CN109483196B - The bogie removal device that can realize the spatial positioning of the bogie - Google Patents

Abstract

The invention discloses a bogie dismantling device capable of realizing bogie spatial positioning, comprising a three-coordinate system and a manipulator system, the three-coordinate system comprising a three-axis frame body and a removal unit installed on the three-axis frame body, the dismantling unit being used to dismantle a wedge block on the bogie, the manipulator system comprising a manipulator body and a machine tool connected to the manipulator body, the dismantling unit comprising a mounting frame and a second push rod installed on the mounting frame, the machine tool comprising a machine tool frame and a first push rod installed on the machine tool frame, and the second push rod The first push rod is a telescopic rod that is telescopic relative to the installation frame, and the first push rod is a telescopic rod that is telescopic relative to the tool frame. By adopting the dismounting device provided by this solution, the positioning of the bogie in space before disassembly can be accurately completed.

Description

The bogie removal device that can realize the spatial positioning of the bogie

technical field

The invention relates to the technical field of maintenance and inspection equipment for rail car parts, in particular to a bogie dismounting device capable of realizing spatial positioning of the bogie.

Background technique

The bogie is one of the important components in the structure of the rail vehicle, and various parameters of the bogie also directly determine the stability of the vehicle and the ride comfort of the vehicle. During the overhaul process of the bogie, the structure needs to be disassembled. The bogie includes a load spring and a wedge, and the load spring and the wedge are mainly removed by manual movement. The load springs at both ends of the bogie are divided into three rows: outer, middle, and inner. For bogies with different models, the number and type of load springs are different, and the pitch of the load springs is also different. A load spring includes inner load springs and outer load springs, and the inner load springs and outer load springs are independent of each other. When moving the load springs, it is necessary to add additional force to keep the inner load springs and the outer load springs relatively fixed. Usually the quality of a load-bearing spring is more than 10kg, and the load-bearing spring is picked and placed only by the way that the workers move it, so that the daily work intensity of the workers is very large. And in the process of moving, due to repeated labor, narrow operating space, and the heavy weight of the load-bearing spring itself, workers are prone to hand slipping and loss of force, resulting in injury accidents during the disassembly of the load-bearing spring.

The wedge block is set between the load spring and the bolster. The function of the wedge block is to provide the anti-diamond deformation ability of the bolster and the side frame of the bogie, to ensure the bogie is in the right position, and then to meet the vehicle's linear running stability requirements and curve passing performance. The cam blocks also need to be removed during the complete bogie disassembly process.

In view of the above problems, in order to solve the problems existing in disassembling the bogie proposed above, a technical solution such as the patent application provided by the application number: 201810798273.3 has appeared in the prior art. With this solution, not only can the replacement of manual labor be realized by disassembling the bogie, but also the disassembly of the bogie has the characteristics of high efficiency due to the automatic disassembly.

It is a technical problem to be solved urgently by those skilled in the art to further study the structural design of the device for bogie disassembly so that it can better serve the field of rail transportation.

Contents of the invention

Further research on the structural design of the bogie dismantling device proposed above, so that it can better serve the field of rail transit, is a technical problem to be solved urgently by those skilled in the art. The present invention provides a bogie dismantling device that can realize the spatial positioning of the bogie. Using the dismantling device provided by this solution, the positioning of the bogie in space before disassembly can be accurately completed.

The technical means of this scheme are as follows, the bogie removal device that can realize the spatial positioning of the bogie includes a three-coordinate system and a manipulator system. The three-coordinate system includes a three-axis frame body and a removal unit installed on the three-axis frame body. The push rod is a telescopic rod that is telescopic relative to the installation frame, and the first push rod is a telescopic rod that is telescopic relative to the tool frame.

In the prior art, the structural design of the track frame is generally as follows: including a bolster, side frames are arranged on both sides of the bolster, and a component installation cavity is arranged on each side frame, and a load-bearing spring, a damping spring, and a wedge block are installed in the installation cavity. As stated in the invention application document with the application number 201810798273.3, in order to realize the mechanization or automatic disassembly of the bogie, it is first necessary to complete the positioning of the bogie in space, and then constrain the wedge block through the three-coordinate system, and remove the springs and other parts on the bogie through the tools on the manipulator.

In this solution, the removal unit and the implement are respectively driven by the three-axis frame body and the manipulator to change positions in space to adapt to the position of the parts to be disassembled on the bogie. The push rods move to different sides of the hanger or the middle of the bolster, and then apply thrust to the bogie through the expansion and contraction of the first push rod and the second push rod. For example, the first push rod and the second push rod are located on the front side of the bogie and are respectively located on the left and right sides of the front side of the bogie. The thrust generated by the above two push rods pushes the bogie to rotate around the hanger. To sum up, with this scheme, using the three-coordinate system and the movable characteristics of the manipulator system itself, the position of the bogie in space can be quickly fixed. At the same time, by setting the push rods to include the first push rod and the second push rod, and applying torque or torque in opposite directions to the bogie through the above two push rods, the orientation adjustment of the bogie in space can be accurately completed.

As a person skilled in the art, the telescopic driving form of the first push rod and the second push rod above can adopt forms such as electric drive, pneumatic drive, hydraulic drive and the like.

A further technical solution is:

As a specific implementation of the removal unit, the removal unit also includes lifting rods installed on the mounting frame, there are two lifting rods, and each lifting rod is a telescopic rod that is telescopic relative to the mounting frame;

The two lifting rods can protrude from the same side of the mounting frame to the outside of the mounting frame, and each lifting rod is provided with a lifting surface for supporting the inclined wedge, and the lifting surfaces are the upper surfaces corresponding to the local positions of the lifting rods;

During the movement of the lifting surface as the lifting rod expands and contracts relative to the mounting frame, the two lifting surfaces can move relative to each other to form a symmetrical relationship;

The second push rod and the lifting rod can protrude from the same side of the installation frame. Regarding the wedges on the bogie, the structural design of the bogies in the prior art is generally as follows: the wedges are placed on the upper end of the outer bearing spring, and two left and right wedges are placed at one end of the bogie, and four wedges are placed at both ends. For the oblique wedges at the same end, the two oblique wedges are arranged symmetrically. For a single wedge, the shape of the wedge generally has a downwardly protruding annular flange at the bottom, and the above flange is used for positioning the wedge in the radial direction of the load spring, while the middle of the wedge has a hollow.

For the removal of the load spring with the wedge and the wedge above it, the specific installation method determines that it is more convenient to remove it in the following way: first lift the wedge, remove the constraint between the wedge and the load spring, then take out the load spring, and then use the space under the wedge to take out the wedge.

In this plan, the above three -axis frame is: it has an X -axis guide rail, the Y -axis guide rail and the Z -axis guide rail. The above three guide rails are perpendicular to each other in the space. The demolition unit can be installed on the Z -axis guide rail. The specific installation form of the removal unit is preferably set to: the removal unit itself can change the position along the extension direction of the Z -axis rail. Under the action of the three-axis frame, according to the position of the specific operation object, the position transformation of the dismantling unit in space can be completed. The specific movement form, cooperation form or driving form of the three-axis support body can adopt the form of a ball screw, and can also adopt forms such as the cooperation of a gear and a gear plate.

In this solution, the lifting rod is the component that directly interacts with the wedge block in the three-coordinate system: it is set as two lifting rods, aiming to provide two wedge blocks on each side of the bogie, that is, when the removal unit moves to the outside of the mounting space of the wedge block, one lifting rod is responsible for dismantling one wedge block; it is set that each lifting rod is a telescopic rod that can be stretched relative to the mounting frame, so as to realize that when the position of the mounting frame remains unchanged in space, through the movement of each lifting rod, the lifting rod can be stretched out to the corresponding position. The bottom side of the oblique wedge is used to support the bottom of the oblique wedge and lift the oblique wedge. After the lower bearing spring is removed, the lifting rod is retracted after falling, and the oblique wedge can be removed from the installation space on the bogie; The relative positions of the corresponding oblique wedges correspond to improve the removal efficiency of the oblique wedges; the set lifting surface is the supporting surface of the oblique wedges on the lifting rod; it is set to use the upper surface as the supporting surface, and the lifting rod can extend into the bottom side of the oblique wedge; it is set as follows: during the movement of the lifting surface with the lifting rod relative to the mounting frame, the two lifting surfaces can move relatively to a symmetrical relationship. During relative movement or synchronous movement, the described planar symmetry can occur.

When this solution is implemented in practice, the above two lifting rods and the relative positional relationship between the two lifting rods can make it possible for the three-axle frame body and the dismantling unit to match the symmetrical relationship between the two diagonal wedges on the same side of the bogie without requiring complex actions when automatically removing the wedges on the bogie, so as to achieve the purpose of improving the removal efficiency of the wedges.

As a person skilled in the art, the driving form of the lifting rod telescoping above can adopt forms such as electric drive, pneumatic drive, hydraulic drive and the like. The above setting is that the second push rod and the lifting rod can be protruded from the same side of the mounting frame, so as to realize that both the second push rod and the lifting rod can be protruded from the same side of the mounting frame to perform corresponding operations, that is, after the three-coordinate system is used to fix the position of the bogie in space, the subsequent operation of the wedge on the bogie can be realized without moving the mounting frame or simply moving the mounting frame.

The three-coordinate system also includes two clamping devices, and the clamping devices are installed on the mounting frame or the lifting rod;

One of the clamping devices and one of the lifting rods form a wedge restraining station, and the other clamping device and the other lifting rod form a wedge restraining station;

On each constraining station, the lifting surface on the lifting rod provides support for the bottom of the wedge, and the clamping device is used to apply a pressure to the wedge toward the lifting surface so as to realize the restraint of the wedge by the constraining station. In this solution, a clamping device and a lifting rod cooperate to form a working group for constraining a wedge. With this solution, the clamping device provides pressure on the wedge, which can achieve the purpose of increasing the maximum static friction between the wedge and the device. The increase in the above maximum static friction is conducive to increasing the linear velocity of the lifting rod and improving the disassembly efficiency of the bogie under the condition that the above restraining station can reliably restrain the wedge. The specific implementation method of the clamping device can be: adopt the form of a cylinder to drive the briquetting block, the above briquetting block is located at the front end of the lifting rod and above the lifting rod, the briquetting block moves to the oblique wedge to be disassembled simultaneously with the lifting rod, when the lifting rod extends into the bottom side of the oblique wedge, the briquetting block extends into the cavity of the oblique wedge, and then under the action of the cylinder, the pressure block moves to the supporting surface of the lifting rod to provide pressure on the oblique wedge. The above specific implementation manners can be achieved by installing the clamping device on the lifting rod. However, as a person skilled in the art, when the clamping device is installed on the mounting frame, during the retreat process of the wedge block with the lifting rod, the above-mentioned form of using the cylinder to drive the briquetting block can also move the briquetting block to the cavity of the wedge block. At this time, the restraint of the clamping device on the wedge block also ensures the stability and reliability of the follow-up operation of the wedge block. For example, when the wedge block is moved by the pull rod assembly and supporting parts provided below, the stop bar on the pull rod assembly passes over the top of the wedge block to pull down the wedge block. During preparation, the oblique wedge is constrained by the clamping device and the lifting rod together, which can prevent the oblique wedge from accidentally toppling under the action of the pull rod assembly.

The lifting rod includes a main rod and a support rod, the supporting rod is fixed on the main rod, the length direction of the main rod is in the same direction as the moving direction of the lifting rod, the upper surface of the supporting rod is higher than the upper surface of the main rod, and the above two upper surfaces are planes, and the two planes are parallel to each other;

The lifting surface is jointly formed by the upper surface of the main rod and the upper surface of the strut;

The main rods of the two lifting rods are parallel to each other, and the struts on each main rod protrude from the side of the main rod away from the other main rod;

The lifting rods are all installed on the side of the mounting frame, the two sides on the mounting frame for installing the lifting rods are a pair of sides, the two lifting rods are of equal height, and the free ends of each pole are all towards the outside of the mounting frame. This solution provides a solution with a simple structure and the shape of the supporting surface matches the shape of the bottom of the wedge: the front end of the main rod is used to support the middle of the bottom of the wedge, and the support rod is used to support the side of the bottom of the wedge, so as to avoid the tilt of the wedge as much as possible during the dismantling process. Preferably, it is set that the mounting frame is also provided with a connecting seat for connecting the mounting frame to the three-axis frame body. In order to optimize the force of the device, it is set that the connecting seat is located between the two lifting rods; at the same time, it is set that the mounting frame is two pieces, and the mounting frame is installed on a pair of opposite sides of the connecting seat. A lifting rod and a clamping device are installed on each mounting frame; each mounting frame can move in the vertical direction relative to the connecting seat. A fourth drive mechanism in pneumatic form is realized. At the same time, it is set that each connecting seat has an aviation plug, so as to facilitate the standardized wiring and modularized disassembly and assembly of the device.

The machine tool also includes a tie rod assembly, a locking assembly and a support component, and the tie rod assembly, the lock assembly and the support component are all installed on the same side of the tool frame, and in the height direction, from bottom to top are respectively: the support component, the lock assembly, and the pull rod assembly;

The pull rod assembly includes a pull rod body, which is a cantilever beam-like structure protruding from the tool frame, and a grabbing mechanism for applying force to the spring on the bogie is installed on the free end of the pull rod body, and the force is used to force the spring to fall;

The supporting part is provided with a supporting surface, and the supporting surface is used to carry the spring toppled over;

The locking assembly is used to impose constraints on the springs on the support component, and the constraints are: among the springs, the relative positions of the inner spring and the outer spring are fixed. In the prior art, for the rail car bogie structure, the springs and wedge blocks included are arranged in the cavity of the side frame, and the springs include damping springs and bearing springs. At the same time, a raised point is provided on the surface of the cavity for constraining the position of the damping spring and the bearing spring in the cavity, and the wedge block is installed on the upper end of the bearing spring. Therefore, when disassembling the shock absorbing spring, bearing spring, and wedge block, the size of the cavity above is limited. When disassembling the robotic arm, the robotic arm is required to have an extremely accurate movement process. And in the prior art, for the disassembly of the damping spring and the bearing spring, the action process is generally: clamp the corresponding spring with a clamp including claws and then lift it up so that the lower end of the spring passes over the upper end of the bump, and then drive the claws to move through the manipulator, so that the springs are moved out of the cavity with the claws, and then place the springs on the operating table or maintenance table.

In the above process, the distance for the spring to be lifted in the cavity is small. At the same time, when the spring is moved outward with the claws, the spring is still in the vertical state at this time, so the accuracy of the manipulator performing the above actions is high. Otherwise, there will be a collision accident at the end of the spring, resulting in a breakdown in the bogie disassembly process.

The working process or principle of this scheme is: the fixture is fixed on the manipulator, for example, according to the structure of the existing manipulator, a connecting flange is provided on the tool frame, and the above connecting flange is used to connect with the connecting flange on the manipulator. Like this, under the effect of above-mentioned manipulator, above-mentioned implement can move in space. The pull rod assembly, the locking assembly and the support part move with the tool frame and move to the side of the cavity on the bogie, then the pull rod assembly works, and the pull rod body protrudes toward the spring relative to the tool frame. Then, for the nested spring form, the inner spring and the outer spring are mutually constrained by the locking component, so that the inner spring can move synchronously with the outer spring during the subsequent movement of the support component, thereby completing the removal of the bogie spring.

In this solution, the structural design of the above equipment is adopted. Before the spring is moved out of the cavity on the bogie, the spring has a tilting action under the action of the pull rod assembly and is dumped on the support surface of the support member. Compared with the prior art, the above process does not involve the process of the spring being lifted up, that is, the spring lift displacement control is not required; in the process of moving the spring out, since the spring has been dumped, compared with the spring being moved out in the vertical state, the support member extending into the cavity has a larger movable space in the vertical direction. ; During the process of the spring being moved out, the inner spring is applied to the inner spring by the locking assembly to achieve the relative position fixation of the inner spring and the outer spring, so that it can be ensured that the inner spring will not fall from the outer spring when the nested spring is moved out. Therefore, the adoption of the above scheme can not only reduce the failure rate in the bogie disassembly process, reduce the difficulty of the motion control of the manipulator or the machine tool, and reduce the requirements for the spatial positioning accuracy of the bogie, but also increase the linear velocity of the manipulator movement through the constraints imposed by the locking component, so as to achieve the purpose of improving the efficiency of dismantling the bogie. Based on the disassembly actions that can be produced by the above structural design, since the space available for the movement of the implements becomes larger when the bogie is disassembled, this solution also has better applicability to different types of bogies, that is, this solution also has the characteristics of strong versatility.

As a person skilled in the art, according to the setting purpose of the grabbing mechanism, the above grabbing mechanism can apply force to the spring, so it can use an electromagnet, a rod that can provide force to the spring, etc. At the same time, as a person skilled in the art, although the above working process or principle introduction only introduces the situation for springs, as a person skilled in the art, this machine tool can also be used for disassembly or transfer of parts such as wedge blocks. At the same time, as a person skilled in the art, in order to prevent the support component from affecting the normal function of the pull rod assembly, the retractable range of the pull rod body must meet the requirement that the grabbing mechanism can be extended to the outside of the free end of the support component relative to the tool frame.

Considering the optimal design of the fixture structure, for the locking assembly, since the spring is tilted towards the side where the tool frame is located, one end of the dumped spring must face the tool frame, so it is set that the locking component is located on the end connected to the supporting part and the tool frame, so that the center of gravity of the solution is as close as possible to the manipulator when in use.

As a specific implementation of the grabbing mechanism, it is set as follows: the grabbing mechanism includes a rotating shaft and a gear rod connected to the rotating shaft, and one end of the gear rod is fixed on the side of the rotating shaft;

The rotating shaft is hinged on the pull rod body, the free end of the pull rod body is also provided with a flanging edge, the rotating shaft is adjacent to the flanging edge, and the rotating shaft and the tool frame are located on the same side of the flanging edge;

When the shift rod rotates with the rotating shaft and the free end of the shift rod rotates to the outside of the free end of the pull rod body, the folded edge restricts the stop position of the shift rod by blocking the shift rod; and the shift rod can be rotated to be parallel to the pull rod body;

The support component is located directly below the pull rod body, and when the spring falls under the action of the pull rod assembly, the spring falls on the support surface of the support component. In this solution, since the pull rod body is the bearing part of the shift rod, when the pull rod body is driven to move to the side where the spring is located, the pull rod body extends into the gap above the spring. When the shift rod contacts the spring, the shift rod rotates around the rotating shaft, so that the pull rod body can continue to extend in; when the free end of the shift rod enters the central area of the spring, the shift rod automatically reverses under gravity to drive the rotating shaft; The lever applies tension to the spring, so that the spring falls on the supporting surface. Due to the above constraints on the spring and the realization of spring dumping can be completed in the process of extending and recovering the pull rod body relative to the tool frame: the completion of the cooperation with the spring on the bogie and the removal of the cooperation have the characteristics of fast speed, which can improve the efficiency of disassembling the bogie. In the process of disassembling the wedge by using the lifting rod mentioned above, after the wedge is removed from the bogie, the above machine can also be used for the further position transfer of the wedge, that is, after the stop bar passes over the top of the wedge under the action of the pull rod body, the clamping device moves out of the clamping of the wedge.

As a realization scheme that the pull rod assembly is light in weight and has a large coverage area on the corresponding spring parts, it is set as follows: there are multiple gear rods arranged along the axial direction of the rotating shaft, and the multiple gear rods are arranged in a row;

The free end of the pull rod body is also provided with a hole, and the hole runs through the upper and lower ends of the pull rod body;

Both ends of the rotating shaft are hinged on the hole wall of the hole, and the hinge point is located at the end of the hole away from the tool frame;

The rotating shaft is perpendicular to the pull rod body, and the folded edge is the edge of one side of the hole, which is the edge at the free end of the pull rod body;

The pull rod body is in the shape of a flat rod. When the pull rod assembly hooks the spring, the width direction of the pull rod body is in the horizontal direction, and before the gear rod contacts the spring, the length direction of the gear rod is in the vertical direction;

The gear rod can rotate with the rotating shaft until it is fully accommodated in the hole. In this plan, the tie rod body is a flat rod, which not only allows it to meet the strength and rigidity of the work requirements, but also facilitate it into the gap between the upper side of the spring; the above settings are the free end of the tie rod body. While achieving the rotating shaft connection, both ends of the shaft can be constrained to facilitate controlling the rotating trajectory of the rod and ensuring the springs of the stall rod to make the spring sprout for the spring for the spring to make the spring springs. The reliability of the spring dumping; the stall rod can rotate with the rotation axis to completely stored in the holes to avoid the stretch of the stirring rod from further extending into the gap. Preferably, the rotating shaft is also located between the upper and lower ends of the hole, so as to prevent the rotating shaft from affecting the pull rod body to further penetrate into the gap or increase the resistance during the insertion process. At the same time, it can also avoid the friction between the rotating shaft and the parts on the bogie from affecting the reverse rotation of the rotating shaft, resulting in that when the pull rod body retreats relative to the implement frame, the gear lever cannot be released normally and the pull rod assembly does not restrain the corresponding dumped spring.

As a specific implementation of the support component, the support component includes two cantilever rods protruding from the tool frame, and also includes a pocket body, the pocket body is cloth, one end of the pocket body is fixed on one of the cantilever rods, and the other end of the pocket body is fixed on the other cantilever rod;

The middle part of the pocket body falls down to form a pocket-shaped space for constraining the spring on the support member;

The support component also includes a third drive mechanism, which is used to change the distance between the two cantilever rods;

The grabbing mechanism is located directly above the pocket-shaped space. In this solution, the pull rod assembly is used to provide pulling force for the spring topple over. Under the above pulling force, the spring rotates relative to the lower end and falls into the pocket-shaped space; for the supporting part, before it bears the spring, the distance between the two cantilever rods ensures that the spring can smoothly fall into the pocket. The spring is deformed according to the shape of the spring, and the spring is clamped in the space of the pocket body. Then, the manipulator drives the implement to move to the outside of the cavity as a whole, so that the spring is removed from the cavity. Compared with the existing claws, the supporting part provided by this solution uses a flexible pocket body to clamp the outer spring. Compared with the existing jaws, the good wrapping property and the greater friction between the pocket body and the spring can provide more reliable restraint for the spring, so that when the manipulator drives the tool frame to move, it can still ensure that the tool has a reliable constraint performance on the spring when the tool frame has a greater linear velocity.

In order to make the spring fall directly on the middle of the two cantilever rods each time under the action of the pull rod assembly, so that when the cantilever rod moves under the action of the third drive mechanism, the pocket body has a better wrapping effect on the spring, etc., so as to improve the linear speed of the implement during work, achieve the purpose of improving the removal efficiency of the bogie, and optimize the mutual force between the two cantilever rods.

As mentioned above, the restraint of the spring by the support member is realized by changing the distance between the cantilever rods, and the increase of the distance between the cantilever rods can facilitate the spring to fall into the pocket-shaped space. In order to make the relative movement of the cantilever rods enable both sides of the spring to be evenly stressed and prevent the pocket body from sliding relative to the spring when the pocket-shaped space shrinks, so as to improve the reliability of the spring restraint by the support components and prolong the service life of the pocket body. , such that the above contact points are located in the middle of the pocket body as much as possible, it is set as follows: the supporting part also includes a drive motor installed on the tool frame, a threaded rod connected to the output end of the drive motor, and two sliders threaded on the threaded rod. A cantilever rod is fixed on each slider, and the two sliders are connected to the threaded rod through threads opposite in direction of rotation;

It also includes a chute parallel to the threaded rod, the chute is used to constrain the slider or the cantilever rod, and is used to prevent the cantilever rod from rotating with the threaded rod. With this solution, when the driving motor rotates, the two sliders can only move towards each other or move relative to each other, which can ensure the symmetrical movement of the two cantilever rods relative to the middle of the pocket body. As a person skilled in the art, it can be set to have a cavity for accommodating the driving part, threaded rod and slide block on the tool frame, and the cantilever rod protrudes from the housing hole of the tool frame. At this time, the above housing hole can be used as the chute; The third driving mechanism includes a driving motor, a threaded rod, a chute and a slide block. As those skilled in the art, the above third drive mechanism can also adopt other drive methods: such as hydraulic drive, pneumatic drive, other electric drive forms and so on.

As a specific implementation of the locking assembly, it is set as follows: the locking assembly includes a pressing rod, the pressing rod is located in the side of the pocket-shaped space close to the tool frame, and after the spring of the bogie is constrained on the support member, the pressing bar can move in the radial direction of the spring to apply pressure to the inner bearing spring towards the outer bearing spring. When holding the outer spring, the two springs slide toward the pocket-shaped space near one end of the tool rack, which can ensure that the two springs fall in the operable station of the locking assembly. Then, under the action of the corresponding driving mechanism, the pressure bar applies pressure to the inner spring towards the outer spring, and the mutual restraint of the two springs can be realized through the friction between the two springs and/or the local shearing of the two springs; When it is necessary to release the spring, it is sufficient to remove the force of the locking component on the inner spring. As a person skilled in the art, it is enough that the above pressing rod can move linearly relative to the tool frame and can stay at any point on the motion track, so the driving of the pressing rod can still be adopted as a cylinder driving scheme;

In order to optimize the force of the cantilever rod, it is set as follows: the pressure rod is a rod-shaped structure parallel to the pull rod body, and the movement direction of the pressure rod is located in the groove depth direction of the pocket-shaped space. With this solution, when the pressure rod moves to the bottom side of the pocket body, after contacting the inner spring, the effect of the pressure rod on the inner spring is transmitted through the pocket body, so that both cantilever rods are subjected to downward force. In this way, under the premise of satisfying the restriction of the function of the inner spring and enabling the inner spring to slide smoothly to the side of the pocket-like space close to the tool frame, the movement distance of the pressing bar also has the characteristic of being the smallest.

As a driving solution with light weight, small volume and good controllability, it is configured to further include a second driving mechanism for driving the extension and contraction of the pull rod body, and the second driving mechanism is an air cylinder driving mechanism.

As a light-weight, small-volume, and good-controllable first push rod driving solution, it is configured to: further include a first drive mechanism for driving the first push rod to expand and contract, and the first drive mechanism is an air cylinder drive mechanism.

As a person skilled in the art, in order to avoid the influence of the support component and the pull rod assembly on the first push rod when the first push rod is working, the free end of the first push rod can extend to the outside of the pull rod assembly and the free end of the support component relative to the tool rack. On the rack, the first push rod is arranged on another cylinder at the end. Specifically, if the number of cylinders is three, the axes of the three cylinders are parallel, the cylinder body of the first cylinder is fixed on the implement frame, the cylinder body of the second cylinder is fixed on the piston rod of the second cylinder, the cylinder body of the third cylinder is fixed on the piston rod of the second cylinder, the first push rod is fixed on the piston rod of the third cylinder or the end of the piston rod of the third cylinder is the end of the first push rod. And for the second push rod, because the second push rod is installed on the mounting frame, so considering the influence of the lifting rod on the work of the second pushing rod, the second pushing rod can be stretched out relative to the lifting rod.

The present invention has the following beneficial effects:

In this solution, the removal unit and the implement are respectively driven by the three-axis frame body and the manipulator to change positions in space to adapt to the position of the parts to be disassembled on the bogie. The push rods move to different sides of the hanger or the middle of the bolster, and then apply thrust to the bogie through the expansion and contraction of the first push rod and the second push rod. For example, the first push rod and the second push rod are located on the front side of the bogie and are respectively located on the left and right sides of the front side of the bogie. The thrust generated by the above two push rods pushes the bogie to rotate around the hanger. To sum up, with this scheme, using the three-coordinate system and the movable characteristics of the manipulator system itself, the position of the bogie in space can be quickly fixed. At the same time, by setting the push rods to include the first push rod and the second push rod, and applying torque or torque in opposite directions to the bogie through the above two push rods, the orientation adjustment of the bogie in space can be accurately completed.

Description of drawings

Fig. 1 is a structural schematic diagram of a three-coordinate system in a specific embodiment of a bogie removal device capable of realizing bogie spatial positioning according to the present invention;

Fig. 2 is in the three-coordinate system shown in Fig. 1, the structure schematic diagram of a specific embodiment of dismantling unit;

Fig. 3 is a partial enlarged view of part B shown in Fig. 2;

Fig. 4 is a schematic structural view of the implement in a specific embodiment of the bogie removal device capable of realizing bogie spatial positioning according to the present invention;

Fig. 5 is a partial enlarged view of part A shown in Fig. 4;

Fig. 6 is a partial schematic diagram of a specific embodiment reflecting the structure of the third driving mechanism, the connection relationship between the cantilever rod and the third driving mechanism in the implement provided in Fig. 4 .

The reference numerals in the figure are respectively: 1, tool rack, 2, pull rod assembly, 21, pull rod body, 22, folded edge, 23, rotating shaft, 24, gear rod, 3, locking assembly, 31, pressing rod, 4, support member, 41, cantilever rod, 42, pocket body, 43, slider, 44, threaded rod, 45, drive motor, 5, first push rod, 6, first drive mechanism, 7, second drive mechanism, 81, three-axis support body, 82, Removal unit, 83, mounting frame, 84, second push rod, 85, lifting rod, 851, main rod, 852, pole, 86, connecting seat, 87, fourth drive mechanism, 88, aviation plug, 89, clamping device.

Detailed ways

The present invention will be further described in detail below in conjunction with the examples, but the structure of the present invention is not limited to the following examples.

Example 1:

As shown in Figures 1 to 3, the bogie removal device that can realize the spatial positioning of the bogie includes a three-coordinate system and a manipulator system. The three-coordinate system includes a three-axis frame body 81 and a removal unit 82 installed on the three-axis frame body 81. The removal unit 82 is used to remove the wedge block on the bogie. The manipulator system includes a manipulator body and a machine tool connected to the manipulator body. Tool frame 1 and the first push rod 5 installed on the tool frame 1 , the second push rod 84 is a telescopic rod that is telescopic relative to the mounting frame 83 , and the first push rod 5 is a telescopic rod that is telescopic relative to the tool frame 1 .

In the prior art, the structural design of the track frame is generally as follows: including a bolster, side frames are arranged on both sides of the bolster, and a component installation cavity is arranged on each side frame, and a load-bearing spring, a damping spring, and a wedge block are installed in the installation cavity. As stated in the invention application document with the application number 201810798273.3, in order to realize the mechanization or automatic disassembly of the bogie, it is first necessary to complete the positioning of the bogie in space, and then constrain the wedge block through the three-coordinate system, and remove the springs and other parts on the bogie through the tools on the manipulator.

In this solution, the removal unit 82 and the equipment are respectively driven by the three-axis frame body 81 and the manipulator to change their position in space to adapt to the position of the parts to be disassembled on the bogie. The frame 1 itself is movable, and carries the second push rod 84 and the first push rod 5 to move to different sides of the middle part of the pendant or the bolster, and then through the expansion and contraction of the first push rod 5 and the second push rod 84, thrusts are respectively applied to the bogie. The fixed position of the bogie in the space can be completed to facilitate subsequent disassembly operations. To sum up, by adopting this scheme, using the three-coordinate system and the movable characteristics of the manipulator system itself, the fixed position of the bogie in space can be quickly realized. At the same time, by setting the push rods as including the first push rod 5 and the second push rod 84, and applying torque or torque in opposite directions to the bogie through the above two push rods, the orientation adjustment of the bogie in space can be accurately completed.

As a person skilled in the art, the telescopic driving forms of the first push rod 5 and the second push rod 84 above can be electric, pneumatic drive, hydraulic drive and other forms.

Example 2:

As shown in Figures 1 to 3, this embodiment is further limited on the basis of Embodiment 1: as a specific implementation of the removal unit 82, the removal unit 82 also includes a lifting rod 85 installed on the mounting frame 83, and there are two lifting rods 85, and each lifting rod 85 is a telescopic rod that is telescopic with respect to the mounting frame 83;

Two lifting rods 85 can be stretched out from the same side of the mounting frame 83 to the outside of the mounting frame 83, and each lifting rod 85 is provided with a lifting surface for supporting the oblique wedge, and the lifting surface is the upper surface of the corresponding lifting rod 85 local positions;

During the movement of the lifting surface as the lifting rod 85 expands and contracts relative to the mounting frame 83, the two lifting surfaces can move relative to each other until they are in a symmetrical relationship;

The second push rod 84 and the lifting rod 85 can protrude from the same side of the mounting frame 83 . Regarding the wedges on the bogie, the structural design of the bogies in the prior art is generally as follows: the wedges are placed on the upper end of the outer bearing spring, and two left and right wedges are placed at one end of the bogie, and four wedges are placed at both ends. For the oblique wedges at the same end, the two oblique wedges are arranged symmetrically. For a single wedge, the shape of the wedge generally has a downwardly protruding annular flange at the bottom, and the above flange is used for positioning the wedge in the radial direction of the load spring, while the middle of the wedge has a hollow.

For the removal of the load spring with the wedge and the wedge above it, the specific installation method determines that it is more convenient to remove it in the following way: first lift the wedge, remove the constraint between the wedge and the load spring, then take out the load spring, and then use the space under the wedge to take out the wedge.

In this solution, the above three-axis frame body 81 is: itself has an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail. The above three guide rails are perpendicular to each other in space. If the position of the X-axis guide rail is fixed in space, the Y-axis guide rail can move along the extension direction of the X-axis guide rail, and the Z-axis guide rail can move along the extension direction of the Y-axis guide rail. At this time, the removal unit 82 can be installed on the Z-axis guide rail. The extension direction of the guide rail changes the position. Under the action of the tripod 81 , according to the position of the specific operation object, the position transformation of the detachment unit 82 in space can be completed. The specific movement form, cooperation form or driving form of the three-axis frame body 81 can be in the form of a ball screw, or can be in the form of gear and gear plate cooperation.

In this solution, the lifting rod 85 is the component that directly interacts with the wedge block in the three-coordinate system: it is set as two lifting rods 85, aiming to provide two wedge blocks on each side of the bogie, that is, when the removal unit 82 moves to the outside of the wedge block installation space, one lifting rod 85 is responsible for dismantling one wedge block; it is set that each lifting rod 85 is a telescopic rod that can be stretched relative to the mounting frame 83. The movement of the lifting rod 85 realizes that the lifting rod 85 can stretch out to the bottom side of the corresponding oblique wedge, so as to support the bottom of the oblique wedge and lift the oblique wedge. After the lower bearing spring is removed, the lifting rod 85 descends and then retracts to remove the oblique wedge from the installation space on the bogie. The unit 82 or directly defines that the relative positions of the two lifting bars 85 correspond to the relative positions of the two oblique wedges, so that the relative positions of each lifting bar 85 and the corresponding oblique wedges can be completed, so as to improve the removal efficiency of the oblique wedges; During the process, the two lifting surfaces can move relative to each other to form a plane-symmetric relationship, that is, to match the two oblique wedges arranged symmetrically on the same side of the bogie. In actual use, the two lifting rods 85 can appear in the plane-symmetric relationship during the relative movement or synchronous movement.

When this solution is actually implemented, the relative positional relationship between the above two lifting rods 85 and the two lifting rods 85 can make it possible for the three-axis frame body 81 and the dismantling unit 82 to match the symmetrical relationship between the two diagonal blocks on the same side of the bogie without complicated actions when realizing automatic removal of the oblique wedges on the bogie, so as to achieve the purpose of improving the removal efficiency of the oblique wedges.

As a person skilled in the art, the telescopic driving form of the lifting rod 85 above can adopt forms such as electric drive, pneumatic drive, hydraulic drive and the like. The above setting is that the second push rod 84 and the lifting rod 85 can be protruded from the same side of the mounting frame 83, so as to realize that both the second push rod 84 and the lifting rod 85 can be protruded from the same side of the mounting frame 83 to perform corresponding operations, that is, after the three-coordinate system is used to fix the position of the bogie in space, the follow-up does not need to move the mounting frame 83 or only simply moves the mounting frame 83 to realize the operation of the wedge on the bogie.

The three-coordinate system also includes two clamping devices 89, and the clamping devices 89 are installed on the mounting frame 83 or on the lifting rod 85;

One of the clamping devices 89 and one of the lifting rods 85 form a wedge constraining station, and the other clamping device 89 and another lifting rod 85 form a wedge constraining station;

On each constraining station, the lifting surface on the lifting rod 85 provides support for the bottom of the wedge, and the clamping device 89 is used to apply a pressure towards the lifting surface to the wedge to realize the restraint of the wedge by the constraining station. In this solution, a clamping device 89 cooperates with a lifting rod 85 to form a working group for constraining a wedge. With this solution, the pressure provided by the clamping device 89 on the wedge can achieve the purpose of increasing the maximum static friction force between the wedge and the device. The increase in the above maximum static friction is conducive to increasing the linear velocity of the lifting rod 85 and improving the disassembly efficiency of the bogie under the condition that the above-mentioned restraint station can reliably restrain the wedge. The specific implementation of the clamping device 89 can be: adopt the form of the cylinder to drive the briquetting block, the above briquetting block is positioned at the front end of the lifting rod 85 and above the lifting rod 85, and the briquetting block moves with the lifting rod 85 to the oblique wedge to be disassembled, when the lifting rod 85 extends into the bottom side of the oblique wedge, the briquetting block extends into the cavity of the oblique wedge, and then under the action of the cylinder, the briquetting moves to the supporting surface of the lifting rod 85 to provide pressure to the oblique wedge. The above specific implementation manners can be achieved by installing the clamping device 89 on the lifting rod 85 . However, as those skilled in the art, when the clamping device 89 is installed on the mounting frame 83, during the retreat process of the wedge block with the lifting rod 85, the above form of using the cylinder to drive the briquetting block can also move through the wedge block until the briquetting block is inserted into the cavity of the wedge block. At this time, the restraint of the clamping device 89 on the wedge block also ensures the stability and reliability of the follow-up operation of the wedge block. When the top of the wedge is prepared for the pull-down action of the wedge, the clamping device 89 and the lifting rod 85 are used to constrain the wedge together, so that the wedge can be prevented from accidentally toppling under the action of the pull rod assembly 2 .

The lifting rod 85 includes a main rod 851 and a pole 852, the pole 852 is fixed on the main rod 851, the length direction of the main rod 851 is in the same direction as the movement direction of the lifting rod 85, the upper surface of the supporting rod 852 is higher than the upper surface of the main rod 851, and the above two upper surfaces are planes, and the two planes are parallel to each other;

The lifting surface is jointly formed by the upper surface of the main rod 851 and the upper surface of the strut 852;

The main rods 851 of the two lifting rods 85 are parallel to each other, and the poles 852 on each main rod 851 protrude from the side of the main rod 851 away from the other main rod 851;

The lifting rods 85 are all installed on the side of the mounting frame 83, and the two sides for installing the lifting rods 85 on the mounting frame 83 are a pair of sides. This solution provides a solution with a simple structure and the shape of the support surface matches the shape of the bottom of the wedge: the front end of the main rod 851 is used to support the middle of the bottom of the wedge, and the support rod 852 is used to provide support for the side of the bottom of the wedge, so as to avoid the tilt of the wedge as much as possible during the removal process. Preferably, it is set that the mounting frame 83 is also provided with a connecting seat 86 for realizing that the mounting frame 83 is connected to the triaxial frame body 81. For optimizing the force of the device, it is set that the connecting seat 86 is located between the two lifting rods 85; Move in the vertical direction so as to complete the lifting and lowering operation of the wedge block through the removal unit 82, and the above movement can be realized by the fourth driving mechanism 87 in the form of pneumatic. At the same time, it is set that each connecting seat 86 has an aviation plug 88, so as to facilitate the standardized wiring and modular disassembly of the device.

Example 3:

As shown in Figures 4 to 6, this embodiment is further limited on the basis of Embodiment 1: the implement includes a pull rod assembly 2, a locking assembly 3 and a support member 4, and the pull rod assembly 2, the lock assembly 3 and the support member 4 are all installed on the same side of the tool frame 1, and in the height direction, from bottom to top are respectively: the support member 4, the lock assembly 3, and the pull rod assembly 2;

Described pull rod assembly 2 comprises pull rod body 21, and described pull rod body 21 is the cantilever beam structure that protrudes from implement frame 1, and the grabbing mechanism that is used for applying force to the spring on the bogie is also installed on the free end of described pull rod body 21, and described force is used to force described spring to topple over;

The supporting part 4 is provided with a supporting surface, and the supporting surface is used to carry the spring toppled over;

The locking assembly 3 is used to impose constraints on the springs on the support component 4 , the constraints are: among the springs, the relative positions of the inner spring and the outer spring are fixed. In the prior art, for the rail car bogie structure, the springs and wedge blocks included are arranged in the cavity of the side frame, and the springs include damping springs and bearing springs. At the same time, a raised point is provided on the surface of the cavity for constraining the position of the damping spring and the bearing spring in the cavity, and the wedge block is installed on the upper end of the bearing spring. Therefore, when disassembling the shock absorbing spring, bearing spring, and wedge block, the size of the cavity above is limited. When disassembling the robotic arm, the robotic arm is required to have an extremely accurate movement process. And in the prior art, for the disassembly of the damping spring and the bearing spring, the action process is generally: clamp the corresponding spring with a clamp including claws and then lift it up so that the lower end of the spring passes over the upper end of the bump, and then drive the claws to move through the manipulator, so that the springs are moved out of the cavity with the claws, and then place the springs on the operating table or maintenance table.

In the above process, the distance for the spring to be lifted in the cavity is small. At the same time, when the spring is moved outward with the claws, the spring is still in the vertical state at this time, so the accuracy of the manipulator performing the above actions is high. Otherwise, there will be a collision accident at the end of the spring, resulting in a breakdown in the bogie disassembly process.

The working process or principle of this scheme is: the fixture is fixed on the manipulator, for example, for the structure of the existing manipulator, a connecting flange is provided on the tool frame 1, and the above connecting flange is used to connect with the connecting flange on the manipulator. Like this, under the effect of above-mentioned manipulator, above-mentioned implement can move in space. The pull rod assembly 2, the locking assembly 3 and the support member 4 move with the tool frame 1 and move to the side of the cavity on the bogie, then the pull rod assembly 2 works, and the pull rod body 21 stretches out relative to the tool frame 1 toward the spring. Then, for the nested spring form, the inner spring and the outer spring are constrained by the locking assembly 3, so that the inner spring can move synchronously with the outer spring during the subsequent movement of the support member 4, thereby completing the removal of the bogie spring.

In this solution, the structural design of the above equipment is adopted. Before the spring is moved out of the cavity on the bogie, the spring has a dumping action under the action of the pull rod assembly 2 and falls on the support surface of the support member 4. Therefore, compared with the prior art, the above process does not involve the process of the spring being lifted up, that is, the displacement control of the spring is not required; in the process of moving the spring, because the spring has been dumped, compared with the spring being moved out in the vertical state, the support member 4 extending into the cavity has a larger vertical direction. Movable space; in the process of the spring being moved out, the locking assembly 3 is applied to the inner spring to realize the relative position fixation of the inner spring and the outer spring, so as to ensure that the inner spring will not fall from the outer spring when the nested spring is moved out. Therefore, adopting the above scheme can not only reduce the failure rate in the bogie dismantling process, reduce the difficulty of the motion control of the manipulator or the equipment, and reduce the requirements for the spatial positioning accuracy of the bogie, but also increase the linear speed of the manipulator movement through the constraints imposed by the locking component 3, so as to achieve the purpose of improving the efficiency of dismantling the bogie. Based on the disassembly actions that can be produced by the above structural design, since the space available for the movement of the implements becomes larger when the bogie is disassembled, this solution also has better applicability to different types of bogies, that is, this solution also has the characteristics of strong versatility.

As a person skilled in the art, according to the setting purpose of the grabbing mechanism, the above grabbing mechanism can apply force to the spring, so it can use an electromagnet, a rod that can provide force to the spring, etc. At the same time, as a person skilled in the art, although the above working process or principle introduction only introduces the situation for springs, as a person skilled in the art, this machine tool can also be used for disassembly or transfer of parts such as wedge blocks. At the same time, as a person skilled in the art, in order to prevent the support member 4 from affecting the normal function of the tie rod assembly 2, the retractable range of the tie rod body 21 must meet the requirement that the grabbing mechanism can be extended to the outside of the free end of the support member 4 relative to the tool frame 1.

Considering the optimized design of the fixture structure, for the locking assembly 3, since the spring is tilted towards the side where the tool frame 1 is located, one end of the dumped spring must face the tool frame 1, so the locking component 3 is arranged on the end connected to the supporting part 4 and the tool frame 1, so that the center of gravity of the solution is as close as possible to the manipulator when in use.

As a specific implementation of the grabbing mechanism, it is set as follows: the grabbing mechanism includes a rotating shaft 23 and a gear lever 24 connected to the rotating shaft 23, and one end of the gear lever 24 is fixed on the side of the rotating shaft 23;

Described rotating shaft 23 is hinged on the draw bar body 21, and the free end of described draw bar body 21 is also provided with flanging 22, and described rotating shaft 23 is adjacent to flanging 22, and rotating shaft 23 and machine frame 1 are positioned at the same side of flanging 22;

When the gear rod 24 rotates with the rotating shaft 23 and the free end of the gear rod 24 rotates to the outside of the free end of the pull rod body 21, the folded edge 22 restricts the dead center position of the gear rod 24 by blocking the gear rod 24; and the gear rod 24 can rotate to be parallel to the pull rod body 21;

The support component 4 is located directly below the pull rod body 21 , and when the spring falls under the action of the pull rod assembly 2 , the spring falls on the support surface of the support component 4 . In this solution, since the pull rod body 21 is the bearing part of the gear rod 24, when the pull rod body 21 is driven to move to the side where the spring is located, the pull rod body 21 is stretched into the gap above the spring. When the gear bar 24 acts on the inner surface of the spring center hole, the folded edge 22 hinders the further rotation of the gear bar 24, and at this time, the gear bar 24 applies tension to the spring, so that the spring falls on the supporting surface. Due to the completion of the above constraints on the spring and the realization of the spring dumping action, the pull rod body 21 can be completed in the process of extending and recovering the pull rod body 21 relative to the tool frame 1: completing the cooperation with the spring on the bogie and removing the cooperation has the characteristics of fast speed, which can improve the efficiency of disassembling the bogie. In the process of dismounting the wedge block by using the lifting rod 85 proposed above, after the wedge block is removed from the bogie, the above equipment can also be used for the further position transfer of the wedge block, that is, after the stop rod 24 passes over the top of the wedge block under the action of the pull rod body 21, the clamping device 89 moves out of the clamping of the wedge block. , to complete the position transfer of the wedge block in space.

As a realization scheme that the pull rod assembly 2 is light in weight and has a large covering area on the corresponding spring parts, it is set as follows: there are multiple shift rods 24 arranged along the axial direction of the rotating shaft 23, and the plurality of shift rods 24 are arranged in a row;

The free end of the pull rod body 21 is also provided with a hole, and the hole runs through the upper and lower ends of the pull rod body 21;

Both ends of the rotating shaft 23 are hinged on the hole wall of the hole, and the hinge point is located at the end of the hole away from the tool frame 1;

The rotating shaft 23 is perpendicular to the pull rod body 21, and the folded edge 22 is the edge of one side of the hole, which is the edge at the free end of the pull rod body 21;

The pull rod body 21 is in the shape of a flat rod. When the pull rod assembly 2 hooks the spring, the width direction of the pull rod body 21 is in the horizontal direction, and before the gear rod 24 is in contact with the spring, the length direction of the gear rod 24 is in the vertical direction;

The gear rod 24 can rotate with the rotating shaft 23 until it is fully received in the hole. In this solution, the pull rod body 21 is a flat rod, which not only makes it have the strength and rigidity to meet the working requirements, but also facilitates its insertion into the gap on the upper side of the spring; the above setting is that the free end of the pull rod body 21 has a hole, and while realizing the connection of the rotating shaft 23, both ends of the rotating shaft 23 can be constrained, so as to facilitate the control of the rotation track of the gear lever 24 and ensure the reliability of the gear lever 24 pulling the spring to make the spring fall over; It is intended to prevent the blocking rod 24 from blocking the pull rod body 21 from further extending into the gap. Preferably, it is set that the rotating shaft 23 is also located between the upper and lower ends of the hole, so as to prevent the rotating shaft 23 from affecting the pull rod body 21 to further penetrate into the gap or increase the resistance of the insertion process.

As a specific implementation of the support member 4, the support member 4 includes two cantilever rods 41 protruding from the tool frame 1, and also includes a pocket body 42, the pocket body 42 is cloth, one end of the pocket body 42 is fixed on one of the cantilever rods 41, and the other end of the pocket body 42 is fixed on the other cantilever rod 41;

The middle part of the pocket body 42 falls down to form a pocket-shaped space for constraining the spring on the support member 4;

The supporting member 4 also includes a third driving mechanism, which is used to change the distance between the two cantilever rods 41 ;

The grabbing mechanism is located directly above the pocket-shaped space. In this scheme, pull rod assembly 2 provides pulling force for the spring topple over. Under the above pulling force, the spring rotates and falls relative to the lower end, and falls into the pocket-shaped space; for the support member 4, before it bears the spring, the distance between the two cantilever bars 41 ensures that the spring can smoothly fall into the pocket body 42. After the spring falls, under the action of the third driving mechanism, the pocket-shaped space is reduced. 2 is actually a flexible cloth pocket. At this time, the pocket body 42 can be deformed according to the shape of the spring to clamp the spring in the space of the pocket body 42. Then, the manipulator drives the implement to move to the outside of the cavity as a whole, so that the spring is removed from the cavity. The support member 4 provided by this solution adopts the flexible pocket body 42 to clamp the outer spring. Compared with the existing claws, the good wrapping property and the greater friction between the pocket body 42 and the spring can provide more reliable constraints for the spring, so that when the manipulator drives the tool frame 1 to move, it can still ensure that the tool has a reliable constraint performance on the spring when the tool frame 1 has a greater linear velocity.

In order to make the spring fall directly on the middle of the two cantilever rods 41 each time under the action of the pull rod assembly 2, so that when the cantilever rod 41 moves under the action of the third drive mechanism, the pocket body 42 has a better wrapping effect on the spring, etc., so as to improve the linear speed of the machine tool during work, achieve the purpose of improving the efficiency of bogie disassembly, and optimize the mutual force between the two cantilever rods 41. the center of the rod 41;

As mentioned above, the constraints of the supporting parts 4 pairs of springs are achieved through the spacing of the cantilever rod 41, and the increase in the spacing of the cantilee 41 can easily fall into the pocket space. In order to enable the relative movement of the cantilever 41 to enable the sides of the spring to uniformly stress and avoid the pocket space of the pockets. The reliability of the supporting part 4 pair of spring constraints and the life of the pocket body 42 are extended. At the same time, during the process of increasing the distance between the cantilever 41, in the process of matching the springs in the middle of the pocket 42, in order to avoid the increase of the above spacing and affect the contact point of the spring on the pocket body 42. The support component 4 also includes the driver motor 45 installed on the machinery rack 1, the thread rod connected to the drive motor 45 output end, the thread is connected to the two sliders 43 on the thread 44, each of each slider 43 is fixed with a cantilever 41, and the two slider 43 is connected to the threaded thread 44 through the opposite thread;

It also includes a chute parallel to the threaded rod 44 , the chute is used to constrain the slider 43 or the cantilever rod 41 to prevent the cantilever rod 41 from rotating with the threaded rod 44 . With this solution, when the driving motor 45 rotates, the two sliders 43 can only move toward each other or move relative to each other, which can ensure the symmetrical movement of the two cantilever rods 41 relative to the middle of the pocket body 42 . As a person skilled in the art, it can be set to have a cavity for accommodating the driving part, threaded rod 44 and slide block 43 on the tool frame 1. The cantilever rod 41 stretches out from the housing hole of the tool frame 1. At this time, the above housing hole can be used as the chute; The third driving mechanism comprises a driving motor 45 , a threaded rod 44 , a chute and a slide block 43 . As those skilled in the art, the above third drive mechanism can also adopt other drive methods: such as hydraulic drive, pneumatic drive, other electric drive forms and so on.

As a specific implementation of the locking assembly 3, it is set as follows: the locking assembly 3 includes a pressing rod 31, the pressing rod 31 is located in the side of the pocket-shaped space close to the tool frame 1, and after the spring of the bogie is constrained on the support member 4, the pressing rod 31 can move in the radial direction of the spring, so as to apply pressure to the inner bearing spring towards the outer bearing spring. The free end of 4 is upwards, and when pocket body 42 is not clamped outside spring, two springs slide towards the pocket-shaped space near one end of implement frame 1, can guarantee that now two springs fall in the station that locking assembly 3 is operable. Then, the pressure rod 31 applies pressure towards the outer spring to the inner spring under the action of the corresponding drive mechanism, and the mutual restraint of the two springs can be realized through the friction between the two springs and/or the local shearing of the two springs; When the spring needs to be released, it is sufficient to remove the force of the locking assembly 3 on the inner spring. As a person skilled in the art, it is sufficient that the above pressing rod 31 can move linearly relative to the tool frame 1 and can stay at any point on the motion track, so the driving of the pressing rod 31 can still be adopted as a cylinder driving scheme;

In order to optimize the stress of the cantilever rod 41, it is set that: the pressure rod 31 is a rod-shaped structure parallel to the pull rod body 21, and the movement direction of the pressure rod 31 is located in the groove depth direction of the pocket-shaped space. With this solution, when the pressure rod 31 moves to the bottom side of the pocket body 42, after contacting the inner spring, the action of the pressure rod 31 on the inner spring is transmitted through the pocket body 42, so that both cantilever rods 41 are subjected to downward force. In this way, under the premise of satisfying the function of constraining the inner spring and enabling the inner spring to slide smoothly to the side of the pocket-like space close to the tool frame 1, the moving distance of the pressing rod 31 also has the characteristic of minimum.

As a driving solution with light weight, small volume and good controllability, it is configured to further include a second driving mechanism 7 for driving the pull rod body 21 to expand and contract, and the second driving mechanism 7 is an air cylinder driving mechanism.

As a driving solution for the first push rod 5 with light weight, small size and good controllability, it is configured to further include a first drive mechanism 6 for driving the first push rod 5 to expand and contract, and the first drive mechanism 6 is an air cylinder drive mechanism.

As a person skilled in the art, in order to avoid the influence of the support member 4 and the pull rod assembly 2 on the first push rod 5 when the first push rod 5 is working, the free end of the first push rod 5 can extend to the outside of the free end of the pull rod assembly 2 and the support member 4 with respect to the tool frame 1, so the first push rod 5 needs to stretch out longer. In series, one of the cylinders at the end is fixed on the tool frame 1, and the first push rod 5 is arranged on the other cylinder at the end. Concrete, be three as cylinder quantity, the axes of three cylinders are parallel, the cylinder body of the first cylinder is fixed on the tool frame 1, the cylinder body of the second cylinder is fixed on the piston rod of the second cylinder, the cylinder body of the third cylinder is fixed on the piston rod of the second cylinder, the first push rod 5 is fixed on the piston rod of the third cylinder or the end of the piston rod of the third cylinder is the end of the first push rod 5. And for the second push rod 84, because the second push rod 84 is installed on the mounting bracket 83, so considering the influence of the lifting rod 85 on the work of the second pushing rod 84, the second pushing rod 84 can stretch out relative to the lifting rod 85.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific embodiments of the present invention are limited to these descriptions. For those of ordinary skill in the technical field to which the present invention belongs, other implementations obtained without departing from the technical solution of the present invention shall be included in the protection scope of the corresponding invention.

Claims (7)

1. The bogie removal device that can realize the spatial positioning of the bogie includes a three-coordinate system and a manipulator system. The three-coordinate system includes a three-axis frame body (81) and a removal unit (82) installed on the three-axis frame body (81). The removal unit (82) is used to remove the wedge on the bogie. ) on the second push rod (84), the machine tool includes the machine tool frame (1) and the first push rod (5) installed on the machine tool frame (1), the second push rod (84) is a telescopic rod that is telescopic relative to the mounting frame (83), and the first push rod (5) is a telescopic rod that is telescopic relative to the machine tool frame (1); The removal unit (82) also includes lifting rods (85) installed on the mounting frame (83), there are two lifting rods (85), and each lifting rod (85) is a stretchable telescopic rod relative to the mounting frame (83); The two lifting rods (85) can protrude from the same side of the mounting frame (83) to the outside of the mounting frame (83), and each lifting rod (85) is provided with a lifting surface for supporting the wedge, and the lifting surfaces are the upper surfaces corresponding to the local positions of the lifting rods (85); During the movement of the lifting surface as the lifting rod (85) expands and contracts relative to the mounting frame (83), the two lifting surfaces can move relative to each other to form a symmetrical relationship; The second push rod (84) and the lifting rod (85) can protrude from the same side of the mounting bracket (83); The implement includes a pull rod assembly (2), a locking assembly (3) and a support component (4). The pull rod assembly (2), the lock assembly (3) and the support component (4) are all installed on the same side of the tool frame (1). In the height direction, from bottom to top, they are: support component (4), lock assembly (3), and pull rod assembly (2); The tie rod assembly (2) includes a tie rod body (21), the tie rod body (21) is a cantilever beam structure protruding from the tool frame (1), and a grabbing mechanism for applying force to the spring on the bogie is installed on the free end of the tie rod body (21), and the force is used to force the spring to fall; The supporting part (4) is provided with a supporting surface, and the supporting surface is used to carry the spring toppled over; The locking component (3) is used to impose constraints on the springs on the support component (4), and the constraints are: among the springs, the relative positions of the inner spring and the outer spring are fixed; The grabbing mechanism includes a rotating shaft (23) and a gear rod (24) connected to the rotating shaft (23), and one end of the gear rod (24) is fixed on the side of the rotating shaft (23); The rotating shaft (23) is hinged on the pull rod body (21), and the free end of the pull rod body (21) is also provided with a flange (22), the rotating shaft (23) is adjacent to the flange (22), and the rotating shaft (23) and the tool frame (1) are located on the same side of the flange (22); When the shift rod (24) rotates with the rotating shaft (23) and the free end of the shift rod (24) rotates to the outside of the free end of the pull rod body (21), the folded edge (22) restricts the stop point position of the shift rod (24) by blocking the shift rod (24); and the shift rod (24) can be rotated to be parallel to the pull rod body (21); The support component (4) is located directly below the pull rod body (21), and when the spring falls under the action of the pull rod assembly (2), the spring falls on the support surface of the support component (4). 2. The bogie removal device capable of realizing bogie spatial positioning according to claim 1, characterized in that, the three-coordinate system further includes two clamping devices (89), and the clamping devices (89) are installed on the mounting frame (83) or the lifting rod (85); One of the clamping devices (89) and one of the lifting rods (85) form a wedge constraining station, and the other clamping device (89) forms a wedge constraining station with the other lifting rod (85); On each constraint station, the lifting surface on the lifting rod (85) provides support for the bottom of the wedge, and the clamping device (89) is used to apply a pressure to the wedge towards the lifting surface so as to realize the restraint of the wedge by the constraint station. 3. The bogie removal device capable of realizing bogie spatial positioning according to claim 1, characterized in that the lifting rod (85) includes a main rod (851) and a support rod (852), the support rod (852) is fixed on the main rod (851), the length direction of the main rod (851) is in the same direction as the moving direction of the lifting rod (85), the upper surface of the support rod (852) is higher than the upper surface of the main rod (851), and the above two upper surfaces Both are planes, and the two planes are parallel to each other; The lifting surface is jointly formed by the upper surface of the main rod (851) and the upper surface of the support rod (852); The main rods (851) of the two lifting rods (85) are parallel to each other, and the struts (852) on each main rod (851) protrude from the side of the main rod (851) away from the other main rod (851); The lifting rods (85) are all installed on the side of the mounting frame (83). The two sides on the mounting frame (83) used to install the lifting rods (85) are a pair of opposite sides, and the two lifting rods (85) are of equal height. 4. The bogie removal device capable of realizing bogie spatial positioning according to claim 1, characterized in that there are multiple gear rods (24) arranged along the axial direction of the rotating shaft (23), and the multiple gear rods (24) are arranged in a row; The free end of the tie rod body (21) is also provided with a hole, and the hole runs through the upper and lower ends of the tie rod body (21); Both ends of the rotating shaft (23) are hinged on the hole wall of the hole, and the hinge point is located on the end of the hole away from the tool frame (1); The rotating shaft (23) is perpendicular to the pull rod body (21), and the folded edge (22) is the edge of one side of the hole, which is the edge at the free end of the pull rod body (21); The pull rod body (21) is in the shape of a flat rod. When the pull rod assembly (2) hooks the spring, the width direction of the pull rod body (21) is in the horizontal direction, and before the gear rod (24) contacts the spring, the length direction of the gear rod (24) is in the vertical direction; The gear lever (24) can rotate with the rotating shaft (23) until it is completely accommodated in the hole. 5. The bogie removal device capable of realizing bogie spatial positioning according to claim 1, characterized in that, the support member (4) includes two cantilever rods (41) protruding from the tool frame (1), and also includes a pocket body (42), the pocket body (42) is made of cloth, one end of the pocket body (42) is fixed on one of the cantilever rods (41), and the other end of the pocket body (42) is fixed on the other cantilever rod (41); The middle part of the pocket body (42) falls down to form a pocket-shaped space for constraining the spring on the support member (4); The supporting component (4) also includes a third driving mechanism, the third driving mechanism is used to change the distance between the two cantilever rods (41); The grabbing mechanism is located directly above the pocket-shaped space. 6. The bogie removal device capable of realizing the spatial positioning of the bogie according to claim 5, characterized in that the cantilever rod (41) and the tie rod body (21) are parallel to each other, and the tie rod body (21) is located at the center of the two cantilever rods (41); The supporting part (4) also includes a drive motor (45) installed on the tool frame (1), a threaded rod (44) connected to the output end of the drive motor (45), two sliders (43) threaded on the threaded rod (44), each slider (43) is fixed with a cantilever rod (41), and the two sliders (43) are connected to the threaded rod (44) through threads with opposite rotation directions; It also includes a chute parallel to the threaded rod (44), the chute is used to constrain the slider (43) or the cantilever rod (41), and is used to prevent the cantilever rod (41) from rotating with the threaded rod (44). 7. The bogie removal device capable of realizing bogie spatial positioning according to claim 5, characterized in that the locking assembly (3) includes a pressing rod (31), the pressing rod (31) is located in the pocket-shaped space on the side close to the tool frame (1), and after the spring of the bogie is constrained on the support member (4), the pressing rod (31) can move in the radial direction of the spring to apply pressure to the inner bearing spring toward the outer bearing spring; The pressure rod (31) is a rod-shaped structure parallel to the pull rod body (21), and the movement direction of the pressure rod (31) is located in the groove depth direction of the pocket-shaped space.