Automatic grinding system for small parts of high-speed rail axle box

Abstract

A 3D visual recognition system collects image information of the axle box small part to be ground on a workpiece conveying line and transmits the image information to an upper computer, the position and model information of the axle box small part is judged, the model information is transmitted to a PLC, the PLC controls a constant-force floating grinding mechanism according to the model, and the constant-force floating grinding mechanism is used for grinding the axle box small part to be ground. The position information transmission mechanical arm controller is used for controlling the mechanical arm to grab the axle box small part; the automatic turn-over mechanism turns over the axle box small part on the workpiece conveying line; the mechanical arm clamps the axle box small part on the workpiece conveying line, moves the axle box small part to the constant-force floating grinding mechanism to be ground and then conveys the axle box small part back to the workpiece conveying line after grinding. And the constant-force floating polishing mechanism polishes the axle box small part. Automatic functions of small part transportation, automatic turning, constant-force grinding, automatic grinding head replacement, dust collection and the like can be achieved, the grinding efficiency and quality are improved, and the working intensity and health risks of operators are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of high-speed rail vehicle maintenance, more particularly, to an automatic polishing system for high-speed rail axle box small parts. BACKGROUND

[0002] During the operation of high-speed rail vehicles, the axle box, as a key component connecting the bogie and the wheel set, directly relates to the driving safety and stability of high-speed rail. Therefore, in the high-level repair process of high-speed rail axle boxes, regular rust removal and polishing of the axle box is an indispensable core process. Through this process, rust and impurities on the surface and inside of the axle box can be effectively removed, ensuring the fitting accuracy of the bearing and the axle box, and thus ensuring the normal operation of the bearing.

[0003] Currently, the industry generally uses the traditional manual polishing mode for polishing high-speed rail axle box small parts. The specific operation process of this mode is as follows: the operator randomly places the axle box small parts to be polished on a fixed polishing table, and then holds the polishing tool to polish the surface of the axle box. During the entire operation process, the positioning of the axle box, the adjustment of the polishing angle, the control of the polishing force, and the turning over of the polished axle box are all completed by the operator's experience and manual operation.

[0004] However, the above-mentioned traditional manual polishing mode has many defects that are difficult to overcome in actual application, which are as follows:

[0005] Firstly, the polishing efficiency is low. Due to the limitations of manual operation, the operator can only polish one side of one axle box at a time. It requires multiple adjustments of the axle box position and turning over to complete the overall polishing of one axle box. Moreover, the movement speed and polishing rhythm of the tool are limited by human physical ability, making it difficult to achieve efficient and continuous operation. Especially in the context of high demand for axle box polishing in high-speed rail high-level repair, the traditional mode is difficult to meet the repair schedule requirements.

[0006] Secondly, the polishing quality stability is poor. The polishing quality completely depends on the skill level and work experience of the operator. There are differences in polishing force and angle control among different operators. Even the same operator will experience a decline in polishing accuracy due to fatigue after a long time of work, which may lead to incomplete polishing, excessive polishing in some areas, or uneven polishing, etc. This cannot guarantee the flatness of the axle box surface and the rust removal effect, which may affect the assembly quality of the subsequent bearing.

[0007] Thirdly, the physical consumption of the operator is too large. Polishing work is a heavy physical labor, and the operator needs to hold the polishing tool for a long time and maintain a fixed posture, and also needs to frequently adjust the position of the axle box, which easily leads to muscle fatigue. This not only reduces the efficiency and quality of subsequent work, but also increases the labor intensity of the operator.

[0008] Fourth, there is a serious health risk. A large amount of metal corrosion dust is generated during the grinding process, which directly diffuses in the working environment, and long-term inhalation by the operator will cause serious damage to the respiratory system, and the dust will also cause irritation to the skin, eyes and other parts of the operator, endangering the occupational health of the operator.

[0009] Based on the above problems existing in the traditional manual grinding mode, the existing technology cannot meet the modernization requirements of high efficiency, high quality, low labor intensity and occupational health protection in the high-speed rail axle box advanced repair process. Therefore, developing a technical scheme capable of realizing automatic grinding of high-speed rail axle box small parts to solve the defects of the traditional mode has become a technical problem to be solved by the technical personnel in the field. SUMMARY

[0010] In order to overcome the deficiencies in the prior art, solve the problems of low efficiency, poor grinding surface quality, harm to personnel health, excessive physical consumption and other problems caused by manual grinding during the grinding of the existing axle box small parts, the present application provides an automatic grinding system for high-speed rail axle box small parts, which can realize the automatic grinding of small parts, automatic turning, constant force grinding, automatic changing of grinding head and collection of dust, thereby improving the grinding efficiency and grinding quality and reducing the working intensity and health risk of the operator.

[0011] The purpose of the present application is achieved by the following technical scheme.

[0012] An automatic grinding system for high-speed rail axle box small parts, comprising a workpiece conveying line for conveying the axle box small parts to be ground, a 3D visual identification system is arranged above the workpiece conveying line, an automatic turning mechanism is arranged on one side of the workpiece conveying line, and a mechanical arm and a constant force floating grinding mechanism are arranged on the other side.

[0013] The 3D visual identification system is used to collect image information and transmit it to the upper computer, judge the position and model information of the axle box small parts to be ground, transmit the model information to the PLC controller, control the constant force floating grinding mechanism according to the model, and transmit the position information to the mechanical arm controller to control the mechanical arm to grab the axle box small parts to be ground.

[0014] The automatic turning mechanism is used to turn the axle box small parts on the workpiece conveying line, the mechanical arm is used to clamp the axle box small parts on the workpiece conveying line and move to the constant force floating grinding mechanism for grinding, and then convey back to the workpiece conveying line after grinding is completed, and the constant force floating grinding mechanism is used to grind the axle box small parts.

[0015] Further, the automatic turnover mechanism comprises a support frame, the support frame is provided with a longitudinal moving assembly, the longitudinal moving assembly is provided with a transverse moving assembly which can move longitudinally, a rotating module which can realize relative rotation between the longitudinal moving assembly and the transverse moving assembly is arranged between the longitudinal moving assembly and the transverse moving assembly, and the transverse moving assembly is provided with two small-component grippers driven thereby.

[0016] The longitudinal moving assembly comprises two vertical plates which are arranged oppositely on the same side of the support frame, a longitudinal guide rail is arranged on the outer side of each vertical plate, a longitudinal sliding block is arranged on each longitudinal guide rail, longitudinal moving connecting plates are connected between the two groups of longitudinal sliding blocks, the bottom of the longitudinal moving connecting plates is fixedly connected with the top of a servo lifting module, and the bottom of the servo lifting module is fixedly connected with the support frame.

[0017] The transverse moving assembly comprises a fixed frame, one side of the fixed frame is fixedly connected with the rotating module, the other side is oppositely provided with two transverse guide rails, two transverse sliding blocks are arranged on each transverse guide rail, a transverse sliding block connecting plate for connecting the small-component gripper is arranged on the outer side of each transverse sliding block, a transverse moving module is arranged between the two transverse guide rails, one side of the transverse moving module is fixedly connected with the fixed frame, and the other side is provided with two transverse moving connecting plates driven thereby.

[0018] Further, a polishing head storage is arranged on the side where the mechanical arm is located, and the end rotating disc of the mechanical arm is provided with an automatic polishing head changing mechanism and a workpiece clamping mechanism, which are respectively used for clamping and changing the polishing head and clamping the shaft box small component to be polished.

[0019] The automatic polishing head changing mechanism is composed of a polishing head clamp assembly, the polishing head clamp assembly comprises a mechanism connecting piece, a rotating module, a module connecting mounting seat, a moving module and a clamp guiding mechanism, one side of the rotating module is connected with the rotating disc through the mechanism connecting piece, the other side is connected with the module connecting mounting seat, the module connecting mounting seat is loaded with the moving module, and the moving module is provided with the clamp guiding mechanism for clamping the polishing head.

[0020] Further, the constant-force floating polishing mechanism comprises a fixed support, a pneumatic constant-force polishing platform is installed on the top of the fixed support through an axial mounting plate or a radial mounting plate, a polishing electric spindle is arranged on the top of a floating flange of the pneumatic constant-force polishing platform, and a polishing head is installed on the output shaft end of the polishing electric spindle.

[0021] Further, the constant-force floating polishing mechanism is provided with a dust collecting device.

[0022] Compared with the prior art, the technical scheme of the present application has the following beneficial effects:

[0023] (1) The 3D visual recognition system, workpiece transmission line, automatic turning mechanism, mechanical arm, automatic polishing head changing mechanism, constant force floating polishing mechanism, dust collecting device and other components in the application can realize automatic transportation of small parts, automatic turning, constant force polishing, automatic polishing head changing and dust collection, thereby improving polishing efficiency and polishing quality and reducing the working intensity and health risk of operators.

[0024] (2) The automatic polishing head changing mechanism in the application is installed on the rotating disc at the end of the mechanical arm of the polishing and rust removal robot, which can save working space and improve working efficiency. The automatic polishing head changing mechanism in the application can automatically and quickly change the polishing head during the polishing and rust removal process of the high-speed rail axle box small part, thereby solving the problems of low efficiency and affecting the health of operators in the existing polishing process of the axle box small part.

[0025] (3) The automatic turning mechanism in the application can realize automatic turning of multiple types of axle box small parts, thereby solving the problems of serious physical consumption, low efficiency and difficulty in compatible multiple types of small parts after continuous manual turning of operators in the existing polishing process of the axle box small part, and ensuring the stability of polishing quality.

[0026] (4) The constant force floating polishing mechanism in the application applies a floating constant polishing force during the polishing and rust removal process of the axle box small part, thereby solving the problems of uneven polishing, unstable quality and low efficiency in the existing polishing process of the axle box small part. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the automatic polishing system for the high-speed rail axle box small part of the application.

[0028] Figure 2 It is a schematic diagram of the end structure of the mechanical arm in the application.

[0029] Figure 3 It is a schematic diagram of the structure of the automatic polishing head changing mechanism in the application.

[0030] Figure 4 It is a schematic diagram of the structure of the automatic turning mechanism in the application.

[0031] Figure 5 It is a schematic diagram of the longitudinal movement assembly structure of the automatic turning mechanism in the application.

[0032] Figure 6 It is a schematic diagram of the transverse movement assembly structure of the automatic turning mechanism in the application.

[0033] Figure 7 It is a schematic diagram of the constant force floating polishing mechanism (with axial mounting plate) in the application.

[0034] Figure 8This is a schematic diagram of the constant force floating grinding mechanism (with radial mounting plate) in this invention.

[0035] Figure 9 This is a schematic diagram of the axial mounting plate structure of the constant force floating grinding mechanism of the present invention.

[0036] Figure 10 This is a schematic diagram of the radial mounting plate structure of the constant force floating grinding mechanism of the present invention.

[0037] Reference numerals: 1-3D vision recognition system, 2-workpiece conveyor line, 3-shaft box component, 4-automatic flipping mechanism, 5-robotic arm, 6-grinding head storage, 7-automatic grinding head changing mechanism, 8-constant force floating grinding mechanism, 9-dust collection device, 10-workpiece clamping mechanism, 11-rotary disk, 12-grinding head.

[0038] 401-Support frame, 402-Longitudinal movement component, 403-Rotation module, 404-Lateral movement component, 405-Small part gripper.

[0039] 40201-Upright plate, 40202-Longitudinal slider, 40203-Longitudinal guide rail, 40204-Longitudinal moving connecting plate, 40205-Servo lifting module.

[0040] 40401-Fixed frame, 40402-Horizontal movement module, 40403-Horizontal guide rail, 40404-Horizontal slider, 40405-Horizontal movement connecting plate, 40406-Horizontal slider connecting plate.

[0041] 701-Mechanism connector, 702-Rotation module, 703-Module connection mounting base, 704-Moving module, 705-Clamping guide mechanism.

[0042] 801-Fixed support, 802-Axial mounting plate, 803-Pneumatic constant force grinding platform, 804-Grinding electric spindle, 805-Radial mounting plate. Detailed Implementation

[0043] The present invention will now be further described with reference to the accompanying drawings.

[0044] like Figure 1 As shown, the present invention relates to an automatic grinding system for small components of high-speed railway axle boxes, mainly comprising a 3D vision recognition system 1, a workpiece conveyor line 2, an automatic flipping mechanism 4, a robotic arm 5, and a constant-force floating grinding mechanism 8. The workpiece conveyor line 2 is used to transport the small axle box components 3 to be ground. The 3D vision recognition system 1 is positioned directly above the workpiece conveyor line 2. The automatic flipping mechanism 4 is located on one side of the workpiece conveyor line 2, and the robotic arm 5 and the constant-force floating grinding mechanism 8 are located on the other side.

[0045] The operator prevents the shaft box subassembly 3 to be polished on the workpiece conveying line 2, and moves it under the 3D visual identification system 1, and the 3D visual identification system 1 collects image information and transmits it to the upper computer, and performs 3D data reconstruction on the image information, and judges the position and model information of the shaft box subassembly 3 to be polished according to the 3D data, and the subassembly model information is transmitted to the PLC controller, and the PLC controller controls the constant force floating polishing mechanism 8 according to the model, switches the corresponding polishing program, and transmits the subassembly position information to the mechanical arm 5 controller to control the mechanical arm 5 to grasp the shaft box subassembly 3 to be polished.

[0046] The mechanical arm 5 clamps the shaft box subassembly 3 on the workpiece conveying line 2, moves to the constant force floating polishing mechanism 8 for polishing. After the polishing is completed, the mechanical arm 5 carries it back to the original position on the workpiece conveying line 2. Then, the automatic turning mechanism 4 turns the shaft box subassembly 3 on the workpiece conveying line 2, so that the mechanical arm 5 moves the unpolished plane of the shaft box subassembly 3 to the constant force floating polishing mechanism 8. Finally, after each surface of the shaft box subassembly 3 is polished, it is carried back to the workpiece conveying line 2 by the mechanical arm 5 and is delivered to the end, and is arranged and moved by the operator.

[0047] In order to ensure the polishing quality, the side where the mechanical arm 5 is located is also provided with a polishing head storage 6, as shown in Figure 2 The rotating disc 11 at the end of the mechanical arm 5 is provided with an automatic polishing head changing mechanism 7 and a workpiece clamping mechanism 10, which are respectively used for clamping and replacing the polishing head 12 and clamping the shaft box subassembly 3, so as to replace the polishing head in time when the quality of the polishing head decreases, thereby further improving the efficiency and reducing the personnel operation intervention. In order to avoid dust generated in the polishing process of the shaft box subassembly 3 from polluting the environment, a dust collecting device 9 is also arranged at the constant force floating polishing mechanism 8, which can collect and store dust during the polishing process, and further reduce the harm to the atmospheric environment and the health of personnel.

[0048] In the above system, preferably, the automatic polishing head changing mechanism 7 is composed of a polishing head clamp assembly, as shown in Figure 3As shown, the polishing head clamp assembly comprises mechanism connecting piece 701, rotating module 702, module connecting mounting seat 703, moving module 704, clamp guiding mechanism 705; one side of the rotating module 702 is connected with rotating disc 11 through mechanism connecting piece 701, and the other side is connected with module connecting mounting seat 703; module connecting mounting seat 703 is loaded with moving module 704, and moving module 704 is installed with clamp guiding mechanism 705 for clamping polishing head 12. Rotating module 702 can adopt components capable of realizing relative rotation of two parts, such as rotating turntable. The whole rotating function can be realized by rotating module 702 to drive module connecting mounting seat 703, moving module 704 and clamp guiding mechanism 705 to rotate, so that the vertical rod of polishing head 12 can be upward or downward, which is convenient for disassembling old polishing head and installing new polishing head, and the vertical rod downward is convenient for being inserted into the interface of polishing head storage 7. Moving module 704 can adopt components capable of long-stroke two-finger translational jaw, and moving module 704 can drive clamp guiding mechanism 705 to realize clamping and loosening of the vertical rod of polishing head 12.

[0049] In the above system, preferably, as Figure 4 As shown, the automatic turning mechanism 4 comprises support frame 401, the support frame 401 is provided with longitudinal moving assembly 402, the longitudinal moving assembly 402 is provided with transverse moving assembly 404 which can move longitudinally, the longitudinal moving assembly 402 and the transverse moving assembly 404 are provided with rotating module 403 which can realize relative rotation of the two, the transverse moving assembly 404 is provided with two small component grippers 405 driven thereby. Rotating module 403 can adopt components capable of realizing relative rotation of two parts, such as rotating turntable.

[0050] As shown in Figure 5 As shown, the longitudinal moving assembly 402 comprises two vertical plates 40201 arranged oppositely on the same side of support frame 401, each vertical plate 40201 is provided with longitudinal guide rail 40203 on the outer side, each longitudinal guide rail 40203 is provided with longitudinal sliding block 40202, and longitudinal moving connecting plate 40204 is connected between the two groups of longitudinal sliding blocks 40202, the bottom of longitudinal moving connecting plate 40204 is fixedly connected with the top of servo lifting module 40205, and the bottom of servo lifting module 40205 is fixedly connected with support frame 401. Servo lifting module 40205 can adopt components capable of lifting, such as electric screw, and servo lifting module 40205 can drive longitudinal moving connecting plate 40204 to move up and down.

[0051] As shown in Figure 6As shown, the lateral movement assembly 404 includes a fixed frame 40401, one side of which is fixedly connected with the rotating module 403, and the other side is oppositely provided with two lateral rails 40403. Each of the lateral rails 40403 is provided with two lateral sliders 40404. Each of the lateral sliders 40404 is provided with a lateral slider connecting plate 40406 outside for connecting the small component gripper 405. A lateral movement module 40402 is arranged between the two lateral rails 40403. One side of the lateral movement module 40402 is fixedly connected with the fixed frame 40401, and the other side is provided with two lateral movement connecting plates 40405 driven thereby. The lateral movement module 40402 can adopt a long-stroke two-finger translational gripper or other components that can realize the movement of the two lateral movement connecting plates 40405 towards or away from each other. Each small component gripper 405 is connected with the two lateral slider connecting plates 40406 and one lateral movement connecting plate 40405 close thereto. The two lateral movement connecting plates 40405 can be driven to move towards or away from each other by the lateral movement module 40402, thereby realizing the clamping and loosening actions of the small components of the shaft box of different sizes.

[0052] In the above system, preferably, as Figure 7 and Figure 8 shown, the constant force floating polishing mechanism 8 includes a fixed support 801, the top of which is provided with a pneumatic constant force polishing platform 803 through an axial mounting plate 802 or a radial mounting plate 805. The floating flange of the pneumatic constant force polishing platform 803 is provided with a polishing electric spindle 804 at the top, which moves with the floating flange. The output shaft end of the polishing electric spindle 804 is provided with a polishing head 12. The pneumatic constant force polishing platform 803 can adopt a force-position compensator, etc. Different constant polishing pressures can be set according to the rust degree and shape and size of the surface of the shaft box small component. The floating flange drives the polishing electric spindle 5 to move, thereby ensuring the constant force floating application function, maintaining the polishing consistency, and ensuring the same polishing quality of the surface of the shaft box small component.

[0053] The axial mounting plate 802 and the radial mounting plate 805 are provided with bolt mounting holes for fixedly connecting with the pneumatic constant force polishing platform 803. Figure 9 and Figure 10 The main difference between the axial mounting plate 802 and the radial mounting plate 805 lies in the relative position and arrangement direction of the two groups of bolt mounting holes, which changes the displacement direction of the pneumatic constant force polishing platform 803, thereby realizing the polishing self-adaptation of the end face or arc face of the shaft box small component. The two displacement directions of the pneumatic constant force polishing platform 803 correspond to the axial and radial directions, respectively. Figure 7 and Figure 8The polishing head 12 is moved in the direction indicated by the double-headed arrow. When the axial mounting plate 802 is used, the pneumatic constant force polishing platform 803 can drive the polishing head 12 to move in parallel to the output shaft direction of the polishing electric spindle 804, and when the radial mounting plate 805 is used, the pneumatic constant force polishing platform 803 can drive the polishing head 12 to move in a direction perpendicular to the output shaft direction of the polishing electric spindle 804.

[0054] Although the functions and working processes of the present application are described above in combination with the drawings, the present application is not limited to the specific functions and working processes described above, and the specific embodiments described above are merely illustrative rather than limiting, and those of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which all belong to the protection of the present application.

Claims

1. An automatic grinding system for small components of high-speed railway axle boxes, comprising a workpiece conveyor line (2) for transporting small axle box components (3) to be ground, characterized in that, A 3D vision recognition system (1) is set directly above the workpiece transmission line (2). An automatic flipping mechanism (4) is set on one side of the workpiece transmission line (2), and a robotic arm (5) and a constant force floating grinding mechanism (8) are set on the other side. The 3D vision recognition system (1) is used to collect image information and transmit it to the host computer to determine the position and model information of the small axle box part (3) to be polished. The model information is transmitted to the PLC controller. The PLC controller controls the constant force floating polishing mechanism (8) according to the model. The position information is transmitted to the robotic arm (5) controller to control the robotic arm (5) to grab the small axle box part (3) to be polished. The automatic flipping mechanism (4) is used to flip the axle box component (3) on the workpiece transmission line 2; the robotic arm (5) is used to grip the axle box component (3) on the workpiece transmission line (2), move it to the constant force floating grinding mechanism (8) for grinding, and then transport it back to the workpiece transmission line (2) after grinding; the constant force floating grinding mechanism (8) is used to grind the axle box component (3).

2. The automatic grinding system for small components of high-speed railway axle boxes according to claim 1, characterized in that, The automatic flipping mechanism (4) includes a support frame (401), the support frame (401) is provided with a longitudinal moving component (402), the longitudinal moving component (402) is provided with a transverse moving component (404) that can move longitudinally with it, a rotating module (403) that can realize relative rotation between the longitudinal moving component (402) and the transverse moving component (404) is provided, and the transverse moving component (404) is provided with two small gripper parts (406) driven by it. The longitudinal moving component (402) includes two upright plates (40201) disposed opposite each other on the same side of the support frame (401). Each upright plate (40201) is provided with a longitudinal guide rail (40203) on its outer side. Each longitudinal guide rail (40203) is provided with a longitudinal slider (40202). A longitudinal moving connecting plate (40204) is connected between the two sets of longitudinal sliders (40202). The bottom of the longitudinal moving connecting plate (40204) is fixedly connected to the top of the servo lifting module (40205). The bottom of the servo lifting module (40205) is fixedly connected to the support frame (401). The lateral movement component (404) includes a fixed frame (40401), one side of which is fixedly connected to the rotating module (403), and the other side is provided with two lateral guide rails (40403). Each lateral guide rail (40403) is provided with two lateral sliders (40404). Each lateral slider (40404) is provided with a lateral slider connecting plate (40406) for connecting a small part gripper (406) on its outer side. A lateral movement module (40402) is provided between the two lateral guide rails (40403). One side of the lateral movement module (40402) is fixedly connected to the fixed frame (40401), and the other side is provided with two lateral movement connecting plates (40405) driven by it.

3. The automatic grinding system for small components of high-speed railway axle boxes according to claim 1, characterized in that, A grinding head storage container (6) is provided on the side where the robotic arm (5) is located, and an automatic grinding head changing mechanism (7) and a workpiece clamping mechanism (10) are provided on the rotary disk (11) at the end of the robotic arm (5), which are used to clamp and change the grinding head and clamp the small axle box parts (3) to be ground, respectively. The automatic grinding head changing mechanism (7) is composed of a grinding head clamping assembly, which includes a mechanism connector (702), a rotating module (703), a module connection mounting base (704), a moving module (705), and a clamping guide mechanism (706). The rotating module (703) is connected to the rotating disk (11) on one side through the mechanism connector (702) and to the module connection mounting base (704) on the other side. The module connection mounting base (704) is equipped with the moving module (705), and the moving module (705) is equipped with a clamping guide mechanism (706) for clamping the grinding head (12).

4. The automatic grinding system for small components of high-speed railway axle boxes according to claim 1, characterized in that, The constant force floating grinding mechanism (8) includes a fixed support (801), and a pneumatic constant force grinding platform (803) is mounted on the top of the fixed support (801) via an axial mounting plate (802) or a radial mounting plate (7). A grinding electric spindle (805) is provided on the top of the floating flange of the pneumatic constant force grinding platform (803), and a grinding head (806) is installed at the end of the output shaft of the grinding electric spindle (805).

5. The automatic grinding system for small components of high-speed railway axle boxes according to claim 1, characterized in that, The constant force floating grinding mechanism (8) is equipped with a dust collection device (9).

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