CN109483196A - The sterically defined bogie provision for disengagement of bogie can be achieved - Google Patents

Abstract

The invention discloses a kind of achievable sterically defined bogie provisions for disengagement of bogie, including system of 3 axes and arm-and-hand system, the system of 3 axes includes three pedestal bodies and is mounted on three pedestal bodies and retracts unit, the unit that retracts is for dismantling the tapered wedges on bogie, the arm-and-hand system includes manipulator ontology and the equipment that is connected on manipulator ontology, the unit that retracts includes mounting rack and the second push rod being mounted on mounting rack, the equipment includes tool frame and the first push rod being mounted on tool frame, second push rod is relative to the telescopic telescopic rod of mounting rack, first push rod is relative to the telescopic telescopic rod of tool frame.The provision for disengagement provided using this programme, the positioning of bogie in space before can accurately completing to dismantle.

Description

The sterically defined bogie provision for disengagement of bogie can be achieved

Technical field

It the present invention relates to the maintenance of railcar components, checks equipment technical field, can be achieved to turn to more particularly to one kind The sterically defined bogie provision for disengagement of frame.

Background technique

Bogie is one of the ost important components in rail vehicle structure, and the various parameters of bogie also directly determine vehicle Stability and vehicle ride comfort.It in bogie maintenance process, needs to split structure, bogie includes holding Spring and tapered wedges are carried, wherein bearing spring and tapered wedges are mainly removed by way of artificial lift.It holds at bogie both ends Carry spring be divided into it is outer, in, interior three row, for the different bogie of model, it is poor that quantity and model of bearing spring etc. exist Different, the pitch of bearing spring is also different, and a bearing spring includes interior bearing spring and outer bearing spring, and interior carrying It is mutually indepedent between spring and outer bearing spring, when moving bearing spring, need to increase additional power make interior bearing spring with Outer bearing spring keeps relatively fixed.The quality of a usual bearing spring is in 10kg or more, only in such a way that worker moves Bearing spring is picked and placed, the working strength for keeping worker daily is very big.And worker is during moving, due to the duplication of labour, The problem that operating space is narrow, bearing spring weight itself is larger easily occurs because rubber sleeve, de- power, cause bearing spring to be dismantled Occurs casualty accident in the process.

Tapered wedges are arranged between bearing spring and bolster, and the effect of tapered wedges is to provide bolster and truck side frame side frame Anti- diamonding ability, it is ensured that bogie normotopia, and then meet the requirement of straight line operation stability and curving performance. In completing bogie disassembly process, also need to remove the tapered wedges.

In view of the above problems, to solve the problems, such as that disassembly bogie set forth above exists, occur in the prior art as Application No. is: technical solution provided by 201810798273.3 patent application can not only be realized using the program and be utilized machine Tool disassembly substitution hand labor, due to using automation disassembly so that disassembly bogie also have the characteristics that it is high-efficient.

It is for further study to the structure design for the device dismantled for bogie, so that it can preferably be served Field of track traffic is those skilled in the art's technical problem urgently to be resolved.

Summary of the invention

It is for further study for the structure design set forth above to the device dismantled for bogie, so that its energy It is enough preferably to serve field of track traffic, it is those skilled in the art's technical problem urgently to be resolved, the present invention provides A kind of sterically defined bogie provision for disengagement of achievable bogie, the provision for disengagement provided using this programme can be accurately complete At the positioning of the bogie before disassembly in space.

The technological means of this programme is following, it can be achieved that the sterically defined bogie provision for disengagement of bogie, including three coordinates System and arm-and-hand system, the system of 3 axes includes three pedestal bodies and the unit that retracts that is mounted on three pedestal bodies, described Unit is retracted for dismantling tapered wedges on bogie, the arm-and-hand system includes manipulator ontology and is connected to manipulator sheet Equipment on body, the unit that retracts includes mounting rack and the second push rod being mounted on mounting rack, and the equipment includes equipment Frame and the first push rod being mounted on tool frame, second push rod are relative to the telescopic telescopic rod of mounting rack described the One push rod is relative to the telescopic telescopic rod of tool frame.

In the prior art, the structure design of track frame is general are as follows: including bolster, the two sides of bolster are provided with side frame, respectively It is provided with a components installation cavity on side frame, bearing spring, damping spring, tapered wedges are installed in the installation cavity.Such as Shen Please number for 201810798273.3 patent application file described in, for realize bogie mechanization or automation disassembly, need first The positioning of bogie in space is completed, tapered wedges are then constrained by system of 3 axes, are moved by the equipment on manipulator Except parts such as springs on bogie, i.e., system of 3 axes and arm-and-hand system at work, respectively on be required to power source, with Evolution occurs in space for the functional component in driving respectively.

In the present solution, described retract unit and equipment, sent out in space under the driving of three pedestal bodies and manipulator respectively For raw evolution to adapt to the position of part to be removed on bogie, being set as retracting includes the second push rod on unit, on equipment Including the first push rod, and the first push rod and the second push rod are telescopic rod, in this way, can be around the pendant that own axes rotate as passed through Bogie is horizontally suspended, so that bogie can be around bolster rotating middle part, using retracting the movable spy of unit, tool frame itself Point, carry respectively the second push rod and the first pushrod movement to pendant or shake it is medioccipital not ipsilateral, then by the first push rod and Stretching for second push rod, applies thrust on bogie respectively, the front side that such as the first push rod and the second push rod are respectively positioned on bogie And it is located at the left and right side on front side of bogie, the thrust that above two push rod generates pushes bogie to rotate around pendant, when After bogie reaches specific spatial position, is supported by applying to the bottom of bogie, bogie can be completed in space Position fixed subsequent disassembling section is carried out to it to facilitate.To sum up, using this programme, system of 3 axes and manipulator system are utilized The movable characteristic that system has in itself, can fast implement the position of bogie in space and fix, while by being set as push rod Including the first push rod and the second push rod, apply contrary torque or torque on bogie by above two push rod, it can be quasi- The orientation adjustment of true completion bogie in space.

As those skilled in the art, electronic, air pressure is can be used in the flexible drive form of above first push rod, the second push rod The forms such as driving, oil pressure actuated.

Further technical solution are as follows:

As the specific implementation for retracting unit, the unit that retracts further includes being mounted on mounting rack to lift bar, The bar of lifting is two, and respectively lifting bar is relative to the telescopic telescopic rod of mounting rack；

Two, which lift bar, to be stretched out by the outside of the same lateral mounting rack of mounting rack, respectively lift and are provided on bar for branch Support tapered wedges lift face, and the face of lifting is the corresponding upper surface for lifting bar local location；

Face is lifted with lifting in the motion process that bar stretches relative to mounting rack, two faces of lifting can be movable relatively to being in Face symmetric relation；

Second push rod and lift bar can be by the ipsilateral stretching of mounting rack.For the tapered wedges on bogie, existing skill The structure design of bogie in art is general are as follows: the placement location of tapered wedges is located in outside bearing spring upper end, and turns Left and right two tapered wedges are placed with to frame one end, are placed altogether at both ends there are four tapered wedges.For the inclined wedge for being in the same end Block, two tapered wedges are symmetrical arranged.For single tapered wedges, the shape of tapered wedges is generally bottom with downwardly projecting convex annular Edge is used for tapered wedges in the positioning of bearing spring radial direction with upper flange, while the middle part of tapered wedges has cavity.

For the dismounting of the bearing spring with tapered wedges and the tapered wedges above it, specific mounting means determines logical Cross as under type dismounting is more convenient: lifting tapered wedges first remove the constraint of tapered wedges and bearing spring, then take out carrying Spring then takes out tapered wedges using the space below tapered wedges.

In the present solution, above three pedestal body is are as follows: itself has X-axis guide rail, Y-axis guide rail and Z axis guide rail, above three guide rail It is mutually perpendicular in space, if the position of X-axis guide rail in space is fixed, Y-axis guide rail can be transported along the extending direction of X-axis guide rail Dynamic, Z axis guide rail can be moved along the extending direction of Y-axis guide rail, be mounted in Z axis guide rail at this point, retracting unit, retracted list The specific installation form of member is preferably provided with are as follows: position can be changed along the extending direction of Z axis guide rail by retracting unit itself.In three axis Under the action of frame body, according to the position of concrete operations object, it can be completed and retract the evolution of unit in space.Three pedestals The form of ball-screw can be used in specific forms of motion, fit form or the drive form of body, and gear also can be used and match with tooth plate The forms such as conjunction.

In the present solution, the bar of lifting is the component in system of 3 axes directly with tapered wedges phase separation: being set as institute Stating and lifting bar is two, it is intended to be respectively provided with for each side of bogie there are two tapered wedges, that is, retract unit and moving to tapered wedges When the outside of installation space, lifts bar for one and be responsible for dismantling a tapered wedges；It is set as respectively lifting bar being relative to mounting rack Telescopic telescopic rod, it is intended to realize: mounting rack is in the case that position is constant in space, real by respectively lifting the movement of bar The bottom side that bar can extend out to corresponding tapered wedges is now lifted, to complete to the support of tapered wedges bottom and praise tapered wedges, After completing lower part bearing spring and removing, bounces back after lifting bar decline, tapered wedges can be carried by the installation space on bogie It removes；Two be arranged, which lift bar, to be stretched out by the outside of the same lateral mounting rack of mounting rack, and as mounting rack is positioned at described After on the outside of installation space, it is only necessary to retract unit by translation or directly limit relative position and two tapered wedges that two lift bar Relative position is corresponding, can be completed and respectively lifts bar and the relative position of corresponding tapered wedges is corresponding, in favor of tearing open for raising tapered wedges Except efficiency；The face of lifting being arranged is the supporting surface lifted on bar to tapered wedges；It is set as using the upper surface as branch The bottom side that bar extend into tapered wedges is lifted in support face；Setting are as follows: lift face in the fortune stretched with bar is lifted relative to mounting rack During dynamic, two faces of lifting can be movable relatively arranged symmetrically in face symmetric relation, that is, being intended to match in bogie the same side Two tapered wedges, in specific use, two lift bar in relative motion or during move synchronously, and may occur in which described in face Symmetric relation.

In the specific implementation, above two are lifted bar and two relative positional relationships for lifting bar to this programme, may make When realizing tapered wedges on automatic disassembling bogie, three pedestal bodies are gone at matching with the movement for not needing complexity on unit in itself is retracted In the symmetric relation of two tapered wedges of bogie the same side, efficiency is removed to achieve the purpose that improve tapered wedges.

As those skilled in the art, lifting the flexible drive form of bar above can be used electronic, air pressure driving, oil pressure drive The forms such as dynamic.Arrangement above be second push rod and lift bar can be by the ipsilateral stretching of mounting rack, it is intended to realize: second pushes away Bar, lift bar can by the ipsilateral stretching of mounting rack to carry out corresponding operating, i.e., as using system of 3 axes realize bogie exist It is subsequent not need Mobile mounting rack or only simple Mobile mounting rack after position in space is fixed, it can be realized on bogie Tapered wedges operated.

The system of 3 axes further includes two clamping devices, and the clamping device is mounted on mounting rack or lifts bar On；

One of clamping device lifts bar with wherein one and forms a tapered wedges constraint station, another clamping device Bar, which is lifted, with another forms a tapered wedges constraint station；

On each constraint station, the face of lifting lifted on bar provides support for the bottom of tapered wedges, clamping device be used for Tapered wedges, which apply, lifts the pressure in face described in a direction to realize constraint of the constraint station to tapered wedges.In the present solution, one Clamping device and one lift bar cooperatively form a working group for constrain a tapered wedges clamping passed through using this programme Device provides pressure to tapered wedges, can reach the purpose for increasing maximum static friction force between tapered wedges and the present apparatus, the above maximum The increase of stiction is conducive to improve and lifts bar movement in the case where guaranteeing that constraints above station reliably constrains tapered wedges Linear velocity the removal efficiency of bogie can be improved.The specific implementation of clamping device can are as follows: using cylinder driving briquetting Form is located at the front end for lifting bar with upper holder block and is located at and lifts the top of bar, and briquetting is with lifting bar simultaneously to be removed oblique Wedge block movement is lifted briquetting when bar extend into tapered wedges bottom side and is protruded into the cavity of tapered wedges, then presses in the presence of cylinder Block is moved to the supporting surface for lifting bar to provide pressure to tapered wedges.The above specific implementation clamping device, which is mounted on, lifts bar It is upper.But as those skilled in the art, when clamping device is installed on mounting rack, retracted in tapered wedges with bar is lifted Cheng Zhong, the above form using cylinder driving briquetting can also be moved to by tapered wedges in the cavity of briquetting insertion tapered wedges, this When clamping device stability and reliability to tapered wedges subsequent operation are also guaranteed to the constraint of tapered wedges, such as by presented below Rod assembly and support member mobile tapered wedges when, lever is crossed and is thought at the top of tapered wedges to tapered wedges on rod assembly When forgetting about it movement and being prepared, by clamping device and lifts bar and constrain tapered wedges jointly, can avoid the effect in rod assembly Accident, which occurs, for lower tapered wedges topples over.

The bar of lifting includes mobile jib and strut, and the strut is fixed on mobile jib, the length direction and support of the mobile jib The direction of motion for lifting bar is in the same direction, and the upper surface of the strut is higher than the upper surface of mobile jib, and two above upper surface is plane, Two planes are parallel to each other；

The face of lifting is collectively formed by the upper surface of mobile jib and the upper surface of strut；

Two mobile jibs for lifting bar are parallel to each other, and the strut on each mobile jib is stretched by the mobile jib far from the side of another mobile jib Out；

The bar of lifting is installed on the side of mounting rack, and being used to install two sides for lifting bar on mounting rack is one To side, two are lifted that bar is contour, and the free end of each strut is towards the outside of mounting rack.Present solution provides a kind of structures Simply, and supporting surface shape and the matched scheme of tapered wedges bottom shape: the front end of mobile jib is used for the middle part to tapered wedges bottom Support is provided, strut is used to provide support to the side of tapered wedges bottom, to avoid tapered wedges from sending out in demolishing process as far as possible Life is toppled over.Preferably, it is set as being additionally provided with the attachment base being connected for realizing mounting rack with three pedestal bodies on the mounting rack, For the stress for optimizing the present apparatus, it is set as the attachment base and is lifted between bar positioned at two；Being set as mounting rack simultaneously is two pieces, peace It shelves and is mounted on a pair of of opposite side of attachment base, one is respectively mounted on each mounting rack and lifts bar and a clamping device；Each peace Shelving can move relative to attachment base in vertical direction, with by it is described retract unit can be completed to tapered wedges above mention and Step-down operation, the above movement can be by being realized for the 4th driving mechanism of pneumatic form.It is set as on each attachment base simultaneously Aviation plug is all had, to facilitate the standardization wiring and modularization dismounting of the present apparatus.

The equipment include further include rod assembly, locked assembly and support member, the rod assembly, locked assembly and Support member is installed in the ipsilateral of tool frame, in the height direction, is respectively as follows: support member, locked assembly, drawing from the bottom to top Bar assembly；

The rod assembly includes bar body, and the bar body is the cantilever beam-like structure by stretching out on tool frame, It is also equipped on the free end of the bar body for the grasping mechanism for bogie upper spring applied force, the power is for compeling Topple over the spring；

Supporting surface is provided in the support member, the supporting surface is for carrying the spring toppled over；

The locked assembly is used to apply constraint, the constraint to the spring in support member are as follows: it realizes in the spring, Interior lateral spring is fixed with outer lateral spring relative position.In the prior art, for rail truck structure comprising spring, Tapered wedges are arranged in the cavity of side frame, and the spring includes damping spring and bearing spring.Meanwhile on the surface of the cavity On be provided with salient point, for constraining the position of damping spring, bearing spring in the cavity, tapered wedges are mounted on bearing spring Upper end.Therefore when carrying out damping spring, bearing spring, tapered wedges disassembly, it is limited to the size with upper cavity, it is mechanical realizing When arm is dismantled, it is desirable that mechanical arm will have extremely accurate motion flow.And in the prior art, for damping spring and carrying Spring disassembly, the motion flow are general are as follows: above mention after clamping corresponding spring using the fixture for including claw so that spring Lower end cross the upper end of the salient point, then by the movement of claw described in robot drives, so that spring is with claw by institute It states in cavity and removes, subsequent storing spring is on station or inspection rack.

In the above process, the distance above mentioned in the cavity for spring is smaller, meanwhile, realize spring with claw to When outer mobile, at this time since spring is still in the state of standing up, therefore the required precision for executing the above movement to manipulator is higher, no It so just will appear spring end collision accident, bogie disassembly process caused to break down.

The workflow or principle of this programme are as follows: this fixture is fixed on manipulator, is such as directed to the structure of existing manipulator, Connecting flange is set on tool frame, and the above connecting flange with the connecting flange on manipulator for being connected.In this way, in the above machine Under the action of tool hand, the above equipment can move in space.Rod assembly, locked assembly and support member three are with tool frame Mobile, and be moved to the side of the cavity on bogie, then rod assembly works, and bar body is relative to tool frame to bullet Spring stretches out, and if grasping mechanism acts on the top of spring, then bar body retracts, under the action of grasping mechanism, so that bullet Spring is toppled over and is poured on the supporting surface of support member.Then, for nested form of springs, by locked assembly to inside Spring and the spring in outside apply mutually constraint, so that interior lateral spring can be synchronized with during subsequent movement support member Outside spring movement, to complete the disassembly of bogie spring.

In the present solution, the structure using the above equipment designs, and since spring by the cavity on bogie before being removed, bullet Spring have under the action of rod assembly one topple over act and be poured over support member supporting surface on, therefore compared to existing skill Art, above procedure are not related to the process that spring is above proposed, that is, do not need spring and above propose displacement control；The process that spring is removed In, it since spring has been toppled over, is moved out of compared to spring in vertical state, at this time in the vertical direction, protrudes into the cavity Support member there is bigger movable space；During spring is moved out of, by the inside lateral spring of the locked assembly Apply the constraint fixed for realizing interior lateral spring and outer lateral spring relative position, that is, can guarantee and moved in the spring of nested form Lateral spring will not be by falling in outer lateral spring in during out.Therefore above scheme is used, it can not only reduce bogie disassembly process In failure rate, reduce manipulator or this equipment motion control difficulty, reduce requirement to bogie spatial positioning accuracy, together When the constraint that is applied by the locked assembly, the linear velocity of robot movement can be improved, improve disassembly bogie effect to reach The purpose of rate.Producible disassembly movement is designed based on the above structure, since equipment is when carrying out bogie disassembly, for its work Dynamic space becomes larger, therefore this programme also has has better applicability to the bogie of different model, i.e. this programme also has Versatile feature.

As those skilled in the art, according to the setting purpose of the grasping mechanism, the above grasping mechanism can be spring Applied force, therefore electromagnet can be used in it, and the rod piece etc. of power can be provided for spring.It is used as those skilled in the art simultaneously, Although the above course of work or principles and methods only describe the case where for spring, as those skilled in the art, this equipment is also It can be used for the disassembly or transhipment of such as tapered wedges part.Those skilled in the art are used as, simultaneously to avoid support member from influencing to draw Bar assembly is brought into normal play function, and the above telescopic amplitude of bar body, which must meet grasping mechanism, to be stretched relative to tool frame Out to the outside of support member free end.

In view of the optimization design of this clamp structure, for the locked assembly, since spring is directed towards where tool frame It rolls, therefore the spring being dumped necessarily has one end towards tool frame, therefore be set as locked assembly and be located at support member and machine Have on the connected one end of frame so that this programme when in use its center of gravity as close to manipulator.

As the specific implementation of grasping mechanism, setting are as follows: the grasping mechanism includes shaft and is connected in shaft Lever, one end of the lever is fixed on the side of shaft；

The shaft is articulated on bar body, and flanging, the shaft are additionally provided on the free end of the bar body Adjacent with flanging, shaft is located at the ipsilateral of flanging with tool frame；

Lever with shaft rotation, lever free end to when rotating on the outside of bar body free end, the flanging passes through The dead-centre position for stopping limitation lever rotation is carried out to lever；And lever can turn to it is parallel with bar body；

The support member is located at the underface of bar body, when spring is toppled under the action of rod assembly, the bullet Spring is poured on the supporting surface of support member.In the present solution, driving bar body due to the load bearing component that bar body is lever When move to side where spring so that bar body protrudes into the gap above spring, when lever is contacted with spring, lever around Shaft rotation, so that bar body can continue to protrude into；When the free end of lever enters the central area of the spring, shelves Drive shaft is auto-reverse under gravity for bar；Then driving bar body retracts, and acts on the spring center hole in lever When inner surface, the flanging hinders lever further to rotate, and lever is that spring applies pulling force at this time, so that the spring is toppled over On the support surface.Spring application is constrained and is realized spring topples over movement in bar body relative to machine due to completing above Tool frame is stretched out and be can be completed during recycling: completion cooperates with bogie upper spring and removes the cooperation to have speed fast The characteristics of, the efficiency of disassembly bogie can be improved.During bar disassembly tapered wedges are lifted in utilization set forth above, in inclined wedge After block on bogie by removing, for the further position transfer of tapered wedges, also using the above equipment, i.e., make in bar body Behind the top for crossing tapered wedges with lower lever, clamping device removes the clamping to tapered wedges, when bar body retracts, lever pair Tapered wedges top applies pulling force, so that tapered wedges are poured into support member, by manipulator, completes tapered wedges in space Position transfer.

It is light-weight as a kind of rod assembly, and in corresponding implementation as big such as area coverage on spring part, setting Are as follows: the lever is multiple, and arranges along the axis direction of shaft that multiple levers are arranged in a row；

Hole, the upper and lower end of the hole perforation bar body are additionally provided on the free end of the bar body；

The both ends of the shaft are articulated on the hole wall in the hole, and hinge joint is located at one of the hole far from tool frame On end；

Shaft is vertical with bar body, and the flanging is the edge of the hole wherein side, which is positioned at pull rod sheet The edge of body free end；

The bar body is flat bar, and when rod assembly hooks up spring, the width direction of bar body is located at water Square to before lever is contacted with the spring, the length direction of the lever is located at vertical direction；

Lever can be turned to shaft and is accommodated in the hole completely.In the present solution, the bar body is flat rod, no It only may make it that there are the strength and stiffness for meeting job requirement, while it being facilitated to be inserted into the gap on the upside of spring；It sets above The free end for being set to bar body has hole, while realizing shaft connection, may make both ends of the shaft to suffer restraints, with side Just it controls the rotary motion trace of lever and guarantees that lever pulls spring so that the reliability that spring is toppled over；The lever can with turn Axis, which turns to be accommodated in completely in the hole, is intended to avoid lever that bar body is stopped further to protrude into the gap.It is preferred that , it is set as the shaft and is also located between the upper and lower end in the hole, influence bar body to avoid shaft and further go deep into institute It states gap or increases the resistance for the process that protrudes into, meanwhile, it also can avoid because part generation frictional influence turns on shaft and bogie Axis reversion is caused when bar body retracts relative to tool frame, and lever can not normally be discharged and rod assembly pair occurs It is corresponding to be dumped that spring is unconfined to be happened.

As the specific implementation of support member, the support member includes two cantilever levers stretched out by tool frame, It further include pocket body, the pocket body is cloth, and one end of pocket body is fixed on a wherein cantilever lever, and the other end of pocket body is fixed on On another cantilever lever；

The middle part of pocket body drops, to form the pocketed space for constraining the spring on the supporting member；

The support member further includes third driving mechanism, and the third driving mechanism is for changing between two cantilever levers Away from；

The grasping mechanism is located at the surface in pocketed space.It is provided in the present solution, being toppled over by rod assembly for spring Pulling force, under with upper pulling force, spring rotates and topples over relative to lower end, and is poured onto the pocketed space；For support portion Part, before its bearing spring, the spacing between two cantilever levers guarantees that spring can smoothly be fallen on pocket body, falls into spring Afterwards, it under the action of third driving mechanism, is moved toward one another by two cantilever levers, at this time pocketed reduced space, simultaneously because pocket Body is cloth, i.e., pocket body is actually pocket flexible, and pocket body can deform according to the shape of spring at this time, by spring clamping In pocket body space.Then, by the whole movement outside to cavity of robot drives equipment, realize spring by the chamber It is moved out of in body.The support member that this programme provides clamps outer lateral spring compared to existing claw, well using pocket body flexible Wrapped and pocket body and spring between biggish frictional force, more structurally sound constraint can be provided for spring, so that mechanical Hand still can guarantee that this equipment has reliably about spring when tool frame has bigger linear velocity when driver equipment frame is moved Shu Xingneng, therefore above scheme is used, the efficiency of disassembly bogie can be improved in the linear velocity movable from manipulator.

To make spring under the action of rod assembly, the middle part of two cantilever levers can be directly fallen in every time, so that outstanding When armed lever moves under the action of third driving mechanism, pocket body, which has spring etc., wraps up effect preferably in favor of improving equipment Linear velocity during the work time achievees the purpose that improve bogie removal efficiency, while it is mutual to optimize two cantilever levers Stress, setting are as follows: the cantilever lever, bar body are parallel to each other, and bar body is located at the center of two cantilever levers；

It is realized as described above, support member changes the constraint of spring by the spacing of cantilever lever, and the spacing of cantilever lever Increase spring can be facilitated to fall into pocketed space, for enable the relative motion of cantilever lever enable to spring two sides uniformly by Power avoids pocketed space pocket body when reducing from sliding relative to spring, to improve support member to the reliable of spring constraint Property and extend pocket body service life, while make cantilever lever distance increase during, in the middle part of pocket body with spring fall When path matching, to avoid the above spacing increase from influencing contact point of the spring on pocket body, such as make the above contact point as far as possible Positioned at the middle part of pocket body, setting are as follows: the support member further includes the driving motor being mounted on tool frame, is connected to driving electricity Threaded rod on machine output end, two pieces of sliding blocks being threaded on threaded rod are respectively and fixedly provided with a cantilever lever on each sliding block, and Two pieces of sliding blocks are connected by oppositely oriented screw thread with threaded rod；

It further include the sliding slot parallel with threaded rod, the sliding slot is for constraining sliding block or cantilever lever, for avoiding cantilever lever It is rotated with threaded rod.Using this programme, in driving motor rotation, two sliding blocks are only capable of moving toward one another or relative motion Guarantee middle part symmetric motion of two cantilever levers relative to pocket body.As those skilled in the art, may be configured as having on tool frame There is the cavity for accommodating driving part, threaded rod and sliding block, cantilever lever on the housing bore of tool frame by stretching out, at this point, with upper casing Body opening can be used as the sliding slot；Further, to avoid cantilever lever from being worn, being set as the sliding slot is after threaded rod The track groove of side, and sliding slot is located on tool frame, under this setting, cantilever lever is respectively positioned on the front side of threaded rod.The third driving Mechanism includes driving motor, threaded rod, sliding slot and sliding block.As those skilled in the art, the above third driving mechanism also may be used Using other driving methods: such as driving of hydraulic-driven, air pressure, other electric drive forms.

As the specific implementation of locked assembly, setting are as follows: the locked assembly includes compression bar, and the compression bar is located at institute Pocketed space is stated in the side of tool frame, and after the spring of bogie is restrained on the supporting member, the compression bar can It is moved in the radial direction of spring, the pressure towards outside bearing spring is applied with bearing spring inwardly, is specifically being used When, when mutually nested interior lateral spring and outer lateral spring are poured onto together in pocketed space, support portion is lifted by manipulator Part, so that the free end of support member is upward, when pocket body does not clamp outer lateral spring, two springs are to the close tool frame in pocketed space One end sliding, at this time can guarantee two springs fall in the operable station of locked assembly.Then, compression bar is in respective drive mechanism Under the action of inwardly lateral spring apply the pressure towards outer lateral spring, pass through frictional force between two springs and/or two spring offices Cut the mutual constraint, it can be achieved that two springs in portion；Then, cantilever lever moves toward one another between each other, i.e., clamps using pocket body outer Lateral spring, so that two springs are reliably constrained on the supporting member.When needing release spring, locked assembly pair is removed The power of interior lateral spring.As those skilled in the art, can be moved in a straight line with upperpush rod relative to tool frame and can Any point on motion profile is rested on, therefore the driving of compression bar can still be adopted as cylinder drive scheme；

For the stress for optimizing cantilever lever, setting are as follows: the compression bar is the rod-like structure parallel with bar body, and compression bar The direction of motion is located at the groove depth direction in pocketed space.Using this programme, when compression bar is moved to the bottom side of pocket body, with interior lateral spring After contact, the internal lateral spring of compression bar acts through the transmitting of pocket body, so that two cantilever levers are subject to downward force.In this way, meeting Under the premise of the spring function of constraint inside and interior lateral spring is enabled smoothly to slide into pocketed space close to the side of tool frame Under the premise of, the move distance of compression bar also has the characteristics that minimum.

As a kind of drive scheme light-weight, small in size, controllability is good, setting are as follows: further include for driving pull rod sheet The second flexible driving mechanism of body, second driving mechanism are cylinder driving mechanism.

As a kind of first push rod drive scheme light-weight, small in size, controllability is good, setting are as follows: further include for driving The first flexible driving mechanism of dynamic first push rod, first driving mechanism are cylinder driving mechanism.

As those skilled in the art, support member and rod assembly are to the first push rod reality when to avoid the first push rod from working Its existing function impacts, and compared with tool frame, the free end of the first push rod can extend out to rod assembly, support member certainly By the outside held, therefore the length that the first push rod needs to stretch out is longer, can reduce the first push rod length ruler when idle as one kind The technical solution of length dimension very little and for its matched first driving mechanism, setting are as follows: first driving mechanism includes Multiple cylinders, and multiple cylinders are sequentially connected in series, one of cylinder in end is fixed on tool frame, the setting of the first push rod On the cylinder that another is in end.Specifically, the axis of three cylinders is parallel, first gas if number of cylinders is three The cylinder body of cylinder is fixed on tool frame, and the cylinder body of second cylinder is fixed on the piston rod of second cylinder, third cylinder Cylinder body be fixed on the piston rod of second cylinder, the first push rod is fixed on the piston rod of third cylinder or third gas The piston rod end of cylinder is the end of the first push rod.And it is directed to the second push rod, since the second push rod is installed on mounting rack, therefore The influence to work in view of lifting bar the second push rod, the second push rod can be stretched out relative to bar is lifted, due to mounting rack On lift bar sheet as telescopic rod, therefore the driving mechanism for driving the second push rod flexible is adopted as a cylinder.

The invention has the following advantages:

In the present solution, described retract unit and equipment, sent out in space under the driving of three pedestal bodies and manipulator respectively For raw evolution to adapt to the position of part to be removed on bogie, being set as retracting includes the second push rod on unit, on equipment Including the first push rod, and the first push rod and the second push rod are telescopic rod, in this way, can be around the pendant that own axes rotate as passed through Bogie is horizontally suspended, so that bogie can be around bolster rotating middle part, using retracting the movable spy of unit, tool frame itself Point, carry respectively the second push rod and the first pushrod movement to pendant or shake it is medioccipital not ipsilateral, then by the first push rod and Stretching for second push rod, applies thrust on bogie respectively, the front side that such as the first push rod and the second push rod are respectively positioned on bogie And it is located at the left and right side on front side of bogie, the thrust that above two push rod generates pushes bogie to rotate around pendant, when After bogie reaches specific spatial position, is supported by applying to the bottom of bogie, bogie can be completed in space Position fixed subsequent disassembling section is carried out to it to facilitate.To sum up, using this programme, system of 3 axes and manipulator system are utilized The movable characteristic that system has in itself, can fast implement the position of bogie in space and fix, while by being set as push rod Including the first push rod and the second push rod, apply contrary torque or torque on bogie by above two push rod, it can be quasi- The orientation adjustment of true completion bogie in space.

Detailed description of the invention

Fig. 1 is achievable bogie of the present invention one specific embodiment of sterically defined bogie provision for disengagement In, the structural schematic diagram of system of 3 axes；

Fig. 2 is to retract the structural schematic diagram of one specific embodiment of unit in system of 3 axes shown in FIG. 1；

Fig. 3 is the partial enlarged view of B portion shown in Fig. 2；

Fig. 4 is achievable bogie of the present invention one specific embodiment of sterically defined bogie provision for disengagement In, the structural schematic diagram of the equipment；

Fig. 5 is the partial enlarged view of A portion shown in Fig. 4；

Fig. 6 is in equipment provided by Fig. 4, and reflection third driving mechanism structure, cantilever lever and third driving mechanism connect The partial schematic diagram of one specific embodiment of relationship.

Appended drawing reference in figure is respectively as follows: 1, tool frame, 2, rod assembly, 21, bar body, 22, flanging, 23, shaft, 24, lever, 3, locked assembly, 31, compression bar, 4, support member, 41, cantilever lever, 42, pocket body, 43, sliding block, 44, threaded rod, 45, Driving motor, the 5, first push rod, the 6, first driving mechanism, the 7, second driving mechanism, 81, three pedestal bodies, 82, retract unit, 83, Mounting rack, the 84, second push rod, 85, lift bar, 851, mobile jib, 852, strut, 86, attachment base, the 87, the 4th driving mechanism, 88, Aviation plug, 89, clamping device.

Specific embodiment

Below with reference to embodiment, the present invention is described in further detail, but structure of the invention be not limited only to it is following Embodiment.

Embodiment 1:

As shown in Figure 1 to Figure 3, it can be achieved that the sterically defined bogie provision for disengagement of bogie, including system of 3 axes and Arm-and-hand system, the system of 3 axes includes three pedestal bodies 81 and is mounted on three pedestal bodies 81 and retracts unit 82, described Unit 82 is retracted for dismantling tapered wedges on bogie, the arm-and-hand system includes manipulator ontology and is connected to manipulator Equipment on ontology, second push rod 84 for retracting unit 82 and including mounting rack 83 and being mounted on mounting rack 83, the machine Tool includes tool frame 1 and the first push rod 5 being mounted on tool frame 1, and second push rod 84 is that can stretch relative to mounting rack 83 The telescopic rod of contracting, first push rod 5 are relative to the telescopic telescopic rod of tool frame 1.

In the prior art, the structure design of track frame is general are as follows: including bolster, the two sides of bolster are provided with side frame, respectively It is provided with a components installation cavity on side frame, bearing spring, damping spring, tapered wedges are installed in the installation cavity.Such as Shen Please number for 201810798273.3 patent application file described in, for realize bogie mechanization or automation disassembly, need first The positioning of bogie in space is completed, tapered wedges are then constrained by system of 3 axes, are moved by the equipment on manipulator Except parts such as springs on bogie, i.e., system of 3 axes and arm-and-hand system at work, respectively on be required to power source, with Evolution occurs in space for the functional component in driving respectively.

In the present solution, described retract unit 82 and equipment, respectively in space under the driving of three pedestal bodies 81 and manipulator Middle that evolution occurs to adapt to the position of part to be removed on bogie, being set as retracting includes the second push rod on unit 82 It 84, include the first push rod 5 on equipment, and the first push rod 5 and the second push rod 84 are telescopic rod, in this way, can be around itself as passed through The pendant of axis rotation horizontally suspends bogie, so that bogie can be around bolster rotating middle part, using retracting unit 82, equipment The movable feature of frame 1 itself, carries the second push rod 84 respectively and the first push rod 5 moves to pendant or shakes medioccipital difference Side applies thrust then by the flexible of the first push rod 5 and the second push rod 84 on bogie respectively, such as the first push rod 5 and the Two push rods 84 are respectively positioned on the front side of bogie and are located at the left and right side on front side of bogie, and what above two push rod generated pushes away It pushes dynamic bogie to rotate around pendant, after bogie reaches specific spatial position, by applying branch to the bottom of bogie Support, can be completed that bogie position in space is fixed subsequent to carry out disassembling section to it to facilitate.To sum up, using we Case, movable characteristic itself that have using system of 3 axes and arm-and-hand system can fast implement bogie in space Position is fixed, while including the first push rod 5 and the second push rod 84 by being set as push rod, through above two push rod on bogie Apply contrary torque or torque, can accurately complete the orientation adjustment of bogie in space.

As those skilled in the art, the flexible drive form of above first push rod 5, the second push rod 84 can be used it is electronic, The forms such as air pressure driving, oil pressure actuated.

Embodiment 2:

As shown in Figure 1 to Figure 3, the present embodiment is further qualified on the basis of embodiment 1: as retracting unit 82 Specific implementation, the unit 82 that retracts further includes being mounted on mounting rack 83 to lift bar 85, and the bar 85 of lifting is two Root, and respectively lifting bar 85 is relative to the telescopic telescopic rod of mounting rack 83；

Two, which lift bar 85, to be stretched out by the outside of the same lateral mounting rack 83 of mounting rack 83, respectively lift and are respectively provided on bar 85 There is the face of lifting for being used to support tapered wedges, the face of lifting is the corresponding upper surface for lifting 85 local location of bar；

Face is lifted with lifting in the motion process that bar 85 stretches relative to mounting rack 83, two faces of lifting can be movable relatively To in face symmetric relation；

Second push rod 84 with lift bar 85 can be by the ipsilateral stretching of mounting rack 83.For the tapered wedges on bogie, The structure design of bogie in the prior art is general are as follows: and the placement location of tapered wedges is located in outside bearing spring upper end, And bogie one end is placed with left and right two tapered wedges, is placed altogether at both ends there are four tapered wedges.For in the same end Tapered wedges, two tapered wedges are symmetrical arranged.For single tapered wedges, the shape of tapered wedges is generally bottom with downwardly projecting ring Shape flange is used for tapered wedges in the positioning of bearing spring radial direction with upper flange, while the middle part of tapered wedges has cavity.

For the dismounting of the bearing spring with tapered wedges and the tapered wedges above it, specific mounting means determines logical Cross as under type dismounting is more convenient: lifting tapered wedges first remove the constraint of tapered wedges and bearing spring, then take out carrying Spring then takes out tapered wedges using the space below tapered wedges.

In the present solution, above three pedestal body 81 is are as follows: itself has X-axis guide rail, Y-axis guide rail and Z axis guide rail, and above three lead Rail is mutually perpendicular in space, and if the position of X-axis guide rail in space is fixed, Y-axis guide rail can be along the extending direction of X-axis guide rail Movement, Z axis guide rail can move along the extending direction of Y-axis guide rail, be mounted in Z axis guide rail, tear open at this point, retracting unit 82 The specific installation form of unit 82 is taken to be preferably provided with are as follows: position can be changed along the extending direction of Z axis guide rail by retracting unit 82 itself It sets.Under the action of three pedestal body 81, according to the position of concrete operations object, it can be completed and retract the position of unit 82 in space Set transformation.The form of ball-screw can be used in specific forms of motion, fit form or the drive form of three pedestal bodies 81, can also adopt With the forms such as gear and tooth plate cooperation.

In the present solution, the bar 85 of lifting is the component in system of 3 axes directly with tapered wedges phase separation: being set as The bar 85 of lifting is two, it is intended to be respectively provided with for each side of bogie there are two tapered wedges, that is, retract unit 82 and moving to When the outside of tapered wedges installation space, lifts bar 85 for one and be responsible for one tapered wedges of disassembly；It is set as respectively lifting bar 85 being phase For the telescopic telescopic rod of mounting rack 83, it is intended to realize: mounting rack 83 passes through each support in the case that position is constant in space The movement of bar 85 is lifted, the bottom side that bar 85 can extend out to corresponding tapered wedges is lifted in realization, to complete the support to tapered wedges bottom Praised with to tapered wedges, complete lower part bearing spring remove after, lift bar 85 decline after bounce back, can carry tapered wedges by Installation space on bogie removes；Two be arranged, which lift bar 85, to be stretched by the outside of the same lateral mounting rack 83 of mounting rack 83 Out, after as mounting rack 83 is positioned on the outside of the installation space, it is only necessary to retract unit 82 or directly restriction two by translation The relative position for lifting bar 85 is corresponding with the relative position of two tapered wedges, and the phase for respectively lifting bar 85 with corresponding tapered wedges can be completed It is corresponding to position, in favor of improving the dismounting efficiency of tapered wedges；The face of lifting being arranged is the branch lifted on bar 85 to tapered wedges Support face；It is set as lifting the bottom side that bar 85 extend into tapered wedges as supporting surface using the upper surface；Setting are as follows: Face is lifted with lifting in the motion process that bar 85 stretches relative to mounting rack 83, two faces of lifting can be movable relatively in facing Title relationship is intended to match symmetrically arranged two tapered wedges in bogie the same side, in specific use, two lift bar 85 in phase During moving or moving synchronously, it may occur in which described in face symmetric relation.

In the specific implementation, above two are lifted bar 85 and two relative positional relationships for lifting bar 85 to this programme, can be made In tapered wedges on realizing automatic disassembling bogie, three pedestal bodies 81 and retract and do not need complicated movement on unit 82 in itself It goes matching to be in the symmetric relation of two tapered wedges of bogie the same side, removes efficiency to achieve the purpose that improve tapered wedges.

As those skilled in the art, lifting the flexible drive form of bar 85 above can be used electronic, air pressure driving, oil pressure The forms such as driving.Arrangement above be second push rod 84 with lift bar 85 can be by the ipsilateral stretching of mounting rack 83, it is intended to realize: Second push rod 84, lift bar 85 can by the ipsilateral stretching of mounting rack 83 to carry out corresponding operating, i.e., as utilize system of 3 axes It is subsequent not need Mobile mounting rack 83 or only simple Mobile mounting rack 83 after realizing that the position of bogie in space is fixed, i.e., It can be achieved to operate the tapered wedges on bogie.

The system of 3 axes further includes two clamping devices 89, and the clamping device 89 is mounted on mounting rack 83 or holds in the palm It lifts on bar 85；

One of clamping device 89 lifts bar 85 with wherein one and forms a tapered wedges constraint station, another clamping Device 89 lifts bar 85 with another and forms a tapered wedges constraint station；

On each constraint station, the face of lifting lifted on bar 85 provides support for the bottom of tapered wedges, and clamping device 89 is used The pressure in face is lifted described in a direction in applying to tapered wedges to realize constraint of the constraint station to tapered wedges.In the present solution, One clamping device 89 and one lift bar 85 cooperatively form a working group for constrain a tapered wedges, using this programme, Pressure is provided to tapered wedges by clamping device 89, can reach the mesh for increasing maximum static friction force between tapered wedges and the present apparatus , the increase of the above maximum static friction force is conducive to improve in the case where guaranteeing that constraints above station reliably constrains tapered wedges The removal efficiency of bogie can be improved in the linear velocity for lifting the movement of bar 85.The specific implementation of clamping device 89 can are as follows: uses Cylinder drives the form of briquetting, and the front end for lifting bar 85 is located at upper holder block and is located at and lifts the top of bar 85, and briquetting is with lifting Bar 85 is moved to tapered wedges to be removed simultaneously, lifts the cavity that briquetting when bar 85 extend into tapered wedges bottom side protrudes into tapered wedges Interior, then briquetting is moved to the supporting surface for lifting bar 85 to provide pressure to tapered wedges in the presence of cylinder.It is above specific real Existing mode clamping device 89, which is mounted on, to be lifted on bar 85.But it as those skilled in the art, is installed in clamping device 89 When on mounting rack 83, in tapered wedges with lifting in 85 back off procedure of bar, the above form using cylinder driving briquetting can also pass through Tapered wedges move in the cavity of briquetting insertion tapered wedges, and clamping device 89 also guarantees to tapered wedges the constraint of tapered wedges at this time The stability and reliability of subsequent operation, when as by rod assembly 2 presented below and the movement tapered wedges of support member 4, Lever 24, which is crossed, on rod assembly 2 thinks at the top of tapered wedges and when forgetting about it movement and being prepared, passes through clamping device to tapered wedges 89 with lift the constraint tapered wedges jointly of bar 85, can avoid tapered wedges under the action of rod assembly 2 accident occur toppling over.

The bar 85 of lifting includes mobile jib 851 and strut 852, and the strut 852 is fixed on mobile jib 851, the mobile jib 851 length direction and the direction of motion for lifting bar 85 are in the same direction, and the upper surface of the strut 852 is higher than the upper surface of mobile jib 851, And two above upper surface is plane, two planes are parallel to each other；

The face of lifting is collectively formed by the upper surface of mobile jib 851 and the upper surface of strut 852；

Two mobile jibs 851 for lifting bar 85 are parallel to each other, and the strut 852 on each mobile jib 851 is separate another by the mobile jib 851 The side of one mobile jib 851 is stretched out；

The bar 85 of lifting is installed on the side of mounting rack 83, is used to install two that lift bar 85 on mounting rack 83 Side is a pair to side, and two are lifted that bar 85 is contour, and the free end of each strut 852 is towards the outside of mounting rack 83.We Case provides that a kind of structure is simple, and supporting surface shape and the matched scheme of tapered wedges bottom shape: the front end of mobile jib 851 is used for Support is provided to the middle part of tapered wedges bottom, strut 852 is used to provide support to the side of tapered wedges bottom, to avoid as far as possible Tapered wedges are toppled in demolishing process.Preferably, it is set as being additionally provided on the mounting rack 83 for realizing mounting rack 83 attachment bases 86 being connected with three pedestal bodies 81 are set as the attachment base 86 and lift positioned at two for the stress for optimizing the present apparatus Between bar 85；Being set as mounting rack 83 simultaneously is two pieces, and mounting rack 83 is mounted on a pair of of opposite side of attachment base 86, each to install It is respectively mounted one on frame 83 and lifts bar 85 and a clamping device 89；Each mounting rack 83 can be relative to attachment base 86 in vertical side To movement, with by it is described retract unit 82 can be completed to tapered wedges above mention and step-down operation, the above movement can by for 4th driving mechanism 87 of pneumatic form is realized.It is set as all having aviation plug 88 on each attachment base 86 simultaneously, with side Just the standardization wiring of the present apparatus and modularization dismounting.

Embodiment 3:

As shown in Figures 4 to 6, the present embodiment is further qualified on the basis of embodiment 1: the equipment includes also wrapping Rod assembly 2, locked assembly 3 and support member 4 are included, the rod assembly 2, locked assembly 3 and support member 4 are installed in machine Have the ipsilateral of frame 1, in the height direction, is respectively as follows: support member 4, locked assembly 3, rod assembly 2 from the bottom to top；

The rod assembly 2 includes bar body 21, and the bar body 21 is the cantilever beam-like by stretching out on tool frame 1 Structure is also equipped with for the grasping mechanism for bogie upper spring applied force on the free end of the bar body 21, described Power is for forcing the spring to be toppled over；

Supporting surface is provided in the support member 4, the supporting surface is for carrying the spring toppled over；

The locked assembly 3 is used to apply constraint, the constraint are as follows: realize the spring to the spring in support member 4 In, interior lateral spring is fixed with outer lateral spring relative position.In the prior art, for rail truck structure comprising bullet Spring, tapered wedges are arranged in the cavity of side frame, and the spring includes damping spring and bearing spring.Meanwhile in the cavity Salient point is provided on surface, for constraining the position of damping spring, bearing spring in the cavity, tapered wedges are mounted on carrying The upper end of spring.Therefore when carrying out damping spring, bearing spring, tapered wedges disassembly, it is limited to the size with upper cavity, is being realized When mechanical arm is dismantled, it is desirable that mechanical arm will have extremely accurate motion flow.And in the prior art, for damping spring and Bearing spring disassembly, the motion flow is general are as follows: above mentioned after clamping corresponding spring using the fixture for including claw so that The upper end of the salient point is crossed in the lower end of spring, then by the movement of claw described in robot drives, so that spring is with claw By removing in the cavity, subsequent storing spring is on station or inspection rack.

In the above process, the distance above mentioned in the cavity for spring is smaller, meanwhile, realize spring with claw to When outer mobile, at this time since spring is still in the state of standing up, therefore the required precision for executing the above movement to manipulator is higher, no It so just will appear spring end collision accident, bogie disassembly process caused to break down.

The workflow or principle of this programme are as follows: this fixture is fixed on manipulator, is such as directed to the structure of existing manipulator, Connecting flange is set on tool frame 1, and the above connecting flange with the connecting flange on manipulator for being connected.In this way, above Under the action of manipulator, the above equipment can move in space.Rod assembly 2, locked assembly 3 and 4 three of support member with Tool frame 1 is mobile, and is moved to the side of the cavity on bogie, and then rod assembly 2 works, bar body 21 relative to Tool frame 1 is stretched out to spring, and if grasping mechanism acts on the top of spring, then bar body 21 retracts, in grasping mechanism Under effect, so that spring is toppled over and is poured on the supporting surface of support member 4.Then, for nested form of springs, pass through lock Gu the spring of 3 pairs of insides of component and the spring in outside apply mutually constraint, so that during subsequent movement support member 4, Interior lateral spring can be synchronized with outside spring movement, to complete the disassembly of bogie spring.

In the present solution, the structure using the above equipment designs, and since spring by the cavity on bogie before being removed, bullet Spring has one to topple over movement and be poured on the supporting surface of support member 4 under the action of rod assembly 2, therefore compared to existing skill Art, above procedure are not related to the process that spring is above proposed, that is, do not need spring and above propose displacement control；The process that spring is removed In, it since spring has been toppled over, is moved out of compared to spring in vertical state, at this time in the vertical direction, protrudes into the cavity Support member 4 there is bigger movable space；During spring is moved out of, pass through the inside lateral spring of the locked assembly 3 The upper application constraint fixed for realizing interior lateral spring and outer lateral spring relative position, that is, can guarantee the spring quilt in nested form Lateral spring will not be by falling in outer lateral spring in during removing.Therefore above scheme is used, it can not only reduce bogie and dismantle Requirement of the motion control difficulty, reduction of failure rate, reduction manipulator or this equipment in journey to bogie spatial positioning accuracy, The constraint applied simultaneously by the locked assembly 3, can be improved the linear velocity of robot movement, improve disassembly bogie to reach The purpose of efficiency.Producible disassembly movement is designed based on the above structure, since equipment is when carrying out bogie disassembly, for it Movable space becomes larger, therefore this programme also has has better applicability to the bogie of different model, i.e. this programme also has Have the characteristics that versatile.

As those skilled in the art, according to the setting purpose of the grasping mechanism, the above grasping mechanism can be spring Applied force, therefore electromagnet can be used in it, and the rod piece etc. of power can be provided for spring.It is used as those skilled in the art simultaneously, Although the above course of work or principles and methods only describe the case where for spring, as those skilled in the art, this equipment is also It can be used for the disassembly or transhipment of such as tapered wedges part.Those skilled in the art are used as, simultaneously to avoid support member 4 from influencing to draw Bar assembly 2 is brought into normal play function, and the telescopic amplitude of the above bar body 21 must meet grasping mechanism can be by relative to equipment Frame 1 extend out to the outside of 4 free end of support member.

In view of the optimization design of this clamp structure, for the locked assembly 3, since spring is directed towards 1 institute of tool frame It is rolling, therefore the spring being dumped necessarily has one end towards tool frame 1, therefore be set as locked assembly 3 and be located at support member 4 On the one end being connected with tool frame 1 so that this programme when in use its center of gravity as close to manipulator.

As the specific implementation of grasping mechanism, setting are as follows: the grasping mechanism includes shaft 23 and is connected to shaft One end of lever 24 on 23, the lever 24 is fixed on the side of shaft 23；

The shaft 23 is articulated on bar body 21, is additionally provided with flanging 22 on the free end of the bar body 21, The shaft 23 is adjacent with flanging 22, and shaft 23 is located at the ipsilateral of flanging 22 with tool frame 1；

Lever 24 with the rotation of shaft 23, lever 24 free end to when rotating on the outside of 21 free end of bar body, it is described Flanging 22 is by carrying out the dead-centre position for stopping the limitation rotation of lever 24 to lever 24；And lever 24 is can turn to and bar body 21 is parallel；

The support member 4 is located at the underface of bar body 21, when spring is toppled under the action of rod assembly 2, institute Spring is stated to be poured on the supporting surface of support member 4.In the present solution, being driven due to the load bearing component that bar body 21 is lever 24 When dynamic bar body 21 move to side where spring so that bar body 21 protrudes into the gap above spring, in lever 24 and When spring contacts, 23 rotation around the shaft of lever 24, so that bar body 21 can continue to protrude into；The free end of lever 24 into When entering the central area of the spring, drive shaft 23 is auto-reverse under gravity for lever 24；Then driving bar body 21 returns It moves back, when lever 24 acts on the inner surface in the spring center hole, the flanging 22 hinders lever 24 further to rotate, at this time Lever 24 is that spring applies pulling force, so that the spring is toppled on the support surface.It is above to spring application due to completing Constraint and realization spring topple over movement can be completed during bar body 21 is stretched out and recycled relative to tool frame 1: complete At with bogie upper spring cooperate and remove it is described cooperation have the characteristics that it is fireballing, can be improved dismantle bogie efficiency.? During the disassembly tapered wedges of bar 85 are lifted in utilization set forth above, after tapered wedges on bogie by removing, for tapered wedges Further position transfer, also using the above equipment, i.e., lever 24 crosses the tops of tapered wedges under the effect of bar body 21 Afterwards, clamping device 89 removes the clamping to tapered wedges, and when bar body 21 retracts, lever 24, which applies tapered wedges top, to be drawn Power, by manipulator, completes the position transfer of tapered wedges in space so that tapered wedges are poured into support member 4.

It is light-weight as a kind of rod assembly 2, and in corresponding implementation as big such as area coverage on spring part, setting Are as follows: the lever 24 is multiple, and arranges along the axis direction of shaft 23 that multiple levers 24 are arranged in a row；

Hole, the upper and lower end of the hole perforation bar body 21 are additionally provided on the free end of the bar body 21；

The both ends of the shaft 23 are articulated on the hole wall in the hole, and hinge joint is located at the hole far from tool frame 1 One end on；

Shaft 23 is vertical with bar body 21, and the flanging 22 is the edge of the hole wherein side, the edge be positioned at The edge of 21 free end of bar body；

The bar body 21 is flat bar, when rod assembly 2 hooks up spring, the width direction position of bar body 21 In horizontal direction, before lever 24 is contacted with the spring, the length direction of the lever 24 is located at vertical direction；

Lever 24 can be turned to shaft 23 and is accommodated in the hole completely.In the present solution, the bar body 21 is flat Flat bar not only may make it to have the strength and stiffness for meeting job requirement, while it being facilitated to be inserted into the gap on the upside of spring； Arrangement above is that the free end of bar body 21 has hole, while realizing that shaft 23 connects, may make 23 both ends of shaft equal Suffer restraints, with facilitate control lever 24 rotary motion trace and guarantee lever 24 pull spring so that spring topple over it is reliable Property；The lever 24 can be turned to shaft 23 be accommodated in the hole completely be intended to avoid lever 24 stop bar body 21 into One step is protruded into the gap.Preferably, the shaft 23 is set as also between the upper and lower end in the hole, to avoid Shaft 23 influences bar body 21 and further gos deep into the gap or increase to protrude into the resistance of process, meanwhile, also can avoid because Part generates frictional influence shaft 23 and inverts in shaft 23 and bogie, causes to retract in bar body 21 relative to tool frame 1 When, lever 24 can not normally be discharged and 2 pairs of correspondences of rod assembly occurs and be dumped that spring is unconfined to be happened.

As the specific implementation of support member 4, the support member 4 includes two cantilevers stretched out by tool frame 1 Bar 41 further includes pocket body 42, and the pocket body 42 is cloth, and one end of pocket body 42 is fixed on a wherein cantilever lever 41, pocket body 42 other end is fixed on another cantilever lever 41；

The middle part of pocket body 42 drops, to form the pocketed space for constraining the spring in support member 4；

The support member 4 further includes third driving mechanism, and the third driving mechanism is for changing two cantilever levers 41 Spacing；

The grasping mechanism is located at the surface in pocketed space.It is provided in the present solution, being toppled over by rod assembly 2 for spring Pulling force, under with upper pulling force, spring rotates and topples over relative to lower end, and is poured onto the pocketed space；For support portion Part 4, before its bearing spring, the spacing between two cantilever levers 41 guarantees that spring can smoothly be fallen on pocket body 42, in bullet After spring is fallen into, under the action of third driving mechanism, moved toward one another by two cantilever levers 41, at this time pocketed reduced space, together When due to pocket body 42 be cloth, i.e. pocket body 42 is actually pocket flexible, and pocket body 42 can occur according to the shape of spring at this time Deformation, by spring clamping in 42 space of pocket body.Then, it is transported by the way that robot drives equipment is whole to the outside of cavity It is dynamic, realize spring by being moved out of in the cavity.The support member 4 that this programme provides clamps outside using pocket body 42 flexible Compared to existing claw, biggish frictional force between good wrapped and pocket body 42 and spring can provide spring for spring More structurally sound constraint so that manipulator driver equipment frame 1 move when, tool frame 1 have bigger linear velocity when still It can guarantee that this equipment has reliable restraint performance to spring, therefore use above scheme, the linear velocity movable from manipulator, The efficiency of disassembly bogie can be improved.

To make spring under the action of rod assembly 2, the middle part of two cantilever levers 41 can be directly fallen in every time, so that When cantilever lever 41 moves under the action of third driving mechanism, pocket body 42, which has spring etc., wraps up effect preferably in favor of mentioning The linear velocity of high equipment during the work time achievees the purpose that improve bogie removal efficiency, while optimizing two cantilever levers, 41 phase Stress between mutually, setting are as follows: the cantilever lever 41, bar body 21 are parallel to each other, and bar body 21 is located at two cantilever levers 41 center；

It is realized as described above, support member 4 changes the constraint of spring by the spacing of cantilever lever 41, and cantilever lever 41 Spacing increase can facilitate spring to fall into pocketed space, to enable the relative motion of cantilever lever 41 to enable to spring two sides Uniform stressed avoids pocketed space pocket body 42 when reducing from sliding relative to spring, to improve support member 4 to spring about The reliability of beam and the service life for extending pocket body 42, while making cantilever lever 41 during distance increases, in pocket body 42 When middle part is matched with spring fall trajectory, to avoid the above spacing increase from influencing contact point of the spring on pocket body 42, such as to the greatest extent may be used The above contact point can be made to be located at the middle part of pocket body 42, be arranged are as follows: the support member 4 further includes being mounted on tool frame 1 Driving motor 45, the threaded rod 44 being connected on 45 output end of driving motor, two pieces of sliding blocks being threaded on threaded rod 44 43, a cantilever lever 41 is respectively and fixedly provided on each sliding block 43, and two pieces of sliding blocks 43 pass through oppositely oriented screw thread and 44 phase of threaded rod Even；

It further include the sliding slot parallel with threaded rod 44, the sliding slot is for constraining sliding block 43 or cantilever lever 41, for avoiding Cantilever lever 41 is rotated with threaded rod 44.Using this programme, when driving motor 45 rotates, two sliding blocks 43 be only capable of moving toward one another or Relative motion can guarantee middle part symmetric motion of two cantilever levers 41 relative to pocket body 42.As those skilled in the art, can set Be set to has the cavity for accommodating driving part, threaded rod 44 and sliding block 43 on tool frame 1, and cantilever lever 41 is by tool frame 1 It is stretched out on housing bore, at this point, the above housing bore can be used as the sliding slot；Further, to avoid cantilever lever 41 from being worn, if Being set to the sliding slot is the track groove positioned at 44 rear side of threaded rod, and sliding slot is located on tool frame 1, under this setting, cantilever lever 41 It is respectively positioned on the front side of threaded rod 44.The third driving mechanism includes driving motor 45, threaded rod 44, sliding slot and sliding block 43. As those skilled in the art, other driving methods are also can be used in the above third driving mechanism: as hydraulic-driven, air pressure driving, Other electric drive forms etc..

As the specific implementation of locked assembly 3, setting are as follows: the locked assembly 3 includes compression bar 31, the compression bar 31 Positioned at the pocketed space in the side of tool frame 1, and after the spring of bogie is constrained in support member 4, institute Stating compression bar 31 can move in the radial direction of spring, apply the pressure towards outside bearing spring with bearing spring inwardly, In specific use, when mutually nested interior lateral spring and outer lateral spring are poured onto together in pocketed space, pass through manipulator It is lifted support member 4, so that the free end of support member 4 is upward, when pocket body 42 does not clamp outer lateral spring, two springs are to pocketed Space is slided close to one end of tool frame 1, can guarantee that two springs are fallen in the operable station of locked assembly 3 at this time.Then, it presses Inside lateral spring under the action of respective drive mechanism of bar 31 applies the pressure towards outer lateral spring, passes through rubbing between two springs It wipes power and/or two springs is locally cut the mutual constraint, it can be achieved that two springs；Then, cantilever lever 41 moves toward one another between each other, Outer lateral spring is clamped using pocket body 42, so that two springs are reliably constrained in support member 4.It is needing to discharge When spring, locked assembly 3 is removed to the power of interior lateral spring.As those skilled in the art, with upperpush rod 31 relative to machine Tool frame 1 can move in a straight line and can rest on any point on motion profile, therefore the driving of compression bar 31 still may be used To be adopted as cylinder drive scheme；

For the stress for optimizing cantilever lever 41, setting are as follows: the compression bar 31 is the rod-like structure parallel with bar body 21, and The direction of motion of compression bar 31 is located at the groove depth direction in pocketed space.Using this programme, moved in compression bar 31 to the bottom side of pocket body 42 When, after being contacted with interior lateral spring, compression bar 31 to interior lateral spring act through pocket body 42 transmit so that two cantilever levers 41 by Downward power.In this way, under the premise of meeting constraint inside spring function and interior lateral spring is enabled smoothly to slide into pocketed sky Between close to tool frame 1 side under the premise of, the move distance of compression bar 31 also has the characteristics that minimum.

As a kind of drive scheme light-weight, small in size, controllability is good, setting are as follows: further include for driving pull rod sheet The second flexible driving mechanism 7 of body 21, second driving mechanism 7 are cylinder driving mechanism.

As a kind of first push rod, 5 drive scheme light-weight, small in size, controllability is good, setting are as follows: further include for driving The first flexible driving mechanism 6 of dynamic first push rod 5, first driving mechanism 6 are cylinder driving mechanism.

As those skilled in the art, support member 4 and rod assembly 2 are pushed away to first when to avoid the first push rod 5 from working Bar 5 realizes that its function impacts, and compared with tool frame 1, the free end of the first push rod 5 can extend out to rod assembly 2, branch The outside of 4 free end of support part part, therefore the length that the first push rod 5 needs to stretch out is longer, can reduce the first push rod 5 in the spare time as one kind The technical solution of length dimension and the length dimension for its matched first driving mechanism 6 when setting, setting are as follows: described first drives Motivation structure 6 includes multiple cylinders, and multiple cylinders are sequentially connected in series, and one of cylinder in end is fixed on tool frame 1, First push rod 5 is arranged in another and is on the cylinder of end.Specifically, if number of cylinders is three, the axis of three cylinders In parallel, the cylinder body of first cylinder is fixed on tool frame 1, and the cylinder body of second cylinder is fixed on the piston rod of second cylinder On, the cylinder body of third cylinder is fixed on the piston rod of second cylinder, and the first push rod 5 is fixed on the piston of third cylinder On the bar or piston rod end of third cylinder is the end of the first push rod 5.And it is directed to the second push rod 84, due to the second push rod 84 are installed on mounting rack 83, therefore in view of lifting the influence that bar 85 works to the second push rod 84, the second push rod 84 can be opposite It is stretched out in lifting bar 85, due to lifting 85, bar as telescopic rod on mounting rack 83, therefore drives the second push rod 84 flexible Driving mechanism be adopted as a cylinder.

The above content is combine specific preferred embodiment to the further description of the invention made, and it cannot be said that originally The specific embodiment of invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, The other embodiments obtained in the case where not departing from technical solution of the present invention should be included in the protection scope of corresponding invention.

Claims (10)

1. it can realize the sterically defined bogie provision for disengagement of bogie, including system of 3 axes and arm-and-hand system, described three Coordinate system includes three pedestal bodies (81) and is mounted on retracting unit (82) on three pedestal bodies (81), described to retract unit (82) For dismantling the tapered wedges on bogie, the arm-and-hand system includes manipulator ontology and the machine that is connected on manipulator ontology Tool, which is characterized in that second push rod for retracting unit (82) and including mounting rack (83) and being mounted on mounting rack (83) (84), the equipment includes tool frame (1) and the first push rod (5) being mounted on tool frame (1), and second push rod (84) is Relative to mounting rack (83) telescopic telescopic rod, first push rod (5) is telescopic flexible relative to tool frame (1) Bar.

2. the sterically defined bogie provision for disengagement of achievable bogie according to claim 1, which is characterized in that described Retracting unit (82) further includes being mounted on lifting bar (85) on mounting rack (83), and described lift bar (85) are two, and each support Lifting bar (85) is relative to mounting rack (83) telescopic telescopic rod；

Two, which lift bar (85), to be stretched out by the outside of the same lateral mounting rack (83) of mounting rack (83), respectively lift on bar (85) It is provided with the face of lifting for being used to support tapered wedges, the face of lifting is the corresponding upper surface for lifting bar (85) local location；

Face is lifted with lifting in the motion process that bar (85) stretches relative to mounting rack (83), two faces of lifting can be movable relatively To in face symmetric relation；

Second push rod (84) and lift bar (85) can be by the ipsilateral stretching of mounting rack (83).

3. the sterically defined bogie provision for disengagement of achievable bogie according to claim 2, which is characterized in that described System of 3 axes further includes two clamping devices (89), and the clamping device (89) is mounted on mounting rack (83) or lifts bar (85) on；

One of clamping device (89) lifts bar (85) with wherein one and forms a tapered wedges constraint station, another clamping Device (89) lifts bar (85) with another and forms a tapered wedges constraint station；

On each constraint station, the face of lifting lifted on bar (85) provides support for the bottom of tapered wedges, and clamping device (89) is used The pressure in face is lifted described in a direction in applying to tapered wedges to realize constraint of the constraint station to tapered wedges.

4. the sterically defined bogie provision for disengagement of achievable bogie according to claim 2, which is characterized in that described Lifting bar (85) includes mobile jib (851) and strut (852), and the strut (852) is fixed on mobile jib (851), the mobile jib (851) length direction and the direction of motion for lifting bar (85) are in the same direction, and the upper surface of the strut (852) is higher than mobile jib (851) Upper surface, and two above upper surface is plane, and two planes are parallel to each other；

The face of lifting is collectively formed by the upper surface of mobile jib (851) and the upper surface of strut (852)；

Two mobile jibs (851) for lifting bar (85) are parallel to each other, and the strut (852) on each mobile jib (851) is by the mobile jib (851) Side far from another mobile jib (851) is stretched out；

The bar (85) of lifting is installed on the side of mounting rack (83), lifts bar (85) for installing on mounting rack (83) Two sides are a pair to side, and two are lifted that bar (85) is contour, and the free end of each strut (852) is towards mounting rack (83) Outside.

5. the sterically defined bogie provision for disengagement of achievable bogie according to claim 1, which is characterized in that described Equipment is including further including rod assembly (2), locked assembly (3) and support member (4), the rod assembly (2), locked assembly (3) and support member (4) is installed in the ipsilateral of tool frame (1), in the height direction, is respectively as follows: support member from the bottom to top (4), locked assembly (3), rod assembly (2)；

The rod assembly (2) includes bar body (21), and the bar body (21) is the cantilever by stretching out on tool frame (1) Beam texture is also equipped with for the gripper for bogie upper spring applied force on the free end of the bar body (21) Structure, the power is for forcing the spring to be toppled over；

Supporting surface is provided on the support member (4), the supporting surface is for carrying the spring toppled over；

The locked assembly (3) is used to apply constraint, the constraint are as follows: realize the spring to the spring on support member (4) In, interior lateral spring is fixed with outer lateral spring relative position.

6. the sterically defined bogie provision for disengagement of achievable bogie according to claim 5, which is characterized in that described Grasping mechanism includes shaft (23) and the lever (24) being connected on shaft (23), and shaft is fixed in one end of the lever (24) (23) on side；

The shaft (23) is articulated on bar body (21), is additionally provided with flanging on the free end of the bar body (21) (22), the shaft (23) is adjacent with flanging (22), and shaft (23) is located at the ipsilateral of flanging (22) with tool frame (1)；

When lever (24) is rotated with the free end of shaft (23) rotation, lever (24) to bar body (21) free end outside, The flanging (22) is by carrying out the dead-centre position for stopping limitation lever (24) rotation to lever (24)；And lever (24) can be rotated It is extremely parallel with bar body (21)；

The support member (4) is located at the underface of bar body (21), when spring is toppled under the action of rod assembly (2), The spring is poured on the supporting surface of support member (4).

7. the sterically defined bogie provision for disengagement of achievable bogie according to claim 6, which is characterized in that described Lever (24) is multiple, and arranges along the axis direction of shaft (23) that multiple levers (24) are arranged in a row；

Hole, the upper and lower end of hole perforation bar body (21) are additionally provided on the free end of the bar body (21)；

The both ends of the shaft (23) are articulated on the hole wall in the hole, and hinge joint is located at the hole far from tool frame (1) One end on；

Shaft (23) is vertical with bar body (21), and the flanging (22) is the edge of the hole wherein side, which is position In the edge of bar body (21) free end；

The bar body (21) is flat bar, when rod assembly (2) hooks up spring, the width direction of bar body (21) Positioned at horizontal direction, before lever (24) is contacted with the spring, the length direction of the lever (24) is located at vertical direction；

Lever (24) can be turned to shaft (23) and is accommodated in the hole completely.

8. the sterically defined bogie provision for disengagement of achievable bogie according to claim 5, which is characterized in that described Support member (4) includes two cantilever levers (41) stretched out by tool frame (1), further includes pocket body (42), the pocket body (42) is Cloth, one end of pocket body (42) are fixed on a wherein cantilever lever (41), and the other end of pocket body (42) is fixed on another and hangs On armed lever (41)；

The middle part of pocket body (42) drops, to form the pocketed space for constraining the spring on support member (4)；

The support member (4) further includes third driving mechanism, and the third driving mechanism is for changing two cantilever levers (41) Spacing；

The grasping mechanism is located at the surface in pocketed space.

9. the sterically defined bogie provision for disengagement of achievable bogie according to claim 8, which is characterized in that described Cantilever lever (41), bar body (21) are parallel to each other, and bar body (21) is located at the center of two cantilever levers (41)；

The support member (4) further includes the driving motor (45) being mounted on tool frame (1), to be connected to driving motor (45) defeated Threaded rod (44) in outlet, two pieces of sliding blocks (43) being threaded on threaded rod (44) are respectively and fixedly provided on each sliding block (43) A piece cantilever lever (41), and two pieces of sliding blocks (43) are connected by oppositely oriented screw thread with threaded rod (44)；

It further include the sliding slot parallel with threaded rod (44), the sliding slot is for constraining sliding block (43) or cantilever lever (41), for keeping away Exempt from cantilever lever (41) to rotate with threaded rod (44).

10. the sterically defined bogie provision for disengagement of achievable bogie according to claim 5, which is characterized in that institute Stating locked assembly (3) includes compression bar (31), and the compression bar (31) is located at the pocketed space in the side of tool frame (1), And after the spring of bogie is constrained on support member (4), the compression bar (31) can move in the radial direction of spring, with Bearing spring inwardly applies the pressure towards outside bearing spring；

The compression bar (31) is the rod-like structure parallel with bar body (21), and the direction of motion of compression bar (31) is located at pocketed sky Between groove depth direction.