CN112846730A - Intelligent dismounting device for bogie sleeper spring - Google Patents
Intelligent dismounting device for bogie sleeper spring Download PDFInfo
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- CN112846730A CN112846730A CN202110268694.7A CN202110268694A CN112846730A CN 112846730 A CN112846730 A CN 112846730A CN 202110268694 A CN202110268694 A CN 202110268694A CN 112846730 A CN112846730 A CN 112846730A
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- bogie
- spring
- robot
- conveying line
- dismounting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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Abstract
The invention discloses an intelligent disassembling and assembling device for a bogie pillow spring, which comprises a pillow spring conveying line, a bogie conveying line, a wedge disassembling and transferring robot, a pillow spring disassembling and assembling robot, a lifting device, a robot installing frame, a bogie and a pillow spring, wherein the bogie conveying line is arranged on one side of the pillow spring conveying line, the robot installing frame is fixed on two sides of the pillow spring conveying line, the other side of the robot installing frame is positioned between the pillow spring conveying line and the bogie conveying line, a wedge disassembling and transferring robot and a pillow spring disassembling and assembling robot are symmetrically fixed on one side, close to the bogie conveying line, of the top of the robot installing frame, and the wedge disassembling and transferring robot and the pillow spring disassembling and assembling robot are fixed on the inner side of the top of the robot installing frame through a fixing seat. The invention realizes the automation of the dismounting process of the sleeper spring, improves the maintenance efficiency, reduces the labor intensity of workers, improves the safety guarantee of the workers, reduces the labor cost and promotes the automation of the maintenance production of the bogie.
Description
Technical Field
The invention relates to the technical field of a dismounting device for a bogie sleeper spring, in particular to an intelligent dismounting device for the bogie sleeper spring.
Background
The railway freight car uses goods as main transportation objects and can be divided into general freight cars and special freight cars according to purposes. By utility truck is meant a vehicle suitable for transporting a wide variety of goods, such as a gondola car, a box car, a flat car, etc. The special truck refers to a vehicle for transporting a certain cargo, such as a coal car, a container car, a bulk cement car, and the like, the bogie is one of the most important components in the structure of the rail vehicle, and various parameters of the bogie directly determine the stability of the vehicle and the riding comfort of the vehicle.
After a large number of searches, the following results are obtained: the invention has the following patent: the invention discloses a bogie sleeper spring and wedge decomposition detection robot system, which comprises a decomposition device for decomposing a bogie, a manipulator and a detection tool mounted on a manipulator action end, wherein the manipulator is used for adjusting the position of the detection tool in a space, the detection tool comprises a tool frame, a distance measurement sensor and a camera are further mounted on the tool frame, the camera is used for acquiring image information of the sleeper spring and the wedge, and the distance measurement sensor is used for detecting the height of the sleeper spring. By adopting the robot system, a relay station capable of realizing detection of the wedge and the sleeper spring can be provided in the development of the automatic unloading technology and equipment of the truck bogie bolster sleeper spring and the vibration damper, and the automation of the maintenance production of the bogie is facilitated.
The dismounting and mounting of the railway freight car bogie sleeper spring completely depends on manual operation, no special dismounting and mounting equipment is provided, and the following problems exist: staff intensity of labour is big, and the safety risk is big, has the sleeper spring and drops and injures the risk by a crashing object, and these problems have restricted the automation of overhauing the production process, and the special automatic equipment of urgent need development replaces manual work.
Disclosure of Invention
The invention aims to provide an intelligent dismounting device for a bogie sleeper spring, which has the advantages of realizing automation of a sleeper spring dismounting process, improving maintenance efficiency, avoiding safety risks and replacing manual operation, and solves the problems of high labor intensity of workers, high safety risks, risk of falling and smashing injuries of the sleeper spring and low working efficiency.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent disassembling and assembling device for a bogie pillow spring comprises a pillow spring conveying line, a bogie conveying line, a wedge disassembling and transferring robot, a pillow spring disassembling and assembling robot, a lifting device, a robot installing frame, a bogie and a pillow spring, wherein the bogie conveying line is arranged on one side of the pillow spring conveying line, the robot installing frame is fixed on two sides of the pillow spring conveying line, the other side of the robot installing frame is positioned between the pillow spring conveying line and the bogie conveying line, the wedge disassembling and transferring robot and the pillow spring disassembling and assembling robot are symmetrically fixed on one side, close to the bogie conveying line, of the top of the robot installing frame, the wedge disassembling and transferring robot and the pillow spring disassembling and assembling robot are fixed on the inner side of the top of the robot installing frame through fixing seats, and the lifting device is arranged on the central axis of the bottom of the bogie conveying line, at the position between the wedge disassembling and transferring robot and the pillow spring disassembling and assembling robot, the bottom symmetry of bogie transfer chain is equipped with two rows of swing bolsters, two Z axles are installed to the bilateral symmetry of bogie transfer chain, the upper end of Z axle is fixed with the bogie, the both ends symmetry of bogie is fixed with two side bearers.
Preferably, the sleeper spring conveying line and the bogie conveying line are parallel to each other, and three rows of sleeper springs are uniformly arranged on the sleeper spring conveying line.
Preferably, a mechanical arm A is arranged below the wedge dismounting and transferring robot, and the front end of the mechanical arm A is connected with a manipulator A.
Preferably, a mechanical arm B is arranged below the occipital spring dismounting robot, a occipital spring dismounting mechanical arm is fixed at the front end of the mechanical arm B, and the mechanical arm A and the occipital spring dismounting mechanical arm are located above the occipital spring.
Preferably, the upper end of the lifting device is provided with a telescopic rod, and a lifting plate is fixed at the upper end of the telescopic rod.
Preferably, the installation direction of the side frame is the same as the direction of the rails on the two sides of the bogie conveying line.
Compared with the prior art, the invention has the following beneficial effects: the intelligent dismounting device for the bogie sleeper spring can improve the overhaul efficiency, reduce the labor intensity of workers and improve the safety guarantee of the workers, two workers are required to dismount the sleeper spring and the wedge before dismounting stations of the sleeper spring and the wedge, only one worker is required at present and is mainly responsible for the operation and monitoring of a system, the labor cost is reduced, the automatic dismounting of the sleeper spring and the wedge can be realized, the device can be combined with a sleeper spring and wedge conveying line, a sleeper spring and wedge detection station and a sleeper spring and wedge decomposition station to carry out the automatic upgrading of the whole system, and a certain social popularization effect is achieved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a top view of the present invention.
In the figure: 1. a sleeper spring conveyor line; 2. a bogie conveyor line; 3. the wedge dismounting and transferring robot; 4. a sleeper spring dismounting robot; 5. a lifting device; 6. a robot mounting frame; 7. a bogie; 8. a side frame; 9. a manipulator A; 10. a mechanical arm A; 11. a fixed seat; 12. a mechanical arm B; 13. a mechanical arm for disassembling and assembling the sleeper spring; 14. a occipital spring; 15. a telescopic rod; 16. a lifting plate; 17. a swing bolster; 18. the Z axis.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, the present invention provides a technical solution of an intelligent dismounting device for a bogie spring: the utility model provides a bogie pillow spring intelligence dismouting device, including pillow spring transfer chain 1, bogie transfer chain 2, slide wedge dismouting and transfer robot 3, pillow spring dismouting robot 4, elevating gear 5, robot installation frame 6, bogie 7 and pillow spring 14, one side of pillow spring transfer chain 1 is equipped with bogie transfer chain 2, pillow spring transfer chain 1 is parallel to each other with bogie transfer chain 2, evenly arranged has three rows of pillow springs 14 on the pillow spring transfer chain 1, pillow spring transfer chain 1's both sides are fixed with robot installation frame 6, the opposite side of robot installation frame 6 is located between pillow spring transfer chain 1 and the bogie transfer chain 2, the top of robot installation frame 6 is close to one side symmetry of bogie transfer chain 2 and is fixed with slide wedge dismouting and transfer robot 3 and pillow spring dismouting robot 4.
Wedge dismouting and transfer robot 3 and pillow spring dismouting robot 4 all fix at the top inboard of robot installation frame 6 through fixing base 11, the below of wedge dismouting and transfer robot 3 is equipped with robotic arm A10, robotic arm A10's front end is connected with manipulator A9, the below of pillow spring dismouting robot 4 is equipped with robotic arm B12, robotic arm B12's front end is fixed with pillow spring dismouting manipulator 13, manipulator A9 and pillow spring dismouting manipulator 13 are located the top of pillow spring 14, the position that is located between wedge dismouting and transfer robot 3 and pillow spring dismouting robot 4 on the bottom center axis of bogie transfer chain 2 is equipped with elevating gear 5, elevating gear 5's upper end is equipped with telescopic link 15, the upper end of telescopic link 15 is fixed with lifter plate 16.
Two rows of swing bolsters 17 are symmetrically arranged at the bottom of the bogie conveying line 2, two Z shafts 18 are symmetrically arranged on two sides of the bogie conveying line 2, a bogie 7 is fixed at the upper end of each Z shaft 18, two side frames 8 are symmetrically fixed at two ends of the bogie 7, the installation direction of each side frame 8 is the same as the direction of tracks on two sides of the bogie conveying line 2, when the bogie 7 needs to be positioned and leveled, a lifting device 5 lifts the side frames 8 until the side frames 8 are separated from the swing bolsters 17, then a three-coordinate robot moves forwards by using the two Z shafts 18 at the same time to flatly prop the side frames 8, so that the side frames 8 keep relatively determined position postures relative to three coordinates, and after flatly propping, the lifting device 5 is positioned to enable the side frames 8 to descend until the side frames contact with; after the bogie 7 is stabilized, the robot carries a camera to scan the bogie 7, judges whether the end face is a 1-bit end or a 2-bit end, obtains accurate position parameters of an assembling space of a vibration damper in the bogie 7 and plans a motion track of the robot.
For how to judge the 1-bit end or the 2-bit end of the bogie 7: firstly, the tray on the assembly line is judged, and is marked, for example, a triangular mark is welded at the blank of the tray at the 1-bit end, and a square mark is welded at the blank of the tray at the 2-bit end. A visual camera on the transfer robot can recognize the mark and judge a 1-bit end and a 2-bit end; secondly, the bogie 7 is judged, when the sleeper spring 14 and the wedge are disassembled, an RFID is placed at the 1-bit end of the bogie 7, the other end of the bogie is not placed, and when the bogie 7 reaches an assembling station and the positioning and leveling of the bogie 7 are carried out, whether the end is the 1-bit end is judged by scanning whether RFID signals exist at the two ends of the current bogie 7 or not; and thirdly, in the judging process, the transit robot scans the marks on the tray before clamping and judges whether the current tray is a 1-bit end or a 2-bit end. And judging whether the end face of the current bogie 7 is matched or not according to different scanning results, directly clamping and assembling if the end face of the current bogie is matched, and scanning the next tray if the end face of the current bogie 7 is not matched.
The intelligent dismounting device for the sleeper spring 14 of the bogie 7 can improve maintenance efficiency, reduce labor intensity of workers and improve safety guarantee of the workers, two workers are required to dismount the sleeper spring 14 and the wedge before dismounting stations of the sleeper spring 14 and the wedge, only one worker is required at present, the device is mainly responsible for operation and monitoring of a system, labor cost is reduced, automatic dismounting of the sleeper spring 14 and the wedge can be realized, the device can be combined with a sleeper spring wedge conveying line, a sleeper spring wedge detection station and a sleeper spring wedge decomposition station to carry out automatic upgrading of the whole system, and a certain social popularization effect is achieved.
The working principle is as follows: 1. after the bogie 7 moves to the station, the posture of the side frame 8 is adjusted, the jacking plate of the positioning leveling device is lifted, the bogie 7 is fixed, the industrial camera on the sleeper spring dismounting manipulator 13 scans the bogie 7, and the system obtains the coordinate positions of the sleeper spring 14 and the wedge in the space.
2. The relay manipulator a9 scans the pallet, determines the pallet of the 1-position end and the pallet of the 2-position end, and determines whether the end of the bogie 7 facing the robot is the 1-position end or the 2-position end. And then the bearing springs on the corresponding trays of the conveying line are grabbed and placed on a sleeper spring disassembling and assembling manipulator 13, and the sleeper spring disassembling and assembling manipulator 13 is used for loading the bearing springs into a third row of the inner space of the bogie 7.
3. After the third row of bearing springs in the inner space of the bogie 7 are loaded, the transfer manipulator grabs the wedge onto the wedge disassembling and assembling manipulator A9, and then the wedge disassembling and assembling manipulator A9 loads the wedge into the inner space of the bogie 7 and keeps an upward jacking state.
4. Transfer manipulator A9 snatchs the damping spring from the transfer link to on the mechanical hand of pillow spring assembly, then the mechanical hand of pillow spring assembly is put the damping spring in bogie 7 inner space second row, under the slide wedge promptly, and pillow spring 14 places the position below and is slider-crank mechanism, and this mechanism pushes away pillow spring 14 to erect the state and right, and pillow spring 14 is placed steadily at the inner space mounting surface department of bogie 7 this moment, confirms that pillow spring 14 places the completion. An industrial camera is arranged on the occipital spring dismounting manipulator 13, and when the occipital spring 14 is swung, the camera can judge the posture of the occipital spring 14 and identify whether the occipital spring 14 is swung rightly.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a bogie pillow spring intelligence dismouting device, includes pillow spring transfer chain (1), bogie transfer chain (2), slide wedge dismouting and transfer robot (3), pillow spring dismouting robot (4), elevating gear (5), robot installation frame (6), bogie (7) and pillow spring (14), its characterized in that: a bogie conveying line (2) is arranged on one side of the pillow spring conveying line (1), a robot installation frame (6) is fixed on two sides of the pillow spring conveying line (1), the other side of the robot installation frame (6) is located between the pillow spring conveying line (1) and the bogie conveying line (2), a wedge dismounting and transferring robot (3) and a pillow spring dismounting and transferring robot (4) are symmetrically fixed on one side, close to the bogie conveying line (2), of the top of the robot installation frame (6), the wedge dismounting and transferring robot (3) and the pillow spring dismounting and transferring robot (4) are fixed on the inner side of the top of the robot installation frame (6) through a fixing seat (11), a lifting device (5) is arranged on a position, located between the wedge dismounting and transferring robot (3) and the pillow spring dismounting and transferring robot (4), on a bottom central axis of the bogie conveying line (2), the bottom symmetry of bogie transfer chain (2) is equipped with two rows of swing bolsters (17), two Z axles (18) are installed to the bilateral symmetry of bogie transfer chain (2), the upper end of Z axle (18) is fixed with bogie (7), the both ends symmetry of bogie (7) is fixed with two side bearer (8).
2. The intelligent dismounting device for the bogie sleeper spring according to claim 1, wherein: the sleeper spring conveying line (1) and the bogie conveying line (2) are parallel to each other, and three rows of sleeper springs (14) are uniformly arranged on the sleeper spring conveying line (1).
3. The intelligent dismounting device for the bogie sleeper spring according to claim 1, wherein: and a mechanical arm A (10) is arranged below the wedge dismounting and transferring robot (3), and the front end of the mechanical arm A (10) is connected with a mechanical arm A (9).
4. The intelligent dismounting device for the bogie sleeper spring according to claim 1, wherein: a mechanical arm B (12) is arranged below the occipital spring dismounting robot (4), a occipital spring dismounting mechanical arm (13) is fixed at the front end of the mechanical arm B (12), and the mechanical arm A (9) and the occipital spring dismounting mechanical arm (13) are located above the occipital spring (14).
5. The intelligent dismounting device for the bogie sleeper spring according to claim 1, wherein: the upper end of the lifting device (5) is provided with a telescopic rod (15), and the upper end of the telescopic rod (15) is fixed with a lifting plate (16).
6. The intelligent dismounting device for the bogie sleeper spring according to claim 1, wherein: the mounting direction of the side frame (8) is the same as the direction of the rails on the two sides of the bogie conveying line (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110268694.7A CN112846730A (en) | 2021-03-12 | 2021-03-12 | Intelligent dismounting device for bogie sleeper spring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110268694.7A CN112846730A (en) | 2021-03-12 | 2021-03-12 | Intelligent dismounting device for bogie sleeper spring |
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| Publication Number | Publication Date |
|---|---|
| CN112846730A true CN112846730A (en) | 2021-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110268694.7A Pending CN112846730A (en) | 2021-03-12 | 2021-03-12 | Intelligent dismounting device for bogie sleeper spring |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305865A (en) * | 2021-08-01 | 2021-08-27 | 成都岁生科技有限责任公司 | Railway vehicle bogie wedge supporting robot |
| CN113319564A (en) * | 2021-08-03 | 2021-08-31 | 成都岁生科技有限责任公司 | Sleeper spring disassembling robot and bogie vibration damping device disassembling system |
| CN115716202A (en) * | 2022-12-02 | 2023-02-28 | 西南交通大学 | Auxiliary escaping integrated device for assembling sleeper spring baffle and wedge |
| CN116277033A (en) * | 2023-05-09 | 2023-06-23 | 西南交通大学 | Sleeper spring inclined wedge disassembling manipulator |
-
2021
- 2021-03-12 CN CN202110268694.7A patent/CN112846730A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305865A (en) * | 2021-08-01 | 2021-08-27 | 成都岁生科技有限责任公司 | Railway vehicle bogie wedge supporting robot |
| CN113319564A (en) * | 2021-08-03 | 2021-08-31 | 成都岁生科技有限责任公司 | Sleeper spring disassembling robot and bogie vibration damping device disassembling system |
| CN115716202A (en) * | 2022-12-02 | 2023-02-28 | 西南交通大学 | Auxiliary escaping integrated device for assembling sleeper spring baffle and wedge |
| CN116277033A (en) * | 2023-05-09 | 2023-06-23 | 西南交通大学 | Sleeper spring inclined wedge disassembling manipulator |
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