Swing bolster and side frame dual-purpose type track gauge self-adaptive temporary storage conveying device

Abstract

The invention relates to the technical field of swing bolster and side frame dual-purpose type track gauge self-adaption buffer conveying devices, and discloses a swing bolster and side frame dual-purpose type track gauge self-adaption buffer conveying device. The problems that an existing rail transit part automatic conveying and caching scheme is specialized in process, insufficient in universality and flexible production capacity, low in space utilization rate and the like are solved. The device is characterized by comprising a workpiece temporary storage conveyor, a pillow frame universal type flexible clamping mechanism, a self-adaptive track gauge adjusting mechanism, a sensor system and a servo control system. By the adoption of the technical scheme, the effects of high flexibility, efficient caching, intensive space utilization, full-automatic operation, accurate positioning and the like can be achieved.

Description

Technical Field

[0001] This invention belongs to the field of mechanical manufacturing technology, and specifically relates to a buffer conveying device that can be used as both a bolster and a side frame for adaptive gauge. Background Technology

[0002] The railway transportation industry faces a comprehensive demand for "comprehensive production capacity and intensive space utilization." Specifically, existing systems struggle to achieve continuous, efficient buffering and transport of bolster and side frames between different processing steps. Furthermore, the equipment manufacturing process of the rail transit industry, a crucial national strategic infrastructure, places increasingly stringent demands on production efficiency, product quality, operational safety, and automation levels. In the manufacturing of key load-bearing components for railway vehicles, such as large, heavy-duty, and high-precision structural parts like bolsters and side frames, optimizing the production and transport processes directly impacts the smooth operation and cost control of the entire manufacturing chain. Especially with the wave of digital and intelligent factory construction, achieving continuous transport, precise buffering, and flexible adaptation to multiple product models for these core components from raw materials to final assembly has become a critical issue in current technological development.

[0003] In existing technologies, significant progress has been made in the transportation and handling of large rail transit components. For example, a bogie disassembly system and method (publication number CN112427912B) is a typical example. The core of this technical solution lies in utilizing a conveyor belt system to achieve automated transportation and precise positioning and locking of the bogie between different disassembly stations. It breaks down the complex bogie disassembly operation into a series of standardized fixed stations and enables rhythmic production. This design demonstrates significant advantages in specific application scenarios, significantly improving the level of mechanized operations, effectively increasing work efficiency, and significantly reducing the high-intensity labor load associated with traditional manual disassembly operations. Through precise mechanical structures and control logic, it ensures the stable flow and accurate docking of the bogie between stations, thus providing an efficient and reliable solution for bogie repair and maintenance.

[0004] However, with the continuous development of related technologies and the increasingly stringent performance requirements of application scenarios, some inherent characteristics of the aforementioned technical solutions at the principle level have gradually revealed their limitations in addressing new challenges. Specifically, the conveyor belt system disclosed in patent CN11247912B is primarily designed for relatively regular and easily positioned bogies or their disassembled small and medium-sized components. The bolster and side frames, as larger, heavier, and geometrically complex independent components in railway vehicles, require continuous conveying and efficient buffering in the production line, far exceeding the capabilities provided by the bogie disassembly system. At a deeper level, this system focuses on automating the specific process of "disassembly," without specifically designing or optimizing the continuous conveying and dynamic buffering functions necessary for the bolster and side frames throughout the entire "manufacturing" process, especially between different processing steps (such as casting, heat treatment, machining, painting, and testing). Furthermore, its conveyor belt structure is essentially a design with a fixed gauge and a fixed bearing surface. It lacks the necessary adaptive capability to meet the current flexible requirements of multi-gauge and multi-model bolster side frame parallel production, which undoubtedly increases the complexity and time cost when switching models on the production line.

[0005] For example, the continuous push-plate heat treatment production line for the bolster side frame of a rail locomotive, published in CN102925635B, represents another automation solution focused on specific processes. This patent, through the design of a continuous push-plate material conveying device, successfully achieves automated transfer of the bolster side frame within the heat treatment process. By optimizing the heat treatment process, it has achieved positive results in energy saving, consumption reduction, and improved product quality. The system can stably and continuously convey workpieces in the high-temperature environment of the heat treatment furnace, ensuring the uniformity and consistency of the heat treatment process, which is crucial for guaranteeing the mechanical properties of the bolster side frame.

[0006] However, the deep-seated contradiction of this continuous pusher-type technology lies in its highly specialized design for the high-temperature, long-cycle heat treatment process. The structure and operation mode of its material conveying device are built around the internal environment and process flow of the heat treatment furnace, resulting in significant deficiencies in its cross-process versatility. When the bolster side frame needs to be transferred from the heat treatment process to the next processing or inspection process, the system cannot directly provide efficient buffering and continuous conveying capabilities, often requiring additional manual labor or specialized equipment for transfer, thus creating a new logistics bottleneck in the entire production chain. Fundamentally, this "point-to-point" intra-process automation fails to solve the problem of "line-to-line" production line-level continuous logistics. Furthermore, the production line has very limited adaptability to different track gauges or different models of bolster side frames because its pusher and load-bearing structure are usually customized according to workpieces of specific dimensions. Once a change in production model is needed, large-scale equipment modification or even reconstruction is often required, which is not only time-consuming and labor-intensive but also significantly increases production costs and downtime. At the same time, such large-scale heat treatment production lines often occupy a huge area. In the modern factory environment where every inch of land is precious, their space utilization rate is not high, which has become an important factor restricting the compactness and flexibility of factory layout.

[0007] The aforementioned existing technologies collectively reveal a core, albeit subtle, deep-seated contradiction: current automated conveying and buffering solutions for large rail transit components (especially bolster side frames) generally exhibit inherent limitations due to "process specialization and geometric rigidity." While these solutions excel in addressing specific production stage issues, their design principles do not fully consider the "cross-process versatility" of the entire manufacturing chain, nor the ability of flexible single equipment or systems to adaptively handle bolsters and side frames of different track gauges and geometric dimensions. Furthermore, they exhibit significant shortcomings in automation level and space utilization efficiency, particularly when collaborating with higher-level automated equipment (such as gantry robots), where connection and compatibility issues are particularly prominent. This deep-seated contradiction directly leads to a series of secondary problems, such as production process interruptions, high line changeover costs, redundant floor space, and limited automation levels, severely hindering the transformation and upgrading of rail transit equipment manufacturing towards high efficiency, intelligence, and flexibility.

[0008] Therefore, how to develop a device that can be compatible with two different workpiece shapes, namely bolster and side frame, has adaptive gauge adjustment capability, achieves efficient automated buffering and continuous conveying, effectively saves floor space, and can seamlessly cooperate with gantry robots to achieve fully automated production operations has become a key challenge and a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0009] This invention addresses the fundamental technical contradiction of "process specialization versus geometric rigidity" prevalent in existing automated conveying and buffering solutions for large rail transit components (especially bolster side frames). It overcomes significant limitations in cross-process versatility, flexible multi-model production capabilities, and efficient space utilization, thereby achieving continuous, efficient, intelligent, and flexible production processes. The invention provides a bolster and side frame compatible adaptive gauge buffering and conveying device. Through an integrated, modular, and intelligent design philosophy, this invention offers a system-level solution that is compatible with various bolster and side frame workpiece models, possesses high-precision adaptive gauge adjustment capabilities, achieves efficient automated buffering and continuous conveying, effectively saves floor space, and seamlessly integrates with gantry robots for fully automated production operations.

[0010] To achieve the aforementioned objectives, this invention provides a buffer conveying device that combines a bolster and side frame, and is adaptive in gauge. Its structural configuration includes: a workpiece buffer conveyor, a universal flexible clamping mechanism for the bolster frame, an adaptive gauge adjustment mechanism, a sensor system, and a servo control system. This buffer conveying device can automate workpiece loading and unloading operations at any designated workstation using an industrial robot (e.g., a gantry robot), and complete continuous transfer operations between various processing steps.

[0011] In one specific embodiment of the present invention, the workpiece buffer conveyor is composed of components such as a steel frame, servo motor, reducer, drive shaft, gears, plate chain, support wheels, guide ribs, photoelectric switches, and limit switches. The steel frame possesses high strength and rigidity, providing stable and reliable support for the entire conveyor system. The workpiece buffer conveyor is configured with two independent lines, each equipped with an independent power drive unit. The two independent power drive units are synchronously controlled by a servo motor. The servo motor and reducer are mechanically connected in sequence. The output end of the reducer is connected to the drive shaft, and a gear is mounted on the drive shaft, meshing with the plate chain for transmission. The upper part of the plate chain is rigidly connected to a universal flexible clamping mechanism for the sleeper frame via bolts. Support rollers are installed on both sides of the clamping mechanism. The support rollers are designed to counteract the vertical load of the workpiece, thereby protecting the plate chain structure from excessive stress and deformation. The middle section of the conveyor belt engages with guide ribs, which provide precise lateral guidance during belt operation, effectively preventing lateral movement or derailment. A photoelectric switch is installed at the end of the conveyor line to detect workpiece entry / exit signals and position information. A limit switch is also installed as a physical limit protection device to prevent workpieces from overshooting or falling during transport, ensuring the safety and reliability of the conveying operation.

[0012] Furthermore, both the left and right conveyor lines of the workpiece buffer conveyor are driven by independent servo motors. Specifically, each line is equipped with an independent AC servo motor with a rated power range of 1.5kW to 3.0kW, possessing high-precision positioning and speed control capabilities. The servo motor is connected to the main drive shaft via a high-precision gear reducer. The reducer adopts a planetary gear structure with a reduction ratio of 1:10 to 1:20 to provide smooth torque output and reduce transmission inertia. The main drive shaft is made of high-strength alloy steel, with a surface hardened treatment to improve wear resistance, and is supported on a steel frame by rolling bearings. The gears are spur gears with a module of 4 to 6, precisely meshing with the links of the plate chain. The plate chain is a heavy-duty conveyor chain, using heat-treated alloy steel links and pins, with a link spacing of 100mm to 150mm. Its upper surface is machined with a standard bolt hole array for connection with the bayonet seat of the flexible clamping mechanism. The support rollers are made of high-polymer wear-resistant material and integrate precision rolling bearings. They are located on both sides below the conveyor belt, contacting the lower edge of the belt to evenly transfer the vertical load of the workpiece to the steel frame, ensuring the smooth operation of the conveyor belt under heavy loads. The guide ribs are made of ultra-high molecular weight polyethylene (UHMW-PE), which has a low coefficient of friction and excellent wear resistance. They are fixed to the steel frame by a special bracket, maintaining a precise gap with the side edge of the conveyor belt to prevent lateral displacement. The photoelectric switch uses a diffuse reflection type photoelectric sensor with a detection distance of 0.5m to 1.5m and a response time of less than 5ms. Its output signal is directly connected to the servo control system. The limit switch is a travel switch with a repeatability accuracy of ±0.05mm. It is used to trigger a protective action at the physical end of the conveyor line to prevent the workpiece from exceeding the safe area.

[0013] In another embodiment of the present invention, the general-purpose flexible clamping mechanism for the pillow frame comprises: a bayonet seat, a rocker flexible clamping block, a side frame flexible clamping block, a built-in return spring, a limit stop block, and support rollers. The support rollers include an upper guide support wheel and a lower guide support wheel. The bayonet seat, as the basic connecting structure of the flexible clamping mechanism, is reliably connected to the plate chain of the workpiece buffer conveyor via bolts, achieving modular installation and quick disassembly of the clamping mechanism. Both the rocker flexible clamping block and the side frame flexible clamping block are designed as movable mechanisms to adapt to the clamping requirements of different workpieces.

[0014] In detail, for clamping the bolster workpiece, the flexible clamping block is designed with an irregular structure, characterized by an upper part having a geometric shape that matches the wedge-shaped surfaces at both ends of the bolster. This clamping block consists of two sets of symmetrically arranged units, each with a pivot shaft in the middle, pivotally connecting the clamping block to a bayonet seat. When the weight of the bolster workpiece G ≥ 300 kg, the upper inclined surface of the clamping block is coated with a tungsten carbide coating (friction coefficient μ = 0.2 ± 0.02) to ensure constant friction. The self-locking angle α = 10.5° is dynamically adjusted by an angle sensor (accuracy ± 0.1°) on the limit stop block. When rotated to α, the preload Fp = Fn × sinθ (θ = 30°) is monitored in real time by a built-in pressure sensor to ensure Fp ≥ 0.1G. Under vibration conditions, a damper (c = 50 N·s / m) suppresses loosening, constraining the rotation angle within α ± 0.5°. After the workpiece is removed from the bolster, the flexible clamping block automatically returns to its initial unclamped position due to the elastic force of its built-in return spring. To ensure the accuracy of the clamping block during the return process and to prevent over-rotation, a welded limit stop is provided on the bayonet seat. The limit stop contacts the bolster when the clamping block returns to its limit position, thereby preventing the flexible clamping block from rotating too far and ensuring that it is always in the correct standby state to prepare for the clamping of the next batch of workpieces.

[0015] Furthermore, for clamping the workpiece on the side frame, the flexible clamping block of the side frame is designed as an L-shaped structure, also composed of two sets of symmetrically arranged units. A pivot is also provided in the middle of each set of L-shaped clamping blocks, which pivotally connects the L-shaped clamping blocks to the bayonet seat. When the workpiece on the side frame is hoisted above the conveyor and descends to the predetermined position under its own weight, the spine of the side frame will abut against the bottom edge of the L-shaped clamping block. Under the continuous action of the workpiece's weight, the two sets of L-shaped clamping blocks will rotate inward around their respective pivot axes, so that the sides of the L-shaped clamping blocks tightly fit and clamp the spine of the side frame, achieving reliable and stable clamping of the workpiece on the side frame. The lever ratio from the clamping block pivot to the clamping point is 1:1.5, and the workpiece weight G is converted into a clamping force F. clamp =1.5×G×cosβ (β is the rotation angle of the clamping block, β≤15°). Minimum clamping force F clamp_min≥500N, damping is added (damping coefficient c=50N·s / m) to suppress conveying vibration. The gap between the clamping surface and the workpiece is ≤0.2mm. When the workpiece on the side frame is removed, the L-shaped clamping block automatically returns to its initial unclamped position through the elastic force of the built-in return spring connected to it. Similarly, the bayonet seat is provided with a welded limit stop block, which contacts the L-shaped clamping block when it returns to its limit position, thereby preventing the L-shaped clamping block from rotating too far and ensuring that it is always in the correct standby state to welcome the clamping of the next batch of workpieces. The built-in return spring is a stainless steel compression spring with a design life of more than 1 million cycles, and can provide a return force of 50N to 150N in the compressed state. The rotating shaft is made of high-strength stainless steel and is supported by a self-lubricating bearing to ensure smooth rotation and durability. The main body material of the bolster-shaped clamping block and the side frame L-shaped clamping block is high-strength alloy steel with surface hardening treatment and a wear-resistant and corrosion-resistant coating to meet the requirements of heavy load and long-term use. Upper guide support wheels and lower guide support wheels are respectively installed on the bayonet seat, the bolster flexible clamping block, and the side frame flexible clamping block. These upper and lower guide support wheels are designed to maintain a small gap with the side of the workpiece, providing additional lateral support and guidance after the workpiece is clamped, preventing the workpiece from shaking or shifting during transport, and ensuring the stability of the clamping and the smoothness of the transport.

[0016] In another embodiment of the present invention, the adaptive gauge adjustment mechanism comprises: a gauge adjustment mechanism drive motor, a gauge adjustment mechanism reducer, an electric cylinder pushing mechanism, a heavy-duty linear guide rail, a heavy-duty slider, and a limit sensor. The mechanism is mounted on the bottom platform of the workpiece buffer conveyor. When the production workshop needs to switch between different models or specifications of bolster side frame workpieces for production, the lateral spacing of the clamping positions of different models of bolsters or side frames varies. Therefore, the left and right conveyor lines need to be precisely adjusted to accommodate the clamping requirements of different product models. The adaptive gauge adjustment mechanism receives product model information manually input or automatically identified by a sensor system, and processes the data using an algorithm built into the servo control system. The algorithm calculates the precise conveyor line spacing required for the target workpiece model based on a preset product parameter database.

[0017] Specifically, the servo control system converts the calculated line spacing data into command signals and sends them to the track gauge adjustment mechanism drive motor. The track gauge adjustment mechanism drive motor is a high-precision AC servo motor with a rated torque of 5Nm to 10Nm, and its output shaft is connected to a reducer. The track gauge adjustment mechanism reducer uses a zero-backlash planetary gear reducer with a reduction ratio of 1:50 to 1:100 to ensure the accuracy and backlash-free transmission process. The output end of the track gauge adjustment mechanism reducer is directly connected to the main screw or ball screw of the electric cylinder pushing mechanism. The electric cylinder pushing mechanism consists of a high-precision ball screw, nut, servo motor, and push rod. It precisely converts the rotational motion of the drive motor into linear thrust, thereby pushing one line in the workpiece buffer conveyor to move laterally while the other line remains stationary. The electric cylinder pushing mechanism has a thrust range of 2kN to 5kN, a positioning accuracy of ±0.02mm, and a stroke range of 300mm to 800mm, sufficient to cover the adjustment needs of different track gauge bolster side frames. Multiple sets of heavy-duty sliders are installed at the bottom of the moving line. These sliders cooperate with heavy-duty linear guides mounted on the bottom platform to form a high-rigidity, low-friction linear motion system. The heavy-duty linear guides are made of precision-ground steel, possessing high load-bearing capacity and high positioning accuracy, ensuring the smoothness and stability of the line during movement. The adaptive gauge adjustment mechanism has limit sensors installed at both ends of the moving line. These limit sensors detect whether the line has reached its preset limit movement position and send feedback signals to the servo control system to prevent the line from moving beyond the safe range and causing mechanical damage, further ensuring the safe operation of the system. The limit sensors use non-contact proximity switches with a detection distance of 10mm to 20mm.

[0018] As an innovative extension of this invention, the sensor system not only includes the aforementioned photoelectric switch and limit switch, but can also be further configured with a visual recognition sensor system and a radio frequency identification (RFID) reader to achieve a higher level of intelligent functionality. The visual recognition sensor system consists of an industrial camera and an image processing unit, installed at the entrance and key workstations of the conveyor device, for non-contact identification of bolster side frame workpieces about to enter or currently being conveyed. The industrial camera is a high-resolution color camera with a resolution of 5 megapixels or higher, a frame rate of 30fps, and a zoom lens to acquire two-dimensional images of the workpiece. The image processing unit incorporates an image recognition algorithm trained on a deep learning model, capable of accurately identifying the workpiece type (bolster or side frame), specific model, size parameters, and spatial orientation, with an accuracy exceeding 99.5%. The image processing unit integrates the YOLOv5 algorithm through a Python interface. The training process includes: acquiring 10,000 bolster / side frame images and labeling them using the LabelImg tool; model training is executed on an NVIDIA GPU (batch). size =16, epochs=50). The industrial camera outputs images via Ethernet to the processing unit, and the algorithm outputs attitude data (e.g., rotation angle ±0.5°) to the servo control system. Monthly calibration uses a calibration board (accuracy ±0.1mm) to correct distortion. In case of recognition failure, the system triggers redundancy verification: the first misidentification initiates RFID tag verification, and the second failure executes an emergency stop and alarms the HMI. Monthly camera focal length calibration uses a calibration board (accuracy ±0.1mm) to correct optical distortion. The identified workpiece information is transmitted to the servo control system in real time via the industrial Ethernet interface. The radio frequency identification (RFID) reader can be deployed at the entrance, exit, and buffer area of ​​the conveyor line to read the RFID tag information affixed to each workpiece. The RFID tag stores detailed data such as the workpiece's unique identifier, production batch, current status, historical processing records, and target processing path. The RFID reader uses a UHF band reader / writer with a reading distance of 0.5m to 3m and can read multiple tag information simultaneously. The comprehensive data from the sensor system is collected by the servo control system. Based on this real-time data, the servo control system can not only automatically trigger the adaptive gauge adjustment mechanism to make precise adjustments to the line spacing, but also perform auxiliary positioning calibration of the workpiece clamping position, and update the dynamic position and status information of the workpiece in the buffer conveyor in real time.

[0019] As another important component of this invention, the servo control system is the core brain that enables the entire device to operate intelligently and automatically. The servo control system consists of a high-performance industrial programmable logic controller (PLC) or industrial computer (IPC) as the main controller, along with multiple servo drives, digital / analog input / output modules, and a communication module. The main controller has a built-in complex motion control algorithm and logic control program. The motion control algorithm includes an electronic cam (E-CAM) or gearing module for synchronous movement of the left and right conveyor lines, ensuring precise synchronization of speed and position of the two lines during normal transport, with an error of less than 0.1mm. The motion control algorithm also includes a positioning control algorithm for the adaptive gauge adjustment mechanism. The servo control system receives workpiece model information from the sensor system, matches the target gauge through a preset database, and the algorithm uses a PID controller (Kp=5.0, Ti=0.1s, Td=0.05s) to calculate the movement command. The compensation model integrates temperature sensor data and calculates e in real time. temp =0.001mm / °C×ΔT, and superimposed e gap =0.02mm gap compensation, via PLC program (example code segment: IF ΔT>0 THEN e temp_correction =0.001*ΔT) to achieve correction, ensuring that the track gauge error is ≤±0.01mm. The algorithm receives workpiece model data from the sensor system and user input, and accurately calculates and controls the moving distance and speed of the electric cylinder through a preset compensation model and PID control strategy to achieve high-precision track gauge adjustment. The logic control program is responsible for managing the entire operation process of the device, including workpiece entry and exit logic, buffer area management logic, safety interlock logic, and communication and interaction logic with external equipment (such as gantry robot, MES system). Entry and exit logic: When the photoelectric switch detects the entry of the workpiece, the servo system starts to transport it to the buffer area; the buffer management adopts the FIFO strategy, and the HMI sets the maximum buffer size to 20 pieces. Safety interlock logic: When the limit switch is triggered, an emergency stop is immediately initiated; communication with the gantry robot is through the EtherCAT protocol (example: IF robot). ready =1 THEN enable unloading The servo drive employs a high-performance digital servo drive, supporting real-time industrial Ethernet protocols such as EtherCAT or Profinet to achieve closed-loop control with the servo motor and electric cylinder, achieving a feedback resolution of 24 bits. The servo control system also integrates a human-machine interface (HMI), which provides an intuitive user interface via a touchscreen for parameter setting, status monitoring, fault diagnosis, and visualization of production data.

[0020] The servo control system interacts with the upper-level Manufacturing Execution System (MES) and the cloud-based digital platform via an industrial Ethernet interface. Specifically, the interface uses the standard TCP / IP protocol or OPC UA protocol. This data interaction function enables real-time monitoring of workpiece flow information, historical data tracing, and production scheduling optimization. For example, when a new production plan is issued, the MES system sends the required workpiece model information to the servo control system, which then triggers an adaptive gauge adjustment mechanism to adjust the conveyor line to the precise spacing suitable for the current workpiece model. Simultaneously, the cloud-based digital platform can remotely monitor and perform big data analysis on the operating status, energy consumption data, and maintenance cycles of the buffer conveyor, thereby achieving predictive maintenance and continuous optimization of production efficiency. Through this high level of interconnectivity, the device of this invention achieves comprehensive digital and intelligent integration from bottom-level execution to top-level management.

[0021] The bolster side frame combined adaptive gauge buffer conveying device provided by the present invention has shown significant technical advantages and beneficial effects in practical applications.

[0022] a. High Flexibility and Versatility: This device automatically adjusts the conveyor line spacing through a servo control system, achieving adaptive buffering and conveying of bolsters and side-frame workpieces of different specifications and lengths, overcoming the limitations of traditional single-type conveyor devices. The bolster frame universal flexible clamping mechanism, through its unique irregular and L-shaped structure design, cleverly utilizes the workpiece's own weight to reliably and stably clamp two workpieces with completely different geometric features: the bolster and the side frame. The clamping mechanism is bolted to the plate chain, ensuring its free disassembly, expansion, or replacement, further enhancing the system's maintenance flexibility and upgrade potential. This design greatly reduces the changeover time and manpower required for product model switching, significantly improving the production line's flexible production capacity and meeting the needs of multi-variety, small-batch, and even single-piece flow production.

[0023] b. Highly Efficient Buffer Management and Space Utilization: The device of this invention, through the three-dimensional layout of the conveyor line, effectively avoids the redundancy in floor space caused by traditional planar stacking storage methods, achieving intensive utilization of buffer space. Its compact vertical or horizontal linear layout allows for greater storage capacity within limited factory space. The sensor system and servo control system work closely together to record and update the outgoing, incoming, and in-stock information of workpieces on the bolster side frame in real time, and transparently display the data to a cloud-based digital platform via industrial Ethernet, thereby achieving real-time monitoring of buffer status, visualized inventory management, and precise production scheduling. This not only optimizes material flow efficiency but also provides a solid data foundation for lean production in digital factories.

[0024] c. Fully Automated and Highly Safe Operation: This adaptive gauge buffer conveyor can operate continuously 24 / 7 without manual intervention, significantly reducing labor costs and intensity. Through the coordinated action of high-precision servo motors and electric cylinders, the workpiece transfer process is smooth and precise, minimizing the risks of collisions, scratches, or falls during transport, ensuring product quality and operational safety. Furthermore, compared to traditional freight vehicle transport methods, this invention eliminates the traffic safety hazards and environmental pollution caused by frequent truck traffic within the factory area. Simultaneously, its ability to seamlessly integrate with gantry robots for precise loading and unloading operations enables the entire production line to achieve a fully automated closed loop from logistics to processing, significantly improving production efficiency and automation levels. For example, in one application instance, by introducing this invention, the cross-process transfer time of the bolster side frame was reduced by 70%, the workpiece damage rate was reduced by 90%, and the number of required production line operators was reduced by 80%.

[0025] d. Superior Engineering Reliability and Maintainability: The steel frame adopts an optimized structural design and uses high-strength structural steel. Precision welding and stress relief treatment ensure the structural stability and fatigue resistance of the entire conveyor system under long-term heavy-load operation. The transmission chain system (including servo motors, reducers, drive shafts, gears, and chain plates) uses industrial-grade high-quality components with excellent wear resistance, corrosion resistance, and long service life. The support rollers and guide ribs use self-lubricating or low-maintenance materials, reducing daily maintenance requirements. All electrical components and mechanical transmission parts are designed with modular interfaces for easy disassembly and replacement, shortening troubleshooting and maintenance time. The servo control system has comprehensive self-diagnostic functions and a fault alarm system, capable of monitoring the operating status of each component in real time and providing early warnings via HMI or cloud platform to guide operators in preventative maintenance, thereby minimizing equipment downtime and maximizing production line operating efficiency.

[0026] e. Precise Positioning and Cycle Control: This invention achieves precise position control and speed adjustment of workpieces on the conveyor line through independent dual-line drive and synchronous servo control. This allows the device to perfectly cooperate with downstream high-precision processing equipment (such as CNC machine tools and testing equipment) or automated assembly lines, ensuring precise workpiece docking at designated stations and maintaining high synchronization with the processing cycle. For example, when performing loading and unloading operations with a gantry robot, the servo control system provides millisecond-level response speed and micron-level positioning accuracy, ensuring that the robot arm can accurately grasp or place workpieces, greatly improving the reliability and efficiency of automated operations. Precise cycle control of workpieces within the buffer area effectively avoids material backlog caused by process interruptions at the front end of the production line or equipment idleness caused by insufficient material supply at the back end, thereby optimizing the overall balance of the production process.

[0027] In summary, this invention, through systematic design and integration, provides a high-performance, comprehensive, and highly intelligent adaptive gauge buffer conveying device that can be used as both a bolster and side frame. This device not only fundamentally solves the deep-seated contradiction between "process specialization and geometric rigidity" in existing technologies, but also achieves industry-leading levels in flexible production, efficient buffer management, automated operation, and engineering reliability, providing crucial technical support for the transformation and upgrading of the rail transit equipment manufacturing field. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of a bolster side frame combined adaptive gauge buffer conveying device of the present invention;

[0029] Figure 2 This is a schematic diagram of a general-purpose flexible clamping mechanism.

[0030] Figure 3 This is a partial structural diagram of the universal flexible clamping mechanism for pillow frames of the present invention when clamping a rocking pillow workpiece;

[0031] Figure 4 This is a partial structural diagram of the universal flexible clamping mechanism for pillow frames of the present invention when clamping a side frame workpiece;

[0032] Figure 5 This is a schematic diagram of the adaptive gauge adjustment mechanism of the present invention;

[0033] Figure 6 for Figure 1 Top view;

[0034] Figure 7 This is a block diagram showing the connection relationship between the servo control system and each module of the present invention.

[0035] The attached diagrams are labeled as follows: 1. Workpiece buffer conveyor; 2. General-purpose flexible clamping mechanism for bolster frame; 3. Adaptive gauge adjustment mechanism; 4. Sensor system; 5. Servo control system; 10. Steel frame; 11. Servo motor; 12. Reducer; 13. Drive shaft; 14. Gear; 15. Plate chain; 16. Support roller; 17. Guide rib; 18. Photoelectric switch; 19. Limit switch; 20. Bayonet seat; 21. Flexible clamping block for bolster; 22. Flexible clamping block for side frame; 23. Built-in return spring; 24. Limit stop block; 25. Upper guide support wheel; 26. Lower guide support wheel; 30. Drive motor for gauge adjustment mechanism; 31. Reducer for gauge adjustment mechanism; 32. Electric cylinder pushing mechanism; 33. Heavy-duty linear guide; 34. Heavy-duty slider; 35. Limit sensor; 40. Industrial camera; 41. Image processing unit; 42. Radio frequency identification (RFID) reader; 50. Main controller; 51. Servo driver; 52. Digital / analog input / output module; 53. Communication module; 54. Human-machine interface (HMI); W1. Rocker workpiece; W2. Side frame workpiece. Detailed Implementation

[0036] This invention provides a bolster side frame combined adaptive gauge buffer conveying device, aiming to solve specific technical challenges in the field of automated conveying and buffering of rail transit components. The overall structure of the device is as follows: Figure 1 As shown, the device consists of core functional modules, including a workpiece buffer conveyor 1, a universal flexible clamping mechanism for pillow frames 2, an adaptive gauge adjustment mechanism 3, a sensor system 4, and a servo control system 5. This device can automate workpiece loading and unloading operations at any designated workstation using industrial robots (e.g., gantry robots), and complete continuous transfer operations between various processing steps.

[0037] In one specific embodiment, the workpiece buffer conveyor 1 has the following detailed structure: Figures 1-6As shown, the system mainly consists of core components such as a steel frame 10, a servo motor 11, a reducer 12, a drive shaft 13, gears 14, a chain 15, support rollers 16, guide ribs 17, photoelectric switches 18, and limit switches 19. The steel frame 10 is the load-bearing and supporting structure of the entire conveyor system, made of Q345B high-strength structural steel and manufactured using precision welding technology. Its main frame is composed of H-beams (e.g., web height 500mm, flange width 200mm, plate thickness 10mm / 16mm) and channel steel (e.g., 100mm x 50mm x 6mm) welded together, and undergoes overall annealing stress relief treatment to ensure structural stability and fatigue resistance under long-term heavy-load operation. After shot blasting to remove rust, the frame surface is coated with epoxy zinc-rich primer and polyurethane topcoat, providing excellent corrosion resistance and wear resistance. The entire steel frame 10 is designed to withstand a static load of 2000kg and a dynamic load of 1000kg per meter of conveyor line.

[0038] The workpiece buffer conveyor 1 is configured as two independent lines, left and right, to adapt to the adaptive adjustment requirements of the track gauge. Each line is equipped with an independent power drive unit, and the two independent power drive units are precisely synchronized through a servo control system 5. Specifically, each line is equipped with an independent AC servo motor 11, with a rated power of 2.2kW, a rated torque of 14Nm, and a maximum speed of 3000rpm. This servo motor integrates a 23-bit absolute encoder, providing high-precision position feedback signals to ensure a positioning accuracy of 0.01 degrees. It has an IP65 protection rating, providing excellent dust and water resistance, and maintains a stable operating temperature through forced air cooling.

[0039] The output shaft of the servo motor 11 is mechanically connected to the input end of the high-precision gear reducer 12 via a precision coupling. The reducer 12 employs a planetary gear structure, featuring zero backlash, a reduction ratio of 1:15, an output torque of up to 210 Nm, and a transmission efficiency exceeding 97%. Its internal gears are made of 20CrMnTi alloy steel, carburized, quenched, and ground to ensure high strength, high wear resistance, and low noise. The output end of the reducer 12 is directly connected to the main drive shaft 13.

[0040] The drive shaft 13 is made of 42CrMo alloy steel, with a diameter of 60mm. Its surface undergoes medium-frequency quenching treatment, achieving a hardness of HRC 55-60, effectively improving wear resistance. The drive shaft 13 is supported on the steel frame 10 by multiple sets of self-aligning roller bearings (e.g., SKF 22212E bearings). The bearing housings are made of cast steel and reliably fixed to the frame, ensuring smooth transmission and load-bearing capacity. Multiple spur gears 14 are fitted onto the drive shaft 13. The gears 14 have a module of 5 and precisely mesh with the chain links of the plate chain 15. The gears 14 are also made of 20CrMnTi alloy steel, carburized, quenched, and ground. They are reliably fixed to the drive shaft 13 via expansion sleeves, achieving a keyless connection and ensuring reliable torque transmission.

[0041] The plate chain 15 is a heavy-duty conveyor plate chain, using heat-treated alloy steel links and pins. The link spacing is 120mm, and the ultimate tensile strength of a single link can reach 100kN. The upper surface of the plate chain 15 is machined with a standard bolt hole array (e.g., M10 bolt holes, spaced 150mm x 150mm) for rigid connection with the bayonet seat 20 of the universal flexible clamping mechanism 2 for the pillow frame. The plate chain 15 is configured in a double-row parallel structure to provide stronger load-bearing capacity and operational stability.

[0042] Support rollers 16 are installed on both sides of the clamping mechanism 2. These support rollers 16 are made of high-polymer wear-resistant material (e.g., specially formulated polyurethane, Shore hardness D65-70), with a diameter of 80mm, and integrate precision sealed deep groove ball bearings. These rollers are positioned on both sides below the plate chain 15, contacting the lower edge of the plate chain 15 or a dedicated support track laid on the steel frame 10. They evenly transfer the vertical load of the bolster or side frame workpieces W1 and W2 to the steel frame 10, thereby protecting the plate chain 15 structure from excessive stress and deformation, ensuring smooth operation of the plate chain 15 under heavy loads and extending its service life. The bearings of the rollers have self-lubricating properties, reducing the need for daily maintenance. The spacing of the support rollers 16 is designed to be 500mm to ensure uniform load distribution.

[0043] The middle section of the plate chain 15 engages with the guide rib 17. The guide rib 17 is made of ultra-high molecular weight polyethylene (UHMW-PE), possessing a low coefficient of friction (e.g., 0.1-0.2) and excellent wear resistance, with a cross-sectional dimension of 50mm x 20mm. The guide rib 17 is fixed to the steel frame 10 by a dedicated adjustable bracket, maintaining a precise 0.5mm gap with the side edge of the plate chain 15. This provides precise lateral guidance during the operation of the plate chain 15, effectively preventing lateral movement or derailment, thereby improving the stability and safety of the conveying process.

[0044] A photoelectric switch 18 is installed at the end of the conveyor line. For example, a diffuse reflection photoelectric sensor (SickW24-2R230 model) is used, with a detection distance of 1.0m and a response time of less than 2ms. The photoelectric switch 18 is used to accurately detect the entry and exit signals and position information of workpieces W1 and W2, and transmits the signals directly to the servo control system 5 to trigger subsequent logic control or motion commands. Simultaneously, a limit switch 19 is installed at the physical end of the conveyor line as a physical limit protection device. For example, a mechanical plunger-type limit switch (Omron D4NH model) is used, with a repeatability of ±0.01mm. When workpieces W1 and W2 or the clamping mechanism 2 move beyond the safe area due to abnormal conditions, the limit switch 19 will be triggered, immediately sending an emergency stop signal to the servo control system 5 to prevent workpieces W1 and W2 from overshooting or falling, ensuring the safety and reliability of the conveying operation.

[0045] As a preferred embodiment of the present invention, the structure of the universal flexible clamping mechanism 2 for the pillow frame is as follows: Figure 3 and Figure 4 As shown, its specific components include a bayonet seat 20, a rocker flexible clamping block 21, a side frame flexible clamping block 22, a built-in return spring 23, a limit stop block 24, and support rollers 16. The support rollers 16 include an upper guide support wheel 25 and a lower guide support wheel 26. The bayonet seat 20 is the basic connecting structure of the flexible clamping mechanism 2, welded from Q235 structural steel plate. Its lower surface is reliably connected to the plate chain 15 of the workpiece buffer conveyor 1 using M10 high-strength bolts. The top and sides of the bayonet seat 20 have pre-drilled mounting holes and welding base surfaces for mounting the rocker flexible clamping block 21, the side frame flexible clamping block 22, the return spring 23, the limit stop block 24, and the support rollers 16. This modular design ensures quick installation and disassembly of the clamping mechanism and interchangeability of different models of flexible clamping blocks.

[0046] Specifically, for the clamping of the bolster workpiece W1, the flexible clamping block 21 of the bolster is designed with an irregular structure, such as... Figure 3As shown, the upper part has a geometric shape that matches the wedge-shaped surfaces at both ends of the bolster W1 (typically with an angle of about 30 degrees and a certain curvature). The clamping block 21 consists of two sets of symmetrically arranged units. The main body of each clamping block 21 is made of 40Cr alloy steel, which, after quenching and tempering, achieves a surface hardness of HRC 45-50 and is coated with a wear-resistant polyurethane coating. Each clamping block 21 has a 30mm diameter rotating shaft in the middle, made of SUS304 stainless steel, pivotally connected to the bayonet seat 20 via a self-lubricating bearing (e.g., an oil-impregnated bearing or a composite bushing). When the weight of the bolster workpiece G ≥ 300kg, the upper inclined surface of the clamping block is coated with a tungsten carbide coating (friction coefficient μ = 0.2 ± 0.02) to ensure constant friction. The self-locking angle α = 10.5° is dynamically adjusted by an angle sensor (accuracy ±0.1°) on the limit stop block. When rotated to α, the preload Fp = Fn × sinθ (θ = 30°) is monitored in real time by a built-in pressure sensor to ensure Fp ≥ 0.1G. Under vibration conditions, the damper (c = 50 N·s / m) suppresses loosening and constrains the rotation angle within α ± 0.5°. After the workpiece is removed from the bolster, the flexible clamping block automatically returns to its initial unclamped position through the elastic force of the built-in return spring connected to it. To ensure the accuracy of the clamping block during the return process and prevent over-rotation, a welded limit stop block is provided on the bayonet seat. The limit stop block contacts the clamping block when it returns to its limit position, thereby preventing the flexible clamping block from rotating too far and ensuring that it is always in the correct standby state to prepare for the clamping of the next round of workpieces.

[0047] Furthermore, for the clamping of the side frame workpiece W2, the flexible clamping block 22 of the side frame is designed as an L-shaped structure, such as... Figure 4 As shown, it also consists of two sets of symmetrically arranged units. The main body material of each L-shaped clamping block 22 is also made of 40Cr alloy steel, which has been tempered and surface hardened. Its L-shaped geometric dimensions are as follows: vertical arm height 200mm, horizontal arm length 100mm, plate thickness 10mm, and inner corner radius 10mm. A 30mm diameter rotating shaft is also provided in the middle of the L-shaped clamping block 22. The rotating shaft is made of SUS304 stainless steel and is pivotally connected to the bayonet seat 20 through a self-lubricating bearing. When the side frame workpiece W2 is hoisted above the conveyor and descends to the predetermined position by its own weight, the spine of the side frame W2 (usually a rectangular or trapezoidal cross section) will fit against the bottom edge of the L-shaped clamping block 22. Under the continuous action of the workpiece's weight (e.g., 200kg to 500kg), the two sets of L-shaped clamping blocks 22 will rotate inward around their respective axes of rotation, so that the sides of the L-shaped clamping blocks 22 tightly fit and clamp the spine of the side frame W2, achieving reliable and stable clamping of the workpiece W2. The lever ratio from the clamping block's axis of rotation to the clamping point is 1:1.5, and the workpiece's weight G is converted into a clamping force F.clamp =1.5×G×cosβ (β is the rotation angle of the clamping block, β≤15°). Minimum clamping force F clamp_min ≥500N, damping is added (damping coefficient c=50N·s / m) to suppress conveying vibration. The gap between the clamping surface and the workpiece is ≤0.2mm. When the workpiece W2 on the side frame is removed, the L-shaped clamping block 22 automatically returns to its initial unclamped position by the elastic force of the built-in return spring 23 connected to it.

[0048] To ensure the accuracy of clamping blocks 21 and 22 during the return process and to prevent excessive rotation, a welded limiting stop block 24 is provided on the bayonet seat 20. The limiting stop block 24 is welded from high-strength steel plate, with dimensions of 50mm x 30mm x 10mm, and is precisely installed at the end of the return path of clamping blocks 21 and 22. The limiting stop block 24 contacts the clamping blocks 21 and 22 when they return to their limit positions, thereby preventing the flexible bolster clamping block 21 or the L-shaped clamping block 22 from rotating over-rotating and ensuring that it is always in the correct standby state to prepare for the next round of workpiece clamping. The built-in return spring 23 is a stainless steel compression spring (e.g., SUS304 material) with a wire diameter of 3mm, an outer diameter of 20mm, and a free length of 50mm. This spring can provide a return force of 75N to 120N under compression, with a design life exceeding 1 million cycles, ensuring long-term reliability.

[0049] Upper guide support wheels 25 and lower guide support wheels 26 are respectively installed on the bayonet seat 20, the rocker flexible clamping block 21, and the side frame flexible clamping block 22. The upper guide support wheels 25 and lower guide support wheels 26 are made of hardened carbon steel (e.g., GCr15 bearing steel), with a diameter of 50 mm and a hard chrome plated surface. These support wheels integrate sealed rolling bearings internally and are located on the sides of the clamping blocks 21 and 22, designed to maintain a small gap of 2 mm to 5 mm with the sides of the workpieces W1 and W2. After the workpieces are clamped, these support wheels 25 and 26 provide additional lateral support and guidance during transport, effectively limiting the swaying or displacement of workpieces W1 and W2 caused by inertia or vibration during transport, ensuring the stability of the clamping and the smoothness of the transport.

[0050] In another embodiment of the present invention, the adaptive gauge adjustment mechanism 3 is configured as follows: Figure 5As shown, the main components include a track gauge adjustment mechanism drive motor 30, a track gauge adjustment mechanism reducer 31, an electric cylinder pushing mechanism 32, a heavy-duty linear guide rail 33, a heavy-duty slider 34, and a limit sensor 35. The mechanism is located on the bottom platform of the workpiece buffer conveyor 1. This platform is made of 20mm thick precision-machined steel plate and is fixed to the ground with high-strength anchor bolts to ensure its stability and levelness as a moving reference. When the production workshop needs to switch between different models or specifications of bolster side frame workpieces W1 and W2 for production, the lateral spacing of the clamping positions of different models of bolsters or side frames varies (for example, the span of a bolster may range from 800mm to 1200mm, and the inner distance of a side frame may range from 500mm to 700mm). Therefore, the left and right lines of the conveyor 1 need to be precisely adjusted to adapt to the clamping requirements of different models of products. The adaptive track gauge adjustment mechanism 3 receives product model information manually input or automatically identified by the sensor system 4, and processes the data through the algorithm built into the servo control system 5. The algorithm calculates the precise conveyor line spacing required for the target workpiece model based on a preset product parameter database (e.g., storing the geometric parameters and recommended track gauges of 50 different types of bolsters and side frames).

[0051] Specifically, the servo control system 5 converts the calculated line spacing data into command signals and sends them to the track gauge adjustment mechanism drive motor 30 via real-time industrial Ethernet (e.g., EtherCAT). The track gauge adjustment mechanism drive motor 30 is a high-precision AC servo motor with a rated torque of 7.5 Nm and a maximum speed of 2000 rpm. It also integrates a 23-bit absolute encoder to ensure high-precision positioning. Its output shaft is connected to the track gauge adjustment mechanism reducer 31. The track gauge adjustment mechanism reducer 31 uses a zero-backlash planetary gear reducer with a reduction ratio of 1:75 and an output torque of up to 560 Nm, further ensuring the accuracy and backlash-free transmission process and effectively improving positioning rigidity.

[0052] The output end of the reducer 31 of the gauge adjustment mechanism is directly connected to the main ball screw of the electric cylinder pushing mechanism 32. The electric cylinder pushing mechanism 32 consists of a high-precision ball screw, ball nuts, a servo motor, and a push rod. It precisely converts the rotational motion of the gauge adjustment mechanism drive motor 30 into linear thrust, thereby pushing one conveyor of the workpiece buffer conveyor 1 to move laterally while the other conveyor remains stationary. The ball screw of the electric cylinder pushing mechanism 32 has a diameter of 40mm, a lead of 10mm, C5 grade precision, a positioning accuracy of ±0.01mm, and a repeatability of ±0.005mm. Its maximum thrust range is 3kN, and its stroke range is 500mm, sufficient to cover the adjustment needs of different gauge bolster side frames (e.g., from the smallest 500mm to the largest 1000mm), with a maximum moving speed of 100mm / s. The housing of the electric cylinder 32 is made of high-strength aluminum alloy profile and is fixed to the bottom platform via bearing seats at both ends.

[0053] Multiple sets of heavy-duty sliders 34 are installed at the bottom of the moving conveyor. For example, eight sets of THK HSR55 heavy-duty sliders are installed along the length of each side of the conveyor. These heavy-duty sliders 34 cooperate with heavy-duty linear guides 33 mounted on the bottom platform to form a high-rigidity, low-friction linear motion system. The heavy-duty linear guides 33 are made of precision-ground S45C high-carbon steel, with a width of 55mm and a length of 5m, and are fixed to the bottom platform with precision bolts. This guide system has high load-bearing capacity (e.g., a static load-bearing capacity of 100kN per meter of guide rail) and high positioning accuracy, ensuring the stability and smooth movement of the moving conveyor during its movement, while also bearing the weight of the workpiece and the conveyor itself.

[0054] The adaptive gauge adjustment mechanism 3 has limit sensors 35 installed at both ends of the moving line. For example, non-contact inductive proximity switches (Siemens 3RG4 series) are used, with a detection distance of 15mm and an IP67 protection rating. The limit sensors 35 are used to detect whether the moving line has reached its preset limit movement position (e.g., minimum gauge limit and maximum gauge limit) and send feedback signals to the servo control system 5 to prevent the line from moving beyond the safe range and causing mechanical damage, thereby further ensuring the safe operation of the system.

[0055] As an innovative extension of the present invention, the sensor system 4 not only includes the aforementioned photoelectric switch 18, limit switch 19, and limit sensor 35, but can also be further configured with a visual recognition sensor system and a radio frequency identification (RFID) reader 42 to achieve a higher level of intelligent functions. The visual recognition sensor system consists of an industrial camera 40 and an image processing unit 41, and is installed at the entrance end of the conveying device and at key workstations (e.g., above the loading and unloading station of the gantry robot).

[0056] The industrial camera 40 employs a high-resolution global shutter color industrial camera (e.g., Basler Ace 2 series) with a resolution of 8 megapixels (3200x2400) and a frame rate of 45fps. The camera is equipped with a 12-50mm motorized zoom lens with a C-mount interface, enabling the acquisition of high-resolution two-dimensional images of workpieces W1 and W2 at different focal lengths. During operation, the camera provides uniform illumination via a high-power LED ring light source (e.g., adjustable brightness, 20,000 lux). The image processing unit 41 comprises a high-performance industrial computer (e.g., Intel Core i7 processor, NVIDIA RTX series GPU) with a built-in image recognition algorithm. This algorithm is trained based on a deep learning model (e.g., YOLOv8 model), and the training dataset contains over 10,000 images of bolsters and side frames of different models and orientations. This algorithm can accurately identify the type of workpiece (bolster or side frame), specific model, dimensional parameters (e.g., length and width of the bolster, spine dimensions of the side frame), and spatial orientation (e.g., rotation angle of the workpiece). The recognition accuracy exceeds 99.5% in actual operation. The image processing unit integrates the YOLOv5 algorithm via a Python interface. The training process includes: acquiring 10,000 bolster / side frame images and labeling them using the LabelImg tool; model training is performed on an NVIDIA GPU (batch). size =16, epochs=50). The industrial camera outputs images via Ethernet to the processing unit, and the algorithm outputs attitude data (e.g., rotation angle ±0.5°) to the servo control system. Monthly calibration uses a calibration board (accuracy ±0.1mm) to correct distortion. In case of recognition failure, the system triggers redundancy verification: the first misidentification initiates RFID tag verification, and the second failure executes an emergency stop and alarms the HMI. The camera focal length is calibrated monthly, and optical distortion is corrected using a calibration board (accuracy ±0.1mm). The identified workpiece information is transmitted in real time to the servo control system 5 via an industrial Ethernet interface (e.g., Gigabit Ethernet).

[0057] The radio frequency identification (RFID) reader 42 can be deployed at the entrance, exit, and buffer areas of the conveyor line to read RFID tag information affixed to each workpiece W1 and W2. The RFID tags are UHF band (860-960MHz) hard anti-metal tags with a built-in Alien H3 chip, storing 96 bits of EPC code and 512 bits of user-defined storage. The RFID reader 42 uses a fixed multi-channel UHF reader (e.g., Impinj R700 series), equipped with four circularly polarized antennas, achieving a reading distance of up to 5m. It can simultaneously read multiple tag information during high-speed movement, with a reading speed of up to 200 tags / second. The RFID tags store detailed data such as the unique identifier of workpiece W1 and W2, production batch, current processing status, historical processing records, and target processing path. The RFID reader 42 communicates with the servo control system 5 via the OPC UA protocol.

[0058] The comprehensive data from the sensor system 4 (including the input / output signals of the photoelectric switch 18, the protection signals of the limit switch 19, the position feedback of the limit sensor 35, the workpiece information from the vision recognition system, and the tag data from the RFID reader 42) is collected and sent to the servo control system 5. Based on this real-time data, the servo control system 5 can not only automatically trigger the adaptive gauge adjustment mechanism 3 to precisely adjust the line spacing, but also perform auxiliary positioning calibration on the clamping positions of workpieces W1 and W2 (for example, fine-tuning the deviation between the workpiece center position fed back by the vision system and the preset clamping center position), and update the dynamic position and status information of workpieces W1 and W2 in the buffer conveying device in real time, forming a comprehensive digital twin model.

[0059] As another important component of the present invention, the servo control system 5 has the following connection relationship: Figure 7 As shown, this is the core brain that enables the entire device to operate intelligently and automatically. The servo control system 5 consists of a high-performance industrial programmable logic controller (PLC) as the main controller 50, along with multiple servo drives 51, digital / analog input / output modules 52, a communication module 53, and a human-machine interface (HMI) 54. The main controller 50 uses a Siemens S7-1500 series CPU1517F-3 PN / DP, which has a processing speed of up to 10ns / instruction, 10MB of program memory, 60MB of data memory, a scan time of less than 1ms, and integrates fail-safe functions.

[0060] The main controller 50 incorporates a complex motion control algorithm and logic control program. The motion control algorithm includes an electronic cam (E-CAM) or gearing module for synchronous movement of the left and right conveyor lines. High-precision position synchronization control ensures accurate synchronization of speed and position between the two conveyor lines during normal transport, with a synchronization position error within 0.05mm and speed fluctuation less than 0.1%. The motion control algorithm also includes a positioning control algorithm for the adaptive gauge adjustment mechanism 3. This positioning control algorithm uses a PID controller. The servo control system receives workpiece model information from the sensor system, matches the target gauge through a preset database, and the algorithm uses a PID controller (Kp=5.0, Ti=0.1s, Td=0.05s) to calculate the movement command. The compensation model integrates temperature sensor data and calculates e in real time. temp =0.001mm / °C×ΔT, and superimposed e gap =0.02mm gap compensation, via PLC program (example code segment: IF ΔT>0 THEN e temp_correction =0.001*ΔT) to achieve correction, ensuring that the track gauge error is ≤±0.01mm. The algorithm receives workpiece model data from sensor system 4 and user input, and accurately calculates and controls the moving distance and speed of electric cylinder 32 through a preset compensation model and PID control strategy, achieving high-precision track gauge adjustment at the ±0.01mm level.

[0061] The logic control program, written in Structured Text (SCL) and Ladder Diagram (LAD), is responsible for managing the entire operation of the device. This includes the entry and exit logic for workpieces W1 and W2 (e.g., receiving a signal from the loading robot and starting the conveyor line to receive the workpiece), the buffer zone management logic (e.g., dynamically adjusting the movement and stopping positions of workpieces in the buffer zone according to MES instructions or production cycle time to implement a first-in-first-out or first-in-last-out strategy), the safety interlock logic (e.g., automatically stopping the conveyor when personnel enter the safety area; preventing the conveyor line from starting before the workpiece is fully clamped), and the communication and interaction logic with external equipment (such as gantry robots and MES systems).

[0062] The servo drive 51 employs a high-performance digital servo drive (e.g., Siemens Sinamics S210 series), with each servo motor 11 and track gauge adjustment mechanism drive motor 30 equipped with an independent servo drive. These drives communicate with the main controller 50 at high speed via the EtherCAT real-time industrial Ethernet protocol, achieving closed-loop control with the servo motors 11 and electric cylinders 32. Its current loop update frequency is 62.5µs, speed loop update frequency is 125µs, and position loop update frequency is 250µs, with a feedback resolution of 24 bits, ensuring extremely high control accuracy and dynamic response. The drive integrates functions such as Safe Torque Off (STO) and Safe Speed ​​Limit (SLS), conforming to the EN ISO 13849-1 PLd standard.

[0063] The digital / analog input / output module 52 is used to connect to the photoelectric switch 18, limit switch 19, limit sensor 35, and other various sensors and actuators (e.g., brakes, indicator lights). The communication module 53 integrates standard TCP / IP, OPC UA, and Modbus TCP protocol interfaces for data interaction with the upper-level manufacturing execution system (MES) and cloud-based digital platform. The servo control system 5 also integrates a human-machine interface (HMI) 54, such as a 15-inch Siemens Comfort Panel TP1500 touchscreen. The HMI 54 provides an intuitive graphical user interface for parameter setting, real-time monitoring of operating status, fault diagnosis (displaying detailed fault codes and solutions), and visualization of production data (e.g., displaying current track gauge, number of workpieces, energy consumption curves, historical alarm records, etc.).

[0064] The servo control system 5 interacts with the upper-level Manufacturing Execution System (MES) and the cloud-based digital platform via an industrial Ethernet interface. Specifically, the interface uses the standard TCP / IP protocol or the OPC UA protocol. This data interaction function enables real-time monitoring of workpiece flow information, historical data tracing, and production scheduling optimization. For example, when a new production plan (e.g., producing 100 25T side frames, followed by 50 30T bolsters) is issued, the MES system sends the required workpiece model information to the servo control system 5 via the OPC UA client interface. The servo control system 5 then triggers the adaptive gauge adjustment mechanism 3, adjusting the conveyor line to the precise spacing suitable for the current workpiece model (e.g., from 650mm to 980mm) according to preset parameters. Simultaneously, the cloud-based digital platform can remotely monitor and perform big data analysis on the operating status, energy consumption data, and maintenance cycles of the buffer conveyor, using machine learning algorithms for trend prediction, thereby achieving predictive maintenance and continuous optimization of production efficiency. For example, by analyzing bearing vibration data or motor current curves, equipment failures can be predicted in advance, allowing for scheduled maintenance and avoiding unplanned downtime. Through this high level of interconnectivity, the device of this invention achieves comprehensive digital and intelligent integration from bottom-level execution to top-level management.

[0065] In one embodiment, the adaptive gauge buffer conveyor device for both bolster and side frame use provided by the present invention was subjected to actual operational testing. The test environment was the bolster side frame processing workshop of a rail transit equipment manufacturing company. The total length of the conveyor line of the test device was 25 meters, and the buffer capacity was 20 workpieces.

[0066] Example 1: Switching between a hybrid production line for 25T bus bolsters and 30T freight car side frames

[0067] This embodiment aims to verify the flexibility and efficiency of the device when handling the switching of different workpiece models.

[0068] Workpiece parameters:

[0069] Pillow workpiece (W1): Model "25T Bus Pillow-A", length 1200mm, width 400mm, height 350mm, weight 350kg. Clamping point spacing is 980mm.

[0070] Side frame workpiece (W2): Model "30T truck side frame-B", length 900mm, width 350mm, height 280mm, weight 280kg. Clamping point spacing is 650mm.

[0071] Test process:

[0072] 1. Initial state: The conveyor line is set to a track gauge of 980mm to accommodate the "25T Bus Bollard-A". The servo control system 5 receives a production order for 10 "25T Bus Bollard-A" units from the MES system.

[0073] 2. Rocker Pillar Workpiece Conveying and Buffering: The visual recognition sensor system 4 identifies the rocker pillow workpiece W1, and the RFID reader 42 reads the workpiece information. The workpiece buffer conveyor 1, assisted by a gantry robot, completes loading, and the rocker pillow flexible clamping block 21 successfully clamps the workpiece. The workpiece is conveyed to the buffer area at a speed of 0.2 m / s and, under the precise control of the servo control system 5, stops at the designated station with a positional error of less than ±0.1 mm. The buffering and conveying of 10 rocker pillow workpieces takes approximately 80 minutes (including loading and unloading time).

[0074] 3. Product Model Switching: The MES system issues a new production order, requiring the production of 15 "30T Truck Side Frame-B". After receiving the order, the servo control system 5 immediately retrieves the recommended track gauge (650mm) for "30T Truck Side Frame-B" from its internal database.

[0075] 4. Adaptive Track Gauge Adjustment: The servo control system 5 sends a command to the adaptive track gauge adjustment mechanism 3. The track gauge adjustment mechanism's drive motor 30 drives the electric cylinder pushing mechanism 32, adjusting the moving line from 980mm to 650mm. The entire adjustment process takes 25 seconds, with a positioning accuracy of ±0.01mm. After adjustment, the limit sensor 35 sends a feedback signal indicating that the adjustment is complete, and the servo control system 5 confirms the completion of the adjustment.

[0076] 5. Side Frame Workpiece Conveying and Buffering: The visual recognition sensor system 4 identifies the side frame workpiece W2, and the RFID reader 42 reads the workpiece information. The workpiece buffer conveyor 1, assisted by the gantry robot, completes the loading, and the side frame flexible clamping block 22 successfully clamps the workpiece. The workpiece is conveyed to the buffer area at a speed of 0.2 m / s. The buffering and conveying of 15 side frame workpieces is completed in approximately 110 minutes.

[0077] Operational data and performance:

[0078] Track gauge adjustment time: 25 seconds.

[0079] Track gauge positioning accuracy: ±0.01mm.

[0080] Workpiece conveying speed: 0.2m / s.

[0081] Workpiece positioning accuracy (at the specified station): ±0.1mm.

[0082] Energy consumption per unit of workpiece conveying: 0.8 kWh / piece on average (including energy consumption for conveying, buffering, and gauge adjustment).

[0083] Workpiece damage rate: 0%.

[0084] Equipment uptime: 98.5% (excluding planned maintenance).

[0085] Manpower required for line replacement: 0 people.

[0086] Comparative Example 1: Traditional fixed-gauge conveyor line vs. manual line changing

[0087] This comparative simulation demonstrates existing technologies using fixed-gauge conveyor lines with manual adjustments for track changes, or using two independent conveyor lines. It assumes the factory has two fixed-gauge conveyor lines: one dedicated to "25T bus bolster-A" (980mm gauge) and the other dedicated to "30T freight car side frame-B" (650mm gauge). Alternatively, one conveyor line may require manual gauge adjustments.

[0088] Scenario A: Two independent fixed-gauge conveyor lines

[0089] Equipment investment: Two complete conveyor lines need to be invested in, which will increase the equipment purchase cost by about 100%.

[0090] Land area: Due to the parallel or serial nature of the two lines, the total land area increases by approximately 80% to 100%.

[0091] Flexibility: The two production lines cannot share buffer space or flexibly switch production capacity. When the demand for one type of workpiece is high, the resources of the other production line are idle.

[0092] Material handling: Additional transfer equipment (such as AGVs or forklifts) is required to transfer workpieces between the two lines, which increases transfer time, labor costs and potential collision risks.

[0093] Management complexity: The complexity of maintaining the two systems, managing spare parts, and scheduling production increases.

[0094] Scenario B: A conveyor line but relying on manual track gauge adjustment.

[0095] Track gauge adjustment method: The guide rails or support structure on both sides are adjusted manually, for example, by using a manual screw or hydraulic cylinder. Manual measurement, positioning and tightening are required.

[0096] Track gauge adjustment time:

[0097] Preparation (tools and personnel in place): 15 minutes.

[0098] Loosen the fixing bolts and unlock: 10 minutes.

[0099] Manual gauge adjustment: 20 minutes (repeated measurements and calibrations are required).

[0100] Tighten bolts and inspect: 15 minutes.

[0101] Total line switching time: approximately 60 minutes.

[0102] Track gauge positioning accuracy: It is greatly affected by manual operation, usually within ±5mm to ±10mm, which cannot meet the requirements of high-precision machining.

[0103] Workpiece damage rate: During manual adjustment and positioning, the workpiece is easily damaged by collision and scratch, with a damage rate of about 5%.

[0104] Safety: There is a potential risk of pinching injury from manual operation.

[0105] Production efficiency: Frequent product changes result in significant downtime, severely impacting production efficiency. For example, 10 product changes per month result in a total of 10 hours of downtime.

[0106] Manpower required: At least two skilled workers are needed for each line change.

[0107] Data Comparison Table:

[0108]

[0109] The above data comparison shows that the adaptive gauge buffer conveying device for both bolster and side frame provided by this invention has significant advantages and beneficial effects compared with existing traditional solutions in terms of flexible production capacity, automation level, production efficiency, precision, and safety. Through high-precision servo control and adaptive mechanisms, this device can quickly, accurately, and unmannedly switch between the production of different workpiece models, fundamentally solving the efficiency bottlenecks and quality risks encountered by traditional conveying solutions in multi-variety, small-batch production modes, and providing solid technical support for the intelligent upgrading of the rail transit equipment manufacturing field.

Claims

1. A buffer conveying device that combines a bolster side frame and adaptive gauge, characterized in that, include: The workpiece buffer conveyor (1) is configured as two independent lines on the left and right. Each line is equipped with an independent power drive unit. The two independent power drive units are precisely synchronized through a servo control system (5). The pillow frame general-purpose flexible clamping mechanism (2) includes a rocker flexible clamping block (21) for clamping the rocker workpiece (W1) and a side frame flexible clamping block (22) for clamping the side frame workpiece (W2). The rocker flexible clamping block (21) and the side frame flexible clamping block (22) are both movable mechanisms to be compatible with clamping the rocker workpiece (W1) and the side frame workpiece (W2). An adaptive gauge adjustment mechanism (3) is set on the bottom platform of the workpiece buffer conveyor (1) and is used to adjust the distance between the left and right independent lines of the workpiece buffer conveyor (1) according to the workpiece model information. The sensor system (4) is used to detect the entry and exit signals, position information and workpiece model of the bolster workpiece (W1) and the side frame workpiece (W2), and to monitor the limit movement position of the line. The servo control system (5), as the main controller, has built-in motion control algorithms and logic control programs to drive and coordinate the operation of the workpiece buffer conveyor (1), the clamping action of the pillow frame general flexible clamping mechanism (2), and the track gauge adjustment of the adaptive track gauge adjustment mechanism (3), and to receive and process the signals of the sensor system (4) to realize the automated and intelligent operation of the entire device.

2. The buffer conveying device according to claim 1, characterized in that, The workpiece buffer conveyor (1) consists of a steel frame (10), a servo motor (11), a reducer (12), a drive shaft (13), a gear (14), a plate chain (15), support rollers (16), guide ribs (17), a photoelectric switch (18), and a limit switch (19). The steel frame (10) provides support for the entire conveyor system. The servo motor (11) and the reducer (12) are mechanically connected in sequence, and the output end of the reducer (12) is connected to the drive shaft (13). The gear (14) is sleeved on the drive shaft (13) and meshes with the plate chain (15) for transmission. The upper part of the plate chain (15) is connected to the universal flexible clamp of the pillow frame by bolts. The mechanism (2) is rigidly connected; the support rollers (16) are installed on both sides of the clamping mechanism (2), and the support rollers (16) are designed to counteract the vertical load of the workpiece; the middle part of the plate chain (15) cooperates with the guide rib (17), and the guide rib (17) provides precise lateral guidance during the operation of the plate chain (15); the end of the conveyor line is equipped with the photoelectric switch (18) and the limit switch (19), the photoelectric switch (18) is used to detect the entry and exit signals and position information of the bolster workpiece (W1) and the side frame workpiece (W2), and the limit switch (19) is used to prevent the bolster workpiece (W1) and the side frame workpiece (W2) from being pushed out or falling during the conveying process.

3. The buffer conveying device according to claim 2, characterized in that, The steel frame (10) is made of Q345B high-strength structural steel, manufactured by precision welding process, and subjected to overall annealing stress relief treatment. The design load-bearing capacity is 2000kg of static load per meter of conveyor line. The servo motor (11) is an AC servo motor with a rated power of 2.2kW, integrating a 23-bit absolute encoder to provide high-precision position feedback signals and ensure positioning accuracy of 0.01 degrees. The reducer (12) adopts a zero-backlash planetary gear structure with a reduction ratio of 1:15, an output torque of up to 210Nm, and a transmission efficiency of over 97%. The drive shaft (13) is made of 42CrMo alloy steel with a diameter of 60mm and the surface is treated with medium-frequency quenching. The hardness reaches HRC55-60; the gear (14) is a spur gear with a module of 5, which meshes precisely with the links of the plate chain (15); the plate chain (15) is a heavy-duty conveyor plate chain, which uses heat-treated alloy steel links and pins, with a link spacing of 120mm and a single link ultimate tensile strength of up to 100kN. Its upper surface is machined with a standard bolt hole array; the support roller (16) is made of high-molecular wear-resistant polyurethane material, with a diameter of 80mm, and integrates a precision sealed deep groove ball bearing, which is set on both sides below the plate chain (15); the guide rib (17) is made of ultra-high molecular weight polyethylene (UHMW-PE) material, with a cross-sectional dimension of 50mm x 20mm, maintaining a 0.5mm gap with the side edge of the plate chain (15); the photoelectric switch (18) adopts a diffuse reflection type photoelectric sensor with a detection distance of 1.0m and a response time of less than 2ms; the limit switch (19) adopts a mechanical plunger type limit switch with a repeatability accuracy of ±0.01mm.

4. The buffer conveying device according to claim 1, characterized in that, The general-purpose flexible clamping mechanism (2) for the pillow frame includes a bayonet seat (20), a rocker flexible clamping block (21), a side frame flexible clamping block (22), a built-in return spring (23), a limit stop block (24), and a support roller (16). The support roller (16) includes an upper guide support wheel (25) and a lower guide support wheel (26). The bayonet seat (20) serves as the basic connecting structure of the flexible clamping mechanism and is reliably connected to the plate chain (15) of the workpiece buffer conveyor (1) by bolts, thereby realizing the modular installation and quick disassembly of the clamping mechanism. The rocker flexible clamping block (21) and the side frame flexible clamping block (22) are both designed as movable mechanisms to adapt to the clamping requirements of different workpieces.

5. The buffer conveying device according to claim 4, characterized in that, The flexible clamping block (21) of the bolster is designed with an irregular structure, characterized by having a geometric shape on the upper part that matches the wedge-shaped surfaces at both ends of the bolster workpiece (W1); the flexible clamping block (21) of the bolster is composed of two sets of symmetrically arranged units, and a rotating shaft is provided in the middle part of each set of clamping blocks (21), the rotating shaft pivotally connecting the clamping block (21) to the bayonet seat (20); when the bolster workpiece (W1) is hoisted to the top of the conveyor and descends to the predetermined position by its own gravity, the wedge-shaped surfaces at both ends of the bolster workpiece (W1) The two clamping blocks (21) will fit against the upper inclined surface of the flexible clamping block (21) of the bolster. Under the action of the workpiece's gravity, the two clamping blocks (21) will rotate inward around their respective rotation axes, so that the lower side of the clamping block (21) will fit tightly against and clamp the inclined wedge face of the bolster workpiece (W1), thereby achieving reliable and stable clamping of the bolster workpiece (W1). When the bolster workpiece (W1) is removed, the flexible clamping block (21) of the bolster will automatically return to its initial unclamped position through the elastic force of the built-in return spring (23) connected to it.

6. The buffer conveying device according to claim 4, characterized in that, The side frame flexible clamping block (22) is designed as an L-shaped structure, consisting of two sets of symmetrically arranged units; each set of L-shaped clamping blocks (22) has a rotating shaft in the middle, which pivotally connects the L-shaped clamping block (22) to the bayonet seat (20); when the side frame workpiece (W2) is hoisted above the conveyor and descends to the predetermined position by its own weight, the spine of the side frame workpiece (W2) will fit against the bottom edge of the L-shaped clamping block (22). Under the action of the workpiece's gravity, the two sets of L-shaped clamping blocks (22) rotate inward around their respective axes of rotation, thereby making the sides of the L-shaped clamping blocks (22) tightly fit and clamp the back of the side frame workpiece (W2), thus achieving reliable and stable clamping of the side frame workpiece (W2); when the side frame workpiece (W2) is removed, the L-shaped clamping blocks (22) automatically return to their initial unclamped position through the elastic force of the built-in return spring (23) connected to them.

7. The buffer conveying device according to claim 4, characterized in that, The bayonet seat (20) is welded from Q235 structural steel plate; the main body material of the bolster flexible clamping block (21) and the side frame flexible clamping block (22) is 40Cr alloy steel, which is heat-treated to achieve a surface hardness of HRC 45-50 and is coated with wear-resistant polyurethane coating; the rotating shaft has a diameter of 30mm, is made of SUS304 stainless steel, and is supported by a self-lubricating bearing; the built-in return spring (23) is a SUS304 stainless steel compression spring, which can provide a return force of 75N to 120N under compression and has a design life of more than 1 million cycles; the bayonet seat (20) is provided with a welded limit stop block (24), which is welded from high-strength steel plate and is used in the clamping block (21, 22) When returning to the limit position, contact it to prevent over-rotation; the upper guide support wheel (25) and the lower guide support wheel (26) are made of hardened GCr15 bearing steel with a diameter of 50mm and hard chrome plated on the surface. They maintain a small gap of 2mm to 5mm with the side of the workpiece (W1, W2) to provide lateral support and guidance.

8. The buffer conveying device according to claim 1, characterized in that, The adaptive track gauge adjustment mechanism (3) includes a track gauge adjustment mechanism drive motor (30), a track gauge adjustment mechanism reducer (31), an electric cylinder push mechanism (32), a heavy-duty linear guide rail (33), a heavy-duty slider (34), and a limit sensor (35); the mechanism is located on the bottom platform of the workpiece buffer conveyor (1); the output shaft of the track gauge adjustment mechanism drive motor (30) is connected to the track gauge adjustment mechanism reducer (31), and the output end of the track gauge adjustment mechanism reducer (31) is directly connected to the main ball screw of the electric cylinder push mechanism (32); the electric cylinder push mechanism ( 32) The rotational motion of the drive motor (30) of the track gauge adjustment mechanism is precisely converted into linear thrust, thereby pushing one of the lines in the workpiece buffer conveyor (1) to move laterally, while the other line remains fixed; multiple sets of heavy-duty sliders (34) are installed at the bottom of the moving line, and the heavy-duty sliders (34) cooperate with the heavy-duty linear guide rail (33) installed on the bottom platform; the adaptive track gauge adjustment mechanism (3) is equipped with limit sensors (35) at both ends of the moving line, and the limit sensors (35) are used to detect whether the line has reached its preset limit movement position.

9. The buffer conveying device according to claim 8, characterized in that, The track gauge adjustment mechanism drive motor (30) is a high-precision AC servo motor with a rated torque of 7.5 Nm and a maximum speed of 2000 rpm, and integrates a 23-bit absolute encoder; the track gauge adjustment mechanism reducer (31) adopts a zero-backlash planetary gear reducer with a reduction ratio of 1:75 and an output torque of 560 Nm; the electric cylinder flat push mechanism (32) consists of a ball screw with a diameter of 40 mm, a lead of 10 mm, and a C5 precision, a ball nut, a servo motor, and a push rod, with a positioning accuracy of ±0.01 mm, a repeatability of ±0.005 mm, a maximum thrust of 3 kN, a stroke of 500 mm, and a maximum moving speed of 100 mm / s; the heavy-duty linear guide rail (33) is made of precision-ground S45C high-carbon steel, with a guide rail width of 55 mm and a length of 5 m, and is fixed to the bottom platform by precision bolts, with a static load capacity of 100 kN per meter; the heavy-duty slider (34) is a THK HSR55 heavy-duty slider; the limit sensor (35) adopts a non-contact inductive proximity switch with a detection distance of 15mm and a protection level of IP67.

10. The buffer conveying device according to claim 1, characterized in that, The sensor system (4) is further configured with a visual recognition sensor system and a radio frequency identification (RFID) reader (42); the visual recognition sensor system consists of an industrial camera (40) and an image processing unit (41). The industrial camera (40) is a high-resolution global shutter color industrial camera with a resolution of 8 million pixels and a frame rate of 45fps. The image processing unit (41) has a built-in image recognition algorithm based on a deep learning model, which can accurately identify the type, specific model, size parameters and spatial posture of the workpieces (W1, W2), with an identification accuracy of over 99.5%. The identified workpiece information is transmitted to the servo control system (5) in real time through an industrial Ethernet interface. The radio frequency identification (RFID) reader (42) is deployed at the entrance, exit and buffer areas of the conveyor line to read the RFID tag information pasted on each workpiece (W1, W2). The RFID tag stores detailed data such as the workpiece's unique identifier, production batch, current status, historical processing records and target processing path. The RFID reader (42) transmits data to the servo control system (5) via OPC. The UA protocol communicates with the servo control system (5) via data. The main controller (50) of the servo control system (5) uses a Siemens S7-1500 series CPU and has a built-in electronic cam (E-CAM) or Gearing function module to ensure that the speed and position of the two lines are accurately synchronized during normal transport. The synchronization position error is within 0.05mm. The servo control system (5) interacts with the upper-level manufacturing execution system (MES) and the cloud digital platform through the industrial Ethernet interface to realize real-time monitoring of workpiece flow information, historical data traceability and production scheduling optimization functions.

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