Automatic overhauling and assembling equipment and method for revival gear box suspender

Abstract

The equipment comprises a feeding conveying mechanism, a feeding rotary positioning mechanism fixed to a feeding opening of the feeding conveying mechanism, and a suspender shaft end detection camera installed above the feeding conveying mechanism and used for detecting the diameter and the appearance face of a suspender shaft end. The thermal shrinkage mechanism is installed at a thermal shrinkage station of the feeding conveying mechanism and used for heating the suspender, and the waste gas treatment and cooling mechanism is arranged on the outer side of the thermal shrinkage mechanism in a sleeving mode and used for discharging waste gas and heat generated in the thermal shrinkage process and cooling workpieces. The automatic carrying mechanism is arranged at a discharging port of the feeding conveying mechanism and is used for carrying hanging rods and accessories, the discharging conveying mechanism is arranged on the side face of the feeding conveying mechanism, and the overhauling control unit is used for coordinating and managing operation of all the mechanism units. Measurement, thermal shrinkage and assembly processes of the suspender shaft end are completed, full-automatic line production is achieved, and the maintenance efficiency and the assembly quality are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of train component maintenance, and more specifically, relates to an automatic maintenance and assembly device and method for the gearbox hanger of the Fuxing bullet train. Background Art

[0002] With the rapid development of China's high-speed railways, the Fuxing bullet train, as a new generation of high-speed train independently developed in China with complete independent intellectual property rights, the safety and reliability of its operation are directly related to the life and property safety of the vast number of passengers and the efficient and smooth railway transportation. The gearbox hanger, as a key component in the bogie system of the bullet train, plays an important role in connecting the gearbox and the frame and transmitting the traction force and braking force. The quality of its working state directly affects the smoothness, comfort and safety of the bullet train operation. During long-term high-load operation, it is easily affected by factors such as mechanical wear and environmental aging. Therefore, regular, precise and efficient maintenance of the gearbox hanger is an important guarantee measure to ensure the safe and reliable operation of the bullet train. At present, the maintenance of the gearbox hanger of the Fuxing bullet train mainly relies on the traditional manual operation method. Maintenance personnel need to manually use a hot air gun to heat the telescopic tube wrapped around the outer circles at both ends of the hanger to achieve its disassembly and installation; at the same time, manual measuring tools (such as vernier calipers) are used to measure the dimensions at both ends of the hanger, and subsequent repair or replacement operations are carried out according to the measurement results. In addition, the assembly of components such as hanger nuts, adjusting gaskets and rubber seats also completely depends on manual operation. There are problems such as low maintenance efficiency. In the case of a large amount of maintenance work, multiple people need to work synchronously, with a large labor intensity, and there are significant differences in the maintenance effects of each person, resulting in unstable maintenance quality and affecting the maintenance production capacity. Therefore, the development of automated maintenance equipment has significant engineering value for ensuring the efficiency and reliability of the high-speed rail operation and maintenance system. Summary of the Invention

[0003] Aiming at the above defects or improvement requirements of the prior art, the present invention provides an automatic maintenance and assembly device for the gearbox hanger of the Fuxing bullet train. By controlling and coordinating the feeding conveyor mechanism, the hanger shaft end detection camera, the heat shrinkage mechanism, the automatic handling mechanism, the assembly mechanism, etc. through the maintenance control unit to work together, the flow-type automatic maintenance and assembly operation of the hanger is realized, and the maintenance work efficiency and the quality of the heat-shrunk hanger are improved.

[0004] To achieve the above object, the present invention provides an automatic overhaul and assembly device for the gearbox hanger of the Fuxing bullet train, comprising: a feeding conveying mechanism for step-by-step moving feeding, a feeding rotation positioning mechanism fixedly installed on both sides of the feeding port of the feeding conveying mechanism, a hanger shaft end detection camera installed above the feeding conveying mechanism for detecting the diameter and appearance surface of the hanger shaft end, a heat shrinkage mechanism installed at the heat shrinkage station of the feeding conveying mechanism for heating the hanger, an exhaust gas treatment and cooling mechanism sleeved outside the heat shrinkage mechanism for discharging the exhaust gas and heat generated during the heat shrinkage process and accelerating the cooling of the hanger, an automatic handling mechanism, a hanger fitting storage table and an assembly mechanism for handling the hanger and fittings arranged at the discharging port of the feeding conveying mechanism, a discharging conveying mechanism arranged on the side of the feeding conveying mechanism, and an overhaul control unit for coordinating and managing the operation of each mechanism unit. Among them,

[0005] The feeding conveying mechanism includes a heat shrinkage circulation conveying line, hanger positioning support frames arranged at equal intervals on both sides of the heat shrinkage circulation conveying line, and guiding positioning plates for limiting the hanger arranged on both sides of the heat shrinkage circulation conveying line; the feeding rotation positioning mechanism includes a feeding limiting plate, a feeding rotation support wheel installed inside the feeding limiting plate, and a hanger feeding heat shrinkage tube limiting rod; the heat shrinkage mechanism includes an upper heat shrinkage cover mechanism and a lower heat shrinkage cover mechanism arranged oppositely, which adopt a semi-circular separation structure, with heating tubes evenly distributed inside, and are separated or combined under the action of a cylinder; the automatic handling mechanism includes a ground rail unit, a robot moving on the ground rail unit, and a robot gripper and a positioning camera installed at the end of the robot; the assembly mechanism includes an assembly limiting tooling arranged at the top of the mechanism and an assembly limiting rotation auxiliary wheel installed below the assembly limiting tooling for preventing the hanger from moving.

[0006] Furthermore, the feeding conveying mechanism further includes a conveying line support frame for supporting the heat shrinkage circulation conveying line, a motor for driving the heat shrinkage circulation conveying line to move reciprocally, a support base, and a connecting plate for fixedly connecting the guiding positioning plate to the support base.

[0007] Furthermore, the feeding rotation positioning mechanism further includes a second motor installed outside the feeding limiting plate and connected to the feeding rotation support wheel, and a first cylinder fixed to the lower part of the feeding limiting plate.

[0008] Furthermore, the heat shrinkage mechanism further includes an upper heat shrinkage cover support mechanism fixed on the surface of the support base for fixing the upper heat shrinkage cover mechanism.

[0009] Furthermore, the exhaust gas treatment and cooling mechanism includes a heat shrinkage protective cover wrapping the heat shrinkage mechanism, a heat shrinkage exhaust gas discharge device installed at the top of the heat shrinkage protective cover, and an axial flow fan installed inside the heat shrinkage protective cover and adjacent to the air inlet of the heat shrinkage exhaust gas discharge device.

[0010] Further, fitting placement positioning columns are provided on the boom fitting storage table.

[0011] Further, the assembly mechanism further includes a boom assembly bracket, and two second cylinders are symmetrically installed on both sides of the boom assembly bracket.

[0012] Further, the assembly mechanism further includes assembly rotating support wheels for supporting the boom and a third motor on the inner and outer sides of the L-shaped plate installed at the upper end of the second cylinder.

[0013] Further, it is characterized in that the maintenance control unit includes a PLC control system for coordinating and managing the operation of each mechanism unit, an operation panel, a control cabinet, and a robot control cabinet. The operation panel includes status indicator lights for displaying the operation status of the equipment and a touch screen for setting the operation parameters of each module.

[0014] According to another aspect of the present invention, the present invention provides a method for automatically maintaining and assembling the gearbox boom of the Fuxing train, which is implemented by using an automatic maintenance and assembly device for the gearbox boom of the Fuxing train as described above. It is characterized by including the following specific steps:

[0015] S100: Turn on the device to make it in the standby mode, place the boom sleeved with a heat shrinkable tube on the feeding rotating support wheel of the feeding rotating positioning mechanism, press the button on the operation panel, and the boom shaft end detection camera measures the appearance and size of the positions on both sides of the boom. After the measurement is qualified, it automatically falls on the boom positioning support frame of the feeding conveyor mechanism and is conveyed to the heat shrinkage station, while the next workpiece is fed;

[0016] S200: After the workpiece flows to the heat shrinkage station, the heat shrinkage mechanism automatically starts heating while merging, and at the same time, the waste gas treatment and cooling mechanism starts working, continuously conveying cold air to cool the workpiece and discharging the waste gas generated by heat shrinkage. The workpiece after heat shrinkage is conveyed to the discharging position of the feeding conveyor mechanism;

[0017] S300: Place the boom fittings on the positioning columns of the boom fitting storage table in advance, and confirm the position and quantity of the feeding fittings on the operation panel. The robot confirms the position of the boom after heat shrinkage at the discharging position through the positioning camera, grabs it and places it on the assembly mechanism;

[0018] S400: After the boom is fed to the assembly mechanism, start the second cylinder to position and limit the boom. The robot sequentially grabs the gaskets and rubber seat assemblies on the left and right sides of the boom and installs them on both sides of the boom. After the assembly is completed, the robot grabs the nuts on both sides and installs them;

[0019] S500: After the accessories on both sides of the hanging rod are assembled, the second cylinder descends to place the assembled hanging rod in the blanking position. The robot grabs the assembled hanging rod and places it on the blanking conveying mechanism, and it automatically flows to the blanking port for handling and offline, and the operation is completed.

[0020] Generally speaking, compared with the prior art through the above technical solutions conceived by the present invention, the following beneficial effects can be achieved:

[0021] 1. An automatic maintenance and assembly equipment for the gearbox hanging rod of the Fuxing train of the present invention. The hanging rod shaft end detection camera detects the shaft end positions on both sides of the hanging rod. The hanging rod falls into the circulating feeding conveying mechanism, and the pre-assembled hanging rod and telescopic tube are automatically conveyed step by step to the heat shrinkage station. The heat shrinkage mechanism automatically heats, and at the same time, the exhaust gas treatment and cooling mechanism discharges the exhaust gas heat and cools the workpiece. After the heat shrinkage is completed, the heat-shrunk workpiece moves step by step, is fed to the assembly mechanism by the automatic handling mechanism, automatically grabs the accessories on the hanging rod accessory storage table to assemble the heat-shrunk hanging rod, and is conveyed to the blanking conveying mechanism. The cooperation of each mechanism unit is controlled by the maintenance control unit to complete the processes of hanging rod shaft end measurement, heat shrinkage, and assembly, realizing fully automatic flow operation and improving the maintenance efficiency and assembly quality.

[0022] 2. An automatic maintenance and assembly equipment for the gearbox hanging rod of the Fuxing train of the present invention. The heat shrinkage mechanism is internally provided with uniformly distributed heating tubes. Through the upper and lower telescopic cover mechanisms, the telescopic tube to be heat-shrunk is completely wrapped in the heat shrinkage cover combined up and down. The heating tubes surrounding the periphery start to work, forming an all-round heating temperature, which can stably and quickly make the heat shrinkage tube evenly heated, solving the problem of local multiple heat shrinkages by traditional manual use of a hot air gun with poor appearance effect. This heat shrinkage mechanism can achieve uniform heat shrinkage of the workpiece quickly and beautifully.

[0023] 3. An automatic maintenance and assembly equipment for the gearbox hanging rod of the Fuxing train of the present invention realizes human-computer interaction through the touch screen of the operation panel, performs parameter setting on the conveying line speed, heat shrinkage temperature, heat shrinkage time, exhaust speed, etc., supports quick process switching for the maintenance of hanging rods of different specifications, and improves the flexibility and applicability of the equipment. Description of the Drawings

[0024] Figure 1 It is a rear three-dimensional structural schematic diagram of an automatic maintenance and assembly equipment for the gearbox hanging rod of the Fuxing train according to an embodiment of the present invention;

[0025] Figure 2 It is a front three-dimensional structural schematic diagram of an automatic maintenance and assembly equipment for the gearbox hanging rod of the Fuxing train according to an embodiment of the present invention;

[0026] Figure 3 It is for an automatic maintenance and assembly equipment for the gearbox hanging rod of the Fuxing train according to an embodiment of the present invention Figure 2 The front view structural schematic diagram;

[0027] Figure 4 This is a top view structural schematic diagram of an automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train according to an embodiment of the present invention;

[0028] Figure 5 This is a structural schematic diagram of the feeding conveyor mechanism of an automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train according to an embodiment of the present invention;

[0029] Figure 6 This is a structural schematic diagram of the feeding rotary positioning mechanism of an automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train according to an embodiment of the present invention;

[0030] Figure 7 This is a three-dimensional structural schematic diagram of the hanger of an automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train reaching the heat shrinkage station according to an embodiment of the present invention;

[0031] Figure 8 This is a front view structural schematic diagram of the hanger of an automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train reaching the heat shrinkage station according to an embodiment of the present invention;

[0032] Figure 9 This is a structural schematic diagram of the heat shrinkage mechanism of an automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train according to an embodiment of the present invention;

[0033] Figure 10 This is a structural schematic diagram of the hanger loading state of the assembly mechanism of an automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train according to an embodiment of the present invention;

[0034] Figure 11 This is a structural schematic diagram of the automatic assembly state of the hanger of the assembly mechanism of an automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train according to an embodiment of the present invention;

[0035] Figure 12 This is a flowchart of an automatic inspection method for the gearbox hanger of the Fuxing bullet train according to an embodiment of the present invention.

[0036] In all the attached drawings, the same reference numerals denote the same technical features, specifically: 1 - loading and conveying mechanism, 101 - heat shrinkage circulation conveying line, 102 - first motor, 103 - conveying line support frame, 104 - boom positioning support frame, 105 - support base, 106 - guiding and positioning plate, 107 - connecting plate, 2 - loading and rotating positioning mechanism, 201 - loading rotating support wheel, 202 - loading limit plate, 203 - second motor, 204 - first cylinder, 205 - boom loading heat shrinkage tube limit rod, 3 - boom shaft end detection camera, 4 - heat shrinkage mechanism, 401 - upper heat shrinkage cover mechanism, 402 - lower heat shrinkage cover mechanism, 403 - upper heat shrinkage cover support mechanism, 404 - heating tube, 5 - waste gas treatment and cooling mechanism, 501 - heat shrinkage protective cover, 502 - heat shrinkage waste gas discharge device, 503 - axial flow fan, 6 - automatic handling mechanism, 601 - robot, 602 - ground rail unit, 7 - boom fitting storage table, 8 - assembly mechanism, 801 - boom assembly support, 802 - second cylinder, 803 - assembly rotating support wheel, 804 - third motor, 805 - assembly limit tooling, 806 - assembly limit rotating auxiliary wheel, 9 - unloading conveying mechanism, 1001 - operation panel, 10011 - status indicator light, 10012 - touch screen, 1002 - control cabinet, 1003 - robot control cabinet, 11 - safety protection device. Detailed implementation manners

[0037] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0038] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present invention, such directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If this specific posture changes, the directional indications will also change accordingly. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0039] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "comprising..." do not exclude the presence of additional identical elements in the process, method, article or device comprising the said elements.

[0041] Embodiment 1

[0042] As Figures 1-4 shown, the embodiment of the present invention provides an automatic overhaul and assembly device for the gearbox hanger of the Fuxing bullet train, including a feeding conveyor mechanism 1, a feeding rotary positioning mechanism 2, a hanger shaft end detection camera 3, a heat shrinkage mechanism 4, an exhaust gas treatment and cooling mechanism 5, an automatic handling mechanism 6, a hanger fitting storage table 7, an assembly mechanism 8, a discharging conveyor mechanism 9 and an overhaul control unit. Two of the said feeding rotary positioning mechanisms 2 are installed on both sides of the feeding port of the feeding conveyor mechanism 1. The hanger shaft end detection cameras 3 are symmetrically installed at positions corresponding to the shaft ends of both sides of the hanger 2 on the feeding conveyor mechanism 1. The heat shrinkage mechanism 4 is located at the heat shrinkage station in the middle of the feeding conveyor mechanism. The exhaust gas treatment and cooling mechanism 5 is sleeved outside the heat shrinkage mechanism 4. The automatic handling mechanism 6, the hanger fitting storage table 7 and the assembly mechanism 8 are arranged at the discharging port of the feeding conveyor mechanism 1, and the discharging conveyor mechanism 9 is arranged on the side of the feeding conveyor mechanism 1.

[0043] The maintenance control unit coordinates and manages the operation of each mechanism unit. A hanger with a heat shrinkable tube sleeved thereon is placed on the loading rotary positioning mechanism 2. The hanger shaft end detection camera 3 detects the positions of both shaft ends of the hanger 11. After passing the detection, it lands on the loading conveyor mechanism 1 and moves step by step, being automatically conveyed to the heat shrinkage mechanism 4 at the heat shrinkage station for uniform heating in all directions. At the same time, the exhaust gas treatment and cooling mechanism 5 sucks air to exhaust heat and accelerates the cooling of the workpiece. After heat shrinkage is completed, it is unloaded from the other end of the loading conveyor mechanism 1. The heat-shrunk hanger is loaded onto the automatic handling mechanism 6 and automatically grabs the fittings on the hanger fitting storage table 7 to assemble the heat-shrunk hanger. The assembled hanger is conveyed to the unloading conveyor mechanism 9, completing the processes of hanger shaft end measurement, heat shrinkage, and assembly, and realizing fully automatic flow operation. Among them,

[0044] As Figure 5 shown, the loading conveyor mechanism 1 includes a heat shrinkage circulation conveyor line 101, a first motor 102, a conveyor line support frame 103, a hanger positioning support frame 104, a support base 105, a guiding and positioning plate 106, and a connecting plate 107. The heat shrinkage circulation conveyor line 101 is supported on the conveyor line support frame 103. The hanger positioning support frames 104 are arranged at equal intervals on both sides of the heat shrinkage circulation conveyor line 101. The hanger positioning support frames 104 on both sides hold the non-heat-shrinkable parts of the hanger 11 and stably fix the hanger 11. The guiding and positioning plates 106 for limiting the hanger 11 are also arranged on both sides of the heat shrinkage circulation conveyor line 101. The guiding and positioning plates 106 are fixed to the support base 105 through the connecting plate 107, and the guiding and positioning plates 106 can be adjusted left and right. Based on one side of the guiding and positioning plate 106, the consistency of hanger loading is ensured. A heat shrinkage station is reserved in the middle of the support base 105 for installing the heat shrinkage mechanism 4. The first motor 102 drives the heat shrinkage circulation conveyor line 101 to continuously reciprocate and continuously load the hanger 11.

[0045] As Figure 6As shown in the figure, the loading rotary positioning mechanism 2 includes a loading rotary support wheel 201, a loading limit plate 202, a second motor 203, a first cylinder 204, and a hanging rod loading heat shrink tube limit rod 205. The loading rotary support wheel 201 is located inside the loading limit plate 202 to support the hanging rod 12. The second motor 203 is located outside the loading limit plate 202, and its output shaft is connected to the loading rotary support wheel 201. The first cylinder 204 is fixed to the lower part of the loading limit plate 202. The second motor 403 rotates to drive the loading rotary support wheel 401 to rotate, thereby driving the hanging rod 11 to rotate, facilitating the full-automatic detection of the shaft end diameters and appearance surfaces of both ends of the hanging rod 11 by the hanging rod shaft end detection camera 3 installed in the front. After the detection is qualified, the first cylinder 204 is activated to descend, and the hanging rod 11 is placed on the hanging rod positioning support frame 104 of the loading conveyor mechanism 1. The hanging rod loading heat shrink tube limit rod 205 is installed between the two hanging rod shaft end detection cameras 3 to limit the position of the heat shrink tube, ensuring that the heat shrink tube is located at the center of the hanging rod. The loading limit plate 202 limits the left and right sides of the hanging rod after loading, thereby ensuring that the hanging rod is centered.

[0046] The hanging rod shaft end detection camera 3 is fixed to the support base 105 of the loading conveyor mechanism 1 through a support plate and is aligned with the two ends of the hanging rod 1 on the loading rotary positioning mechanism 2 to automatically detect the shaft end diameter and appearance surface of the hanging rod.

[0047] As Figures 7-9 As shown in the figure, the heat shrinkage mechanism 4 is installed at the heat shrinkage station of the loading conveyor mechanism 1 and includes an upper heat shrinkage cover mechanism 401, a lower heat shrinkage cover mechanism 402, an upper heat shrinkage cover support mechanism 403, and a heating tube 404. The upper heat shrinkage cover support mechanism 403 is fixed to the upper surface of the support base 105. The upper heat shrinkage cover mechanism 401 is fixed to the upper heat shrinkage cover support mechanism 403 and is arranged opposite to the lower heat shrinkage cover mechanism 402 fixed to the support base 105. The upper heat shrinkage cover mechanism 401 and the lower heat shrinkage cover mechanism 402 adopt a semi-circular separation mechanism, and the heating tubes 404 are equally spaced inside. The two move up and down under the action of a cylinder. When the workpiece moves, the two separate to prevent interference with the workpiece. When the workpiece moves to the heat shrinkage position, the movement stops, and the two extend and merge into a complete heat shrinkage cover, forming 360° heating of the heat shrink tube 12, enabling rapid heat shrinkage and ensuring uniform heating. After the heat shrinkage is completed, the two separate, and the heat shrinkage circulating conveyor line 101 moves. The control of the heat shrinkage time is automatically controlled by the hanging rod maintenance safety protection and control unit 10, and the heat shrinkage temperature is monitored in real time through a temperature sensor.

[0048] The waste gas treatment and cooling mechanism 5 includes a heat shrinkage protective cover 501 with a completely hollow bottom, a heat shrinkage waste gas discharge device 502, and an axial flow fan 503. The heat shrinkage protective cover 501 wraps the heat shrinkage mechanism 4, playing a role in isolation protection and preventing waste gas from leaking. There are two heat shrinkage waste gas discharge devices 502 at its top for connecting to the external pipeline, discharging the waste gas and heat generated during the heat shrinkage process, and avoiding affecting the surrounding environment at the same time. The two axial flow fans 503 are installed inside the two heat shrinkage protective covers 501, adjacent to the air inlets of the heat shrinkage waste gas discharge devices 502. By exhausting air outward through the two axial flow fans 503, it can also make the air flow carry away the heat after heat shrinkage, accelerating the rapid cooling of the workpiece. The axial flow fan 5033 and the heat shrinkage waste gas discharge device 502 form a series exhaust system, and the waste gas is discharged directionally and the cooling air circulates through the hollow structure design at the bottom of the heat shrinkage protective cover 501.

[0049] The automatic handling mechanism 6 realizes the automatic handling of the hanging rods and accessories, including a robot 601, a ground rail unit 602, a robot gripper, and a positioning camera. The ground rail unit 602 is arranged on the ground at the discharge port of the feeding conveying mechanism 1. The robot 601 moves along the vertical feeding direction on the ground rail unit 602, and the robot gripper and the positioning camera are installed at its end. The robot gripper accurately grabs the middle position of the hanging rod through the positioning camera, and transports the hanging rod from the feeding conveying line mechanism 1 to the assembling mechanism 8.

[0050] The hanging rod accessory storage table 7 is placed parallel to the outside of the ground rail unit 602, and there are accessory placement positioning columns on it, which can store accessories for up to 4 sets of hanging rods at most, or less than 4 sets can also be placed.

[0051] Such as Figures 10-11As shown in the figure, the assembly mechanism 8 includes a boom assembly bracket 801, a second cylinder 802, an assembly rotating support wheel 803, a third motor 804, an assembly limit tooling 805, an assembly limit rotating auxiliary wheel 806, and a boom detection sensor. Two of the second cylinders 802 are symmetrically installed on both sides of the boom assembly bracket 801. An L-shaped plate is installed at the upper end of the second cylinder 802. The assembly rotating support wheel 803 and the third motor 804 are respectively installed on the inner and outer sides of the L-shaped plate. To prevent the boom from moving in the radial direction during the assembly process, the assembly limit tooling 805 is provided at the top, and the assembly limit rotating auxiliary wheel 806 is provided at its lower part, which functions to prevent the boom from moving. The default state of the second cylinder 802 is the state where the cylinder descends. When the boom is transported to the position of the assembly rotating support wheel 803 and the boom detection sensors on both sides detect the workpiece, the lifting cylinder rises until it contacts the assembly limit rotating auxiliary wheel 806, and the middle rod part of the boom is positioned. The robot gripper will sequentially grab the gasket and rubber seat assembly on the boom fitting storage table 7 and install them on the left and right sides of the boom respectively. Then the robot gripper picks up the nut for installation. During the installation of the nut, the boom will rotate under the drive of the third motor 804 on the assembly rotating support wheel 803, and the nut is installed at the required position under the action of the robot 601. The accessories on both sides are installed in sequence. After the assembly is completed, the assembly rotating support wheel 803 will rotate to the boom hexagon side detection position to facilitate the support and positioning of the blanking conveyor line. The second cylinder 802 will drop to the default position, and the robot gripper will transport the assembled boom to the blanking conveying mechanism 9.

[0052] The maintenance control unit includes a PLC control system, an operation panel 1001, a control cabinet 1002, and a robot control cabinet 1003. The operation panel 1001 is arranged on the heat shrinkage protective cover 501 and includes a status indicator light 10011 and a touch screen 10012. The PLC control system coordinates and manages the operation of each mechanism unit, and realizes parameter setting such as the conveyor line speed, heat shrinkage temperature, heat shrinkage time, and exhaust speed through the touch screen 10012 to meet the selection of different requirements. The status indicator light 10011 intuitively displays the current operation status of the equipment through indicator lights of different colors, and uses red, yellow, and green to respectively indicate the three states of fault alarm, standby, and normal operation.

[0053] Preferably, the equipment further includes a safety protection device 11, which is placed on the sides of the loading conveying mechanism 1 and the blanking conveying mechanism 9 and can be a safety light curtain. When a worker strays into the operation area, the robot will stop working.

[0054] Embodiment 2

[0055] As Figure 12As shown in the figure, the embodiment of the present invention provides a method flow for automatic inspection and assembly of the gearbox suspension rod of the Fuxing bullet train, including the following specific steps:

[0056] S100: Turn on the equipment to make it in the standby mode. Place the suspension rod with the heat shrinkable tube sleeved on the feeding rotary support wheel of the feeding rotary positioning mechanism. Press the button on the operation panel. The suspension rod shaft end detection camera measures the appearance and dimensions of the positions of both shaft ends of the suspension rod. After the measurement is qualified, it automatically falls on the suspension rod positioning support frame of the feeding conveying mechanism and is conveyed to the heat shrinkage station, while the next workpiece is fed.

[0057] S200: After the suspension rod is transferred to the heat shrinkage station, the upper heat shrinkage cover mechanism and the lower heat shrinkage cover mechanism of the heat shrinkage mechanism extend and merge into a complete heat shrinkage cover. The heating tube starts to heat, and at the same time, the axial flow fan operates to continuously convey cold air to cool the workpiece, and the heat shrinkage waste gas emission device starts to work to discharge the waste gas generated by heat shrinkage. When the heat shrinkage is completed, the upper heat shrinkage cover mechanism and the lower heat shrinkage cover mechanism open, the feeding conveying mechanism moves step by step, the next suspension rod to be heat shrunk enters the heat shrinkage position, and at the same time, the heat shrinkage-completed suspension rod moves forward and is conveyed to the discharging position of the feeding conveying mechanism.

[0058] S300: Place the suspension rod fittings on the positioning posts of the suspension rod fitting storage table in advance, and confirm the position and quantity of the feeding fittings on the operation panel. The robot confirms the position of the heat shrinkage-completed suspension rod at the discharging position through the positioning camera and grabs and places it on the assembly mechanism.

[0059] S400: After the suspension rod is fed to the assembly mechanism, start the second cylinder to position and limit the suspension rod. The robot sequentially grabs the gaskets and rubber seat assemblies on the left and right sides of the suspension rod and installs them on both sides of the suspension rod. After the assembly is completed, the robot grabs the nuts on both sides for installation. During the installation of the nuts, the suspension rod automatically rotates under the action of the assembly rotary support wheel, so that the nuts are screwed into the threads of the suspension rod to realize the synchronous installation of the threads.

[0060] S500: After the fittings on both sides of the suspension rod are assembled, the second cylinder descends to make the assembled suspension rod in the discharging position. The robot grabs the assembled suspension rod onto the discharging conveying mechanism and automatically transfers it to the discharging port for handling and taking offline, and the operation is completed.

[0061] By adopting the fully automatic assembly line inspection and assembly method with the equipment of the present invention, the automatic conveying, automatic measurement, automatic heat shrinkage, and automatic assembly of the suspension rod are realized, the quality of the detection and assembly of the motor vehicle suspension rod is improved, and the work efficiency is enhanced.

[0062] It is easy for those skilled in the art to understand that the above is only a preferred embodiment of the present invention and is not used to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic inspection and assembly device for the gearbox suspension rod of the Fuxing bullet train, characterized in that, It includes a loading and conveying mechanism (1) with step-by-step moving feeding, a loading and rotating positioning mechanism (2) fixedly installed on both sides of the loading port of the loading and conveying mechanism (1), a hanger shaft end detection camera (3) installed above the loading and conveying mechanism (1) for detecting the diameter and appearance surface of the hanger shaft end, a heat shrinkage mechanism (4) for heating the hanger at the heat shrinkage station of the loading and conveying mechanism (1), an exhaust gas treatment and cooling mechanism (5) sleeved outside the heat shrinkage mechanism (4) for discharging the exhaust gas and heat generated during heat shrinkage and accelerating the cooling of the hanger, an automatic handling mechanism (6) for handling the hanger and accessories, a hanger accessory storage table (7) and an assembly mechanism (8) arranged at the discharging port of the loading and conveying mechanism (1), a discharging and conveying mechanism (9) arranged on the side of the loading and conveying mechanism (1), and a maintenance control unit for coordinating and managing the operation of each mechanism unit. Among them, the loading and conveying mechanism (1) includes a heat shrinkage circulation conveying line (101), hanger positioning support frames (104) arranged at equal intervals on both sides of the heat shrinkage circulation conveying line (101), and guiding and positioning plates (106) for limiting the hanger are also arranged on both sides of the heat shrinkage circulation conveying line (101); the loading and rotating positioning mechanism (2) includes a loading limit plate (202), a loading rotating support wheel (201) installed inside the loading limit plate (202), and a hanger loading heat shrinkage tube limit rod (205); the heat shrinkage mechanism (4) includes an upper heat shrinkage cover mechanism (401) and a lower heat shrinkage cover mechanism (402) arranged oppositely, both of which adopt a semi-circular separation structure, and heating tubes (404) are evenly distributed inside, and they are separated or combined under the action of a cylinder; the automatic handling mechanism (6) includes a ground rail unit (602), a robot (601) moving on the ground rail unit (602), and a robot gripper and a positioning camera installed at the end of the robot (601); the assembly mechanism (8) includes an assembly limit tooling (805) arranged at the top of the mechanism and an assembly limit rotating auxiliary wheel (806) installed below the assembly limit tooling (805) for preventing the hanger from moving around.

2. The automatic inspection and assembly equipment for the gearbox hanger of the Fuxing bullet train according to claim 1, wherein, The loading and conveying mechanism (1) further includes a conveying line support frame (13) for supporting the heat shrinkage circulation conveying line (101), a motor (12) for driving the reciprocating movement of the heat shrinkage circulation conveying line (101), a support base (15), and a connecting plate (17) for fixedly connecting the guiding and positioning plate (106) to the support base (15).

3. The automatic inspection and assembly equipment for the gearbox suspension rod of the Fuxing bullet train according to claim 1, characterized in that, The loading and rotating positioning mechanism (2) further includes a second motor (203) installed outside the loading limit plate (202) and connected to the loading rotating support wheel (201), and a first cylinder (204) fixed to the lower part of the loading limit plate (202).

4. The automatic inspection and assembly equipment for the gearbox hanger of the Fuxing bullet train according to claim 2, characterized in that, The heat shrinkage mechanism (4) further includes an upper heat shrinkage cover support mechanism (403) fixed on the surface of the support base (15) for fixing the upper heat shrinkage cover mechanism (401).

5. An automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train according to claim 1, characterized in that, The waste gas treatment and cooling mechanism (5) includes a heat shrinkage protective cover (501) that wraps the heat shrinkage mechanism (4), a heat shrinkage waste gas discharge device (502) installed at the top of the heat shrinkage protective cover (501), and an axial flow fan (503) installed inside the heat shrinkage protective cover (501) adjacent to the air inlet of the heat shrinkage waste gas discharge device (502).

6. The automatic inspection and assembly equipment for the gearbox hanger of the Fuxing bullet train according to claim 1, characterized in that Accessory placement positioning columns are provided on the boom fitting storage table (7).

7. An automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train according to claim 1, characterized in that, The assembly mechanism (8) further includes a boom assembly bracket (801), and two second cylinders (802) are symmetrically installed on both sides of the boom assembly bracket (801).

8. An automatic overhaul and assembly device for the gearbox hanger of the Fuxing bullet train according to claim 7, characterized in that, The assembly mechanism (8) further includes an assembly rotating support wheel (803) for supporting the boom on the inner and outer sides of the L-shaped plate installed at the upper end of the second cylinder (802), and a third motor (804).

9. An automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train according to any one of claims 1-8, characterized in that, The maintenance control unit includes a PLC control system for coordinating and managing the operation of each mechanism unit, an operation panel (1001), a control cabinet (1002), and a robot control cabinet (1003). The operation panel (1001) includes a status indicator light (10011) for displaying the operation status of the device and a touch screen (10012) for setting the operation parameters of each module.

10. An automatic inspection and assembly method for the gearbox hanger of the Fuxing bullet train, which is realized by using the automatic inspection and assembly device for the gearbox hanger of the Fuxing bullet train according to any one of claims 1-9, characterized in that, It includes the following specific steps: S100: Turn on the device to make it in the standby mode. Place the boom with the heat shrinkable tube sleeved on the feeding rotary support wheel of the feeding rotary positioning mechanism. Press the button on the operation panel. The boom shaft end detection camera measures the appearance and dimensions of the positions of both shaft ends of the boom. After the measurement is qualified, it automatically falls on the boom positioning support frame of the feeding conveyor mechanism and is conveyed to the heat shrinkage station; S200: After the workpiece flows to the heat shrinkage station, the heat shrinkage mechanism automatically combines and starts heating. At the same time, the waste gas treatment and cooling mechanism starts to work, continuously conveys cold air to cool the workpiece, and discharges the waste gas generated by heat shrinkage. The workpiece after heat shrinkage is conveyed to the discharging position of the feeding conveyor mechanism; S300: Place the boom fittings on the positioning columns of the boom fitting storage table in advance, and confirm the position and quantity of the feeding fittings on the operation panel. The robot confirms the position of the boom after heat shrinkage at the discharging position through the positioning camera, grabs it, and places it on the assembly mechanism; S400: After the boom is fed to the assembly mechanism, start the second cylinder to position and limit the boom. The robot sequentially grabs the gaskets and rubber seat assemblies on the left and right sides of the boom and installs them on both sides of the boom. After the assembly is completed, the robot grabs the nuts on both sides and installs them; S500: After the fittings on both sides of the boom are assembled, the second cylinder descends to make the assembled boom in the discharging position. The robot grabs the assembled boom onto the discharging conveyor mechanism and automatically flows to the discharging port to be carried offline, and the operation is completed.

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