Robot dismounting and mounting device for axle end part of motor train unit

Abstract

The utility model aims at providing a motor train unit axle end part robot dismounting equipment, the equipment contains: AGV chassis, AGV upper layer module, air compressor pump module, collaborative robot module, friction disc / adapter disassembly assembly mechanism module, screw disassembly mechanism module, clasp spring storage library module, dustproof plug storage module, camera detection system, waste clasp collection module, waste screw collection module etc., the motor train unit axle end part robot dismounting equipment provided by the utility model realizes automatic dismounting through setting screw disassembly mechanism, clasp spring storage library mechanism, dustproof plug storage library mechanism, axle box end cover, adapter, friction disc removal mechanism, screw, clasp spring and dustproof plug removal mechanism, replaces original manual dismounting, and the loss of human resources is greatly reduced.

Description

Technical Field

[0001] This utility model relates to the technical field of equipment for the daily operation and maintenance of high-speed train sets in EMU depots, and in particular to an automated and intelligent special equipment for disassembling and assembling EMU axle end components. Background Technology

[0002] According to their function, axle end components of high-speed trains are mainly divided into three types: ordinary axle end components, axle end components with grounding devices, and axle end components with speed detection devices. According to their structure, they are mainly divided into five types: ordinary axle ends, anti-slip axle ends with speed sensors, grounded axle ends without sensors, grounded axle ends with ETCS or LG sensors, and grounded axle ends with both ETCS and LG sensors. Ordinary axle ends consist of an axle end cover, a small sealing ring, a D-type axle box cover, an O-ring seal, and a bearing cover. Anti-slip axle ends with speed sensors consist of an axle end cover, a small sealing ring, an A / E-type axle box cover, an anti-slip speed sensor, a large sealing ring, a speed measuring gear, and a bearing cover. Grounded axle ends without sensors consist of a grounding device, a small sealing ring, a grounding carbon brush, a friction disc, an F-type axle box cover, an adapter, a large sealing ring, and a bearing cover. The grounding shaft end with an ETCS or LG sensor consists of a grounding device, a small sealing ring, a grounding carbon brush, a friction disc, a type B axle box cover, an ETCS or LG sensor, an adapter, a large sealing ring, a speed measuring gear, and a bearing cover.

[0003] According to the EMU (Electric Multiple Unit) Operation and Maintenance Management Regulations and the EMU Level 2 Overhaul Operation Guidelines, every time an EMU is put into operation after maintenance or after a new train has accumulated 10±10% of its mileage, ultrasonic testing must be performed on the hollow axles to check for axle cracks. To conduct ultrasonic testing, the relevant components at the axle end must first be removed; then, a dedicated hollow axle testing machine is used to test the axle; after the testing is completed, the axle end components are reinstalled. This work is one of the most critical and important operation and maintenance tasks in each EMU depot, and it is also the most frequent, longest, most labor-intensive, and most personnel-intensive task.

[0004] Based on our survey of EMU depots across the country, currently, both domestically and internationally, all axle end component disassembly and assembly operations are conducted manually. For short-formation (8-car) EMUs, ultrasonic flaw detection of axles requires one work group, consisting of 2 flaw detection workers and 4 assistant workers, with a working time of 400-500 minutes per train. For long-formation (16- or 17-car) EMUs, ultrasonic flaw detection of axles requires two work groups, namely 4 flaw detection workers and 8 assistant workers, with a working time of 400-500 minutes per train.

[0005] Due to the variety of EMU models and axle end component structures, this project focuses on the CRH380B and CR400BF series EMUs, and conducts research on "online disassembly, inspection, and assembly of EMU axle end components." The aim is to replace the current manual online disassembly, inspection, and assembly of EMU axle end components with robots that enable online disassembly, inspection, and assembly of EMU axle end components. Summary of the Invention

[0006] The purpose of this invention is to provide a robotic disassembly and assembly device for axle end components of a high-speed train.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0008] A robotic disassembly and assembly device for axle end components of a high-speed train includes:

[0009] The workbench is provided with a receiving space for accommodating screws, retaining rings, and dust plugs.

[0010] Screw assembly mechanism: The screw assembly mechanism is set on the workbench and includes a vibratory plate, an electric cylinder, and a pneumatic clamping assembly. The device is used to store screws and automatically feed them.

[0011] Snap spring storage mechanism: The snap spring storage mechanism is set on the workbench and includes a lifting drive mechanism, a pneumatic pushing component, and a pneumatic clamping component. The dustproof plug storage mechanism is used for automatic snap spring feeding.

[0012] Dustproof plug storage mechanism: The dustproof plug storage mechanism is set on the workbench and includes a lifting drive mechanism and a pneumatic clamping and positioning component. The dustproof plug storage mechanism is used for automatic dustproof plug feeding.

[0013] Axle box end cover, adapter, and friction disc removal mechanism: The axle box end cover, adapter, and friction disc removal mechanism includes a clamping assembly and a robotic arm. The clamping assembly is used to clamp or place the axle box end cover, adapter, and friction disc. The robotic arm is connected to the clamping assembly to drive the clamping assembly to move closer to the worktable so that the glass is accommodated in the carrying basket.

[0014] Screw, snap ring, and dust plug removal mechanism: The screw, snap ring, and dust plug removal mechanism includes a clamping assembly and a robotic arm. The clamping assembly is used to clamp or place screws, snap rings, and dust plugs. The robotic arm is connected to the clamping assembly to drive the clamping assembly to move closer to the worktable, so that the screws, snap rings, and dust plugs are accommodated in the automatic feeder.

[0015] In some embodiments, the axle box end cover, adapter, and friction disc clamping assembly include a support, a connecting plate, an electromagnet mounting base, a suction cup, an electromagnet, and a positioning shaft. The support is connected to the robotic arm, and the connecting plate is connected to the support. The connecting plate has a first air passage and a second air passage that are connected to each other. The opening at one end of the first air passage is located on a first side of the connecting plate, and the other end of the first air passage is connected to one end of the second air passage. The opening at the other end of the second air passage is located on a second side of the connecting plate. The first side and the second side are adjacent to each other. The connecting plate has a suction cup connecting hole corresponding to the second air passage, and the suction cup is connected to the connecting hole. The connecting plate has a mounting hole for the electromagnet mounting base, and the electromagnet mounting base is connected to the connecting plate. The electromagnet mounting base has a mounting hole for the electromagnet, and the electromagnet is fixedly connected to the electromagnet mounting base.

[0016] In some embodiments, the screw, retaining ring, and dust plug clamping assembly includes a support, a connecting plate, a dedicated retaining ring removal and installation machine, a dust plug removal and installation machine, a screw removal and installation machine, and a servo-controlled torque motor. The support is connected to the robotic arm, and the connecting plate is connected to the support. The connecting plate has a fixing hole for the dedicated retaining ring removal and installation machine, which is fixedly connected to the connecting plate. The connecting plate also has a fixing hole for the servo-controlled torque motor, which is fixedly connected to the connecting plate. The servo-controlled torque motor has a pre-installed quick-change module connector for easy replacement. The dust plug removal and installation machine and the screw removal and installation machine share a single servo-controlled torque motor for quick-change modules. The connecting plate has a fixing hole for a 3D camera vision sensor, which is fixedly connected to the connecting plate.

[0017] In some embodiments, multiple electromagnets and multiple electromagnet mounting bases are provided, with each electromagnet corresponding to one of the electromagnet mounting bases.

[0018] In some embodiments, the screw dispensing mechanism includes a vibratory feeder, an electric slide, a screw storage assembly, a pneumatic screw-picking mechanism, a support plate, an electric slide connecting plate, and a pneumatic connecting plate. The support plate has a vibratory feeder fixing hole, and the vibratory feeder is fixedly connected to the support plate. The screw storage assembly has a vibratory feeder fixing hole, and the vibratory feeder is fixedly connected to the screw storage assembly, with the vibratory feeder installed below the screw storage assembly. The electric slide fixing plate has an electric slide fixing hole, and the electric slide is fixedly connected to the electric slide fixing plate, with the electric slide located above the electric slide connecting plate. The pneumatic connecting plate has an electric slide fixing hole, and the pneumatic connecting plate is fixedly connected to the electric slide, with the pneumatic connecting plate located above the electric slide. The pneumatic connecting plate has a pneumatic screw-picking mechanism fixing hole, and the pneumatic screw-picking mechanism is fixedly connected to the pneumatic connecting plate, with the pneumatic screw-picking mechanism located above the pneumatic connecting plate.

[0019] In some embodiments, the device is mounted on the workbench, and the snap ring storage mechanism includes a lifting drive mechanism, a pneumatic pusher assembly, a pneumatic clamping assembly, and a support plate. The support plate has a fixing hole for the lifting drive mechanism, and the lifting drive mechanism is fixedly connected to the support plate. The support plate also has a fixing hole for the pneumatic pusher assembly, and the pneumatic pusher assembly is fixedly connected to the support plate and installed below the support plate. Furthermore, the support plate has a fixing hole for the pneumatic clamping assembly, and the pneumatic clamping assembly is fixedly connected to the support plate and located below the support plate.

[0020] In some embodiments, the device is mounted on the workbench, and the dust plug storage mechanism includes a lifting drive mechanism, a pneumatic clamping and positioning assembly, and a support plate. The support plate has a fixing hole for the lifting drive mechanism, and the lifting drive mechanism is fixedly connected to the support plate. The support plate also has a fixing hole for the pneumatic clamping and positioning assembly, and the pneumatic clamping assembly is fixedly connected to the support plate. The pneumatic clamping assembly is located above the support plate.

[0021] In some embodiments, the lifting drive assembly includes a bearing housing, a nut, a lead screw, a lifting drive component, a first transmission wheel, a second transmission wheel, a transmission belt, and a support plate. The bearing housing is disposed outside the lead screw and fixedly connected to the upper end of the lead screw. The bearing housing is fixedly connected to the support plate. The nut cooperates with the lead screw and is fixedly connected to the first transmission wheel. The first transmission wheel is located to the side of the second gear. The second transmission wheel is disposed on the drive shaft of the lifting drive component. The transmission belt is wound around the first and second transmission wheels. The support plate is located below the support plate, and the nut is rotatably disposed on the support plate.

[0022] In some embodiments, the pneumatic feeding assembly includes a cylinder, a sliding rail, a connecting assembly, a feeding assembly, and a support plate. The support plate has a cylinder fixing hole, and the cylinder is fixed below the support plate. The connecting assembly has a feeding assembly fixing hole, and the feeding assembly is fixedly connected to the connecting assembly. The feeding assembly has a sliding rail fixing hole, and the sliding rail is fixedly connected to the feeding assembly. The support plate has a sliding rail fixing hole, and the sliding rail is fixedly connected to the support plate. The support plate is located below the feeding assembly.

[0023] The robotic disassembly and assembly equipment for EMU axle end components provided by this utility model achieves automatic disassembly and assembly by setting up a screw disassembly and assembly mechanism, a snap ring storage mechanism, a dust plug storage mechanism, an axle box end cover, an adapter, a friction disc removal mechanism, and a screw, snap ring, and dust plug removal mechanism, replacing the original manual disassembly and assembly and greatly reducing the loss of human resources. Attached Figure Description

[0024] Figure 1 This is a structural diagram of the automatic disassembly and assembly equipment for the axle box end cover component of the EMU (Electric Multiple Unit) according to this utility model.

[0025] Figure 2 This is a structural diagram of the disassembled assembly machine of the friction disc and adapter of this utility model.

[0026] Figure 3 This is a structural diagram of the screw assembly mechanism of this utility model.

[0027] Figure 4 This is a structural diagram of the screw disassembly and assembly moving module mechanism of this utility model.

[0028] Figure 5 This is a structural diagram of the snap ring storage mechanism of this utility model.

[0029] Figure 6 This is a structural diagram of the dustproof plug storage mechanism of this utility model.

[0030] Figure 7 This is a structural diagram of the waste snap ring storage mechanism of this utility model.

[0031] Figure 8 This is a structural diagram of the waste screw storage mechanism of this utility model.

[0032] Figure 9 This is a structural diagram of the snap ring / screw disassembly and assembly mechanism of this utility model.

[0033] Figure 10 This is a structural diagram of the visual recognition mechanism of this utility model.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1-Workbench, 2-Collaborative Robot, 3-Friction Disc and Adapter Disassembly and Assembly Machine, 4-Screw Dispensing Mechanism, 5-Snap Ring Storage Storage, 6-Dustproof Plug Storage, 7-Scrap Snap Ring Storage Mechanism, 8-Scrap Screw Storage Mechanism, 9-Snap Ring / Screw Disassembly and Assembly Mechanism, 10-Vision Recognition Mechanism, 11-Friction Disc and Adapter Disassembly and Assembly Machine and Collaborative Robot - Connecting Column, 12-Fixing Plate, 13-Shaft Box Cover - Limiting and Positioning Pin, 14-P34-25 Electromagnet, 15-100mm Diameter Vacuum Suction Cup, 16-Friction Disc - Limiting and Positioning Pin, 17-85mm Diameter Vacuum Suction Cup, 18-Adapter - Limiting and Positioning Pin, 19-P25-25 Electromagnet, 20-Screw vibratory feeder, 21-Screw limit track, 22-Screw end anti-drop mechanism, 23-Moving module, 24-Screw clamping mechanism, 25-Cable drag chain, 26-Pushing cylinder mechanism, 27-Screw clamping cylinder mechanism, 28-Gripper fingers, 29-Snap ring clamping cylinder mechanism 1, 30-Moving slide rail, 31-Snap ring contouring fixture, 32-Screw screw module, 33-Linear bearing, 34-Synchronous belt mechanism, 35-Servo drive motor, 36-Snap ring clamping cylinder mechanism 2, 37-Dustproof plug clamping cylinder mechanism 1, 38-Dustproof plug storage fixture, 39-Moving slide rail, 40-Linear bearing, 41-Upper and lower screw screw modules, 42-Synchronous belt pulley transmission mechanism, 43-Servo drive... 44-Planetary reducer, 45-Scrap circlip storage box, 46-Scrap circlip gripping cylinder, 47-Cylinder mounting plate, 48-Cylinder gripper fingers, 49-Scrap screw storage box, 50-Cylinder gripper fingers, 51-Screw gripping cylinder, 52-Cylinder mounting plate, 53-Reinforcing rib, 54-Circlip / screw disassembly and assembly mechanism and collaborative robot - connecting column, 55-Circlip disassembly and assembly drive - stepper motor, 56-Bearing seat, 57-Circlip disassembly and assembly cylinder, 58-Circlip gripping fingers, 59-Screw disassembly and assembly servo motor drive, 60-Screw disassembly and assembly planetary reducer, 61-Screwdriver bit socket, 62-Screwdriver bit, 63-Light source, 64-Camera, 65-Camera lens, 66-Adjustable sheet metal bracket for light source. Detailed Implementation

[0036] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0037] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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 this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] refer to Figures 1-10 The new high-speed train's axle box end covers do not have automatic disassembly and assembly equipment. This equipment includes: AGV chassis, AGV upper module, air compressor / pump module, collaborative robot module, friction disc / adapter disassembly and assembly mechanism module, screw disassembly mechanism module, snap ring storage module, dustproof plug storage module, camera inspection system, waste snap ring collection module, waste screw collection module, etc.

[0039] Collaborative robot 2-1, carrying the friction disc / adapter disassembly and assembly mechanism module 9, moves to the corresponding train hub. After the 3D camera 64 on the collaborative robot arm takes a picture and positions the location, the bit 62 on the friction disc / adapter disassembly and assembly mechanism module 9 is inserted into the hexagonal socket of the locking screw on the axle box cover. The servo motor drive 59 and planetary reducer 60 are activated, which then drive the bit 62 to rotate in the opposite direction, removing one screw. The bit 62 is then attracted to the screw by a magnet. Collaborative robot 2, carrying the removed screw, moves the friction disc / adapter disassembly and assembly mechanism module 9 to the waste screw collection mechanism 8. The removed screw is placed in the cylinder gripper finger 50. The solenoid valve of the control cylinder 51 is energized, and the cylinder finger grips the screw. Collaborative robot 2, carrying the friction disc / adapter disassembly and assembly mechanism module 9, moves away to the axle box cover and removes the next screw. At this time, the solenoid valve of the control cylinder 51 is activated, the cylinder 51 opens, the cylinder gripper finger 50 disengages from the screw, and the screw falls into the collection box of the waste screw collection mechanism 8. The screws securing the axle box cover are distributed at a 60° angle. Collaborative robot 2-1, carrying the friction disc / adapter disassembly and assembly mechanism module 9, uses bit 62 to locate the remaining 5 screws using a 3D camera. After removing the 4th screw, 2 diagonal screws remain. Collaborative robot 2-2, carrying the friction disc and adapter disassembly and assembly mechanism module 3, inserts the axle box cover-limiting positioning pin 13 into the diagonal screw holes and uses an electromagnet to hold the axle box cover in place. Collaborative robot 2-1, carrying the friction disc and adapter disassembly and assembly mechanism module 9, then uses bit 62 to remove the remaining 2 screws and places them all in the waste screw storage mechanism 8. Collaborative robot 2-2, carrying the friction disc and adapter disassembly and assembly mechanism 3, uses the positioning pin 13, electromagnet 14, and a 100mm diameter suction cup to remove the axle box cover and place it on the external platform of the railway track.

[0040] Collaborative robot 2-1, carrying the friction disk / adapter disassembly and assembly mechanism module 9, moves to the friction disk. After the 3D camera 64 on the arm of collaborative robot 2-1 takes a picture and positions the device, the bit 62 on the friction disk / adapter disassembly and assembly mechanism module 9 is inserted into the hexagonal socket of the locking screw on the friction disk. The servo motor drive 59 and the planetary reducer 60 are activated, which then drive the bit 62 to rotate in the opposite direction, removing a screw. The bit 62 is then attracted to the screw by a magnet. Collaborative robot 2-1, carrying the removed screw, moves to the waste screw collection mechanism 8. The removed screw is placed in the cylinder gripper finger 50. The solenoid valve of cylinder 51 is energized, and the cylinder finger grips the screw. Collaborative robot 2-2, carrying the friction disk / adapter disassembly and assembly mechanism module 9, moves away from the friction disk and removes the next screw. At this time, the solenoid valve of cylinder 51 is controlled, cylinder 51 opens, the cylinder gripper finger 50 disengages from the screw, and the screw falls into the collection box of the waste screw collection mechanism 8. After removing two diagonally opposite screws, leaving two diagonally opposite screws, collaborative robot 2-2, carrying the friction disc and adapter disassembly and assembly machine 3, inserts the friction disc-limiting positioning pin 16 into the diagonally opposite screw holes and activates the air pump module. The 85mm suction cup then adheres to the friction disc. Collaborative robot 2-1, carrying the friction disc / adapter disassembly and assembly mechanism module 9, uses the bit 62 to remove the remaining two screws and places them all in the waste screw storage mechanism 8. Collaborative robot 2-2, carrying the friction disc and adapter disassembly and assembly machine 3, uses the positioning pin 16 and the suction cup to remove the friction disc and place it on the external platform of the railway track.

[0041] Collaborative robot 2-1, carrying the friction disc / adapter disassembly and assembly mechanism module 9, moves to the adapter. After the 3D camera 64 on the arm of collaborative robot 2-1 takes a picture and positions the device, the bit 62 on the friction disc / adapter disassembly and assembly mechanism module 9 is inserted into the hexagonal socket of the friction disc locking screw. The servo motor drive 59 and planetary reducer 60 are activated, which then drive the bit 62 to rotate in the opposite direction, removing a screw. The bit 62 is then attracted to the screw by a magnet. Collaborative robot 2-1, carrying the removed screw, moves to the waste screw collection mechanism 8. The removed screw is placed in the cylinder gripper finger 50. The solenoid valve of cylinder 51 is energized, and the cylinder finger grips the screw. Collaborative robot 2-2, carrying the friction disc / adapter disassembly and assembly mechanism module 9, moves away to the adapter and removes the next screw. At this time, the solenoid valve of cylinder 51 is controlled, cylinder 51 opens, the cylinder gripper finger 50 disengages from the screw, and the screw falls into the collection box of the waste screw collection mechanism 8. After removing two diagonally opposite screws, leaving two diagonally opposite screws, collaborative robot 2-2, carrying the friction disc and adapter disassembly and assembly machine 3, inserts the adapter-limiting positioning pin 18 into the diagonally opposite screw holes and activates the electromagnet module 19. After the electromagnet 19 attracts the adapter, collaborative robot 2-1, carrying the bit 62 on the friction disc / adapter disassembly and assembly mechanism module 9, removes the remaining two screws and places them all in the waste screw storage mechanism 8. Collaborative robot 2-2, carrying the friction disc and adapter disassembly and assembly machine 3, uses the positioning pin 18 and the electromagnet attraction to remove the adapter and place it on the external platform of the rail.

[0042] Collaborative robot 2-1 moves to the hub with friction disc / adapter disassembly and assembly mechanism module 9. After the 3D camera 64 of the collaborative robot 2-1 arm takes a picture and positions it, the 3D camera module 64 determines the two positioning holes of the retaining spring. The retaining spring grabs the finger 58. The stepper motor 55 is started to rotate and find the relative position of the two positioning holes of the retaining spring through the position determined by the 3D camera 64, and then inserts it into the positioning hole. The retaining ring disassembly cylinder 57 controls the cylinder gripper fingers to close via a solenoid valve, disengaging the retaining ring from the retaining ring slot. The collaborative robot 2-1 removes the retaining ring from the retaining ring slot. The friction disc / adapter disassembly and assembly mechanism module 9 carries the used retaining ring to the used retaining ring storage mechanism 7. At this time, the used retaining ring clamping cylinder 46 controls the cylinder gripper fingers 48 to open via a solenoid valve. The collaborative robot 2-1, carrying the friction disc / adapter disassembly and assembly mechanism module 9 and the used retaining ring, places the retaining ring at the cylinder gripper fingers 48. The solenoid valve is controlled to make the used retaining ring clamping cylinder 46 control the cylinder gripper fingers 48 to clamp the retaining ring. The collaborative robot 2-1, carrying the friction disc / adapter disassembly and assembly mechanism module 9, moves the hub. At this time, the used retaining ring clamping cylinder 46 controls the cylinder gripper fingers 48 to open and place the used retaining ring into the used retaining ring storage box 45.

[0043] Collaborative robot 2-1 moves to the hub with friction disc / adapter disassembly and assembly mechanism module 9. The friction disc / adapter disassembly and assembly mechanism module 9 quickly replaces the bit socket 61 and the burr 62 with the dust plug disassembly fixture 63. After the 3D camera 64 on the arm of collaborative robot 2-1 takes pictures and positions the device, it determines the relative position of the hole of the dust plug. The dust plug disassembly fixture 63 on the friction disc / adapter disassembly and assembly mechanism module 9 is rotated by servo motor 59 and planetary reducer 60 to find the hole of the dust plug and lock it into the hole of the dust plug. The servo motor 59 and planetary reducer 60 are started to rotate the dust plug disassembly fixture 63 to remove the dust plug. Collaborative robot 2-1 moves to the dust plug storage warehouse 6 with the friction disc / adapter disassembly and assembly mechanism module 9 and the dust plug and puts it into the waste dust plug storage fixture.

[0044] The AGV moves to the next wheel hub station to begin the next disassembly operation. This process continues until the disassembly is complete, at which point the track flaw detector sequentially inspects each wheel hub. After flaw detection, the AGV performs the reverse process on each wheel hub to install the relevant components into their respective positions.

[0045] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic disassembly and assembly device for axle end components of a high-speed train, characterized in that: The equipment is used for automatically disassembling and assembling axle box end covers, adapters, friction discs, screws, snap rings, and dust plugs. The equipment includes: Workbench: The workbench is provided with a receiving space for accommodating screws, retaining rings and dust plugs; Screw assembly mechanism: The screw assembly mechanism is set on the workbench and includes a vibratory plate, an electric cylinder, and a pneumatic clamping assembly. The device is used to store screws and automatically feed them. Snap ring storage mechanism: The snap ring storage mechanism is set on the workbench and includes a lifting drive mechanism, a pneumatic pushing component, and a pneumatic clamping component. The snap ring storage mechanism is used for automatic snap ring feeding. Dustproof plug storage mechanism: The dustproof plug storage mechanism is set on the workbench and includes a lifting drive mechanism and a pneumatic clamping and positioning component. The dustproof plug storage mechanism is used for automatic dustproof plug feeding. Axle box end cover, adapter, and friction disc removal mechanism: The axle box end cover, adapter, and friction disc removal mechanism includes a clamping assembly and a robotic arm. The clamping assembly is used to clamp or place the axle box end cover, adapter, and friction disc. The robotic arm is connected to the clamping assembly to drive the clamping assembly to move closer to the worktable so that the glass is accommodated in the carrying basket. Screw, snap ring, and dust plug removal mechanism: The screw, snap ring, and dust plug removal mechanism includes a clamping assembly and a robotic arm. The clamping assembly is used to clamp or place screws, snap rings, and dust plugs. The robotic arm is connected to the clamping assembly to drive the clamping assembly to move closer to the worktable, so that the screws, snap rings, and dust plugs are accommodated in the automatic feeder.

2. The robot disassembly and assembly equipment for axle end components of a high-speed train according to claim 1, characterized in that, The axle box end cover, adapter, and friction disc clamping assembly include a support, a connecting plate, an electromagnet fixing seat, a suction cup, an electromagnet, and a positioning shaft. The support is connected to the robotic arm, and the connecting plate is connected to the support. The connecting plate has a first air passage and a second air passage that are connected to each other. The opening of one end of the first air passage is located on the first side of the connecting plate, and the other end of the first air passage is connected to one end of the second air passage. The opening of the other end of the second air passage is located on the second side of the connecting plate. The first side and the second side are adjacent to each other. The connecting plate has a suction cup connecting hole corresponding to the second air passage, and the suction cup is connected to the connecting hole. The connecting plate has a fixing hole for the electromagnet fixing seat, and the electromagnet fixing seat is connected to the connecting plate. The electromagnet fixing seat has a fixing hole for the electromagnet, and the electromagnet is fixedly connected to the electromagnet fixing seat.

3. The robot disassembly and assembly equipment for EMU axle end components according to claim 1, characterized in that, The screw, circlip, and dust plug clamping assembly includes a support, a connecting plate, a dedicated circlip removal and installation machine, a dust plug removal and installation machine, a screw removal and installation machine, and a servo-controlled torque motor. The support is connected to the robotic arm, and the connecting plate is connected to the support. The connecting plate has a fixing hole for the dedicated circlip removal and installation machine, which is fixedly connected to the connecting plate. The connecting plate also has a fixing hole for the servo-controlled torque motor, which is fixedly connected to the connecting plate. The servo-controlled torque motor has a pre-installed quick-change module connector for easy module replacement. The dust plug removal and installation machine and the screw removal and installation machine share a single servo-controlled torque motor for quick-change modules. The connecting plate has a fixing hole for a 3D camera vision, which is fixedly connected to the connecting plate.

4. The robot disassembly and assembly equipment for EMU axle end components according to claim 2, characterized in that, Multiple electromagnets are provided, and multiple electromagnet mounting bases are provided, with each electromagnet corresponding to one of the electromagnet mounting bases.

5. The robot disassembly and assembly equipment for EMU axle end components according to claim 1, characterized in that, The screw dispensing mechanism includes a vibratory feeder, an electric slide, a screw storage assembly, a pneumatic screw-picking mechanism, a support plate, an electric slide connecting plate, and a pneumatic connecting plate. The support plate has a vibratory feeder fixing hole, and the vibratory feeder is fixedly connected to the support plate. The screw storage assembly has a vibratory feeder fixing hole, and the vibratory feeder is fixedly connected to the screw storage assembly, with the vibratory feeder installed below the screw storage assembly. The electric slide fixing plate has an electric slide fixing hole, and the electric slide is fixedly connected to the electric slide fixing plate, with the electric slide located above the electric slide connecting plate. The pneumatic connecting plate has an electric slide fixing hole, and the pneumatic connecting plate is fixedly connected to the electric slide, with the pneumatic connecting plate located above the electric slide. The pneumatic connecting plate has a pneumatic screw-picking mechanism fixing hole, and the pneumatic screw-picking mechanism is fixedly connected to the pneumatic connecting plate, with the pneumatic screw-picking mechanism located above the pneumatic connecting plate.

6. The robot disassembly and assembly equipment for EMU axle end components according to claim 1, characterized in that, The aforementioned snap ring storage mechanism includes a lifting drive mechanism, a pneumatic pusher assembly, a pneumatic clamping assembly, and a support plate. The support plate has a fixing hole for the lifting drive mechanism, which is fixedly connected to the support plate. The support plate also has a fixing hole for the pneumatic pusher assembly, which is fixedly connected to the support plate and installed below it. Finally, the support plate has a fixing hole for the pneumatic clamping assembly, which is fixedly connected to the support plate and located below it.

7. The robot disassembly and assembly equipment for EMU axle end components according to claim 1, characterized in that, The dustproof plug storage mechanism includes a lifting drive mechanism, a pneumatic clamping and positioning component, and a support plate. The support plate has a fixing hole for the lifting drive mechanism, and the lifting drive mechanism is fixedly connected to the support plate. The support plate also has a fixing hole for the pneumatic clamping and positioning component, and the pneumatic clamping component is fixedly connected to the support plate. The pneumatic clamping component is located above the support plate.

8. The robot disassembly and assembly equipment for EMU axle end components according to claim 6, characterized in that, The pneumatic feeding assembly includes a cylinder, a sliding rail, a connecting assembly, a feeding assembly, and a support plate. The support plate has a cylinder fixing hole, and the cylinder is fixed below the support plate. The connecting assembly has a feeding assembly fixing hole, and the feeding assembly is fixedly connected to the connecting assembly. The feeding assembly has a sliding rail fixing hole, and the sliding rail is fixedly connected to the feeding assembly. The support plate has a sliding rail fixing hole, and the sliding rail is fixedly connected to the support plate. The support plate is located below the feeding assembly.

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