CN118397221A - Rail vehicle bogie major possession dismouting device based on MR - Google Patents

Abstract

An MR-based rail vehicle truck large disassembly and assembly device comprising: the high-speed shooting module shoots the passing parts through a high-speed shooting camera and inputs the photos into the industrial personal computer for recognition; the transfer rack is used for supporting, conveying and lifting the bogie; the camera module is used for photographing the periphery and the top of the bogie through a plurality of first cameras and second cameras respectively; before disassembly and assembly, the second camera and the second camera start to acquire reference images and transmit information to an MR system; a high-speed camera in the high-speed shooting module shoots the passed parts, and the pictures are sent to an industrial personal computer for image recognition to identify the corresponding parts; acquiring images of the corresponding positions of the bogie according to the information of the identified parts and combining the positions of the parts on the bogie so as to verify whether the parts are completely dismounted on the bogie; and removing or installing corresponding virtual parts on the bogie virtual model after verification is completed, so as to complete dynamic correspondence of the bogie virtual model.

Description

Rail vehicle bogie major possession dismouting device based on MR

Technical Field

The invention relates to MR technology and rail vehicle bogie large part dismounting technology, in particular to an MR-based rail vehicle bogie large part dismounting device.

Background

MR is a short term of mixed reality technology, and refers to a new visual environment generated after the fusion of real and virtual worlds, under which real entities and data entities coexist and can interact in real time. That is, the "images" are placed in real space while they interact to some extent with what we are familiar with. A key feature of MR is the ability of a synthetic object and a real object to interact in real time.

The MR is a relatively common technology in teaching at present, and the main method is to put an object model to be operated into MR software, and then to perform three-dimensional observation and disassembly of the model according to set commands, steps and the like. The design has the greatest advantages of safety, intuitiveness and good teaching effect. However, this method can only improve the cognition and disassembly of the virtual object by the learner, and there is a great obstacle in the actual operation, because the operation difficulty of the actual operation and the virtual model is not at one level, and many problems are encountered in the actual operation process, which cannot be fed back by adopting the virtual model operation.

Therefore, how to fuse the actual operation of the bogie with the MR technology is an urgent problem to be solved at present, and in particular how to dynamically correspond the actual device with the virtual model. Because in the actual disassembly process, the parts are disassembled and assembled, the whole actual equipment is changed, but the cost is limited, the whole calculation force and the artificial intelligence technology are not very advanced, and the problem of different angle observation exists when the actual equipment is observed by adopting MR glasses, at the moment, the actual feedback to the virtual model is difficult even if the image recognition technology is combined, and the virtual model is difficult to dynamically correspond to the state of the actual equipment because the excellent artificial intelligence technology and the strong calculation force are needed for supporting. However, in actual operation, if the MR model can be dynamically corresponding to the actual equipment, the student can be guided to practice through the virtual model, and meanwhile, the practice of the actual equipment is fed back to the virtual model, so that the school effect and the examination accuracy of the practice are greatly improved, and even remote guidance and learning can be realized.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide an MR-based large-scale assembly and disassembly device for a railway vehicle bogie, which can dynamically correspond (synchronize) the assembly and disassembly states of the railway vehicle bogie with the virtual model.

To achieve the above object, the present invention provides an MR-based rail vehicle bogie large piece dismounting device, comprising:

the high-speed shooting module shoots the passing parts through a high-speed shooting camera and inputs the photos into the industrial personal computer for recognition;

the transfer rack is used for supporting, conveying and lifting the bogie;

The camera module is used for photographing the periphery and the top of the bogie through a plurality of first cameras and second cameras respectively, and judging parts which are reduced or newly added in the bogie by combining an image recognition technology;

Before disassembly and assembly, the second camera and the second camera start to acquire reference images and transmit information to the MR system so as to assist the MR system to coordinate and position the bogie virtual model and the bogie;

A high-speed camera in the high-speed shooting module shoots the passed parts, and the pictures are sent to an industrial personal computer for image recognition to identify the corresponding parts; acquiring images of the corresponding positions of the bogie according to the information of the identified parts and combining the positions of the parts on the bogie so as to verify whether the parts are completely dismounted on the bogie; and removing or installing corresponding virtual parts on the bogie virtual model after verification is completed, so as to complete dynamic correspondence of the bogie virtual model.

The beneficial effects of the invention are as follows:

1. The invention adopts the mode that the first camera and the second camera are fixed relative to the bogie to acquire the images of the bogie, can greatly reduce the number of parts for identifying the disassembly part of the bogie and calculating the disassembly part, and can more quickly and accurately identify the disassembled parts by combining the high-shooting camera to photograph the disassembled parts and combining the image identification technology, thereby carrying out corresponding operation in the bogie virtual model, realizing the quick and dynamic correspondence of the bogie virtual model and the bogie, and greatly facilitating the operation, study, examination and the like of students.

2. The transfer frame adopts a mode of manually adding a chain to electrically drive the lifting, so that the structure can be simplified, and the actual use requirement can be met. In addition, the clamping modules of the transfer frame are respectively positioned and clamped by the clamping parts, so that the risk of falling and overturning caused by sliding between the bogie and the transfer frame in the transfer process can be effectively prevented, the clamping of the outer end faces and the circumferential direction of the pair of wheels can be completed at one time, the operation is very convenient, and the clamping device is suitable for narrow space requirements when the bogie is dismounted from a train.

Drawings

FIGS. 1-3 are schematic structural views of the present invention;

fig. 4 is a schematic structural view of an omni-directional wheel set;

fig. 5 is a partial schematic structural view of the second conveyor belt 130;

Fig. 6 to 7 are schematic views of structures of the camera module 300, the transfer rack 400, and the swing module 170;

Fig. 8 to 11 are schematic structural views of the camera module 300, wherein fig. 9 to 11 are schematic partial structural views of the camera module 300;

Fig. 12-13 are schematic views of the structure of the transfer frame 400 and the swing module 170;

FIG. 14 is a schematic view of the structure of the collision assembly 210, the outer drive assembly 230, and the unlocking assembly 220;

FIG. 15 is a schematic view of the structure of the collision assembly 210 and the outer drive assembly 230;

Fig. 16 is a schematic structural view of the transfer frame 400;

Fig. 17 to 23 are schematic structural views of the clamping module 440, in which fig. 22 is a sectional view of the screw shaft hole 4531 at the center plane, and fig. 23 is a sectional view of the clamping belt shaft 540 at the center plane;

fig. 24 to 28 are partial schematic structural views of the clamping module 440;

Fig. 29 is a schematic structural view of the transfer holder 410;

Fig. 30 to 32 are schematic structural views of the elevation driving module 430;

Fig. 33 to 34 are schematic views of a portion of the structure of the elevation driving module 430 at the clutch frame 820.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Referring to fig. 1 to 3, the rail vehicle bogie large component dismounting device of the present embodiment includes:

a first conveyor belt 110 for inputting a storage box 160 to the omni-directional conveyor module 120 or outputting the storage box 160 conveyed from the conveyor module 120;

an omnidirectional conveying module 120 for conveying the storage box 160 to the high-speed conveying belt 140 or the first conveying belt 110;

A second conveyor belt 130 for outputting the storage box 160 inputted from the omni-directional conveyor module 120 to the swing module 170 or conveying the storage box 160 at one end of the swing module 170 to the omni-directional conveyor module 120;

The high photographing module 150 photographs the storage box 160 passing through the inside thereof through the high photographing head 151 and inputs the photographs into the industrial personal computer for recognition;

The storage box 160 is used for storing components of the bogie 01, the storage box 160 is respectively provided with a first storage area 161 and a second storage area 162, and the first storage area 161 and the second storage area 162 are respectively used for storing different components. The first storage area 161 is used for storing bolts, nuts and the like in a flat manner, and the second storage area 162 is used for storing the detached integral parts such as motors, gas springs and the like in a flat manner. This design is mainly intended to facilitate the subsequent photographing of the storage box 160 by the high-speed camera 151 and the identification of the components by the image recognition technology.

The turning module 170 is used for driving the transfer frame 400 to rotate, so as to facilitate the disassembly and assembly of the bogie 01 or facilitate the input or output of parts of the bogie 01. When the device is used, the rotary module rotates, so that the parts to be output are opposite to the second conveying belt 130, and the parts can be conveniently packaged and output; the rotary platform of the embodiment can directly adopt the existing rotary platform.

The transfer frame 400 is used for supporting, transporting and lifting the bogie 01. In this embodiment, the bogie 400 is detached from the train and then moved to the revolving platform for the disassembly and assembly exercise.

The transfer cart 180 is used for lifting the transfer frame 400 and the bogie 01 so as to transfer the transfer frame 400 and the bogie 01 between the bottom of the train and the turning module 170. The transport trolley 180 of this embodiment may be an existing AGV trolley, such as an AGV trolley for an unmanned parking lot, which has a function of driving a load to lift, and when in use, the transport trolley 180 drives the transfer rack to lift, so that when the transfer rack is moved, the transport trolley 180 lifts the transfer rack, and when the transfer rack is released, the transport trolley 180 is driven to lower the transfer rack and make the transfer rack leave.

The camera module 300 is installed on the rotary platform, and photographs the periphery and the top of the bogie 01 through a plurality of first cameras 371 and second cameras 372 respectively, and then the reduced or newly added parts are judged by combining the image recognition technology.

The disassembly process of the present embodiment is approximately as follows:

s1, the transfer frame 400 is dragged to the lower portion of the train by the transfer trolley 180, the bogie 01 is manually detached from the train, and then the transfer frame 400 and the bogie 01 are dragged by the transfer trolley 180 to move to the turning module 170.

S2, the camera module 300 is unfolded, the second camera 371 and the second camera 372 start to collect images, the collected images are used as reference images, and the distance and photographing angle of the angle of each camera collected image relative to the bogie 01 are identified through an image identification technology and parameters of the cameras. This information is fed to the MR system to assist the MR system in co-ordinate positioning the bogie virtual model with the bogie 01 so that the bogie virtual model is overlaid on the bogie 01 in synchronism, which is now visible by the MR device (MR glasses).

S3, the MR system prompts an operator to start large piece disassembly operation or the operator starts large piece disassembly test by himself; and the disassembled parts are classified and flatly laid in the storage box 160, the storage box 160 is input into the omnidirectional conveying module 120 by the second conveying belt 130, the storage box is input into the high-speed shooting module 150 by the omnidirectional conveying module 120, the storage box 160 is shot through the high-speed shooting camera 151, and the photo is sent into the industrial personal computer.

S4, identifying the photo through an image identification technology to identify the corresponding part. If the parts are unique on the bogie, acquiring images of the corresponding positions of the bogie 01 through the second camera 371 and the second camera 372, and confirming whether the corresponding parts disappear or not, wherein the images photographed for the second time are compared with the reference images to be identified; if the parts are not unique on the bogie, photographing the position of the bogie where the parts are installed and comparing the position with a reference picture, thereby identifying where the parts of the bogie are disassembled; and after confirming the positions of the detached parts, directly removing the corresponding parts in the bogie virtual model, so that the bogie virtual model keeps consistent with and overlaps with the bogie. Of course, the second camera 371 and the second camera 372 can periodically collect the bogie images for comparison and identification, so as to find the place where the parts are detached, calculate the detaching position and the corresponding parts according to the structure of the bogie, and verify the parts by using the part images obtained by the high-speed camera, and remove the corresponding parts on the bogie virtual model after the verification is completed, so as to complete the dynamic correspondence of the bogie virtual model.

S5, when an operator needs to operate a prompt or know a subsequent disassembly structure, the MR equipment can be combined with corresponding gestures and commands to perform multi-angle penetration and operation on the current bogie virtual model, such as simulated disassembly, local amplification observation, guided disassembly operation and the like, until the operation can be confirmed on a real object, and then the bogie 01 starts to be operated.

S6, the MR system records the disassembling steps and the disassembling processes of the bogie virtual model, scores and evaluates the bogie virtual model according to the operation standard, and naturally prompts the operator through the picture of the MR device if the operation of the learner is not in compliance in the learning mode. Therefore, students can be guided to detach in a virtual-real combined mode, the teaching effect can be greatly improved, the impression of the students can be increased, dangerous places of the students can be timely reminded, and dangers are avoided.

The storage box 160 in the disassembly and assembly process is continuously input or output and stored through the first conveying belt 110, but the installation step in the embodiment is opposite to the disassembly step, parts are input from the high-speed conveying belt 140 by scrambling or setting sequence so as to be convenient for a learner to install, and the high-speed camera firstly obtains the input part images, so that the MR system reflects the predicted possible installation position, the image of the predicted position is directly obtained after the learner installs the parts, the installation can be judged to be correct if the corresponding parts are installed, and otherwise the installation is failed. The design can greatly reduce the calculated amount, and the image recognition technology and the image comparison technology which are currently mainstream are adopted. The parts of the bogie are standard and definite, so that only the parts of the bogie are required to be compared, the image recognition and comparison range is further reduced, and the calculated amount and the system reaction speed are reduced.

Referring to fig. 4, the omni-directional conveying module 120 is provided with a plurality of omni-directional wheel sets, each omni-directional wheel set comprises an omni-directional wheel 121, an omni-directional wheel frame 122, an omni-directional wheel belt 123 and an omni-directional wheel motor 124, the omni-directional wheel 121 and the omni-directional wheel motor 124 are respectively arranged on the omni-directional wheel frame 122, the omni-directional wheel frame 122 is arranged on the frame of the omni-directional conveying module 120, and an output shaft of the omni-directional wheel motor 124 is connected with an omni-directional wheel shaft provided with the omni-directional wheel 121 through the omni-directional wheel belt 123 and forms a belt transmission mechanism. The omni-wheel motor 124 may drive the omni-wheel 121 to rotate. In this embodiment, the movement direction of the storage box 160 may be adjusted by different steering coordination of different omni-directional wheels, so as to control the conveying direction of the storage box 160.

Referring to fig. 3 and 5, in order to facilitate taking and placing of parts (storage box 160) between the rotary module 170 and the second conveyor belt 130 and ensure that interference between the rotary module 170 (transfer rack 400) and the second conveyor belt 130 is not generated, the second conveyor belt 130 is designed to be of a telescopic structure in this embodiment. Specifically, when the parts need to be taken and placed between the rotary module 170 and the second conveyor belt 130, the second conveyor belt 130 stretches towards the rotary module 170, so that the taking and placing are facilitated. Without the need for pick and place components, the second conveyor belt 130 is retracted away from the swing module 170 to avoid interference with the swing module 170 (transfer frame 400).

The second conveying belt 130 includes a conveying belt 131, a plurality of fixed rollers 138, a first movable roller 132, and a second movable roller 133, the fixed rollers 138 are mounted on a frame of the second conveying belt 130, the first movable roller 132 and the second movable roller 133 are mounted on two telescopic side plates 137, the conveying belt 131 sequentially bypasses the fixed rollers 138, the first movable roller 132, and the second movable roller 133 and forms a belt transmission mechanism, the two telescopic side plates 137 are assembled and fixed through a telescopic frame 134, a telescopic guide 1341 is mounted on the telescopic frame 134, the telescopic guide 1341 is mounted in a telescopic guide housing 1351 and is slidably assembled with the telescopic guide housing 1351, the telescopic guide housing 1351 is mounted on a telescopic fixing frame 135, and the telescopic fixing frame 135 is mounted on the frame of the second conveying belt 130. The telescopic cylinder 136 is mounted on the telescopic fixing frame 135, a telescopic shaft of the telescopic cylinder 136 is assembled with the telescopic frame 134, and the telescopic frame 134 can be driven to stretch out and draw back after the telescopic cylinder 136 is started, so that the first movable roller 132, the second movable roller 133 and the two telescopic side plates 137 are driven to stretch out and draw back synchronously to realize the stretching out and drawing back of the second conveying belt 130. Of course, the second conveyor belt 130 of the present embodiment may directly employ an existing conveyor belt having a similar telescopic function.

Referring to fig. 1-3 and 6-11, the camera module 300 includes a support rod 310 and a telescopic rod set, and the support rod 310 is mounted on the swing module 170; the shrinking rod group comprises a plurality of groups of longitudinal rod groups, each longitudinal rod group comprises two longitudinal rods 321, two ends of each longitudinal rod 321 are respectively provided with a hinge joint 323, and the two hinge joints 323 at the end, close to each other, of the two longitudinal rods 321 are respectively hinged with the hinge seat 330 through different hinge shafts 381; a transverse rod 322 is arranged between two parallel longitudinal rods 321 of the non-same longitudinal rod group, two ends of the transverse rod 322 are respectively provided with a hinge joint 323, and the hinge joints at two ends of the transverse rod 322 are respectively hinged with a hinge seat 330 close to the transverse rod 322 through another hinge shaft 381; the transverse rods 322 and the longitudinal rods 321 are vertically arranged at 90 degrees, and each hinge shaft 381 is provided with a bevel gear 380, and the bevel gears 380 corresponding to the transverse rods 322 and the bevel gears 380 close to the transverse rods 322 and corresponding to the longitudinal rods 321 on the same hinge seat 330 are meshed for transmission. This results in a rectangular frame structure between the transverse rods 322 and the longitudinal rods 321 (the retraction rod group), and one of the hinge seats 330 at the corners is hinged with the fixed mounting seat 391 through the retraction shaft 301, the retraction shaft 301 is provided with a driving bevel gear 302, and the driving bevel gear 302 is meshed with the bevel gears 302 which are close to the driving bevel gear 302 and respectively correspond to the transverse rods 322 and the longitudinal rods 321; the fixed mounting seat 391 is disposed on the first fixing ring 390, and the first fixing ring 390 is fixed on the support rod 310. In this embodiment, the drive bevel gear 302 and the folding shaft 301 are actually also the bevel gear 380 and the hinge shaft 381, and this embodiment is given additional names for convenience of distinguishing the expressions.

The folding shaft 301 is fixedly assembled with the first connecting rod 341, the first connecting rod 341 is hinged with one end of the second connecting rod 342, the other end of the second connecting rod 342 is hinged with the telescopic hinge joint 352, the telescopic hinge joint 352 is arranged on the camera shooting electric cylinder shaft 351, the camera shooting electric cylinder shaft 351 is arranged in the camera shooting electric cylinder 350, the shell of the camera shooting electric cylinder 350 is hinged with the second fixing ring 360, and the second fixing ring 360 is fixed on the supporting rod 310.

The second fixing ring 360 or the supporting rod 310 is provided with a second camera 372, and the hinge seat 330 of the part of the shrink rod set located at the middle and the corners is provided with a first camera 371. In this embodiment, except for the hinge base 330 assembled with the fixed mounting base 391, the hinge bases 330 at the other three corners are all provided with a first camera 371; and a first camera is also mounted on the hinge mount 330 located in the middle. So that the second camera 372 and the first cameras 371 collect images on the four sides and the right above the inner side of the shrinkage rod group respectively, namely, collect images on the four sides and the top of the bogie 01, and the angles of the second camera 372 and the first cameras 371 and the bogie 01 are relatively fixed, so that the collected images can be compared simply to find out whether the change exists or not and determine the change position, and then the image recognition is carried out on the change position to confirm the names and the positions of the disassembled parts. The design directly avoids the problems of difficult identification and large calculation amount caused by the acquisition of images at the movable angles.

The shrinkage rod group can be folded and unfolded, and when the shrinkage rod group needs to be folded: the camera shooting electric cylinder 350 drives the camera shooting electric cylinder shaft 351 to shrink so as to drive the folding shaft 301 to rotate, the folding shaft 301 drives the driving bevel gear 302 to rotate, the driving bevel gear 302 drives the bevel gear 380 meshed with the driving bevel gear 302 to rotate, and accordingly the transverse rod 322 and the longitudinal rod 321 are driven to rotate downwards and upwards in sequence in a bevel manner to fold, and finally the transverse rod 322 and the longitudinal rod 321 are axially parallel to the supporting rod 310 and shrink towards the supporting rod, so that the upper part of the transfer frame 400 is not shielded. While the hinge seats 330 located at the middle and three corners maintain a horizontally lifted and moved state, thereby ensuring that the corresponding first cameras 371 are not damaged by collision. When the telescopic rod group needs to be unfolded, the camera cylinder shaft 351 is extended, so that the transverse rod 322 and the longitudinal rod 321 are driven to be unfolded in a rotating way away from the supporting rods respectively, and finally the axes of the transverse rod 322 and the longitudinal rod 321 and the supporting rods 310 are in a perpendicular state (in the state of fig. 8). At this time, the first camera 371 resumes operation, starts to capture an image, and the operator continues to operate. The power supply and signal cables of the first camera 371 can be fixed on the corresponding longitudinal rod 321 and adopt spring wires, so that the folding and unfolding of the telescopic rod group can be flexibly adapted.

The design mainly considers that the parts such as a main body (main body structure of the bogie), a motor, a pair of wheels and the like need to be lifted by adopting a boat in the process of detaching the bogie 01, and the shrinkage rod group can not be shielded above the bogie 01 during lifting, so that the shrinkage rod group needs to be directly retracted before the boat, and the shrinkage rod group can shrink towards the supporting rods.

Referring to fig. 1-3, 6-7 and 12, two guide plates 171 are mounted on the rotation module 170, a front limiting plate 172 and a rear limiting plate 173 are respectively mounted on each guide plate 171, and the transfer frame 400 is mounted between the front limiting plate 172 and the rear limiting plate 173 of the two guide plates 171, so that the positioning and the relative fixing of the transfer frame 400 are realized. The design is on the one hand in order to realize the location of transfer frame (bogie 01) and camera module, on the other hand in order to avoid the transfer frame to produce the slip in the rotation module circumferencial direction when the rotation module rotates, causes the potential safety hazard.

Referring to fig. 7 and 29, the transfer rack 400 includes a transfer base 410, four supporting legs 411, two guide bars 412, an inner limiting plate 414, and an outer limiting plate 413 are respectively mounted at the bottom of the transfer base 410, the four supporting legs 411 are respectively assembled in a snap fit manner with the front limiting plate 172 and the rear limiting plate 173 corresponding to the guide plate 171, and the outer limiting plate 413 is used for limiting the detection of the maximum displacement point of the transfer rack 400 moving toward the rear limiting plate 173. The inner limiting plate 414 is used for guiding the top of the transfer trolley 180 and the transfer base 410 to complete positioning, and the inner limiting plate 414 is used for limiting the maximum depth of the transfer trolley 180 installed in the transfer base 410, so that the transfer frame 400 and the rotary module can be positioned by using the transfer trolley 180 and the rotary module 170 to complete positioning.

Referring to fig. 7 and 12-15, the swing module 170 is further provided with a collision assembly 210, an unlocking assembly 220 and an external driving assembly 230, wherein the collision assembly 210 comprises a collision movable plate 211, a collision fixed plate 212, a collision optical axis 214, a collision spring 215 and a collision switch 213, the collision fixed plate 212 is arranged on the swing module 170, and the collision switch 213 is arranged on the collision fixed plate 212 and the triggering end of the collision switch is opposite to the collision movable plate 211; one end of the collision optical axis 214 is assembled with the collision movable plate 211, the other end is sleeved with a collision spring 215 and then passes through the collision fixed plate 212, and the collision optical axis 214 and the collision fixed plate 212 can be axially and slidably assembled. The collision spring 215 applies an elastic force to the collision movable plate 211 away from the collision fixed plate 212, so that the collision movable plate 211 does not touch the collision switch 213 in an initial state. After the transfer frame enters the turning module 170, the outer limiting plate 413 is gradually contacted and extruded with the collision movable plate 211, then the collision movable plate 211 is pushed to move towards the collision fixed plate 212 against the elastic force of the collision spring until the collision switch 213 is triggered, the industrial personal computer sends a signal for positioning in place to the conveying trolley 180 after the collision switch 213 is triggered, the conveying trolley 180 stops moving and drives the transfer frame 400 to move downwards, so that the transfer frame is installed on the turning module, and finally the conveying trolley 180 moves out of the turning module 170.

The unlocking component 220 comprises an unlocking movable plate 221, an unlocking frame 222, an unlocking optical axis 223 and an unlocking spring 224, wherein the unlocking frame 222 is arranged on the rotary module 170, one end of the unlocking optical axis 223 is assembled with the unlocking movable plate 221, the other end of the unlocking optical axis is sleeved with the unlocking spring 224 and then penetrates through the unlocking frame 222, and the unlocking frame spring 224 applies pushing force to the unlocking movable plate 221, which is far away from the unlocking frame 222. When the transfer frame 400 finishes the positioning and moving downwards, the switching arm plate 4381 gradually contacts and presses the unlocking movable plate 221, so that the unlocking movable plate 221 is blocked from moving downwards after moving downwards, the switching arm plate 4381 drives the switching arm 481 to rotate around the switching pin, thereby driving the clutch frame 820 to move downwards, and the clutch frame is switched to a neutral state, and at the moment, the lifting screw 832 can be driven to rotate through the external driving assembly 230 without influencing the manual arm 343.

The external driving assembly 230 comprises an external driving movable frame 231, an external driving fixed frame 232, an external driving motor 238, a chain 235 and an external driving optical axis 233, wherein the external driving fixed frame 232 is arranged on the rotary module 232, one end of the external driving optical axis 233 is assembled with the external driving movable frame 231, the other end of the external driving optical axis 233 is sleeved with an external driving spring 234 and then penetrates through the external driving fixed frame 232, and the external driving spring 234 applies elastic force for preventing the external driving movable frame 231 from moving towards the external driving fixed frame 232; the outer drive movable frame 231 is provided with a chain 235, the chain 235 bypasses at least two chain shafts, one of the chain shafts is provided with a first outer drive gear 236, the first outer drive gear 236 is meshed with a second outer drive gear 237 for transmission, the second outer drive gear 237 is arranged on an outer drive motor 238, and the outer drive motor 238 is arranged on the outer drive movable frame 231. When the external drive motor 238 is started, the second external drive gear 237 is driven to rotate, so as to drive the chain 235 to operate, and when the chain 235 operates, the chain wheel 890 is driven to rotate, so that the lifting screw 832 is driven to rotate, and the scissor lifting mechanism 420 can be driven to lift.

Referring to fig. 6 and 12, the swing module 170 is further provided with a pull rope displacement sensor 240, and the pull rope 241 of the pull rope displacement sensor 240 is fixedly installed with the clamping module 440, so that the pull rope displacement sensor 240 can detect the distance between the clamping module 440 and the transfer base 410, so as to correct the angle of the first camera 371 and the second camera 372 for capturing the image of the bogie 01, further reduce the calculated amount and the image recognition difficulty, improve the image recognition efficiency, and improve the synchronization efficiency of the bogie virtual model. In this embodiment, the signal of the pull-cord displacement sensor 240 is input to the industrial personal computer.

Referring to fig. 1-3, 6-7, and 12-28, the transfer rack 400 includes a transfer base 410, a fork lift mechanism 420, a lift driving module 430, and a clamping module 440, the fork lift mechanism 420 is mounted on the transfer base 410, the clamping module 440 is mounted on the fork lift mechanism 420, and the fork lift mechanism 420 is used for driving the clamping module 440 to lift relative to the transfer base 410; the lifting driving module 430 is used for driving the scissor lifting mechanism 420 to operate.

The clamping module 440 is used for positioning and clamping the bogie 400 and the bogie 01 to the wheel 02, so that the bogie 01 can be positioned only by positioning the bogie 400 and the turning module 170 after the bogie 01 is positioned by the bogie 400 and the bogie 400 is prevented from rolling during the transferring process. The clamping module 440 is provided with two clamping plates 441, a clamping guide rail 442, a clamping screw 443 and two clamping parts 450, and two ends of the clamping screw 443 are respectively arranged on the two clamping plates 441; the clamping module 440 is also provided with a clamping shaft plate 444, the clamping shaft plate 444 is assembled with a clamping worm shaft 447, the clamping worm shaft 447 is provided with a clamping worm part 446, the clamping worm part 446 is meshed with the clamping worm gear 445 for transmission, the clamping worm gear 445 is sleeved on the clamping screw 443, and one end of the clamping worm shaft 447 penetrates out of the clamping module 440 and is assembled with the clamping handle 448. In use, the clamping screw 443 can be driven to rotate by holding the clamping handle 448 to drive the clamping worm shaft 447.

The clamping part 450 comprises a clamping frame 451, a clamping slider 452, a clamping screw seat 453, a first clamping vertical plate 454, a clamping end cover 455, a second clamping vertical plate 456 and a third clamping vertical plate 457 are respectively arranged on the clamping frame 451, the clamping slider 452 is clamped with the clamping guide rail 442 and is assembled in a sliding manner so as to provide guidance for the movement of the clamping part 450, a screw shaft hole 4531 is arranged on the clamping screw seat 453, and the clamping screw 443 penetrates through the screw shaft hole 4531 and can be assembled in a relative circumferential rotation manner; the first clamping vertical plate 454 and the second clamping vertical plate 456 are respectively assembled with the radial screw 520, the radial screw 520 passes through the radial pressing plate 710 and is assembled with the radial pressing plate 710 through screw threads in a screwing way, the first clamping vertical plate 454 is also assembled with one end of the radial optical axis 510 in a sliding way, the other end of the radial optical axis 510 sequentially passes through the radial pressing plate 710 and the radial spring 471 and is then assembled with the radial pressing block 470, the radial spring 471 applies elastic force for preventing the radial pressing block 470 from moving to the radial pressing plate 710, and two ends of the radial spring 471 are respectively assembled with the radial pressing plate 710 and the radial pressing block 470. The radial screw 520 is connected with a radial power shaft 530 through a radial belt 610 and forms a belt transmission mechanism, and two ends of the radial power shaft 530 are assembled with two first clamping risers 454 respectively. The clamping end caps 455 are mounted on the corresponding first clamping risers 454 to cover the radial belt 610 for water and dust resistance and increased safety.

The clamping frame 451 is also provided with a clamping switching box 460, the radial power shaft 530 passes through the clamping switching box 460, and a second clamping switching tooth 642 is arranged on the part of the radial power shaft 530 located in the clamping switching box 460; the second clamping switching tooth 642 can be in meshed transmission with the third clamping switching tooth 643, the third clamping switching tooth 643 can be in meshed transmission with the first clamping switching tooth 641, the third clamping switching tooth 643 and the first clamping switching tooth 641 are respectively arranged on the clamping switching tooth shaft 560 and the clamping middle rotating shaft 550, the clamping switching tooth shaft 560 and the clamping middle rotating shaft 550 are respectively arranged on the clamping switching frame 790 and the clamping switching box 460, the clamping switching frame 790 is respectively provided with a switching sliding plate 791, a switching notch 792, a switching chute 793 and a switching threaded part 794, two ends of the switching sliding plate 791 are respectively clamped into the second clamping sliding groove 402 and are clamped with the second clamping sliding groove 402 and can be in sliding assembly, and the second clamping sliding groove 402 is arranged on the inner wall of the clamping switching box 460; a second clamping switching spring 702 is installed between the switching slide plate 791 and the clamping switching box 460, and the second clamping switching spring 702 applies an elastic force pushing the switching screw thread portion 794 to the clamping switching frame 790, so that the switching screw thread portion 794 is pressed against the clamping screw 443 in an initial state, and at this time, the clamping screw 443 rotates to drive the clamping portion 450 to move along the axial direction thereof. In this embodiment, the switching screw 794 of the two clamping portions 450 assembled with the same clamping screw 443 is opposite to the screw screwed with the clamping screw 443, so that the clamping screw 443 can drive the two clamping portions 450 to move closer together or farther apart together when rotating.

The second clamping bevel gear 632 is mounted on the middle clamping rotating shaft 550, the second clamping bevel gear 632 is in meshed transmission with the first clamping bevel gear 632, the first clamping bevel gear 632 is sleeved on the clamping belt shaft 540, the clamping belt shaft 540 is mounted on the clamping switching box 460, the clamping belt shaft 540 is connected with the clamping shaft sleeve 720 through the clamping transmission belt 620 and forms a belt transmission mechanism, the clamping shaft sleeve 720 is mounted on the clamping screw seat 453 in a circumferential rotation and axial movement-proof manner, and the clamping shaft sleeve 720 is sleeved on the clamping screw 443 in a circumferential sliding and circumferential rotation-proof manner (such as through spline and spline groove matching).

The switching chute 793 is in press fit with the switching roller 783, the switching roller 783 is mounted on the clamping switching driving frame 780 in a circumferential rotation manner, the switching driving frame 780 is further provided with a clamping driving side plate 782, a first clamping driving end plate 783, a second clamping driving end plate 784 and a clamping driving locking block 781 respectively, and one end of the switching driving frame 780 far away from the second clamping driving end plate 784 passes through the third clamping vertical plate 457 and is clamped and slidingly assembled with the third clamping vertical plate 457; the clamping driving side plate 782 is engaged with and slidingly assembled with the first clamping chute 401, and the first clamping chute 401 is disposed on the inner wall of the clamping switch box 460; a first clamp switching spring 701 is installed between the second clamp driving end plate 784 and the clamp switching case 460, and the first clamp switching spring 701 applies an elastic force pushing the third clamp vertical plate 457 to the clamp switching driving frame 780. So that the switching roller 783 and the switching chute 793 are assembled at the end farthest from the switching screw portion 794 in the initial state, the switching screw portion 794 and the clamping screw 443 can be ensured to maintain the screwed state.

The second clamping driving end plate 784 and the first clamping driving end plate 783 are respectively located at both sides of the clamping switching frame 790, so that a moving displacement point of the clamping switching driving frame 780 can be restricted. The clamp driving locking piece 781 penetrates the third clamp standing plate 457 in an initial state so as to penetrate the third clamp standing plate 457.

When the clamp switching drive frame 780 presses the first clamp switching spring 701, the switching roller 782 moves up the switching chute 793, thereby driving the clamp switching frame 790 to press the second clamp switching spring 702, which moves the switching screw portion 794 away from the clamp screw 443 until no more rotation with the clamp screw 443 occurs, at which time the clamp driving lock 781 passes through the stop lock 771 and the clamp driving lock 781 cannot be retracted in the reverse direction due to the blocking of the stop lock 771. The stop lock 771 is disposed on the stop seat 770, the stop seat 770 is engaged with and slidably mounted in the stop groove 751, the stop groove 751 is disposed in the stop sleeve 750, the stop sleeve 750 is mounted in the stop shell 740, and the stop sleeve 750 and the stop shell 740 are both mounted on the clamping frame 451.

The stop seat 770 is assembled with one end of the stop rod 730, the other end of the stop rod 730 is sleeved with a stop spring 760, and then passes through a stop housing block 741 to be assembled with the stop power plate 731, both ends of the stop spring 760 are respectively pressed against the stop seat 770 and the stop housing block 741, so that an elastic force pushing the clamping driving locking block 781 is applied to the stop seat 770, and the stop housing block 741 is arranged in the stop housing 740. One end of the stop power plate 731 enters between the radial pressing plate 710 and the first clamping vertical plate 454, and when the radial pressing plate 710 moves towards the first clamping vertical plate 454 to reset, the stop power plate 731 can be pressed to drive the stop power plate 731 to move, at this time, the stop power plate 731 drives the stop seat 770 to move away from the clamping driving locking block 781 against the elastic force of the stop spring 760 through the stop rod 730 until the stop locking block 771 is separated from the clamping driving locking block 781, at this time, if the first clamping driving end plate 783 is not pressed, the clamping switching driving frame 780 moves towards the third clamping vertical plate 457 under the action of the first clamping switching spring 701, so that the switching threaded portion 794 is restored to be in pressing screwing with the clamping screw 443.

When the bogie 01 needs to be loaded, the embodiment mainly comprises the following steps:

S1, moving the transfer frame to the lower part of the bogie 01, and adjusting the position of the transfer frame so that the wheel 02 is positioned between two radial pressing blocks 470 of the same clamping part 450 and at the inner side of the third clamping vertical plate 457.

And S2, driving the clamping screw 443 to rotate through the clamping handle 448, so as to drive the two clamping parts 450 to synchronously move towards the two paired wheels 02 on the same paired wheel shafts, and enabling the two third clamping vertical plates 457 to respectively press against the outer end surfaces of the paired wheels corresponding to the two third clamping vertical plates 457. In this process, the clamping switching drive frame 780 contacts and presses the outer end surface of the counter wheel 02, and presses the first clamping switching spring 701, so that the switching thread portion 794 moves up to be separated from the clamping screw 443, and the third clamping switching tooth 643 moves up to be in pressing engagement with the first clamping switching tooth 641 and the second clamping switching tooth 642, respectively. Simultaneously, the clamping driving locking piece 781 passes through the stopping locking piece 771, and the stopping locking piece 771 stops the clamping driving locking piece 781 from reversely resetting.

S3, continuously driving the clamping screw 443 to rotate, sequentially driving the clamping belt shaft 540, the clamping middle rotating shaft 550, the radial power shaft 530 and the radial screw 520 to rotate by the clamping screw 443, and driving the corresponding radial pressing plate 710 to move towards the counter wheel 01 by the radial screw 520, so that the radial pressing block 470 is pressed on the counter wheel, and if the extrusion degree of the radial pressing block 470 is different, the radial pressing block 470 is allowed to yield by compressing the radial spring 471 until a clamping handle is required to be rotated by a large force, and the radial pressing block 470 is pressed with the side surface of the counter wheel at the moment, so that locking and positioning of the counter wheel are realized.

S4, disassembling the bogie 01, transferring the bogie to the turning module 170, and releasing the transferring frame 400 to start the disassembling operation.

Referring to fig. 1-3 and fig. 29-34, the lifting driving module 430 includes a driving sliding seat 431 and a clutch gear box 432, the driving sliding seat 431 is clamped with a driving sliding block 433 and can be assembled in a sliding manner, the driving sliding block 433 is sleeved on a driving optical axis 831 and a driving screw 832, and the driving sliding block 433 and the driving optical axis 831 can be assembled in an axial sliding manner and assembled with the driving screw 832 through screw threads; the driving optical axis 831 and the driving screw 832 are both installed on the driving slide 431 and the clutch gear box 432. The driving slider 433 is assembled with the lifting driving shaft 421 of the scissor lifting mechanism 420, and the driving slider 433 can drive the lifting driving shaft 421 to move so as to drive the scissor lifting mechanism to lift.

One end of the driving screw 832, which is far away from the clutch gear box 432, penetrates out of the driving sliding seat 431 and is assembled with the chain wheel 890; the lifting power tooth 870 is arranged at one end of the driving screw 832, which is arranged in the clutch gear box 432, the lifting power tooth 870 can be alternatively meshed with the first clutch tooth 881 or the third clutch tooth 883 for transmission, the first clutch tooth 881 is meshed with the second clutch tooth 882 for transmission, the second clutch tooth 882 can be meshed with the second power tooth 862 for transmission, and the third clutch tooth 883 can be meshed with the lifting power tooth 870 and the second power tooth 862 for transmission at the same time; the first, second and third clutch teeth 881, 882, 883 are respectively mounted on the clutch plate 821 of the clutch frame 820, and the second power tooth 862 is mounted on the drive optical axis 831. Three states are arranged between the lifting power tooth 870 and the second power tooth 862 and the first clutch tooth 881, the third clutch tooth 883 and the second clutch tooth 882, one is that the lifting power tooth 870 and the second power tooth 862 are respectively meshed with the third clutch tooth 883 and the second clutch tooth 882, and at the moment, the steering directions of the second power tooth 862 and the lifting power tooth 870 are the same (the lifting mechanism of the scissor fork is driven to ascend and the gear is driven to rotate positively); the second is that the lifting power tooth 870 and the second power tooth 862 are respectively meshed with the second clutch tooth 882, and the steering of the second power tooth 862 and the lifting power tooth 870 is opposite (the scissor lifting mechanism is driven to descend and reverse gear is driven); the third is that the lifting power tooth 870 and the second power tooth 862 are not meshed with the first clutch tooth 881, the third clutch tooth 883 and the second clutch tooth 882, at this time, the second power tooth 862 cannot drive the lifting power tooth 870, and the scissor lifting mechanism is not lifted (neutral gear).

The clutch frame 820 is sleeved on the clutch optical axis 834 and can be axially and slidably assembled with the clutch optical axis 834, two ends of the clutch optical axis 834 are respectively assembled with the clutch gear box 432 and the transfer base 410, a clutch spring 801 is sleeved on a part of the clutch optical axis 834 between the transfer base 410 and the clutch frame 820, and the clutch spring 801 applies a thrust force to the clutch frame 820 far away from the transfer base 410, so that the lifting power teeth 870 and the second power teeth 862 are respectively meshed with the second clutch teeth 882 in an initial state.

The clutch rack 820 is assembled with the external driving rack 810, an external driving rack plate 811 is mounted on one end of the external driving rack 810 penetrating through the clutch gear box 432, the external driving rack plate 811 is pressed against one end of the switching arm 438, the middle portion of the switching arm 438 is hinged with the driving sliding seat 431, and a switching arm plate 4381 is mounted on one end of the switching arm 438 far away from the clutch gear box 432. In use, the switch arm plate 4381 is pressed against the unlocking movable plate 221, so that the switch arm 438 is rotated to drive the outer driving frame 810 and the clutch frame 820 to move toward the transfer base 410, so that the lifting power teeth 870 and the second power teeth 862 are not engaged (neutral) with the first clutch teeth 881, the third clutch teeth 883 and the second clutch teeth 882. At this time, the chain wheel 890 is driven to rotate by the chain wheel 890 to drive the driving screw 832 to rotate, so that the scissor lifting mechanism 420 can be directly driven to lift (automatic mode).

The clutch gear box 432 is also assembled with the clutch screw 833 through screw threads in a screwing way, one end of the clutch screw 833 is installed in the clutch gear box 432 to be pressed with the clutch frame 820, and the other end of the clutch screw 833 is located outside the clutch gear box 432 and is assembled with the clutch handle 437. When the clutch mechanism is used, the clutch screw 833 can be rotated through the clutch handle 437, so that the clutch screw 833 moves axially to adjust the lifting of the clutch frame 820, and the forward gear, the reverse gear and the neutral gear can be switched. In this embodiment, the clutch lever 437 can be shifted by one gear every 90 ° of rotation. And the clutch handle 437 is pressed with the clutch gear box 432 after rotating 180 degrees, so that the clutch handle 437 can not rotate continuously in the direction and can only rotate reversely. In the initial state, the clutch lever 437 corresponds to the reverse gear.

The driving optical axis 831 is further provided with a first power gear 861, the first power gear 861 is meshed with the rack 840 for transmission, the rack 840 is provided with a rack plate 841, the rack 840 is clamped with the guide seat 850 and can be assembled in a sliding manner, the guide seat 850 is installed in the clutch gear box 432, the rack plate 841 is assembled with one end of the rack spring 802, the other end of the rack spring 802 is assembled with the transfer base 410, and the rack spring 802 applies a pushing force to the rack 840 far away from the transfer base 410; the first power teeth 861 are unidirectional gears, the rotation direction of the first power teeth 861 is the steering direction of the first power teeth 861 when the rack moves upwards, the locking direction is the steering direction of the first power teeth 861 when the rack 840 moves downwards, so that the driving optical axis 831 can be driven to rotate when the rack moves downwards, the driving optical axis 831 drives the driving screw 832 to rotate through the second power teeth 862, and the first power teeth 861 and the driving optical axis 831 rotate relatively when the rack moves upwards, so that the driving optical axis 831 does not rotate.

A rack roller 842 is further mounted on the rack 840, the rack roller 842 penetrates through the roller chute 4321 and then is pressed against the bottom surface of the swing arm 434, one end of the swing arm 434, which is close to the roller chute 4321, is hinged with the clutch gear box 432, and the roller chute 4321 is arranged on the clutch gear box 432; a pedal 435 is mounted on one end of the swing arm 434 far away from the roller chute 4321, the end of the swing arm 434 is also pressed with one end of a spring plate 436, and the other end of the spring plate 436 is mounted on the transfer base 410; the spring plate 436 has elasticity for applying an elastic force to the end of the swing arm 434 to which the pedal 435 is mounted, which resists its rotation to the transfer chassis 410. In use, the rack 840 is driven to move up and down by stepping on the pedal 435, thereby driving the first power teeth 861 to rotate.

The manner of designing the foot-operated driving scissor lifting mechanism in the embodiment mainly considers that the scissor lifting mechanism needs to be lowered by a certain height after the bogie 01 is dismounted on the train, so that a space for giving way is provided for the subsequent conveying trolley 180 to lift and convey the transfer frame. The truck is heavy after being loaded, and the scissor lifting mechanism is obviously very laborious to operate by hand, so that a stepping and lever adding mode is adopted. Of course, electric drive can also be adopted, but the torque requirement on the motor is high at this time, and batteries, electric control and the like are additionally arranged, so that the structure of the transfer frame is too complex, and the subsequent maintenance is not facilitated.

The present invention is not described in detail in the present application, and is well known to those skilled in the art.

The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (10)

1. MR-based rail vehicle bogie large piece dismounting device, characterized by comprising:

the high-speed shooting module shoots the passing parts through a high-speed shooting camera and inputs the photos into the industrial personal computer for recognition;

the transfer rack is used for supporting, conveying and lifting the bogie;

The camera module is used for photographing the periphery and the top of the bogie through a plurality of first cameras and second cameras respectively, and judging parts which are reduced or newly added in the bogie by combining an image recognition technology;

Before disassembly and assembly, the second camera and the second camera start to acquire reference images and transmit information to the MR system so as to assist the MR system to coordinate and position the bogie virtual model and the bogie;

A high-speed camera in the high-speed shooting module shoots the passed parts, and the pictures are sent to an industrial personal computer for image recognition to identify the corresponding parts; acquiring images of the corresponding positions of the bogie according to the information of the identified parts and combining the positions of the parts on the bogie so as to verify whether the parts are completely dismounted on the bogie; and removing or installing corresponding virtual parts on the bogie virtual model after verification is completed, so as to complete dynamic correspondence of the bogie virtual model.

2. The railway vehicle truck large piece dismounting apparatus of claim 1, further comprising:

The first conveying belt is used for inputting the storage box into the omnidirectional conveying module or outputting the storage box conveyed by the conveying module;

the omnidirectional conveying module is used for conveying the storage box to the high-speed conveying belt or the first conveying belt;

The second conveying belt is used for outputting the storage box input from the omnidirectional conveying module to the rotary module or conveying the storage box at one end of the rotary module to the omnidirectional conveying module;

The storage box is used for storing parts of the bogie;

the rotary module is used for driving the transfer frame to rotate, and the supporting rod of the camera module is arranged on the rotary module;

And the conveying trolley is used for lifting the transfer frame and the bogie so as to transfer the transfer frame and the bogie between the bottom of the train and the rotary module.

3. The large-piece dismounting device for the bogie of the railway vehicle according to claim 2, wherein the second conveying belt comprises a conveying belt, a plurality of fixed rollers, a first movable roller and a second movable roller, the fixed rollers are arranged on a frame of the second conveying belt, the first movable roller and the second movable roller are arranged on two telescopic side plates, the conveying belt sequentially bypasses the fixed rollers, the first movable roller and the second movable roller and forms a belt transmission mechanism, the two telescopic side plates are assembled and fixed through a telescopic bracket, a telescopic guide rail is arranged on the telescopic bracket, the telescopic guide rail is arranged in a telescopic guide rail shell and can be assembled with the telescopic guide rail in a sliding manner, the telescopic guide rail shell is arranged on a telescopic fixed frame, and the telescopic fixed frame is arranged on the frame of the second conveying belt; and the telescopic fixed frame is provided with a telescopic electric cylinder, and a telescopic shaft of the telescopic electric cylinder is assembled with the telescopic frame.

4. A rail vehicle truck large dismounting device as claimed in any one of claims 1-3, wherein the camera module comprises a support bar, a shrink bar set; the telescopic rod group comprises a plurality of groups of longitudinal rod groups, each longitudinal rod group comprises two longitudinal rods, two ends of each longitudinal rod are respectively provided with a hinge joint, and two hinge joints at the ends, close to each other, of the two longitudinal rods are respectively hinged with the hinge seat through different hinge shafts; a transverse rod is arranged between the two parallel longitudinal rods of the non-same longitudinal rod group, two ends of the transverse rod are respectively provided with a hinge joint, and the hinge joints at two ends of the transverse rod are respectively hinged with a hinge seat close to the hinge joints through other hinge shafts;

The hinge seat at the corners is hinged with the fixed mounting seat through the folding and unfolding shaft, the folding and unfolding shaft is provided with a driving bevel gear, and the driving bevel gear is meshed with the bevel gear which is close to the driving bevel gear and is respectively meshed with the bevel gears which are respectively corresponding to the transverse rod and the longitudinal rod; the fixed mounting seat is arranged on the first fixed ring, and the first fixed ring is fixed on the supporting rod;

the folding and unfolding shaft is fixedly assembled with the first connecting rod, the first connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with the telescopic joint, the telescopic joint is arranged on the camera shooting electric cylinder shaft, the camera shooting electric cylinder shaft is arranged in the camera shooting electric cylinder, the shell of the camera shooting electric cylinder is hinged with the second fixing ring, and the second fixing ring is fixed on the supporting rod;

The second camera is arranged on the second fixing ring or the supporting rod, and the hinge seats on the three corners of the telescopic rod group except the hinge seat assembled with the fixed installation seat are respectively provided with a first camera; and a first camera is also arranged on the hinging seat in the middle.

5. The railway vehicle truck large piece dismounting device as claimed in claim 1, wherein the transfer rack comprises a transfer base, a scissor lift mechanism and a clamping module, the scissor lift mechanism is mounted on the transfer base, the clamping module is mounted on the scissor lift mechanism, and the scissor lift mechanism is used for driving the clamping module to lift relative to the transfer base; the clamping module is used for realizing positioning and clamping of the transfer frame and the wheel of the bogie, two clamping plates, a clamping guide rail, a clamping screw rod and two clamping parts are arranged on the clamping module, and two ends of the clamping screw rod are respectively arranged on the two clamping plates; the clamping module is also provided with a clamping shaft plate, the clamping shaft plate is assembled with a clamping worm shaft, the clamping worm shaft is provided with a clamping worm part, the clamping worm part is meshed with a clamping worm wheel for transmission, the clamping worm wheel is sleeved on a clamping screw rod, and one end of the clamping worm shaft penetrates out of the clamping module and is assembled with a clamping handle;

The clamping part comprises a clamping frame, a clamping sliding block, a clamping screw rod seat, a first clamping vertical plate, a second clamping vertical plate and a third clamping vertical plate are respectively arranged on the clamping frame, the clamping sliding block is clamped with a clamping guide rail and is assembled in a sliding manner so as to provide guidance for the movement of the clamping part, a screw rod shaft hole is arranged on the clamping screw rod seat, and the clamping screw rod penetrates through the screw rod shaft hole and can be assembled in a relative circumferential rotation manner;

The first clamping vertical plate and the second clamping vertical plate are respectively assembled with a radial screw rod, the radial screw rod passes through the radial pressing plate and is assembled with the radial pressing plate through screw threads in a screwing way, the first clamping vertical plate is also assembled with one end of a radial optical axis in a sliding way, the other end of the radial optical axis sequentially passes through the radial pressing plate and a radial spring and is then assembled with a radial pressing block, the radial spring applies elastic force for preventing the radial pressing block from moving towards the radial pressing plate, and two ends of the radial spring are respectively assembled with the radial pressing plate and the radial pressing block; the radial screw is connected with a radial power shaft through a radial belt and forms a belt transmission mechanism, and two ends of the radial power shaft are assembled with two first clamping vertical plates respectively.

6. The large-piece dismounting device for the railway vehicle bogie as claimed in claim 5, wherein the clamping frame is further provided with a clamping switching box, the radial power shaft penetrates through the clamping switching box, and a second clamping switching tooth is arranged on the part of the radial power shaft located in the clamping switching box; the second clamping switching teeth can be meshed with the third clamping switching teeth for transmission, the third clamping switching teeth can be meshed with the first clamping switching teeth for transmission, the third clamping switching teeth and the first clamping switching teeth are respectively arranged on a clamping switching tooth shaft and a clamping middle rotating shaft, the clamping switching tooth shaft and the clamping middle rotating shaft are respectively arranged on a clamping switching frame and a clamping switching box, the clamping switching frame is respectively provided with a switching sliding plate and a switching threaded part, two ends of the switching sliding plate are respectively clamped in a second clamping sliding groove and are clamped with the second clamping sliding groove and can be assembled in a sliding mode, and the second clamping sliding groove is arranged on the inner wall of the clamping switching box;

A second clamping switching spring is arranged between the switching slide plate and the clamping switching box, and the second clamping switching spring applies elastic force pushing the switching thread part to the clamping switching frame so that the switching thread part is pressed on the clamping screw rod in an initial state;

The clamping middle rotating shaft is provided with a second clamping bevel gear, the second clamping bevel gear is meshed with the first clamping bevel gear for transmission, the first clamping bevel gear is sleeved on a clamping belt shaft, the clamping belt shaft is arranged on a clamping switching box and is connected with a clamping shaft sleeve through a clamping transmission belt to form a belt transmission mechanism, the clamping shaft sleeve can circumferentially rotate and cannot axially move and is arranged on a clamping screw seat, and the clamping shaft sleeve can axially slide and cannot circumferentially rotate and is sleeved on the clamping screw.

7. The large-piece dismounting device for the railway vehicle bogie as claimed in claim 6, wherein the clamping switching frame is further provided with a switching chute, the switching chute is in press fit with a switching roller, the switching roller is installed on the clamping switching driving frame in a circumferential rotation manner, the switching driving frame is respectively provided with a clamping driving side plate, a first clamping driving end plate, a second clamping driving end plate and a clamping driving locking piece, and one end of the switching driving frame far away from the second clamping driving end plate penetrates through the third clamping vertical plate and is clamped with the third clamping vertical plate in a sliding manner; the clamping driving side plate is clamped with the first clamping sliding groove and is assembled in a sliding way, and the first clamping sliding groove is arranged on the inner wall of the clamping switching box; and a first clamping switching spring is arranged between the second clamping driving end plate and the clamping switching box, and the first clamping switching spring applies elastic force pushing the third clamping vertical plate to the clamping switching driving frame.

8. The railway car truck large piece dismounting apparatus as claimed in claim 7, wherein the switching screw portion moves away from the clamping screw until the clamping drive lock piece passes through the stopper lock piece when no longer screwed with the clamping screw and the clamping drive lock piece cannot be reversely retracted due to the blocking of the stopper lock piece; the stop lock block is arranged on the stop seat, the stop seat is clamped and can be slidably arranged in a stop sleeve groove, the stop sleeve groove is arranged in a stop sleeve, the stop sleeve is arranged in a stop shell, and the stop sleeve and the stop shell are all arranged on the clamping frame;

The stop seat is assembled with one end of the stop rod, the other end of the stop rod is sleeved with a stop spring, the stop spring passes through a stop shell block and is assembled with the stop power plate, two ends of the stop spring are respectively pressed on the stop seat and the stop shell block, and the stop shell block is arranged in the stop shell;

One end of the stop power plate enters between the radial pressing plate and the first clamping vertical plate, and the radial pressing plate can touch the stop power plate and drive the stop power plate to move when moving and resetting to the first clamping vertical plate, and at the moment, the stop power plate drives the stop seat to move away from the clamping driving locking piece by overcoming the elastic force of the stop spring through the stop rod until the stop locking piece is separated from the clamping driving locking piece.

9. The railway vehicle truck large piece dismounting apparatus of any one of claims 5 to 8, wherein the transfer rack further comprises a lift drive module for driving the scissor lift mechanism to operate;

The lifting driving module comprises a driving sliding seat and a clutch gear box, wherein the driving sliding seat is clamped with a driving sliding block and can be assembled in a sliding way, the driving sliding block is sleeved on a driving optical axis and a driving screw rod, and the driving sliding block can be assembled with the driving optical axis in an axial sliding way and is assembled with the driving screw rod in a threaded screwing way; the driving optical axis and the driving screw rod are arranged on the driving sliding seat and the clutch gear box; the driving sliding block is assembled with a lifting driving shaft of the scissor lifting mechanism;

The driving screw rod is assembled with the chain wheel after penetrating out of the driving sliding seat from one end of the clutch gear box, the chain wheel shell is driven by the external driving assembly, the external driving assembly comprises an external driving movable frame, an external driving fixed frame, an external driving motor, a chain and an external driving optical axis, one end of the external driving optical axis is assembled with the external driving movable frame, the other end of the external driving optical axis is sleeved with an external driving spring and penetrates out of the external driving fixed frame, and the external driving spring applies elastic force for preventing the external driving movable frame from moving to the external driving fixed frame; the outer drive movable frame is provided with a chain, the chain bypasses at least two chain shafts, one of the chain shafts is provided with a first outer drive gear, the first outer drive gear is meshed with a second outer drive gear for transmission, the second outer drive gear is arranged on an outer drive motor, and the outer drive motor is arranged on the outer drive movable frame.

10. The large-piece dismounting device for the railway vehicle bogie according to claim 9, wherein one end of the driving screw, which is arranged in the clutch gear box, is provided with lifting power teeth, the lifting power teeth can be meshed with first clutch teeth or third clutch teeth for transmission, the first clutch teeth are meshed with second clutch teeth for transmission, the second clutch teeth can be meshed with second power teeth for transmission, and the third clutch teeth can be meshed with the lifting power teeth and the second power teeth at the same time; the first clutch teeth, the second clutch teeth and the third clutch teeth are respectively arranged on a clutch frame plate of the clutch frame, and the second power teeth are arranged on a driving optical axis;

The clutch rack is sleeved on the clutch optical axis and can be axially and slidably assembled with the clutch optical axis, two ends of the clutch optical axis are respectively assembled with the clutch gear box and the transfer base, and a clutch spring is sleeved on the part of the clutch optical axis between the transfer base and the clutch rack; the clutch gear box is also assembled with the clutch screw rod through screw thread screwing, one end of the clutch screw rod is arranged in the clutch gear box and is pressed with the clutch frame, and the other end of the clutch screw rod is positioned outside the clutch gear box and is assembled with the clutch handle;

the first power teeth are meshed with the racks for transmission, the racks are provided with rack plates, the racks are clamped with the guide seats and can be assembled in a sliding mode, the guide seats are arranged in the clutch gear box, the rack plates are assembled with one end of the rack springs, the other end of the rack springs are assembled with the transfer base, and the rack springs apply pushing force far away from the transfer base to the racks; the first power tooth is a one-way gear, the rotation direction of the first power tooth is that the first power tooth is driven to turn when the rack moves upwards, and the locking direction is that the first power tooth is driven to turn when the rack moves downwards;

The rack is also provided with a rack roller, the rack roller penetrates through the roller chute and then is tightly pressed with the bottom surface of the swing arm, one end of the swing arm, which is close to the roller chute, is hinged with the clutch gear box, and the roller chute is arranged on the clutch gear box; the pedal is arranged at one end of the swing arm, which is far away from the roller chute, and the end of the swing arm is also pressed with one end of the spring plate, and the other end of the spring plate is arranged on the transfer base; the spring plate has elasticity for applying an elastic force to the end of the swing arm to which the pedal is mounted, which resists its rotation to the transfer base.