CN111071293B - Bearing bolt alignment equipment, bolt alignment control method, device and system - Google Patents
Bearing bolt alignment equipment, bolt alignment control method, device and system Download PDFInfo
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- CN111071293B CN111071293B CN201911268684.2A CN201911268684A CN111071293B CN 111071293 B CN111071293 B CN 111071293B CN 201911268684 A CN201911268684 A CN 201911268684A CN 111071293 B CN111071293 B CN 111071293B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K11/00—Serving peculiar to locomotives, e.g. filling with, or emptying of, water, sand, or the like at the depots
Abstract
The invention relates to bearing bolt alignment equipment, a bolt alignment control method, a device and a system. The bearing bracket is used for bearing the wheel shaft and limiting the bearing end cover of the wheel shaft. The position detector is used for monitoring a position signal when a target bolt on the bearing end cover passes through the dismounting position. The driving control unit is electrically connected with the position detector and used for determining the driving time when the target bolt rotates to the dismounting position again according to the position signal, controlling the wheel shaft to rotate at a constant speed for driving time and then stopping, and aligning the target bolt to the dismounting position. Through the combined design of each part, the target bolt is positioned and aligned based on the position signal monitored by the position detector, the automatic positioning and alignment of the target bolt are realized, the accuracy is high, and the aim of greatly improving the bolt alignment efficiency is fulfilled.
Description
Technical Field
The invention relates to the technical field of railway vehicle maintenance, in particular to bearing bolt alignment equipment, a bolt alignment control method, a bolt alignment control device and a bolt alignment control system.
Background
With the development of railway technology, the railway transportation makes unprecedented progress, and the maintenance technology of railway vehicles is also continuously upgraded. In the wheel axle maintenance operation of railway vehicles, the bolt dismounting operation of the bearing end cover is required, and in the dismounting operation, the bolt on the bearing end cover is required to be aligned to a dismounting position so that the bolt dismounting device can accurately butt and dismount the bolt from the bearing end cover. In a traditional bolt alignment mode of a wheel bearing end cover, an operator generally uses various auxiliary electric machines to operate a wheel shaft to rotate to a specified angle so as to realize positioning alignment of bolts; or the bearing end cover area is photographed by adopting a pattern recognition technology, the position of the bolt in the image is recognized after the end cover image is obtained, and then the bolt is adjusted to be aligned to the dismounting position. However, in the process of implementing the invention, the inventor finds that the bolt alignment efficiency of the bearing end cover is low in the traditional bolt alignment mode of the wheel bearing end cover.
Disclosure of Invention
In view of the above, it is necessary to provide a bearing bolt alignment apparatus, a bolt dismounting system, a bolt alignment control method, a bolt alignment control device, and a computer-readable storage medium, which can greatly improve bolt alignment efficiency, in view of the problems of the conventional bolt alignment method of a wheel bearing end cover.
In order to achieve the purpose, the embodiment of the invention adopts the following technical scheme:
in one aspect, an embodiment of the present invention provides a bearing bolt alignment apparatus, including:
the bearing bracket is used for bearing the wheel shaft and limiting a bearing end cover of the wheel shaft;
the position detector is used for monitoring a position signal when a target bolt on the bearing end cover passes through the dismounting position;
and the driving control unit is electrically connected with the position detector and used for determining the driving time when the target bolt rotates to the dismounting position again according to the position signal, controlling the wheel shaft to rotate at a constant speed for driving time and then stopping, and aligning the target bolt to the dismounting position.
In one embodiment, the position detector is a laser displacement sensor.
In one embodiment, the carrier bracket is a nylon wheel bracket.
On the other hand, the bolt dismounting system comprises a bearing bracket, a position detector, a driving control unit and bolt dismounting equipment, wherein the driving control unit is electrically connected with the position detector;
the bearing bracket is used for bearing the wheel shaft and limiting the bearing end cover of the wheel shaft, and the position detector is used for monitoring a position signal of a target bolt on the bearing end cover when the target bolt passes through the dismounting position of the bolt dismounting device;
the driving control unit is used for determining the driving time when the target bolt rotates to the dismounting position again according to the position signal, controlling the wheel shaft to rotate at a constant speed for driving time and then stopping, aligning the target bolt to the dismounting position, and the bolt dismounting device is used for dismounting the target bolt.
In one embodiment, the position detector is provided on the bolt dismounting device.
In one embodiment, the position detector is a laser displacement sensor.
In one embodiment, the drive control unit includes a hydraulic motor, a drive wheel, and a controller;
the controller is electrically connected with the position detector and the hydraulic motor respectively, and the hydraulic motor is mechanically connected with the driving wheel;
the controller is used for determining the driving time when the target bolt rotates to the dismounting position again according to the position signal, controlling the hydraulic motor to stop after driving the wheel shaft to rotate at a constant speed through the driving wheel for driving time, and aligning the target bolt to the dismounting position.
In one embodiment, the drive wheel is a nylon wheel and the carrier bracket is a nylon wheel bracket.
In another aspect, a bolt alignment control method is provided, which is applied to a bearing bolt alignment apparatus, where the bearing bolt alignment apparatus includes a position detector for monitoring a position signal when a target bolt on a bearing end cover of an axle passes through a removal position;
the method comprises the following steps:
acquiring the set uniform angular speed of the wheel shaft and a position signal output by a position detector;
determining the driving time when the target bolt rotates to the disassembly position again according to the set uniform angular speed and the position signal;
and controlling the wheel shaft to rotate at a constant speed for driving time and then stopping, and aligning the target bolt to the dismounting position.
In one embodiment, the step of determining the driving time when the target bolt is rotated to the detaching position again according to the set uniform angular velocity and the position signal includes:
scanning the position signals frame by frame, and respectively determining a first signal position corresponding to the end face of the target bolt shown in the position signals and a second signal position corresponding to the surface of one side, close to the end face, of the bearing end cover;
determining position data of the target bolt according to the first signal position and the second signal position;
and calculating the driving time according to the position data and the set uniform angular velocity.
On the other hand, the bolt alignment control device is applied to bearing bolt alignment equipment, the bearing bolt alignment equipment comprises a position detector, and the position detector is used for monitoring a position signal when a target bolt on a bearing end cover of a wheel shaft passes through a disassembly position;
the bolt alignment control device includes:
the acquisition module is used for acquiring the set uniform angular speed of the wheel shaft and the position signal output by the position detector;
the determining module is used for determining the driving time when the target bolt rotates to the dismounting position again according to the set uniform angular speed and the position signal;
and the control module is used for controlling the wheel shaft to rotate at a constant speed for driving time and then stop, and aligning the target bolt to the dismounting position.
In yet another aspect, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the bolt alignment control method described above.
One of the above technical solutions has the following beneficial effects:
according to the bearing bolt alignment equipment, the bolt alignment control method, the device and the system, through the combination design of all parts, the wheel axle to be detected falls into the bearing bracket for bearing and limiting, and the drive control unit drives the wheel axle to rotate at a constant speed. The position detector monitors position signals of a target bolt on the bearing end cover when the target bolt passes through the dismounting position and outputs the position signals to the driving control unit, and the driving control unit determines position data of the target bolt when the target bolt rotates through the dismounting position from the position signals. The driving unit can further determine the driving time when the target bolt rotates to the dismounting position again according to the position data, and control the axle to rotate at a constant speed for driving time and then stop, so that the target bolt is aligned to the dismounting position. Therefore, the target bolt is automatically positioned and aligned, the accuracy is high, and the aim of greatly improving the bolt alignment efficiency is fulfilled.
Drawings
FIG. 1 is a schematic diagram of the structure of a bearing bolt alignment apparatus in one embodiment;
FIG. 2 is a schematic view of a load bearing bracket bearing axle in one embodiment;
FIG. 3 is a schematic diagram of a bolt removal system according to one embodiment;
FIG. 4 is a schematic structural view of a bolt removal system according to another embodiment;
FIG. 5 is a schematic structural view of a bolt removal system in yet another embodiment;
FIG. 6 is a schematic flow chart diagram illustrating a bolt alignment control method according to one embodiment;
FIG. 7 is a flow diagram illustrating the determination of actuation time in one embodiment;
FIG. 8 is a waveform diagram of a digital signal output by the position detector in one embodiment;
FIG. 9 is a block diagram of a bolt alignment control apparatus in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and integrated therewith or intervening elements may be present, i.e., indirectly connected to the other element.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the practical process of realizing the invention, the inventor finds that in the traditional bolt alignment mode of the wheel bearing end cover, the target bolt on the bearing end cover can be positioned in a manual visual mode by an operator, and then the final alignment position between the bolt dismounting device and the target bolt is manually adjusted, so that the alignment precision and the alignment efficiency are low. And the other alignment mode is a mode of pattern recognition, the bearing end cover region is photographed to obtain an end cover region image, and then the position of the bolt in the end cover region image is recognized by adopting a matched pattern recognition algorithm. The identification process is easily affected by the surface of the bearing end cover, the end face of the bolt and other dirt conditions, so that the identification accuracy often cannot meet the operation requirement to cause alignment failure, and subsequent bolt disassembly operation is involved to obtain other various positioning and alignment operations taking the bolt as a base point.
Referring to fig. 1, an embodiment of the present invention provides a bearing bolt alignment apparatus, which includes a carriage 12, a position detector 14, and a drive control unit 16. The bearing bracket is used for bearing the axle 101 and limiting a bearing end cover of the axle 101. The position detector 14 is used to monitor the position signal of the target bolt 110 on the bearing end cap as it passes through the removal location. The driving control unit 16 is electrically connected to the position detector 14, and configured to determine a driving time when the target bolt 110 is rotated to the detaching position again according to the position signal, and control the axle 101 to rotate at a constant speed for the driving time and then stop, so as to align the target bolt 110 with the detaching position.
It will be appreciated that the carrier 12 is an axle carrier 12 of the type commonly used or specially adapted in the art, and that the axle 101 to be inspected is dropped into the carrier 12 by an axle 101 transfer mechanism after the axle 101 to be inspected has been brought to the inspection station prior to the inspection of the axle 101 to be inspected. The carriage 12 is provided with rollers for supporting the axle 101 and limiting the axle 101 so that when the axle 101 is rotated at a constant speed by the driving control unit 16, the rollers assist the axle 101 in rotating and maintain the end caps of the axle 101 in a fixed position. In the process of uniform rotation of the wheel shaft 101, the bolts on the bearing end covers rotate at a uniform speed. The rollers disposed on the carrying bracket 12 may be rollers made of various materials in the art, and may be determined according to the detection content of the detection station.
The position detector 14 may be any type of displacement sensor on the market, such as, but not limited to, an ultrasonic displacement sensor, a laser displacement sensor, or other magnetic sensor, and the specific type may be selected according to the type of the target bolt 110 on the bearing end cover, the positioning accuracy, and the type of the input position signal required by the driving control unit 16, so long as the motion trajectory data of the target bolt 110 can be acquired and a corresponding position signal can be output to the driving control unit 16, so as to detect the predetermined position where the target bolt 110 passes during the rotation process from the position signal. The position of the position detector 14 may be set independently, or may be set on a bolt dismounting device at a detection station, and the specific setting position is not specifically limited in this embodiment, as long as the movement track of the target bolt 110 rotating with the wheel axle 101 at a uniform speed can be effectively monitored.
The target bolts 110 may be any bolts on the bearing end cover that are positioned to align with the disassembly location. The detaching position is a set position where the bolt detaching apparatus can directly abut against the target bolt 110 to perform a bolt detaching operation after the rotation of the wheel axle 101 is stopped. The driving control unit 16 is a driving and controlling device unit for driving the wheel axle 101 to rotate at a constant speed at the detection station, and may include, but is not limited to, a control box, a motor, and a driving wheel. The drive control unit 16 is automatically controlled by an internal control program to rotate the axle 101 on the carrier 12 at a constant speed, such as but not limited to 5rpm to 7rpm, to drive the wheels of the axle 101 laterally. The different detection stations or the initial rotation speeds provided by the drive control unit 16 are different, and are specifically determined according to the lubrication condition of the wheel shaft 101, for example, the drive force when the drive control unit 16 drives the wheel shaft 101 to rotate is constant, the resistance of the bearing of the wheel shaft 101 when the bearing just starts to rotate is the resistance of grease in the bearing, the grease in the bearing is lubricated effectively by the fully rotating bearing, the rotation resistance of the bearing is greatly reduced, the rotation of the bearing is more stable, and accordingly the bearing can enter a uniform rotation state more quickly.
Specifically, the driving control unit 16 drives the axle 101 to rotate at a constant speed, that is, the rotation speed of the axle 101 is predetermined, so that the distance traveled by the target bolt 110 from the detaching position to the detaching position can be known by positioning the target bolt 110 through the position detector 14, and the driving control unit 16 can calculate the time required for the target bolt 110 to rotate to the detaching position again according to the rotation speed and the distance, that is, the required determined driving time. After determining the required driving time, the driving control unit 16 continues to drive the axle 101 to rotate at a constant speed for the driving time, i.e., stops driving and controls the axle 101 to stop rotating, so that the position to which the target bolt 110 rotates after the axle 101 stops rotating is the detaching position to achieve alignment. The driving control unit 16 drives the axle 101 to rotate at a constant speed (and at a low rotation speed), so that the calculation and determination of the driving time can be effectively ensured, the phenomenon that the axle 101 slips due to the overlarge rotation speed when the driving is stopped can be effectively avoided, and the reliability of bolt alignment is improved.
According to the bearing bolt alignment equipment, through the combination design of all the parts, after the wheel axle 101 to be detected falls into the bearing bracket 12 for bearing and limiting, the drive control unit 16 drives the wheel axle 101 to rotate at a constant speed. The position detector 14 monitors a position signal when the target bolt 110 on the bearing end cover passes through the removal position and outputs the position signal to the drive control unit 16, and the drive control unit 16 determines position data of the target bolt 110 rotating through the removal position from the position signal. The driving unit may further determine a driving time when the target bolt 110 is rotated to the detaching position again according to the position data, and control the axle 101 to rotate at a constant speed for the driving time and then stop, so as to align the target bolt 110 with the detaching position. Thus, the target bolt 110 is automatically positioned and aligned with high accuracy, and the aim of greatly improving the bolt alignment efficiency is fulfilled.
In one embodiment, the position detector 14 is a laser displacement sensor. It can be understood that the existing laser displacement sensor is adopted in the present embodiment to realize the monitoring and positioning of the target bolt 110. The laser measuring point of the laser displacement sensor falls on the motion track of the target bolt 110 rotating with the wheel axle 101 at a constant speed, and the signal output is realized by acquiring the height difference between the end surface of the target bolt 110 and the surface of the end cover of the bearing end cover close to one side of the end surface: the laser displacement sensor converts the height difference into a corresponding digital signal (i.e., a position signal) and outputs the digital signal to the driving control unit 16, and the driving control unit 16 can determine the position of the target bolt 110 in the rotating process from the amplitude change of the digital signal, so that the target bolt 110 is positioned when passing through the dismounting position.
By applying the laser displacement sensor, the error requirement of bolt alignment can be better met due to high monitoring and positioning precision, the position adjustment of the laser measuring point is more convenient and efficient in the actual operation process, and the alignment efficiency can be effectively improved.
Referring to FIG. 2, in one embodiment, the carrier 12 is a nylon wheel carrier. It can be understood that, in the present embodiment, the rollers disposed on the bearing bracket 12 are nylon wheels, which are wear-resistant and not easy to soften, and can more reliably bear the rotation of the axle 101 and the auxiliary axle 101, and can further avoid the slipping phenomenon of the axle 101 when the re-driving control unit 16 stops driving the axle 101, thereby further improving the efficiency and reliability of bolt alignment.
Referring to fig. 3, in one embodiment, a bolt dismounting system is further provided, which includes the carriage 12, the position detector 14, the driving control unit 16, and a bolt dismounting device 201. The drive control unit 16 is electrically connected to the position detector 14. The bearing bracket 12 is used for bearing the axle 101 and limiting the bearing end cover of the axle 101. The position detector 14 is used to monitor a position signal of the target bolt 110 on the end cap as it passes the removal location of the bolt removal device. The driving control unit 16 is configured to determine a driving time when the target bolt 110 is rotated to the detaching position again according to the position signal, and control the axle 101 to rotate at a constant speed for the driving time and then stop, so as to align the target bolt 110 with the detaching position. The bolt detaching apparatus 201 is used to detach the target bolt 110.
It is to be understood that, regarding the explanation of the related technical terms such as the carrying bracket 12, the position detector 14, the driving control unit 16, the target bolt 110, the bolt detaching device 201, the detaching position, the position signal, and the driving time in the present embodiment, the same explanation can be made with reference to the corresponding explanation in the related embodiment of the above-mentioned bearing bolt aligning device, and the detailed description thereof and the other embodiments will not be repeated one by one. The bolt removal apparatus 201 may be a robotic arm or other bench-top bolt remover that removes bolts. Before the bolt disassembling apparatus 201 is aligned, the disassembling portion for butting and disassembling the target bolt 110 may be aligned with the disassembling position, or may be located at another position and moved and aligned with the disassembling position when the target bolt 110 is aligned with the disassembling position, which is determined by the specific type and operation mode of the bolt disassembling apparatus 201.
The bolt detaching device 201 may be directly controlled by the driving control unit 16, for example, the driving control unit 16 controls the bolt detaching device 201 to start the work after aligning the target bolt 110, so as to butt and detach the target bolt 110 from the bearing end cap. The bolt detaching device 201 may also be independently configured and autonomously controlled to complete the detaching operation, for example, when the bolt detaching device 201 detects that the target bolt 110 is aligned with the detaching position, it automatically abuts against the target bolt 110 and detaches the target bolt 110 from the bearing end cap.
Specifically, the driving control unit 16 drives the axle 101 to rotate at a constant speed, and positions the target bolt 110 through the position detector 14, so as to know the distance traveled by the target bolt 110 from the detaching position to the detaching position again according to the position signal of the target bolt 110. The drive control unit 16 calculates the drive time required for the target bolt 110 to turn to the detaching position again (which may be the case where the target bolt 110 is currently rotated from the detaching position to the next or nth turn to the detaching position, where N is a positive integer) based on the rotation speed and the travel distance. After determining the required driving time, the driving control unit 16 continues to drive the axle 101 to rotate at a constant speed for the driving time, i.e., stops driving and controls the axle 101 to stop rotating, so that the position to which the target bolt 110 rotates after the axle 101 stops rotating is the detaching position to achieve alignment. Thereafter, the bolt removal apparatus 201 may be docked to the target bolt 110 and the target bolt 110 removed from the bearing end cap, as may be understood for the alignment and removal processes of other target bolts 110.
In the bolt dismounting system, through the combination design of the above components, after the wheel axle 101 to be detected falls into the bearing bracket 12 for bearing and limiting, the driving control unit 16 drives the wheel axle 101 to rotate at a constant speed. The position detector 14 monitors a position signal when the target bolt 110 on the bearing end cover passes through the removal position and outputs the position signal to the drive control unit 16, and the drive control unit 16 determines position data of the target bolt 110 rotating through the removal position from the position signal. The driving unit may further determine a driving time when the target bolt 110 is rotated to the detaching position again according to the position data, and control the axle 101 to rotate at a constant speed for the driving time and then stop, align the target bolt 110 with the detaching position, and complete the bolt detaching. Therefore, the target bolt 110 is automatically positioned and aligned, the accuracy is high, and the purpose of greatly improving the automatic bolt dismounting efficiency is achieved.
Referring to fig. 4, in one embodiment, the position detector 14 is disposed on the bolt dismounting device 201. It is understood that, in the present embodiment, the position detector 14 may be mounted on the bolt disassembling apparatus 201, for example, a disassembling portion of the bolt disassembling apparatus 201 that needs to be butted against the target bolt 110 and is close to a disassembling position side, and a detection point of the position detector 14 is located on a rotation track of the target bolt 110, for example, a detection direction of the position detector 14 is perpendicular to an end surface of the target bolt 110, so as to ensure that the position detector 14 can reliably detect a movement track of the target bolt 110.
By arranging the position detector 14 on the bolt dismounting device 201, the installation and positioning of the position detector 14 can be effectively realized, the accurate positioning monitoring of the target bolt 110 is realized, the component integration level of the bolt dismounting system is effectively improved, the problem of reliability reduction caused by component dispersion is avoided, the deployment and debugging efficiency of the bolt dismounting system in the actual use process can be improved, and the overall operation time for overhauling the wheel axle 101 is shortened.
In one embodiment, the position detector 14 is a laser displacement sensor. It can be understood that the existing laser displacement sensor is adopted in the present embodiment to realize the monitoring and positioning of the target bolt 110. The laser measuring point of the laser displacement sensor falls on the motion track of the target bolt 110 rotating with the wheel axle 101 at a constant speed, and the signal output is realized by acquiring the height difference between the end surface of the target bolt 110 and the surface of the end cover of the bearing end cover close to one side of the end surface: the laser displacement sensor converts the height difference into a corresponding digital signal and outputs the digital signal to the driving control unit 16, and the driving control unit 16 can determine the position of the target bolt 110 in the rotating process from the amplitude change of the digital signal, so that the target bolt 110 is positioned when passing through the dismounting position.
By applying the laser displacement sensor, the error requirement of bolt alignment can be better met due to high monitoring and positioning precision, the position adjustment of the laser measuring point is more convenient and efficient in the actual operation process, and the alignment efficiency can be effectively improved.
Referring to fig. 5, in one embodiment, the drive control unit 16 includes a hydraulic motor 162, a drive wheel 164, and a controller 166. The controller 166 is electrically connected to the position detector 14 and the hydraulic motor 162, respectively. The hydraulic motor 162 is mechanically coupled to a drive wheel 164. The controller 166 is configured to determine a driving time when the target bolt 110 is rotated to the detaching position again according to the position signal, and control the hydraulic motor 162 to drive the wheel 164 to rotate the shaft 101 at a constant speed through the driving wheel 164 and then stop, so as to align the target bolt 110 with the detaching position.
It will be appreciated that the power take off may be provided by a hydraulic motor 162 as is known in the art, with hydraulic power being provided by the hydraulic pumping station at the inspection station. The hydraulic motor 162 has good output linearity and small volume, and can reliably maintain stable output at a certain rotation speed, so that the shaft 101 of the driving wheel 164 rotates at a constant speed, the overall volume of the driving control unit 16 is reduced, and the space limitation of the driving control unit 16 in the installation and deployment process on the detection station is reduced. In the above embodiment, the drive control unit 16 may also adopt a motor as a power output component, for example, in an application scenario where space limitations are relaxed.
The driving wheel 164, i.e. the transmission part for directly and transversely driving the wheel rotation of the axle 101 of the wheel 164, is matched with the mechanical structure of the output shaft of the hydraulic motor 162, and transmits the kinetic energy output by the hydraulic motor 162 to the wheel so that the wheel drives the whole wheel axle 101 to rotate at a constant speed. In practice, the driving control unit 16 may further include a pneumatic cylinder mechanically connected to the driving wheel 164 for applying a pressure to an end of the driving wheel 164 away from the wheel after the driving wheel 164 contacts the wheel to make the driving wheel 164 abut against the wheel, so as to ensure that the driving wheel 164 can reliably transmit power to the wheel. The controller 166 is also a control box for controlling the operation of the hydraulic motor 162, and a control program running in the controller 166 may detect the position data of the target bolt 110 according to the received position signal, complete the positioning of the target bolt 110 during the uniform rotation process, and control the operation time of the night pressing motor to align the target bolt 110 with the detaching position.
Through the cooperation of the hydraulic motor 162, the driving wheel 164, the controller 166 and the like, and the adoption of the laser displacement sensor to monitor the target bolt 110 and output a corresponding position signal, the driving control of the wheel shaft 101 and the monitoring positioning and automatic alignment of the target bolt 110 can be reliably realized, the precision is high, the reliability is good, and the installation and the deployment of the equipment are convenient.
In one embodiment, drive wheel 164 is a nylon wheel and load carrier 12 is a nylon wheel carrier. It can be understood that in the present embodiment, the rollers disposed on the bearing bracket 12 are nylon wheels, which are wear-resistant and not easy to soften, and can more reliably bear the rotation of the axle 101 and the auxiliary axle 101, and can further avoid the slipping phenomenon of the axle 101 when the control unit 16 stops driving the axle 101 of the driving wheel 164, thereby further improving the efficiency and reliability of bolt alignment. Accordingly, the driving wheel 164 is also a nylon wheel, so that the driving reliability of the wheel can be improved.
Referring to fig. 6, in an embodiment, a bolt alignment control method is further provided in an embodiment of the present invention, and is applied to a bearing bolt alignment apparatus. The bearing bolt alignment apparatus includes a position detector for monitoring a position signal of a target bolt on a bearing end cap of an axle as it passes a removal location. The bolt alignment control method includes the following process steps S12 to S16:
s12, acquiring the set uniform angular speed of the wheel axle and the position signal output by the position detector;
s14, determining the driving time when the target bolt rotates to the disassembly position again according to the set uniform angular speed and the position signal;
and S16, controlling the wheel shaft to rotate at a constant speed for driving time and then stopping, and aligning the target bolt to the dismounting position.
It can be understood that, for the explanation of the bearing bolt alignment apparatus and the components thereof in this embodiment, the same principle can be understood by referring to the corresponding explanation in the related embodiment of the bearing bolt alignment apparatus, and the explanation will not be repeated in this and other embodiments hereinafter. The set uniform angular speed is also the wheel axle rotating speed predetermined, and the drive control device (which may be, but is not limited to, the drive control unit) of the wheel axle may obtain the set uniform angular speed by presetting or online monitoring (for example, installing an angular speed sensor to online monitor the wheel rotating speed).
Specifically, the driving wheel 164 of the driving control device rotates at a constant speed, and the target bolt is positioned according to the position signal output by the position detector, so that the distance from the dismounting position to the next turning position of the target bolt is obtained. The driving control equipment can calculate the driving time required by the target bolt to rotate to the disassembly position again according to the set uniform angular speed and the distance. After determining the required driving time, the driving control device stops driving and controls the axle to stop rotating when the driving time is reached by continuing the uniform rotation of the axle of the driving wheel 164, so that the position to which the target bolt rotates after the axle stops rotating is the disassembly position to achieve alignment.
According to the bolt alignment control method, through the application based on the position detector, after the position signal of the target bolt on the bearing end cover, which is monitored and output by the position detector in the process of uniform rotation of the wheel shaft, when the target bolt passes through the dismounting position is obtained, the position data of the target bolt when the target bolt rotates through the dismounting position is determined from the position signal. And then, determining the driving time when the target bolt rotates to the disassembly position again according to the position data, controlling the axle to rotate at a constant speed for driving time, and then stopping to align the target bolt to the disassembly position. Therefore, the target bolt is automatically positioned and aligned, the accuracy is high, and the aim of greatly improving the bolt alignment efficiency is fulfilled.
Referring to fig. 7 and 8, in an embodiment, the step S14 may specifically include the following steps S142 to S146:
s142, scanning the position signals frame by frame, and respectively determining a first signal position corresponding to the end face of the target bolt shown in the position signals and a second signal position corresponding to the surface of one side, close to the end face, of the bearing end cover;
s144, determining position data of the target bolt according to the first signal position and the second signal position;
and S146, calculating the driving time according to the position data and the set uniform angular velocity.
It is understood that the driving control device may process the position signal in a frame-by-frame scanning manner, and find out a first signal position representing the end face of the target bolt and a second signal position representing a corresponding side surface of the bearing end cover close to the end face from the position signal. It should be noted that fig. 8 shows a waveform diagram corresponding to the position signal, where position 1 represents a first signal position, and position 2 represents a second signal position, and subsequent waveforms are understood in the same way. In the above embodiment, the drive control device may also process the position signal in a multi-frame merging scanning manner, and may also achieve positioning of the target bolt with a positioning accuracy lower than that in a frame-by-frame scanning manner.
Specifically, after determining the first signal position and the second signal position from the position signal, the drive control apparatus may determine the position data of the target bolt when passing through the detaching position, for example, determine the distance between two corresponding signal positions when the target bolt passes through the detaching position twice in succession. Further, the drive control apparatus may calculate a corresponding drive time from the position data and the set uniform angular velocity.
Through the above processing steps, the drive control device can accurately calculate the required drive time, that is, the accurate drive stop time point, according to the position signal, thereby realizing the accurate alignment control of the target bolt.
It should be understood that, although the steps in the flowcharts of fig. 6 and 7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 6 and 7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
Referring to FIG. 9, in one embodiment, a bolt alignment control apparatus 300 is also provided for use in a bolt removal system that includes a position detector for monitoring a position signal of a target bolt on a bearing cap of an axle as it passes through a removal location. The bolt alignment control apparatus 300 includes an acquisition module 31, a determination module 33, and a control module 35. Wherein: the obtaining module 31 is used for obtaining the set uniform angular speed of the wheel axle and the position signal output by the position detector. The determination module 33 is configured to determine a driving time when the target bolt is rotated to the detaching position again according to the set uniform angular velocity and the position signal. The control module 35 is used for controlling the axle to rotate at a constant speed for driving time and then stop, and aligning the target bolt with the dismounting position.
The bolt alignment control device 300 obtains a position signal of a target bolt on a bearing end cover, which is monitored and output by the position detector in the process of uniform rotation of the wheel shaft and passes through the dismounting position, through cooperation of the modules and based on application of the position detector, and then determines position data of the target bolt, which rotates through the dismounting position, from the position signal. And then, determining the driving time when the target bolt rotates to the disassembly position again according to the position data, controlling the axle to rotate at a constant speed for driving time, and then stopping to align the target bolt to the disassembly position. Therefore, the target bolt is automatically positioned and aligned, the accuracy is high, and the aim of greatly improving the bolt alignment efficiency is fulfilled.
In one embodiment, the determination module 33 may specifically include a scanning sub-module, a position sub-module, and a calculation sub-module. The scanning submodule is used for scanning the position signals frame by frame, and respectively determining a first signal position corresponding to the end face of the target bolt shown in the position signals and a second signal position corresponding to the surface of one side, close to the end face, of the bearing end cover. The position submodule is used for determining position data of the target bolt according to the first signal position and the second signal position. And the calculation submodule is used for calculating the driving time according to the position data and the set uniform angular velocity.
For specific definition of the bolt alignment control device 300, reference may be made to the above definition of the bolt alignment control method, which is not described herein again. The various modules in the bolt alignment control apparatus 300 described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the drive control unit, and can also be stored in a memory in the drive control unit in a software form, so that the processor can call and execute the corresponding operations of the modules.
In one embodiment, there is also provided a computer readable storage medium having a computer program stored thereon, the computer program when executed by a processor implementing the steps of: acquiring the set uniform angular speed of the wheel shaft and a position signal output by a position detector; determining the driving time when the target bolt rotates to the disassembly position again according to the set uniform angular speed and the position signal; and controlling the wheel shaft to rotate at a constant speed for driving time and then stopping, and aligning the target bolt to the dismounting position.
In one embodiment, the computer program, when executed by the processor, may also implement the control sub-steps of the other embodiments of the bolt alignment control method described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. A bearing bolt alignment apparatus, comprising:
the bearing bracket is used for bearing the wheel shaft and limiting a bearing end cover of the wheel shaft;
the position detector is used for monitoring a position signal when a target bolt on the bearing end cover passes through a disassembly position; wherein the position detector comprises any one of the following sensors: ultrasonic displacement sensor, laser displacement sensor;
the driving control unit is electrically connected with the position detector and used for determining the driving time when the target bolt rotates to the dismounting position again according to the position signal, controlling the wheel shaft to rotate at a constant speed for the driving time and then stopping, and aligning the target bolt to the dismounting position; wherein the speed range of the uniform rotation is 5rpm to 7 rpm.
2. The bearing bolt alignment apparatus of claim 1, wherein the position detector is a laser displacement sensor.
3. The bearing bolt alignment apparatus of claim 1 or 2, wherein the carrier bracket is a nylon wheel bracket.
4. A bolt disassembling system is characterized by comprising a bearing bracket, a position detector, a driving control unit and bolt disassembling equipment, wherein the driving control unit is electrically connected with the position detector;
the bearing bracket is used for bearing a wheel shaft and limiting a bearing end cover of the wheel shaft, and the position detector is used for monitoring a position signal when a target bolt on the bearing end cover passes through a dismounting position of the bolt dismounting device; wherein the position detector comprises any one of the following sensors: ultrasonic displacement sensor, laser displacement sensor;
the driving control unit is used for determining the driving time when the target bolt rotates to the dismounting position again according to the position signal, controlling the wheel shaft to rotate at a constant speed for the driving time and then stopping, aligning the target bolt to the dismounting position, and the bolt dismounting device is used for dismounting the target bolt; wherein the speed range of the uniform rotation is 5rpm to 7 rpm.
5. The bolt disassembly system of claim 4, wherein the position detector is disposed on the bolt disassembly apparatus.
6. The bolt disassembly system of claim 5, wherein the position detector is a laser displacement sensor.
7. The bolt disassembly system of any of claims 4-6, wherein the drive control unit comprises a hydraulic motor, a drive wheel, and a controller;
the controller is electrically connected with the position detector and the hydraulic motor respectively, and the hydraulic motor is mechanically connected with the driving wheel;
the controller is used for determining the driving time when the target bolt rotates to the dismounting position again according to the position signal, controlling the hydraulic motor to drive the wheel shaft to rotate at a constant speed through the driving wheel and then stop after the driving time, and aligning the target bolt to the dismounting position.
8. The bolt disassembly system of claim 7, wherein the drive wheel is a nylon wheel and the carrier bracket is a nylon wheel bracket.
9. A bolt alignment control method is applied to bearing bolt alignment equipment, and the bearing bolt alignment equipment comprises a position detector, a position detection unit and a control unit, wherein the position detector is used for monitoring a position signal when a target bolt on a bearing end cover of an axle passes through a disassembly position; wherein the position detector comprises any one of the following sensors: ultrasonic displacement sensor, laser displacement sensor;
characterized in that the method comprises:
acquiring the set uniform angular speed of the wheel shaft and a position signal output by the position detector;
determining the driving time when the target bolt rotates to the disassembly position again according to the set uniform angular speed and the position signal;
controlling the wheel shaft to rotate at a constant speed for the driving time and then stopping, and aligning the target bolt to the dismounting position; wherein the speed range of the uniform rotation is 5rpm to 7 rpm.
10. The bolt alignment control method according to claim 9, wherein the step of determining a driving time when the target bolt is rotated to the detaching position again based on the set uniform angular velocity and the position signal includes:
scanning the position signal frame by frame, and respectively determining a first signal position corresponding to the end face of the target bolt in the position signal and a second signal position corresponding to the surface of one side, close to the end face, of the bearing end cover;
determining position data of the target bolt according to the first signal position and the second signal position;
and calculating the driving time according to the position data and the set uniform angular velocity.
11. A bolt alignment control device is applied to bearing bolt alignment equipment, and the bearing bolt alignment equipment comprises a position detector, a position detection unit and a control unit, wherein the position detector is used for monitoring a position signal when a target bolt on a bearing end cover of an axle passes through a disassembly position; wherein the position detector comprises any one of the following sensors: ultrasonic displacement sensor, laser displacement sensor;
characterized in that the bolt alignment control device comprises:
the acquisition module is used for acquiring the set uniform angular speed of the wheel shaft and the position signal output by the position detector;
the determining module is used for determining the driving time when the target bolt rotates to the dismounting position again according to the set uniform angular speed and the position signal;
the control module is used for controlling the wheel shaft to rotate at a constant speed and stop after the driving time, and aligning the target bolt to the dismounting position; wherein the speed range of the uniform rotation is 5rpm to 7 rpm.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the bolt alignment control method according to claim 9 or 10.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101720388A (en) * | 2007-06-18 | 2010-06-02 | 苏司兰能源有限公司 | The locking mechanism that is used for wind turbine |
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| US9827865B2 (en) * | 2014-12-30 | 2017-11-28 | General Electric Company | Systems and methods for recharging vehicle-mounted energy storage devices |
| CN206017053U (en) * | 2016-08-31 | 2017-03-15 | 青岛华创风能有限公司 | A kind of hub bearing bolt automatic tightening control system of view-based access control model navigation |
| CN107297032A (en) * | 2017-05-05 | 2017-10-27 | 睿谱外科系统股份有限公司 | Rotary radiation collimater |
| CN209078154U (en) * | 2018-11-14 | 2019-07-09 | 广东昌华海利科技有限公司 | A kind of weld seam angle automatic regulating device |
| CN109707329B (en) * | 2018-12-10 | 2020-07-07 | 上海技启信息科技有限公司 | Automatic alignment device for iron roughneck notch and alignment method thereof |
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| CN101720388A (en) * | 2007-06-18 | 2010-06-02 | 苏司兰能源有限公司 | The locking mechanism that is used for wind turbine |
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