CN114454173A - Intelligent decomposing system for center plate bolts of railway wagon - Google Patents

Abstract

The invention discloses an intelligent disassembly system for the lower center plate bolts of railway freight cars. The intelligent disassembly system for the center plate bolts includes a control mechanism, an industrial robot, a vision device, a disassembly device and a positioning device. The control mechanism is respectively connected with the industrial robot, the vision device, the disassembly device The device and the positioning device are connected in communication; the positioning device automatically fixes the bogie of the railway freight car in the designated position, the vision device scans the bogie model and the size and spatial position information of the core bolt and feeds it back to the control mechanism, and the industrial robot receives the feedback from the control mechanism information to select and connect the corresponding dismantling device, which disassembles the core bolts in one piece. The invention can improve the disassembly operation efficiency of the lower center plate bolt, reduce the labor cost and labor intensity of the enterprise, and generate good economic and social benefits.

Description

An intelligent decomposition system for bolts of the lower core plate of a railway freight car

technical field

The invention belongs to the technical field of rail transit, and in particular relates to an intelligent decomposition system for bolts of a lower center plate of a railway freight car.

Background technique

The process of disassembling the bolts of the lower center plate of the bogie of railway freight cars (including but not limited to freight cars) is mainly carried out by manual disassembly and auxiliary tools. The bolts are electrically rotated to loosen, and the manual hand-assisted removal is completely removed. In addition, because there are 4 sets of bolts on one side of the bogie, after disassembling the 4 sets of bolts on one side, it needs to be turned over to the other side to disassemble the other 4 sets of bolts.

The decomposition process of the above center plate bolts has the following defects:

(1) Most of the work is done manually. In the case of high work intensity and harsh environment, the continuous operation cannot be compared with automation, and the output stability, controllability and efficiency of the product line are low;

(2) The environment is harsh, and there is a large amount of rust powder in the environment, which will affect the health of personnel;

(3) Poor safety, such as single-person operation with both hands holding tools, etc., poor stability, and obvious potential safety hazards; at the same time, personnel interspersed in various positions of the product are likely to cause corresponding contact abrasions, bumps and other safety hazards ;

(4) If the multi-person operation is used, there are problems such as small space, inconvenient operation, and large proportion of labor.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an intelligent disassembly system for the lower center plate bolts of railway freight cars, which has the advantages of improving the disassembly efficiency of the center plate bolts, reducing labor intensity and cost, and reducing potential safety hazards.

The technical scheme of the present invention is as follows:

An intelligent decomposition system for bolts of a lower center plate of a railway freight car, comprising a control mechanism, an industrial robot, a vision device, a disassembly device and a positioning device, wherein the control mechanism is respectively connected to the industrial robot, the vision device, the disassembly device and the positioning device; the positioning device connects the railway freight car The bogie is automatically fixed at the designated position. The vision device scans the bogie model and the size and spatial position information of the core bolt and feeds it back to the control mechanism. The industrial robot receives the feedback information from the control mechanism to select and connect the corresponding disassembly device. Disassemble the center plate bolts.

Further, the dismounting device is symmetrically arranged, including a bracket, a motor, a dismounting cylinder, a guide rod, a sleeve and a wrench, the control mechanism is respectively connected to the motor and the dismounting cylinder in communication, the bracket is the base plate of the dismounting device, and the two brackets are There are a complete set of connected motors and sleeves on the sides, and the sleeves are used to fix the core plate bolts; the outside of the sleeve is provided with a complete set of connected disassembly cylinders, guide rods and wrenches. The disassembly cylinder drives the guide rod and wrench to go up and down. Moving, a wrench is used to secure the nut of the mandrel bolt.

Further, the wrench is set as an inward bending structure as a whole, the end of the wrench is provided with a bayonet for clamping the nut, a material-returning rod is arranged under the opening of the wrench, and the surface of the material-returning rod is sloped. When the wrench is lowered with the dismantling cylinder, the nut rests on the stripping rod, and the slope of the stripping rod acts as an auxiliary force to help the nut fall off.

Further, the sleeve and the wrench are arranged in a one-to-one correspondence.

Further, two of the sockets and the wrench are arranged in the disassembly device; or four of the sleeves and the wrenches are arranged in the disassembly device, and they are arranged in a matrix; It is an inverted "T" structure.

Further, the positioning device includes an inductive proximity switch, a wheelset blocking structure and a wheelset clamping structure, and the control mechanism is respectively connected in communication with the inductive proximity switch, the wheelset blocking structure and the wheelset clamping structure, and the wheelset blocking structure is in communication connection. Both the wheelset and the wheelset holding structure are located on the side of the designated position of the conveying line of the bogie, and the wheelset blocking structure includes a blocking cylinder and a blocking block. The wheel set of the frame; the wheel set holding structure includes a positioning cylinder and a holding block, the positioning cylinder is connected and the holding block is activated to extend and press the outer side of the wheel rim of the bogie.

Further, the wheelset blocking structure and the wheelset holding structure are arranged in pairs; the material of the blocking block and the holding block is any one of rubber, plastic, metal or wood.

Further, the vision device is installed on a vision bracket, and the vision bracket is arranged above the fixed positioning position of the bogie.

Further, the industrial robot is arranged on the gantry, and the front end of the industrial robot is connected to the disassembly device through a floating joint.

Further, the industrial robot is set as a descending six-axis robot.

In the decomposition of the bolts of the lower center plate of railway freight cars, the decomposition is mainly carried out manually using a wrench, which is noisy and labor-intensive. For a long time, the research on the automatic decomposition of the bolts of the lower center plate is a blind spot, and the combination of vision and robot application technology Intelligent equipment such as integrated dismantling device, positioning device, etc. is still blank at home and abroad. It is a topic worthy of exploration, and it is also a useful supplementary means for the development of intelligent vehicle services. Therefore, the appearance of the present invention plays a positive role in ensuring the safety of railway transportation, improving the construction of railway informatization, and building a harmonious railway. The present invention realizes the automation and intelligence of the disassembly and assembly process of the bolts of the lower center plate, which can improve the operation safety, Accelerating the upgrade and transformation process is of great significance to improving the efficiency of the lower core plate assembly process and the reliability and stability of the inspection process. details as follows:

(1) The present invention satisfies the trend of most automated operations of existing production lines, ensures stable output of product lines and increases controllability, and has no personnel dependence; solves the problem of high labor intensity of personnel; inefficiencies;

(2) Solve the contradiction between people and operations due to the harsh environment;

(3) Solve the safety problems caused by manual operation and reduce potential safety hazards;

(4) The robot adopts a targeted design, which solves the problem that it is difficult for personnel to work in a small space: the use of a drop-down robot with a gantry structure can better match the existing rail industry bogie maintenance operations to working conditions, not only can reduce the need for The requirements for the length of the robot arm and the cost reduction on the side also solve the problem of large land occupation, which can be more suitable to promote the implementation of the project; in addition, the use of the gantry structure can avoid the upper and lower spaces, and with the probe-type robot, for the existing The working mode with track matching equipment adopts the straddle type, which can ensure the smooth inflow and outflow of the bogie, the short working stroke of the robot, and the convenient entry and exit of the working area.

Description of drawings

Fig. 1 is the structural representation of the decomposition system of the present invention;

Fig. 2 is the structural representation 1 of the positioning device;

Fig. 3 is the structural representation 2 of the positioning device;

Fig. 4 is the structural representation of dismantling device;

Fig. 5 is the schematic diagram of the wrench;

Among them, 1-gantry; 2-industrial robot; 3-vision bracket; 4-vision device; 5-floating joint;

6-Removal device, 61-Motor, 62-Reducer, 63-Removal cylinder, 64-Guide rod, 65-Sleeve, 66-Wrench, 66a-Slope, 67-Nut, 68-Bolt, 69-Bracket;

7- bogie;

8-positioning device, 81-blocking cylinder, 82-positioning cylinder, 83-blocking block, 84-holding the fixing block;

9- Floating docking station.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Referring to Fig. 1, it is a schematic diagram of the intelligent decomposition system of the lower center plate bolts of the railway freight car of the present embodiment. The intelligent decomposition system of the lower center plate bolts of the railway freight car is applied to the intelligent decomposition work of the center plate bolts. It includes a control mechanism, an industrial robot 2, a The vision device 4 , the disassembly device 6 and the positioning device 8 , and the control mechanisms are respectively connected in communication with the industrial robot 2 , the vision device 4 , the positioning device 8 and the disassembly device 6 .

Among them, the industrial robot 2 receives the model information of the bogie 7 and the size and spatial position information of the core plate bolts fed back by the control mechanism, and selects and connects the corresponding dismantling device 6 .

Preferably, the industrial robot 2 is arranged on the gantry 2 . The gantry-type structure is used together with the downward-penetrating robot to ensure the maximum passability of the bogie 7 and the utilization rate of the robot's arm span. Advantage.

Preferably, the front end of the industrial robot 2 is connected to the dismantling device 6 through the floating joint 5, and the industrial robot 2 is connected to the dismantling device 6 through the floating joint 5, which can allow the dismantling device 6 to produce a certain position offset during operation without affecting the industrial robot 2. status.

Preferably, the industrial robot 2 in this embodiment is not limited to a robot, and may include a space displacement mechanism such as a truss type manipulator.

Preferably, the industrial robot 2 in this embodiment is a descending six-axis robot, including but not limited to the number of robot axes.

Preferably, the industrial robot 2 in this embodiment adopts a general-purpose six-axis robot, including but not limited to a general-purpose robot, which may include a truss type, or a non-standard designed robot.

Among them, the vision device 4 scans the model of the bogie 7, scans the core area of the bogie 7, and feeds back information such as the bolt size and the spatial position of the bolt to the control mechanism.

The vision device 4 refers to a device using laser vision three-dimensional technology.

Preferably, the vision device 4 is installed on the vision bracket 3 , and the vision bracket 3 is arranged above the fixed position of the bogie 7 .

With regard to the positioning device 8, it can automatically fix the bogie 7 in a specified position. Specifically, as shown in FIGS. 2 to 3 , the positioning device 8 includes an inductive proximity switch, a wheelset blocking structure and a wheelset clamping structure, wherein the control mechanism is respectively associated with the inductive proximity switch, the wheelset blocking structure and the wheelset The gripping structure is connected through communication. When the bogie 7 reaches the designated position, the inductive proximity switch can be triggered. The inductive proximity switch transmits the inductive signal to the control mechanism. 7 Positioning signals.

Both the wheelset blocking structure and the wheelset holding structure are located outside the designated position of the conveying line of the bogie 7. The wheelset blocking structure includes a blocking cylinder 81 and a blocking block 83. The blocking cylinder 81 is connected to the blocking block 83, and the blocking cylinder 81 can be activated. The blocking block 83 protrudes and stops the wheelset of the bogie 7 from the traveling or reversing direction of the bogie 7 .

The wheelset holding structure includes a positioning cylinder 82 and a holding block 84 . The positioning cylinder 82 is connected to the holding block 84 . The positioning cylinder 82 can activate the holding block 84 to extend and press the outer side of the wheel rim of the bogie 7 .

The blocking block 83 and the holding and fixing block 84 are arranged in pairs, and are fixed and positioned for the same wheel pair. The paired blocking blocks 83 and the holding and fixing blocks 84 are provided with one (as shown in FIG. 2 ) or more.

The material of the blocking block 83 and the holding block 84 can be selected from rubber, metal, plastic, wood and other materials.

Preferably, the blocking block 83 is set as a triangular rubber block.

Preferably, the holding and fixing block 84 is set as a rectangular rubber block.

The workflow of the positioning device 8 includes:

(1) Manually push the bogie 7 to the designated location, and trigger the switch (inductive proximity switch) to sense the wheelset.

(2) The wheelset blocking structure blocks the wheelset of the bogie 7, and at the same time the wheelset tightening structure starts to work: Specifically, the blocking cylinder 81 drives the triangular rubber block to extend, and the rim of the bogie 7 contacts the triangular rubber block Afterwards, the positioning cylinder 82 drives the rectangular rubber block to extend and press the outer side surface of the wheel rim of the upper bogie 7 , so as to achieve the effect of positioning and fixing the bogie 7 .

Regarding the dismantling device 6, as shown in FIG. 4, it includes a bracket 69, a motor 61, a reducer 62, a dismantling cylinder 63, a guide rod 64, a sleeve 65 and a wrench 66, and the control mechanism is connected to the motor 61 and the cylinder 63 in communication, respectively, The dismantling device is arranged symmetrically on both sides.

The bracket 69 is located at the center of the entire disassembly device 6 , and is the base plate of other structures of the disassembly device 6 . When the industrial robot 2 or other devices can carry the disassembly device 6 through the bracket 69 .

Preferably, the bracket 69 is provided in an inverted "T"-shaped configuration.

The two sides of the bracket 69 are respectively provided with a motor 61, a reducer 62 (can also be operated without the reducer 62) and a sleeve 65 from top to bottom. The sleeve 65 is used to cover and fix the core bolt 68. Protruding from the bottom of the bracket 69 is provided.

On the outside of the motor 61, the reducer 62 and the sleeve 65, that is, on both sides of the entire device, a dismantling cylinder 63, a guide rod 64 and a wrench 66 are sequentially arranged from top to bottom, that is, the upper end of the guide rod 64 moves the piston in the cylinder, A wrench 6 is connected to the lower end of the guide rod 64 .

The wrench 66 is set as an inward bending structure as a whole. The end of the wrench 66 is provided with a bayonet for clamping the nut 67, and the end of the bayonet is set as a slope 66a, which helps the nut 67 to fall off after the disassembly work is completed.

The dismantling device 6 in this embodiment is an automatic device for disassembling the bolts of the lower center plate of the bogie. Based on the different models of the bogies, the corresponding bolts of the lower center plate are different.

In this embodiment, there are two connected motors 61 , reducers 62 and sleeves 65 , as well as two connected dismantling cylinders 63 , guide rods 64 , and high-torque electric wrenches 66 , as shown in FIG. 5 .

In addition, it can also be set as follows: the complete set of connected motors 61, reducer 62 and sleeve 65, and the complete set of connected dismantling cylinders 63, guide rods 64, and large torque electric wrenches 66 are all four, and they are arranged in a matrix on the bracket 69. , that is, the four (2 groups) bolts 68 can be completely disassembled in one operation.

Preferably, the dismantling arrangement 6 is arranged on the floating docking station 9 , and the floating docking station 9 is arranged above the fixed positioning position of the bogie 7 .

The use method of the dismantling device 6 of the present embodiment is as follows:

(1) When the industrial robot 2 or other device transports the dismantling device 6 of this embodiment through the bracket 69, and sets the two sleeves 65 on the dismantling device 6 on a set of two bolts 68 at the same time, the cylinder 63 is disassembled. The guide rod 64 drives the wrench 66 to move up, and the wrench 66 clamps the two nuts 67 matched with the two bolts 68 and disassembles the cylinder 63 to maintain the clamping pressure;

(2) After the motor 61 is decelerated by the reducer 62, the two sleeves 65 are driven to rotate counterclockwise (in FIG. 4, viewed from top to bottom). When the sleeve 65 drives the bolt 68 to rotate by a certain angle, the nut 67 falls into the wrench 66. can not rotate with the bolt 68 in the card slot;

(3) When the motor 61 rotates for a certain time, the bolt 68 is separated from the nut 67;

(4) The dismantling cylinder 63 drives the wrench 66 to move down, and the nut 67 falls at this time.

(5) The industrial robot 2 or other device transports the dismantling device 6 and sets it on the next group of bolts 68, and repeats the above steps until the four groups of eight sets of bolts 68 on the core plate are completely disassembled.

The workflow of the intelligent decomposition system for the lower center plate bolts of the railway freight car of the present embodiment includes the following:

(1) The operator pushes the bogie 7 to the designated position in the operation area, and the operator evacuates the site and confirms that all personnel are evacuated;

(2) The operator presses the start button, and the positioning device 8 of the bogie 7 automatically fixes it;

(3) The vision device 4 installed on the vision support 3 carries out model identification of the bogie 7, scans the center disk area, calculates the size of the bolt 68 and the spatial position of the bolt 68, and feeds it back to the control mechanism;

(4) The control mechanism determines the model of the bogie 7, and communicates with the industrial robot 2 to select a suitable disassembly device 6 placed on the floating dock 9;

(5) The industrial robot 2 transports the dismantling device 6 to a designated position above the bogie 7, and the dismantling device 6 starts to disassemble the core plate bolts;

(6) After the disassembly device 6 is completed, the industrial robot 2 is reset, the positioning device 8 is reset, and the bogie 7 enters the next process. Specifically, the eight bolts 68 are automatically decomposed in four times. After the decomposition is completed, the industrial robot 2 is restored to a safe range, and the positioning device 8 of the bogie 7 is automatically released.

The above descriptions are only preferred embodiments of the present invention, and do not limit the protection scope of the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (10)

1. an intelligent decomposition system for the lower center plate bolt of a railway freight car, is characterized in that: the intelligent decomposition system for the center plate bolt comprises a control mechanism, an industrial robot, a vision device, a disassembly device and a positioning device, and the control mechanism is respectively related to the industrial robot, the vision device , The dismantling device and the positioning device are communicated and connected; the positioning device automatically fixes the bogie of the railway freight car in the designated position, and the vision device scans the bogie model and the size and spatial position information of the core bolt and feeds it back to the control mechanism, and the industrial robot receives the control mechanism. Then select and connect the corresponding dismantling device, and the dismantling device decomposes the bolt of the center disk in one piece. 2 . The intelligent decomposition system for the lower center plate bolts of a railway freight car as claimed in claim 1 , wherein the dismantling device is symmetrically arranged, comprising a bracket, a motor, a dismantling cylinder, a guide rod, a socket and a wrench, and the control The mechanism is respectively connected with the motor and the dismantling cylinder in communication, the bracket is the base plate of the dismantling device, the two sides of the bracket are respectively provided with a complete set of connected motors and a sleeve, and the sleeve is used to fix the core plate bolt; There is a complete set of connected dismantling cylinder, guide rod and wrench, the dismantling cylinder drives the guide rod and wrench to move up and down, and the wrench is used to fix the nut of the core plate bolt. 3. The intelligent decomposition system for the lower center plate bolts of a railway freight car according to claim 2, wherein the wrench is set as an inward bending structure as a whole, and the end of the wrench is provided with a bayonet for clamping The nut helps the nut to fall off. 4 . The intelligent decomposition system for the lower center plate bolts of a railway freight car according to claim 2 , wherein the socket and the wrench are arranged in a one-to-one correspondence. 5 . 5 . The intelligent decomposition system for the lower center plate bolts of a railway freight car according to claim 4 , wherein: the disassembly device is provided with two sockets and the wrench; or the disassembly device is provided with two Four of the sockets and the wrench are arranged in a matrix; the brackets are set as an inverted "T"-shaped structure. 6. The intelligent decomposition system for the lower core plate bolts of railway freight cars according to any one of claims 1-5, wherein the positioning device comprises an inductive proximity switch, a wheelset blocking structure and a wheelset tightening structure, The control mechanism is respectively connected in communication with the inductive proximity switch, the wheelset blocking structure and the wheelset clamping structure. The wheelset blocking structure and the wheelset clamping structure are located on the side of the designated position of the conveying line of the bogie. The wheelset blocking structure includes Blocking the cylinder and the blocking block, blocking the connection of the cylinder and starting the blocking block to protrude from the traveling or backward direction of the bogie to stop the wheelset of the bogie; the wheelset holding structure includes the positioning cylinder and the holding block, and the positioning cylinder is connected and activated Hold the fixing block out and press the outer side of the wheel rim of the bogie. 7 . The intelligent decomposition system for the lower core plate bolts of a railway freight car according to claim 6 , wherein the wheelset blocking structure and the wheelset clamping structure are arranged in pairs; The material is any one of rubber, plastic, metal or wood. 8. The intelligent decomposition system for the lower center plate bolts of railway freight cars according to any one of claims 1-5, wherein the vision device is installed on a vision bracket, and the vision bracket is arranged above the fixed positioning position of the bogie . 9. The intelligent disassembly system for the lower center plate bolts of railway freight cars according to any one of claims 1 to 5, wherein the industrial robot is arranged on the gantry, and the front end of the industrial robot is connected to the disassembly device through a floating joint . 10 . The intelligent decomposition system for the lower center plate bolts of a railway freight car according to claim 9 , wherein the industrial robot is set as a descending six-axis robot. 11 .

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