CN113319564B - Sleeper spring disassembling robot and bogie vibration damping device disassembling system - Google Patents
Sleeper spring disassembling robot and bogie vibration damping device disassembling system Download PDFInfo
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- CN113319564B CN113319564B CN202110885182.5A CN202110885182A CN113319564B CN 113319564 B CN113319564 B CN 113319564B CN 202110885182 A CN202110885182 A CN 202110885182A CN 113319564 B CN113319564 B CN 113319564B
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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
- B23P19/048—Springs
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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
- B23P19/007—Picking-up and placing mechanisms
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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
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/50—Other automobile vehicle parts, i.e. manufactured in assembly lines
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Abstract
The invention discloses a sleeper spring dismounting robot and a bogie damping device dismounting system, and belongs to the technical field of railway vehicle bogie dismounting. A bogie vibration damping device removal system comprising: the device comprises a bogie supporting device, a wedge supporting robot, a sleeper spring wedge transfer robot and a sleeper spring dismounting robot; the bogie supporting device is used for supporting and jacking a bogie; the wedge supporting robot is used for supporting a wedge of a bogie; the sleeper spring dismounting robot is used for dismounting and clamping a sleeper spring of the bogie and dismounting a wedge of the bogie; and the sleeper spring and wedge transfer robot is used for transferring the sleeper springs and the wedges to a conveying line. The dismounting system has high intelligence degree, is convenient for dismounting the sleeper spring and the inclined wedge, and can accurately transfer the dismounted sleeper spring and the inclined wedge, thereby greatly reducing the labor intensity of workers and improving the dismounting efficiency.
Description
Technical Field
The invention relates to the technical field of railway vehicle bogie dismounting, in particular to a sleeper spring dismounting robot and a bogie vibration damping device dismounting system.
Background
The bogie is one of the important components in the construction of railway vehicles, and various parameters of the bogie directly determine the stability of the vehicle and the comfort of the vehicle ride. Referring to fig. 1 and 2, the shock absorbing device of the bogie 9 mainly includes a bolster 91 and a bolster spring 94, the bolster spring 94 includes an outer spring and an inner spring extending into the outer spring, the bolster 91 is provided with a support hole 92, a wedge 93 is provided inside the bolster, the top of the bolster spring is limited by the wedge 93, and the bottom of the bolster spring 94 is embedded in a plurality of protrusions of the frame.
In the bogie maintenance process, the vibration damper of the bogie needs to be disassembled, mainly the sleeper spring and the wedge are disassembled, the main process of disassembly is to upwards push the wedge and fix the wedge, the wedge is separated from the sleeper spring, the sleeper spring is moved down, the sleeper spring is separated from the frame, the disassembly of the sleeper spring is realized, then the fixation of the wedge is released, the wedge drops downwards, the space where the original sleeper spring is located is taken out, and the disassembly of the wedge is completed.
At present, when a vibration damper of a steering frame is disassembled, a sleeper spring is usually taken and placed in a manual moving mode, but the weight of each sleeper spring is more than 10kg, the labor intensity is very high, the efficiency is low, and meanwhile, people injury accidents are easily caused in the disassembling process of the sleeper spring due to hand slip and force removal.
Meanwhile, a bogie damping device dismounting robot system is also arranged on a bogie dismounting line at present and is used for automatically dismounting a damping part of a bogie, so that the labor intensity is reduced, the working efficiency is improved, and safety accidents are avoided. The bolster spring detaching robot in the bogie damping device detaching robot system is used for detaching a bolster spring, but when detaching, the bolster spring cannot be effectively supported and limited, so that the bolster spring can slide in the detaching robot and even break away from the detaching robot, and the situations that an inner spring in the bolster spring breaks away from an outer spring and the like can occur.
Disclosure of Invention
The invention aims to provide a sleeper spring dismounting robot and a bogie damping device dismounting system, which aim to solve the problem that an existing bogie damping device cannot effectively support and limit a sleeper spring when being dismounted.
The technical scheme for solving the technical problems is as follows:
a occipital spring removal robot, comprising: the device comprises a bolster spring disassembling mechanical arm and a bolster spring disassembling mechanical arm connected with the bolster spring disassembling mechanical arm; the sleeper spring dismounting manipulator comprises a rack, a hooking component and a limiting component; one end of the rack is connected with the mechanical arm for detaching the sleeper spring, the other end of the rack is connected with the limiting component, and the top of the rack is provided with a hooking component; the hooking component stretches along the extension direction of the frame and is used for hooking the sleeper spring; the limiting assembly is used for limiting and clamping the hooked sleeper spring.
The pillow spring disassembling robot controls the motion of the pillow spring disassembling mechanical arm through the pillow spring disassembling mechanical arm, the hooking component in the pillow spring disassembling mechanical arm is used for disassembling the pillow spring in a hooking mode, so that the pillow spring is separated from a bogie, the separated pillow spring is poured into the limiting component, the pillow spring is limited and clamped through the limiting component, the problem that the pillow spring cannot be effectively transferred to a specified position is avoided, the phenomenon that the pillow spring is separated from the pillow spring disassembling robot is avoided, and the like.
Furthermore, the hooking component comprises a hooking sliding rail arranged on the rack, a hooking sliding block in sliding fit with the hooking sliding rail and a pull rod arranged on the hooking sliding block; the sliding block is connected with the rack through a sliding block driving piece; one end of the pull rod is connected with one end of the hook reverse sliding block, which is far away from the sleeper spring disassembling mechanical arm, and the other end of the pull rod is provided with a unidirectional rotation clamping block.
The unidirectional rotation clamping block is in a hook shape at the initial position and can only rotate towards one direction, when the occipital spring is disassembled, the pull rod extends into the top space of the occipital spring, the unidirectional rotation clamping block is contacted with the occipital spring to rotate at the moment, and after the unidirectional rotation clamping block extends to a certain degree, the unidirectional rotation clamping block automatically turns to the initial position, so that the occipital spring is hooked down under the movement of the pull rod, and the disassembly of the occipital spring is realized. Since the structure of the one-way rotating latch is the existing structure, it will not be described in detail here.
Furthermore, the limiting assembly comprises a first clamping assembly and a second clamping assembly which are oppositely arranged, and an opening plate positioned at the bottom of the first clamping assembly and the bottom of the second clamping assembly, and the first clamping assembly, the second clamping assembly and the opening plate form a clamping cavity with an opening at the top;
the extending directions of the first clamping assembly and the second clamping assembly are consistent with the extending direction of the rack, the first clamping assembly and the second clamping assembly are connected through a clamping driving piece arranged on the rack, and the clamping driving piece drives the first clamping assembly and the second clamping assembly to move oppositely or reversely; the opening plate is in running fit with the rack through the opening plate driving piece, and the opening plate is provided with an inner spring fixing pin extending into the clamping cavity.
According to the invention, the first clamping assembly, the second clamping assembly and the opening plate form a clamping cavity with an opening at the top, the sleeper spring is directly poured into the clamping cavity after being hooked, the first clamping assembly and the second clamping assembly can move oppositely or reversely, so that the outer spring of the sleeper spring can be effectively clamped and fixed, the inner spring fixing pin of the opening plate can penetrate through the gap of the outer spring and extend into the gap of the inner spring, so that the relative position between the outer spring and the inner spring is limited, and the sleeper spring can be effectively limited, so that the condition that the sleeper spring cannot be effectively transferred to a specified position, the condition that a robot is detached when the sleeper spring is separated from the sleeper spring, and the like can be avoided.
In addition, because the opening-closing plate can rotate, can open the centre gripping cavity promptly, consequently can shift the sleeper spring to appointed place effectively, improve the intelligent degree of dismantlement process.
Furthermore, the first clamping assembly and the second clamping assembly respectively comprise a clamping rod and a telescopic driving piece connected with the clamping rod; the clamping rod is driven by the telescopic driving piece to do telescopic motion along the extending direction of the rack, the inner side surface of the clamping rod is provided with an anti-slip groove, and the telescopic driving piece is in sliding fit with the rack and is connected with the clamping driving piece;
one end of the clamping rod, which is far away from the rack, is provided with a barrier removing assembly; the obstacle removing component comprises a rotating rod, a rotating plate and an obstacle removing driving piece; dwang and the equal vertical setting of rotor plate, rotor plate pass through dwang and supporting rod normal running fit, and the setting of the driving piece of removing obstacles is on the supporting rod and is connected with the dwang.
Because the sleeper spring is connected with the bogie, the condition of over-tight connection can occur, and at the moment, the hooking component can not smoothly hook the sleeper spring, so that the disassembly fault occurs. The clamping assembly also has the function of removing faults, when faults occur, the first clamping assembly and the second clamping assembly extend, so that the obstacle removing assemblies in the first clamping assembly and the second clamping assembly are positioned at two sides of the sleeper spring to be detached, the sleeper spring is clamped through the rotating plate (the first clamping assembly and the second clamping assembly move oppositely), the first clamping assembly and the second clamping assembly extend or contract in a coordinated mode to generate torque for the sleeper spring, the sleeper spring is rotated, and therefore the sleeper spring can be detached conveniently through the hooking assembly.
Furthermore, one side of the frame is provided with a wedge dismounting assembly; the inclined wedge disassembling component comprises an inclined wedge disassembling plate and an inclined wedge disassembling driving piece; the wedge disassembling plate is in sliding fit with the rack and is connected with the rack through a wedge disassembling driving piece; the driving piece is dismantled to the slide wedge and is set up in the frame to the drive direction of driving piece is dismantled to the wedge is perpendicular to the frame.
The bolster spring disassembling mechanical arm can also disassemble the wedge, after all the bolster springs are disassembled, the wedge disassembling plate is stretched into the space where the original bolster spring is located, then the wedge is limited by contact, the wedge falls onto the wedge disassembling plate, and the wedge is transported through the wedge disassembling plate, so that the wedge is disassembled.
A bogie vibration damping device removal system comprising: the device comprises a bogie supporting device, a wedge supporting robot, a sleeper spring wedge transfer robot and a sleeper spring dismounting robot;
the bogie supporting device is used for supporting and jacking a bogie;
the wedge supporting robot is used for supporting a wedge of a bogie;
the sleeper spring dismounting robot is used for dismounting and clamping a sleeper spring of the bogie and dismounting a wedge of the bogie;
and the sleeper spring and wedge transfer robot is used for transferring the sleeper springs and the wedges to a conveying line.
Further, the wedge support robot comprises a support, a three-degree-of-freedom movement module and a wedge support module; the three-degree-of-freedom moving module is arranged at the top of the bracket, and the wedge supporting module is suspended on the three-degree-of-freedom moving module;
the wedge supporting module comprises a shell and a supporting device; the shell is connected with the three-degree-of-freedom moving module; the supporting device comprises a first supporting component and a second supporting component which are symmetrically arranged, and the first supporting component and the second supporting component respectively comprise a transverse moving component connected with the shell, a vertical moving component connected with the transverse moving component, a connecting rod hinged with the vertical moving component and a wedge supporting rod connected with the connecting rod and longitudinally arranged;
the top end of the connecting rod is hinged with the vertical moving assembly to enable the connecting rod to rotate upwards, and the bottom end of the connecting rod is hinged with the wedge supporting rod to enable the wedge supporting rod to rotate along the horizontal direction; the wedge supporting rod extends out of the bottom of the shell, and the wedge supporting rods on the first supporting component and the second supporting component are arranged at intervals.
The three-degree-of-freedom moving module is used for moving a wedge supporting module in three mutually vertical directions to enable a wedge supporting rod to correspond to a swing bolster, a transverse moving assembly is used for adjusting the distance between the two wedge supporting rods to enable the two wedge supporting rods to correspond to two supporting holes in the swing bolster, the wedge supporting rods longitudinally extend into the supporting holes and extend into the insides of wedges under the driving of the three-degree-of-freedom moving module, a vertical moving assembly moves a connecting rod downwards, the connecting rod and the wedge supporting rods integrally rotate due to the fact that the wedge supporting rods are in contact with the bottom sides of the supporting holes, one ends of the wedge supporting rods extending into the wedges are tilted upwards and are in contact with inclined planes inside the wedges, meanwhile, the bottom ends of the connecting rods are hinged with the wedge supporting rods, the wedge supporting rods transversely move, and the wedge supporting rods are in contact with the highest points inside the wedges under the guiding effect of the inclined planes inside the wedges, therefore, when the wedge is effectively supported, the supporting position can be the highest point inside the wedge, the height difference between the wedge and the expected supporting height is avoided, and the wedge is effectively separated from the sleeper spring.
Furthermore, the connecting rod is provided with a laser sensor, and laser emitted by the laser sensor is parallel to the wedge supporting rod.
The laser sensor is used for sensing the position of the support hole, so that the wedge support module can be conveniently moved to correspond to the swing bolster through the three-degree-of-freedom movement module, and meanwhile, the laser of the laser sensor is parallel to the wedge support rod, so that the laser sensor has a guiding effect on the movement of the wedge support rod, and the wedge support rod can accurately extend into the support hole.
Further, the transverse moving assembly comprises a transverse mounting block mounted in the shell and a transverse moving motor arranged on the transverse mounting block, and the transverse moving motor is connected with the vertical moving assembly;
the vertical moving assembly comprises a vertical mounting block connected with the transverse moving motor and a vertical moving motor arranged on the vertical mounting block, and the moving end of the vertical moving motor is positioned at the bottom of the vertical moving motor and is hinged with the connecting rod.
Furthermore, the bogie supporting device comprises a supporting box, a lifting plate positioned at the top of the supporting box and a lifting plate driving device positioned in the supporting box, wherein the lifting plate is connected with the lifting plate driving device, and the lifting plate driving device drives the lifting plate to reciprocate along the vertical direction;
the sleeper spring wedge transfer robot comprises a sleeper spring wedge transfer mechanical arm and a sleeper spring wedge transfer mechanical arm connected with the sleeper spring wedge transfer mechanical arm; the bolster spring slide wedge transfer manipulator is connected with a transfer block, and the top of the transfer block is provided with a groove with a V-shaped section.
The invention has the following beneficial effects:
(1) according to the sleeper spring dismounting robot, the sleeper spring is dismounted in a hooking mode, so that the sleeper spring is separated from the bogie, the separated sleeper spring is poured into the limiting assembly, the sleeper spring is limited and clamped through the limiting assembly, the condition that the sleeper spring cannot be effectively transferred to a specified position is avoided, the condition that the sleeper spring is separated from the sleeper spring dismounting robot is avoided, and the like.
(2) The sleeper spring disassembling robot can disassemble a sleeper spring, limit and clamp the disassembled sleeper spring, can also perform obstacle removing treatment on the sleeper spring which cannot be hooked and fallen, and can also disassemble a wedge.
(3) The wedge supporting rod can be contacted with the highest point in the wedge under the guiding action of the inclined plane in the wedge, so that the wedge is effectively supported, the supporting position can be ensured to be the highest point in the wedge, the height difference between the wedge and the expected supporting height is avoided, and the wedge is effectively separated from the sleeper spring.
(4) When the dismounting system for the bogie damping device is used for dismounting the sleeper spring, all sleeper springs can be dismounted, the sleeper spring in fault (the sleeper spring which cannot be hooked normally) is included, the position of the dismounted sleeper spring is fixed, so that the sleeper spring can be accurately transferred to a region to be rotated, meanwhile, the inclined wedge can be automatically dismounted, the intelligence degree of the whole system is high, the dismounting process of the sleeper spring and the inclined wedge is convenient, the dismounted sleeper spring and the inclined wedge can be accurately transferred, the labor intensity of workers is greatly reduced, and the dismounting efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of a truck according to the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
fig. 3 is a schematic structural view of a occipital spring dismounting robot of embodiment 1;
fig. 4 is a schematic structural view of a occipital spring removing robot of embodiment 1;
fig. 5 is a schematic structural view of the open close plate of the bolster spring removing robot of embodiment 1 after rotation;
fig. 6 is a schematic view of a occipital spring removing robot of embodiment 1 when detaching a occipital spring;
FIG. 7 is a schematic view showing a bolster spring removing robot detaching a wedge in embodiment 1;
fig. 8 is a schematic diagram of the obstacle elimination of the occipital spring removing robot of embodiment 1;
fig. 9 is a schematic structural view of a railway vehicle bogie cam support robot of embodiment 2;
FIG. 10 is a schematic structural view of a supporting device according to embodiment 2;
fig. 11 is a schematic view showing a horizontal change of the wedge support bar when the wedge support bar of embodiment 2 supports the wedge, wherein the dotted line portion is the changed wedge support bar;
FIG. 12 is a schematic view of the cam support bar of embodiment 2 extending into the cam and contacting the inner highest point of the cam;
fig. 13 is a schematic diagram showing the position change of the wedge support rod inside the wedge when the wedge support rod of embodiment 2 supports the wedge, wherein the dotted line part is the changed wedge support rod (the dotted line part shows the highest point contact of the wedge support rod with the inside of the wedge);
fig. 14 is a schematic structural view of a bogie damping device removal system of embodiment 3;
fig. 15 is a schematic structural view of a bogie supporting device of embodiment 3;
fig. 16 is a schematic structural view of the occipital spring and wedge relay robot in embodiment 3.
In the figure: 1-a bogie support device; 11-a support box; 12-a jacking plate; 13-a jacking plate driving device;
2-the wedge supports the robot; 21-a scaffold; 22-three-degree-of-freedom moving module; 23-a wedge support module; 211-vertical bar; 212-a cross-bar; 231-a housing; 232-a support means; 233-a first support component; 234-a second support assembly; 235-a lateral movement assembly; 236-a vertical movement assembly; 237-connecting rod; 238-wedge support rods; 239-a laser sensor; 2351-transverse mounting block; 2352-lateral movement motor; 2361-vertical mounting blocks; 2362-vertical moving motor;
3-a sleeper spring disassembling robot; 31-dismounting the mechanical arm by the sleeper spring; 32-a bolster spring removal manipulator; 321-a frame; 322-hook component; 323-a spacing assembly; 324-a barrier clearance assembly; 325 — a cam dismounting assembly; 3221-hooking the slide rail; 3222-hooking the slider; 3223-a pull rod; 3224-unidirectional rotation fixture block; 3231-a first clamping assembly; 3232-a second clamping assembly; 3233-cut plywood; 3234-grip drive; 3235-clamping bar; 3236-telescoping drive; 3237-anti-slip groove; 3238-innerspring anchor pins; 3241-rotating plate; 3242-obstacle-removing driving member; 3251-wedge take-down plate; 3252-wedge removal drive;
4-a pillow spring wedge transfer robot; 41-a transfer mechanical arm of a sleeper spring wedge; 42-a middle transferring manipulator of a sleeper spring wedge; 43-a transit block;
5-conveying line; 51-a transfer tray;
9-a bogie; 91-swing bolster; 92-support holes; 93-a wedge; 94-occipital spring.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1
Referring to fig. 3, a occipital spring detaching robot includes: a bolster spring removing robot arm 31 and a bolster spring removing robot hand 32 connected to the bolster spring removing robot arm 31, and in the present embodiment, the bolster spring removing robot arm 31 is a robot arm of a six-axis robot.
Referring to fig. 4 and 5, the occipital spring detaching robot 32 includes a frame 321, a hooking component 322, a limiting component 323, and a wedge detaching component 325, wherein one end of the frame 321 is connected to the occipital spring detaching robot arm 31, the other end of the frame 321 is connected to the limiting component 323, and the hooking component 322 is disposed on the top of the pricing 321. Collude subassembly 322 and be used for colluding the pillowss spring 94, collude the pillowss spring 94 of falling and transfer into spacing subassembly 323 in, carry out spacing and centre gripping to pillowss spring 94 through spacing subassembly 323, avoid the excessive displacement of pillowss spring 94. A cam removal assembly 325 is provided at the side of the charge 321 for removing the cam 93.
The hooking component 322 comprises a hooking and reversing sliding track 3221, a hooking and reversing sliding block 3222 and a pull rod 3223. The hook reverse sliding rail 3221 is fixedly arranged at the top of the pricing 321, the extending direction of the hook reverse sliding rail 3221 is consistent with the extending direction of the rack 321, the hook reverse sliding block 3222 is in sliding fit with the sliding rail 3221, the extending direction of the pull rod 3223 is also consistent with the extending direction of the rack 321, one end of the pull rod 3223 is far away from the hook reverse sliding block 3222, one end of the occipital spring disassembling mechanical arm 31 is connected, the other end of the pull rod 3223 is provided with the unidirectional rotation clamping block 3224, the unidirectional rotation clamping block 3224 is of a conventional structure, and can be turned over in the clamping process, and can return to the initial position after the clamping is completed, so that the occipital spring 94 can be hooked. The top of the frame 321 is further provided with a slider driving element, the slider driving element is connected with the hook reverse sliding block 3222, and the hook reverse sliding block 3222 slides through the slider driving element, so that the hook reverse operation is realized. In this embodiment, the slide driving member is a cylinder.
The stop assembly 323 includes a first clamp assembly 3231, a second clamp assembly 3232, and a snap plate 3233. The extending directions of the first clamping assembly 3231, the second clamping assembly 3232 and the opening plate 3233 are consistent with the extending direction of the rack 321, the first clamping assembly 3231 and the second clamping assembly 3232 are arranged at intervals in the horizontal direction, and the opening plate 3233 is arranged at the bottom of the first clamping assembly 3231 and the second clamping assembly 3232, so that a clamping cavity is formed among the first clamping assembly 3231, the second clamping assembly 3232 and the opening plate 3233. The rod 3233 reciprocates at the top of the clamping chamber, and after the rod 3233 hooks the occipital spring 94, the occipital spring 94 falls into the clamping chamber.
The rack 321 is provided with a clamping driving element 3234, the action direction of the clamping driving element 3234 is consistent with the connection direction of the first clamping assembly 3231 and the second clamping assembly 3232, the first clamping assembly 3231 and the second clamping assembly 3232 are respectively connected with the clamping driving element 3234, and the first clamping assembly 3231 and the second clamping assembly 3232 move oppositely or reversely through the clamping driving element 3234 to realize clamping or unclamping of the sleeper spring 94. In this embodiment, the clamping driving member 3234 is a cylinder, and the fixed end and the actuating end thereof are connected to the first clamping element 3231 and the second clamping element 3232, respectively.
Each of the first and second gripper assemblies 3231, 3232 includes a gripper bar 3235 and a telescoping drive 3236 connected to the gripper bar 3235. The extending direction of the gripping rod 3235 and the actuating direction of the telescopic driving member 3236 are both the same as the extending direction of the frame 321. Telescopic driving element 3236 passes through slide rail and frame 321 sliding fit and is connected with centre gripping driving element 3234, through the support of frame 321 to telescopic driving element 3236, can improve the atress condition of the centre gripping subassembly of cantilever state, and the one end and the telescopic driving element 3236 of clamping pole 3235 are connected, and the other end of clamping pole 3235 is equipped with obstacle clearance subassembly 324. In this embodiment, the telescopic driving member 3236 is a cylinder, and a fixed end and an actuating end thereof are connected to the clamping driving member 3234 and the clamping rod 3235, respectively.
The barrier assembly 324 includes a pivot rod, a pivot plate 3241, and a barrier driver 3242. Dwang and the equal vertical setting of rotatable plate 3241, rotatable plate 3241 passes through dwang and centre gripping pole 3235 normal running fit, and the obstacle clearance driving piece 3242 is installed on centre gripping pole 3235, and it is connected with the dwang for drive rotatable plate 3241's rotation. In this embodiment, the obstacle deflector drive 3242 is a motor having a motor shaft coupled to the drive rod by a mating bevel gear set.
In this embodiment, in order to increase the clamping friction, the clamping rod 3235 is provided with a plurality of anti-slip grooves 3237 on the side facing the clamping cavity.
One end of the opening plate 3233 is rotatably connected to the frame 321, and the other end of the opening plate 3233 is close to the obstacle-removing assembly 324. Open-close plate 3233 rotates with frame 321 through the open-close plate driving piece and is connected, and the open-close plate driving piece can make open-close plate 3233 rotate downwards to open the centre gripping cavity, be convenient for pillow spring 94 transports. Open-close plate 3233 is equipped with a plurality of interior spring fixed pin 3238 towards one side of centre gripping cavity, and interior spring fixed pin 3238 passes the gap entering interior spring of outer spring, restricts the relative motion between interior spring and the outer spring, avoids interior spring excessive movement in the outer spring, and even interior spring drops from the outer spring.
The cam release assembly 325 includes a cam release plate 3251 and a cam release actuator 3252. A cam detaching plate 3251 is provided on the frame 321 by a slide rail so that the cam detaching plate 3251 can slide on the frame 321, and a cam detaching driver 3252 is provided on the frame 321 and connected to the cam detaching plate 3251 for driving the movement of the cam detaching plate 3251. In this embodiment, the cam dismounting driving element 3252 includes a motor and a screw assembly, the screw assembly is mounted on the frame 321, and is connected to the motor and the cam dismounting plate 3251 respectively, so as to drive the cam dismounting plate 3251 to move by the motor.
Example 2
Referring to fig. 9, a railway vehicle bogie cam support robot includes: support 21, three-degree-of-freedom moving module 22 and wedge supporting module 23. Three-degree-of-freedom moving module 22 is fixedly installed on the top of support 21, and wedge supporting module 23 is suspended on three-degree-of-freedom moving module 22. The three-degree-of-freedom moving module 22 drives the wedge supporting module 23 to move to correspond to the swing bolster 91, and the wedge 93 in the swing bolster 91 is supported by the wedge supporting module 23, so that the wedge 93 is separated from the bolster spring 94, and the subsequent disassembly of the bolster spring 94 is facilitated.
Referring to fig. 9 and 10, the wedge supporting module 23 includes a housing 231 and a supporting device 232 disposed on the housing 231. The housing 231 is connected to the three-degree-of-freedom moving module 22, and the three-degree-of-freedom moving module 22 drives the housing 231 to move along three mutually perpendicular directions. The supporting device 232 includes a first supporting member 233 and a second supporting member 234 which are symmetrically arranged, the first supporting member 233 and the second supporting member 234 are installed inside the housing 231 and are spaced apart in a lateral direction (in this embodiment, the lateral direction, the longitudinal direction, and the vertical direction coincide with the lateral direction, the longitudinal direction, and the vertical direction of the disassembly line), and the bottom ends of the first supporting member 233 and the second supporting member 234 protrude out of the housing 231.
Since the first and second support members 233 and 234 have the same structure and are symmetrically disposed, only the structure of the first support member 233 will be described herein.
Since the connecting rod 237 is obliquely disposed and the wedge support rod 238 is longitudinally disposed, an obtuse angle is formed between the connecting rod 237 and the wedge support rod 238, and in this embodiment, the angle between the connecting rod 237 and the wedge support rod 238 is 120 °.
When the vibration damping device is disassembled, the wedge support rod 238 extends into the support hole 92, and after the vibration damping device is disassembled, the wedge support rod 238 exits from the support hole 92, and in order that the wedge support rod 238 is reset to be parallel to the laser emitted by the laser sensor 239, the hinge of the wedge support rod 238 connected with the connecting rod 237 can be reset by arranging a torsion spring and the like.
Example 3
Referring to fig. 14, a bogie damping device dismounting system includes:
the two bogie supporting devices 1 are arranged at intervals and are used for supporting and jacking a bogie 9;
the wedge support robot 2 is configured to support the wedge 93 and release the limit on the top of the occipital spring 94;
the above-mentioned occipital spring disassembling robot 3, is used for disassembling the wedge 93 and occipital spring 94;
and a occipital spring and wedge transfer robot 4 for transferring the wedge 93 and the occipital spring 94 to the transfer tray 51 of the conveyor line 5.
Wherein, slide wedge supporting robot 2, pillow spring detaching robot 3, pillow spring slide wedge transfer robot 4 are close to 1 settings of bogie strutting arrangement, and simultaneously, transfer chain 5 also is close to 1 settings of bogie strutting arrangement to, bogie strutting arrangement 1, slide wedge supporting robot 2 and pillow spring detaching robot 3 lie in the same one side of transfer chain 5, and pillow spring slide wedge transfer robot 4 lies in the opposite side of transfer chain 5.
Referring to fig. 15, the bogie supporting device 1 includes a supporting box 11, a lifting plate 12 located at the top of the supporting box 11, and a lifting plate driving device 13 located inside the supporting box 11, wherein the lifting plate 12 is connected to the lifting plate driving device 13, and the lifting plate driving device 13 drives the lifting plate 12 to reciprocate along the vertical direction. In the present embodiment, the lift plate driving device 13 is a hydraulic cylinder.
Referring to fig. 16, the occipital spring and cam relay robot 4 includes an occipital spring and cam relay robot arm 41 and an occipital spring and cam relay manipulator 42 connected to the occipital spring and cam relay robot arm 41; the occipital spring wedge transfer manipulator 42 is connected with a transfer block 43, and the top of the transfer block 43 is provided with a groove with a V-shaped section. In the present embodiment, the occipital spring and cam relay robot 4 is a six-axis robot.
The dismounting process of the bogie damping device dismounting system to the bogie damping device is as follows:
1. pretreatment of
Before the disassembly, the bogie to be disassembled moves to the top of the bogie supporting device 1 through the existing clamping jaws, the jacking plate 12 ascends under the action of the jacking plate driving device 13 and contacts the bottom of the bogie 9, the bogie 9 is supported and limited, and the shaking of the bogie 9 is reduced.
2. For supporting the wedge 93, please refer to fig. 11 to 13:
21: the jacking plate driving device 13 jacks the jacking plate 12, so that the bottom of the bogie 9 is lifted, the sleeper spring 94 and the wedge 93 move upwards together, and the wedge 93 corresponds to the support hole 92 under the action of the gravity of the bogie 9 frame body;
22: the slide wedge supporting module 23 is moved by the three-degree-of-freedom moving module 22 to correspond to the slide wedge supporting module 23 and the bolster 91, and the slide wedge supporting rod 238 is caused to correspond to the supporting hole 92 by the transverse moving motor 2352;
23: the wedge support rod 238 is moved longitudinally (close to the support hole 92) by the three-degree-of-freedom movement module 22 until the wedge support rod 238 enters the support hole 92 and contacts with the inner slope of the wedge 93;
24: the vertical moving motor 2362 drives the connecting rod 237 to move downward, the wedge supporting rod 238 is turned over using the bottom side wall of the supporting hole 92 as a pivot, and since the wedge supporting rod 238 is hinged to the connecting rod 237, the wedge supporting rod 238 is turned over and simultaneously rotates in the horizontal direction, one end of the wedge supporting rod 238 contacting the wedge 93 slides on the inner slope of the wedge 93 until the wedge supporting rod 238 contacts the highest point inside the wedge 93 (see fig. 12 and 13), and the wedge 93 is supported, at this time, an offset angle is formed between the wedge supporting rod 238 and the laser emitted by the laser sensor 239 (see fig. 11).
25: after the wedge 93 is supported, the jacking plate driving device 13 drives the jacking plate 12 to move downwards, the support for the bottom of the bogie 9 is released (the bottom of the bogie 9 can also be continuously supported, and the separation of the spring 94 and the wedge 93 is ensured), only the spring 94 moves downwards at the moment, and finally the spring 94 and the wedge 93 are separated.
3. With reference to fig. 6, the occipital spring 94 is disassembled:
31. the occipital spring disassembling mechanical arm 31 drives the occipital spring disassembling mechanical arm 32 to move, so that the unidirectional rotating clamping block 3224 on the pull rod 3223 corresponds to the occipital spring 94 to be disassembled;
32. the slide block driving piece drives the pull rod 3223 to move, so that the unidirectional rotation clamping block 3224 is in contact with the top of a pillow spring 94 to be detached, the unidirectional rotation clamping block 3224 enters the pillow spring 94 after rotating and hooks the positive yellow 94, then the slide block driving piece drives the pull rod 3223 to move reversely, so that the pillow spring 94 is pulled down, the pulled pillow spring 94 is poured into the clamping cavity, and the unidirectional rotation clamping block 3224 can be smoothly pulled out of the pillow spring 94 and separated from the pillow spring 94 as the pillow spring 94 is pulled;
33. the clamping driving member 3234 moves to enable the first clamping assembly 3231 and the second clamping assembly 3232 to approach each other, so that the outer spring of the sleeper spring 94 is clamped and fixed, and the inner spring fixing pin 3238 extends into the inner spring from a gap of the outer spring to limit the inner spring;
34. the bolster spring disassembling mechanical arm 31 moves the bolster spring disassembling mechanical arm 32 to the top of the transfer block 43, the opening and closing plate driving piece drives the opening and closing plate 3233 to rotate downwards, the bolster springs 94 automatically fall into the V-shaped groove in the top of the transfer block 43, then the opening and closing plate 3233 rotates in the reverse direction to reset, the whole bolster spring disassembling robot 3 resets, and the bolster spring inclined wedge transfer robot 4 transfers the bolster springs 94 to the transfer tray 51 of the conveying line 5;
35. and repeating the steps 31 to 35 to finish the disassembly of all the sleeper springs 94.
4. To remove wedge 93, please refer to fig. 7:
41: the bolster spring disassembling mechanical arm 31 drives the bolster spring disassembling mechanical arm 32 to rotate, so that the wedge disassembling plate 3251 is in a horizontal state, and the wedge disassembling driving piece 3252 drives the wedge disassembling plate 3251 to extend into a space where the original bolster spring 94 is located in the bogie 9;
42. the vertical moving motor 2362 moves reversely until the wedge support rod 238 is in a horizontal state, the wedge support rod 238 is taken out of the support hole 92 by the three-degree-of-freedom moving module 22, the support of the wedge 93 is released, and the wedge 93 falls onto the wedge detaching plate 3251 under the action of gravity;
43. the wedge detaching driver 3252 drives the wedge detaching plate 3251 to be taken out from a space where the original bolster spring 94 is located in the bogie 9, the bolster spring detaching mechanical arm 31 moves the bolster spring detaching mechanical arm 32 to the top of the transfer block 43, the bolster spring detaching mechanical arm 31 overturns the bolster spring detaching mechanical arm 32, so that the wedge 93 is transferred into a V-shaped groove in the top of the transfer block 43, the whole body of the bolster spring detaching robot 3 is reset, the bolster spring wedge transferring robot 4 transfers the wedge 93 to the transfer tray 51 of the conveying line 5, and detachment of the wedge 93 is completed.
When the rod 3223 cannot pull the occipital spring 94 down, the mechanical occipital spring detaching robot 3 performs the obstacle removing process, please refer to fig. 8, which includes the following specific steps:
s1: the clamping driving members 3234 of the first clamping assembly 3231 and the second clamping assembly 3232 respectively drive the clamping rods 3235 to extend, so that the two obstacle removing assemblies 324 are located on two sides of the faulty sleeper spring 94, when extending, it is ensured that the extending distances of the two obstacle removing assemblies 324 are inconsistent, the obstacle removing assembly 324 with a short extending distance is close to the position where the faulty sleeper spring 94 is adjacent to other sleeper springs 94, and the problem that the obstacle removing assembly 324 cannot pass through due to too small distance between the two adjacent sleeper springs 94 is avoided;
s2: the obstacle deflector drive 3242 drives the rotation plate 3241 to rotate and contact the fault anchor 94;
s3: the two clamping rods 3235 are driven by the corresponding clamping driving element 3234 to move in opposite directions, and the two driving plates 3241 generate torque to the bolster spring 94 to drive the bolster spring 94 to rotate, so that the clamping between the bottom of the bolster spring 94 and the bogie frame 9 is released, and the hooking process can be smoothly performed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A kind of occipital spring dismantles the robot, characterized by comprising: a bolster spring removing robot arm (31) and a bolster spring removing robot (32) connected to the bolster spring removing robot arm (31); the sleeper spring dismounting manipulator (32) comprises a rack (321), a hooking component (322) and a limiting component (323); one end of the rack (321) is connected with the bolster spring dismounting mechanical arm (31), the other end of the rack (321) is connected with the limiting component (323), and the top of the rack (321) is provided with the hooking component (322); the hooking component (322) stretches along the extension direction of the rack (321) and is used for hooking the sleeper spring; the limiting component (323) is used for limiting and clamping the hooked sleeper spring;
the limiting assembly (323) comprises a first clamping assembly (3231) and a second clamping assembly (3232) which are arranged oppositely, and an open-close plate (3233) positioned at the bottom of the first clamping assembly (3231) and the second clamping assembly (3232), wherein the first clamping assembly (3231), the second clamping assembly (3232) and the open-close plate (3233) form a clamping cavity with an open top;
the extending direction of the first clamping assembly (3231) and the second clamping assembly (3232) is consistent with the extending direction of the rack (321), the first clamping assembly (3231) and the second clamping assembly (3232) are connected through a clamping driving piece (3234) arranged on the rack (321), and the clamping driving piece (3234) drives the first clamping assembly (3231) and the second clamping assembly (3232) to move towards or away from each other; the opening plate (3233) is in running fit with the rack (321) through an opening plate driving piece, and an inner spring fixing pin (3238) extending into the clamping cavity is arranged on the opening plate (3233);
the first clamping assembly (3231) and the second clamping assembly (3232) each comprise a clamping rod (3235) and a telescopic driving piece (3236) connected with the clamping rod (3235); the clamping rod (3235) is driven by the telescopic driving piece (3236) to do telescopic motion along the extending direction of the rack (321), the inner side surface of the clamping rod (3235) is provided with an anti-skidding groove (3237), and the telescopic driving piece (3236) is in sliding fit with the rack (321) and is connected with the clamping driving piece (3234);
one end of the clamping rod (3235) far away from the rack (321) is provided with a barrier removing assembly (324); the obstacle-removing assembly (324) comprises a rotating rod, a rotating plate (3241) and an obstacle-removing driving part (3242); the dwang with the equal vertical setting of rotor plate (3241), rotor plate (3241) passes through the dwang with supporting rod (3235) normal running fit, the obstacle clearance driving piece (3242) sets up on supporting rod (3235) and with the dwang is connected.
2. The occipital spring dismounting robot according to claim 1, wherein the hooking component (322) comprises a hooking sliding rail (3221) arranged on the frame (321), a hooking sliding block (3222) in sliding fit with the hooking sliding rail (3221), and a pull rod (3223) arranged on the hooking sliding block (3222); the sliding block (3222) is connected with the rack (321) through a sliding block driving part; one end of the pull rod (3223) is connected with one end of the hooked slider (3222) far away from the occipital spring disassembling mechanical arm (31), and the other end of the pull rod (3223) is provided with a unidirectional rotating clamping block (3224).
3. The occipital spring dismounting robot according to claim 1 or 2, wherein one side of the frame (321) is provided with a wedge dismounting assembly (325); the cam take-down assembly (325) includes a cam take-down plate (3251) and a cam take-down driver (3252); the wedge detaching plate (3251) is in sliding fit with the rack (321) and is connected with the rack (321) through the wedge detaching driving piece (3252); the wedge detaching driver (3252) is disposed on the frame (321), and a driving direction of the wedge detaching driver (3252) is perpendicular to the frame (321).
4. A truck shock absorber detachment system, comprising: a bogie supporting device (1), a wedge supporting robot (2), a occipital spring wedge transit robot (4) and a occipital spring dismounting robot (3) according to any one of claims 1 to 3;
the bogie supporting device (1) is used for supporting and jacking a bogie;
the wedge supporting robot (2) is used for supporting a wedge of a bogie;
the sleeper spring dismounting robot (3) is used for dismounting and clamping a sleeper spring of the bogie and dismounting a wedge of the bogie;
and the sleeper spring and wedge transfer robot (4) is used for transferring the sleeper springs and the wedges to a conveying line (5).
5. The bogie damping device dismounting system according to claim 4, characterized in that the wedge support robot (2) comprises a bracket (21), a three-degree-of-freedom movement module (22) and a wedge support module (23); the three-degree-of-freedom moving module (22) is installed at the top of the support (21), and the wedge supporting module (23) is arranged on the three-degree-of-freedom moving module (22) in a hanging manner;
the wedge support module (23) comprises a housing (231) and a support device (232); the shell (231) is connected with the three-degree-of-freedom moving module (22); the supporting device (232) comprises a first supporting component (233) and a second supporting component (234) which are symmetrically arranged, and the first supporting component (233) and the second supporting component (234) respectively comprise a transverse moving component (235) connected with the shell (231), a vertical moving component (236) connected with the transverse moving component (235), a connecting rod (237) hinged with the vertical moving component (236), and a wedge supporting rod (238) which is connected with the connecting rod (237) and is longitudinally arranged;
the top end of the connecting rod (237) is hinged with the vertical moving assembly (236), so that the connecting rod (237) rotates upwards, and the bottom end of the connecting rod (237) is hinged with the wedge supporting rod (238), so that the wedge supporting rod (238) rotates in the horizontal direction; the wedge support rod (238) extends out of the bottom of the shell (231), and the wedge support rods (238) on the first support assembly (233) and the second support assembly (234) are arranged at intervals.
6. The bogie vibration damping device disassembly system of claim 5 wherein the connecting rod (237) is provided with a laser sensor (239), the laser light emitted by the laser sensor (239) being parallel to the cam support rod (238).
7. The bogie vibration damping device disassembly system of claim 6 wherein the lateral movement assembly (235) comprises a lateral mounting block (2351) mounted within the housing (231) and a lateral movement motor (2352) disposed on the lateral mounting block (2351), the lateral movement motor (2352) being connected with the vertical movement assembly (236);
the vertical moving assembly (236) comprises a vertical mounting block (2361) connected with the transverse moving motor (2352) and a vertical moving motor (2362) arranged on the vertical mounting block (2361), wherein the moving end of the vertical moving motor (2362) is positioned at the bottom of the vertical moving motor (2362) and hinged with the connecting rod (237).
8. The bogie vibration damping device disassembly system according to claim 7, wherein the bogie supporting device (1) comprises a supporting box (11), a lifting plate (12) positioned at the top of the supporting box (11), and a lifting plate driving device (13) positioned inside the supporting box (11), wherein the lifting plate (12) is connected with the lifting plate driving device (13), and the lifting plate driving device (13) drives the lifting plate (12) to reciprocate along the vertical direction;
the pillow spring and wedge transfer robot (4) comprises a pillow spring and wedge transfer mechanical arm (41) and a pillow spring and wedge transfer mechanical arm (42) connected with the pillow spring and wedge transfer mechanical arm (41); the middle rotating mechanical arm (42) of the spring sleeper wedge is connected with a middle rotating block (43), and a groove with a V-shaped section is formed in the top of the middle rotating block (43).
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| CN115284335B (en) * | 2022-10-08 | 2023-01-20 | 成都岁生科技有限责任公司 | Sleeper spring slide wedge transfer manipulator based on automatic system of dismantling of sleeper spring |
| 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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