Intelligent car coupler maintenance line and maintenance process

Abstract

The invention discloses an intelligent car coupler overhaul line and an overhaul process, relates to the technical field of car coupler overhaul, and aims to solve the problem of low efficiency of existing manual car coupler overhaul. Comprising a maintenance operation area, a first robot, a second robot and a third robot, a three-machine cooperation platform, a crushing pipe overhauling table, a car coupler coupling test bed, a coupler head overhauling workbench, a coupler tail base overhauling workbench, a lining press-fitting workbench and a robot sliding rail are arranged in the overhauling operation area, and operation areas of the first robot, the second robot and the third robot jointly cover the three-machine cooperation platform. The first robot further covers a crushing pipe overhauling table, a car coupler coupling test table, a coupler head overhauling workbench, a coupler tail base overhauling workbench and a lining press-fitting workbench. The three-machine cooperation platform is provided with a car coupler storage table and various tools for disassembly, assembly and maintenance. According to the overhauling line and process, the overhauling efficiency of the coupler is improved.

Description

Technical Field

[0001] This invention relates to the field of coupler maintenance technology, and in particular to an intelligent coupler maintenance line and maintenance process. Background Technology

[0002] The couplers of rail transit vehicles perform core functions such as rigid coupling and uncoupling between carriages, transmitting longitudinal traction / braking force, and realizing electrical and pneumatic connections, which are crucial to the safety and reliability of train operation. Metro vehicles require coupler maintenance after operating a certain mileage or time limit to ensure train operation safety, extend service life, and improve passenger comfort.

[0003] Existing coupler maintenance operations are inefficient; traditional maintenance relies on manual disassembly, step-by-step transfer, and assembly at dispersed workstations, resulting in fragmented processes and long cycles; low automation: relying on manual operations makes it difficult to guarantee accuracy and consistency; poor space utilization: the dispersed layout of multiple workstations occupies a large amount of space; weak quality control: the lack of standardized control in process links easily leads to missed inspections or assembly errors. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides an intelligent coupler maintenance line and maintenance process.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A smart maintenance line for couplers is provided, characterized in that it includes: a maintenance work area and a first robot, a second robot, and a third robot equipped with vision components; The maintenance work area is equipped with a three-machine collaborative platform, a crushed pipe maintenance platform, a coupler coupling test platform, a hook head maintenance workbench, a hook tail seat maintenance workbench, a bushing pressing workbench, and a robot slide rail. The first robot is slidably connected to the robot slide rail, and a multi-functional fixture storage platform is provided on the robot slide rail. The working areas of the first robot, the second robot, and the third robot together cover the three-machine collaborative platform. The first robot also covers the crushed pipe inspection platform, the coupler coupling test platform, the hook head inspection platform, the hook tail seat inspection platform, and the bushing pressing platform. The three-machine collaborative platform is equipped with a coupler storage platform, a clamp anti-locking device, a buffer housing assembly platform, a positioning pin press-fit platform, a pressure column, an anti-rotation support, a PTFE ring guide column, a sealing ring guide column, a hook tail seat guide plate, and a tooling storage rack.

[0006] Compared with the prior art, the present invention has the following technical effects: The working areas of the first, second, and third robots in this application cover the three-machine collaborative platform. The three robots can cooperate on the platform to complete corresponding disassembly and assembly operations. The robot slide rails expand the working range of the first robot. With the help of various workbenches, maintenance benches, and test benches, the cleaning, maintenance, and testing of the coupler are realized. The storage racks, workstations, tooling, and fixtures on the three-machine collaborative platform assist in the fixing and disassembly of the coupler. The first, second, and third robots dynamically allocate tasks and cooperate with each other to realize the automatic disassembly and assembly of the coupler, thereby improving the efficiency of coupler disassembly and assembly.

[0007] This invention also provides a maintenance process based on an intelligent maintenance line for couplers, characterized by the following steps: Step S10: Start coupler disassembly: The first robot uses a multi-functional clamp to transfer the cleaned coupler to the coupler storage platform of the three-machine collaborative platform. The second and third robots change tightening fixtures and disassemble the clamps that fix the crushing tube and the hook tail seat, and the clamps that fix the crushing tube and the hook head, respectively. The second and third robots change clamps and transfer the corresponding clamps to the second and third traced material platforms, respectively. The first robot transfers the disassembled hook tail seat, hook head and crushing tube to the hook head maintenance workbench, hook tail seat maintenance workbench and crushing tube maintenance workbench, respectively. Step S20: The vertical support of the hook tail seat and the centering device bolts are removed manually at the hook tail seat maintenance station. The first robot transports the hook tail seat to the top of the three-machine collaborative platform and places it horizontally. The second robot installs the anti-rotation support for the hook tail seat. The second robot replaces the tightening tooling to disassemble the centering device component bolts and the centering device housing bolts. The third robot replaces the centering device component fixture and the centering device housing fixture in turn to pick up the centering device component and the centering device housing and place them on the third tracking material platform. Step S30: The third robot replaces the tightening tooling to remove the pin cover bolts, and the second robot replaces the pin cover pulling tooling to clamp the pin cover and places it on the second tracked material table. Step S40: The second robot replaces the tightening fixture to remove the buffer cover bolts, and the third robot uses the tightening fixture to clamp the screw and push out the buffer cover. The second robot replaces the buffer cover clamp, clamps the buffer cover, and places it on the third traced material table. The first robot flips the hook tail seat to a vertical position, the second robot clamps and resets the anti-rotation support, and works with the third robot to remove the buffer cover on the other side of the hook tail seat; Step S50: The third robot replaces the buffer gripper to separate the buffer from the hook tail seat base, and the second robot replaces the three-jaw gripper to grip the sealing rings and PTFE rings on both sides of the buffer and places them on the second trace material stage. The third robot places the buffer at the positioning pin pressing station to press out the positioning pin, and then transfers the buffer to the buffer housing assembly station; the three-jaw clamp is replaced to place the positioning pin on the third trace material table. The second robot places the pressure column on the hook tail seat base. The first robot transfers the hook tail seat base with the pressure column to the bushing pressing worktable, presses out the bushings on both sides, and places the hook tail seat base and bushings on the first tracked material table. Step S60: The third robot replaces the tightening fixture to remove the bolts of the buffer housing, and then replaces the buffer housing clamp, rubber buffer pad clamp, buffer clamp, rubber buffer pad clamp, and buffer housing clamp in sequence to clamp the buffer housing, rubber buffer pad, buffer mounting rod, and place the rubber buffer pad and buffer housing on the other side onto the third trace material table; Step S70: Start coupler assembly: Perform the reverse steps of S10 to S60 to complete the coupler assembly.

[0008] The technical effects of the above-mentioned maintenance process are the same as those of the intelligent maintenance line for couplers, and will not be discussed again here. Attached Figure Description

[0009] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the composition of the intelligent maintenance line for couplers in an embodiment of the present invention; Figure 2 This is a schematic diagram of the composition of the three-machine collaborative platform in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the coupler; Figure 4 This is an exploded view of the coupler tailstock. Figure 5 for Figure 4 A schematic diagram of the exploded buffer; Figure 6 This is a schematic diagram of the coupler cleaning station set up on the three-machine collaborative platform in an embodiment of the present invention; Figure 7 This is a flowchart illustrating the maintenance process of the intelligent coupler maintenance line in an embodiment of the present invention.

[0010] Figure label: 1-First Robot, 2-Second Robot, 3-Third Robot, 4-Three-Robot Collaboration Platform, 5-Robot Rail, 6-Hook Head Inspection Workbench, 7-Hook Tail Seat Inspection Workbench, 8-Crushing Pipe Inspection Workbench, 9-Bushing Pressing Workbench, 10-Coupled Coupling Test Bench, 11-Buffer Platform, 12-First Tracking Material Platform, 13-Second Tracking Material Platform, 14-Third Tracking Material Platform, 15-Multi-functional Fixture Storage Platform, 21-Hook Tail Seat, 22-Crushing Pipe, 23-Hook Head, 24-Clamping Hoop, 211-Hook Tail Seat Base, 212-Bushing, 213-Alignment Device Component, 214-Alignment Device Housing, 215-Pin Cover, 216- Vertical support, 217-buffer cover, 220-buffer, 221-buffer mounting rod, 222-rubber buffer pad, 223-buffer housing, 224-PTFE ring, 225-sealing ring, 226-locating pin, 41-crushable tube platform, 42-clamping anti-locking device, 43-hook tail seat platform, 44-hook head platform, 41-crushable tube platform, 42-clamping anti-locking device, 43-hook tail seat platform, 44-hook head platform, 45-buffer housing assembly platform, 46-locating pin press-fit platform, 47-pressure column, 48-anti-rotation support, 49-PTFE ring guide column, 50-sealing ring guide column, 51-hook tail seat guide plate, 52-water baffle. Detailed Implementation

[0011] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0012] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0013] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0014] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0015] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0016] Please see Figure 1-6 The intelligent maintenance line for couplers provided in this embodiment of the invention includes a maintenance work area and a first robot 1, a second robot 2, and a third robot 3 equipped with vision components. The maintenance work area is equipped with a three-machine collaboration platform 4, a crushed pipe maintenance platform 8, a coupler coupling test platform 10, a hook head maintenance workbench 6, a hook tail seat maintenance workbench 7, a bushing pressing workbench 9, and a robot slide rail 5. The first robot 1 is slidably connected to the robot slide rail 5, and a multi-functional fixture storage platform 15 is set on the robot slide rail 5. The work areas of the first robot 1, the second robot 2 and the third robot 3 together cover the three-machine collaborative platform 4. The first robot 1 also covers the crushed pipe repair bench 8, the coupler coupling test bench 10, the hook head repair workbench 6, the hook tail seat repair workbench 7 and the bushing pressing workbench 9. The three-machine collaborative platform 4 is equipped with a coupler storage platform, a clamp anti-locking device 42, a buffer housing assembly platform 45, a positioning pin press-fit platform 46, a pressure column 47, an anti-rotation support 48, a PTFE ring guide column 49, a sealing ring guide column 50, a hook tail seat guide plate 51, and a tooling storage rack.

[0017] In practice: The intelligent coupler maintenance line and process provided in this application, through integrated layout and multi-robot collaborative control, achieve one-stop automated operation of coupler cleaning, disassembly, maintenance, assembly, and testing, improving the efficiency, accuracy, and safety of coupler maintenance. The maintenance line integrates functional modules for the entire process of cleaning, disassembly, assembly, and testing. It adopts a three-robot collaborative system including Robot 1, Robot 2, Robot 3, and a seventh axis, covering the entire working area of ​​the maintenance line and supporting rapid fixture replacement and parallel operation. Tooling such as anti-rotation supports 48, PTFE ring guide posts 49, sealing ring guide posts 50, buffer housing assembly platform 45, and clamp locking device 42 ensures the reliability and accuracy of component assembly. A tracked material platform with positioning grooves machined according to the shape of coupler parts enables error-proof handling and visual management of components. The maintenance line's working area is equipped with a power distribution cabinet and a robot control cabinet for controlling Robot 1, Robot 2, and Robot 3.

[0018] 1. Structure of the maintenance line The maintenance line includes: Coupler cleaning station: used for automatic cleaning and drying of the entire coupler; The three-machine collaborative platform 4 is located in the overlapping working area of ​​the first robot 1, the second robot 2, and the third robot 3. The platform is equipped with a coupler storage platform, a clamp locking device 42, a buffer housing assembly platform 45, a positioning pin pressing platform 46, a pressure column 47, an anti-rotation support 48, a PTFE ring guide column 49, a sealing ring guide column 50, a hook tail seat guide plate 51, and a tooling storage rack, etc. The coupler storage platform includes a crushing tube platform 41, a hook tail seat platform 43, and a hook head platform 44, which can support the coupler. Fixed; the tooling storage rack contains rubber buffer pad clamps, buffer housing clamps, bolt clamps, locating pin impact clamps, centering device component clamps, buffer clamps, tightening clamps, bushing clamps, three-jaw clamps, anti-rotation support clamps, sealing buffer pad clamps, centering device housing clamps, buffer cover clamps, pin cover pulling clamps, guide plate clamps, clamp clamps, etc. Since the second robot 2 and the third robot 3 will use the same tooling when working, two sets of tightening clamps and three-jaw clamps are provided.

[0019] Tracked material platform: It is equipped with a tracked positioning groove for hook tail seat components, including a first tracked material platform 12, a second tracked material platform 13 and a third tracked material platform 14 that are used in conjunction with the first robot 1, the second robot 2 and the third robot 3 respectively. Bushing pressing worktable 9: used for precision pressing of hook tail seat base 211 and bushing 212; Coupler Coupling Test Bench 10: Conduct coupling tests on the couplers after maintenance to verify their coupling performance; Crushing tube inspection bench 8: used for the disassembly and assembly of crushing tube 22; Robot slide rail 5: Supports the first robot 1 to move along its long axis, expanding the working coverage area of ​​the first robot 1; The second robot 2 and the third robot 3 are fixed to the side of the three-robot collaborative platform 4 and work in coordination with the first robot 1. Hook head maintenance workbench 6: Used for manual disassembly and assembly of hook head accessories; Hook Tail Seat Inspection Workbench 7: Used for manual disassembly and assembly of hook tail seat accessories.

[0020] I. Coupler Disassembly Process 1. Preparations before coupler disassembly 1.1 The transport AGV transports the coupler to be disassembled from outside the maintenance line to the working area of ​​the first robot 1. The first robot 1 replaces the coupler clamp on the multi-functional clamp storage platform 15 and places the coupler to be disassembled in the coupler cleaning station. The coupler is cleaned and dried at the coupler cleaning station. After the coupler cleaning is completed, the first robot 1 picks up the cleaned coupler and places it on the coupler storage platform of the three-machine cooperation platform 4. The clamp locking device 42 on the three-machine cooperation platform 4 is lifted to the clamp 24 of the hook head 23 and the crushing tube 22, and the clamp 24 of the hook tail seat 21 and the crushing tube 22, respectively.

[0021] 1.2 The transport AGV transports out an empty coupler pallet and into an empty first tracked material platform 12 to the working area of ​​the first robot 1, a second tracked material platform 13 to the working area of ​​the second robot 2, and a third tracked material platform 14 to the working area of ​​the third robot 3.

[0022] 2. Overall disassembly of the coupler 2.1 The second robot 2 replaces the tightening fixture, removes the bolts connecting the hook tail seat 21 and the clamp 24 of the crushing tube 22, and places them in the track positioning groove of the second tracked material platform 13; the second robot 2 replaces the clamp clamp, clamps the clamp 24, and places it in the track positioning groove of the second tracked material platform 13. The third robot 3 replaces the tightening fixture, removes the bolts connecting the hook head 23 and the clamp 24 of the crushing tube 22, and places them in the track positioning groove of the third tracked material platform 14; the third robot 3 replaces the clamp clamp, clamps the clamp 24, and places it in the track positioning groove of the third tracked material platform 14. The coupler is disassembled into three parts: hook head 23, hook tail seat 21, and crushing tube 22.

[0023] 2.2 The first robot 1 replaces the multi-functional fixture, moves the hook tail seat 21 to the hook tail seat maintenance workbench 7, and manually loosens the back nut of the vertical support 216 and the bolts of the centering device assembly 213; and uses the multi-functional fixture to place the crushing tube 22 to the crushing tube maintenance workbench 8 for maintenance; and places the hook head 23 to the hook head maintenance workbench 6, where the tension spring, center pin, locking tongue, etc. are disassembled manually.

[0024] 3. Disassembly of the hook tail seat 3.1 The first robot 1 uses a multi-functional clamp to move the hook tail seat 21 from the hook tail seat maintenance workbench 7 to the three-machine collaborative platform 4 and suspend it in the air. The second robot 2 replaces the anti-rotation bracket clamp and places the anti-rotation support 48 on the hook tail seat 21. The first robot 1 moves the buffer 220 and the hook tail seat base 211 to a horizontal position.

[0025] 3.2 The second robot 2 replaces the tightening fixture, removes the bolts of the two centering device components 213 on the hook tail seat 21, and places them in the second row of traced material table 13; the third robot 3 replaces the centering device component fixture, clamps the centering device component 213 and places it in the third row of traced material table 14; the second robot 2 removes the bolts on the centering device housing 214 by tightening the fixture and places it in the second row of traced material table 13; the third robot 3 replaces the centering device housing fixture, clamps the centering device housing 214 and places it in the third row of traced material table 14.

[0026] 3.3 The third robot 3 replaces the tightening fixture, removes the bolts of the pin cover 215 on the hook tail seat 21, and places it in the third row of traced material table 14; the second robot 2 replaces the pin cover pulling fixture, removes the pin cover 215, and places it in the second row of traced material table 13.

[0027] 3.4 The second robot 2 replaces the tightening fixture, removes the bolts of the buffer cover 217, and places it in the second row of traced material platform 13; the third robot 3 uses the tightening fixture to clamp the screw, tightens and pushes out the buffer cover 217; the second robot 2 replaces the buffer cover fixture to remove the buffer cover 217 and places it in the second row of traced material platform 13.

[0028] 3.5 The first robot 1 flips the hook tail seat 21 so that the buffer 220 is vertically upward using a multi-functional clamp; the third robot 3 changes the buffer clamp to hold the buffer 220; the second robot 2 changes the anti-rotation bracket clamp to remove the anti-rotation support 48 and places it on the anti-rotation support storage positioning hole of the three-machine collaborative platform 4; the second robot 2 changes the tightening fixture to remove the bolts of the buffer cover 217 and places it on the second line-tracking material platform 13; the second robot 2 changes the buffer cover clamp to remove the buffer cover 217 and places it on the second line-tracking material platform 13.

[0029] 3.6 The third robot 3 removes the buffer 220 through the buffer clamp. The second robot 2, which works with the second robot 2 to replace the sealing buffer pad clamp, removes the sealing rings 225 and PTFE rings 224 on both sides of the buffer 220. The third robot 3 then places the buffer 220 on the positioning pin pressing position 46 on the three-machine collaborative platform. The sealing rings 225 and PTFE rings 224 are placed in the second traced material table 13 by the second robot 2.

[0030] 3.7 The first robot 1 uses a multi-functional gripper to level the hook tail seat base 211. The second robot 2 uses a three-jaw gripper to place the pressure column 47 from the three-machine collaborative platform 4 onto the hook tail seat base 211. The first robot 1 then transports the hook tail seat base 211 to the bushing pressing worktable 9 and presses out the bushing 212 on one side of the hook tail seat base 211. The third robot 3 uses a three-jaw gripper to pick up the pressure column 47. The first robot 1 then moves the hook tail seat base 211 to the other side. The third robot 3 places the pressure column 47 onto the other side of the hook tail seat base 211, and the bushing pressing worktable 9 presses out the bushing 212 on the other side. After the bushing 212 is pressed out, the first robot 1 places the hook tail seat base 211 and the bushing 212 onto the first tracking material table 12.

[0031] 4. Buffer Disassembly 4.1 After the third robot 3 replaces the positioning pin impact tool to press out the positioning pin 226 on the buffer housing 223, the third robot 3 places the buffer 220 on the buffer housing assembly stage 45 through the buffer clamp; replace the three-jaw clamp and place the positioning pin 226 on the positioning pin pressing stage 46 into the third tracking material stage 14.

[0032] 4.1 Replace the tightening fixture on the third robot 3 and loosen the bolts on the buffer housing 223 until they are completely loosened. Place the bolts in the third traceable material platform 14.

[0033] 4.2. The third robot 3 replaces the buffer housing clamp to place the buffer housing 223 above the buffer 220 onto the third row traceable material platform 14. The third robot 3 replaces the rubber buffer pad clamp to pick up the rubber buffer pad 222 above the buffer mounting rod 221 and place it on the third row traceable material platform 14. The third robot 3 replaces the buffer clamp to pick up the buffer mounting rod 221 and place it on the third row traceable material platform 14. The third robot 3 replaces the rubber buffer pad clamp to pick up the rubber buffer pad 222 below the buffer mounting rod 221 and place it on the third row traceable material platform 14. The third robot 3 replaces the buffer housing clamp to pick up the buffer housing 223 below and place it on the third row traceable material platform 14.

[0034] 4.3 Replace the bolt clamp (magnetic chuck) of the third robot 3, remove the nut from the buffer housing assembly station 45, and place it on the third trace material station 14.

[0035] 5. Material transportation 5.1 The transport AGV transports the first row of traced material platform 12, the second row of traced material platform 13, and the third row of traced material platform 14 out of the maintenance line.

[0036] II. Coupler Assembly Process 1. Preparations before coupler assembly 1.1 The first row of traced material platform 12, the second row of traced material platform 13, and the third row of traced material platform 14 are transported to the designated positions within the maintenance line (the positions corresponding to the working areas of the first robot 1, the second robot 2, and the third robot 3, which facilitates the gripping of parts) by using a transport AGV.

[0037] 1.2 The first robot 1, by replacing the hook clamp on the multi-functional clamp storage platform 15, delivers the hook shell and hook accessory material tray on the first tracked material platform 12 to the hook repair workbench 6, where accessories such as locking tongues and electric hooks are installed manually; the first robot 1 delivers materials such as vertical support 216, vertical support bolts, vertical support nuts and back nuts to the hook tail seat repair workbench 7 to prepare for the installation of hook tail seat 21.

[0038] 2. Buffer Installation The buffer housing 223, buffer mounting rod 221, and rubber buffer pad 222 are assembled. Before assembly, the coupler components are redistributed to facilitate clamping and installation.

[0039] 2.1 The third robot 3 replaces the bolt clamp on the three-machine collaborative platform 4, takes out the buffer nut from the third traceable material table 14, and puts the buffer nut into the buffer housing assembly station 45 on the three-machine collaborative platform 4.

[0040] 2.2 The third robot 3 replaces the buffer housing fixture, placing the lower half of the buffer housing 223 from the third-row traceable material table 14 into the buffer housing assembly station 45. The third robot 3 replaces the rubber buffer pad fixture, removing the rubber buffer pad 222 from the third-row traceable material table 14 and placing it in the buffer pad installation position of the buffer housing 223. The third robot 3 replaces the buffer fixture, removing the buffer mounting rod 221 from the third-row traceable material table 14 and placing it in the installation position of the buffer housing 223. The third robot 3 replaces the rubber buffer pad fixture, removing the rubber buffer pad 222 from the third-row traceable material table 14 and placing it in the installation position on the buffer mounting rod 221. The third robot 3 replaces the buffer clamp and places the upper part of the buffer housing 223, which has been pre-installed with the positioning pin 226, onto the lower part of the buffer housing 223. The third robot 3 replaces the positioning pin impact fixture and first pre-presses the positioning pin 226 on the upper part of the buffer housing 223 to position the buffer housing 223. The third robot 3 replaces the tightening fixture to pre-tighten the 6 bolts of the buffer 220. After the pre-tightening is completed, the third robot 3 replaces the positioning pin impact fixture again to install the positioning pin 226 in place. The third robot 3 replaces the tightening fixture again to tighten the bolts on the buffer 220 in place, thus completing the installation of the buffer 220.

[0041] 2.3 The third robot 3 replaces the buffer clamp, removes the buffer 220, and rotates it to a vertical position. The second robot 2 replaces the three-jaw clamp on the three-machine collaborative platform 4, places the PTFE ring guide post 49 on the hook tail seat base 211, and then clamps the PTFE ring 224 of the second tracked material stage 13 and places it on the PTFE guide post 49 to complete the installation of the PTFE ring 224. The second robot 2, in cooperation with the third robot 3, installs the PTFE ring 224 on both sides of the buffer 220. After the installation of the PTFE ring 224 is completed, the PTFE ring guide post 49 is returned to the three-machine collaborative platform 4. The second robot 2 uses the three-jaw clamp to place the sealing ring guide post 50 on the hook tail seat base 211, and then clamps the sealing ring 225 of the second tracked material stage 13 and places it on the sealing ring guide post 50. In cooperation with the third robot 3, the sealing ring 225 is installed on both sides of the buffer 220, and then the sealing ring 225 is returned to the three-machine collaborative platform 4.

[0042] 2.4 The first robot 1 removes the hook tail seat base 211 from the first traced material table 12 and moves it to the bushing pressing worktable 9. The third robot 3 changes the three-jaw clamp and places the bushing 212 on the third traced material table 14 onto the hook tail seat base 211. The third robot 3 then uses the three-jaw clamp to place the pressure column 47 onto the bushing 212. The bushing pressing worktable 9 presses the bushing 212 on one side of the hook tail seat base 211. The pressing of one side of the bushing is completed. The third robot 3 clamps the pressure column 47. The first robot 1 flips the hook tail seat base 211 to the other side. The third robot 3 grabs the bushing 212 and places it in the installation position of the hook tail seat base 211. Then, it places the pressure column 47 onto the bushing. The bushing pressing worktable 9 presses the bushing, completing the pressing of the bushings on both sides of the hook tail seat base 211. The third robot 3 puts the pressure column 47 back onto the three-machine collaborative platform 4, and the first robot 1 places the hook tail seat base 211 onto the first tracked material platform 12.

[0043] 3. Assembly of the hook-tail seat Assemble the hook tail seat base 211, buffer 220, centering device assembly 213 and centering device housing 214.

[0044] 3.1 The first robot 1, the second robot 2, and the third robot 3 cooperate. The first robot 1 takes out the hook tail seat base 211 with the bushing installed from the first tracked material table 12 using a multi-functional gripper. The second robot 2 replaces the guide plate gripper and places the hook tail seat guide plate 51 on the three-machine cooperation platform 4 into the inner cavity of the hook tail seat base 211 to provide guidance and protection for the installation of the buffer 220. The third robot 3 uses the buffer gripper to hold the buffer 220 with the PTFE ring 224 and sealing ring 225 installed and puts it into the hook tail seat base 211.

[0045] 3.2 After the buffer 220 is installed into the hook tail seat base 211, the second robot 2 takes out the hook tail seat guide plate 51 and puts it back in its original position, while the first robot 1 and the third robot 3 remain stationary.

[0046] 3.3 The second robot 2 replaces the buffer cover fixture and installs the buffer cover 217 on one side of the buffer 220 onto one side of the hook tail seat base 211. The buffer cover 217 is pressed in place using the impactor on the buffer cover fixture. The second robot 2 then replaces the tightening fixture and tightens the bolts on one side of the buffer cover of the buffer 220. The second robot 2 then replaces the anti-rotation bracket fixture and places the anti-rotation support 48 on the hook tail seat 21 to secure the buffer 220 and prevent it from tipping over. After the anti-rotation support 48 is placed, the third robot 3 releases the buffer 220, the first robot 1 repositions, and the second robot 2 uses the same method to press in the buffer cover 217 on the other side of the hook tail seat base 211. Then, it replaces the tightening fixture and tightens the bolts on the buffer cover. The first robot 1 repositions to the opposite side of the buffer 220. The second robot 2 replaces the pin cover pulling tool and presses the pin cover 215 onto the buffer cover 217. Then, the second robot 2 replaces the tightening tool and tightens the pin cover bolts.

[0047] 3.4 After the pin cap bolts are tightened, the first robot 1 moves the buffer 220 and the hook tail seat base 211 to a horizontal position. The second robot 2 replaces the centering device housing fixture and places the centering device housing 214 on the second tracking material platform 13 into the corresponding installation position of the hook tail seat base 211. The second robot 2 replaces the tightening fixture and takes out the centering device housing bolts on the second tracking material platform 13 and tightens them.

[0048] 3.5. After tightening the bolts on the centering device housing, prepare to install the two sets of centering device assemblies 213 on the hook tail seat 21. The second robot 2 changes the centering device assembly fixture, aligns the two sets of centering device assemblies 213 on the second tracked material table 13 with the center of the shaft hole of the centering device housing 214, and after placement, the second robot 2 changes the tightening fixture to clamp the bolts of the centering device assembly from the second tracked material table 13 and tightens the bolts.

[0049] 4. Manual assembly 4.1. The first robot 1 uses a multi-functional clamp to place the already installed hook tail seat 21 into the hook tail seat maintenance workbench 7, and manually installs the vertical support, tightens the vertical support back nut, and adjusts the centering bolt.

[0050] 5. Assemble the coupler as a whole. Assemble the coupler tail seat 21, crush tube 22, and coupler head 23 to complete the coupler assembly.

[0051] 5.1 The second robot 2 and the third robot 3 each change their bolt clamps and place the clamp nuts on the clamp locking device 42 on the three-machine collaborative platform 4. After placement, the second robot 2 and the third robot 3 each change their clamp clamps again and place the clamps 24 in the second tracked material platform 13 and the third tracked material platform 14 on the clamp locking device 42 to prepare for the installation of the clamps 24 between the hook head 23 and the crushing pipe 22, and between the hook tail seat 21 and the crushing pipe 22.

[0052] 5.2 The first robot 1 uses a multi-functional clamp to place the hook 23 from the hook head maintenance workbench 6 onto the hook head position 44 on the three-machine collaborative platform 4. After placement, the first robot 1 places the crushed pipe 22 from the crushed pipe maintenance workbench 8 onto the crushed pipe position 41 on the three-machine collaborative platform 4. Then, it clamps the hook tail seat 21 from the hook tail seat maintenance workbench 7 and places it onto the hook tail seat position 43 on the three-machine collaborative platform 4. After completion, the clamp locking device 42 is raised until the center of the hook head 23 is aligned with the center of the crushed pipe 22 and the center of the hook tail seat 21 is aligned with the center of the crushed pipe 22.

[0053] 5.3 The third robot 3 uses a clamping fixture to pick up the clamp 24 on the third-row traced material platform 14 and place it at the position of the clamp 24 on the hook 23 and the crushing tube 22, aligning the clamp 24 on the hook 23 and the clamp 24 on the crushing tube 22 with the clamp locking device 42. After placement, the third robot 3 changes the bolt clamp to pick up the clamp bolt from the third-row traced material platform 14 and tightens the clamp bolt between the hook 23 and the crushing tube 22. The second robot 2 uses a clamping fixture to pick up the clamp 24 from the second tracked material platform 13 and place it at the clamp 24 position between the hook tail seat 21 and the crushing tube 22, aligning the clamp 24 on the hook tail seat 21 and the clamp 24 on the crushing tube 22 with the clamp 24 on the hook tail seat 21 and the crushing tube 22. After placement, the second robot 2 changes the bolt clamp to remove the clamp bolt from the second tracked material platform 13 and tightens the clamp bolt between the hook head 23 and the crushing tube 22. The hook tail seat 21, crushing tube 22, and hook head 23 are then assembled.

[0054] 5.4. The transport AGV transports the first row of tracked material platform 12, the second row of tracked material platform 13, and the third row of tracked material platform 14 out and into the empty hook pallet.

[0055] 5.5. The first robot 1 uses a multi-functional clamp to place the entire coupler onto the coupler head maintenance workbench 6. The valves, pipelines, electric hooks and accessories are installed manually, and the coupler assembly is completed.

[0056] 6. Coupler coupling test 6.1 After the coupler is back-transferred, the first robot 1 uses a multi-functional clamp to place the coupler onto the coupler coupling test bench 10. After manually connecting the coupler air circuit, the coupling test is automatically carried out. 7. Coupler maintenance completed 7.1 After the coupler coupling test is completed, the first robot 1 uses a multi-functional clamp to move the coupler to the coupler pallet; the transport AGV transports the coupler from inside the station to outside the station.

[0057] The working areas of the first, second, and third robots in this application cover the three-machine collaborative platform. The three robots can cooperate on the platform to complete corresponding disassembly and assembly operations. The robot slide rails expand the working range of the first robot. With the help of various workbenches, maintenance benches, and test benches, the maintenance and testing of the coupler can be realized. The storage racks, workstations, tooling, and fixtures on the three-machine collaborative platform assist in the fixing and disassembly of the coupler. The first, second, and third robots dynamically allocate tasks and cooperate with each other to realize the automatic disassembly and assembly of the coupler, thereby improving the efficiency of coupler disassembly and assembly.

[0058] As one possible implementation, the maintenance line also includes a first traceable material platform 12, a second traceable material platform 13, and a third traceable material platform 14; the first traceable material platform 12, the second traceable material platform 13, and the third traceable material platform 14 are respectively located close to the first robot 1, the second robot 2, and the third robot 3.

[0059] The first row of traceable material platform 12, the second row of traceable material platform 13, and the third row of traceable material platform 14 are used in conjunction with the first robot 1, the second robot 2, and the third robot 3, respectively, and can classify and store disassembled parts without them being disordered.

[0060] As one possible implementation, the maintenance line also includes a transport AGV and a coupler pallet; the transport AGV carries the coupler pallet back and forth between the first robot working area and the coupler temporary storage area.

[0061] The transport AGV enables the transport of the first, second, and third tracked material platforms, and, in conjunction with the coupler pallet, also enables the transfer operation of the coupler.

[0062] As one possible implementation, the maintenance line also includes a coupler cleaning station, which is set on a three-machine collaborative platform; or, it is set on a coupler cleaning workbench within the coverage area of ​​the first robot.

[0063] When the coupler cleaning station is set on the three-machine collaborative platform 4, a water baffle 52 is installed on the coupler storage platform 4. The water baffle 52 adopts a rectangular structure, an elliptical structure, or other mechanisms. A lifting fixture is installed on the water baffle 52, and it is lifted using auxiliary lifting equipment. The lifting fixture places the water baffle 52 on the three-machine collaborative platform 4, aligning it with the water-retaining groove on the platform 4 to achieve a seal between the water baffle 52 and the platform 4. When the water baffle 52 is placed on the platform 4, it will cover the coupler storage platform and the coupler cover on the platform. A drain outlet is provided in the coupler storage platform area, and the wastewater from cleaning the couplers flows through the drain outlet into the water collection tank below the platform 4.

[0064] During the cleaning operation, the first robot 1 uses a multi-energy gripper to place the coupler onto the coupler storage platform. After the coupler is placed, the first robot 1 replaces the coupler cleaning fixture on the tooling storage rack (the coupler cleaning fixture is connected to a water and air source and can perform cleaning and drying operations on the coupler). The first robot 1 drives the cleaning fixture to clean the coupler first. After the coupler is cleaned, it dries the coupler. After drying, the baffle plate automatically returns to its original position, and the entire coupler cleaning operation is completed.

[0065] When the coupler cleaning station is set up on the coupler cleaning workbench, only the first robot 1 needs to perform the clamping operation on the coupler, and the cleaning and drying are automatically completed by the coupler cleaning workbench.

[0066] The coupler cleaning station can clean and dry couplers that need to be disassembled, ensuring cleanliness during coupler disassembly.

[0067] As one possible implementation, the multi-functional fixtures stored on the multi-functional fixture storage platform include coupler fixtures, hook head fixtures, hook tail seat fixtures, and crushing pipe fixtures. The multi-functional fixtures can also employ flexible fixtures to grip the coupler, hook head, hook tail seat, crushing pipe, etc. Some of the tooling or fixtures used by the second and third robots can also employ flexible fixtures. By using flexible fixtures, the number of tooling or fixtures is reduced, the number of tooling or fixture changes is decreased, and work efficiency is further improved.

[0068] The multi-functional gripper is designed for the first robot, which uses the specialized gripper to grasp and transfer components such as the coupler, hook head, hook tail seat, and crushing pipe.

[0069] As one possible implementation, the maintenance line also includes a buffer station 11, which is located in the working area of ​​the first robot 1. The buffer station is equipped with a hook head buffer station, a crushing pipe buffer station, a hook tail seat buffer station, and a coupler buffer station.

[0070] The buffer station 11 can temporarily store disassembled and assembled hooks, crush tubes, hook tail seats, couplers, etc., enabling simultaneous disassembly and assembly of multiple couplers.

[0071] like Figure 7 As shown, the present invention also provides a maintenance process based on a smart maintenance line for couplers, including the following steps: Step S10: Start coupler disassembly: The first robot uses a multi-functional clamp to transfer the cleaned coupler to the coupler storage platform of the three-machine collaborative platform. The second and third robots change tightening fixtures and disassemble the clamps that fix the crushing tube and the hook tail seat, and the clamps that fix the crushing tube and the hook head, respectively. The second and third robots change clamps and transfer the corresponding clamps to the second and third traced material platforms, respectively. The first robot transfers the disassembled hook tail seat, hook head and crushing tube to the hook head maintenance workbench, hook tail seat maintenance workbench and crushing tube maintenance workbench, respectively. Step S20: The vertical support of the hook tail seat and the centering device bolts are removed manually at the hook tail seat maintenance station. The first robot transports the hook tail seat to the top of the three-machine collaborative platform and places it horizontally. The second robot installs the anti-rotation support for the hook tail seat. The second robot replaces the tightening tooling to disassemble the centering device component bolts and the centering device housing bolts. The third robot replaces the centering device component fixture and the centering device housing fixture in turn to pick up the centering device component and the centering device housing and place them on the third tracking material platform. Step S30: The third robot replaces the tightening tooling to remove the pin cover bolts, and the second robot replaces the pin cover pulling tooling to clamp the pin cover and places it on the second tracked material table. Step S40: The second robot replaces the tightening fixture to remove the buffer cover bolts, and the third robot uses the tightening fixture to clamp the screw and push out the buffer cover. The second robot replaces the buffer cover clamp, clamps the buffer cover, and places it on the third traced material table. The first robot flips the hook tail seat to a vertical position, the second robot clamps and resets the anti-rotation support, and works with the third robot to remove the buffer cover on the other side of the hook tail seat; Step S50: The third robot replaces the buffer gripper to separate the buffer from the hook tail seat base, and the second robot replaces the three-jaw gripper to grip the sealing rings and PTFE rings on both sides of the buffer and places them on the second trace material stage. The third robot places the buffer at the positioning pin pressing station to press out the positioning pin, and then transfers the buffer to the buffer housing assembly station; the three-jaw clamp is replaced to place the positioning pin on the third trace material table. The second robot places the pressure column on the hook tail seat base. The first robot transfers the hook tail seat base with the pressure column to the bushing pressing worktable, presses out the bushings on both sides, and places the hook tail seat base and bushings on the first tracked material table. Step S60: The third robot replaces the tightening fixture to remove the bolts of the buffer housing, and then replaces the buffer housing clamp, rubber buffer pad clamp, buffer clamp, rubber buffer pad clamp, and buffer housing clamp in sequence to clamp the buffer housing, rubber buffer pad, buffer mounting rod, and place the rubber buffer pad and buffer housing on the other side onto the third trace material table; Step S70: Start coupler assembly: Perform the reverse steps of S10 to S60 to complete the coupler assembly.

[0072] As one possible implementation method, the maintenance process also includes the following steps: Step S80: The hook head is disassembled and assembled manually on the hook head maintenance workbench.

[0073] As one possible implementation, before installing the assembled buffer onto the hook-tail seat base, the following steps are also included: The first robot picks up the hook tail seat base with the assembled bushing. The second robot replaces the guide plate fixture and picks up the hook tail seat guide plate from the three-machine collaborative platform, placing it on both sides of the inner cavity of the hook tail seat base. The third robot installs the assembled buffer inside the hook tail seat base, and the second robot picks up the hook tail seat guide plate and resets it.

[0074] As one possible implementation method, the maintenance process also includes the following steps: Step S90: The first robot transfers the assembled coupler to the coupler coupling test bench for coupler coupling test. The coupler that passes the test is transferred to the coupler pallet and then transferred to the coupler temporary storage area by the transport AGV.

[0075] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0076] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A smart maintenance line for couplers, characterized in that, include: The maintenance work area and the first, second, and third robots equipped with vision components; The maintenance work area is equipped with a three-machine collaborative platform, a crushed pipe maintenance platform, a coupler coupling test platform, a hook head maintenance workbench, a hook tail seat maintenance workbench, a bushing pressing workbench, and a robot slide rail. The first robot is slidably connected to the robot slide rail, and a multi-functional fixture storage platform is provided on the robot slide rail. The working areas of the first robot, the second robot, and the third robot together cover the three-machine collaborative platform. The first robot also covers the crushed pipe inspection platform, the coupler coupling test platform, the hook head inspection platform, the hook tail seat inspection platform, and the bushing pressing platform. The three-machine collaborative platform is equipped with a coupler storage platform, a clamp anti-locking device, a buffer housing assembly platform, a positioning pin press-fit platform, a pressure column, an anti-rotation support, a PTFE ring guide column, a sealing ring guide column, a hook tail seat guide plate, and a tooling storage rack.

2. The intelligent coupler maintenance line according to claim 1, characterized in that, The maintenance line also includes a first row of traced material stations, a second row of traced material stations, and a third row of traced material stations; The first tracked material platform, the second tracked material platform, and the third tracked material platform are respectively positioned close to the first robot, the second robot, and the third robot.

3. The intelligent coupler maintenance line according to claim 1, characterized in that, The maintenance line also includes transport AGVs and coupler pallets; The transport AGV carries the coupler pallet back and forth between the first robot's working area and the coupler temporary storage area.

4. The intelligent coupler maintenance line according to claim 1, characterized in that, The maintenance line also includes a coupler cleaning station, which is set on the three-machine collaborative platform; Alternatively, a coupler cleaning workbench can be set up within the coverage area of ​​the first robot.

5. The intelligent coupler maintenance line according to claim 1, characterized in that, The multi-functional clamps stored on the multi-functional clamp storage platform include coupler clamps, hook head clamps, hook tail seat clamps, and crushing pipe clamps.

6. The intelligent coupler maintenance line according to claim 1, characterized in that, The maintenance line also includes a buffer platform, which is located in the first robot working area. The buffer platform is equipped with a hook head buffer station, a crushing pipe buffer station, a hook tail seat buffer station, and a coupler buffer station.

7. A maintenance process based on the intelligent coupler maintenance line according to any one of claims 1 to 6, characterized in that, Includes the following steps: Step S10: Start coupler disassembly: The first robot uses a multi-functional clamp to transfer the cleaned coupler to the coupler storage platform of the three-machine collaborative platform. The second and third robots change tightening fixtures and disassemble the clamps that fix the crushing tube and the hook tail seat, and the clamps that fix the crushing tube and the hook head, respectively. The second and third robots change clamps and transfer the corresponding clamps to the second and third traced material platforms, respectively. The first robot transfers the disassembled hook tail seat, hook head and crushing tube to the hook head maintenance workbench, hook tail seat maintenance workbench and crushing tube maintenance workbench, respectively. Step S20: The vertical support of the hook tail seat and the centering device bolts are removed manually at the hook tail seat maintenance station. The first robot transports the hook tail seat to the top of the three-machine collaborative platform and places it horizontally. The second robot installs the anti-rotation support for the hook tail seat. The second robot replaces the tightening tooling to disassemble the centering device component bolts and the centering device housing bolts. The third robot replaces the centering device component fixture and the centering device housing fixture in turn to pick up the centering device component and the centering device housing and place them on the third tracking material platform. Step S30: The third robot replaces the tightening tooling to remove the pin cover bolts, and the second robot replaces the pin cover pulling tooling to clamp the pin cover and places it on the second tracked material table. Step S40: The second robot replaces the tightening fixture to remove the buffer cover bolts, and the third robot uses the tightening fixture to clamp the screw and push out the buffer cover. The second robot replaces the buffer cover clamp, clamps the buffer cover, and places it on the third traced material table. The first robot flips the hook tail seat to a vertical position, the second robot clamps and resets the anti-rotation support, and works with the third robot to remove the buffer cover on the other side of the hook tail seat; Step S50: The third robot replaces the buffer gripper to separate the buffer from the hook tail seat base, and the second robot replaces the three-jaw gripper to grip the sealing rings and PTFE rings on both sides of the buffer and places them on the second trace material stage. The third robot places the buffer at the positioning pin pressing station to press out the positioning pin, and then transfers the buffer to the buffer housing assembly station; the three-jaw clamp is replaced to place the positioning pin on the third trace material table. The second robot places the pressure column on the hook tail seat base. The first robot transfers the hook tail seat base with the pressure column to the bushing pressing worktable, presses out the bushings on both sides, and places the hook tail seat base and bushings on the first tracked material table. Step S60: The third robot replaces the tightening fixture to remove the bolts of the buffer housing, and then replaces the buffer housing clamp, rubber buffer pad clamp, buffer clamp, rubber buffer pad clamp, and buffer housing clamp in sequence to clamp the buffer housing, rubber buffer pad, buffer mounting rod, and place the rubber buffer pad and buffer housing on the other side onto the third trace material table; Step S70: Start coupler assembly: Perform the reverse steps of S10 to S60 to complete the coupler assembly.

8. The maintenance process of the intelligent coupler maintenance line according to claim 7, characterized in that, The maintenance process also includes the following steps: Step S80: The hook head is disassembled and assembled manually on the hook head maintenance workbench.

9. The maintenance process of the intelligent coupler maintenance line according to claim 7, characterized in that, Before installing the assembled buffer onto the hook-tail seat base, the following steps are also included: The first robot picks up the hook tail seat base with the assembled bushing. The second robot replaces the guide plate fixture and picks up the hook tail seat guide plate from the three-machine collaborative platform, placing it on both sides of the inner cavity of the hook tail seat base. The third robot installs the assembled buffer inside the hook tail seat base, and the second robot picks up the hook tail seat guide plate and resets it.

10. The maintenance process of the intelligent coupler maintenance line according to claim 7, characterized in that, The maintenance process also includes the following steps: Step S90: The first robot transfers the assembled coupler to the coupler coupling test bench for coupler coupling test. The coupler that passes the test is transferred to the coupler pallet and then transferred to the coupler temporary storage area by the transport AGV.

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