CN108637634A - A kind of bogie bearing spring automation disassembling system - Google Patents
A kind of bogie bearing spring automation disassembling system Download PDFInfo
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- CN108637634A CN108637634A CN201810798273.3A CN201810798273A CN108637634A CN 108637634 A CN108637634 A CN 108637634A CN 201810798273 A CN201810798273 A CN 201810798273A CN 108637634 A CN108637634 A CN 108637634A
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- 230000000694 effects Effects 0.000 claims description 5
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 11
- 238000005457 optimization Methods 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 2
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- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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Abstract
The invention discloses a kind of bogie bearing springs to automate disassembling system, belong to bogie provision for disengagement technical field, for solving in existing bogie disassembly process, bearing spring and tapered wedges are both needed to take out that the labor intensity brought is big and ineffective problem by way of artificial lift.The present invention includes jacking apparatus and clamp device；The jacking apparatus includes the jacking unit for taking out tapered wedges, and the jacking unit is connected with three axle suspension arms, and the clamp device includes the collet for gripping bearing spring, and the collet is connected with mechanical arm.
Description
Technical field
The present invention relates to bogie dismantling technology fields, are torn open more particularly to a kind of automation of bogie bearing spring
Unloading system.
Background technology
Bogie is one of component mostly important in rail vehicle structure, and the various parameters of bogie also directly determine
The stability of vehicle and the riding comfort of vehicle.It in bogie maintenance process, needs to split structure, wherein carrying
Spring is mainly removed by way of artificial lift, the bearing spring at bogie both ends be divided into it is outer, in, interior three row, for model
Different bogie, quantity and model of bearing spring etc. have differences, and the pitch of bearing spring is also different, one
Bearing spring includes interior bearing spring and outer bearing spring, and mutual indepedent between interior bearing spring and outer bearing spring,
When moving bearing spring, needing to increase additional power makes interior bearing spring keep being relatively fixed with outer bearing spring, increases worker
Labour.
And tapered wedges are also placed between bearing spring and bolster, the effect of tapered wedges is to provide bolster and bogie
The anti-diamonding ability of side frame side frame, it is ensured that bogie normotopia, and then meet the requirement of straight line operation stability and curve
Pass through performance.The placement location of tapered wedges is located in outside bearing spring upper end, and one end is placed with two inclined wedges in left and right
Block is placed altogether at both ends there are four tapered wedges.
It is first needed after first manually being moved out to tapered wedges before bearing spring is taken out, then bearing spring is taken out, tiltedly
There are one convex block, which is positioned for bearing spring, and tapered wedges is made to prevent on bearing spring for the lower end setting of voussoir
It will not be there is a situation where sliding when end, tapered wedges schematic cross-section is a direct triangle, when being placed on bearing spring, tiltedly
One right-angle side of voussoir is located at bearing spring face, and a right-angle side is located at the side wall close to bogie, and two right-angle surfaces
Between be connected with incline reinforcement, the inclined-plane of two tapered wedges prevents in opposite directions, when taking out tapered wedges, in bolster and bogie
There are one the gap that tapered wedges are laterally gone out is enough between side wall, tapered wedges are moved up into certain distance first, then will
It takes out in gap of the tapered wedges between bolster and bogie；The quality of one bearing spring is only removed by worker in 14kg or so
Dynamic mode picks and places bearing spring, and the working strength for keeping worker daily is very big, and there are hands during moving by worker
The case where sliding, de- power, bearing spring is easy to bring security risk under pounding, and moves tapered wedges by way of manpower and hold
Carrying spring causes working efficiency low.
Invention content
It is an object of the invention to：In order to solve in existing bogie disassembly process, bearing spring is both needed to tapered wedges
Take out that the labor intensity brought is big and ineffective problem, the present invention provide a kind of steering by way of artificial lift
Frame bearing spring automates disassembling system.
The present invention specifically uses following technical scheme to achieve the goals above：
The bogie bearing spring of the present invention automates disassembling system, including jacking apparatus and clamp device；The jacking
Device includes the jacking unit for taking out tapered wedges, and the jacking unit is connected with three axle suspension arms, and the clamp device includes
Collet for gripping bearing spring, the collet are connected with mechanical arm.
The present invention is as it is further preferred that the three axle suspension arm includes the X-axis guide rail for being both provided with ball-screw, Y-axis
Guide rail and Z axis guide rail, the three axle suspension arm lower end are provided with holder, and the X-axis guide rail is horizontally set on pedestal upper end, the Y
Axis rail is horizontally set on X-axis guide rail upper end and is mutually perpendicular to X-axis guide rail, and lower end is connected with first in the middle part of the Y-axis guide rail
Slide, the first slide are connected with each other with X-axis guide rail, and the Y-axis guide rail upper end is connected with Z axis guide rail vertically, and the Z axis is led
The lower end of rail is connected with second slide, and second slide is connected with each other with Y-axis guide rail, the X-axis guide rail, Y-axis guide rail and Z axis guide rail
Be both provided with servo motor.
As it is further preferred that the Z axis guide rail is also associated with third slide, the jacking unit is provided with the present invention
Two and symmetrical about Z axis guide rail, two jacking units are connected with each other with third slide；
The jacking unit includes laser sensor, connecting plate, lifting platform, lifting pin and small cylinder, the connecting plate
Lifting platform and third slide are connected with each other, the lifting platform upper end is provided with laser sensor, under the lifting platform
End middle part, which is provided with, lifts plate, and the plate of lifting offers U-shaped card slot, and described lift is both provided with jacking at left and right sides of plate
Bar, the front end of the lifting pin are located at the front of the front end of lifting platform, and the plate of lifting is connect with small cylinder with lifting pin.
The present invention is as it is further preferred that also being adjusted between connecting plate and lifting platform has adjusting cylinder.
The present invention is as it is further preferred that the lifting platform upper end is additionally provided with reinforcing rib.
As it is further preferred that the collet includes support element, the front end of the support element is connected with to be used for the present invention
The positioning device of positioning, the support element is internally provided with the tight stressed member of hook for acting on outer spring, described to hook tight stressed member and branch
Space between support member is additionally provided with effect and the V-type of interior spring pushes against part.
The present invention is as it is further preferred that positioning device includes horizontally disposed one group of correlation fibre optical sensor, institute
That states correlation fibre optical sensor is provided with-group in the vertical direction, and the correlation fibre optical sensor is connected with fixing piece, institute
The top and bottom for stating fixing piece are respectively connected with twin shaft cylinder, and the first guide rail, institute are respectively connected at left and right sides of the fixing piece
The outer wall for stating support element is provided with the first guide pad, and the first sliding block is connected between first guide rail and the first guide pad.
The present invention is as it is further preferred that the tight stressed member of hook includes T-type eave tile, connecting rod and mounting blocks；The T
Type eave tile includes hooking tight block and connecting rod, and the tight block of hook is vertically arranged, and one end of the connecting rod is connected with each other with tight block is hooked,
The other end of the connecting rod and the mounting blocks being fixed inside support element are connected with each other.
The present invention is as it is further preferred that it includes being separately positioned on to hook at left and right sides of tight stressed member that the V-type, which pushes against part,
First push against block and second push against block, it is described first abutting block with second abutting block be connected separately be vertically arranged first company
Connect block and the second link block, the upper end of first link block and the second link block is connected with horizontally disposed second guide rail, institute
The second guide rail is stated between the first link block and the second link block, the inner wall of the support element is provided with the second guide pad, institute
It states and is connected with the second sliding block between the second guide rail and the second guide pad；First link block rear end is connected with super-thin air cylinder.
Conduct of the present invention between the collet and mechanical arm by flange it is further preferred that be connected with each other.
Beneficial effects of the present invention are as follows：
1, the present invention realizes the bearing spring of bogie and is placed on bearing spring by jacking apparatus and clamp device
The automation of the tapered wedges of upper end is taken out, and is avoided the taking-up manually by way of moving to tapered wedges and bearing spring, is subtracted
The labor intensity of worker is lacked, while self-positioning by machinery, it is only necessary to which operating personnel carry out rough auxiliary operation and can be realized
Bearing spring is accurately positioned, the removal efficiency of the bearing spring of bogie is improved.
2, tapered wedges pick and place：1. the space for realizing jacking unit by three axle suspension arms is moved, in the left and right of Z axis guide rail
Both sides are symmetrical arranged there are two unit is jacked, and the jacking unit in left side picks and places the tapered wedges on right side, the jacking list on right side
Member picks and places the tapered wedges in left side, realizes and is picked and placeed by two tapered wedges of a three axle suspension arm pair；
2. connecting plate is provided directly with adjusting cylinder with lifting platform, realization, which is lifted after plate lifts tapered wedges, to be adjusted
Cylinder moves up certain distance, and the convex block of tapered wedges lower end is made to be detached from bearing spring, is then moved to lateral by three axle suspension arms
It is dynamic, finally tapered wedges are vertically moved, tapered wedges are taken out；
3. lifting and being provided with lifting pin at left and right sides of plate, and lifting pin front end is certain beyond the front end for lifting plate
Distance, lifting pin is first contacted with tapered wedges in lifting moving process of the plate with lifting pin, and two of lifting pin and tapered wedges are directly
Edged surface tilts link block and contacts with each other, and tapered wedges is jacked after being detached from bearing spring surface, and the convex block of tapered wedges lower end is located at support
It lifts in the U-shaped card slot that plate opens up, the load-bearing of tapered wedges is realized on lifting plate lifts tapered wedges.
3, bearing spring picks and places：The twin shaft cylinder of fixing piece top and bottom connection drives fixing piece to be moved forward and backward, real
The outer spring gap of bearing spring is accurately positioned in existing correlation fibre optical sensor, and the tight block of hook and the V-type of T-type eave tile push against part and be located at
It same level and is mutually perpendicular to, after the completion of positioning, T-type eave tile passes through the bearing spring gap of outer spring, and then collet rotates
90 °, T-type eave tile goes to vertical state by original horizontality, and V-type pushes against part and goes to horizontal dress by original vertical state
It sets, then V-type pushes against part and moved forward under the action of super-thin air cylinder, and V-type pushes against part and the gap of outer spring is passed through to realize internal spring
Holding, V-type pushes against part and T-type eave tile and cooperates, and realizes that external spring keeps being relatively fixed in a manner of static friction with interior spring,
For the stress of bearing spring on V-type pushes against part and T-type hooks, movable chuck realizes the automation dismounting of bearing spring.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the position view of tapered wedges and bearing spring；
Fig. 3 is the structural schematic diagram of jacking apparatus；
Fig. 4 is the stereoscopic schematic diagram that jacking apparatus only represents right side jacking unit；
Fig. 5 is the stereoscopic schematic diagram for jacking unit；
Fig. 6 is the upward view for jacking unit；
Fig. 7 is the end view of collet；
Fig. 8 is A-A diagrammatic cross-sections；
Fig. 9 is that collet looks up stereoscopic schematic diagram；
Figure 10 is the top perspective schematic diagram of collet；
Figure 11 is the collet sectional schematic diagram for taking out positioning device；
Figure 12 is the dimensional structure diagram that V-type pushes against part；
Figure 13 is the structural schematic diagram for hooking tight stressed member；
Figure 14 is schematic diagram when correlation fibre optical sensor center is unobstructed；
Figure 15, which is correlation fibre optical sensor center, schematic diagram when blocking；
Figure 16 is signal schematic representation when correlation fibre optical sensor center is unobstructed；
Figure 17 is signal schematic representation when correlation fibre optical sensor center is unobstructed；
Figure 18 is T-type eave tile position view when correlation fibre optical sensor center is unobstructed；
Figure 19 is T-type eave tile position view when correlation fibre optical sensor center is blocked；
Reference numeral：1- collets, 101- support elements, 1021- correlation fibre optical sensors, 1022- fixing pieces, 1023- are bis-
Axis cylinder, the first guide rails of 1024-, the first sliding blocks of 1025-, the first guide pads of 1026-, 103- hook tight stressed member, and 1031-T types hook
Head, 10311- hook tight block, 10312- connecting rods, 1032- mounting blocks, 104-V types abutting part, the abutting blocks of 1041- first, 1042-
Second pushes against block, the first link blocks of 1043-, the second link blocks of 1044-, 1045- super-thin air cylinders, the second guide rails of 1046-, 1047-
Second sliding block, the second guide pads of 1048-, 2- mechanical arms, 3- holders, 4- jack unit, 401- connecting plates, and 402- adjusts cylinder,
403- lifting platforms, 404- reinforcing ribs, 405- lift plate, 4051-U shape card slots, 406- lifting pins, the small cylinders of 407-, 5- steerings
Frame, 6- tapered wedges, 601- convex blocks, 7- bearing springs, the outer springs of 701-, spring in 702-, 801-X axis rails, 8011- first slides,
802-Y axis rails, 8021- second slides, 803-Z axis rails, 8031- third slides, 9- servo motors, 10- flanges.
Specific implementation mode
In order to which those skilled in the art are better understood from the present invention, below in conjunction with the accompanying drawings with following embodiment to the present invention
It is described in further detail.
Embodiment 1
Such as attached drawing 1 and shown, of the invention 5 bearing spring 7 of bogie automation disassembling system, including jacking apparatus and folder
Take device；The jacking apparatus includes the jacking unit 4 for taking out tapered wedges 6, and the jacking unit 4 is connected with three axle suspension
Arm, the clamp device include the collet 1 for gripping bearing spring 7, and the collet 1 is connected with mechanical arm 2.
Realize that the space of jacking apparatus is moved by three axle suspension arms in the present embodiment, by jacking apparatus first by tapered wedges 6
It takes out；Then it realizes that the space of collet 1 is moved by mechanical arm 2, is then taken out bearing spring 7 by collet 1, in tapered wedges
6 and bearing spring 7 taking-up during, manually only need to operate equipment jacking apparatus be moved to opposite big of tapered wedges 6
Cause position, and by collet 1 be moved to bearing spring 7 intermediate position then mechanical automation by tapered wedges 6 and carry bullet
Spring 7 takes out.After the technical solution, reduce the labor intensity of worker, while self-positioning by machinery, it is only necessary to operating personnel
It carries out rough auxiliary operation and being accurately positioned to bearing spring 7 can be realized, improve tearing open for the bearing spring 7 of bogie 5
Unload efficiency.
Embodiment 2
As described in attached drawing 3-4, the present embodiment is to have made following optimization on the basis of embodiment 1：The three axle suspension arm packet
The X-axis guide rail 801, Y-axis guide rail 802 and Z axis guide rail 803 for being both provided with ball-screw are included, the three axle suspension arm lower end is provided with
Holder 3, the X-axis guide rail 801 are horizontally set on 3 upper end of holder, and the Y-axis guide rail 802 is horizontally set in X-axis guide rail 801
It holds and is mutually perpendicular to X-axis guide rail, 802 middle part lower end of the Y-axis guide rail is connected with first slide 8011, the first slide
8011 are connected with each other with X-axis guide rail 801, and 802 upper end of the Y-axis guide rail is connected with Z axis guide rail 803, the Z axis guide rail vertically
803 lower end is connected with second slide 8021, and second slide 8021 is connected with each other with Y-axis guide rail 802, the X-axis guide rail 801, Y
Axis rail 802 is both provided with servo motor 9 with Z axis guide rail 803.
In the embodiment, X-axis guide rail 801 is horizontally set on 3 upper end of holder, and Y-axis guide rail 802 is arranged in X-axis guide rail 801
End, X-axis guide rail 801 is mutually parallel with the plane where Y-axis guide rail 802, but X-axis guide rail 801 is mutually perpendicular to Y-axis guide rail 802,
The middle part lower end of Y-axis guide rail 802 is connected with each other by first slide 8011 and X-axis guide rail 801, in X-axis guide rail 801, Y-axis guide rail
802 and Z axis guide rail 803 be respectively connected with servo motor 9 and leading screw, Y-axis guide rail 802 can be moved in 801 upper end of X-axis guide rail；In Y
802 upper end of axis rail is provided with Z axis guide rail 803, and 802 place plane of Y-axis guide rail is mutually perpendicular to 803 place plane of Z axis guide rail,
And it slides and is connected with each other by second between X-axis guide rail 801 and Z axis guide rail 803, realize Z axis guide rail 803 in Y-axis guide rail 802
On movement.After the technical solution, the movement of jacking unit 4 spatially is realized by three axle suspension arms.
Embodiment 3
As shown in figures 5-6, the present embodiment is to have made following optimization on the basis of embodiment 2：The Z axis guide rail 803
It is also associated with third slide 8031, there are two and about Z axis guide rails 803 for the setting of jacking unit 4 symmetrically, described two jackings
Unit 4 is connected with each other with third slide 8031；The jacking unit 4 includes laser sensor, connecting plate 401, lifting platform
403, lifting platform 403 and third slide 8031 are connected with each other by lifting pin 406 and small cylinder 407, the connecting plate 401, institute
It states 403 upper end of lifting platform and is provided with laser sensor, be provided in the middle part of 403 lower end of the lifting platform and lift plate 405, it is described
It lifts plate 405 and offers U-shaped card slot, the left and right sides for lifting plate 405 is both provided with lifting pin 406, the lifting pin 406
Front end be located at lifting platform 403 front end front, the plate 405 of lifting connect with small cylinder 407 with lifting pin 406.
For the present embodiment as what is advanced optimized, also being adjusted between connecting plate 401 and lifting platform 403 has adjusting cylinder
402。
In the embodiment, there are two jack unit 4, and two jacking units 4 for the left and right sides setting of Z axis guide rail 803
It is symmetrical about Z axis guide rail 803, third slide 8031, two jacking units 4 are provided on preceding the latter face of Z axis guide rail 803
It is connected with each other with third slide 8031, is lifted while realizing two jacking unit 4.The jacking in the left side of Z axis guide rail 803
Unit 4 picks and places the tapered wedges 6 on right side, and the jacking unit 4 on 803 right side of Z axis guide rail takes the tapered wedges 6 in left side
It puts.By taking the jacking unit 4 on right side as an example, the fetching process of tapered wedges 6 is：It first passes through and manually adjusts jacking unit 4 to tiltedly
Then 6 approximate location of voussoir positions tapered wedges 6, the model Keyemce laser ranging of laser sensor by laser sensor
After positioning, plate 405 and lifting pin 406 are lifted forward by the drive of small cylinder 407 of 403 lower end of lifting platform by LK-G150
Mobile, 406 front end of lifting pin exceeds the front end certain distance for lifting plate 405, in the shifting for lifting plate 405 and lifting pin 406
Lifting pin 406 is first contacted with tapered wedges 6 during dynamic, and two right-angle surfaces inclination link block of lifting pin 406 and tapered wedges 6 is mutual
Contact jacks tapered wedges 6 after being detached from 7 surface of bearing spring, and the convex block 601 of 6 lower end of tapered wedges, which is located at, lifts what plate 405 opened up
In U-shaped card slot, lifting to tapered wedges 6 is realized in the load-bearing of tapered wedges 6 on lifting plate 405, then by lifting platform 403 with
The adjusting cylinder 402 being arranged between connecting plate 401, realization lift plate 405 and tapered wedges 6 are driven to move up, and tapered wedges 6 are completely de-
From bearing spring 7, then lifting platform 403 is moved to the left to the gap between bolster and bogie 5, and lifting platform 403 retreats,
The tapered wedges 6 in left side are taken out；It is identical as the above-mentioned mode that picks and places to picking and placeing for the tapered wedges 6 on right side, it is not both uniquely to pass through a left side
What the jacking unit 4 of side was realized, but its process is consistent.
Embodiment 4
The present embodiment is to have made following optimization on the basis of embodiment 3：403 upper end of the lifting platform is additionally provided with
Reinforcing rib 404.
After the technical solution, ensures the overall security of lifting platform 403 and connecting plate 401, avoid connecting plate 401
It connect shakiness with the side of lifting platform 403.
Embodiment 5
As shown in attached drawing 7-13, the present embodiment is to have made following optimization on the basis of embodiment 1：The collet 1 includes
Support element 101, the support element 101 front end be connected with positioning device used for positioning, the support element 101 is internally provided with
The tight stressed member 103 of hook of outer spring 701 is acted on, the outside for hooking tight stressed member 103 is provided with the V-type for acting on interior spring 702
Push against part.
In the embodiment, the twin shaft cylinder 1023 of 1022 top and bottom of fixing piece connection drives fixing piece 1022 is front and back to move
It is dynamic, realize that 701 gap of outer spring of bearing spring 7 is accurately positioned in correlation fibre optical sensor 1021, the hook of T-type eave tile 1031 is tight
Block 10311 is located at same level with V-type abutting part 104 and is mutually perpendicular to, and after the completion of positioning, T-type eave tile 1031 passes through outer
7 gap of bearing spring of spring 701, then collet 1 be rotated by 90 °, T-type eave tile 1031 goes to vertical shape by original horizontality
State, V-type push against part 104 and go to horizontal device by original vertical state, and then V-type pushes against part 104 in super-thin air cylinder 1045
Effect is lower to be moved forward, and V-type pushes against the holding that part 104 passes through the gap of outer spring 701 to realize internal spring 702, and V-type pushes against part 104
It cooperates with T-type eave tile 1031, realizes that external spring 701 keeps being relatively fixed in a manner of static friction with interior spring 702, carry bullet
For the stress of spring 7 on V-type pushes against part 104 and T-type hooks, movable chuck 1 realizes the automation dismounting of bearing spring 7.
Embodiment 6
The present embodiment is to have made following optimization on the basis of embodiment 5：The positioning device includes horizontally disposed one
Group correlation fibre optical sensor 1021, the correlation fibre optical sensor 1021 is provided with 8-12 groups, institute in the vertical direction
It states correlation fibre optical sensor 1021 and is connected with fixing piece 1022, the top and bottom of the fixing piece 1022 are respectively connected with twin shaft
The left and right sides of cylinder 1023, the fixing piece 1022 is respectively connected with the first guide rail 1024, the outer wall setting of the support element 101
There is the first guide pad 1026, the first sliding block 1025 is connected between first guide rail, 1024 and first guide pad 1026.
In the embodiment, correlation fibre optical sensor 1021 and fixing piece 1022 are connected with each other, ensure that multigroup to penetrating
The spacing one of formula fibre optical sensor 1021 is straightforward, and correlation fibre optical sensor 1021 follows fixing piece 1022 to be moved forward and backward,
It realizes to the precise positioning of bearing spring 7, is both provided with twin shaft cylinder 1023 in the top and bottom of fixing piece 1022, ensure that
The stationarity that fixing piece 1022 moves, and the first guide pad being mutually matched is additionally provided in the left and right sides of fixing piece 1022
1026 and first guide rail 1024 support is played to fixing piece 1022 while playing the mobile route of limitation fixing piece 1022
Effect reduces the stress of twin shaft cylinder 1023.
Such as attached drawing 14-19, a simple general introduction is made to the localization method in the present embodiment：
S1, the receiving terminal and correlation light that multigroup correlation fibre optical sensor is respectively set at left and right sides of bearing spring
The transmitting terminal of fiber sensor, multigroup correlation fibre optical sensor are vertically arranged；
S2, correlation fibre optical sensor output on-off model are True or False；
S3, the T-type eave tile center for defining robot clamp are at a distance from one group of correlation fibre optical sensor of the top
Known mounting distance D2；
If S4, the gap for detecting bearing spring, robot offset distance calculating is then carried out；Define DIt calculatesFor multigroup nothing
Distance where the midpoint of the correlation fibre optical sensor blocked to one group of the top correlation fibre optical sensor；
If S5, detecting bearing spring outer rim, robot offset distance calculating is then carried out；Define HIt calculatesIt is blocked to be multigroup
Correlation fibre optical sensor midpoint to one group of the top correlation fibre optical sensor where distance；
S6, robot clamp T-type eave tile central point be moved to the centre of gapping of spring, complete positioning.
Preferably, in the S1 steps, the transverse width of receiving terminal and transmitting terminal is more than the outer diameter of bearing spring.
Preferably, in the S1 steps, it is provided with multigroup correlation fibre optical sensor, every group of correlation in the vertical direction
The clipping room of fibre optical sensor away from for D1, the correlation fibre optical sensor of the top and the correlation fibre optical sensor of bottom
Spacing W is：max{DSpring, LGapping of spring＜ W ＜ min { DSpring+2·LGapping of spring, LGapping of spring+2·DSpring, wherein DSpringIndicate bearing spring
Line footpath.
Preferably, in the S4 steps, B points are defined as gap position at positioning, a gap position is point A, B on B points
The next gap position of point is point C, is calculated by robot offset distance, and selection is moved to nearest nip point, specific mobile
Selection by practical calculated DIt calculates, the distance between D2 and two adjacent slits are calculated.
Preferably, T-type eave tile displacement distance is：DIt calculates- D2, is moved to gap B, and the specific calculation of robot is：
1) work as DIt calculatesWhen-D2 >=0, it is upward that mechanical arm, which drives the T-type eave tile moving direction of fixture,；
2) work as DIt calculatesWhen-D2 ＜ 0, it is downward that mechanical arm, which drives the T-type eave tile moving direction of fixture,；
Preferably, in the step S5, it is point E to define spring outer rim center, and the gap position above point E is point F,
Gap position below point E is point G, wherein E and F and E and G distances dSpring center-slit centersFor 1/2LGapping of spring+1/2·DSpring, pass through
Robot offset distance calculates, and selection is moved to nearest nip point, and the selection specifically moved is by practical calculated HIt calculates、D2
And dSpring center-slit centersIt is calculated.
Preferably, the specific calculation of robot is：
1) work as HIt calculates≥D2；
Show that T-type eave tile is moved to F points ratio G points apart from short, distance is calculated as at this time：L=1/2 (LGapping of spring+DSpring)-
(HIt calculates- D2), moving direction is upward；
2) work as HIt calculates＜ D2；
Show that T-type eave tile is moved to G points ratio F points apart from short, distance is calculated as at this time：L=1/2 (LGapping of spring+DSpring)-
(D2-HIt calculates), moving direction is downward.
Embodiment 7
The present embodiment is to have made following optimization on the basis of embodiment 5：The tight stressed member 103 of hook includes T-type eave tile
1031, connecting rod 10312 and mounting blocks 1032；The T-type eave tile 1031 includes hooking tight block 10311 and connecting rod 10312, described
It hooks tight block 10311 to be vertically arranged, one end of the connecting rod 10312 is connected with each other with tight block 10311 is hooked, the connecting rod
10312 other end and the mounting blocks 1032 being fixed inside support element 101 are connected with each other.
In the embodiment, the tight block of the hook of T-type eave tile 1,031 10311 is vertically arranged, and it is horizontally disposed that V-type pushes against part 104, hooks tight
Block 10311 pushes against part 104 with V-type and is mutually perpendicular to, and collet 1, which is first rotated by 90 °, keeps tight 10311 holding of block of hook horizontal, passes through outer spring 701
Gap, be then rotated by 90 ° again, the tight block 10311 of hook made to keep vertical state, hook the retrogressing of tight block 10311 and do not pass through carrying bullet
The gap of spring 7 can realize the stress for hooking tight 10311 external spring 701 of block.
Embodiment 8
The present embodiment is to have made following optimization on the basis of embodiment 5：It includes being respectively set that the V-type, which pushes against part 104,
Block 1041 and second is pushed against in hook 103 left and right sides of tight stressed member first and pushes against block 1042, and described first pushes against part and second
Push against part and be connected separately with the first link block 1043 and the second link block 1044 being vertically arranged, first link block 1043 with
The upper end of second link block 1044 is connected with horizontally disposed second guide pad 1048, and second guide pad 1048 is located at first
Between link block 1043 and the second link block 1044, the inner wall of the support element 101 is provided with the second guide rail 1046, and described second
The second sliding block 1047 is connected between guide rail 1046 and the second guide pad 1048；First link block, 1043 rear end is connected with super
Thin cylinder 1045,
In the embodiment, the first abutting block 1041 and second pushes against the both sides that block 1042 is located at T-type eave tile 1031, the
It is " V " type that one abutting block 1041 combines the shape formed with the second abutting block 1042, and V-type pushes against part 104 and hooks tight block
10311 are mutually perpendicular to, and initial V-type pushes against part 104 and is in horizontality, and tight block 10311 will be hooked and extend by being rotated by 90 ° in collet 1
When outer 701 inside of spring, V-type pushes against part 104 and is located at outside bearing spring 7 at this time, and then collet 1 is rotated by 90 °, and hooks tight head and is in perpendicular
Straight state can realize the stress of external spring 701, and V-type pushes against part 104 and is in horizontality at this time, and V-type pushes against part 104 super
Under the drive of thin cylinder 1045, move forward, the first abutting part and the second abutting part be connected separately with the first link block 1043 and
Second link block 1044 is connected with the second guide rail 1046 in the upper end of the first link block 1043 and the second link block 1044, and second
Guide rail 1046 passes through the second guide rail 1046 and the second guide pad between the first link block 1043 and the second link block 1044
1048 realize that V-types push against the fixed route movement of parts 104, realize the holding of internal spring 702, and it is outside to outer shroud one to hook tight head
Power, V-type push against part 104 to 702 1 inward forces of interior spring, realize outside the stiction holding for examining outer spring 701 and interior spring 702
The globality of spring 701 and interior spring 702.The stress of bearing spring 7 is pushed against in V-type on part 104 and T-type eave tile 1031, passes through folder
First 1 retreats, by interior spring 702 and the whole taking-up of outer spring 701.
Embodiment 9
The present embodiment is to have made following optimization on the basis of embodiment 1：Pass through method between the collet 1 and mechanical arm 2
Orchid 10 is connected with each other.
After the technical solution, as a preferred mode, collet 1 and mechanical arm 2 are connected with each other, it is easy to disassemble
Maintenance and replacement.
The above, only presently preferred embodiments of the present invention, are not intended to limit the invention, patent protection model of the invention
It encloses and is subject to claims, equivalent structure variation made by every specification and accompanying drawing content with the present invention, similarly
It should be included within the scope of the present invention.
Claims (10)
1. a kind of bogie bearing spring automates disassembling system, which is characterized in that including jacking apparatus and clamp device；It is described
Jacking apparatus includes the jacking unit (4) for taking out tapered wedges (6), and the jacking unit (4) is connected with three axle suspension arms, described
Clamp device includes for gripping the collet of bearing spring (7) (1), and the collet (1) is connected with mechanical arm (2).
2. bogie bearing spring according to claim 1 automates disassembling system, which is characterized in that the three axle suspension arm
X-axis guide rail (801), Y-axis guide rail (802) and Z axis guide rail (803) including being both provided with ball-screw, under the three axle suspension arm
End is provided with holder (3), and the X-axis guide rail (801) is horizontally set on holder (3) upper end, and Y-axis guide rail (802) level is set
It sets in X-axis guide rail (801) upper end and is mutually perpendicular to X-axis guide rail, lower end is connected with the first cunning in the middle part of the Y-axis guide rail (802)
Seat (8011), the first slide (8011) are connected with each other with X-axis guide rail (801), and Y-axis guide rail (802) upper end connects vertically
It is connected to Z axis guide rail (803), the lower end of the Z axis guide rail (803) is connected with second slide (8021), second slide (8021) and Y
Axis rail (802) is connected with each other, and the X-axis guide rail (801), Y-axis guide rail (802) are both provided with servo with Z axis guide rail (803)
Motor (9).
3. bogie bearing spring according to claim 2 automates disassembling system, which is characterized in that the Z axis guide rail
(803) be also associated with third slide (8031), jacking unit (4) setting there are two and about Z axis guide rail (803) symmetrically,
Two jacking units (4) are connected with each other with third slide (8031)；
The jacking unit (4) includes laser sensor, connecting plate (401), lifting platform (403), lifting pin (406) and stingy
Lifting platform (403) and third slide (8031) are connected with each other by cylinder (407), the connecting plate (401), the lifting platform
(403) upper end is provided with laser sensor, is provided in the middle part of lifting platform (403) lower end and lifts plate (405), described to lift
Plate (405) offers U-shaped card slot, and described lift is both provided with lifting pin (406), the lifting pin at left and right sides of plate (405)
(406) front end is located at the front of the front end of lifting platform (403), it is described lift plate (405) and lifting pin (406) with it is stingy
Cylinder (407) connects.
4. bogie bearing spring according to claim 3 automates disassembling system, which is characterized in that connecting plate (401)
Also being adjusted between lifting platform (403) has adjusting cylinder (402).
5. bogie bearing spring according to claim 3 automates disassembling system, which is characterized in that the lifting platform
(403) upper end is additionally provided with reinforcing rib (404).
6. bogie bearing spring according to claim 1 automates disassembling system, which is characterized in that the collet (1)
Including support element (101), the front end of the support element (101) is connected with positioning device used for positioning, the support element (101)
Be internally provided with the tight stressed member of hook (103) for acting on outer spring (701), it is described hook tight stressed member (103) and support element (101) it
Between space be additionally provided with effect and push against part (104) with the V-type of interior spring (702).
7. bogie bearing spring according to claim 6 automates disassembling system, which is characterized in that positioning device includes
Horizontally disposed one group of correlation fibre optical sensor (1021), the correlation fibre optical sensor (1021) set in the vertical direction
Be equipped with 8-12 groups, the correlation fibre optical sensor (1021) is connected with fixing piece (1022), the fixing piece (1022) it is upper
End is respectively connected with twin shaft cylinder (1023) with lower end, and the first guide rail is respectively connected at left and right sides of the fixing piece (1022)
(1024), the outer wall of the support element (101) is provided with the first guide pad (1026), and first guide rail (1024) is led with first
To being connected with the first sliding block (1025) between block (1026).
8. bogie bearing spring according to claim 6 automates disassembling system, which is characterized in that described to hook tight stress
Part (103) includes T-type eave tile (1031), connecting rod (10312) and mounting blocks (1032)；The T-type eave tile (1031) includes hooking
Tight block (10311) and connecting rod (10312), the tight block (10311) of hook are vertically arranged, one end of the connecting rod (10312)
It is connected with each other with tight block (10311) is hooked, the other end of the connecting rod (10312) and to be fixed at support element (101) internal
Mounting blocks (1032) be connected with each other.
9. bogie bearing spring according to claim 6 automates disassembling system, which is characterized in that the V-type pushes against
Part (104) includes being separately positioned on the first abutting block (1041) and second hooked at left and right sides of tight stressed member (103) to push against block
(1042), the first abutting block (1041) is connected separately with the first link block being vertically arranged with the second abutting block (1042)
(1043) and the second link block (1044), first link block (1043) and the upper end of the second link block (1044) are connected with water
The second guide rail (1046) of flat setting, second guide rail (1046) are located at the first link block (1043) and the second link block
(1044) between, the inner wall of the support element (101) is provided with the second guide pad (1048), second guide rail (1046) and the
The second sliding block (1047) is connected between two guide pads (1048)；First link block (1043) rear end is connected with super-thin air cylinder
(1045)。
10. bogie bearing spring according to claim 1 automates disassembling system, which is characterized in that the collet (1)
It is connected with each other by flange (10) between mechanical arm (2).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798273.3A CN108637634B (en) | 2018-07-19 | 2018-07-19 | Automatic dismounting system for bogie bearing spring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798273.3A CN108637634B (en) | 2018-07-19 | 2018-07-19 | Automatic dismounting system for bogie bearing spring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108637634A true CN108637634A (en) | 2018-10-12 |
| CN108637634B CN108637634B (en) | 2023-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810798273.3A Active CN108637634B (en) | 2018-07-19 | 2018-07-19 | Automatic dismounting system for bogie bearing spring |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366155A (en) * | 2018-12-25 | 2019-02-22 | 成都岁生科技有限责任公司 | A kind of disassembly of rail vehicle truck spring equipment and spring method for dismounting |
| CN109465616A (en) * | 2018-12-25 | 2019-03-15 | 成都岁生科技有限责任公司 | A kind of bogie disassembly manipulator equipment and bogie method for dismounting |
| CN109465624A (en) * | 2018-12-25 | 2019-03-15 | 成都岁生科技有限责任公司 | A kind of steering dismantling equipment and bogie disassembling method |
| CN109483197A (en) * | 2018-12-29 | 2019-03-19 | 成都岁生科技有限责任公司 | A kind of bogie disassembling system |
| CN109483196A (en) * | 2018-12-29 | 2019-03-19 | 成都岁生科技有限责任公司 | The sterically defined bogie provision for disengagement of bogie can be achieved |
| CN109500568A (en) * | 2018-12-29 | 2019-03-22 | 成都岁生科技有限责任公司 | A kind of rail vehicle truck provision for disengagement |
| CN111283698A (en) * | 2020-03-24 | 2020-06-16 | 成都岁生科技有限责任公司 | Bogie sleeper spring and wedge decomposition detection robot system |
| CN112427912A (en) * | 2020-12-03 | 2021-03-02 | 中车石家庄车辆有限公司 | Bogie disassembling system and method |
| CN115077388A (en) * | 2022-08-22 | 2022-09-20 | 成都岁生科技有限责任公司 | Railway freight car bogie slide wedge detection device |
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| CN109366155A (en) * | 2018-12-25 | 2019-02-22 | 成都岁生科技有限责任公司 | A kind of disassembly of rail vehicle truck spring equipment and spring method for dismounting |
| CN109465616A (en) * | 2018-12-25 | 2019-03-15 | 成都岁生科技有限责任公司 | A kind of bogie disassembly manipulator equipment and bogie method for dismounting |
| CN109465624A (en) * | 2018-12-25 | 2019-03-15 | 成都岁生科技有限责任公司 | A kind of steering dismantling equipment and bogie disassembling method |
| CN109366155B (en) * | 2018-12-25 | 2023-06-20 | 成都岁生科技有限责任公司 | Tool for disassembling springs of railway vehicle bogie and spring disassembling method |
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| CN112427912A (en) * | 2020-12-03 | 2021-03-02 | 中车石家庄车辆有限公司 | Bogie disassembling system and method |
| CN115077388A (en) * | 2022-08-22 | 2022-09-20 | 成都岁生科技有限责任公司 | Railway freight car bogie slide wedge detection device |
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