Train assembly process automatic feeding system

Abstract

The application provides a train assembly process automatic feeding system and relates to the technical field of intelligent manufacturing of rail transit equipment, and comprises a transplanting AGV, a grabbing mechanical arm for grabbing and transferring product materials, a drum lifting AGV for carrying and transporting product materials to an assembly station and a central control system. The transplanting AGV is a self-moving carrying platform, the grabbing mechanical arm is installed on the transplanting AGV, the drum lifting AGV is a self-moving lifting conveying platform, and the central control system is electrically connected with the transplanting AGV, the grabbing mechanical arm and the drum lifting AGV respectively.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology for rail transit equipment, and in particular to an automatic feeding system for train assembly. Background Technology

[0002] In the field of rail transit equipment manufacturing, the train assembly process involves the transfer, positioning, and installation of a large number of large components. In the traditional train assembly process, the loading and installation of large components mainly rely on manual operation, that is, the components are lifted to the assembly station by manual operation of forklifts or overhead cranes, and then positioned and installed manually.

[0003] However, the above-mentioned traditional material feeding methods have many shortcomings: First, manual material feeding is inefficient and cannot meet the pace requirements of modern assembly lines; second, large parts are heavy and bulky, and the labor intensity during manual handling and installation is extremely high, and there are also high safety risks; third, manual positioning accuracy is poor, making it difficult to ensure the consistency and reliability of assembly quality.

[0004] With the continuous development of automation and robotics technologies, some manufacturing sectors have begun to apply AGVs (Automated Guided Vehicles) and industrial robots for automated material handling and loading / unloading operations. However, current technologies lack a complete solution tailored to the characteristics of train assembly processes, capable of automating the entire process of large component assembly, from material storage and transfer to installation. Therefore, there is an urgent need to develop an automated loading system suitable for train assembly processes to improve the level of automation and production efficiency in train assembly. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an automatic material feeding system for the train assembly process, which addresses the shortcomings of the prior art.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: An automatic material feeding system for train assembly process, comprising: a transfer AGV, a gripping robotic arm for gripping and transferring product materials, a roller lifting AGV for carrying and transporting product materials to the assembly station, and a central control system. The transfer AGV is a carrier platform that can move autonomously. The gripping robotic arm is installed on the transfer AGV. The roller lifting AGV is a lifting and conveying platform that can move autonomously. The central control system is electrically connected to the transfer AGV, the gripping robotic arm, and the roller lifting AGV respectively.

[0007] Furthermore, the transfer AGV includes: an AGV body, a laser navigation radar for environmental scanning and path navigation, a counterweight box for balancing the overturning torque of the gripping robotic arm during operation, a safety anti-collision strip, and a manual control interface for parameter setting and manual adjustment. The AGV body is the base of the transfer AGV, the laser navigation radar is installed on the outer wall of the AGV body, the counterweight box is fixedly connected to the AGV body, the safety anti-collision strip is installed on the edge of the AGV body, and the manual control interface is located on the side of the AGV body.

[0008] Furthermore, the transfer AGV is equipped with a multi-stage lifting mechanism for providing height adjustment for the gripping robotic arm. The multi-stage lifting mechanism is installed on the AGV body, and the gripping robotic arm is installed at the top of the multi-stage lifting mechanism.

[0009] Furthermore, the multi-stage lifting mechanism includes: a mounting base plate, a primary guide column, a primary lifting platform, a secondary guide column, a secondary lifting platform, a lifting electric cylinder, and a drive motor. The mounting base plate is fixedly connected to the AGV body. The lower end of the primary guide column is fixedly connected to the mounting base plate, and the upper end of the primary guide column extends vertically. The primary lifting platform is sleeved on the outside of the primary guide column and can slide up and down along the primary guide column. The lower end of the secondary guide column is fixedly connected to the mounting base plate, and the upper end of the secondary guide column extends vertically. The secondary lifting platform is sleeved on the outside of the secondary guide column and can slide up and down along the secondary guide column. The gripping robotic arm is fixedly mounted on the secondary lifting platform. The cylinder body of the lifting electric cylinder is connected to the mounting base plate, and the telescopic rod of the lifting electric cylinder is connected to the primary lifting platform for driving the primary lifting platform to lift. The drive motor is mounted on the primary lifting platform and is connected to the secondary lifting platform through a transmission mechanism for driving the secondary lifting platform to perform secondary lifting actions relative to the primary lifting platform.

[0010] Furthermore, the gripping robotic arm is a multi-degree-of-freedom articulated industrial robot, and an adsorption gripper is installed at the end of the gripping robotic arm. The adsorption gripper is a negative pressure vacuum suction cup gripper, and the lower surface of the adsorption gripper is provided with multiple vacuum suction cups for contacting the upper surface of the product material and gripping it through negative pressure adsorption.

[0011] Furthermore, the roller lifting AGV includes: an AGV frame, a walking steering wheel assembly for omnidirectional movement and precise positioning, an obstacle avoidance radar for detecting obstacles and achieving safe avoidance, a battery assembly, and a roller lifting mechanism for carrying and conveying product materials and lifting the product materials to a grabbing height. The AGV frame is the base of the roller lifting AGV, the walking steering wheel assembly is installed at the bottom of the AGV frame, the obstacle avoidance radar is installed on the AGV frame, the battery assembly is installed inside the AGV frame, and the roller lifting mechanism is installed on the AGV frame.

[0012] Furthermore, the roller lifting mechanism includes: a guide column, a guide platform, a guide platform electric cylinder, a roller platform, a roller platform electric cylinder, and a roller conveying assembly for carrying and conveying product materials. The lower end of the guide column is fixedly connected to the AGV frame, and the upper end of the guide column extends vertically. The guide platform is sleeved on the middle part of the guide column and can slide up and down along the guide column. The cylinder body of the guide platform electric cylinder is connected to the AGV frame, and the telescopic rod of the guide platform electric cylinder is connected to the guide platform for driving the guide platform to lift. The roller platform is sleeved on the upper part of the guide column and can slide up and down along the guide column. The roller platform is located above the guide platform. The cylinder body of the roller platform electric cylinder is connected to the guide platform, and the telescopic rod of the roller platform electric cylinder is connected to the roller platform for driving the roller platform to lift and lower relative to the guide platform a second time. The roller conveying assembly is installed on the roller platform.

[0013] Furthermore, the roller conveyor assembly includes: a roller mounting base, a drive roller, a driven roller, and a roller drive motor. The roller mounting base is fixedly mounted on the roller platform. The drive roller is mounted on the roller mounting base via bearings, and the driven roller is mounted on the roller mounting base via bearings. The driven roller and the drive roller are arranged at intervals to form a roller conveying plane. The roller drive motor is mounted on the roller platform, and the output end of the roller drive motor is connected to the drive roller via a transmission mechanism to drive the drive roller to rotate in order to convey product materials.

[0014] Furthermore, the roller lifting mechanism is equipped with a product limiting fixture for fixing and limiting the product material during the material transfer process. The product limiting fixture is installed on the roller platform and located on the side of the roller conveying surface. The product limiting fixture includes: a limiting fixing component, a limiting telescopic component, a spring, and a spring pressing block. The limiting fixing component is fixedly connected to the roller platform and has a slot. One end of the limiting telescopic component is slidably inserted into the slot of the limiting fixing component, and the other end of the limiting telescopic component is a free end. When the limiting telescopic component is lowered, it is lower than the roller conveying surface. When the limiting telescopic component is raised, it is higher than the roller conveying surface. The spring is disposed inside the limiting telescopic component, and the spring pressing block is movably installed inside the limiting telescopic component and is connected to the spring.

[0015] Furthermore, the central control system is an industrial control computer or a PLC control cabinet. The central control system establishes bidirectional data communication links with the transfer AGV, the gripping robotic arm, and the roller lifting AGV through a wireless communication module. It is used to send motion commands, receive status feedback signals, and coordinate the timing actions of the transfer AGV, the gripping robotic arm, and the roller lifting AGV.

[0016] The beneficial effects of adopting the technical solution of this invention are that, through the collaborative operation of multiple types of AGVs, the automated transfer, positioning and loading of large parts during the train assembly process are realized. This solves the problems of low efficiency, high labor intensity, high safety risks and poor positioning accuracy that exist in traditional train assembly that relies on manual loading. It significantly improves the automation level and production efficiency of train assembly, reduces production costs, and ensures the consistency of assembly quality.

[0017] The advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is one of the structural schematic diagrams of an automatic material feeding system for train assembly provided in an embodiment of the present invention.

[0020] Figure 2 This is the second schematic diagram of the automatic material feeding system for train assembly provided in an embodiment of the present invention.

[0021] Figure 3 This is the third schematic diagram of the automatic material feeding system for train assembly provided in an embodiment of the present invention.

[0022] Figure 4 The fourth schematic diagram of the automatic material feeding system for train assembly provided in this embodiment of the invention.

[0023] Figure 5 The fifth schematic diagram of the automatic material feeding system for train assembly provided in this embodiment of the invention.

[0024] Figure 6 This is the sixth structural schematic diagram of the automatic material feeding system for train assembly provided in an embodiment of the present invention.

[0025] Reference numerals: 1. Transfer AGV; 11. Multi-stage lifting mechanism; 12. Grasping robotic arm; 13. Adsorption clamp; 14. Central control system; 2. Roller lifting AGV; 21. Roller lifting mechanism; 22. Product limit fixture; 3. Product material; 4. Carriage; 1001. AGV body; 1002. Laser navigation radar; 1003. Counterweight box; 1004. Manual control interface; 1005. Safety anti-collision strip; 1101. Mounting base plate; 1102. Primary guide column; 1103. Primary lifting platform; 1104. Secondary guide column; 1105. Secondary lifting platform; 1106. Drive motor; 1107. Lifting electric cylinder; 2001. A GV frame; 2002, Walking wheel assembly; 2003, Obstacle avoidance radar; 2004, Battery assembly; 2101, Lifting drive motor assembly; 2102, Guide column; 2103, Roller platform electric cylinder; 2104, Guide platform electric cylinder; 2105, Guide platform; 2106, Roller platform; 2107, Roller mounting base; 2108, Driven roller; 2109, Roller platform lifting shaft; 2110, Roller drive motor; 2111, Driven roller; 2112, Guide column mounting component; 22, Product limit fixture; 2201, Limit fixing component; 2202, Limit telescopic component; 2203, Cover plate; 2204, Spring pressing block; 2205, Spring. Detailed Implementation

[0026] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments described are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0031] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0032] like Figures 1 to 6As shown, the present invention provides an automatic material feeding system for train assembly process, including: a transfer AGV1, a gripping robotic arm 12 for gripping and transferring product materials 3, a roller lifting AGV2 for carrying and transporting product materials 3 to the assembly station, and a central control system 14. The transfer AGV1 is a carrier platform that can move autonomously, the gripping robotic arm 12 is mounted on the transfer AGV1, the roller lifting AGV2 is a lifting and conveying platform that can move autonomously, and the central control system 14 is electrically connected to the transfer AGV1, the gripping robotic arm 12 and the roller lifting AGV2 respectively.

[0033] The roller lifting AGV2 transfers the product material 3 to the gripping and assembly area and lifts it to the gripping height. The transfer AGV1 drives the gripping robotic arm 12 to move to the gripping and assembly area. The gripping robotic arm 12 grips the product material 3 from the roller lifting AGV2 and transfers it into the carriage 4.

[0034] like Figures 1 to 6 As shown, the transfer AGV1 further includes: an AGV body 1001, a laser navigation radar 1002 for environmental scanning and path navigation, a counterweight box 1003 for balancing the overturning torque of the gripping robotic arm 12 during operation, a safety anti-collision strip 1005, and a manual control interface 1004 for parameter setting and manual adjustment. The AGV body 1001 is the base of the transfer AGV1. The laser navigation radar 1002 is installed on the outer wall of the AGV body 1001. The counterweight box 1003 is fixedly connected to the AGV body 1001. The safety anti-collision strip 1005 is installed on the edge of the AGV body 1001. The manual control interface 1004 is located on the side of the AGV body 1001.

[0035] like Figures 1 to 6 As shown, the transfer AGV1 is further provided with a multi-stage lifting mechanism 11 for providing height adjustment function for the gripping robotic arm 12. The multi-stage lifting mechanism 11 is installed on the AGV body 1001, and the gripping robotic arm 12 is installed on the top of the multi-stage lifting mechanism 11.

[0036] like Figures 1 to 6As shown, the multi-stage lifting mechanism 11 further includes: a mounting base plate 1101, a primary guide column 1102, a primary lifting platform 1103, a secondary guide column 1104, a secondary lifting platform 1105, a lifting cylinder 1107, and a drive motor 1106. The mounting base plate 1101 is fixedly connected to the AGV body 1001. The lower end of the primary guide column 1102 is fixedly connected to the mounting base plate 1101, and the upper end of the primary guide column 1102 extends vertically. The primary lifting platform 1103 is sleeved on the outside of the primary guide column 1102 and can slide up and down along the primary guide column 1102. The lower end of the secondary guide column 1104 is fixedly connected to the mounting base plate 1101, and the upper end of the secondary guide column 1105 extends vertically. The secondary lifting platform 1105 extends vertically and is sleeved on the outside of the secondary guide column 1104, allowing it to slide up and down along the secondary guide column 1104. The gripping robotic arm 12 is fixedly installed on the secondary lifting platform 1105. The cylinder body of the lifting electric cylinder 1107 is connected to the mounting base plate 1101. The telescopic rod of the lifting electric cylinder 1107 is connected to the primary lifting platform 1103 and is used to drive the primary lifting platform 1103 to lift. The drive motor 1106 is installed on the primary lifting platform 1103 and is connected to the secondary lifting platform 1105 through a transmission mechanism, used to drive the secondary lifting platform 1105 to perform secondary lifting actions relative to the primary lifting platform 1103.

[0037] like Figures 1 to 6 As shown, the gripping robotic arm 12 is a multi-degree-of-freedom articulated industrial robot. The end of the gripping robotic arm 12 is equipped with an adsorption clamp 13, which is a negative pressure vacuum suction cup clamp. The lower surface of the adsorption clamp 13 is provided with multiple vacuum suction cups for contacting the upper surface of the product material 3 and gripping it through negative pressure adsorption.

[0038] like Figures 1 to 6 As shown, the roller lifting AGV2 further includes: an AGV frame 2001, a walking steering wheel assembly 2002 for omnidirectional movement and precise positioning, an obstacle avoidance radar 2003 for detecting obstacles and achieving safe avoidance, a battery assembly 2004, and a roller lifting mechanism 21 for carrying and conveying product material 3 and lifting product material 3 to the grasping height. The AGV frame 2001 is the base of the roller lifting AGV2. The walking steering wheel assembly 2002 is installed at the bottom of the AGV frame 2001. The obstacle avoidance radar 2003 is installed on the AGV frame 2001. The battery assembly 2004 is installed inside the AGV frame 2001. The roller lifting mechanism 21 is installed on the AGV frame 2001.

[0039] like Figures 1 to 6 As shown, the roller lifting mechanism 21 further includes: a guide column 2102, a guide platform 2105, a guide platform electric cylinder 2104, a roller platform 2106, a roller platform electric cylinder 2103, and a roller conveying assembly for carrying and conveying product material 3. The lower end of the guide column 2102 is fixedly connected to the AGV frame 2001, and the upper end of the guide column 2102 extends vertically. The guide platform 2105 is sleeved on the middle part of the guide column 2102 and can slide up and down along the guide column 2102. The cylinder body of the guide platform electric cylinder 2104 is connected to the AGV frame 2001. The guide platform electric cylinder 2106... The telescopic rod of 04 is connected to the guide platform 2105 and is used to drive the guide platform 2105 to rise and fall. The roller platform 2106 is sleeved on the upper part of the guide column 2102 and can slide up and down along the guide column 2102. The roller platform 2106 is located above the guide platform 2105. The cylinder body of the roller platform electric cylinder 2103 is connected to the guide platform 2105. The telescopic rod of the roller platform electric cylinder 2103 is connected to the roller platform 2106 and is used to drive the roller platform 2106 to rise and fall twice relative to the guide platform 2105. The roller conveying assembly is installed on the roller platform 2106.

[0040] like Figures 1 to 6 As shown, the roller conveyor assembly further includes: a roller mounting base 2107, a drive roller 2108, a driven roller 2111, and a roller drive motor 2110. The roller mounting base 2107 is fixedly mounted on the roller platform 2106. The drive roller 2108 is mounted on the roller mounting base 2107 via bearings, and the driven roller 2111 is mounted on the roller mounting base 2107 via bearings. The driven roller 2111 and the drive roller 2108 are arranged at intervals to form a roller conveying plane. The roller drive motor 2110 is mounted on the roller platform 2106, and the output end of the roller drive motor 2110 is connected to the drive roller 2108 via a transmission mechanism to drive the drive roller 2108 to rotate in order to convey the product material 3.

[0041] like Figures 1 to 6As shown, the roller lifting mechanism 21 is further provided with a product limiting fixture 22 for fixing and limiting the product material 3 during the transfer process. The product limiting fixture 22 is installed on the roller platform 2106 and located on the side of the roller conveying surface. The product limiting fixture 22 includes: a limiting fixing member 2201, a limiting telescopic member 2202, a spring 2205, and a spring pressing block 2204. The limiting fixing member 2201 is fixedly connected to the roller platform 2106. A slot is provided; one end of the limiting telescopic member 2202 is slidably inserted into the slot of the limiting fixing member 2201, and the other end of the limiting telescopic member 2202 is a free end. When the limiting telescopic member 2202 is lower than the roller conveying surface, the limiting telescopic member 2202 is higher than the roller conveying surface when it is pulled up. The spring 2205 is disposed inside the limiting telescopic member 2202, and the spring pressing block 2204 is movably installed inside the limiting telescopic member 2202. The spring pressing block 2204 is connected to the spring 2205.

[0042] like Figures 1 to 6 As shown, the central control system 14 is an industrial control computer or PLC control cabinet. The central control system 14 establishes bidirectional data communication links with the transfer AGV1, the gripping robotic arm 12 and the roller lifting AGV2 through a wireless communication module. It is used to send motion commands, receive status feedback signals and coordinate the timing actions of the transfer AGV1, the gripping robotic arm 12 and the roller lifting AGV2.

[0043] The workflow of the system is as follows: The central control system 14 sends a material picking signal to the roller lifting AGV2, and the roller lifting AGV2 moves to the material storage area and receives the product material 3 through the roller conveyor assembly.

[0044] After the product material 3 is in place, the central control system 14 sends a material sending signal, and the roller lifting AGV2 moves to the gripping and assembly area and sends a positioning signal to the central control system 14.

[0045] The central control system 14 controls the transfer AGV1 to move to the gripping assembly area, and the multi-stage lifting mechanism 11 adjusts the height of the gripping robotic arm 12 so that the adsorption clamp 13 is aligned with the upper surface of the product material 3.

[0046] The adsorption clamp 13 uses negative pressure to adsorb and grab the product material 3, and the gripping robotic arm 12 lifts the product material 3 from the roller platform 2106 and transfers it into the carriage 4, completing the automatic feeding.

[0047] This invention provides an automated material loading system for train assembly, belonging to the field of intelligent manufacturing technology for rail transit equipment. The system includes a transfer AGV1, a gripping robotic arm 12, a roller lifting AGV2, and a central control system 14. The gripping robotic arm 12 is fixedly mounted on the platform of the transfer AGV1. The roller lifting AGV2 carries and transports the products to be assembled to the assembly station. The central control system 14 is communicatively connected to the transfer AGV1, the gripping robotic arm 12, and the roller lifting AGV2. This invention, through the collaborative operation of multiple types of AGVs, achieves automated transfer, positioning, and loading of large components during train assembly. It solves the problems of low efficiency, high labor intensity, high safety risks, and poor positioning accuracy inherent in traditional train assembly relying on manual material loading. This significantly improves the automation level and production efficiency of train assembly, reduces production costs, and ensures consistent assembly quality.

[0048] 1. System Integration Innovation: For the first time, the transfer AGV1, the gripping robotic arm 12 and the roller lifting AGV2 are organically integrated to form a complete automatic material feeding solution for train assembly, realizing full-process automation from material transfer to assembly and installation.

[0049] 2. Multi-AGV collaborative control technology: A multi-AGV collaborative scheduling algorithm based on the central control system 14 was developed, which can realize the precise coordination of the transfer AGV1 and the roller lifting AGV2, ensuring the smoothness and efficiency of the feeding process.

[0050] 3. Highly adaptable special transfer fixtures: Special fixtures that can be quickly replaced are designed for parts of different shapes and weights in train assembly, which improves the versatility and flexibility of the system.

[0051] Overall composition: The present invention provides an automatic material feeding system for train assembly process, comprising a transfer AGV device 1, a multi-stage lifting mechanism 11, a gripping robotic arm 12, an adsorption fixture 13, a central control system 14, a roller lifting AGV 2, a roller lifting mechanism 21, a product limiting fixture 22, product materials 3, and a carriage 4.

[0052] Connection relationships: 1. The transplanting AGV1 is mainly equipped with a multi-stage lifting mechanism 11 and a central control system 14.

[0053] 2. The gripping robotic arm 12 is connected to the transfer AGV1 through a multi-stage lifting mechanism 11.

[0054] 3. The end of the gripping robotic arm 12 is equipped with an adsorption clamp 13.

[0055] 4. The roller lifting mechanism 21 is fixedly connected above the roller lifting AGV2.

[0056] 5. The product material 3 is fixed to the roller lifting mechanism 21.

[0057] Function and principle: 1. The roller lifting AGV2 transfers product 3 to the designated assembly position.

[0058] 2. The product material 3 is lifted to the designated height by the roller lifting mechanism 21.

[0059] 3. The transfer AGV1 will transport the gripping robotic arm 12 to the gripping position.

[0060] 4. Adjust the height of the gripping robotic arm 12 using the multi-stage lifting mechanism 11.

[0061] 5. The central control system 14 controls the gripping robotic arm 12 to complete the gripping of product material 3.

[0062] 6. The gripping robotic arm 12 uses an adsorption clamp 13 mounted at its end to grip and deliver the product material 3 into the carriage 4.

[0063] 7. The central control system 14 realizes overall process control.

[0064] (1) Composition of transplant AGV1: The transfer AGV1 includes: AGV body 1001, laser navigation radar 1002, counterweight box 1003, manual control interface 1004, and safety anti-collision strip 1005.

[0065] Function Description: 1. All components of the transfer AGV1 are installed on the AGV body 1001.

[0066] 2. Both sides of the AGV body 1001 are equipped with laser navigation radar 1002 and safety anti-collision strips 1005, which can ensure the accuracy and safety of the path of the transfer AGV1 during the transfer process.

[0067] 3. The counterweight box 1003 is connected and fixed to the AGV body 1001 through the bottom mounting surface, so that the overall center of gravity of the transplanted AGV1 does not shift, thus ensuring the overall operational stability.

[0068] 4. The side of the transplanting AGV1 equipment is equipped with a manual control interface 1004, which can realize functions such as parameter setting, alarm information viewing, and manual debugging.

[0069] (2) The multi-stage lifting mechanism consists of: The multi-stage lifting mechanism 11 consists of a mounting base plate 1101, a primary guide column 1102, a primary lifting platform 1103, a secondary guide column 1104, a secondary lifting platform 1105, a drive motor 1106, and a lifting cylinder 1107.

[0070] Function Description: 1. Install the base plate 1101 and connect and fix it to the transplanting AGV1.

[0071] 2. The secondary lifting platform 1105 provides a fixed installation interface for the gripping robotic arm 12.

[0072] 3. The multi-stage lifting mechanism 11 provides height adjustment for the gripping robotic arm 12 during the automatic gripping process, thereby completing the automatic gripping of the product material 3.

[0073] (3) Composition of roller lifting AGV2: The roller lifting AGV2 includes: AGV frame 2001, walking steering wheel assembly 2002, obstacle avoidance radar 2003, battery assembly 2004, lifting drive motor assembly 2101, guide column 2102, roller platform electric cylinder 2103, guide platform electric cylinder 2104, guide platform 2105, roller platform 2106, roller mounting base 2107, drive roller 2108, roller platform lifting shaft 2109, roller drive motor 2110, driven roller 2111, guide column mounting component 2112, product limit fixture 22, limit fixing component 2201, limit telescopic component 2202, cover plate 2203, spring pressing block 2204, and spring 2205.

[0074] Function Description: 1. The walking steering wheel assembly 2002, obstacle avoidance radar 2003, battery assembly 2004, guide column 2102, and guide platform electric cylinder 2104 are all installed on the AGV frame 2001. Among them, the walking steering wheel assembly 2002 and obstacle avoidance radar 2003 realize omnidirectional movement and safe collision avoidance functions.

[0075] 2. The bottom of the guide column 2102 is connected to the AGV frame 2001, the middle part is connected to the guide platform 2105, and the top is connected to the roller platform 2106, so as to realize the stability of the roller platform 2106 during the lifting process.

[0076] 3. During the lifting process, the electric cylinder 2104 of the guide platform installed on the AGV frame 2001 first lifts the guide platform 2105 in the middle to the specified height, and then the electric cylinder 2103 of the roller platform installed on the guide platform 2105 lifts the roller platform to the specified height, so as to transport the product material 3 to the gripping height and complete the gripping of the gripping robot arm 12.

[0077] 4. The roller mounting base 2107, roller drive motor 2110, product limiting fixture 22, and guide column mounting component 2112 are all installed on the roller platform 2106. The roller mounting base 2107 is used to fix the drive roller 2108 and the driven roller 2111. The roller drive motor 2110 and the drive roller 2108 are connected by a synchronous belt to realize the process of driving the product material 3 to enter and exit the warehouse. The product limiting fixture 22 is a manual auxiliary fixture. After the product material 3 reaches the roller platform 2106 by rotating through the drive roller 2108, the manual person pulls up the product limiting fixture 22 to realize the fixation and limiting of the product material 3 during the transfer process.

[0078] Overall workflow: (1) Material picking and feeding a) The central control system 14 receives the assembly production task and sends the material picking signal to the roller lifting AGV2.

[0079] b) The roller lifting AGV2 is moved by the walking steering wheel assembly 2002 to the material storage area for loading. The roller drive motor 2110 guides the product material 3 from the storage area to the roller platform 2106, and the personnel manually pull up the product limit fixture 22 to complete the fixed limit.

[0080] c) Once the product material 3 has been shipped out, the central control system 14 receives the information and sends a material delivery signal to the roller lifting AGV2 to transfer the material to the designated gripping and assembly area.

[0081] (2) Location information interaction a) After the roller lifting AGV2 arrives at the designated gripping and assembly area, it sends a signal to the central control system 14.

[0082] b) The central control system 14 receives the signal and controls the transfer AGV1 to move to the gripping and assembly area, matching the gripping height of the product material 3 and the height of the carriage 4.

[0083] (3) Material grabbing and feeding into the carriage The multi-stage lifting mechanism 11 adjusts the height position so that the position of the adsorption clamp 13 at the end of the gripping robotic arm 12 meets the gripping height and the height of the carriage 4. The adsorption clamp 13 at the end of the gripping robotic arm 12 contacts the upper surface of the product material 3 and grips it through negative pressure. Through the six-degree-of-freedom movement of the gripping robotic arm 12, the product material 3 is transferred from the roller platform 2106 to the inside of the carriage 4, completing the automatic feeding process.

[0084] Specifically as follows: I. Structure and Connection Relationship of Transplant AGV1 and its Components The transplant AGV1 is a rectangular platform-type autonomous mobile robot with a walking wheel system at the bottom and a horizontal mounting plane at the top.

[0085] The AGV body 1001 serves as the base for the transfer AGV1. It adopts a welded steel frame structure and is generally rectangular flat, possessing sufficient rigidity and load-bearing capacity. Differential drive wheels and driven support wheels are installed under the AGV body 1001.

[0086] There are two laser navigation radars 1002. The two laser navigation radars 1002 are fixedly installed on the outer walls of the two sides of the AGV body 1001. The detection surfaces of the two laser navigation radars 1002 face the outside of the AGV body 1001. They are used to scan the surrounding environment in real time to build a map and realize path navigation and obstacle avoidance.

[0087] There are two safety bumper strips 1005, which are fixedly installed along the outer edges of the AGV body 1001 in the forward and backward directions, respectively. The safety bumper strip 1005 can be a long strip-shaped contact sensor made of elastic material, used to trigger an emergency stop in the event of a collision.

[0088] The counterweight box 1003 is a rectangular closed box structure. The bottom of the counterweight box 1003 is fixed to the rear side of the upper plane of the AGV body 1001 by bolts. The counterweight box 1003 is filled with counterweight blocks to balance the overturning torque when the gripping robotic arm 12 is working, and to ensure that the overall center of gravity of the transfer AGV1 is located in the geometric center area of ​​the AGV body 1001.

[0089] The manual control interface 1004 is a touch-screen LCD display panel, which is embedded in a pre-reserved groove on the side of the AGV body 1001. It is electrically connected to the central control system 14 via a communication bus and is used to realize parameter setting, alarm query and manual debugging operations.

[0090] II. Structure and Connection Relationship of Multi-stage Lifting Mechanism 11 and its Components The multi-stage lifting mechanism 11 is installed on the upper plane of the AGV body 1001 of the transfer AGV1. The multi-stage lifting mechanism 11 is located in front of the counterweight box 1003 and is used to provide height adjustment function for the gripping robotic arm 12.

[0091] The mounting base plate 1101 is a rectangular steel plate. The lower surface of the mounting base plate 1101 is fixedly connected to the upper surface of the AGV body 1001 by bolts, serving as the basic support component of the multi-stage lifting mechanism 11.

[0092] The primary guide column 1102 consists of four cylindrical columns. The lower end of the primary guide column 1102 is vertically fixed to the four corners of the upper plane of the mounting base plate 1101. The upper end of the primary guide column 1102 extends vertically upward to guide the sliding of the primary lifting platform 1103.

[0093] The primary lifting platform 1103 is a rectangular plate. The four corners of the primary lifting platform 1103 are provided with sliding bearing holes that cooperate with the primary guide columns 1102. It is sleeved on the outside of the four primary guide columns 1102 and can slide up and down along the primary guide columns 1102.

[0094] The secondary guide column 1104 consists of four cylindrical columns. The lower end of the secondary guide column 1104 is fixedly connected to the four corners of the upper plane of the mounting base plate 1101. The upper end of the secondary guide column 1104 extends vertically upward to guide the sliding of the secondary lifting platform 1105.

[0095] The secondary lifting platform 1105 is a rectangular plate. The four corners of the secondary lifting platform 1105 are provided with sliding bearing holes that cooperate with the secondary guide columns 1104. It is sleeved on the outside of the four secondary guide columns 1104 and can slide up and down along the secondary guide columns 1104. The upper surface of the secondary lifting platform 1105 is provided with bolt mounting holes for fixing and connecting the base of the gripping robotic arm 12.

[0096] The lifting cylinder 1107 is an electric push rod type linear actuator. The lower end of the cylinder body of the lifting cylinder 1107 is fixedly connected to the center of the upper plane of the mounting base plate 1101 through a hinge seat. The upper end of the telescopic rod of the lifting cylinder 1107 is connected to the center of the lower plane of the first-stage lifting platform 1103 through a hinge seat, and is used to drive the first-stage lifting platform 1103 to lift.

[0097] The drive motor 1106 is a servo motor. The drive motor 1106 is fixedly installed on one side of the upper plane of the first-stage lifting platform 1103. It is connected to the second-stage lifting platform 1105 through a screw nut pair or a synchronous belt transmission mechanism. It is used to drive the second-stage lifting platform 1105 to perform a second-stage lifting action relative to the first-stage lifting platform 1103.

[0098] The multi-stage lifting mechanism 11 is fixed to the transfer AGV1 via the mounting base plate 1101, and the gripping robotic arm 12 is fixed to the secondary lifting platform 1105, thereby realizing the linkage of two-stage lifting and enabling the gripping robotic arm 12 to obtain a larger stroke range in the vertical direction.

[0099] III. Structure and Connection Relationship between the Gripping Robotic Arm 12 and the Adsorption Gripper 13 The gripping robotic arm 12 is a six-degree-of-freedom articulated industrial robot. The base of the gripping robotic arm 12 is fixedly connected to the center of the upper plane of the secondary lifting platform 1105 of the multi-stage lifting mechanism 11 by bolts. The end flange of the gripping robotic arm 12 can move along the six degrees of freedom in space, which is used to realize the spatial posture adjustment and position transfer of the product material 3.

[0100] The adsorption clamp 13 is a negative pressure vacuum suction cup clamp. The base of the adsorption clamp 13 is fixedly connected to the end flange of the gripping robot arm 12 by bolts. Multiple vacuum suction cups are evenly distributed on the lower surface of the adsorption clamp 13. The suction cup openings face downwards and are used to contact the upper surface of the product material 3 and achieve gripping through negative pressure adsorption.

[0101] IV. Structure and Connection Relationship of Roller Lifting AGV2 and its Components The roller lifting AGV2 is an autonomous mobile platform with lifting function. The roller lifting AGV2 has a walking steering wheel assembly at the bottom and a roller conveyor platform that can be lifted at the top.

[0102] The AGV frame 2001 is the base of the roller lifting AGV2. It adopts a rectangular welded steel frame structure. The walking steering wheel assembly 2002 is installed on the bottom surface of the AGV frame 2001. The battery assembly 2004 is installed inside the AGV frame 2001. The upper surface of the AGV frame 2001 is the equipment installation reference surface.

[0103] The walking steering wheel assembly 2002 is an omnidirectional steering wheel that integrates a drive motor and a steering motor. There are four of them, which are installed at the four corners of the bottom of the AGV frame 2001 to realize the omnidirectional movement and precise positioning of the roller lifting AGV2.

[0104] The obstacle avoidance radar 2003 is a laser scanning sensor, which is fixedly installed in the center of the front outer wall of the AGV frame 2001. The scanning plane of the obstacle avoidance radar 2003 is parallel to the ground and is used to detect obstacles in front and achieve safe avoidance.

[0105] The battery assembly 2004 is a rechargeable lithium-ion battery pack, which is fixedly installed in the central recess inside the AGV frame 2001 and supplies power to all electrical components of the vehicle through cables.

[0106] The guide column 2102 consists of four cylindrical columns. The lower end of the guide column 2102 is vertically fixed to the four corners of the upper plane of the AGV frame 2001. The middle part of the guide column 2102 passes through the guide hole of the guide platform 2105, and the upper end of the guide column 2102 passes through the guide hole of the roller platform 2106, so as to realize the vertical guidance and anti-eccentric load function of the roller platform 2106 and the guide platform 2105 during the lifting process.

[0107] The guide platform 2105 is a rectangular plate. The four corners of the guide platform 2105 are provided with sliding bearing holes that cooperate with the guide posts 2102. It is sleeved in the middle of the four guide posts 2102 and can slide up and down along the guide posts 2102.

[0108] The electric cylinder 2104 of the guide platform is an electric push rod type linear actuator. The lower end of the cylinder body of the electric cylinder 2104 is fixedly connected to the center of the upper plane of the AGV frame 2001, and the upper end of the telescopic rod of the electric cylinder 2104 is fixedly connected to the center of the lower plane of the guide platform 2105, which is used to drive the guide platform 2105 to rise and fall along the guide column 2102.

[0109] The roller platform 2106 is a rectangular flat plate. The roller platform 2106 has sliding bearing holes at its four corners that cooperate with the guide posts 2102. It is fitted on the upper part of the four guide posts 2102. The roller platform 2106 is located directly above the guide platform 2105 and can slide up and down along the guide posts 2102.

[0110] The roller platform electric cylinder 2103 is an electric push rod type linear actuator. The lower end of the cylinder body of the roller platform electric cylinder 2103 is fixedly connected to the center of the upper plane of the guide platform 2105, and the upper end of the telescopic rod of the roller platform electric cylinder 2103 is fixedly connected to the center of the lower plane of the roller platform 2106. It is used to drive the roller platform 2106 to perform secondary lifting and lowering relative to the guide platform 2105.

[0111] The roller platform lifting shaft 2109 is an auxiliary support shaft. The lower end of the roller platform lifting shaft 2109 is fixed to the guide platform 2105, and the upper end of the roller platform lifting shaft 2109 is movably supported on the roller platform 2106 to improve the stability during the lifting process.

[0112] The roller mounting base 2107 consists of multiple L-shaped or U-shaped supports, which are fixedly installed on the left and right sides of the upper plane of the roller platform 2106 and arranged along the length of the roller platform 2106 to support the shaft ends of the driving roller 2108 and the driven roller 2111.

[0113] The drive roller 2108 is a cylindrical roller. Both ends of the drive roller 2108 are mounted on the roller mounting base 2107 through bearings. The axis of the drive roller 2108 is parallel to the width direction of the roller platform 2106. Multiple drive rollers 2108 are arranged at intervals along the length direction of the roller platform 2106.

[0114] Driven roller 2111 is a non-powered cylindrical roller. Both ends of driven roller 2111 are mounted on roller mounting base 2107 through bearings, and are arranged alternately with drive roller 2108 to form a roller conveying plane.

[0115] The roller drive motor 2110 is a geared motor. The roller drive motor 2110 is fixedly installed on one side of the lower plane of the roller platform 2106. The output shaft of the roller drive motor 2110 is connected to the shaft end of the drive roller 2108 through a synchronous belt transmission mechanism, and is used to drive the drive roller 2108 to rotate in order to realize the conveying of product material 3.

[0116] The guide post mounting component 2112 is a flange-type connector. The guide post mounting component 2112 is fixedly installed at the four corners of the upper plane of the roller platform 2106, and is used to slide and guide the upper end of the guide post 2102 to the roller platform 2106.

[0117] V. Structure and Connection Relationship of Product Limiting Fixture 22 and its Components The product limiting fixture 22 is installed on the upper surface of the roller platform 2106. The product limiting fixture 22 is located on both sides of the roller conveyor surface. The product limiting fixture 22 is a manually operated limiting device used to fix and limit the product material 3 during the transfer process.

[0118] The limiting fastener 2201 has a rectangular structure and is fixedly connected to the upper edge of the roller platform 2106 by bolts. The limiting fastener 2201 is provided with a slot that is compatible with the limiting telescopic component 2202.

[0119] The limiting telescopic component 2202 is a long strip-shaped baffle. One end of the limiting telescopic component 2202 is slidably inserted into the slot of the limiting fixing component 2201, and the other end of the limiting telescopic component 2202 is a free end, so that it is lower than the roller surface when it is lowered and higher than the roller surface when it is pulled up to block the product material 3.

[0120] The cover plate 2203 is a rectangular cover plate, which is fixedly covered on the limiting telescopic component 2202 to protect the internal spring 2205 and spring pressing block 2204.

[0121] The spring pressing block 2204 is a T-shaped pressing part. The spring pressing block 2204 is movably installed in the guide groove inside the limiting telescopic part 2202. The lower end of the spring pressing block 2204 is connected to the upper end of the spring 2205.

[0122] Spring 2205 is a helical compression spring. Both ends of spring 2205 are connected to limiting telescopic member 2202 and spring pressing block 2204 respectively. It is used to retract into limiting fixing member 2201 when limiting telescopic member 2202 is lowered. When pulled up, spring pressing block 2204 is engaged with the top of limiting fixing member 2201 to prevent limiting telescopic member 2202 from falling and keep limiting telescopic member 2202 in a stable state.

[0123] VI. Overall System Connections and Collaborative Working Relationships The central control system 14 is an independently set industrial control computer or PLC control cabinet. It establishes bidirectional data communication links with the transfer AGV1, the gripping robotic arm 12, and the roller lifting AGV2 through wireless communication modules. It is used to send motion commands, receive status feedback signals, and coordinate the timing actions of each device.

[0124] The roller lifting mechanism 21 of the roller lifting AGV2 achieves two-stage lifting through the guide column 2102, the guide platform electric cylinder 2104 and the roller platform electric cylinder 2103, which transports the product material 3 from the storage area to the roller platform 2106 and lifts it to the grabbing height.

[0125] The transfer AGV1 autonomously navigates to the gripping and assembly area via the laser navigation radar 1002. The multi-stage lifting mechanism 11 adjusts the height of the secondary lifting platform 1105 through the linkage of the primary guide column 1102, the secondary guide column 1104, the lifting electric cylinder 1107 and the drive motor 1106, so that the adsorption clamp 13 of the gripping robotic arm 12 is aligned with the upper surface of the product material 3.

[0126] According to the instructions of the central control system 14, the gripping robotic arm 12 drives the end adsorption fixture 13 to descend to contact the upper surface of the product material 3. After starting the vacuum negative pressure adsorption, the gripping robotic arm 12 lifts the product material 3 from the roller platform 2106 and transfers it to the designated position inside the carriage 4 through six degrees of freedom spatial motion, completing the automatic feeding.

[0127] All the above lifting, moving, and grabbing actions are uniformly scheduled by the central control system 14 according to the preset timing logic, forming a complete automatic loading operation cycle for train assembly.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated material feeding system for train assembly, characterized in that, include: The system comprises a transfer AGV (1), a gripping robotic arm (12) for gripping and transferring product materials (3), a roller lifting AGV (2) for carrying and transporting product materials (3) to the assembly station, and a central control system (14). The transfer AGV (1) is a carrier platform that can move autonomously. The gripping robotic arm (12) is installed on the transfer AGV (1). The roller lifting AGV (2) is a lifting and conveying platform that can move autonomously. The central control system (14) is electrically connected to the transfer AGV (1), the gripping robotic arm (12), and the roller lifting AGV (2).

2. The automatic feeding system for train assembly process according to claim 1, characterized in that, The transfer AGV (1) includes: an AGV body (1001), a laser navigation radar (1002) for environmental scanning and path navigation, a counterweight box (1003) for balancing the overturning torque of the gripping robotic arm (12) during operation, a safety anti-collision strip (1005), and a manual control interface (1004) for parameter setting and manual debugging. The AGV body (1001) is the base of the transfer AGV (1). The laser navigation radar (1002) is installed on the outer wall of the AGV body (1001). The counterweight box (1003) is fixedly connected to the AGV body (1001). The safety anti-collision strip (1005) is installed on the edge of the AGV body (1001). The manual control interface (1004) is located on the side of the AGV body (1001).

3. The automatic feeding system for train assembly process according to claim 2, characterized in that, The transplanting AGV (1) is provided with a multi-stage lifting mechanism (11) for providing height adjustment function for the gripping robotic arm (12). The multi-stage lifting mechanism (11) is installed on the AGV body (1001), and the gripping robotic arm (12) is installed on the top of the multi-stage lifting mechanism (11).

4. The automatic feeding system for train assembly process according to claim 3, characterized in that, The multi-stage lifting mechanism (11) includes: a mounting base plate (1101), a primary guide column (1102), a primary lifting platform (1103), a secondary guide column (1104), a secondary lifting platform (1105), a lifting cylinder (1107), and a drive motor (1106). The mounting base plate (1101) is fixedly connected to the AGV body (1001). The lower end of the primary guide column (1102) is fixedly connected to the mounting base plate (1101), and the upper end of the primary guide column (1102) extends vertically. The primary lifting platform (1103) is sleeved on the outside of the primary guide column (1102) and can slide up and down along the primary guide column (1102). The lower end of the secondary guide column (1104) is fixedly connected to the mounting base plate (1101), and the upper end of the secondary guide column (1104) extends vertically. Extending vertically, the secondary lifting platform (1105) is sleeved on the outside of the secondary guide column (1104) and can slide up and down along the secondary guide column (1104). The gripping robotic arm (12) is fixedly installed on the secondary lifting platform (1105). The cylinder body of the lifting electric cylinder (1107) is connected to the mounting base plate (1101). The telescopic rod of the lifting electric cylinder (1107) is connected to the primary lifting platform (1103) and is used to drive the primary lifting platform (1103) to lift. The drive motor (1106) is installed on the primary lifting platform (1103). The drive motor (1106) is connected to the secondary lifting platform (1105) through a transmission mechanism and is used to drive the secondary lifting platform (1105) to perform secondary lifting actions relative to the primary lifting platform (1103).

5. The automatic feeding system for train assembly process according to claim 1, characterized in that, The gripping robotic arm (12) is a multi-degree-of-freedom articulated industrial robot. The end of the gripping robotic arm (12) is equipped with an adsorption clamp (13). The adsorption clamp (13) is a negative pressure vacuum suction cup clamp. The lower surface of the adsorption clamp (13) is provided with multiple vacuum suction cups for contacting the upper surface of the product material (3) and gripping it through negative pressure adsorption.

6. The automatic feeding system for train assembly process according to claim 1, characterized in that, The roller lifting AGV (2) includes: an AGV frame (2001), a walking steering wheel assembly (2002) for omnidirectional movement and precise positioning, an obstacle avoidance radar (2003) for detecting obstacles and achieving safe avoidance, a battery assembly (2004), and a roller lifting mechanism (21) for carrying and conveying product materials (3) and lifting the product materials (3) to the grabbing height. The AGV frame (2001) is the base of the roller lifting AGV (2). The walking steering wheel assembly (2002) is installed at the bottom of the AGV frame (2001). The obstacle avoidance radar (2003) is installed on the AGV frame (2001). The battery assembly (2004) is installed inside the AGV frame (2001). The roller lifting mechanism (21) is installed on the AGV frame (2001).

7. An automatic material feeding system for train assembly process according to claim 6, characterized in that, The roller lifting mechanism (21) includes: a guide column (2102), a guide platform (2105), a guide platform electric cylinder (2104), a roller platform (2106), a roller platform electric cylinder (2103), and a roller conveying assembly for carrying and conveying product materials (3). The lower end of the guide column (2102) is fixedly connected to the AGV frame (2001), and the upper end of the guide column (2102) extends vertically. The guide platform (2105) is sleeved in the middle of the guide column (2102) and can slide up and down along the guide column (2102). The cylinder body of the guide platform electric cylinder (2104) is connected to the AGV frame (2001). The telescopic rod is connected to the guide platform (2105) and is used to drive the guide platform (2105) to rise and fall. The roller platform (2106) is sleeved on the upper part of the guide column (2102) and can slide up and down along the guide column (2102). The roller platform (2106) is located above the guide platform (2105). The cylinder body of the roller platform electric cylinder (2103) is connected to the guide platform (2105). The telescopic rod of the roller platform electric cylinder (2103) is connected to the roller platform (2106) and is used to drive the roller platform (2106) to rise and fall twice relative to the guide platform (2105). The roller conveying assembly is installed on the roller platform (2106).

8. An automatic material feeding system for train assembly process according to claim 7, characterized in that, The roller conveyor assembly includes: a roller mounting base (2107), a drive roller (2108), a driven roller (2111), and a roller drive motor (2110). The roller mounting base (2107) is fixedly mounted on the roller platform (2106). The drive roller (2108) is mounted on the roller mounting base (2107) via bearings. The driven roller (2111) is mounted on the roller mounting base (2107) via bearings. The driven roller (2111) and the drive roller (2108) are arranged at intervals to form a roller conveying plane. The roller drive motor (2110) is mounted on the roller platform (2106). The output end of the roller drive motor (2110) is connected to the drive roller (2108) via a transmission mechanism to drive the drive roller (2108) to rotate in order to convey the product material (3).

9. An automatic material feeding system for train assembly process according to claim 7, characterized in that, The roller lifting mechanism (21) is provided with a product limiting fixture (22) for fixing and limiting the product material (3) during the transfer process. The product limiting fixture (22) is installed on the roller platform (2106) and located on the side of the roller conveying surface. The product limiting fixture (22) includes: a limiting fixing component (2201), a limiting telescopic component (2202), a spring (2205), and a spring pressing block (2204). The limiting fixing component (2201) is fixedly connected to the roller platform (2106). The limiting fixing component (2201) is provided with a product limiting fixture (2204). The device has a slot; one end of the limiting telescopic member (2202) is slidably inserted into the slot of the limiting fixing member (2201), and the other end of the limiting telescopic member (2202) is a free end. When the limiting telescopic member (2202) is lower than the roller conveying surface, the limiting telescopic member (2202) is higher than the roller conveying surface when it is pulled up. The spring (2205) is disposed inside the limiting telescopic member (2202), and the spring pressing block (2204) is movably installed inside the limiting telescopic member (2202). The spring pressing block (2204) is connected to the spring (2205).

10. An automatic material feeding system for train assembly process according to claim 1, characterized in that, The central control system (14) is an industrial control computer or PLC control cabinet. The central control system (14) establishes a two-way data communication link with the transplanting AGV (1), the gripping robotic arm (12) and the roller lifting AGV (2) respectively through a wireless communication module. It is used to send motion commands, receive status feedback signals and coordinate the timing actions of the transplanting AGV (1), the gripping robotic arm (12) and the roller lifting AGV (2).

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