting rod 3282. When the marker pen touches an object and is pressed to drive the connecting rod 3282 to move backward, the connecting rod 3282 blocks the sensing light, and based on this signal, the translation mechanism is controlled to stop operating.

[0145] The laser device 327 is an existing product that can emit linear laser light. It is installed on the outer wall of the lifting mechanism on the side far from the translation mechanism in a detachable manner. Here, it is installed on the outer wall of the lifting mechanism by magnetic attraction, which is convenient for adjusting the position of the light.

[0146] Step 4: Torsion deformation test, specifically including: Step 4.1: The test area robot 31 clamps an air spring from the collaborative conveyor line 18 and moves it above the test area positioning device 33. According to the recognition result, the test area robot 31 accurately places the air spring on the lower half detection tooling 324 in the test equipment 32.

[0147] Step 4.2.1: The upper and lower half detection toolings 324 in the test equipment 32 are loaded up and down to clamp the air spring. At this time, the inflation hole of the detection tooling 324 is hermetically docked with the top air pipe of the air spring.

[0148] Step 4.2.2: The pressurization pipeline docked with the inflation hole fills high-pressure gas into the airbag until the limit air pressure is reached.

[0149] Step 4.2.3: Adjust the air pressure in the airbag to the rated air pressure and maintain it for a period of time.

[0150] Meanwhile, based on the moving function of the moving device 325, control the drawing device 328 to draw multiple positioning points on a meridian of the airbag of the air spring, control the laser device 327 to irradiate linear laser on the same or another meridian of the airbag of the air spring, and control the vision device 326 to take pictures of the initial positions of the laser and the positioning points.

[0151] Step 4.2.4: During the process of maintaining the air pressure, control the vision device 326 to take pictures of the current positions of the laser and the positioning points multiple times at preset time intervals.

[0152] Step 4.2.5: Release the pressure, control the vision device 326 to take pictures of the final positions of the laser and the positioning points, then cancel the loading, and identify and analyze the images taken multiple times.

[0153] Step 4.3: The test area robot 31 transports the air spring to the post-treatment conveyor line 41.

[0154] Please refer to Figure 5 , which is the top view of the post-treatment area 4 in the air spring automatic assembly production line provided by the present invention.

[0155] Step 5: Post-treatment, including: Step 5.1: For the detection results obtained in Step 4.2, the unqualified air springs directly pass through on the post-treatment conveyor line 41 without being processed by the re-tightening device 42 and the scribing device 43, reach the NG station of the overhead crane 44, and are manually taken off the line.

[0156] Step 5.2: For the detection results obtained in Step 4.2, the qualified air springs first reach the re-tightening device 42 on the post-treatment conveyor line 41 for bolt re-tightening work; Step 5.3: Then reach the scribing device 43 for scribing work; Step 5.4: Finally reach the qualified station of the overhead crane 44 and are manually packed.

[0157] Please also refer to Figures 26 to 30 , which are respectively the three-dimensional view of the air spring double-axis re-tightening device in the post-treatment area 4, the partial front view at the rotating mechanism in the air spring double-axis re-tightening device, the partial three-dimensional view at the torque gun one, the partial front view at the socket wrench storage mechanism one, and the partial three-dimensional view at the automatic scribing device in the post-treatment area 4.

[0158] The air spring double-axis re-tightening device 42 includes a frame 421, an air spring clamping and lifting mechanism 422 arranged on the frame 421, and a rotating mechanism 423 arranged on the frame 421 and located above the air spring clamping and lifting mechanism 422. An XYZ three-axis moving mechanism one 424 and an XYZ three-axis moving mechanism two 425 are symmetrically arranged on the rotating mechanism 423. A torque gun one 426 is arranged on the XYZ three-axis moving mechanism two, and a torque gun two 427 is arranged on the XYZ three-axis moving mechanism two. A camera one 428 and a camera two 429 are respectively arranged on the torque gun one 426 and the torque gun two.

[0159] The air spring clamping and lifting mechanism 422 adopts a V-shaped contact surface to achieve the function of automatic centering when clamping the air spring. The rotating mechanism 423 includes a slewing bearing 4231 rotatably connected to the frame 421. Teeth are provided on the outer ring of the slewing bearing 4231. A rotary drive motor 4232 is provided on the frame 421. A gear is provided on the rotating shaft of the rotary drive motor 4232 and meshes with the teeth for transmission, so that the rotary drive motor 423 can drive the slewing bearing 4231 to rotate; The XYZ three-axis moving mechanism one 424 and the XYZ three-axis moving mechanism two 425 are both arranged on the slewing bearing 4231.

[0160] A socket wrench storage mechanism one 4210 and a socket wrench storage mechanism two 4211 are also provided on the frame 421. The socket wrench storage mechanism one 4210 and the socket wrench storage mechanism two 4211 each store socket wrenches of various specifications with female quick connector heads.

[0161] Male quick connector heads are provided at the ends of the rotating shafts of the torque wrench one 426 and the torque wrench two 427, and female quick connector heads are provided at one ends of the socket wrenches. The socket wrenches are connected to the torque wrenches through the cooperation of the male quick connector heads and the female quick connector heads.

[0162] The socket wrench storage mechanism one 4210 and the socket wrench storage mechanism two 4211 both include a sliding plate 4212 slidably connected to the frame 421, a connecting arm 4213 with one end connected to the sliding plate 4212, and a socket wrench storage rack 4214 connected to the other end of the connecting arm 4213. A sliding plate driving cylinder (not shown in the figure) is also provided on the frame 421 and connected to the sliding plate 4212. Driven by the sliding plate driving cylinder, the sliding plate 4212 can move back and forth.

[0163] Since the model specifications of the air springs are different, the bolt specifications of the air springs are also different. When re-tightening another specification of air spring, different specifications of socket wrenches need to be replaced.

[0164] When it is necessary to replace the socket wrench, the socket wrench storage mechanism one 4210 and the socket wrench storage mechanism two 4211 drive the two socket wrench storage racks 4214 to move relatively closer under the action of the sliding plate driving cylinder, to the positions of the torque wrench one 426 and the torque wrench two 427, for the torque wrench one 426 and the torque wrench two 427 to perform the action of replacing the socket wrench.

[0165] After the replacement is completed, the sliding plate driving cylinder acts in the reverse direction, driving the two socket wrench storage racks 4214 to move relatively away to avoid interfering with the torque wrench one 426 and the torque wrench two 427.

[0166] The automatic scribing device 43 includes a scribing manipulator 431, a scribing camera 432 disposed on the scribing manipulator 431, and a scribing mechanism 433.

[0167] A pallet lifting mechanism and a stop mechanism (not shown in the figure) are also provided on the conveyor line located at the automatic scribing device 43. When the pallet with the air spring after re-tightening is sent to the automatic scribing device 43, the pallet is stopped by the stop mechanism, and then lifted by the pallet lifting mechanism. Then, the scribing camera 432 is first used to take a photo of the bolt positions on the upper cover plate 4 of the air spring 58 for confirmation, and then the scribing manipulator 431 is controlled to drive the scribing mechanism 433 to perform a scribing operation on each bolt. The scribing mechanism 433 can adopt an inkjet printer for scribing.

[0168] Step 5: Post-treatment, specifically including: Step 5.1: For the detection results obtained in Step 4.2.5, the unqualified air springs are directly passed through without being processed by the re-tightening device 42 and the scribing device 43 on the post-treatment conveyor line 41, reach the NG station of the overhead crane 44, and are manually taken off the line.

[0169] Step 5.2.1: For the detection results obtained in Step 4.2.5, after the qualified air springs reach the re-tightening device 42, they are lifted and clamped by the air spring clamping and lifting mechanism 422.

[0170] Step 5.2.2: Use Camera 1 18 and Camera 2 19 to take photos to determine the orientation of any pair of bolts that need to be re-tightened, and calculate the angle difference between the actual orientation of Torque Gun 1 426 and Torque Gun 2 427 and the orientation of the pair of bolts that need to be re-tightened, that is, the angle between the line A connecting Torque Gun 1 426 and Torque Gun 2 427 and the line B connecting a pair of bolts that need to be re-tightened (such as Bolt A1 and Bolt A2).

[0171] Step 5.2.3: Control the rotating mechanism 13 to drive the two torque guns to rotate so that the line A between Torque Gun 1 426 and Torque Gun 2 427 coincides with the line B between the pair of bolts that need to be re-tightened, and perform a preliminary positioning of the positions of the torque guns. At this time, the positions of the two torque guns do not completely coincide with the positions of the pair of bolts that need to be re-tightened.

[0172] Step 5.2.4: Use Camera 1 18 and Camera 2 19 to take pictures again to determine the actual planar coordinate positions of a pair of bolts that need to be re-tightened, and calculate the differences (i.e., the differences in the X and Y axis directions) between the actual planar coordinate positions of Torque Wrench 1 426 and Torque Wrench 2 427 and the actual planar coordinate positions of the pair of bolts that need to be re-tightened. Then, use the XY-axis movement in XYZ Three-Axis Movement Mechanism 1 and XYZ Three-Axis Movement Mechanism 2 to precisely position the horizontal positions of the two torque wrenches. Make the central axes of the two torque wrenches coincide with the central axes of a pair of symmetric bolts on the air spring respectively.

[0173] Step 5.2.5: Use the Z-axis movement in XYZ Three-Axis Movement Mechanism 1 and XYZ Three-Axis Movement Mechanism 2 to make the two torque wrenches re-tighten a pair of symmetric bolts on the air spring. Repeat this process until all the bolts are re-tightened.

[0174] After the re-tightening work is completed, the air spring clamping and lifting mechanism 422 places the air spring back on the post-treatment conveyor line 41 and continues to convey it to the marking device 43.

[0175] Step 5.3: After the air spring reaches the marking device 43, the stop mechanism stops the tray carrying the air spring, and then uses the tray lifting mechanism to lift it. First, take pictures of the bolt positions on the upper cover plate 4 of the air spring 58 through the marking camera 432 for confirmation, and then control the marking manipulator 431 to drive the marking mechanism 433 to perform marking operations on each bolt.

[0176] After marking is completed, the tray lifting mechanism and the stop mechanism run in the reverse direction to make the tray carrying the air spring return to the post-treatment conveyor line 41 and continue to convey it to the gantry crane 44.

[0177] Step 5.4: Finally, at the qualified station of the gantry crane 44, manually pack it.

[0178] In this embodiment, a fixture library 19 or a fixture table is provided in the automatic assembly area 2, the human-machine collaboration area 1, and the routine test area 3, and fixtures for clamping different materials are placed respectively. The attached drawings are only for showing the situation and do not limit the types of fixtures actually used.

[0179] Those skilled in the art should select appropriate fixtures to be placed in the fixture library 19 or each fixture table according to the on-site situation, and design the rules and paths for the assembly area robot 21, the collaboration area robot 11, and the test area robot 31 to replace the fixtures. This part of the content belongs to the commonly used control schemes in the prior art, and the specific control details will not be elaborated here.

[0180] In addition, it also includes conventional designs such as a power supply system, a pressure supply system, a control system, etc. Those skilled in the art can make flexible designs according to the on-site situation, and the specific details thereof will not be elaborated herein. Embodiment 2:

[0181] Please refer to Figures 1 to 5 respectively, which are the top views of the air spring automatic assembly production line provided by the present invention, and the top views of separating the human-machine collaboration area 1, the automatic assembly area 2, the routine test area 3 and the post-treatment area 4 therein.

[0182] The structure of the air spring automatic assembly production line in this embodiment is the same as that in Embodiment 1. The automatic assembly method of the air spring automatic assembly production line includes: Second, for the assembly of Class B products, it includes: Step 1: The auxiliary spring assembly is the same as that in Embodiment 1.

[0183] Step 2: The airbag assembly includes: Step 2.1: The robot 21 in the assembly area clamps the auxiliary spring from the auxiliary spring buffer device 25 and moves it above the assembly area positioning device 23. According to the recognition result, the robot 21 in the assembly area accurately places the auxiliary spring on the assembly tooling 228.

[0184] Step 2.2: The robot 21 in the assembly area clamps the airbag from any airbag rack 210 in the assembly area and moves it to the assembly area calibration device 29 to complete the calibration.

[0185] Step 2.3: The robot 21 in the assembly area clamps the adjusted airbag from the calibration device 29 and moves it to the auxiliary spring. The robot 21 in the assembly area records the pose of the airbag based on the visual recognition device and aligns the two in combination with the pose of the auxiliary spring.

[0186] Step 2.4: The three press-fitting claws 2253 move to a suitable circular position, move down to press the lower sub-mouth of the airbag into the auxiliary spring; move up, the press-fitting rotary device 2252 rotates 60°, move down again, and repeat the press-fitting action; move up again, and repeat the rotation and press-fitting actions multiple times.

[0187] Step 2.5: A pressure sensing system is provided at the press-fitting lifting device 2251 to judge the quality of the air spring according to the pressure curve during the press-fitting process.

[0188] The robot 21 in the assembly area acts according to the judgment result: Clamp the qualified air spring and move it above the assembly area positioning device 23. According to the recognition result, the robot 21 in the assembly area accurately places the auxiliary spring on the air spring buffer device 24; clamp the defective air spring and place it on the NG rack 27 in the assembly area.

[0189] Step 3: Transfer, including: The robot in the cooperation area grips the auxiliary spring airbag assembly from the air spring buffer device 24 and moves the auxiliary spring airbag assembly onto the cooperation conveyor line 18. The cooperation conveyor line 18 continues to move the auxiliary spring airbag assembly to one end close to the test area robot 31.

[0190] Step 4: Torsional deformation test, including: Step 4.1: The test area robot 31 clamps the auxiliary spring airbag assembly from the cooperation conveyor line 18 and moves it above the test area positioning device 33.

[0191] The test area robot 31 accurately places the auxiliary spring airbag assembly on the lower half detection tooling 324 in the test equipment 32 according to the recognition result.

[0192] Step 4.2: The test area robot 31 clamps a cover plate from any test area cover plate rack 35 and places it on the auxiliary spring airbag assembly.

[0193] Step 4.3.1: The upper and lower half detection tooling 324 in the test equipment 32 are loaded up and down to clamp the cover plate and the auxiliary spring airbag assembly. At this time, the inflation hole of the detection tooling 324 is in sealed butt joint with the top air duct of the cover plate.

[0194] Step 4.2.2: The pressurization pipeline connected to the inflation hole fills high-pressure gas into the airbag until the limit air pressure is reached. Under the impact of the air pressure, the cover plate and the airbag are clamped tightly with each other to complete the assembly, forming a finished air spring.

[0195] Step 4.2.3: Adjust the air pressure in the airbag to the rated air pressure and maintain it for a period of time.

[0196] Meanwhile, based on the moving function of the moving device 325, control the drawing device 328 to draw multiple positioning points on a meridian of the airbag of the air spring, control the laser device 327 to irradiate linear laser on the same or another meridian of the airbag of the air spring, and control the vision device 326 to take pictures of the initial positions of the laser and the positioning points.

[0197] Step 4.2.4: During the process of maintaining the air pressure, control the vision device 326 to take multiple pictures of the current positions of the laser and the positioning points at preset time intervals.

[0198] Step 4.2.5: Release the pressure, control the vision device 326 to take pictures of the final positions of the laser and the positioning points, and then cancel the loading, and perform recognition and analysis on the multiple pictures taken.

[0199] Step 4.3: The test area robot 31 transports the air spring to the post-treatment conveyor line 41.

[0200] Step 5: Post-processing, including: Step 5.1: For the detection results obtained in Step 4.2, the unqualified air springs directly pass through and reach the NG station of the overhead crane 44, and are manually taken offline. Step 5.2: Since this embodiment is for air springs without inner snap rings, there is no re-tightening step. For the detection results obtained in Step 4.2, the qualified air springs also directly pass through and reach the qualified station of the overhead crane 44, and are manually packed. Embodiment 3:

[0201] Please also refer to Figures 1 to 5 , which are respectively the top view of the air spring automated assembly production line provided by the present invention, and the top view with the human-machine collaboration area 1, automatic assembly area 2, routine test area 3 and post-processing area 4 separated out.

[0202] In this embodiment, the structure of the air spring automated assembly production line is different from that of Embodiment 1. The left one of the three racks near the airbag collaborative assembly equipment 16 in the human-machine collaboration area 1 is changed to an airbag rack, denoted as the collaborative area airbag rack 13. The remaining racks are deactivated.

[0203] According to Figure 1 the perspective shown, the upper set of auxiliary spring collaborative assembly equipment 17 is deactivated, and the workers and small part racks 113 among them are all transferred to the upper end of the airbag collaborative assembly equipment 16, and the upper end of the airbag collaborative assembly equipment 16 is used as the new manual station.

[0204] The automated assembly method of the air spring automated assembly production line includes: III. Assembly for Class C products, including: Step 1: Auxiliary spring assembly, which is basically the same as that in Embodiment 1, with the difference being: Subsequent steps: Step 1.7: The auxiliary spring collaborative assembly equipment 17 moves to transport the auxiliary spring to the first collaboration station. The collaborative area robot 11 grabs the auxiliary spring and moves it onto the collaborative conveyor line 18.

[0205] For the auxiliary springs that are not correctly assembled generated in any process of Step 1, the collaborative area robot 11 places them on the collaborative area NG rack 110.

[0206] Step 2: Airbag snap ring assembly, including: Step 2.1: The collaborative area robot 11 grabs a cover plate from any one of the collaborative area cover plate racks 14 and places it on the airbag collaborative assembly equipment 16, denoted as the second collaboration station. The cover plates in the collaborative area cover plate rack 14 in this embodiment are all placed in reverse.

[0207] Step 2.2: The robot 11 in the collaboration area picks up the airbag from the airbag rack 13 in the collaboration area and moves it to the calibration device 111 in the collaboration area to complete calibration.

[0208] Step 2.3: The robot 11 in the collaboration area picks up the adjusted airbag from the calibration device 111 in the collaboration area and moves it to the cover plate. The robot 11 in the collaboration area records the pose of the airbag and aligns it with the pose of the cover plate.

[0209] Step 2.4: The airbag collaborative assembly device 16 transports the cover plate and the airbag to the manual workstation, and the operator places the inflation tooling on the airbag.

[0210] Step 2.5: The airbag collaborative assembly device 16 transports the cover plate, the airbag and the inflation tooling to the second collaboration workstation; the robot 11 in the collaboration area moves the cover plate, the airbag and the inflation tooling from the second collaboration workstation to the collaborative conveyor line 18; The collaborative conveyor line 18 moves the cover plate, the airbag and the inflation tooling to one end close to the test area robot 31; the test area robot 31 moves the cover plate, the airbag and the inflation tooling from the collaborative conveyor line 18 to the lower half detection tooling 324 in the test equipment 32.

[0211] Step 2.6.1: The upper half and lower half detection tooling 324 in the test equipment 32 load and clamp the cover plate, the airbag and the inflation tooling. At this time, the inflation hole of the detection tooling 324 is in sealed butt joint with the air duct of the inflation tooling.

[0212] Step 2.6.2: The pressure charging pipeline connected to the inflation hole fills the airbag with high-pressure gas until the limit air pressure is reached. Under the impact of the air pressure, the cover plate and the airbag are clamped tightly with each other to complete the assembly and form the airbag cover plate assembly.

[0213] Step 2.7: The test area robot 31 moves the airbag cover plate assembly and the inflation tooling from the test equipment 32 to the collaborative conveyor line 18; the collaborative conveyor line 18 moves the airbag cover plate assembly and the inflation tooling to one end close to the airbag collaborative assembly device 16; the robot 11 in the collaboration area moves the airbag cover plate assembly and the inflation tooling from the collaborative conveyor line 18 to the second collaboration workstation.

[0214] Step 2.8: The airbag collaborative assembly device 16 moves the airbag cover plate assembly and the inflation tooling to the manual workstation, and the operator removes the inflation tooling.

[0215] Then the operator takes the buckle from the small parts rack 113, and finally the operator completes the assembly of the buckle and the airbag cover plate assembly to form the airbag cover plate buckle assembly.

[0216] Step 2.9: The airbag collaborative assembly device 16 moves to transport the airbag cover buckle assembly to the second collaborative work station. The collaborative area robot 11 transports the airbag cover buckle assembly to the collaborative conveyor line 18, and the collaborative conveyor line 18 transports it to one end close to the test area robot 31.

[0217] Step 3: Torsional deformation test, including: Step 3.1: The test area robot 31 picks up the auxiliary spring from the collaborative conveyor line 18 and moves it above the test area positioning device 33. According to the recognition result, the test area robot 31 accurately places the auxiliary spring on the lower half detection tooling 324 in the test equipment 32.

[0218] Step 3.2: The test area robot 31 picks up the airbag cover buckle assembly from the collaborative conveyor line 18 and moves it to the flipping bracket 37.

[0219] Because starting from Step 2.1, the layout is with the cover plate on top and the airbag on top, while during assembly, the layout needs to be with the auxiliary spring at the bottom, the airbag in the middle, and the cover plate on top. Here, through the flipping bracket 37, the test area robot 31 flips the airbag cover buckle assembly.

[0220] Step 3.3: The test area robot 31 moves the airbag cover buckle assembly to the test area calibration device 36 to complete calibration.

[0221] Step 3.4: The test area robot 31 picks up the airbag cover buckle assembly from the test area calibration device 36 to the auxiliary spring. The test area robot 31 records the pose of the airbag and aligns it with the pose of the auxiliary spring in combination.

[0222] Step 3.5.1: The upper and lower half detection toolings 324 in the test equipment 32 load and clamp the airbag cover buckle assembly and the auxiliary spring. At this time, the inflation hole of the detection tooling 324 is in sealed butt joint with the air duct of the cover plate top.

[0223] Step 3.5.2: The pressure charging pipeline connected to the inflation hole fills the airbag with high-pressure gas until the limit air pressure is reached. Under the impact of the air pressure, the lower sub-mouth of the airbag is clamped tightly with the auxiliary spring to complete the assembly and form a finished air spring product.

[0224] Step 3.5.3: Adjust the air pressure in the airbag to the rated air pressure and maintain it for a period of time.

[0225] Meanwhile, based on the moving function of the moving device 325, control the drawing device 328 to draw multiple positioning points on a meridian of the airbag of the air spring, control the laser device 327 to irradiate linear laser on the same or another meridian of the airbag of the air spring, and control the vision device 326 to take pictures of the initial positions of the laser and the positioning points.

[0226] Step 3.5.4: During the process of maintaining the air pressure, control the vision device 326 to take multiple shots of the current positions of the laser and the positioning points at preset time intervals.

[0227] Step 3.5.5: Release the pressure, control the vision device 326 to take a shot of the final positions of the laser and the positioning points, then cancel the loading, and identify and analyze the images taken multiple times.

[0228] Step 3.6: The test area robot 31 transports the air spring to the post-processing conveyor line 41.

[0229] Step 4: Post-processing, which is the same as Step 5 in Embodiment 1.

[0230] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An automatic air spring assembly production line, characterized by: It includes an automatic assembly area, a human-machine collaboration area, a routine test area and a post-processing area which are arranged in sequence; the human-machine collaboration area includes a collaboration area robot, and collaborative assembly equipment and collaborative loading and unloading equipment arranged along both sides thereof; the automatic assembly area includes an assembly area robot, and assembly equipment and assembly loading and unloading equipment arranged around it; the routine test area includes a test area robot, and test equipment and test loading equipment arranged around it; the post-processing area includes a post-processing conveyor line, and post-processing equipment and post-processing unloading equipment arranged in sequence along its conveying direction.

2. The air spring automatic assembly production line according to claim 1 is characterized in that: The collaborative area robot is a ground rail robot, and multiple material racks, auxiliary spring collaborative assembly equipment and collaborative conveyor lines are sequentially arranged along one side thereof, and multiple material racks, airbag collaborative assembly equipment, another auxiliary spring collaborative assembly equipment and another collaborative conveyor line are sequentially arranged along the other side thereof; some material racks serve as the collaborative loading equipment, the auxiliary spring collaborative assembly equipment and the airbag collaborative assembly equipment serve as the collaborative assembly equipment, and the collaborative conveyor line serves as the collaborative unloading equipment; The assembly area robot is a ground rail robot, the ground rail direction is perpendicular to the cooperation area robot, an auxiliary spring buffer device and an air spring buffer device are arranged between the two, the assembly area robot is surrounded by the assembly equipment and a plurality of material racks, the auxiliary spring buffer device and some material racks serve as the assembly loading equipment, and the air spring buffer device serves as the assembly unloading equipment; The test area robot is a ground rail robot, the ground rail direction is perpendicular to the cooperation area robot, one side of the test area robot is a cooperation conveyor line, and the other side is provided with a plurality of the test equipment, one end of the test area robot is provided with a plurality of material racks, and the other end is the post-processing area, and the material racks serve as the test loading equipment; The conveying direction of the post-processing conveyor line is perpendicular to the ground rail direction of the test area robot. A re-tightening device, a marking device and a gantry truck are arranged in sequence along the conveying direction of the post-processing conveyor line. The re-tightening device and the marking device serve as the post-processing equipment, and the gantry truck serves as the post-processing unloading equipment.

3. The air spring automatic assembly production line according to claim 2 is characterized in that: The automatic assembly area, the human-machine collaboration area and the routine test area are each provided with one or more fixture storage areas; the automatic assembly area, the human-machine collaboration area and the routine test area are each provided with calibration equipment and positioning equipment; the ends of the robots in the collaboration area, the robots in the assembly area and the robots in the test area are each provided with visual recognition mechanisms; Along one side of the collaborative area robot, there are sequentially provided with a correction device, four material racks, an auxiliary spring collaborative assembly device and a collaborative conveyor line. A positioning device is also provided at the correction device. The four material racks are sequentially used as an NG material rack, a large material rack, a cover plate material rack and an auxiliary spring material rack; on the other side, there are sequentially provided with three material racks, an airbag collaborative assembly device, an auxiliary spring collaborative assembly device and a collaborative conveyor line. The three material racks are sequentially used as a large material rack, a cover plate material rack and an auxiliary spring material rack. The conveying direction of the collaborative conveyor line is parallel to the ground track direction of the collaborative area robot; Two material racks are respectively arranged at the far side of the auxiliary spring cooperative assembly equipment, and all four material racks are used as small parts racks; a fixture library is arranged at the end of the collaborative area robot, located between the two collaborative conveyor lines; a fixture table is arranged between the collaborative area robot and a set of auxiliary spring cooperative assembly equipment, and a fixture table is arranged at one end of the collaborative area robot close to the automatic assembly area; An air spring buffer device, an auxiliary spring buffer device and a fixture table are sequentially arranged between the assembly area robot and the collaboration area robot; The assembly area robot is provided with three material racks in sequence on a side away from the collaboration area robot, and the three material racks are respectively used as buckle ring material racks or air bag material racks; the assembly area robot is provided with a correction device and two material racks in sequence at one end near the fixture table, one material rack is used as a buckle ring material rack or an air bag material rack, and one is used as an NG material rack, with a total of two buckle ring material racks and two air bag material racks; The assembly area robot is provided with the assembly device at one end close to the air spring buffer device, and a positioning device is provided between the assembly device and the air spring buffer device; On one side of the test area robot close to the collaborative area robot, there are a collaborative conveyor line, a flipping device, a fixture table and another collaborative conveyor line in sequence, and a plurality of the test equipment are arranged on the other side; a positioning device and a fixture table are arranged between the test equipment, and a correction device and two material racks are arranged at one end of the test area robot, both of which are used as cover plate material racks, and the other end is the post-processing area.

4. The air spring automatic assembly production line according to claim 3 is characterized in that: The correction device includes a correction base, a correction rotating platform, a correction sensor and a correction visual recognition mechanism. The correction rotating platform and the correction sensor are provided on the top of the correction base. The correction visual recognition mechanism is installed at the side of the correction base and at a certain distance therefrom, with its lens facing the correction rotating platform; the positioning device includes a positioning visual recognition mechanism, with its lens facing vertically upwards.

5. The air spring automatic assembly production line according to claim 3 is characterized in that: The auxiliary spring collaborative assembly equipment includes a circulating conveyor line, the conveying direction of which is perpendicular to the ground track direction of the collaborative area robot; at the far end of the auxiliary spring collaborative assembly equipment, close to the collaborative conveyor line, two material racks are provided as small parts material racks; the auxiliary spring collaborative assembly equipment, the small parts material racks and a nearby collaborative conveyor line are used as manual workstations; The airbag cooperative assembly equipment comprises a reciprocating conveyor line, whose conveying direction is perpendicular to the ground track direction of the cooperative area robot; one end of the airbag cooperative assembly equipment away from the cooperative area robot serves as a manual workstation.

6. The air spring automatic assembly production line according to claim 3 is characterized in that: The auxiliary spring buffer device and the air spring buffer device are both multi-station turntables, including a base and a rotating platform arranged on the top of the base, on the rotating platform of the auxiliary spring buffer device, a plurality of loading fixtures are arranged in a ring array, and on the rotating platform of the air spring buffer device, a plurality of unloading fixtures are arranged in a ring array, and a sensor is arranged on the side of each loading fixture or unloading fixture; The air spring buffer device is also provided with a suction device, including a gantry, a suction lifting mechanism and a suction actuator. The gantry spans a blanking tooling arrangement in the air spring buffer device, and the suction lifting mechanism is provided at a position directly above the blanking tooling. The movable end of the suction lifting mechanism faces downward, and is provided with the suction actuator.

7. The air spring automatic assembly production line according to claim 3 is characterized in that: The assembly equipment comprises a workbench, an airbag closing unit, a buckle lifting unit, an airbag flattening unit, a rotary pressing unit, a transfer unit, an assembly visual recognition mechanism and an assembly tool; the airbag closing unit and the assembly tool are arranged side by side at the bottom of the workbench, and the buckle lifting unit is arranged along the periphery of the airbag closing unit; the airbag flattening unit and the rotary pressing unit are arranged at the top of the workbench, directly above the airbag closing unit and the assembly tool, respectively, and the assembly visual recognition mechanism is arranged between the airbag flattening unit and the rotary pressing unit, and the lens of the assembly visual recognition mechanism faces vertically downward; the transfer unit is arranged at the back of the workbench; The airbag closing unit comprises a closing platform, a closing lifting device and a clamping claw; the closing lifting device is arranged in the closing platform, with the movable end facing upward and passing through the table surface of the closing platform, and a plurality of clamping claws are arranged in a circular array on the top of the closing platform, and are movably connected with the movable end and the closing platform at the same time, and open and close with the lifting and lowering of the movable end; The buckle lifting unit comprises a lifting platform, a lifting and lifting device and a supporting arm; the lifting and lifting device is arranged in the lifting platform, and comprises a lifting ring for performing lifting action, the lifting ring is arranged around the closing platform, and a plurality of supporting arms are vertically arranged in a circular array on the lifting ring, the table surface of the lifting platform is provided with an opening for all the clamping claws and all the supporting arms to move, and the supporting arm and the clamping claws are arranged alternately; The airbag flattening unit comprises a flattening lifting device, a flattening bracket, a pressing device and a pulling device; the movable end of the flattening lifting device faces downward and is provided with the flattening bracket, and the pressing device and the pulling device are installed on the flattening bracket; the pulling device comprises a plurality of pulling claws arranged in an annular array, which move centripetally to achieve a pulling action on the lower edge of the combination position of the airbag and the buckle; the pressing device comprises a plurality of pressing plates arranged in an annular array, which move downward to achieve a flattening action on the upper edge of the combination position of the airbag and the buckle; The rotary press-fitting unit comprises a press-fitting lifting device, a press-fitting rotating device and a press-fitting claw; the movable end of the press-fitting lifting device faces downward and is provided with the press-fitting rotating device, and a plurality of the press-fitting claws are arranged in a circular array on the lower surface of the press-fitting rotating device, and all of the press-fitting claws have the ability to move synchronously centripetally or centrifugally.

8. The air spring automated assembly production line according to claim 3, characterized in that: The test equipment includes a loading unit and a detection unit; the loading unit includes a base, a loading device, a transfer device and a detection tool, the loading device and the transfer device are arranged on the base, the detection tool is arranged on the loading device and the transfer device respectively, and moves in a manner of approaching or moving away from each other under the drive of the loading device and the transfer device respectively; the detection unit includes a moving device, a visual device, a drawing device and a laser device, the moving device is arranged on the base, the visual device and the drawing device are arranged on the movable end of the moving device, and the laser device is arranged on the fixed end of the moving device; A linear slide is laid flat on the top of the base as the transfer device, and the lower half of the detection tooling is installed on the movable end of the linear slide; a lifting mechanism is provided on the top of the base as the loading device, the movable end of the loading device extends above the transfer device, and the upper half of the detection tooling is installed on the side close to the transfer device; The moving device comprises a lifting mechanism and a translation mechanism connected in sequence, the laser device is arranged at the fixed end of the lifting mechanism, the translation mechanism faces the loading device, and the drawing device and the visual device are arranged at the movable end of the translation mechanism.

9. The air spring automatic assembly production line according to claim 3, characterized in that: The empty spring biaxial complex tightening device includes a frame, an empty spring clamping and lifting mechanism arranged on the frame, and a rotating mechanism arranged on the frame and located above the empty spring clamping and lifting mechanism, an XYZ three-axis moving mechanism 1 and an XYZ three-axis moving mechanism 2 are symmetrically arranged on the rotating mechanism, a torque gun 1 is arranged on the XYZ three-axis moving mechanism 2, and a torque gun 2 is arranged on the XYZ three-axis moving mechanism 2; a camera 1 and a camera 2 are also arranged on the torque gun 1 and the torque gun 2, respectively; the automatic marking device includes a marking robot, a marking camera arranged on the marking robot, and a marking mechanism.

10. An automated assembly method for an automated assembly line for air springs according to any one of claims 1 to 9, characterized in that:

1. Assembly of Category A products, including: Step 1: Assemble the auxiliary spring, including: Step 1.1: The robot in the collaborative area clamps the auxiliary spring body from the auxiliary spring material rack and transports it to the auxiliary spring collaborative assembly equipment, which is recorded as the first collaborative station; For large air springs: Step 1.2: The collaborative area robot clamps the bottom plate from the large material rack to the auxiliary spring body, and the visual recognition mechanism of the collaborative area robot ensures that the two are aligned; Step 1.3: The auxiliary spring cooperative assembly equipment transports the base plate and the auxiliary spring body to the manual workstation, and manually completes the connection between the base plate and the auxiliary spring body; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the first collaborative station, and the collaborative area robot flips over the bottom plate auxiliary spring assembly; Step 1.5: The robot in the collaborative area clamps the support plate and the bottom plate auxiliary spring assembly from the large material rack, and the visual recognition mechanism of the robot in the collaborative area ensures that the two are aligned; Step 1.6: The auxiliary spring cooperative assembly equipment transports the support plate and the bottom plate auxiliary spring assembly to the manual workstation, and the auxiliary spring is assembled manually; For small air springs: Step 1.2: The auxiliary spring cooperative assembly equipment transports the auxiliary spring body to the manual workstation, where the manual worker takes the bottom plate from the small parts rack and completes the connection between the bottom plate and the auxiliary spring body; Step 1.3: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the first collaborative station, and the collaborative area robot flips over the bottom plate auxiliary spring assembly; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the manual workstation, where the manual worker takes the support plate from the small parts rack and completes the assembly of the auxiliary spring; Next steps: Step 1.7: The auxiliary spring collaborative assembly device transports the auxiliary spring to the first collaborative workstation, and the collaborative area robot clamps the auxiliary spring and moves it above the positioning device in this area; The positioning device identifies the pin hole and pin shaft position at the bottom of the auxiliary spring, and the robot in the collaborative area accurately places the auxiliary spring on the auxiliary spring buffer device according to the identification results; The robot in the collaborative area places the improperly assembled auxiliary springs on the NG rack in this area; Step 2: Assemble the airbag buckle, including: Step 2.1: The robot in the assembly area grabs the buckle from the buckle rack and places it on the buckle lifting unit, and the buckle lifting unit descends to a specified height; Step 2.2: The robot in the assembly area grabs the airbag from the airbag rack and moves it to the calibration equipment in this area. The calibration equipment rotates the airbag to a specific angle. Step 2.3: The assembly area robot clamps the airbag from the calibration device and moves it to the airbag closing unit. The visual recognition mechanism of the assembly area robot ensures that the airbag and the buckle are aligned, and the gripper of the airbag closing unit retracts to the specified position; Step 2.4: The buckle lifting unit rises and lifts the buckle to a specified height; Step 2.5: The airbag flattening mechanism descends to a specified height, and holds the buckle and the airbag at the upper and lower sides respectively, and applies pressure to flatten the edge of the airbag; Step 2.6: While performing steps 2.4 and 2.5, the robot in the assembly area clamps the auxiliary spring from the auxiliary spring buffer device and moves it above the positioning device in this area; The positioning equipment identifies the pin hole and pin shaft position at the bottom of the auxiliary spring, and the robot in the assembly area accurately places the auxiliary spring on the assembly tooling according to the identification results; Step 2.7: The transfer unit moves to both sides below the buckle, clamps the airbag buckle assembly, and at the same time, the jaws of the airbag closing unit open. The transfer unit moves the airbag buckle assembly toward the assembly tooling, and pauses when passing the assembly visual recognition mechanism on the way; Step 2.8: Assemble the visual recognition mechanism to determine whether the buckle hole position is offset; If there is no deviation, continue to move the airbag buckle assembly onto the auxiliary spring; If deviation occurs, the robot in the assembly area adjusts the relative position of the airbag buckle assembly, puts it back into the transfer unit, and continues to move the airbag buckle assembly onto the auxiliary spring; Step 2.9: Rotate the press-fit unit downward to press the lower opening of the airbag into the auxiliary spring; move upward, rotate it to a certain angle, and then descend again, repeat the pressing action, and repeat it several times; Step 2.10: The robot in the assembly area grabs the assembled auxiliary spring airbag assembly and moves it above the positioning device in this area. The positioning device identifies the pin hole and pin shaft position at the bottom of the auxiliary spring. The robot in the assembly area places the correctly assembled auxiliary spring airbag assembly accurately on the air spring buffer device according to the identification result. Place the improperly assembled auxiliary spring airbag components in the NG rack in this area; Step 3: Cover assembly, including: Step 3.1: The suction lifting mechanism in the air spring buffer device is lowered, so that the suction actuator sucks the buckle in the auxiliary spring airbag assembly, and then the suction lifting mechanism rises, driving the airbag to lift up and expose the auxiliary spring underneath; Step 3.2: The robot in the collaborative area clamps the auxiliary spring airbag assembly whose airbag is lifted from the air spring buffer device, and simultaneously sucks the actuator to disconnect it; the robot in the collaborative area moves the auxiliary spring airbag assembly to the collaborative conveyor line; Step 3.3: The robot in the collaborative area clamps the cover plate from the cover plate rack and places it on the auxiliary spring airbag assembly. The visual recognition mechanism of the robot in the collaborative area ensures that the cover plate and the auxiliary spring airbag assembly are aligned, and the assembly of the cover plate is completed manually; Step 3.4: The collaborative conveyor line moves the assembled air spring from the manual workstation to one end close to the robot in the test area; Step 4: Torsion deformation test, including: Step 4.1: The robot in the test area grabs the air spring from the collaborative conveyor line and moves it above the positioning equipment in this area; The positioning equipment identifies the pin hole and pin shaft position at the bottom of the auxiliary spring. The robot in the test area accurately places the air spring on the lower half of the test fixture in the test equipment according to the identification results. Step 4.2: The upper and lower test fixtures in the test equipment load and clamp the air spring, charge it, complete the test, and obtain the test results; Step 4.3: The test area robot transfers the air spring to the post-processing conveyor line; Step 5: Post-processing, including: Step 5.1: Based on the test results obtained in step 4.2, the unqualified air springs pass directly to the NG station of the gantry truck and are manually removed from the production line; Step 5.2: Based on the test results obtained in step 4.2, the qualified air spring is first transported to the re-tightening equipment for bolt re-tightening; Step 5.3: transport to the marking equipment for marking; Step 5.4: Finally, the goods arrive at the qualified workstation of the gantry truck and are manually packed; 2. Assembly of Category B products, including: Step 1: Assemble the auxiliary spring, including: Step 1.1: The robot in the collaborative area clamps the auxiliary spring body from the auxiliary spring material rack and transports it to the auxiliary spring collaborative assembly equipment, which is recorded as the first collaborative station; For large air springs: Step 1.2: The collaborative area robot clamps the bottom plate from the large material rack to the auxiliary spring body, and the visual recognition mechanism of the collaborative area robot ensures that the two are aligned; Step 1.3: The auxiliary spring cooperative assembly equipment transports the base plate and the auxiliary spring body to the manual workstation, and manually completes the connection between the base plate and the auxiliary spring body; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the first collaborative station, and the collaborative area robot flips over the bottom plate auxiliary spring assembly; Step 1.5: The robot in the collaborative area clamps the support plate and the bottom plate auxiliary spring assembly from the large material rack, and the visual recognition mechanism of the robot in the collaborative area ensures that the two are aligned; Step 1.6: The auxiliary spring cooperative assembly equipment transports the support plate and the bottom plate auxiliary spring assembly to the manual workstation, and the auxiliary spring is assembled manually; For small air springs: Step 1.2: The auxiliary spring cooperative assembly equipment transports the auxiliary spring body to the manual workstation, where the manual worker takes the bottom plate from the small parts rack and completes the connection between the bottom plate and the auxiliary spring body; Step 1.3: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the first collaborative station, and the collaborative area robot flips over the bottom plate auxiliary spring assembly; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the manual workstation, where the manual worker takes the support plate from the small parts rack and completes the assembly of the auxiliary spring; Next steps: Step 1.7: The auxiliary spring collaborative assembly device transports the auxiliary spring to the first collaborative workstation, and the collaborative area robot clamps the auxiliary spring and moves it above the positioning device in this area; The positioning device identifies the pin hole and pin shaft position at the bottom of the auxiliary spring, and the robot in the collaborative area accurately places the auxiliary spring on the auxiliary spring buffer device according to the identification results; The robot in the collaborative area places the improperly assembled auxiliary springs on the NG rack in this area; Step 2: Airbag assembly, including: Step 2.1: The robot in the assembly area grabs the auxiliary spring from the auxiliary spring buffer device and moves it above the positioning device in this area; The positioning equipment identifies the pin hole and pin shaft position at the bottom of the auxiliary spring, and the robot in the assembly area accurately places the auxiliary spring on the assembly tooling according to the identification results; Step 2.2: The robot in the assembly area grabs the airbag from the airbag rack and moves it to the calibration equipment in this area. The calibration equipment rotates the airbag to a specific angle. Step 2.3: The robot in the assembly area clamps the airbag from the calibration device to the auxiliary spring, and the visual recognition mechanism of the robot in the assembly area ensures that the airbag and the auxiliary spring are aligned; Step 2.4: Rotate the press-fit unit downward to press the lower opening of the airbag into the auxiliary spring; move upward, rotate it to a certain angle, and then descend again, repeat the pressing action, and repeat it several times; Step 2.5: The robot in the assembly area grabs the assembled auxiliary spring airbag assembly and moves it above the positioning device in this area. The positioning device identifies the pin hole and pin shaft position at the bottom of the auxiliary spring. The robot in the assembly area places the correctly assembled auxiliary spring airbag assembly accurately on the air spring buffer device according to the identification result. Place the improperly assembled auxiliary spring airbag components in the NG rack in this area; Step 3: Transfer, including: The robot in the cooperation area clamps the auxiliary spring airbag assembly from the air spring buffer device and moves the auxiliary spring airbag assembly to the cooperation conveyor line; the cooperation conveyor line continues to move the auxiliary spring airbag assembly to one end close to the robot in the test area; Step 4: Torsion deformation test, including: Step 4.1: The robot in the test area grabs the auxiliary spring airbag assembly from the collaborative conveyor line and moves it above the positioning equipment in this area; The positioning equipment identifies the pin hole and pin shaft position at the bottom of the auxiliary spring. The robot in the test area accurately places the auxiliary spring airbag assembly on the lower half of the test fixture in the test equipment according to the identification results. Step 4.2: The robot in the test area grabs the cover plate from the cover plate rack in this area and places it on the auxiliary spring airbag assembly; Step 4.3: The upper and lower test fixtures in the test equipment load and clamp the auxiliary spring airbag assembly and the cover plate, pressurize to complete the assembly, complete the test, and obtain the test results; Step 4.3: The test area robot transfers the air spring to the post-processing conveyor line; Step 5: Post-processing, including: Step 5.1: Based on the test results obtained in step 4.3, the unqualified air springs pass directly to the NG station of the gantry truck and are manually removed from the production line; Step 5.2: Based on the test results obtained in step 4.3, qualified air springs also pass directly to the qualified station of the gantry truck for manual packaging; 3. Change any one or more of the three racks near the airbag collaborative assembly equipment in the human-machine collaborative area into airbag racks, and stop using or continue to use the remaining racks; A set of auxiliary spring collaborative assembly equipment close to the airbag collaborative assembly equipment is deactivated, and the workers and small parts racks in the deactivated auxiliary spring collaborative assembly equipment are transferred to the end of the airbag collaborative assembly equipment away from the collaborative area robot, and the end of the airbag collaborative assembly equipment away from the collaborative area robot is used as a new manual workstation; For the assembly of Class C products, including: Step 1: Assemble the auxiliary spring, including: Step 1.1: The robot in the collaborative area clamps the auxiliary spring body from the auxiliary spring material rack and transports it to the auxiliary spring collaborative assembly equipment, which is recorded as the first collaborative station; For large air springs: Step 1.2: The collaborative area robot clamps the bottom plate from the large material rack to the auxiliary spring body, and the visual recognition mechanism of the collaborative area robot ensures that the two are aligned; Step 1.3: The auxiliary spring cooperative assembly equipment transports the base plate and the auxiliary spring body to the manual workstation, and manually completes the connection between the base plate and the auxiliary spring body; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the first collaborative station, and the collaborative area robot flips over the bottom plate auxiliary spring assembly; Step 1.5: The robot in the collaborative area clamps the support plate and the bottom plate auxiliary spring assembly from the large material rack, and the visual recognition mechanism of the robot in the collaborative area ensures that the two are aligned; Step 1.6: The auxiliary spring cooperative assembly equipment transports the support plate and the bottom plate auxiliary spring assembly to the manual workstation, and the auxiliary spring is assembled manually; For small air springs: Step 1.2: The auxiliary spring cooperative assembly equipment transports the auxiliary spring body to the manual workstation, where the manual worker takes the bottom plate from the small parts rack and completes the connection between the bottom plate and the auxiliary spring body; Step 1.3: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the first collaborative station, and the collaborative area robot flips over the bottom plate auxiliary spring assembly; Step 1.4: The auxiliary spring collaborative assembly equipment transports the bottom plate auxiliary spring assembly to the manual workstation, where the manual worker takes the support plate from the small parts rack and completes the assembly of the auxiliary spring; Next steps: Step 1.7: The auxiliary spring collaborative assembly equipment transports the auxiliary spring to the first collaborative workstation, and the collaborative area robot grabs the auxiliary spring and moves it to the collaborative conveyor line; The robot in the collaborative area places the improperly assembled auxiliary springs on the NG rack in this area; Step 2: Assemble the airbag buckle, including: Step 2.1: The robot in the collaborative area grabs the cover plate from the cover plate rack in this area and places it on the airbag collaborative assembly equipment, which is recorded as the second collaborative station; Step 2.2: The robot in the collaborative area continues to pick up the airbag from the airbag rack in this area and moves it to the calibration equipment in this area; Step 2.3: The collaborative zone robot clamps the airbag from the calibration device to the cover plate, and the visual recognition mechanism of the collaborative zone robot ensures that the two are aligned; Step 2.4: The airbag collaborative assembly equipment transports the cover plate and the airbag to the manual workstation, and the manual worker places the inflation tooling on the airbag; Step 2.5: The airbag collaborative assembly equipment transports the cover plate, airbag and inflation tooling to the second collaborative station. The collaborative area robot moves the cover plate, airbag and inflation tooling from the second collaborative station to the collaborative conveyor line. The collaborative conveyor line moves the cover plate, airbag and inflation tooling to the end close to the test area robot. The test area robot moves the cover plate, airbag and inflation tooling from the collaborative conveyor line to the lower half of the inspection tooling in the test equipment. Step 2.6: The upper and lower inspection fixtures in the test equipment load and clamp the cover plate, airbag and inflation fixture, and pressurize to complete the assembly; Step 2.7: The test area robot moves the airbag cover assembly and the inflation tooling from the test equipment to the collaborative conveyor line. The collaborative conveyor line moves the airbag cover assembly and the inflation tooling to one end close to the airbag collaborative assembly equipment. The collaborative area robot moves the airbag cover assembly and the inflation tooling from the collaborative conveyor line to the second collaborative station. Step 2.8: The airbag collaborative assembly equipment moves the airbag cover assembly and the inflation tooling to the manual workstation, manually removes the inflation tooling, then manually takes the buckle from the small parts rack, and finally manually completes the assembly of the buckle and the airbag cover assembly; Step 2.9: The airbag collaborative assembly equipment transports the airbag cover buckle assembly to the second collaborative station, the collaborative area robot transports the airbag cover buckle assembly to the collaborative conveyor line, and the collaborative conveyor line transports the airbag cover buckle assembly to one end close to the robot in the test area; Step 3: Torsion deformation test, including: Step 3.1: The robot in the test area grabs the auxiliary spring from the collaborative conveyor line and moves it above the positioning equipment in this area; The positioning equipment identifies the pin hole and pin shaft position at the bottom of the auxiliary spring. The robot in the test area accurately places the auxiliary spring on the lower half of the test fixture in the test equipment according to the identification results. Step 3.2: The robot in the test area grabs the airbag cover buckle assembly from the collaborative conveyor line and moves it to the flip bracket to complete the flipping of the airbag cover buckle assembly; Step 3.3: The robot in the test area moves the airbag cover buckle assembly to the calibration equipment in this area, and the calibration equipment rotates the airbag cover buckle assembly to a specific angle; Step 3.4: The test area robot clamps the airbag cover buckle assembly to the auxiliary spring from the calibration equipment, and the visual recognition mechanism of the test area robot ensures that the two are aligned; Step 3.5: The upper and lower test fixtures in the test equipment load and clamp the airbag cover buckle assembly and the auxiliary spring, pressurize to complete the assembly, complete the test, and obtain the test results; Step 3.6: The test area robot transfers the air spring to the post-processing conveyor line; Step 4: Post-processing, including: Step 4.1: Based on the test results obtained in step 3.5, the unqualified air springs pass directly to the NG station of the gantry truck and are manually removed from the production line; Step 4.2: Based on the test results obtained in step 3.5, the qualified air spring is first transported to the re-tightening equipment for bolt re-tightening; Step 4.3: transport to the marking equipment for marking; Step 4.4: Finally arrive at the qualified workstation of the gantry truck and pack manually.

11. The automated assembly method of the air spring automated assembly production line according to claim 10, characterized in that: In the assembly step 2.2 of the Class A product, the assembly step 2.2 of the Class B product, the assembly step 2.2 of the Class C product, and the assembly step 3.3 of the Class C product, "calibrating the device to rotate the airbag to a specific angle" includes: An identification label is preset on the surface of the airbag; When the correction sensor senses that an object is placed on the correction rotating platform, the correction rotating platform starts and drives the object to rotate. The correction visual recognition mechanism tracks the position of the identification tag in real time and controls the rotating platform to stop when the airbag rotates to the correct angle.

12. The automated assembly method of the air spring automated assembly production line according to claim 10, characterized in that: "Assembly" in assembly step 4.3 of Class B products, assembly step 2.6 of Class C products, and assembly step 3.5 of Class C products includes: The upper and lower test fixtures in the test equipment load and clamp the auxiliary spring airbag assembly and the cover plate, or the cover plate, the airbag and the inflation fixture, or the airbag cover buckle assembly and the auxiliary spring; At this time, the inflation hole of the detection tooling is sealed and connected with the cover plate or the auxiliary spring or one or more air guide tubes of the inflation tooling, and high-pressure gas is filled into the airbag to reach the limit air pressure; Under the impact of air pressure, the airbag and the cover plate are clamped together, or the airbag and the auxiliary spring are clamped together, thereby completing the assembly; "Testing" in assembly step 4.2 of Category A products, assembly step 4.3 of Category B products, and assembly step 3.5 of Category C products includes: Adjust and maintain the air pressure in the air spring for a period of time; At the same time, the drawing device draws a plurality of positioning points on the airbag of the air spring, the laser device irradiates the airbag of the air spring with a point, line or mesh laser, and the visual device photographs the initial position of the laser and the positioning points; While maintaining the air pressure, the visual device takes multiple shots of the current position of the laser and the positioning point at preset time intervals; Release the pressure, and the vision device will take a picture of the final position of the laser and the positioning point, then cancel the loading and perform recognition and analysis on the images taken multiple times.

13. The automated assembly method of the air spring automated assembly production line according to claim 10, characterized in that: The "bolt re-tightening work" in the assembly step 5.2 of the Class A products and the assembly step 4.2 of the Class C products includes: The empty spring clamping and lifting mechanism lifts and clamps the empty spring; Camera 1 and camera 2 take photos to determine the positions of the pair of bolts that need to be re-tightened, calculate the angle difference between the actual positions of torque gun 1 and torque gun 2 and the positions of the pair of bolts that need to be re-tightened, and the rotating mechanism drives the two torque guns to rotate so that the connection line A between the torque gun 1 and the torque gun 2 coincides with the connection line B between the pair of bolts that need to be re-tightened; Camera 1 and Camera 2 take photos again to determine the actual plane coordinate positions of the pair of bolts that need to be re-tightened, calculate the difference between the actual plane coordinate positions of the torque gun 1 and the torque gun 2 and the actual plane coordinate positions of the pair of bolts that need to be re-tightened, and then use the movement of the XY axis direction of the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 to accurately position the horizontal positions of the two torque guns, so that the central axes of the two torque guns coincide with the central axes of the pair of symmetrical bolts on the empty spring respectively; Finally, the two torque guns are used to re-tighten a pair of symmetrical bolts on the empty spring by using the movement of the XYZ three-axis moving mechanism 1 and the XYZ three-axis moving mechanism 2 in the Z-axis direction; this is repeated until the re-tightening of all the bolts is completed; The "marking work" in the assembly step 5.3 of the Class A product and the assembly step 4.3 of the Class C product includes: first taking a picture of the bolt position through the marking camera to confirm, and then controlling the marking robot to drive the marking mechanism to perform marking operations on each bolt.

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