CN116690579A - Railway vehicle door dismounting system - Google Patents

Abstract

The invention discloses a rail vehicle door dismounting system which comprises a dismounting operation mechanism, a loading mechanism and a control system, wherein the dismounting operation mechanism comprises an operation trolley, a moving assembly and a gripper, the moving assembly is arranged on the operation trolley, the gripper for gripping a vehicle door is arranged on the moving assembly to be driven to move by the moving assembly, the loading mechanism comprises a storage rack for storing the vehicle door, and the control system controls the dismounting operation mechanism to cooperate with the loading mechanism to mount and dismount the vehicle door. The rail vehicle door dismounting system can conveniently mount and dismount the vehicle door, reduces the participation of manpower, effectively reduces the labor intensity and improves the operation efficiency.

Description

Railway vehicle door dismounting system

Technical Field

The invention relates to the technical field of rail vehicle overhauling devices, in particular to a rail vehicle door dismounting system.

Background

The number of the doors of the railway vehicle is large, the switching frequency is high, and in order to ensure the running safety and reliability of the railway vehicle, when the doors are in switching failure or the vehicle is subjected to frame overhaul, the doors are required to be disassembled, assembled and maintained. In the prior art, a manual tool disassembly mode is adopted, the overall dimension of the vehicle door is large, the weight is large, the vehicle door can be assembled and disassembled only by cooperation of multiple persons, the labor intensity is high, the safety risk exists, and the efficiency is low. There is also door dismouting mechanism among the prior art, for example a subway door dismouting mechanism that CN 215475455U disclosed, but the dismouting process still needs the manual work to assist, still needs manual handling operation when dismantling and transporting, influences the dismouting efficiency of door.

Disclosure of Invention

The invention aims to solve the technical problems and the technical task of improving the prior art, providing a rail vehicle door dismounting system, and solving the problems of more manual operations, high labor intensity and low efficiency in the door dismounting operation in the prior art.

In order to solve the technical problems, the technical scheme of the invention is as follows:

the utility model provides a rail vehicle door dismouting system, includes dismouting operation mechanism, loading mechanism and control system, dismouting operation mechanism includes operation dolly, moving component and tongs, and moving component sets up on the operation dolly for the tongs setting of grabbing the door is on moving component in order to be driven the removal by it, loading mechanism is including the storage frame that is used for depositing the door, control system control dismouting operation mechanism cooperates with loading mechanism in order to carry out the dismouting of door. The rail vehicle door dismounting system is convenient to use and good in maneuverability, the dismounting operation mechanism can flexibly and conveniently travel to the door position of the rail vehicle through the operation trolley to carry out door dismounting operation, the grippers can reliably grasp the door, and the grippers can flexibly move under the drive of the moving assembly, so that the door can be dismounted from the rail vehicle and then carried and placed on the storage rack of the loading mechanism or carried from the storage rack to the rail vehicle for installation, manual participation is not needed in the carrying process, the labor intensity is effectively reduced, the dismounting efficiency is improved, and the operation safety is improved.

Further, the moving assembly comprises a supporting mechanical arm and an actuating mechanism, the gripper is borne by the supporting mechanical arm and is connected with the actuating mechanism, and the actuating mechanism drives the gripper to move and enables the supporting mechanical arm to follow. The vehicle door has large outline dimension and heavy weight, the vehicle door is driven by the actuating mechanism to move and bear the weight of the vehicle door, the load on the actuating mechanism is large, and a larger actuating mechanism is needed to meet the requirement, so that the whole size of the dismounting operation mechanism is overlarge, and the implementation cost is higher.

Further, the tongs are rotationally connected to the free end of the supporting mechanical arm and bear weight by the supporting mechanical arm, the actuating mechanism is rigidly connected with the tongs to drive the tongs to move and control the tongs to be in a posture, the car door is not only borne by the supporting mechanical arm and can also rotate and move relative to the supporting mechanical arm, and therefore the actuating mechanism can not only control the position of the car door but also control the posture of the car door, the car door can be placed conveniently, and the car door can be accurately installed on a railway vehicle or placed on a storage rack.

Further, the supporting mechanical arm comprises a plurality of sections of cantilever arms which are movably connected in sequence, the supporting mechanical arm can stably bear the weight of the vehicle door, the safety and reliability of the vehicle door moving process are guaranteed, meanwhile, the vehicle door moving device can flexibly follow up, and the accurate position and posture of the vehicle door can not be influenced by the action mechanism.

Furthermore, the action mechanism is an articulated robot, and has the advantages of simple structure, small occupied space, high action precision and high reliability.

Further, the moving assembly further comprises a slewing mechanism which rotates transversely, the supporting mechanical arm and the actuating mechanism are connected to the operation trolley through the slewing mechanism, so that the whole working range of the moving assembly is wider, the action flexibility is better, and the vehicle door can be conveniently and accurately disassembled and placed.

Further, still be provided with visual positioning assembly on the tongs, control system receives visual positioning assembly's information in order to control the removal subassembly and drive tongs activity, utilizes visual positioning assembly to carry out accurate visual positioning, ensures to remove the subassembly and can be with the accurate removal of door to appointed position, improves and installs and removes reliability and efficiency.

Further, the loading mechanism further comprises a transportation trolley for transporting the storage rack, mobility of the storage rack is improved, the storage rack can flexibly rotate to a required position under the action of the transportation trolley, after the storage rack is filled with the vehicle door, the transportation trolley transports the storage rack to a storage position, then transports the new empty storage rack to an operation position where the disassembly operation mechanism is located to continuously store the new vehicle door, continuous disassembly operation is guaranteed, and operation efficiency is improved.

Further, be provided with elevating platform mechanism on the travelling bogie, the travelling bogie lifts through elevating platform mechanism store up the frame in order to transport and will store up the frame and place in the assigned position down, adopt the mode of lifting to transport and store up the frame, both ensured to store up the frame and can stably deposit the door, also ensured the stability of door on storing up the frame at the rotation process.

Further, be provided with a plurality of and be used for depositing the position of placing of door on the storage frame, every still be provided with on the position of placing and be used for monitoring and place whether the position has deposited the sensor of door, including the positioning seat on the storage frame, the interval is provided with a plurality of and door assorted location notch side by side on the positioning seat, is provided with a plurality of parallel spaced and location notch matched with horizontal pole in the top of positioning seat, interval region between the adjacent horizontal pole cooperates with the location notch in order to constitute place the position. The vehicle door storage rack has the advantages that a plurality of vehicle doors can be stored on a single storage rack, whether the storage rack is full or not is monitored by the sensor, so that a new storage rack can be replaced in time, the continuity of disassembly and assembly operations is guaranteed, the storage position structure is simple, the vehicle doors can be stored stably and safely, the vehicle doors can be taken and placed conveniently, and the disassembly and assembly efficiency is guaranteed.

Compared with the prior art, the invention has the advantages that:

the rail vehicle door dismounting system can conveniently mount and dismount the vehicle door, reduces the participation of manpower, effectively reduces the labor intensity and improves the operation efficiency;

the weight of the car door is borne by the supporting mechanical arm, the action mechanism only controls the position and the gesture of the car door, the load of the action mechanism is reduced, the whole volume of the equipment is reduced, and the safety in the process of disassembly, assembly and transportation can be improved;

the storage rack for storing the vehicle door is transported in a turnover way by the transportation trolley, the storage rack can be replaced timely, the continuity of the disassembling and assembling operation is guaranteed, and the operation efficiency is improved.

Drawings

FIG. 1 is a schematic view of the overall construction of a rail vehicle door removal system;

FIG. 2 is a schematic view of a construction of a dismounting operation mechanism;

FIG. 3 is a schematic view of the structure of a storage rack;

fig. 4 is a schematic structural view of the transport cart.

In the figure:

the assembly and disassembly operation mechanism 1, the loading mechanism 2, the operation trolley 3, the moving assembly 4, the supporting mechanical arm 41, the actuating mechanism 42, the slewing mechanism 43, the transfer rod 44, the gripper 5, the storage rack 6, the positioning seat 61, the cross rod 62, the transportation trolley 7, the lifting table mechanism 71 and the visual positioning assembly 8.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The rail vehicle door dismounting system disclosed by the embodiment of the invention can be used for conveniently dismounting the vehicle door, reduces the participation of manpower, effectively reduces the labor intensity, improves the dismounting efficiency, and has the advantages of high reliability, good stability and good use safety.

As shown in fig. 1 to 4, a rail vehicle door dismounting system mainly comprises a dismounting operation mechanism 1, a loading mechanism 2 and a control system, wherein the dismounting operation mechanism 1 comprises an operation trolley 3, a moving assembly 4 and a gripper 5, the moving assembly is arranged on the operation trolley 3, the gripper 5 for grabbing a vehicle door is arranged on the moving assembly 4 to be driven to move by the moving assembly, the loading mechanism 2 comprises a storage rack 6 for storing the vehicle door, and the control system controls the dismounting operation mechanism 1 to cooperate with the loading mechanism 2 to mount and dismount the vehicle door.

When the railway vehicle needs to be disassembled and assembled, the disassembly and assembly operation mechanism 1 can conveniently move to the position of the vehicle door by utilizing the operation trolley 3 of the disassembly and assembly operation mechanism, then the moving assembly 4 drives the gripper 5 to move to the vehicle door to grasp the vehicle door, then the disassembly operation of the vehicle door is carried out, after the vehicle door is disassembled from the railway vehicle, the moving assembly 4 moves the gripper 5 to the storage frame 6 beside the disassembly and assembly operation mechanism 1 to place, and after the vehicle door is placed in place on the storage frame 6, the gripper 5 loosens the vehicle door, and then the disassembly and assembly operation of the next vehicle door is carried out. When the door is installed, the moving assembly 4 drives the gripper 5 to move to the position of the storage rack 6 to grab a door, and then the door is moved to the door frame of the railway vehicle for installation. In the whole dismounting process of the car door, manual carrying operation is not needed, so that the labor intensity is effectively reduced, and the operation efficiency is improved.

In this embodiment, the tongs 5 include a plurality of interval distribution's vacuum chuck, utilize vacuum adsorption's mode to snatch the door, simple structure, implementation are convenient to vacuum adsorption's mode can not cause the damage to the door, guarantee the integrality of door in the dismouting process. The moving assembly 4 comprises a supporting mechanical arm 41 and an actuating mechanism 42, the gripper 5 is borne by the supporting mechanical arm 41, so that when the gripper 5 grabs the vehicle door, the vehicle door is actually borne by the supporting mechanical arm 41, the gripper 5 is connected with the actuating mechanism 42, the actuating mechanism 42 drives the gripper 5 to move and enables the supporting mechanical arm 41 to follow up, the actuating mechanism 42 mainly plays a role of driving the gripper to move, the actuating mechanism 42 does not bear the weight of the vehicle door, the load of the actuating mechanism 42 is small, a light-weight small-sized structure can be adopted, the occupied volume is small, the whole volume of the dismounting operation mechanism 1 is reduced, and the implementation cost is reduced. Specifically, the actuating mechanism 42 adopts the articulated robot, compact structure, occupation space is little, and the action precision is high, can satisfy the demand of accurate control door position, the free end of articulated robot is connected with transfer pole 44, transfer pole 44 and tongs 5 rigid connection to articulated robot can be accurate drive tongs 5 remove, and then accurate control is by tongs 5 the position and the gesture of the door that grasp, transfer pole 44 rotates to be connected on the free end of supporting arm 41, and the axial of rotation is along vertical, thereby tongs 5 can rotate along horizontal for supporting the free end of arm 41, and the door that makes to be grasped by tongs 5 can be in a certain position in the space and rotate in order to adjust the gesture under actuating mechanism 42's drive, is convenient for more accurate the laying of door. The supporting mechanical arm 41 comprises a plurality of sections of cantilevers which are sequentially and movably connected, so that in the process that the action mechanism 42 drives the grippers 5 to move, the cantilevers can move relatively to realize the integral follow-up of the supporting mechanical arm 41, namely, the supporting mechanical arm 41 is guaranteed not to interfere with the movement of the action mechanism 42, and the fact that the grippers 5 and the vehicle door gripped by the grippers 5 can be stably carried in the whole moving process of the grippers 5 is also guaranteed.

Further, the moving assembly 4 in this embodiment further includes a rotation mechanism 43 that rotates in a transverse direction, the supporting mechanical arm 41 and the actuating mechanism 42 are connected to the working trolley 3 through the rotation mechanism 43, that is, the supporting mechanical arm 41 and the actuating mechanism 42 are integrally driven by the rotation mechanism 43 to rotate in a transverse direction, so that the overall moving range of the moving assembly 4 is enlarged, and the assembly, disassembly and transportation of the vehicle door are more flexible and accurate.

And still be provided with vision positioning assembly 8 on the tongs 5, vision positioning assembly 8 includes 3D camera and laser rangefinder sensor etc. and vision positioning assembly 8 fixes a position and the gesture of tongs through vision positioning's mode, control system receives vision positioning assembly 8's information in order to control moving assembly 4 and drive tongs 5 and move for moving assembly 4 can be accurate regulation and control tongs 5, namely the position and the gesture of the door on the accurate control tongs 5, and then accurate, reliable dismouting of carrying out the door.

The bottom of the storage rack 6 can be provided with the idler wheels so as to be manually pushed for transferring, in order to improve the automation degree, the labor intensity of workers is reduced, in the embodiment, the loading mechanism 2 further comprises a transport trolley 7 for transferring the storage rack 6, the transport trolley 7 and the storage rack 6 are of mutually independent component structures, the storage rack 6 can be provided with a plurality of doors for storing a large number, the transport trolley 7 can be provided with one trolley, so that the storage racks 6 share one transport trolley 7, the cost can be reduced, the transport trolley 7 can leave the storage rack 6 after transferring a certain storage rack 6 to a required position, the transport trolley 6 can be transferred to another storage rack 6, the utilization rate of the transport trolley 7 is high, idle waiting time can be reduced, for example, the transport trolley 7 moves one storage rack 6 to the side of the dismounting operation mechanism 1 to store the door, a certain time is needed in the process of dismounting operation mechanism, the transport trolley 7 can move the next storage rack to the position close to the dismounting operation mechanism 1 by using the time, the whole storage rack 6 can be removed from the carrier 6 after the whole storage rack 6 is moved to the required, the whole dismounting operation mechanism is avoided, the situation of the whole dismounting operation mechanism is completely removed from the storage rack 6 is avoided, and the whole dismounting operation is carried out, and the station is then the station is removed from the carrier 6 and the whole is removed. In this embodiment, the lifting table mechanism 71 is disposed on the transportation trolley 7, the transportation trolley 7 travels to the lower side of the storage rack 6, the storage rack 6 is lifted or lowered by the lifting table mechanism 71, when the lifting table mechanism 71 lifts the storage rack 6 off the ground, the transportation trolley 7 can freely move to rotate the storage rack 6 to a desired position, and then the lifting table mechanism 71 stably lowers the storage rack 6 to a designated position.

In this embodiment, be provided with the position of placing that a plurality of is used for depositing the door on storing up frame 6, improve the utilization ratio of storing up frame 6, every still be provided with on the position of placing and be used for monitoring and place whether the position is deposited the sensor of door, control system receives the information of sensor, timely knowing whether store up frame 6 is fully loaded, from the continuity of in order to ensure the dismouting operation of in time control travelling bogie 7 change storing up frame 6, avoid appearing waiting the situation, improve whole operating efficiency. Specifically, the storage rack 6 includes a positioning seat 61, a plurality of positioning notches matched with the vehicle door are arranged on the positioning seat 61 at intervals side by side, a plurality of cross bars 62 matched with the positioning notches at intervals in parallel are arranged above the positioning seat 61, and the interval area between the adjacent cross bars 62 is matched with the positioning notches to form the placing position, so that the structure is simplified, and the vehicle door taking and placing are convenient.

Further, the rail vehicle door dismounting system further comprises an auxiliary system, the auxiliary system comprises a charging assembly, a UPS power supply, wireless network equipment and the like, the operation trolley 3 and the transportation trolley 7 are all AGV trolleys, and are provided with electromagnetic or optical automatic navigation devices and the like, and the rail vehicle door dismounting system runs along a specified navigation path and has the functions of safety protection and various transfer, and can automatically travel to the charging assembly to supplement electricity when power is lost.

The control system of the railway vehicle door dismounting system mainly comprises a PC server control console and a handheld terminal, wherein the PC server control console is used for controlling the whole railway vehicle door dismounting system, and the handheld terminal is used for operating the vacuum chuck on the handle, the operation trolley and the transportation trolley. Specifically, the control system comprises four relatively independent functional units, including a motion unit, a working unit, a positioning unit and a logic control unit. The logic control unit completes the logic control functions of the operation unit, the motion unit and the positioning unit.

The control system comprises a PC communication subprogram, a logic processing program, an operation control subprogram, a motion control subprogram, a security subprogram, a PLC interaction subprogram, an HMI communication subprogram, an initialization subprogram and the like, wherein the system control mainly comprises communication control and IO control, the motion of moving parts such as a servo motor, a mechanical arm and the like is controlled by adopting communication, the states of a monitoring sensor and key equipment are controlled by adopting IO, and the low delay of signals and the safety and reliability are ensured.

The PC communication subprogram is responsible for initially adopting MODBUS-TCP to realize system command and state interaction in PC communication with the upper computer; the logic processing program is responsible for logic control processing of the whole system, analyzes commands issued by the upper computer, issues the commands to each functional module, collects feedback states of each module, and uploads the feedback states to the upper computer to realize closed-loop control of the system; the operation control subprogram receives a command issued by the logic processing program, realizes control of an operation unit, realizes control of a supporting mechanical arm, a vacuum chuck, an action mechanism and the like through logic processing, and simultaneously feeds back a state to the logic processing program to complete closed-loop control; the motion control subprogram receives a command issued by the logic processing program and completes interaction with the AGV controller and the battery; the security subprogram is mainly responsible for collecting the states, indicator lights and the like of various security devices, outputting corresponding acousto-optic prompts when the system is in error, and feeding error codes back to the upper computer; the HMI communication subprogram is mainly responsible for realizing state and command interaction with the HMI.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-mentioned preferred embodiment should not be construed as limiting the invention, and the scope of the invention should be defined by the appended claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.

Claims (10)

1. The utility model provides a rail vehicle door dismouting system, its characterized in that, includes dismouting operation mechanism (1), loading mechanism (2) and control system, dismouting operation mechanism (1) include operation dolly (3), remove subassembly (4) and tongs (5), and remove the subassembly setting on operation dolly (3), be used for snatching tongs (5) of door and set up on remove subassembly (4) in order to drive the removal by it, loading mechanism (2) are including being used for depositing storage frame (6) of door, control system control dismouting operation mechanism (1) and loading mechanism (2) cooperate in order to carry out the dismouting of door.

2. The railway vehicle door dismounting system according to claim 1, characterized in that the moving assembly (4) comprises a supporting mechanical arm (41) and an actuating mechanism (42), the gripper (5) is carried by the supporting mechanical arm (41), and the gripper (5) is connected with the actuating mechanism (42), and the actuating mechanism (42) drives the gripper (5) to move and causes the supporting mechanical arm (41) to follow.

3. The railway vehicle door dismounting system according to claim 2, wherein the gripper (5) is rotatably connected to a free end of the supporting mechanical arm (41) and is loaded with weight by the supporting mechanical arm (41), and the action mechanism (42) is rigidly connected with the gripper (5) to drive the gripper (5) to move and control the posture of the gripper (5).

4. The railway vehicle door dismounting system according to claim 2, wherein the supporting mechanical arm (41) comprises a plurality of sections of cantilever arms which are connected movably in sequence.

5. The rail vehicle door removal and installation system according to claim 2, characterized in that the actuating mechanism (42) is an articulated robot.

6. The rail vehicle door dismounting system according to claim 2, characterized in that the moving assembly (4) further comprises a swivel mechanism (43) rotating in the transverse direction, the support robot arm (41) and the actuating mechanism (42) being connected to the working carriage (3) via the swivel mechanism (43).

7. The railway vehicle door dismounting system according to claim 1, wherein the gripper (5) is further provided with a visual positioning component (8), and the control system receives information of the visual positioning component (8) to control the moving component (4) to drive the gripper (5) to move.

8. Rail vehicle door dismounting system according to claim 1, characterized in that the loading mechanism further comprises a transport trolley (7) for transporting the storage rack (6).

9. Railway vehicle door dismounting system according to claim 8, characterized in that the transport trolley (7) is provided with a lifting table mechanism (71), and that the transport trolley (7) lifts the storage rack (6) by means of the lifting table mechanism (71) for transfer and for lowering the storage rack (6) in a given position.

10. The railway vehicle door dismounting system according to claim 1, wherein a plurality of placing positions for placing the vehicle doors are arranged on the storage frame (6), a sensor for monitoring whether the vehicle doors are stored in the placing positions or not is further arranged on each placing position, a positioning seat (61) is arranged on the storage frame (6), a plurality of positioning notches matched with the vehicle doors are arranged on the positioning seat (61) at intervals side by side, a plurality of cross bars (62) matched with the positioning notches at intervals in parallel are arranged above the positioning seat (61), and an interval area between every two adjacent cross bars (62) is matched with the positioning notches to form the placing position.