CN118848472B - Quick dismounting device of bogie sleeper spring - Google Patents
Quick dismounting device of bogie sleeper spring Download PDFInfo
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- CN118848472B CN118848472B CN202411131226.5A CN202411131226A CN118848472B CN 118848472 B CN118848472 B CN 118848472B CN 202411131226 A CN202411131226 A CN 202411131226A CN 118848472 B CN118848472 B CN 118848472B
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- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 238000000034 method Methods 0.000 claims description 27
- 230000036544 posture Effects 0.000 description 13
- XDDAORKBJWWYJS-UHFFFAOYSA-N glyphosate Chemical compound OC(=O)CNCP(O)(O)=O XDDAORKBJWWYJS-UHFFFAOYSA-N 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/56—Reuse, recycling or recovery technologies of vehicles
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Abstract
The invention provides a quick dismounting device for a bogie sleeper spring, which comprises an actuating mechanism, a dismounting device and a control system, wherein the actuating mechanism is arranged on the bogie sleeper spring; the dismounting device comprises a sleeper spring first hooking component, a spring receiving component and a frame; the frame is arranged on the executing mechanism; the first hooking component of the sleeper spring is arranged on the frame; the spring receiving assembly comprises a bearing assembly and a first side pushing assembly which are respectively arranged on the frame; the device provided by the invention can realize the disassembly of multiple groups of springs in the same row at a single time by utilizing the design of the spring receiving component, can realize the disassembly of multiple groups of springs in the same row at the front and back rows at the single time, and can accelerate the disassembly, thereby being particularly suitable for solving the problem that the time consumed for transferring a single spring is increased by disassembling and transferring the single spring for multiple times under the special condition that only one row of springs in the front and back rows is left in the bogie.
Description
Technical Field
The invention relates to an automatic dismounting mechanism for a sleeper spring on a railway train bogie, in particular to a bogie sleeper spring quick dismounting device, and belongs to the technical field of dismounting of parts of railway trains.
Background
Railway train bogies need to be overhauled regularly to ensure driving safety. The bogie has a plurality of parts, and the bogie structure is required to be disassembled during overhauling, so that important parts are disassembled for overhauling one by one. The sleeper spring on the bogie is usually taken out by manual carrying, so that the time and the labor are consumed, and the potential safety hazard cannot be ignored.
At present, some sleeper spring dismounting devices exist, and the sleeper spring dismounting devices can replace manual work to realize automatic sleeper spring dismounting by being used in combination with a mechanical arm. The patent literature discloses an intelligent sleeper spring dismounting device for a railway wagon bogie, which is disclosed by CN115570366A, and discloses a toggle structure, wherein a toggle mechanism which can extend into the sleeper spring is utilized to hook the sleeper spring and then is received by a supporting mechanism, and a robot drives an integral device to transfer the detached sleeper spring to a maintenance line, so that automatic sleeper spring dismounting and transferring operations are completed; patent document CN108857312A discloses a bogie load spring disassembling process, which describes a clamping structure, and after the wedge is taken out, the mechanical arm drives the chuck to take out the sleeper spring in the bogie and place the sleeper spring to the transfer frame.
Because the robot is loaded to move during connection, and the dismounting mechanism is required to be driven to integrally rotate frequently, the speed is generally low, the movement track is long, and the connection times are one of main factors affecting the overall efficiency.
In the existing sleeper spring dismounting device, only one group of sleeper springs can be dismounted for transferring in a single flow, and the number of times of connection is basically equal to the number of sleeper spring groups on a bogie. In order to reduce the connection times and accelerate the disassembly efficiency, a group of structures are added on the basis of the existing toggle type or clamping type disassembly structure, two groups of parallel disassembly structures are formed, two groups of sleeper springs can be disassembled in a single process to be transported to other stations, and the overall disassembly efficiency is improved. The bogie has limited internal space, the disassembly structure is optimally designed into two groups of parallel, under the scene of three groups of parallel design, the size of the bogie is basically equal to the internal width of the bogie when the bogie enters the bogie, the whole structure is bulky, the bogie is easy to collide with the internal structure of the bogie, the bogie is too dead due to the limitation of the space when entering the bogie, the bogie lacks flexibility, the use scene is limited, the bogie with inconsistent sleeper spring distribution (such as K5 type bogie) cannot be suitable for each row of bogie, in addition, the three groups of parallel design can cause the whole mechanism to be too heavy, the weight of the three groups of sleeper springs is not beneficial to the operation of a robot, and the connection speed is reduced.
In practical application, the two groups of parallel dismounting structures have the following problems that the number of the sleeper springs in the bogie is different in different types of bogies with three rows of outer, middle and inner sleeper springs in each row. Taking a K6-type bogie as an example, three groups of sleeper springs are placed on each row, when the sleeper springs are dismounted by using the two groups of parallel dismounting structures, a row of front and back rows of sleeper springs are left on the bogie, and under the condition that the sleeper springs fall down, only one group of sleeper springs can be dismounted even if the two groups of parallel dismounting structures are adopted until one group of sleeper springs are transferred, and one group of sleeper springs can be dismounted. Similar sleeper spring falling situations can also occur on other types of bogies, and the common device structural design can not disassemble a plurality of groups of sleeper springs under the situations, so that the connection times are reduced.
Disclosure of Invention
The invention aims to solve the problems in the background art and provides a quick sleeper spring dismounting device which is suitable for various types of bogies and can obviously reduce the connection times.
The technical scheme for solving the technical problems is as follows:
A quick dismounting device for a bogie sleeper spring comprises an actuating mechanism, a dismounting device and a control system, wherein the dismounting device comprises a sleeper spring first hooking component, a sleeper spring receiving component and a frame, the frame is mounted on the actuating mechanism, the sleeper spring first hooking component is mounted on the frame and used for entering a sleeper spring in a bogie, the sleeper spring receiving component comprises a bearing component and a first side pushing component which are respectively mounted on the frame, the bearing component is used for entering the bogie and bearing the sleeper spring hooked by the sleeper spring first hooking component, the bearing component comprises a first bearing seat and a second bearing seat, the first bearing seat and the second bearing seat are used for bearing the sleeper spring hooked or pushed, the sleeper spring first hooking component is arranged above the first bearing seat, the first bearing seat can move back and forth through a driving mechanism and extend into the bogie, the first side pushing component is arranged on the side close to the first bearing seat and used for bearing the sleeper spring after being hooked by the first hooking component to be retracted to the bearing seat, and the sleeper spring is dismounted to the bearing seat after being pushed to the first bearing seat.
The method comprises the same-column dismounting method, wherein the same-column dismounting method is used for dismounting the pillow springs which are positioned in the front row and the rear row and are in the same column, and comprises the following steps:
the control system described in Sa1 obtains the information of the same-row sleeper springs to be disassembled;
the Sa2 control system controls the executing mechanism to drive the dismounting device to a standard dismounting posture corresponding to the sleeper spring to be dismounted, so that the first bearing position is aligned with the first sleeper spring to be dismounted;
the control system of Sa3 controls the first bearing position to move to the bearing position of the ith row where the first sleeper spring to be disassembled is positioned,
The Sa4 control system controls the first tie spring falling component to extend to the falling position of the first tie spring to be disassembled, the first tie spring is fallen down, and the first bearing position bears the first tie spring which is fallen down;
The control system controls the first carrying position to retract to the waiting position of the dismounting device;
The control system controls the first side pushing assembly to push a first sleeper spring from the first bearing position to the second bearing position;
the control system controls the first bearing position to move to a j-th bearing position of the second sleeper spring to be dismounted;
the Sa8 control system controls the first tie spring falling component to extend to the falling position of the second tie spring to be disassembled, the second tie spring is fallen down, and the first bearing position bears the second tie spring which is fallen down;
the control system controls the first carrying position to retract to the waiting position of the dismounting device;
the first sleeper springs are ith row of sleeper springs, no sleeper springs are arranged in front of the first sleeper springs before the step Sa1, the second sleeper springs are arranged in the same row behind the first sleeper springs, and no sleeper springs are arranged in front of the second sleeper springs after the first sleeper springs are disassembled.
The method for disassembling the side pushing mechanism in the non-same column comprises the following steps:
the control system of Sb1 obtains information of the non-identical-row sleeper springs to be disassembled;
The control system controls the actuating mechanism to drive the dismounting device to a standard dismounting posture corresponding to the sleeper spring to be dismounted, so that the first bearing position is aligned to the third sleeper spring to be dismounted;
The control system controls the first bearing position to move to a bearing position of a k-th row where the third sleeper spring to be disassembled is located;
The control system controls the first hooking component of the sleeper spring to extend to the hooking position of the third sleeper spring to be disassembled to hook the third sleeper spring, and the first bearing position bears the hooked third sleeper spring;
Sb5 the control system controls the first receiving position to retract to the waiting position of the dismounting device;
Sb6 the control system controls the first side pushing assembly to push a third sleeper spring from the first receiving position to the second receiving position;
the control system controls the actuating mechanism to transversely move to drive the dismounting device to a standard dismounting posture corresponding to the sleeper spring to be dismounted, so that the first bearing position is aligned to the fourth sleeper spring to be dismounted;
the control system of Sb8 controls the first bearing position to move to the position where the fourth sleeper spring to be detached is A receiving position of the row;
the control system controls the first hooking component of the sleeper spring to extend to the hooking position of the fourth sleeper spring to be disassembled, hooks the fourth sleeper spring, and the first bearing position bears the hooked fourth sleeper spring;
Sb10 the control system controls the receiving assembly to retract to a waiting position of the dismounting device;
the third sleeper spring is the kth row sleeper spring, and the fourth sleeper spring is the kth row sleeper spring And arranging the sleeper springs, wherein the third sleeper springs and the fourth sleeper springs are arranged in different columns, and the sleeper springs are arranged in front of the third sleeper springs and the fourth sleeper springs before the Sb1 step.
The quick tie-down device comprises a steering frame, a first tie-down assembly, a second tie-down assembly, a first connecting rod, a second tie-down assembly and a second tie-down assembly, wherein the first tie-down assembly is arranged above the second connecting rod of the connecting assembly, the second connecting rod can move back and forth to extend into the steering frame, the first tie-down assembly comprises a same-row quick-down method and a same-row quick-down method, the same-row quick-down method is used for quickly disassembling 2 groups of tie springs which are adjacent to the same row under the condition that the front row has no tie, and the same-row quick-down method comprises the following steps:
the control system Sc1 obtains information of the same row of sleeper springs to be dismounted;
sc2 controls the actuating mechanism to drive the dismounting device to a standard dismounting posture corresponding to the sleeper spring to be dismounted, so that the first bearing position and the second bearing position are respectively aligned with a fifth sleeper spring and a sixth sleeper spring to be dismounted;
the control system controls the first bearing position and the second bearing position to move to the bearing position of the m-th row where the fifth sleeper spring and the sixth sleeper spring to be disassembled are positioned;
Sc4 controls the first hooking component of the sleeper spring and the second hooking component of the sleeper spring to extend to the hooking positions of the sleeper springs to be disassembled, and hooks a fifth sleeper spring and a sixth sleeper spring respectively, wherein the first bearing position bears the hooked fifth sleeper spring;
The control system controls the first bearing position and the second bearing position to be retracted backwards to the waiting position of the dismounting device;
The fifth sleeper spring and the sixth sleeper spring are sleeper springs in an m-th row, no sleeper spring is arranged in front of the fifth sleeper spring before the Sc1 step, and no sleeper spring is arranged in front of the sixth sleeper spring.
The first bearing position is arranged on the first spring connecting linear pushing mechanism, and the first spring connecting linear pushing mechanism is used for pushing the first bearing position to move forwards and backwards.
The bearing assembly consists of 2 bearing positions and 2 spring connecting linear pushing mechanisms, wherein the 2 spring connecting linear pushing mechanisms are arranged side by side, 1 bearing position is respectively arranged on the 2 spring connecting linear pushing mechanisms, and the 2 bearing positions are respectively driven by the spring connecting linear pushing mechanisms to move back and forth.
The first bearing position and the second bearing position are of an integrated structure, the integrated structure is arranged on the sleeper spring bearing linear pushing mechanism, and the first bearing position and the second bearing position synchronously move back and forth under the drive of the sleeper spring bearing linear pushing mechanism.
The spring receiving assembly further comprises a second side pushing assembly, the second side pushing assembly is mounted on the frame and arranged close to the second bearing position, and the second side pushing assembly is used for pushing the sleeper spring on the second bearing position to the first bearing position after the sleeper spring is hooked to the second bearing position by the sleeper spring second hooking assembly and is retracted to the waiting position of the dismounting device.
The first side pushing assembly comprises a pushing mechanism and a side pushing piece, wherein the pushing mechanism is arranged on the frame, the side pushing piece is connected with the pushing mechanism, and the side pushing piece moves left and right under the pushing of the pushing mechanism.
The side pushing piece adopts a v-shaped pushing block, and the v-shaped pushing block is used for contacting the side surface of the sleeper spring.
The quick dismounting device for the sleeper springs of the bogie has the advantages that by means of the design of the sleeper springs, the sleeper springs which are hooked and received can be pushed to the receiving position on the other side from the receiving position on one side, the receiving position of the next group of sleeper springs to be dismounted is reserved, dismounting of multiple groups of sleeper springs in the same row can be achieved once, dismounting of multiple groups of sleeper springs in the same row in front and back rows, especially front and back rows can be achieved once, and the problem that transferring time is increased due to the fact that only one row of sleeper springs in the front and back rows is left in the bogie is solved. The invention accelerates the rhythm of the spring ring joint, obviously reduces the connection times, improves the overall efficiency and is suitable for various types of bogies.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
Fig. 2 is a front view of the dismounting device 2 in embodiment 1;
fig. 3 is a schematic view of a first hooking component 21 of the sleeper spring of the present invention;
FIG. 4 is a schematic view of the receiving assembly 24 in embodiment 1;
FIG. 5 is a schematic view of a first side pushing assembly 25 according to the present invention;
FIG. 6 is a schematic illustration of the distribution of tie springs in different model trucks;
Fig. 7 is a front view of the dismounting device 2 in embodiment 2;
FIG. 8 is a schematic view showing the structure of the receiving unit 24 in embodiment 2;
FIG. 9 is a schematic view showing the structure of the receiving unit 24 in embodiment 3;
Fig. 10 is a schematic view of the structure of the dismounting device 2 in embodiment 4.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention. 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.
Example 1
The quick dismounting device for the sleeper spring of the bogie comprises an actuating mechanism 1, a dismounting device 2 and a control system, wherein the dismounting device 2 comprises a sleeper spring first hooking component 21, a sleeper spring receiving component and a frame 22.
The actuator 1 may be a mechanical arm or a manipulator.
A frame 22 is mounted on the actuator 1 and a first tie hook assembly 21 is mounted on the frame 22 for hooking the tie into the bogie.
The spring receiving assembly comprises a receiving assembly 24 and a first side pushing assembly 25 which are respectively arranged on the frame 22, the receiving assembly 24 is used for receiving a sleeper spring of which the first sleeper spring is hooked by the first hooking and falling assembly 21 in the bogie, the receiving assembly 24 comprises a first receiving position 241 and a second receiving position 242, the first receiving position 241 and the second receiving position 242 are used for receiving the sleeper spring which is hooked or pushed, the first sleeper spring hooking and falling assembly 21 is arranged above the first receiving position 241, and the first receiving position 241 can move back and forth through a driving mechanism to extend into the bogie.
The first side pushing assembly 25 is disposed near the first receiving position 241, and is configured to push the tie spring on the first receiving position 241 to the second receiving position 242 after the tie spring hooked on the first receiving position 241 by the tie spring first hooking assembly 21 is retracted to the waiting position of the dismounting device 2.
There is provided an embodiment of the dismounting device 2, as shown in fig. 2, the receiving member 24 is mounted on the inner bottom side of the frame 22, the first hooking member 21 of the sleeper spring is mounted on the inner side of the frame 22 through the first mounting seat 23, and the first side pushing member 25 is mounted on the front side of the frame 22, and is specifically disposed on the side of the receiving member 24 at a side close to the first receiving position 241.
The first hooking and falling assembly 21 of the sleeper spring can adopt a structure shown in fig. 3, and comprises a sleeper spring hooking and falling mechanism 211 and a longitudinal linear pushing mechanism 212, wherein the sleeper spring hooking and falling mechanism 211 is arranged on the longitudinal linear pushing mechanism 212 and moves back and forth under the drive of the longitudinal linear pushing mechanism 212.
The structure of the receiving assembly 24 is shown in fig. 4, and is composed of a first receiving station 241, a second receiving station 242 and a first spring-receiving linear pushing mechanism 243, wherein the first receiving station 241 is mounted on the first spring-receiving linear pushing mechanism 243, and the first spring-receiving linear pushing mechanism 243 is used for pushing the first receiving station 241 to move back and forth.
The first side pushing assembly 25 may have a structure as shown in fig. 5, and the first side pushing assembly 25 includes a pushing mechanism 251 and a side pushing member 252, wherein the pushing mechanism 251 may be a pushing cylinder, the pushing mechanism 251 is mounted on the frame 22 through a side pushing fixing plate 253, one end of the side pushing member 252 is used for contacting a side surface of a pillow spring received on the receiving assembly 24, and the other end is connected with the pushing mechanism 251 through a side pushing adapter plate 254, and the side pushing member 252 moves left and right under the pushing of the pushing mechanism 251.
The side pushing piece 252 can adopt a v-shaped pushing block, the v-shaped pushing block is used for contacting the side surface of the sleeper spring hooked to the bearing position, and the contact area between the side surface of the sleeper spring and the side surface of the sleeper spring can be increased by adopting the v-shaped pushing block, so that the stability and the safety in the side pushing process are improved.
The quick dismounting device for the bogie sleeper springs comprises an in-line dismounting method, wherein the in-line dismounting method is used for dismounting sleeper springs which are positioned in front and back rows and in the same line, and comprises the following steps of:
The Sa1 control system obtains information of the same-row sleeper springs to be dismounted;
the Sa2 control system controls the executing mechanism 1 to drive the dismounting device 2 to a standard dismounting gesture corresponding to the sleeper spring to be dismounted, so that the first bearing position 241 is aligned with the first sleeper spring to be dismounted;
the Sa3 control system controls the first receiving position 241 to move to the receiving position of the ith row where the first tie spring to be detached is located,
The Sa4 control system controls the first sleeper spring overturning assembly 21 to extend to an overturning position of the first sleeper spring to be dismounted, the first sleeper spring is hooked and overturned, and the first bearing position 241 bears the hooked first sleeper spring;
The Sa5 control system controls the first receiving position 241 to retract to the waiting position of the dismounting device 2;
The Sa6 control system controls the first side pushing assembly 25 to push the first sleeper spring from the first bearing position 241 to the second bearing position 242;
the Sa7 control system controls the first receiving position 241 to move to a receiving position of the j-th row where the second sleeper spring to be detached is positioned;
the Sa8 control system controls the first hooking component 21 of the sleeper spring to extend to the hooking position of the second sleeper spring to be disassembled, hooks the second sleeper spring, and the first receiving position 241 receives the hooked second sleeper spring;
the Sa9 control system controls the first receiving position 241 to retract to the waiting position of the dismounting device 2;
The first sleeper springs are ith row of sleeper springs, no sleeper springs are arranged in front of the first sleeper springs before the step Sa1, the second sleeper springs are arranged in the same row behind the first sleeper springs, and no sleeper springs are arranged in front of the second sleeper springs after the first sleeper springs are disassembled.
Fig. 6 shows the distribution of the springs in various types of trucks, each circle representing a set of springs, for example, a K6 type truck, including springs I, II, III in the first row, springs IV, V, VI in the second row, and springs VII, VIII, IX in the third row.
Still taking the distribution of the springs in the K6 type bogie as shown in fig. 6 as an example, the first and second springs to be disassembled may be springs I and V, or springs II and IV, or springs III and VI, or springs V and VII after springs I have been disassembled, respectively, in the K6 type bogie, and so on.
The quick dismounting device for the bogie sleeper spring comprises a non-identical column dismounting method of a side pushing mechanism, and the non-identical column dismounting method of the side pushing mechanism, and comprises the following steps:
the Sb1 control system obtains information of the non-identical-row sleeper springs to be disassembled;
the Sb2 control system controls the actuating mechanism 1 to drive the dismounting device 2 to a standard dismounting gesture corresponding to the sleeper spring to be dismounted, so that the first bearing position 241 is aligned to the third sleeper spring to be dismounted;
The Sb3 control system controls the first bearing position 241 to move to the bearing position of the k row where the third sleeper spring to be disassembled is positioned;
The Sb4 control system controls the first hooking component 21 of the sleeper spring to extend to the hooking position of the third sleeper spring to be disassembled, hooks the third sleeper spring, and the first receiving position 241 receives the hooked third sleeper spring;
The Sb5 control system controls the first receiving station 241 to retract to the waiting position of the dismounting device 2;
the Sb6 control system controls the first side pushing assembly 25 to push the third sleeper spring from the first bearing position 241 to the second bearing position 242;
the Sb7 control system controls the actuating mechanism 1 to transversely move to drive the dismounting device 2 to a standard dismounting posture corresponding to the sleeper spring to be dismounted, so that the first bearing position 241 is aligned with the fourth sleeper spring to be dismounted;
the Sb8 control system controls the first bearing position 241 to move to the position where the fourth sleeper spring to be detached is A receiving position of the row;
The Sb9 control system controls the first hooking component 21 of the sleeper spring to extend to the hooking position of the fourth sleeper spring to be disassembled, hooks the fourth sleeper spring, and the first receiving position 241 receives the hooked fourth sleeper spring;
the Sb10 control system controls the receiving assembly 24 to retract to the waiting position of the dismounting device 2;
the third sleeper spring is the k row sleeper spring, and the fourth sleeper spring is the k row sleeper spring And arranging the sleeper springs, wherein the third sleeper spring and the fourth sleeper spring are arranged in different rows, and before the step Sb1, arranging the third sleeper spring and the fourth sleeper spring in front of the third sleeper spring without sleeper springs.
Taking the distribution of the springs in the K6 bogie as shown in fig. 6 as an example, the third springs and the fourth springs may be any 2 groups of springs in the first row, may be springs V and IV, or springs IV and III, or springs V and III, after springs I and II have been removed, and so on.
The internal layout of the bogie of other types shown in fig. 6 can be disassembled in the same column or disassembled in different columns by using the device.
Example 2
Fig. 7 shows another embodiment of the dismounting device 2.
Unlike embodiment 1, the dismounting device 2 further comprises a sleeper spring second hooking member 26.
The second hooking and falling component 26 of the sleeper spring is arranged on a second bearing position 242 of the bearing component 24, the second bearing position 242 can move back and forth to extend into the bogie, the second hooking and falling component 26 of the sleeper spring is arranged in the frame 22 through the second mounting seat 27, and the second hooking and falling component 26 of the sleeper spring and the first falling component 21 of the sleeper spring can adopt the same structure and are symmetrically distributed.
The bearing assembly 24 consists of 2 bearing positions and 2 spring-connecting linear pushing mechanisms, wherein the 2 spring-connecting linear pushing mechanisms are arranged side by side, 1 bearing position is respectively arranged on the bearing positions, the bearing positions are respectively driven by the corresponding spring-connecting linear pushing mechanisms individually and are respectively driven by the corresponding spring-connecting linear pushing mechanisms to move back and forth.
As shown in fig. 8, the first receiving portion 241 and the second receiving portion 242 of the receiving assembly 24 are mounted on the first spring linear pushing mechanism 243 and the second spring linear pushing mechanism 244, respectively.
The design of the 2-set tie hook assembly may employ a quick disassembly in-line method in addition to the in-line disassembly method described in example 1.
The same row quick dismounting method is used for quickly dismounting 2 groups of sleeper springs which are positioned adjacent to the same row under the condition that the front row is free of sleeper springs, and comprises the following steps:
The Sc1 control system obtains information of the same row of sleeper springs to be dismounted;
the Sc2 control system controls the actuating mechanism 1 to drive the dismounting device 2 to a standard dismounting gesture corresponding to the sleeper spring to be dismounted, so that the first bearing position 241 and the second bearing position 242 are respectively aligned with the fifth sleeper spring and the sixth sleeper spring to be dismounted;
The Sc3 control system controls the first bearing position 241 and the second bearing position 242 to move to the bearing position of the m-th row where the fifth sleeper spring and the sixth sleeper spring are to be disassembled;
The Sc4 control system controls the first hooking component 21 of the sleeper spring and the second hooking component 26 of the sleeper spring to extend to the hooking positions of the sleeper spring to be disassembled, and hooks a fifth sleeper spring and a sixth sleeper spring respectively, and the first bearing position 241 bears the hooked fifth sleeper spring;
The Sc5 control system controls the first receiving position 241 and the second receiving position 242 to retract backwards to the waiting position of the dismounting device 2;
The fifth sleeper spring and the sixth sleeper spring are the m row sleeper springs, no sleeper spring is arranged in front of the fifth sleeper spring and no sleeper spring is arranged in front of the sixth sleeper spring before the step Sc 1.
Taking the distribution of the ties in the K6-type bogie as shown in fig. 6 as an example, the removed fifth tie and sixth tie may be the first row of 2 sets of adjacent ties in the K6-type bogie, such as tie I and tie II, or tie II and tie III, or the rear row of 2 sets of adjacent ties with the front row of ties removed.
Example 3
The receiving assembly 24 in example 2 may also be replaced with the following embodiments.
As shown in fig. 9, the receiving assembly 24 is composed of a first receiving position 241, a second receiving position 242 and a sleeper spring receiving linear pushing mechanism 245, wherein the first receiving position 241 and the second receiving position 242 are in an integrated structure, and the integrated structure composed of the first receiving position 241 and the second receiving position 242 is arranged on the sleeper spring receiving linear pushing mechanism 245 and synchronously moves back and forth under the drive of the sleeper spring receiving linear pushing mechanism 245.
Example 4
Based on embodiments 2-3, the dismounting device 2 may further include a second side pushing assembly 28, where the second side pushing assembly 28 is mounted on the frame 22, specifically disposed on a side of the receiving assembly 24, and located on a side close to the second receiving position 242.
The second side pushing assembly 28 may have the same structure as the first side pushing assembly 25, and the second side pushing assembly and the first side pushing assembly are symmetrically disposed on two sides of the receiving assembly 24, as shown in fig. 10.
The second side pushing assembly 28 is used for pushing the tie spring on the second receiving position 242 to the first receiving position 241 after the tie spring hooked to the second receiving position 242 by the tie spring second hooking assembly 26 is retracted to the waiting position of the dismounting device 2.
The 2 groups of side pushing assemblies can increase the flexibility of the dismounting device, and the same-row sleeper springs can be dismounted more conveniently for any side-row sleeper springs.
Example 5
On the basis of the embodiment, the front end of the frame 22 is also provided with the camera 3, the camera 3 is used for collecting pose information of the bogie, and the pose difference of the bogie is calculated through recognition and positioning software, so that the actuator 1 is controlled to detach under the standard detachment pose relative to the bogie.
Before formal disassembly, the standard disassembly postures of the sleeper springs at different positions are taught firstly, then after the positions of the bogies are fixed each time, the camera collects posture information of the bogies, and the posture of the robot is adjusted to the standard disassembly posture according to the posture results.
It should be noted that the standard disassembly posture does not correspond to a certain determined disassembly posture value, and each of the different positions of the springs has its own standard disassembly posture.
In general, in order to prevent the springs received on the receiving portion from falling off, the receiving portion may be inclined after receiving the springs, so that the springs may slide down into the receiving portion. The tilting of the receiving position may be performed by the actuator 1 or a mechanism for controlling the tilting of the receiving position may be provided in the dismounting device 2.
As above, although the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
The dismounting device provided by the invention can realize the dismounting of multiple groups of pillow springs in a single same row, and simultaneously can realize the dismounting of multiple groups of pillow springs in a single front and back row, especially in a front and back row, so as to solve the problem that the time consumption for transferring is increased because a single pillow spring needs to be dismounted and transferred for multiple times under the special condition that only one row of pillow springs in the front and back row is left in the bogie. The number of times of connection of the sleeper spring group in the bogie can be reduced from the existing Q times to roundup (Q/N, 0) times, wherein Q is the number of sleeper spring groups in the bogie, N is the number of bearing positions in the bearing assembly 24, and roundup (Q/N, 0) is an integer of which the Q/N is rounded upwards.
Claims (9)
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Citations (2)
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| CN113319564A (en) * | 2021-08-03 | 2021-08-31 | 成都岁生科技有限责任公司 | Sleeper spring disassembling robot and bogie vibration damping device disassembling system |
| CN220782845U (en) * | 2023-09-28 | 2024-04-16 | 成都岁生科技有限责任公司 | Dismounting device for vibration reduction component of bogie of railway wagon |
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| US5386622A (en) * | 1993-10-19 | 1995-02-07 | Tachi-S Co., Ltd. | Device for chucking a zigzag spring |
| JP3686514B2 (en) * | 1998-01-23 | 2005-08-24 | 富士重工業株式会社 | Suspension damper assembly equipment |
| JP2003011812A (en) * | 2001-07-04 | 2003-01-15 | Hitachi Plant Eng & Constr Co Ltd | Shaking pillow attachment / detachment device |
| CN108390236A (en) * | 2018-05-02 | 2018-08-10 | 东莞理工学院 | A fully automatic assembly machine for spring fasteners |
| CN109366155B (en) * | 2018-12-25 | 2023-06-20 | 成都岁生科技有限责任公司 | Tool for disassembling springs of railway vehicle bogie and spring disassembling method |
| CN209453080U (en) * | 2018-12-29 | 2019-10-01 | 成都岁生科技有限责任公司 | The bogie removal device that can realize the spatial positioning of the bogie |
| CN112846730A (en) * | 2021-03-12 | 2021-05-28 | 济南火车头智能技术有限公司 | Intelligent dismounting device for bogie sleeper spring |
| CN116038306A (en) * | 2022-12-16 | 2023-05-02 | 辛帕智能科技(平湖)有限公司 | A blade root iron flange bolt disassembly robot and disassembly method |
| CN116277033B (en) * | 2023-05-09 | 2024-07-12 | 西南交通大学 | Sleeper spring inclined wedge disassembling manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319564A (en) * | 2021-08-03 | 2021-08-31 | 成都岁生科技有限责任公司 | Sleeper spring disassembling robot and bogie vibration damping device disassembling system |
| CN220782845U (en) * | 2023-09-28 | 2024-04-16 | 成都岁生科技有限责任公司 | Dismounting device for vibration reduction component of bogie of railway wagon |
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