CN115446587B - Railway wagon wheel pair bearing front cover dismounting system - Google Patents
Railway wagon wheel pair bearing front cover dismounting system Download PDFInfo
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- CN115446587B CN115446587B CN202211026180.1A CN202211026180A CN115446587B CN 115446587 B CN115446587 B CN 115446587B CN 202211026180 A CN202211026180 A CN 202211026180A CN 115446587 B CN115446587 B CN 115446587B
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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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
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- Y02W30/56—Reuse, recycling or recovery technologies of vehicles
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Abstract
The invention discloses a railway wagon wheel pair bearing front cover dismounting system which consists of a front cover dismounting unit, an electric wrench unit, a movable frame unit, a wheel pair positioning unit and a front cover dismounting unit, wherein the front cover dismounting unit is used for dismounting a front cover of a railway wagon wheel pair; the main body of the movable frame unit is a truss structure arranged on an overhaul track, other components are connected and arranged as supporting components, the wheel set positioning unit is arranged on the ground between two tracks below the movable frame, the wheel sets are positioned and axially adjusted, the front cover dismounting unit is arranged on the movable frame unit and consists of a cooperative robot and a dismounting manipulator, the dismounting of the front cover can be completed by cooperation with the electric spanner units, and the two sets of electric spanner units perform unscrewing operation of front cover screws; the front cover decomposing unit is used for decomposing the front cover assembly detached from the wheel pair into separate parts. The disassembly system can reduce the labor intensity of workers and the potential safety hazard of operation, improve the operation efficiency and ensure the safety, reliability, high efficiency, convenience and informatization of the operation process.
Description
Technical Field
The invention relates to the technical field of transportation, in particular to a railway wagon wheel pair bearing front cover dismounting system.
Background
In recent years, the development of transportation industry in China is more and more rapid, and railway transportation becomes a main transportation mode and bears a large number of transportation tasks. Along with the progress of scientific technology, rail wagons are also developed towards high speed and heavy load, and higher requirements are put on the running quality and maintenance level of rail wagons in China. The wheel set is one of the most important components of the railway wagon, and determines the running quality of the whole wagon. The wheel set is overhauled in time, so that the running safety of the railway wagon can be ensured, and accidents are avoided.
In order to overhaul the wheel set, the wheel set needs to be disassembled, and the first step of disassembling the wheel set is to disassemble the front bearing cover. The front cover of the bearing of each factory and station section is disassembled at the present stage mainly by manual operation, an electric wrench is operated to unscrew the front cover screw, and then the front cover screw, the front cover, the anti-loose gasket and the marking plate are sequentially taken out from the shaft end and put into the corresponding material containing frame. The manual disassembly mode adopted at present has the defects of high labor intensity, high operation risk, easy misoperation, low matching degree with an overhaul system and the like.
In order to solve the problems, the maintenance efficiency and the automation degree of the bogie of the railway wagon are improved, a set of robot equipment capable of automatically disassembling the front cover of the bearing is developed, the equipment takes industrial robot technology, target detection technology, automatic disassembling technology and intelligent software technology as cores, repeated high-strength manual operation can be replaced, the labor intensity and the potential safety hazard of operation of workers are reduced, the operation efficiency is improved, and the safe, reliable, efficient, convenient and informationized operation process is ensured.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a railway wagon wheel pair bearing front cover dismounting system which can realize automation of wheel pair positioning and posture adjustment, front cover screw positioning, front cover dismounting and front cover dismounting.
In order to solve the technical problems, the invention adopts the following technical means:
the railway wagon wheel pair bearing front cover dismounting system comprises a wheel pair positioning unit, a front cover dismounting unit, a movable frame unit, an electric wrench unit and a front cover dismounting unit, wherein the wheel pair positioning unit is arranged below the movable frame unit and is provided with a wheel pair positioning frame, an electric cylinder, a jacking plate, a wheel pair stop lever, a wheel pair stop block and a laser distance sensor; the base of the electric cylinder is arranged at the bottom of the wheel set positioning frame, the upper end of the lifting rod is arranged on the lifting plate, and the electric cylinder controls the lifting plate to move up and down; one end of the wheel set positioning unit is provided with a wheel set stop lever, a wheel set stop block and a laser distance sensor, the wheel set stop lever and the wheel set stop block are matched to limit the wheel set to roll, and the laser distance sensor is used for detecting whether the wheel set passes; the front cover detaching unit is arranged on the linear module of the cooperative robot and is provided with a front cover detaching manipulator and the cooperative robot; the front cover dismounting manipulator is connected and arranged on the cooperative robot; the mobile frame unit is arranged on the wheel set maintenance line and is provided with a mobile frame, a cooperative robot linear module and an electric wrench linear module, the cooperative robot linear module is arranged on the mobile frame, and the electric wrench linear module is arranged on the mobile frame; the electric wrench unit is arranged on the movable frame unit and is provided with a sleeve and an electric wrench mounting seat, and the sleeve is connected and arranged on the movable frame unit through the electric wrench mounting seat; the front cover decomposition unit install in one side of movable frame unit, front cover decomposition unit is equipped with front cover decomposition manipulator, Z module, Y module, X module, front cover place the platform and front cover decompose the unit mounting bracket, X module is installed on front cover decomposition unit mounting bracket, Y module is installed on X module, Z module is installed on Y module, front cover decomposition manipulator is installed on Z module, front cover is placed the platform and is installed subaerial in front cover decomposition unit mounting bracket below.
The front cover of the bearing is detached from the shaft end by the front cover detaching manipulator, the front cover of the bearing is arranged on the shaft end by the front cover screw, the front cover is also provided with the gasket and the marking plate, the front cover screw is unscrewed firstly when the bearing is detached, then the front cover assembly consisting of the front cover, the front cover screw, the gasket and the marking plate is detached from the shaft end, and finally the components of the front cover assembly are independently detached; for easy disassembly, the bearing front cover disassembling robot device is designed into five units, namely a front cover disassembling unit, an electric wrench unit, a movable frame unit, a wheel set positioning unit and a front cover disassembling unit. The main body of the movable frame unit is a truss structure arranged on the overhauling track and is used as an installation foundation of the electric wrench unit and the front cover detaching unit. The wheel set positioning unit is arranged below the movable frame unit and used for positioning the wheel set and adjusting the axial posture, so that the front cover screw is aligned with the sleeve of the electric wrench unit. The front cover detaching unit is arranged on the movable frame unit and consists of a cooperative robot and a detaching manipulator, and can be matched with the electric wrench unit to detach the front cover. Two sets of electric spanner units are respectively arranged at two ends of the movable frame unit, and are conveyed to a working position by the linear module to carry out unscrewing operation of the front cover screw. The front cover decomposing unit is arranged beside the movable frame unit and is used for decomposing the front cover assembly detached from the wheel pair into separate parts.
The invention has the following advantages:
first: the disassembly efficiency is high. The manual disassembly is about 4-5 times needed for disassembling the front covers on two sides of a wheel set, and the disassembly time can be controlled within 2 minutes.
Second,: and the work piece management is convenient. The invention can separate the components of the front cover after the front cover is disassembled and put in the respective containers.
Third,: and the workshop informatization management is convenient. Before disassembly, the invention can take a picture of the front cover of the wheel set, and the front cover is provided with the wheel set model and number information, so that the information management of the subsequent wheel set is facilitated.
The invention solves the problems of high labor intensity, high operation risk, easy misoperation, low matching degree with an overhaul system and the like in the manual disassembly mode in the prior art.
A further preferred technical scheme is as follows:
the front cover decomposing unit is also provided with an electromagnet, a sucker, a magnet cylinder, a gasket push rod, an electromagnet mounting rack, a gasket push rod spring, a gasket push rod mounting seat, a gasket push rod mounting rack, an electromagnet mounting rack sliding block and a gasket push rod mounting rack sliding block, a front cover decomposing manipulator guide rail, a front cover decomposing manipulator frame, a front cover decomposing manipulator rotating motor speed reducer mounting rack, a front cover decomposing manipulator rotating seat and a front cover decomposing manipulator mounting seat; the front cover decomposing manipulator is arranged on the Z module through a front cover decomposing manipulator mounting seat; the front cover decomposition manipulator rotating seat is arranged on the front cover decomposition manipulator mounting seat, the front cover decomposition manipulator rotating motor speed reducer mounting frame is arranged on the front cover decomposition manipulator rotating seat, the front cover decomposition manipulator rotating motor speed reducer is connected with the front cover decomposition manipulator rotating motor, and the front cover decomposition manipulator rotating motor speed reducer is arranged on the front cover decomposition manipulator rotating motor speed reducer mounting frame; the front cover decomposition manipulator frame is connected with an output shaft of a front cover decomposition manipulator rotating motor reducer, and is driven to rotate by the front cover decomposition manipulator rotating motor; the magnet cylinder and the gasket push rod cylinder are arranged on the front cover disassembly manipulator frame, a piston rod of the magnet cylinder is fixedly connected with the electromagnet mounting frame, and three electromagnets are arranged on the electromagnet mounting frame; the electromagnet mounting frame is fixedly connected with an electromagnet mounting frame sliding block, and the electromagnet mounting frame sliding block is matched with the front cover decomposing manipulator guide rail; the gasket push rod mounting frame is fixedly connected with a piston rod of the gasket push rod cylinder, the gasket push rod mounting seat is fixedly connected with the gasket push rod mounting frame, the gasket push rod is mounted on the gasket push rod mounting seat, the gasket push rod slides along a hole in the gasket push rod mounting seat, and the gasket push rod spring is sleeved on the gasket push rod.
The movable frame unit is also provided with a cooperative robot mounting seat and an electric wrench mounting rod, the robot linear module is mounted on the movable frame through the cooperative robot mounting seat, and the electric wrench mounting rod is connected with the electric wrench unit.
The front cover disassembling unit is also provided with a front cover chuck, a front cover screw push rod, a camera, a front cover chuck rod, a front cover chuck slider, a front cover screw push rod triangular block, a front cover chuck guide rail, a front cover chuck cylinder, a front cover screw push rod guide rail, a front cover screw push rod slider, a front cover disassembling manipulator mounting seat and a front cover disassembling manipulator frame; the front cover removing manipulator is installed on the collaborative robot through a front cover removing manipulator installation seat, the front cover removing manipulator installation seat is installed on a front cover removing manipulator frame, a front cover screw push rod guide rail and a front cover clamping head guide rail are installed on the front cover removing manipulator frame, a front cover screw push rod sliding block and a front cover clamping head sliding block are installed on the front cover removing manipulator frame, a front cover screw push rod is installed on the front cover screw push rod sliding block, a front cover clamping head is installed on the front cover clamping head rod, one of the two front cover screw push rods is provided with a front cover screw push rod triangular block at the tail end, a front cover clamping head cylinder is installed on the front cover removing manipulator frame, the tail end of the cylinder rod is connected with the front cover clamping head rod, the front cover screw push rod cylinder is installed on the front cover removing manipulator frame, the tail end of the cylinder rod is connected with the front cover screw push rod, and the camera is installed at one end of the front cover removing manipulator frame.
The wheel set positioning unit is also provided with a guide sleeve, a guide pillar, a V-shaped block and a friction wheel, wherein the friction wheel driving motor, the wheel set stop lever driving motor, a wheel set stop lever seat, a wheel set stop block spring and a wheel set stop lever seat; the guide posts are arranged at intervals, each guide post is arranged on the lower surface of the jacking plate, the guide posts penetrate through holes in the middle of the guide sleeve, the guide sleeve is arranged on the wheel set positioning frame, and the guide posts can slide in the holes of the guide sleeve; the V-shaped blocks are arranged on the jacking plate, a pair of V-shaped blocks are respectively arranged on two sides of the jacking plate, two friction wheels are arranged between each pair of V-shaped blocks, and a friction wheel driving motor is arranged on one side of one friction wheel and used for driving the friction wheels to rotate; the wheel set stop block is arranged on the wheel set stop block seat, and the wheel set stop block spring is arranged on the wheel set stop block; the wheel set stop block seat is arranged on the wheel set positioning frame; the wheel set stop lever seat is arranged on the wheel set positioning frame, the wheel set stop lever and the wheel set stop lever driving motor are arranged on the wheel set stop lever seat, and the laser distance sensor is arranged on the wheel set stop block seat.
Drawings
Fig. 1 is a schematic structural view of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a wheel set positioning unit according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a front cover removing unit in an embodiment of the present invention.
Fig. 4 is a schematic view of the structure of a mobile frame unit according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of an electric wrench unit according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of a front cover separation unit in an embodiment of the present invention.
Fig. 7 is a schematic structural view of a front cover removing robot applied in the embodiment of the present invention.
Fig. 8 is a schematic structural view of a front cover exploded robot applied in the embodiment of the present invention.
Fig. 9 is a schematic structural view of a front cover assembly according to the present invention.
Fig. 10 is a perspective view of the working state of the wheel set positioning unit of the present invention.
Fig. 11 is a perspective view of the working state of the wheel set positioning unit of the present invention.
Fig. 12 is a perspective view of a cooperative robot working state of the present invention.
Fig. 13 is a perspective view showing an operation state of the electric wrench unit 4 of the present invention.
Fig. 14 is a perspective view showing an operating state of the push rod by the front cover screw of the present invention.
Fig. 15 is a perspective view of the front cover disassembling unit of the present invention taking the front cover screw.
Fig. 16 is a perspective view of a front cover exploded unit of the present invention with a spacer.
Fig. 17 is a perspective view of the front cover unit of the present invention showing the sign plate.
Fig. 18 is a perspective view of the front cover exploded unit of the present invention.
Reference numerals illustrate:
the wheel set positioning unit 1, the wheel set positioning frame 101, the guide sleeve 10101, the electric cylinder 102, the jacking plate 103, the guide pillar 10301, the V-shaped block 10302, the friction wheel 10303, the friction wheel driving motor 10304, the wheel set stop lever 104, the wheel set stop lever driving motor 10401, the wheel set stop lever seat 10402, the wheel set stop block 105, the wheel set stop block spring 10501, the wheel set stop lever seat 10502 and the laser distance sensor 106.
The front cover removing unit 2, the front cover removing robot 201, the front cover clip 20101, the front cover screw push rod 20102, the camera 20103, the front cover clip rod 20104, the front cover clip slider 20105, the front cover screw push rod triangle 20106, the front cover clip guide 20107, the front cover clip cylinder 20108, the front cover screw push rod cylinder 20109, the front cover screw push rod guide 20110, the front cover screw push rod slider 20111, the front cover removing robot mount 20112, the front cover removing robot frame 20113, and the cooperative robot 202.
The movable rack unit 3, the movable rack frame 301, the cooperative robot linear module 302, the cooperative robot mount 30201, the electric wrench linear module 303, and the electric wrench mounting bar 30301.
An electric wrench unit 4, a sleeve 401 and an electric wrench mounting seat 402.
The front cover decomposing unit 5, the front cover decomposing manipulator 501, the electromagnet 50101, the suction cup 50102, the magnet cylinder 50103, the gasket push rod cylinder 50104, the gasket push rod 50105, the electromagnet mounting bracket 50106, the gasket push rod spring 50107, the gasket push rod mounting seat 50108, the gasket push rod mounting bracket 50109, the electromagnet mounting bracket slider 50110, the gasket push rod mounting bracket slider 50111, the front cover decomposing manipulator guide rail 50112, the front cover decomposing manipulator frame 50113, the front cover decomposing manipulator rotating motor 50114, the front cover decomposing manipulator rotating motor reducer 50115, the front cover decomposing manipulator rotating motor reducer mounting bracket 50116, the front cover decomposing manipulator rotating seat 50117, the front cover decomposing manipulator mounting seat 50118, the Z module 502, the Y module 503, the X module 504, the front cover placing table 505, and the front cover decomposing unit 5 mounting bracket 506.
Front cover assembly 6, front cover screw 60101, gasket 60102, sign plate 60103, front cover 60104.
Detailed Description
The invention will be further illustrated with reference to the following examples.
Referring to fig. 1 to 8, the front cover dismounting system for the railway wagon wheel pair bearing of the invention comprises a front cover dismounting unit 5, an electric wrench unit 4, a movable frame unit 3, a wheel pair positioning unit 1 and a front cover dismounting unit 2; the main body of the movable frame unit 3 is a truss structure arranged on an overhaul track, other components are connected and arranged as supporting components, the wheel set positioning unit 1 is arranged on the ground between two tracks below the movable frame, the wheel sets are positioned and axially adjusted, the front cover dismounting unit 2 is arranged on the movable frame unit 3 and consists of a cooperative robot and a dismounting manipulator, the dismounting of a front cover can be completed by cooperation with the electric spanner units 4, and the two sets of electric spanner units 4 perform unscrewing operation of front cover screws 60101; the front cover detaching unit 5 is for detaching the front cover assembly 6 detached from the wheel pair into separate parts.
The detailed structure of each unit is as follows:
the wheel set positioning unit 1, the wheel set positioning unit 1 is arranged below the movable frame unit 3, the wheel set positioning unit 1 is provided with a wheel set positioning frame 101, an electric cylinder 102 and a lifting plate 103, a wheel set stop lever 104, a wheel set stop block 105, a laser distance sensor 106, a guide sleeve 10101, a guide pillar 10301, a V-shaped block 10302, a friction wheel 10303, a friction wheel driving motor 10304, a wheel set stop lever driving motor 10401, a wheel set stop lever seat 10402, a wheel set stop block spring 10501 and a wheel set stop lever seat 10502; the base of the electric cylinder 102 is arranged at the bottom of the wheel set positioning frame 101, the upper end of the lifting rod is arranged on the lifting plate 103, and the electric cylinder 102 controls the lifting plate 103 to move up and down; one end of the wheel set positioning unit 1 is provided with a wheel set stop lever 104, a wheel set stop block 105 and a laser distance sensor 106, the wheel set stop lever 104 and the wheel set stop block 105 are matched to limit the wheel set to roll, and the laser distance sensor 106 is used for detecting whether the wheel set passes; the guide posts 10301 are arranged at intervals, each guide post 10301 is arranged on the lower surface of the jacking plate 103, the guide posts 10301 penetrate through holes in the middle of the guide sleeve 10101, the guide sleeve 10101 is arranged on the wheel set positioning frame 101, and the guide posts 10301 can slide in the holes of the guide sleeve 10101; the V-shaped blocks 10302 are arranged on the jacking plate 103, a pair of V-shaped blocks 10302 are respectively arranged on two sides of the jacking plate 103, two friction wheels 10303 are arranged between each pair of V-shaped blocks 10302, and a friction wheel driving motor 10304 is arranged on one side of each pair of V-shaped blocks 10303 and used for driving the friction wheels 10303 to rotate; wheel set block 105 is mounted on wheel set block seat 10502, wheel set block spring 10501 is mounted on wheel set block 105; the wheel set stopper 10502 is mounted on the wheel set positioning frame 101. The wheel set bar seat 10402 is mounted on the wheel set positioning frame 101, the wheel set bar 104 and the wheel set bar drive motor 10401 are mounted on the wheel set bar seat 10402, and the laser distance sensor 106 is mounted on the wheel set stopper seat 10502.
The front cover detaching unit 2 is mounted on the collaborative robot linear module 302, and the front cover detaching unit 2 is provided with a front cover detaching manipulator 201, a collaborative robot 202, a front cover clamping head 20101, a front cover screw push rod 20102, a camera 20103, a front cover clamping rod 20104, a front cover clamping head slider 20105, a front cover screw push rod triangle block 20106, a front cover clamping head guide rail 20107, a front cover clamping head cylinder 20108, a front cover screw push rod cylinder 20109, a front cover screw push rod guide rail 20110, a front cover screw push rod slider 20111, a front cover detaching manipulator mounting seat 20112 and a front cover detaching manipulator frame 20113; the front cover removing robot 201 is connected to the cooperative robot 202, the front cover removing unit 2 is further provided with a front cover removing robot 201 mounted on the cooperative robot 202 through a front cover removing robot mounting base 20112, the front cover removing robot mounting base 20112 is mounted on a front cover removing robot frame 20113, a front cover screw push rod guide 20110 and a front cover clamping guide 20107 are mounted on the front cover removing robot frame 20113, a front cover screw push rod slider 20111 and a front cover clamping slider 20105 are mounted on the front cover removing robot frame 20113, a front cover screw push rod 20102 is mounted on the front cover screw push rod slider 20111, a front cover clamping rod 20104 is mounted on the front cover clamping slider 20105, a front cover screw push rod 20101 is mounted on the front cover clamping rod 20104, one of the two front cover screw push rods 20102 is mounted with a front cover screw push rod triangle block 20106 at the end, a front cover clamping cylinder 20108 is mounted on the front cover robot frame 20113, the end of the cylinder rod is connected to the front cover screw push rod 20104, the front cover is mounted on the front cover cylinder frame 201103, and the front cover is connected to the front cover screw 20109 is mounted on the front cover removing robot frame 20103.
The movable frame unit 3 is mounted on a wheel set maintenance line, the movable frame unit 3 is provided with a movable frame 301, a cooperative robot linear module 302, an electric wrench linear module 303, a cooperative robot mounting seat 30201 and an electric wrench mounting rod 30301, the cooperative robot linear module 302 is mounted on the movable frame 301, and the electric wrench linear module 303 is mounted on the movable frame 301; the robot linear module 302 is mounted on the movable frame 301 through a cooperative robot mount 30201, and an electric wrench mounting lever 30301 is connected to the electric wrench unit 4.
The electric wrench unit 4 is arranged on the movable frame unit 3, the electric wrench unit 4 is provided with a sleeve 401 and an electric wrench mounting seat 402, and the sleeve 401 is connected and arranged on the movable frame unit 3 through the electric wrench mounting seat 402;
the front cover decomposing unit 5 is mounted on one side of the moving frame unit 3, and the front cover decomposing unit 5 is provided with a front cover decomposing manipulator 501, a Z module 502, a Y module 503, an X module 504, a front cover placing table 505, a front cover decomposing unit mounting frame 506, an electromagnet 50101, a suction cup 50102, a magnet cylinder 50103, a gasket push rod cylinder 50104, a gasket push rod 50105, an electromagnet mounting frame 50106, a gasket push rod spring 50107, a gasket push rod mounting seat 50108, a gasket push rod mounting frame 50109, an electromagnet mounting frame slider 50110, a gasket push rod mounting frame slider 50111, a front cover decomposing manipulator guide rail 50112, a front cover decomposing manipulator frame 50113, a front cover decomposing manipulator rotating motor 50114, a front cover decomposing manipulator rotating motor reducer 50115, a front cover decomposing manipulator rotating motor mounting frame 50116, a front cover decomposing manipulator rotating seat 50117 and a front cover decomposing manipulator mounting seat 50118; the X module 504 is installed on the front cover decomposition unit installation frame 506, the Y module 503 is installed on the X module 504, the Z module 502 is installed on the Y module 503, the front cover decomposition manipulator 501 is installed on the Z module 502, and the front cover placing table 505 is installed on the ground below the front cover decomposition unit installation frame 506; the front cover decomposing manipulator 501 is mounted on the Z module 502 through a front cover decomposing manipulator mount 50118; the front cover decomposing manipulator rotating seat 50117 is arranged on the front cover decomposing manipulator mounting seat 50118, the front cover decomposing manipulator rotating motor speed reducer mounting frame 50116 is arranged on the front cover decomposing manipulator rotating seat 50117, the front cover decomposing manipulator rotating motor speed reducer 50115 is connected with the front cover decomposing manipulator rotating motor 50114, and the front cover decomposing manipulator rotating motor speed reducer 50115 is arranged on the front cover decomposing manipulator rotating motor speed reducer mounting frame 50116; the front cover decomposing manipulator frame 50113 is connected with the output shaft of a front cover decomposing manipulator rotating motor reducer 50115 and is driven to rotate by a front cover decomposing manipulator rotating motor 50114; the magnet cylinder 50103 and the gasket push rod cylinder 50104 are mounted on the front cover disassembly manipulator frame 50113, a piston rod of the magnet cylinder 50103 is fixedly connected with the electromagnet mounting bracket 50106, and three electromagnets 50101 are mounted on the electromagnet mounting bracket 50106; the electromagnet mounting bracket 50106 is fixedly connected with the electromagnet mounting bracket sliding block 50110, and the electromagnet mounting bracket sliding block 50110 is matched with the front cover decomposing manipulator guide rail 50112; gasket push rod mount 50109 and gasket push rod cylinder 50104's piston rod fixed connection, gasket push rod mount pad 50108 and gasket push rod mount pad 50109 fixed connection, gasket push rod 50105 install on gasket push rod mount pad 50108, and gasket push rod 50105 slides along the hole in gasket push rod mount pad 50108, and gasket push rod spring 50107 overlaps on gasket push rod 50105. When the gasket push rod 50105 works, one end of the gasket push rod, which is at the electromagnet 50101, extends to the lower part of the electromagnet 50101 to press the gasket.
As shown in fig. 9, the front cover 60104 of the front cover assembly 6 has a gasket 60102 and a sign plate 60103 fixed to the surface thereof by a front cover screw 60101. The dismounting system is used to detach the front cover assembly 6 from the tire pair and to detach the front cover screw 60101, the spacer 60102, the sign plate 60103 and the front cover 60104.
As shown in fig. 10 and 11, when the wheel set rolls from the track to the wheel set positioning unit 1, the laser distance sensor 106 on the wheel set positioning unit 1 detects that the wheel set passes by, the wheel set stop lever drive motor 10401 lifts the wheel set stop lever 104, the wheel set presses the wheel set stop lever 105 and then collides with the lifted wheel set stop lever 104, and the wheel set stop lever 105 is sprung by the wheel set stop lever spring 10501 and then limits the wheel set rolling together with the wheel set stop lever 104. Then, the electric cylinder 102 drives the lifting plate 103 to lift up, so that the V-shaped block 10302 is in contact with the wheel pair, the electric cylinder 102 continues to lift up, the position of the wheel pair is fixed in the two friction wheels 10303 by the V-shaped block 10302, and the wheel pair is lifted off the track.
As shown in fig. 12, after the wheel set is lifted off the track, the cooperative robot 202 drives the front cover removing manipulator 201 to move to the wheel set axle end, the camera 20103 takes an axle end picture and calculates the position of the front cover screw 60101, and then the friction wheel 10303 drives the wheel set to rotate, so that the front cover screw 60101 is aligned with the sleeve 401. The last joint of the cooperative robot 202 adjusts the posture of the front cover removing manipulator 201, so that the front cover clamping head 20101 clamps the front cover of the wheel set, the electric wrench linear module 303 of the movable frame unit 3 drives the electric wrench unit 4 to move to the front cover, the sleeve 401 is sleeved on the front cover screw 60101, and the front cover screw 60101 starts to be unscrewed. In the process of unscrewing the front cover screw 60101, the front cover screw 60101 can move outwards along the axial direction, and in order to prevent the front cover screw 60101 from falling, the front cover dismounting manipulator 201 and the front cover screw 60101 are driven by the cooperative robot 202 to move at the same direction and the same speed, so that the front cover and the front cover screw 60101 are guaranteed to be attached together. After the front cover screw 60101 is completely unscrewed, the front cover assembly 6 is removed from the axial end of the wheel and carried to the front cover placement table 505, and is disassembled by the front cover disassembling unit 5.
As shown in fig. 13, when the front cover assembly 6 is carried, in order to prevent the front cover screw 60101 from falling out, the front cover screw 60101 is fixed in the front cover screw hole of the front cover by the front cover screw push rod 20102.
As shown in fig. 14, the front cover clamp 20101 and the front cover screw push rod 20102 are driven by a cylinder and a slider to realize linear motion. After the front cover assembly 6 is placed, the cooperative robot linear module 302 transfers the front cover removing unit 2 to the other end of the rail to remove another front cover.
As shown in fig. 9, the front cover 60104 of the front cover assembly 6 has a gasket 60102 and a sign plate 60103 fixed to the surface thereof by a front cover screw 60101. The dismounting system is used to detach the front cover assembly 6 from the tire pair and to detach the front cover screw 60101, the spacer 60102, the sign plate 60103 and the front cover 60104.
As shown in fig. 15 to 18, an electromagnet 50101 is mounted on the front cover decomposition unit 5 for adsorbing the spacer 60102, the front cover screw 60101, and the front cover 60104, and a suction cup 50102 for adsorbing the marking plate 60103. When the front cover assembly 6 is disassembled, the front cover disassembling robot 501 is first moved by the Y module 503 and the X module 504 to a position directly above the front cover placing table 505, and the front cover disassembling robot 501 is moved downward by the Z module 502, and the workpiece is sucked by the suction cup 50102 or the electromagnet 50101. After the workpieces are adsorbed, the front cover decomposition manipulator 501 is pulled upwards by the Z module 502, so that the front cover component parts are separated from the front cover, the Y module 503 and the X module 504 move the front cover decomposition manipulator 501 to the placement positions of the workpieces, the electromagnet 50101 or the sucker 50102 is loosened, the workpieces are put down, the workpieces return to the front cover placement table 505, and the next workpiece is taken out until all the workpieces are taken out. The electromagnet 50101 is controlled by the electromagnet cylinder 50103 to move up and down, when the electromagnet cylinder 50103 is fully extended, the electromagnet 50101 covers the sucker 50102, and at the moment, the electromagnet 50101 adsorbs a workpiece; when the electromagnet cylinder 50103 is fully contracted, the suction cup 50102 extends out of the hole in the middle of the electromagnet mounting bracket 50106, at which time the workpiece is sucked by the suction cup 50102. In order to prevent the gasket 60102 from being carried out by the front cover screw 60101 when the front cover screw 60101 is sucked, a gasket push rod 50105 is attached, and the gasket push rod cylinder 50104 is driven to press the gasket 60102 when the front cover screw 60101 is taken out. Since the hole in the gasket 60102 where the front cover screw 60101 is mounted is large, the electromagnet 50101 needs to be rotated by a certain angle to attach the electromagnet 50101 to another position on the gasket 60102 because the electromagnet 50101 cannot attach the front cover screw 60101 to the front cover screw mounting hole. The front cover separation manipulator rotating motor 50114 can rotate the front cover separation manipulator frame 50113, thereby realizing the adjustment of the adsorption position of the electromagnet 50101.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the scope of the claims, but rather the equivalent structural changes made by the application of the present description and drawings are intended to be included within the scope of the claims.
Claims (4)
1. The utility model provides a railway wagon wheel pair bearing protecgulum dismantlement system, is wheel pair positioning unit (1), protecgulum dismantlement unit (2), removes frame unit (3), electric spanner unit (4), protecgulum decomposition unit (5), its characterized in that respectively:
the wheel set positioning unit (1), the wheel set positioning unit (1) is arranged below the movable frame unit (3), the wheel set positioning unit (1) is provided with a wheel set positioning frame (101), an electric cylinder (102) and a jacking plate (103), a wheel set stop lever (104), a wheel set stop block (105) and a laser distance sensor (106); the base of the electric cylinder (102) is arranged at the bottom of the wheel set positioning frame (101), the upper end of the lifting rod is arranged on the lifting plate (103), and the electric cylinder (102) controls the lifting plate (103) to move up and down; one end of the wheel set positioning unit (1) is provided with a wheel set stop lever (104), a wheel set stop block (105) and a laser distance sensor (106), the wheel set stop lever (104) and the wheel set stop block (105) are matched to limit the wheel set to roll, and the laser distance sensor (106) is used for detecting whether a wheel set passes;
the front cover detaching unit (2) is arranged on the linear module (302) of the cooperative robot, and the front cover detaching unit (2) is provided with a front cover detaching manipulator (201) and the cooperative robot (202); the front cover detaching manipulator (201) is connected and arranged on the cooperative robot (202);
the mobile frame unit (3) is arranged on a wheel set maintenance line, the mobile frame unit (3) is provided with a mobile frame (301), a cooperative robot linear module (302) and an electric wrench linear module (303), the cooperative robot linear module (302) is arranged on the mobile frame (301), and the electric wrench linear module (303) is arranged on the mobile frame (301);
the electric wrench unit (4) is arranged on the movable frame unit (3), the electric wrench unit (4) is provided with a sleeve (401) and an electric wrench mounting seat (402), and the sleeve (401) is connected and arranged on the movable frame unit (3) through the electric wrench mounting seat (402);
the front cover decomposition unit (5) is arranged on one side of the movable frame unit (3), the front cover decomposition unit (5) is provided with a front cover decomposition manipulator (501), a Z module (502), a Y module (503), an X module (504), a front cover placement table (505) and a front cover decomposition unit mounting frame (506), the X module (504) is arranged on the front cover decomposition unit mounting frame (506), the Y module (503) is arranged on the X module (504), the Z module (502) is arranged on the Y module (503), the front cover decomposition manipulator (501) is arranged on the Z module (502) group, and the front cover placement table (505) is arranged on the ground below the front cover decomposition unit mounting frame (506);
the front cover decomposition unit (5) is further provided with an electromagnet (50101), a sucker (50102), a magnet cylinder (50103), a gasket push rod cylinder (50104), a gasket push rod (50105), an electromagnet mounting bracket (50106), a gasket push rod spring (50107), a gasket push rod mounting seat (50108), a gasket push rod mounting bracket (50109), an electromagnet mounting bracket sliding block (50110) and a gasket push rod mounting bracket sliding block (50111), a front cover decomposition manipulator guide rail (50112), a front cover decomposition manipulator frame (50113), a front cover decomposition manipulator rotating motor (50114), a front cover decomposition manipulator rotating motor reducer (50115), a front cover decomposition manipulator rotating motor reducer mounting bracket (50116), a front cover decomposition manipulator rotating seat (50117) and a front cover decomposition manipulator mounting seat (50118); the front cover decomposition manipulator (501) is arranged on the Z module (502) through a front cover decomposition manipulator mounting seat (50118); the front cover decomposition manipulator rotating seat (50117) is arranged on the front cover decomposition manipulator mounting seat (50118), the front cover decomposition manipulator rotating motor speed reducer mounting frame (50116) is arranged on the front cover decomposition manipulator rotating seat (50117), the front cover decomposition manipulator rotating motor speed reducer (50115) is connected with the front cover decomposition manipulator rotating motor (50114), and the front cover decomposition manipulator rotating motor speed reducer (50115) is arranged on the front cover decomposition manipulator rotating motor speed reducer mounting frame (50116); the front cover decomposition manipulator frame (50113) is connected with an output shaft of a front cover decomposition manipulator rotating motor reducer (50115) and is driven to rotate by a front cover decomposition manipulator rotating motor (50114); the magnet cylinder (50103) and the gasket push rod cylinder (50104) are arranged on the front cover decomposition manipulator frame (50113), a piston rod of the magnet cylinder (50103) is fixedly connected with the electromagnet mounting frame (50106), and three electromagnets (50101) are arranged on the electromagnet mounting frame (50106); the electromagnet mounting frame (50106) is fixedly connected with the electromagnet mounting frame sliding block (50110), and the electromagnet mounting frame sliding block (50110) is matched with the front cover decomposing manipulator guide rail (50112); gasket push rod mounting bracket (50109) and the piston rod fixed connection of gasket push rod cylinder (50104), gasket push rod mount pad (50108) and gasket push rod mounting bracket (50109) fixed connection, gasket push rod (50105) are installed on gasket push rod mount pad (50108), and gasket push rod (50105) slides along the hole in gasket push rod mount pad (50108), and gasket push rod spring (50107) cover is on gasket push rod (50105).
2. The railway wagon wheel pair bearing front cover removal system of claim 1, wherein: the movable frame unit (3) is further provided with a cooperative robot mounting seat (30201) and an electric wrench mounting rod (30301), the cooperative robot linear module (302) is mounted on the movable frame (301) through the cooperative robot mounting seat (30201), and the electric wrench mounting rod (30301) is connected with the electric wrench unit (4).
3. The railway wagon wheel pair bearing front cover removal system of claim 1, wherein: the front cover disassembling unit (2) is also provided with a front cover chuck (20101), a front cover screw push rod (20102), a camera (20103), a front cover chuck rod (20104), a front cover chuck slide block (20105), a front cover screw push rod triangular block (20106), a front cover chuck guide rail (20107), a front cover chuck cylinder (20108), a front cover screw push rod cylinder (20109), a front cover screw push rod guide rail (20110), a front cover screw push rod slide block (20111), a front cover disassembling manipulator mounting seat (20112) and a front cover disassembling manipulator frame (20113); the front cover removing manipulator (201) is mounted on the collaborative robot (202) through a front cover removing manipulator mounting seat (20112), the front cover removing manipulator mounting seat (20112) is mounted on a front cover removing manipulator frame (20113), a front cover screw push rod guide rail (20110) and a front cover clamp guide rail (20107) are mounted on the front cover removing manipulator frame (20113), a front cover screw push rod slider (20111) and a front cover clamp slider (20105) are mounted on the front cover removing manipulator frame (20113), a front cover screw push rod (201102) is mounted on the front cover screw push rod slider (20111), a front cover clamp rod (20104) is mounted on the front cover clamp slider (20105), a front cover screw tri-angle block (20106) is mounted at the tail end of one of two front cover screw push rods (20102), a front cover clamp cylinder (20108) is mounted on the front cover removing manipulator frame (20113), and a front cover cylinder (201103) is connected with the front cover cylinder rod (201107) at the tail end of the front cover removing manipulator frame (201103), and the front cover clamp rod (20109) is mounted on the front cover clamp rod (20103).
4. The railway wagon wheel pair bearing front cover removal system of claim 1, wherein: the wheel set positioning unit (1) is also provided with a guide sleeve (10101), a guide pillar (10301), a V-shaped block (10302), a friction wheel (10303), a friction wheel driving motor (10304), a wheel set stop lever driving motor (10401), a wheel set stop lever seat (10402), a wheel set stop spring (10501) and a wheel set stop seat (10502); the guide posts (10301) are arranged at intervals, each guide post (10301) is arranged on the lower surface of the jacking plate (103), the guide posts (10301) penetrate through holes in the middle of the guide sleeve (10101), the guide sleeve (10101) is arranged on the wheel set positioning frame (101), and the guide posts (10301) can slide in the holes of the guide sleeve (10101); the V-shaped blocks (10302) are arranged on the jacking plate (103), a pair of V-shaped blocks (10302) are respectively arranged on two sides of the jacking plate (103), two friction wheels (10303) are arranged between each pair of V-shaped blocks (10302), and a friction wheel driving motor (10304) is arranged on one side of one friction wheel (10303) and used for driving the friction wheels (10303) to rotate; the wheel set stop block (105) is arranged on the wheel set stop block seat (10502), and the wheel set stop block spring (10501) is arranged on the wheel set stop block (105); the wheel set stop block seat (10502) is arranged on the wheel set positioning frame (101); the wheel set stop lever seat (10402) is arranged on the wheel set positioning frame (101), the wheel set stop lever (104) and the wheel set stop lever driving motor (10401) are arranged on the wheel set stop lever seat (10402), and the laser distance sensor (106) is arranged on the wheel set stop block seat (10502).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211026180.1A CN115446587B (en) | 2022-08-25 | 2022-08-25 | Railway wagon wheel pair bearing front cover dismounting system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211026180.1A CN115446587B (en) | 2022-08-25 | 2022-08-25 | Railway wagon wheel pair bearing front cover dismounting system |
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| CN115446587B true CN115446587B (en) | 2023-07-14 |
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| CN202211026180.1A Active CN115446587B (en) | 2022-08-25 | 2022-08-25 | Railway wagon wheel pair bearing front cover dismounting system |
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