An automatic post-processing module in an air spring assembly production line and a working method thereof

Abstract

This invention discloses an automated post-processing module and its operating method for an air spring assembly production line. The automated post-processing module includes a conveyor line and multiple trays placed on the conveyor line. Each tray holds a pre-assembled air spring. Above the conveyor line, a dual-axis re-tightening device and an automatic marking device are sequentially arranged. This invention enables automated post-processing of pre-assembled air springs, reducing the labor intensity of operators and improving the assembly efficiency of air springs.

Description

Technical Field

[0001] This invention relates to a post-processing module and its working method, and more particularly to an automated post-processing module and its working method in a spring assembly production line, belonging to the field of spring assembly technology. Background Technology

[0002] Air springs are key components of vibration damping systems in rail transit vehicles. Their working principle is based on changes in air pressure and volume. When the vibration load increases, the spring height decreases, the cavity volume shrinks, leading to an increase in spring stiffness. This, in turn, increases the effective load-bearing area of ​​the air column within the cavity, thereby improving the spring's load-bearing capacity. Conversely, when the vibration load decreases, the spring height increases, the cavity volume increases, the spring stiffness decreases, and the load-bearing capacity decreases accordingly.

[0003] In this way, air springs can smoothly and flexibly transmit amplitude and vibration loads within their effective stroke, achieving effective shock absorption and vibration isolation. Furthermore, the stiffness and load-bearing capacity of air springs can be adjusted by increasing or decreasing the air volume to adapt to different working requirements. Some air springs also have an auxiliary air chamber for automatic adjustment.

[0004] like Figure 1 As shown, the air spring includes an auxiliary spring 1, an air bladder 2, a retaining ring 3, and a top cover plate 4. The lower end of the air bladder 2 is connected to the auxiliary spring 1. The top cover plate 4 is locked to the retaining ring 3 by bolts 5, thereby pressing the upper end of the air bladder 2 tightly onto the retaining ring 3. In the assembly of the air spring, after the initial assembly of all components is completed, a series of subsequent processing and inspection procedures are performed to ensure product quality, performance stability, and extend service life. These procedures are crucial for improving the overall quality and reliability of the air spring.

[0005] In existing technologies, post-processing of air springs after initial assembly is done manually. However, manual operation increases the labor intensity of operators and reduces the assembly efficiency of air springs.

[0006] A search revealed no patent documents that are identical or similar to this application.

[0007] In summary, designing an automated post-processing module and its working method for an air spring assembly production line, which can perform automated post-processing operations on the initially assembled air springs, reduce the labor intensity of operators, and improve the assembly efficiency of air springs, is an urgent technical problem to be solved. Summary of the Invention

[0008] The primary technical problem to be solved by this invention is to address the deficiencies in the existing technology by providing an automated post-processing module and its working method for an air spring assembly production line. This module can perform automated post-processing operations on the initially assembled air springs, reducing the labor intensity of operators and improving the assembly efficiency of air springs.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: an automated post-processing module in an air spring assembly production line, including a conveyor line and multiple trays placed on the conveyor line, with a pre-assembled air spring placed on each tray, and an air spring dual-axis re-tightening device and an automatic marking device arranged sequentially above the conveyor line.

[0010] Preferably, the air spring dual-axis re-tightening device includes a frame, an air spring clamping and lifting mechanism disposed on the frame, and a rotating mechanism disposed on the frame and located above the air spring clamping and lifting mechanism. An XYZ three-axis moving mechanism one and an XYZ three-axis moving mechanism two are symmetrically disposed on the rotating mechanism. A torque gun one is disposed on the XYZ three-axis moving mechanism two, and a torque gun two is disposed on the XYZ three-axis moving mechanism two.

[0011] Preferably, the automatic marking device includes a marking robot, a marking camera and a marking mechanism mounted on the marking robot.

[0012] The present invention also discloses a working method of the automated post-processing module as described above. In operation, the air springs on each tray are first conveyed to the air spring double-axis re-tightening device for bolt re-tightening via the conveyor line. After completion, the air springs on each tray are sent to the automatic marking device for automatic marking, and then conveyed out via the conveyor line to complete the post-processing operation.

[0013] Preferably, the rotating mechanism of the air spring double-axis re-tightening device is symmetrically provided with an XYZ three-axis moving mechanism one and an XYZ three-axis moving mechanism two, with a torque gun one set on the XYZ three-axis moving mechanism two and a torque gun two set on the XYZ three-axis moving mechanism two. The working method is as follows: when performing the re-tightening operation, the position of the two torque guns is initially positioned by the rotating mechanism, and then the position of the two torque guns is precisely positioned by the XYZ three-axis moving mechanism, so that the central axis of the two torque guns coincides with the central axis of a pair of symmetrical bolts on the air spring, and then the re-tightening operation is performed.

[0014] Preferably, the air spring dual-axis re-tightening device further includes a frame and an air spring clamping and lifting mechanism disposed on the frame, and the rotating mechanism is also disposed on the frame and located above the air spring clamping and lifting mechanism; The working method is as follows: The air spring is lifted and clamped by the air spring clamping and lifting mechanism, and then the two torque guns are rotated by the rotating mechanism to the position of a pair of symmetrical bolts on the air spring. The positions of the two torque guns are initially positioned. Then, the positions of the two torque guns are precisely positioned by moving the XY axis in the first and second XYZ three-axis moving mechanisms, so that the central axes of the two torque guns coincide with the central axes of the pair of symmetrical bolts on the air spring. Finally, the Z axis in the first and second XYZ three-axis moving mechanisms is used to re-tighten the pair of symmetrical bolts on the air spring by the two torque guns. After completion, the above steps are repeated to re-tighten the pair of symmetrical bolts on the air spring until all bolts are re-tightened.

[0015] Preferably, a camera is also provided on the torque gun one and the torque gun two respectively; After the air spring is clamped and lifted, the positions of the pair of bolts that need to be re-tightened are determined by taking pictures with camera one and camera two. The angle difference between the actual positions of torque gun one and torque gun two and the positions of the pair of bolts that need to be re-tightened is calculated. Then, the rotating mechanism is controlled to drive the two torque guns to rotate so that the line A connecting torque gun one and torque gun two coincides with the line B connecting the pair of bolts that need to be re-tightened, and the position of the torque gun is initially positioned. Using cameras one and two again, the actual planar coordinates of the pair of bolts that need to be re-tightened are determined. The difference between the actual planar coordinates of torque gun one and torque gun two and the actual planar coordinates of the pair of bolts that need to be re-tightened is calculated. Then, the horizontal positions of the two torque guns are precisely positioned by moving them along the XY axis in the XY axis of the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two, so that the central axes of the two torque guns coincide with the central axes of the pair of symmetrical bolts on the air spring. Finally, the Z axis of the two torque guns is moved to re-tighten the pair of symmetrical bolts on the air spring. This process is repeated until all bolts are re-tightened.

[0016] Preferably, both torque gun one and torque gun two have quick-connect male heads on their shaft ends, and a quick-connect female head is provided on one end of the socket wrench. The socket wrench is connected to the shaft end of the torque gun by the quick-connect male head and the quick-connect female head engaging. The frame is also provided with socket wrench storage mechanism one and socket wrench storage mechanism two, which store socket wrenches of various specifications with quick-connect female heads. The XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two respectively drive the torque gun one and the torque gun two to cooperate with the socket wrench storage mechanism one and the socket wrench storage mechanism two, thereby replacing the socket wrench on the rotating shaft end of the torque gun one and the torque gun two.

[0017] Preferably, both the socket wrench storage mechanism one and the socket wrench storage mechanism two include a socket wrench storage rack, which includes a fixed toothed plate and a pressing cylinder disposed on the fixed toothed plate. The pressing toothed plate is disposed on the piston rod of the pressing cylinder. Under the drive of the pressing cylinder, the pressing toothed plate can move vertically up and down. The pressing toothed plate is located above the fixed toothed plate. A socket wrench of a certain specification with a quick-connect female head is placed in each toothed groove of the fixed toothed plate. When the pressing toothed plate is pressed down, it can contact the quick-connect female head on the socket wrench. When changing the socket wrench, first use the XYZ three-axis moving mechanism one and XYZ three-axis moving mechanism two to move the socket wrenches on the shaft ends of torque gun one and torque gun two to the toothed grooves of the lower pressure tooth plates of socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then control the lower pressure tooth plates of socket wrench storage mechanism one and socket wrench storage mechanism two to press down on the quick-connect female heads of the lower pressure socket wrenches placed in socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then control torque gun one and torque gun two to move up, so that the quick-connect male heads of the shaft ends of torque gun one and torque gun two are separated from the quick-connect female heads of the lower pressure socket wrenches placed in socket wrench storage mechanism one and socket wrench storage mechanism two, thereby separating the socket wrench from the torque gun. Then, using the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two, the torque gun one and the torque gun two are moved to a position above another type of pressure socket wrench placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two. Then, the torque gun one and the torque gun two are controlled to move downward, so that the quick-connect male heads of the shaft ends of the torque gun one and the torque gun two are respectively inserted into the quick-connect female heads of the other type of pressure socket wrench placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two, thereby connecting the replaced socket wrench with the torque gun.

[0018] Preferably, the air spring clamping and lifting mechanism includes a lifting plate slidably connected to the frame, and a first lifting cylinder and a second lifting cylinder disposed on the frame. The piston rods of the first lifting cylinder and the second lifting cylinder are both connected to the lifting plate, and the first lifting cylinder and the second lifting cylinder can drive the lifting plate to move vertically up and down. The first lifting cylinder and the second lifting cylinder are arranged opposite to each other and located below the lifting plate. The first lifting cylinder is a pneumatic cylinder, and the second lifting cylinder is an electric cylinder. The lifting plate is supported by a cylinder, which keeps it in a suspended state. The servo motor of the electric cylinder controls the up and down movement of the lifting plate.

[0019] The beneficial effects of this invention are as follows: Through the above design, this invention enables automated post-processing of pre-assembled air springs, reducing the labor intensity of operators and improving the assembly efficiency of air springs. By designing a two-stage positioning mechanism, the torque gun can be initially and precisely positioned based on the actual position of the bolts on the air spring before re-tightening, ensuring the torque gun is accurately aligned with the bolts and guaranteeing smooth re-tightening, thus improving the efficiency of the re-tightening work. Using a camera to assist in initial and fine positioning further improves the accuracy of the torque gun positioning, further enhancing the efficiency of the re-tightening work. The design of an automatic socket wrench replacement scheme allows this invention to re-tighten bolts on air springs of various specifications and models, improving the versatility and practicality of this invention. By designing a spring clamping and lifting mechanism, during the lifting process, the horizontal edges of clamping lifting blocks one and two contact the bottom of the spring's retaining ring, lifting the spring and ensuring the upper cover plate and retaining ring are in a horizontal state, thus guaranteeing the normal operation of bolt re-tightening. During clamping, the retaining ring and upper cover plate are automatically centered, ensuring the central axis of the spring coincides with the central axis between the two torque gun lines, guaranteeing the center position of the retaining ring and upper cover plate, and thus ensuring smooth re-tightening. The automatic marking device automatically marks anti-loosening lines on the bolts, further reducing the labor intensity of operators and improving the assembly efficiency of the air spring. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the axial cross-sectional structure of an air spring in the prior art; Figure 2 This is a top view of the automated post-processing module in an embodiment of the present invention; Figure 3 This is a top view diagram of the structure during the re-tightening of the air spring bolt in the prior art. Figure 1 ; Figure 4 This is a top view diagram of the structure during the re-tightening of the air spring bolt in the prior art. Figure 2 ; Figure 5 This is a top view diagram of the structure during the re-tightening of the air spring bolt in the prior art. Figure 3 ; Figure 6 This is a three-dimensional structural diagram of the air spring double-axis re-tightening device in an embodiment of the present invention; Figure 7This is a partial front view of the rotating mechanism in the air spring double-shaft re-tightening device according to an embodiment of the present invention. Figure 8 This is a top view schematic diagram of the air spring bolt during the re-tightening operation in an embodiment of the present invention. Figure 1 ; Figure 9 This is a top view schematic diagram of the air spring bolt during the re-tightening operation in an embodiment of the present invention. Figure 2 ; Figure 10 This is a top view of the air spring double-axis re-tightening device in an embodiment of the present invention; Figure 11 This is a partial top view of a portion of the XYZ three-axis moving mechanism in the air spring dual-axis re-tightening device according to an embodiment of the present invention. Figure 12 This is a partial three-dimensional structural diagram of the air spring dual-axis re-tightening device in an embodiment of the present invention, located at a torque gun. Figure 13 for Figure 12 A schematic diagram of the enlarged structure of part C in the diagram; Figure 14 This is a partial front view of the socket wrench storage mechanism in the air spring dual-axis re-tightening device according to an embodiment of the present invention. Figure 15 This is a three-dimensional structural diagram illustrating the working principle of automatically changing the socket wrench in an embodiment of the present invention. Figure 1 ; Figure 16 This is a three-dimensional structural diagram illustrating the working principle of automatically changing the socket wrench in an embodiment of the present invention. Figure 2 ; Figure 17 This is a three-dimensional structural diagram of the air spring clamping and lifting mechanism in the air spring dual-axis re-tightening device according to an embodiment of the present invention. Figure 18 This is a top view of the air spring clamping and lifting mechanism in the air spring dual-axis re-tightening device according to an embodiment of the present invention. Figure 19 This is a schematic front view of the working principle of the air spring clamping and lifting mechanism for lifting and clamping the air spring in an embodiment of the present invention. Figure 1 ; Figure 20 This is a schematic front view of the working principle of the air spring clamping and lifting mechanism for lifting and clamping the air spring in an embodiment of the present invention. Figure 2 ; Figure 21 This is a schematic front view of the working principle of the air spring clamping and lifting mechanism for lifting and clamping the air spring in an embodiment of the present invention. Figure 3 ; Figure 22 This is a schematic front view of the working principle of the air spring clamping and lifting mechanism for lifting and clamping the air spring in an embodiment of the present invention. Figure 4 ; Figure 23 This is a partial three-dimensional structural diagram of the automatic marking device in an embodiment of the present invention; In the diagram: 1. Auxiliary spring, 2. Airbag, 3. Buckle, 4. Top cover plate, 5. Bolt, 6. Conveyor line, 7. Pallet, 8. Air spring, 9. Air spring double-axis re-tightening device, 10. Automatic marking device, 101. Marking robot, 102. Marking camera, 103. Marking mechanism, 11. Frame, 12. Air spring clamping and lifting mechanism, 121. Lifting plate, 122. Lifting cylinder one, 123. Lifting cylinder two, 13. Rotating mechanism, 131. Slewing bearing, 132. Rotary drive 14. XYZ three-axis moving mechanism one, 15. XYZ three-axis moving mechanism two, 16. Torque gun one, 17. Torque gun two, 18. Camera one, 19. Camera two, 20. Gear one, 21. Slider and guide rail mechanism one, 22. Moving plate one, 23. Slider and guide rail mechanism two, 24. Moving plate two, 25. X-axis drive motor, 26. Lead screw and nut mechanism one, 261. Nut one, 27. Y-axis drive motor, 28. Lead screw and nut mechanism two, 281. Nut two, 29. Slider and guide rail mechanism three; 30. Moving plate three; 31. Z-axis drive motor; 32. Rack; 33. Quick coupling male head; 34. Socket wrench; 35. Quick coupling female head; 36. Socket wrench storage mechanism one; 37. Socket wrench storage mechanism two; 38. Slider and guide rail mechanism four; 39. Sliding plate; 40. Connecting arm; 41. Socket wrench storage rack; 411. Fixed toothed plate; 412. Pressing cylinder; 413. Pressing toothed plate; 42. Clamping drive motor. 43. T-type gear reversing device; 44. Shaft 1; 45. Shaft 2; 46. Shaft 3; 47. Shaft 4; 48. Gear reversing transmission box 1; 49. Gear reversing transmission box 2; 50. Bearing housing 1; 51. Bearing housing 2; 52. Clamping plate 1; 53. Clamping plate 2; 54. Nut seat 1; 55. Nut seat 2; 56. Nut seat 3; 57. Nut seat 4; 58. Air spring; 59. Clamping lifting block 1; 60. Clamping lifting block 2; 61. Horizontal side; 62. Vertical side. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Example: Figure 2As shown, an automated post-processing module in an air spring assembly production line includes a conveyor line 6 and multiple trays 7 placed on the conveyor line 6. Each tray 7 holds a pre-assembled air spring 8. Above the conveyor line 6, a dual-axis re-tightening device 9 and an automatic marking device 10 are sequentially arranged. The conveyor line 6 first transports the air spring 8 from each tray to the dual-axis re-tightening device 9 for bolt re-tightening. After re-tightening, the air spring 8 from each tray is then sent to the automatic marking device 10 for automatic marking, and then transported out via the conveyor line, thus completing the post-processing operation. This embodiment, through the above design, enables automated post-processing of pre-assembled air springs, reducing the labor intensity of operators and improving the assembly efficiency of air springs.

[0023] The following section will first describe the air spring double-shaft re-tightening device: The air-spring dual-axis re-tightening device is mainly used for re-tightening bolts on the upper cover plate. In existing technology, to automate the re-tightening process, a dual-axis re-tightening mechanism is generally used to re-tighten the bolts, that is, two symmetrically arranged torque guns simultaneously re-tighten a pair of bolts. For example... Figure 3 As shown, first use two torque guns to simultaneously tighten bolts A1 and A2. Then rotate the two torque guns by a certain angle and simultaneously tighten bolts B1 and B2. Then rotate the two torque guns by a certain angle and simultaneously tighten bolts C1 and C2. Repeat this process until all bolts 5 have been tightened.

[0024] In practical work, after the air spring is fed into the dual-axis re-tightening mechanism, a situation may arise where the bolt position does not correspond to the positions of the two torque guns, such as... Figure 4 As shown in the diagram, the two solid circles represent the positions of the two torque guns. It can be seen that the positions of the symmetrically distributed bolts A1 and A2 are not in the same location as the two torque guns. Therefore, it is necessary to rotate the positions of the two torque guns. However, due to the influence of the accuracy of the rotating mechanism, such as... Figure 5 As shown, two torque guns will appear (such as...) Figure 4 If the positions of the two solid circles cannot be precisely aligned with the positions of the two bolts (such as bolt A1 and bolt A2), it will affect the normal progress of the re-tightening work and reduce the efficiency of the re-tightening work. In addition, if, due to various external reasons, it cannot be guaranteed that the central axis of the upper cover plate 4 coincides with the rotation center axis of the two torque guns, even if the rotation mechanism has high precision, the positions of the two torque guns will still not be precisely aligned with the positions of the two bolts.

[0025] Therefore, the applicant has made the following improvements: like Figure 6 and Figure 7 As shown, a double-axis re-tightening device for air springs includes a frame 11, an air spring clamping and lifting mechanism 12 disposed on the frame 11, and a rotating mechanism 13 disposed on the frame 11 and located above the air spring clamping and lifting mechanism 12. An XYZ three-axis moving mechanism 14 and an XYZ three-axis moving mechanism 2 15 are symmetrically disposed on the rotating mechanism 13. A torque gun 16 is disposed on the XYZ three-axis moving mechanism 2, and a torque gun 2 (not shown in the figure) is disposed on the XYZ three-axis moving mechanism 2. The working method of the above-mentioned air spring dual-axis re-tightening device is as follows: During operation, the air spring is lifted and clamped by the air spring clamping and lifting mechanism 12. Then, the two torque guns are rotated by the rotating mechanism to the position of the two torque guns, which is initially positioned. Then, the positions of the two torque guns are precisely positioned by the movement of the XY axis in the first and second XYZ three-axis moving mechanisms, so that the central axis of the two torque guns coincides with the central axis of the pair of symmetrical bolts on the air spring. Finally, the Z axis movement in the first and second XYZ three-axis moving mechanisms is used to re-tighten the pair of symmetrical bolts on the air spring by the two torque guns. After completion, the above steps are repeated to re-tighten the pair of symmetrical bolts on the air spring until all bolts are re-tightened. This embodiment designs a two-stage positioning mechanism that, before re-tightening, can perform initial and fine positioning of the torque gun based on the actual position of the bolt on the air spring. This ensures that the torque gun is accurately aligned with the actual position of the bolt, thereby guaranteeing the smooth progress of the re-tightening work and improving the efficiency of the re-tightening work.

[0026] Camera 18 and Camera 29 are also respectively installed on the torque gun 16 and torque gun 27. When the air spring is clamped and lifted, as... Figure 8 As shown, first, use cameras 18 and 29 to take pictures to determine the orientation of the pair of bolts that need to be re-tightened. Then calculate the angle difference between the actual orientation of torque guns 16 and 27 and the orientation of the pair of bolts that need to be re-tightened, i.e., the angle α between line A connecting torque guns 16 and 27 and line B connecting the pair of bolts that need to be re-tightened (e.g., bolts A1 and A2). Figure 9As shown, the rotating mechanism 13 is then controlled to rotate the two torque guns, so that the line A connecting torque gun 16 and torque gun 27 coincides with the line B connecting the pair of bolts that need to be re-tightened (such as bolt A1 and bolt A2), thus initially positioning 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. Therefore, cameras 18 and 19 are used to take pictures again to determine the actual planar coordinate positions of the pair of bolts that need to be re-tightened (such as bolt A1 and bolt A2), and the actual coordinate positions of torque gun 16 and torque gun 217 are calculated. The difference between the actual plane coordinate position and the actual plane coordinate position of the pair of bolts that need to be re-tightened (i.e., the difference in the XY axis direction) is then used. The horizontal position of the two torque guns is precisely positioned by moving the XY axes of the first and second XYZ three-axis moving mechanisms, ensuring that the central axes of the two torque guns coincide with the central axes of the pair of symmetrical bolts on the air spring. Finally, the Z-axis movement of the first and second XYZ three-axis moving mechanisms is used to re-tighten the pair of symmetrical bolts on the air spring. This process is repeated until all bolts are re-tightened.

[0027] like Figure 7 and Figure 10 As shown, the rotating mechanism 13 includes a slewing bearing 131 rotatably connected to the frame 11. The outer ring of the slewing bearing 131 is provided with teeth. A rotary drive motor 132 is also provided on the frame 11. A gear 20 is provided on the rotating shaft of the rotary drive motor 132. The gear 20 is meshed with the teeth on the outer ring of the slewing bearing 131 for transmission, so that the rotation of the rotary drive motor 132 can drive the slewing bearing 131 to rotate. The XYZ three-axis moving mechanism 14 and the XYZ three-axis moving mechanism 2 15 are both provided on the slewing bearing 131.

[0028] like Figure 11 and Figure 12As shown, both the XYZ three-axis moving mechanism 14 and the XYZ three-axis moving mechanism 25 include a moving plate 22 slidably connected to the frame 11 via a slider and guide rail mechanism 21, and a moving plate 24 slidably connected to the moving plate 22 via a slider and guide rail mechanism 23. The slider and guide rail mechanism 21 is arranged along the X-axis direction, and the slider and guide rail mechanism 23 is arranged along the Y-axis direction. An X-axis drive motor 25 and a lead screw and nut mechanism 26 are also provided on the frame 11. The X-axis drive motor 25 is connected to the lead screw and nut mechanism 26 for transmission. The nut 261 of the lead screw and nut mechanism 26 is connected to the moving plate 22, so that under the drive of the X-axis drive motor 25, the lead screw and nut mechanism 26 can drive the moving plate 22 to move back and forth along the X-axis. A Y-axis drive motor 27 and a lead screw and nut mechanism 28 are also provided on the moving plate 22. The Y-axis drive motor 27 is connected to the lead screw and nut mechanism 28 for transmission. Nut 281 of nut mechanism 28 is connected to movable plate 24, so that under the drive of Y-axis drive motor 27, the lead screw nut mechanism 28 can drive movable plate 24 to move back and forth along the Y-axis direction. Movable plate 30 is slidably connected to movable plate 24 via slider and guide rail mechanism 3 29. The slider and guide rail mechanism 3 29 are set along the Z-axis direction. Z-axis drive motor 31 is also set on movable plate 30, and a rotating shaft of Z-axis drive motor 31 is mounted on it. A gear two (not shown in the figure) is provided, and a rack 32 is also provided on the moving plate two 24. The gear two and the rack 32 are meshed and connected, so that under the drive of the Z-axis drive motor 31, the moving plate three 30 can move back and forth along the Z-axis direction through the transmission cooperation of the gear two and the rack 32. Torque gun one 16 and torque gun two 17 are respectively provided on the moving plate three 30 of the XYZ three-axis moving mechanism one 14 and the moving plate three 30 of the XYZ three-axis moving mechanism two 15. Camera one 18 and camera two 19 are also respectively provided on the moving plate three 30 of the XYZ three-axis moving mechanism one 14 and the moving plate three 30 of the XYZ three-axis moving mechanism two 15.

[0029] like Figure 13 As shown, quick-connect male heads 33 are provided on the shaft ends of torque gun 16 and torque gun 2 17, and quick-connect female heads 35 are provided on one end of socket wrench 34. The socket wrench 34 is connected to the shaft end of the torque gun by the engagement of the quick-connect male heads 33 and quick-connect female heads 35. Because the air springs are of different models and specifications, the bolt sizes for the air springs are also different. When re-tightening a different type of air spring, a different type of socket wrench needs to be used. Therefore, this embodiment also discloses an automatic socket wrench changing method. Figure 7As shown, the frame 11 is also provided with a socket wrench storage mechanism 36 and a socket wrench storage mechanism 37, which store socket wrenches of various specifications with quick-connect female heads.

[0030] In this embodiment, XYZ three-axis moving mechanisms 14 and 15 respectively drive torque guns 16 and 17 to cooperate with socket wrench storage mechanisms 36 and 37, thereby allowing the socket wrenches on the ends of the rotating shafts of torque guns 16 and 17 to be replaced. This enables the re-tightening of bolts on various specifications of air springs, improving the versatility and practicality of this embodiment.

[0031] like Figure 14 As shown, both the socket wrench storage mechanism 1 (36) and socket wrench storage mechanism 2 (37) include a sliding plate 39 slidably connected to the frame 11 via a slider and a guide rail mechanism 4 (38), a connecting arm 40 with one end connected to the sliding plate 39, and a socket wrench storage rack 41 connected to the other end of the connecting arm 40. A sliding plate drive cylinder (not shown) is also provided on the frame 11. The sliding plate drive cylinder is connected to the sliding plate 39, allowing the sliding plate 39 to move back and forth along the slider and guide rail mechanism 4 (38) under the drive of the sliding plate drive cylinder. When it is necessary to replace the socket wrench, the sliding plate drive cylinders of socket wrench storage mechanism 1 (36) and socket wrench storage mechanism 2 (37) are activated, causing the two socket wrench storage racks 41 to move closer together, so that the two socket wrench storage racks 41 move to torque gun 1 (16) and torque gun 2 (17) respectively, thus facilitating the replacement of the socket wrench. After the replacement is completed, the sliding plate drive cylinder of the control socket wrench storage mechanism 1 36 and socket wrench storage mechanism 2 37 is activated again, thereby driving the two socket wrench storage racks 41 to move away from each other. This moves the two socket wrench storage racks 41 to a position away from torque gun 1 16 and torque gun 2 17, thus avoiding interference between the socket wrench storage racks 41 and torque gun 1 16 and torque gun 2 17, and ensuring that torque gun 1 16 and torque gun 2 17 can perform re-tightening work normally.

[0032] like Figure 15 and Figure 16As shown, the socket wrench storage rack 41 includes a fixed toothed plate 411 connected to the other end of the connecting arm 40 and a pressing cylinder 412 disposed on the fixed toothed plate 411. A pressing toothed plate 413 is disposed on the piston rod of the pressing cylinder 412. Under the drive of the pressing cylinder 412, the pressing toothed plate 413 can move vertically up and down. The pressing toothed plate 413 is located above the fixed toothed plate 411. A socket wrench 34 of a certain specification with a quick-connect female head 35 is placed in each toothed groove of the fixed toothed plate 411 (only one socket wrench is shown in the figure). When the pressing toothed plate 413 is pressed down, it can contact the quick-connect female head 35 on the socket wrench 34.

[0033] When changing socket wrenches, first use the XYZ three-axis moving mechanism one and XYZ three-axis moving mechanism two to move the socket wrenches 34 on the rotating shaft ends of torque gun one 16 and torque gun two 17 to the toothed grooves of the pressing tooth plates 413 of socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then, control the pressing tooth plates 413 of socket wrench storage mechanism one and socket wrench storage mechanism two to press down on the quick-connect female heads 35 of the pressing socket wrenches 34 placed in socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then, control the torque gun one 16 and torque gun two 17 to move upward, so that the quick-connect male heads 33 of the rotating shaft ends of torque gun one 16 and torque gun two 17 respectively engage with the pressing tooth plates 413 of the pressing socket wrench 34 placed in socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. The quick-connect female head 35 on the socket wrench 34 is separated, thus separating the socket wrench from the torque gun. Then, using XYZ three-axis moving mechanisms one and two, the torque guns one 16 and two 17 are moved to a position above another type of pressure socket wrench 34 stored in socket wrench storage mechanisms one and two, respectively. Then, the torque guns one 16 and two 17 are controlled to move downwards, causing the quick-connect male heads 33 of the shaft ends of the torque guns one 16 and two 17 to be inserted into the quick-connect female heads 35 of the other type of pressure socket wrench 34 stored in socket wrench storage mechanisms one and two, respectively, thus connecting the replaced socket wrench to the torque gun. This embodiment, by designing a technical solution for automatically changing different specifications of socket wrenches, increases the versatility of this embodiment and further improves the efficiency of re-tightening work.

[0034] like Figure 6 and Figure 17As shown, the air spring clamping and lifting mechanism 12 includes a lifting plate 121 slidably connected to the frame 11 via a linear guide rail, and two lifting cylinders 122 and 123 mounted on the frame 11. The piston rods of both lifting cylinders 122 and 123 are connected to the lifting plate 121, and the lifting plate 121 can be moved vertically up and down by the lifting cylinders 122 and 123. The lifting cylinders 122 and 123 are arranged opposite to each other and located below the lifting plate 121. The lifting cylinder 122 is a pneumatic cylinder, and the lifting cylinder 123 is an electric cylinder. In this way, the lifting plate 121 is supported by the pneumatic cylinder, so that the lifting plate 121 is in a suspended state. The servo motor of the electric cylinder controls the up and down movement of the lifting plate 121, which allows for very precise control of the position of the lifting plate. This makes this embodiment applicable to air spring products of different height specifications.

[0035] like Figure 17 and Figure 18As shown, the lifting plate 121 is also equipped with a clamping drive motor 42, a T-shaped gear commutator 43, a first rotating shaft 44, a second rotating shaft 45, a third rotating shaft 46, a fourth rotating shaft 47, a first gear reversing transmission box 48, a second gear reversing transmission box 49, a first bearing seat 50, and a second bearing seat 51. The clamping drive motor 42 is connected to the input shaft of the T-shaped gear commutator 43. One output shaft of the T-shaped gear commutator 43 is connected to one end of the first rotating shaft 44, and the other output shaft of the T-shaped gear commutator 43 is connected to one end of the second rotating shaft 45. One end of shaft 44 is connected to the input shaft of gear reversing transmission box 48; one end of shaft 46 is connected to the output shaft of gear reversing transmission box 48, and the other end of shaft 46 is connected to bearing housing 50; the other end of shaft 45 is connected to the input shaft of gear reversing transmission box 49; one end of shaft 47 is connected to the output shaft of gear reversing transmission box 49, and the other end of shaft 47 is connected to bearing housing 51; shafts 46, 44, 45, and 47 are connected in sequence. The secondary transmission connection forms a U-shape. Under the rotation of the clamping drive motor 42, it can drive the three rotating shafts 46, 44, 45, and 47 to rotate together. The three rotating shafts 46 and 47 are arranged opposite each other and each has a positive thread and a negative thread. A clamping plate 52 and a clamping plate 53 are arranged between the three rotating shafts 46 and 47. One side of the clamping plate 52 is connected to the positive thread of the three rotating shafts 46 via a nut seat 54. The other side of the clamping plate 52... One side of the clamping plate 53 is connected to the positive thread of the rotating shaft 47 via the second nut seat 55. The other side of the clamping plate 53 is connected to the negative thread of the rotating shaft 46 via the third nut seat 56. The other side of the clamping plate 53 is connected to the negative thread of the rotating shaft 47 via the fourth nut seat 57. Thus, when the rotating shaft 46 and the fourth shaft 47 rotate, the clamping plate 52 and the clamping plate 53 can move relatively closer or relatively farther apart, thereby clamping or releasing the air spring 58 located between the clamping plate 52 and the clamping plate 53.

[0036] like Figure 18 and Figure 19 As shown, the clamping parts of clamping plate 52 and clamping plate 53 are both set in a V-shape. The V-shaped clamping parts are used to clamp the buckle and the upper cover plate of the air spring. During the clamping process, the buckle and the upper cover plate of the air spring can be automatically centered, so that the central axis of the air spring coincides with the central axis between the two torque guns, ensuring the center position of the buckle and the upper cover plate, thereby ensuring the smooth progress of the re-tightening work.

[0037] Both clamping plates 52 and 53 are equipped with clamping lifting blocks 59 and 60, respectively. In this embodiment, the buckle and upper cover of the air spring are lifted and clamped by clamping lifting blocks 59 and 60. Both clamping lifting blocks 59 and 60 are L-shaped, and each L-shaped clamping lifting block 59 includes a horizontal side 61 and a vertical side 62.

[0038] The specific method for lifting and clamping is as follows: (e.g.) Figure 19 As shown, when the air spring 58 is positioned between the first clamping lifting block 59 and the second clamping lifting block 60, the clamping drive motor 42 actuates, causing the first clamping lifting block 59 and the second clamping lifting block 60 to move closer together. This moves the horizontal edges 61 of the first clamping lifting block 59 and the second clamping lifting block 60 to the bottom position of the retaining ring 3 of the air spring 58. At this time, a gap H is left between the vertical edges 62 of the first clamping lifting block 59 and the second clamping lifting block 60 and the retaining ring 3 of the air spring 58. Then, as... Figure 20 As shown, the lifting cylinders 122 and 123 then move to raise the horizontal edges 61 of the clamping lifting block 59 and the clamping lifting block 60, so that the horizontal edges 61 of the clamping lifting block 59 and the clamping lifting block 60 come into contact with the bottom of the buckle 3 of the air spring 58, thereby lifting the air spring 58. The main reason for the air spring lifting step is that after the air spring is inserted, the air bladder 2 is not fully inflated, preventing the upper cover plate and the retaining ring from being in a horizontal position. This affects the normal operation of the bolt re-tightening. The main purpose of the air spring lifting step is to lift the air spring by using the horizontal edges of clamping lifting blocks one and two to contact the bottom of the air spring's retaining ring, thus ensuring that the upper cover plate and the retaining ring are in a horizontal position and guaranteeing the normal operation of the bolt re-tightening. Therefore, clamping cannot be performed during the above steps. A gap H must be left between the vertical edges of clamping lifting blocks one and two and the air spring's retaining ring. Once the upper cover plate and the retaining ring are in a horizontal position after lifting, the clamping step can be performed. Figure 21 and Figure 22 As shown, the clamping drive motor 42 is activated again, causing the clamping lifting block 59 and the clamping lifting block 60 to move closer together. This brings the vertical edges 62 of the clamping lifting blocks 59 and 60 into contact with the retaining ring 3 and the upper cover plate 4 of the air spring 58, thereby clamping and fixing the retaining ring and the upper cover plate of the air spring. During the clamping process, the air spring is automatically centered and then fixed in position, ensuring the smooth progress of the re-tightening operation.

[0039] After being re-tightened, the air spring 58 is conveyed to the automatic marking device 10 via a conveyor line for automatic marking. The automatic marking device is described below: like Figure 23 As shown, the automatic marking device 10 includes a marking robot 101, a marking camera 102 mounted on the marking robot 101, and a marking mechanism 103. A pallet lifting mechanism and a stop mechanism (not shown) are also provided on the conveyor line located at the automatic marking device 10. When the pallet 7 with the air spring 58, after being re-tightened, is sent to the automatic marking device 10, the stop mechanism stops the pallet 7 with the air spring 58, and the pallet lifting mechanism lifts the pallet 7 with the air spring 58. Then, the marking camera 102 first takes a picture to confirm the position of the bolts on the upper cover plate 4 of the air spring 58, and then controls the marking robot 101 to drive the marking mechanism 103 to perform marking operations on each bolt. The marking mechanism 103 can be a marking inkjet printer.

[0040] In summary, this invention, through the above design, enables automated post-processing of pre-assembled air springs, reducing the labor intensity of operators and improving the assembly efficiency of air springs. By designing a two-stage positioning mechanism, the torque gun can be initially and precisely positioned based on the actual position of the bolts on the air spring before re-tightening, ensuring the torque gun is accurately aligned with the bolts and guaranteeing smooth re-tightening, thus improving the efficiency of the re-tightening work. Utilizing a camera-assisted initial and fine positioning further enhances the accuracy of the torque gun positioning, further improving the efficiency of the re-tightening work. The design of an automatic socket wrench replacement system allows this invention to re-tighten bolts on air springs of various specifications and models, improving the versatility and practicality of the invention. By designing a spring clamping and lifting mechanism, during the lifting process, the horizontal edges of clamping lifting blocks one and two contact the bottom of the spring's retaining ring, lifting the spring and ensuring the upper cover plate and retaining ring are in a horizontal state, thus guaranteeing the normal operation of bolt re-tightening. During clamping, the retaining ring and upper cover plate are automatically centered, ensuring the central axis of the spring coincides with the central axis between the two torque gun lines, guaranteeing the center position of the retaining ring and upper cover plate, and thus ensuring smooth re-tightening. The automatic marking device automatically marks anti-loosening lines on the bolts, further reducing the labor intensity of operators and improving the assembly efficiency of the air spring.

[0041] In this embodiment, "multi-level" refers to a quantity of "two or more levels". The above embodiments are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various changes or modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions should also fall within the protection scope of this invention, which is defined by the claims.

Claims

1. A method for operating an automated post-processing module in a spring assembly production line, characterized in that: The automated post-processing module includes a conveyor line and multiple trays placed on the conveyor line. Each tray has a pre-assembled air spring. Above the conveyor line, a dual-axis air spring re-tightening device and an automatic marking device are also arranged in sequence. The air spring dual-axis re-tightening device includes a frame, an air spring clamping and lifting mechanism mounted on the frame, and a rotating mechanism mounted on the frame and positioned above the air spring clamping and lifting mechanism. An XYZ three-axis moving mechanism one and an XYZ three-axis moving mechanism two are symmetrically arranged on the rotating mechanism. A torque gun one is mounted on the XYZ three-axis moving mechanism two, and a torque gun two is mounted on the XYZ three-axis moving mechanism two. The automatic marking device includes a marking robot, a marking camera mounted on the marking robot, and a marking mechanism. During operation, the air springs on each pallet are first conveyed to the air spring double-shaft re-tightening device via the conveyor line for bolt re-tightening. After completion, the air springs on each pallet are sent to the automatic marking device for automatic marking, and then conveyed out via the conveyor line to complete the processing operation. Camera 1 and Camera 2 are respectively installed on Torque Gun 1 and Torque Gun 2; After the air spring is clamped and lifted, the positions of the pair of bolts that need to be re-tightened are determined by taking pictures with camera one and camera two. The angle difference between the actual positions of torque gun one and torque gun two and the positions of the pair of bolts that need to be re-tightened is calculated. Then, the rotating mechanism is controlled to drive the two torque guns to rotate so that the line A connecting torque gun one and torque gun two coincides with the line B connecting the pair of bolts that need to be re-tightened, and the position of the torque gun is initially positioned. Using cameras one and two again, the actual planar coordinates of the pair of bolts that need to be re-tightened are determined. The difference between the actual planar coordinates of torque guns one and two and the actual planar coordinates of the pair of bolts that need to be re-tightened is calculated. Then, the horizontal positions of the two torque guns are precisely positioned by moving them along the XY axis in the XY axis of the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two, so that the central axes of the two torque guns coincide with the central axes of the pair of symmetrical bolts on the air spring. Finally, the Z axis of the two torque guns is moved to re-tighten the pair of symmetrical bolts on the air spring. This process is repeated until all bolts are re-tightened. The air spring clamping and lifting mechanism includes a lifting plate slidably connected to the frame, and a lifting cylinder one and a lifting cylinder two disposed on the frame. The piston rods of the lifting cylinder one and the lifting cylinder two are both connected to the lifting plate, and the lifting plate can be driven to move vertically up and down through the lifting cylinder one and the lifting cylinder two. The lifting cylinder one and the lifting cylinder two are arranged opposite to each other and located below the lifting plate. The lifting cylinder one is a pneumatic cylinder and the lifting cylinder two is an electric cylinder. The lifting plate is supported by a cylinder, which keeps it in a suspended state. The servo motor of the electric cylinder controls the up and down movement of the lifting plate.

2. The working method according to claim 1, characterized in that: Both torque gun one and torque gun two have quick-connect male heads on their shaft ends, and a quick-connect female head is provided on one end of the socket wrench. The socket wrench is connected to the shaft end of the torque gun by the mating of the quick-connect male and female heads. The frame is also provided with socket wrench storage mechanism one and socket wrench storage mechanism two, which store socket wrenches of various specifications with quick-connect female heads. The XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two respectively drive the torque gun one and the torque gun two to cooperate with the socket wrench storage mechanism one and the socket wrench storage mechanism two, thereby replacing the socket wrench on the rotating shaft end of the torque gun one and the torque gun two.

3. The working method according to claim 2, characterized in that: Both the socket wrench storage mechanism one and the socket wrench storage mechanism two include a socket wrench storage rack, which includes a fixed toothed plate and a pressing cylinder disposed on the fixed toothed plate. The pressing toothed plate is disposed on the piston rod of the pressing cylinder. Under the drive of the pressing cylinder, the pressing toothed plate can move vertically up and down. The pressing toothed plate is located above the fixed toothed plate. A socket wrench of a certain specification with a quick-connect female head is placed in each toothed groove of the fixed toothed plate. When the pressing toothed plate is pressed down, it can contact the quick-connect female head on the socket wrench. When changing the socket wrench, first use the XYZ three-axis moving mechanism one and XYZ three-axis moving mechanism two to move the socket wrenches on the shaft ends of torque gun one and torque gun two to the toothed grooves of the lower pressure tooth plates of socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then control the lower pressure tooth plates of socket wrench storage mechanism one and socket wrench storage mechanism two to press down on the quick-connect female heads of the lower pressure socket wrenches placed in socket wrench storage mechanism one and socket wrench storage mechanism two, respectively. Then control torque gun one and torque gun two to move up, so that the quick-connect male heads of the shaft ends of torque gun one and torque gun two are separated from the quick-connect female heads of the lower pressure socket wrenches placed in socket wrench storage mechanism one and socket wrench storage mechanism two, thereby separating the socket wrench from the torque gun. Then, using the XYZ three-axis moving mechanism one and the XYZ three-axis moving mechanism two, the torque gun one and the torque gun two are moved to a position above another type of pressure socket wrench placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two. Then, the torque gun one and the torque gun two are controlled to move downward, so that the quick-connect male heads of the shaft ends of the torque gun one and the torque gun two are respectively inserted into the quick-connect female heads of the other type of pressure socket wrench placed in the socket wrench storage mechanism one and the socket wrench storage mechanism two, thereby connecting the replaced socket wrench with the torque gun.

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