An automatic intelligent assembly system of a six-axis robot for advanced repair of EMUs

Abstract

The invention discloses an automatic intelligent assembly system of a six-axis robot for high-level maintenance of EMUs, which includes a workshop main body. Workshop columns are fixedly installed at the corners of the upper outer surface of the workshop main body and the middle positions of the front and rear ends of the upper outer surface of the upper end of the main body. A longitudinal beam hoop support assembly is movably installed in the middle of the outer surface of the workshop column, and a longitudinal slide rail beam is movably installed on the outer surface of the upper end of the longitudinal beam hoop support assembly close to the workshop main body. An electric control system box is movably installed at the rear end of one side of the surface, and an overturning operation mechanism is fixedly installed on both sides of the upper outer surface of the main body of the workshop. The six-axis robotic automatic intelligent assembly system for advanced repair of EMUs has a wider scope of application, not limited to EMUs, and other similar train structures such as subways, urban railways, and intercity railways can be used. Further, it can be extended to other bolt assembly and tightening Scenes.

Description

technical field [0001] The invention relates to the field of automatic intelligent assembly, in particular to an automatic intelligent assembly system of a six-axis robot for high-level maintenance of EMUs. Background technique [0002] An automatic intelligent assembly system of a six-axis robot for advanced repairing of EMUs is mainly used for tightening and assembling operations of fastening bolts at the advanced repairing and repairing stations of CRH3 Harmony EMUs. [0003] At present, the maintenance and assembly workshops of EMU depots and EMU operating stations across the country are mainly used for the tightening and assembly of fastening bolts for the advanced repair frame of CRH3 Harmony EMUs. [0004] Manual + ordinary mechanical tools, the realization method is that multiple operators each hold an ordinary mechanical wrench to tighten and assemble the bolts. The wrench is set to a fixed torque value, and the operator operates the wrench to tighten the bolts. Wh...

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Problems solved by technology

[0008] Manual + ordinary mechanical tools. In this mode, although the wrench can remind the operator through the mechanical sound, this is only a result reminder. During the operation, when the wrench reaches the target torque, the mechanical structure inside the trigger wrench makes a sound, and the operation After the personnel hear the sound, the information is processed by the brain and then sent to the operator's arm and arm, so that there is an additional sound transmission process, which may take a few tenths of a second, and during this time the human arm operates The wrench is always moving, which means that the person tightens it for a few tenths of a second after the torque is reached. Therefore, in this mode, the bolt torque will be exceeded in most cases, the operation error is large, the operation data cannot be quantified and collected, and there is no record of the operation process; There are a large number of wrenches, which require daily maintenance and calibration, and the workload of the operators is heavy; it requires the cooperation of multiple people to work on a structural workpiece each time, and the efficiency is relatively low

[0009] Manual + digital tools with data collection, compared with ordinary mechanical wrenches, can carry out data collection and recording, but the digital wrench has high requirements on the operator's hand feel, and needs special training before they can work; the number of wrenches is large, and it needs to be carried out every day. Special maintenance and calibration, the workload of the operators is heavy; each time it needs the cooperation of multiple people to work on a frame workpiece, the efficiency is relatively low

[0010] Compared with the previous two operation modes, the manual + power-assisted mechanical arm tightening shaft tool can automatically stop after the tightening shaft reaches the torque value, and the tightening accuracy is high; all the bolts on the entire upper surface of the frame can be covered by using an electric tool The number of wrenches is relatively small; however, the bolt inspection at the bottom of the frame cannot be covered by the power-assisted manipulator, and the dependence on the operator is still large; the coverage of the power-assisted manipulator is limited, and it can only cover one frame workpiece. Simultaneous operation of the frame workpiece requires multiple sets of equipment and high cost

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