CN209453080U - The bogie removal device that can realize the spatial positioning of the bogie - Google Patents

Abstract

The utility model discloses a bogie dismantling device capable of realizing bogie spatial positioning, comprising a three-coordinate system and a manipulator system, the three-coordinate system comprising a three-axis frame body and a dismantling unit installed on the three-axis frame body, The dismounting unit is used to disassemble the wedge block on the bogie. The manipulator system includes a manipulator body and a machine tool connected to the manipulator body. The dismantling unit includes a mounting frame and a second pusher mounted on the mounting frame. Rod, the implement includes an implement rack and a first push rod installed on the implement rack, the second push rod is a telescopic rod that is telescopic relative to the mounting frame, and the first push rod is telescopic relative to the implement rack telescoping rod. By adopting the dismounting device provided by this solution, the positioning of the bogie in space before disassembly can be accurately completed.

Description

The bogie removal device that can realize the spatial positioning of the bogie

technical field

The utility model relates to the technical field of maintenance and inspection equipment for rail vehicle parts, in particular to a bogie dismantling device capable of realizing spatial positioning of the bogie.

Background technique

The bogie is one of the important components in the structure of the rail vehicle, and various parameters of the bogie also directly determine the stability of the vehicle and the ride comfort of the vehicle. During the overhaul process of the bogie, the structure needs to be disassembled. The bogie includes a load spring and a wedge, and the load spring and the wedge are mainly removed by manual movement. The load-bearing springs at both ends of the bogie are divided into three rows: outer, middle and inner. For bogies with different models, the number and type of load-bearing springs are different, and the pitch of the load-bearing springs is also different. A load-bearing spring includes inner The bearing spring and the outer bearing spring, and the inner bearing spring and the outer bearing spring are independent of each other. When moving the bearing spring, additional force needs to be added to keep the inner bearing spring and the outer bearing spring relatively fixed. Usually the quality of a load-bearing spring is more than 10kg, and the load-bearing spring is picked and placed only by the way that the workers move it, so that the daily work intensity of the workers is very large. And in the process of moving, due to repeated labor, narrow operating space, and the heavy weight of the load-bearing spring itself, workers are prone to hand slipping and loss of force, resulting in injury accidents during the disassembly of the load-bearing spring.

The oblique wedge is set between the load spring and the bolster. The function of the oblique wedge is to provide the diamond-shaped deformation resistance of the bolster and the side frame of the bogie, to ensure that the bogie is in the right position, and to meet the requirements of the vehicle's straight-line running stability and Curves through performance. The cam blocks also need to be removed during the complete bogie disassembly process.

In view of the above problems, in order to solve the problems of dismantling the bogie proposed above, a technical solution such as the patent application provided by the application number: 201810798273.3 has appeared in the prior art. Using this solution, not only can the replacement of manual labor be realized by using machinery and tools , due to the automatic disassembly, the disassembly of the bogie also has the characteristics of high efficiency.

It is a technical problem to be solved urgently by those skilled in the art to further study the structural design of the device for bogie disassembly so that it can better serve the field of rail transportation.

Utility model content

Further research on the structural design of the device for bogie disassembly proposed above, so that it can better serve the rail transit field, is a technical problem to be solved urgently by those skilled in the art. The utility model provides a A bogie dismantling device capable of realizing bogie spatial positioning, using the dismantling device provided by the proposal, can accurately complete the spatial positioning of the bogie before dismantling.

The technical means of this scheme are as follows, the bogie removal device that can realize the spatial positioning of the bogie includes a three-coordinate system and a manipulator system, the three-coordinate system includes a three-axle frame body and a removal unit installed on the three-axis frame body, The removal unit is used to remove the wedge block on the bogie. The manipulator system includes a manipulator body and a machine tool connected to the manipulator body. The removal unit includes a mounting frame and a second pusher mounted on the mounting frame. Rod, the implement includes an implement rack and a first push rod installed on the implement rack, the second push rod is a telescopic rod that is telescopic relative to the mounting frame, and the first push rod is telescopic relative to the implement rack telescoping rod.

In the prior art, the structural design of the track frame is generally as follows: including a bolster, side frames are arranged on both sides of the bolster, and a component installation cavity is arranged on each side frame, and a load-bearing spring, Shock absorbing spring, wedge block. As stated in the utility model application document with the application number 201810798273.3, in order to realize the mechanization or automatic disassembly of the bogie, it is first necessary to complete the positioning of the bogie in space, and then constrain the wedge through the three-coordinate system and remove it through the equipment on the manipulator. The springs and other parts on the bogie, that is, the three-coordinate system and the manipulator system, each need a power source to drive the functional components on each to change their positions in space when they are working.

In this solution, the dismantling unit and the implement are respectively driven by the three-axis frame body and the manipulator to change their positions in space to adapt to the position of the parts to be dismantled on the bogie. The pole and the implement include a first push rod, and both the first push rod and the second push rod are telescopic rods, so that the bogie can be horizontally suspended by a pendant that can rotate around its own axis, so that the bogie can go around the middle of the bolster Rotation, using the movable characteristics of the dismantling unit and the tool rack itself, respectively carry the second push rod and the first push rod to move to different sides of the pendant or the middle of the bolster, and then through the expansion and contraction of the first push rod and the second push rod , respectively apply thrust to the bogie. For example, the first push rod and the second push rod are located at the front side of the bogie and are respectively located on the left and right sides of the front side of the bogie. The thrust generated by the above two push rods pushes the bogie Rotating around the hanger, when the bogie reaches a specific space position, by applying support to the bottom of the bogie, the position of the bogie in space can be fixed to facilitate subsequent disassembly operations. In summary, with this scheme, using the three-coordinate system and the movable characteristics of the manipulator system itself, the position of the bogie in space can be quickly realized. At the same time, by setting the push rods to include the first push rod and the second push rod, The orientation adjustment of the bogie in space can be accurately completed by applying torque or torque in opposite directions to the bogie by the above two push rods.

As a person skilled in the art, the telescopic driving form of the first push rod and the second push rod above can adopt forms such as electric drive, pneumatic drive, hydraulic drive and the like.

A further technical solution is:

As a specific implementation of the removal unit, the removal unit also includes lifting rods installed on the mounting frame, there are two lifting rods, and each lifting rod is a telescopic rod;

The two lifting rods can protrude from the same side of the mounting frame to the outside of the mounting frame, and each lifting rod is provided with a lifting surface for supporting the inclined wedge, and the lifting surfaces are all corresponding to the local position of the lifting rod. upper surface;

During the movement of the lifting surface as the lifting rod expands and contracts relative to the mounting frame, the two lifting surfaces can move relative to each other to form a symmetrical relationship;

The second push rod and the lifting rod can protrude from the same side of the installation frame. For the wedge on the bogie, the structural design of the bogie in the prior art is generally as follows: the wedge is placed on the upper end of the outer bearing spring, and two left and right wedges are placed on one end of the bogie , there are four oblique wedges placed at both ends. For the oblique wedges at the same end, the two oblique wedges are arranged symmetrically. For a single wedge, the shape of the wedge generally has a downwardly protruding annular flange at the bottom, and the above flange is used for positioning the wedge in the radial direction of the load spring, while the middle of the wedge has a hollow.

For the removal of the load spring with the wedge block and the wedge block above it, the specific installation method determines that it is more convenient to remove it in the following way: first lift the wedge block, remove the constraints of the wedge block and the load spring, and then take out Load the spring, then use the space below the wedge to remove the wedge.

In this scheme, the above three-axis frame is: it has X-axis guide rail, Y-axis guide rail and Z-axis guide rail. The above three guide rails are perpendicular to each other in space. If the position of X-axis guide rail is fixed in space, Y-axis guide rail can be Move along the extension direction of the X-axis guide rail, and the Z-axis guide rail can move along the extension direction of the Y-axis guide rail. At this time, the removal unit can be installed on the Z-axis guide rail. The specific installation form of the removal unit is preferably set as follows: The detachment unit itself can change position along the extension direction of the Z-axis guide rail. Under the action of the three-axis frame, according to the position of the specific operation object, the position transformation of the dismantling unit in space can be completed. The specific movement form, cooperation form or driving form of the three-axis support body can adopt the form of a ball screw, and can also adopt forms such as the cooperation of a gear and a gear plate.

In this solution, the lifting rod is the component that directly interacts with the wedge block in the three-coordinate system: it is set that there are two lifting rods, so that two wedges are arranged on each side of the bogie block, that is, when the removal unit moves to the outside of the installation space of the wedge block, a lifting rod is responsible for dismantling a wedge block; it is set that each lifting rod is a telescopic rod that can be stretched relative to the installation frame, aiming at Realization: When the position of the mounting frame remains unchanged in space, through the movement of each lifting rod, the lifting rod can be extended to the bottom side of the corresponding oblique wedge, so as to complete the support and alignment of the bottom of the oblique wedge For the lifting of the wedge, after the removal of the lower bearing spring is completed, the lifting rod is lowered and retracted, and the inclined wedge can be removed from the installation space on the bogie; the two lifting rods set can be moved from the same side of the mounting frame The outer side of the installation frame protrudes, that is, after the installation frame is positioned outside the installation space, it only needs to translate the removal unit or directly define the relative position of the two lifting rods to correspond to the relative position of the two oblique wedges. Each lift bar corresponds to the relative position of the corresponding wedge block, so as to improve the removal efficiency of the wedge block; the lifting surface provided is the support surface for the wedge block on the lift bar; The surface is used as the support surface, and the lifting rod can be extended into the bottom side of the wedge block; the setting is: during the movement of the lifting surface with the lifting rod relative to the mounting frame, the two lifting surfaces can move relative to each other. The relationship is symmetrical, that is, it is designed to match the two oblique wedges arranged symmetrically on the same side of the bogie. called relationship.

When this program is actually implemented, the above two lifting rods and the relative positional relationship between the two lifting rods can make it possible to automatically remove the oblique wedges on the bogie without the need for the three-axis frame and the removal unit itself. Complicated actions are used to match the symmetrical relationship between the two wedges on the same side of the bogie, so as to improve the removal efficiency of the wedges.

As a person skilled in the art, the driving form of the lifting rod telescoping above can adopt forms such as electric drive, pneumatic drive, hydraulic drive and the like. The above setting is that the second push rod and the lifting rod can be stretched out from the same side of the mounting frame. After the three-coordinate system is used to fix the position of the bogie in space, the oblique wedge on the bogie can be operated without moving the mounting frame or simply moving the mounting frame.

The three-coordinate system also includes two clamping devices, and the clamping devices are installed on the mounting frame or the lifting rod;

One of the clamping devices and one of the lifting rods form a wedge restraining station, and the other clamping device and the other lifting rod form a wedge restraining station;

On each restraining station, the lifting surface on the lifting rod provides support for the bottom of the oblique wedge, and the clamping device is used to apply a pressure to the oblique wedge towards the lifting surface to realize the oblique alignment of the restraining station. Wedge constraints. In this scheme, a clamping device cooperates with a lifting rod to form a working group for constraining a wedge. With this scheme, the clamping device provides pressure on the wedge, which can achieve the increase of the wedge and wedge. The purpose of the maximum static friction between the devices, the increase of the above maximum static friction, in the case of ensuring the reliable restraint of the oblique wedge at the above restraint station, is conducive to improving the linear speed of the lifting rod movement and improving the removal efficiency of the bogie . The specific implementation method of the clamping device can be: adopt the form of a cylinder to drive the pressing block, the above pressing block is located at the front end of the lifting rod and above the lifting rod, and the pressing block moves to the wedge block to be disassembled simultaneously with the lifting rod When the lifting rod extends into the bottom side of the oblique wedge, the pressure block extends into the cavity of the oblique wedge, and then under the action of the cylinder, the pressure block moves to the supporting surface of the lifting rod to provide pressure on the oblique wedge. The above specific implementation manners can be achieved by installing the clamping device on the lifting rod. However, as a person skilled in the art, when the clamping device is installed on the mounting frame, during the retraction process of the wedge block with the lifting rod, the above-mentioned form of driving the pressure block by the cylinder can also be moved to the insertion of the pressure block through the wedge block In the cavity of the wedge block, the restraint of the clamping device on the wedge block at this time also ensures the stability and reliability of the subsequent operation of the wedge block, such as when the wedge block is moved by the pull rod assembly and supporting parts provided below, When the upper bar of the pull rod assembly passes over the top of the wedge to prepare for the pull-down action of the wedge, the wedge is constrained by the clamping device and the lifting rod together, which can avoid accidents of the wedge under the action of the pull rod assembly dump.

The lifting rod includes a main rod and a support rod, the supporting rod is fixed on the main rod, the length direction of the main rod is in the same direction as the moving direction of the lifting rod, and the upper surface of the supporting rod is higher than the main rod , and the above two upper surfaces are planes, and the two planes are parallel to each other;

The lifting surface is jointly formed by the upper surface of the main rod and the upper surface of the strut;

The main rods of the two lifting rods are parallel to each other, and the struts on each main rod protrude from the side of the main rod away from the other main rod;

The lifting rods are all installed on the side of the mounting frame, the two sides on the mounting frame for mounting the lifting rods are a pair of sides, the two lifting rods are of equal height, and the free ends of each pole are all facing the installation outside of the rack. This solution provides a solution with a simple structure and the shape of the supporting surface matches the shape of the bottom of the wedge: the front end of the main rod is used to support the middle of the bottom of the wedge, and the support rod is used to support the side of the bottom of the wedge. Provide support to minimize wedge tipping during removal. Preferably, it is set that the mounting frame is also provided with a connecting seat for realizing the connection between the mounting frame and the three-axis frame body. In order to optimize the force of the device, it is set that the connecting seat is located between the two lifting rods; at the same time It is set that the mounting frame is two pieces, and the mounting frame is installed on a pair of opposite sides of the connecting seat, and a lifting rod and a clamping device are installed on each mounting frame; each mounting frame can be vertically positioned relative to the connecting seat. direction movement, so as to complete the operation of lifting and lowering the wedge block through the removal unit, and the above movement can be realized by the fourth driving mechanism in the form of pneumatic. At the same time, it is set that each connecting seat has an aviation plug, so as to facilitate the standardized wiring and modularized disassembly and assembly of the device.

The implement includes a pull rod assembly, a locking assembly and a support component, and the pull rod assembly, the lock assembly and the support component are all installed on the same side of the tool frame. In the height direction, from bottom to top, they are: Locking components, pull rod components;

The tie rod assembly includes a tie rod body, which is a cantilever beam-like structure protruding from the tool frame, and a grabbing mechanism for applying force to the spring on the bogie is also installed on the free end of the tie rod body, so The force is used to force the spring to fall;

The supporting part is provided with a supporting surface, and the supporting surface is used to carry the spring toppled over;

The locking assembly is used to impose constraints on the springs on the support component, and the constraints are: among the springs, the relative positions of the inner spring and the outer spring are fixed. In the prior art, for the rail car bogie structure, the springs and wedge blocks included are arranged in the cavity of the side frame, and the springs include damping springs and bearing springs. At the same time, a raised point is provided on the surface of the cavity for constraining the position of the damping spring and the bearing spring in the cavity, and the wedge block is installed on the upper end of the bearing spring. Therefore, when disassembling the shock absorbing spring, bearing spring, and wedge block, the size of the cavity above is limited. When disassembling the robotic arm, the robotic arm is required to have an extremely accurate movement process. And in the prior art, for the disassembly of the shock absorbing spring and the bearing spring, the action process is generally as follows: use a clamp including claws to clamp the corresponding spring and then lift it up so that the lower end of the spring crosses the upper end of the bump, and then The manipulator drives the jaws to move, so that the spring moves out of the cavity along with the jaws, and then the springs are placed on the operating platform or maintenance platform.

In the above process, the distance for the spring to be lifted in the cavity is small. At the same time, when the spring moves outward with the jaws, since the spring is still in the standing state, the manipulator performs the above actions. High precision is required, otherwise there will be spring end collision accidents, resulting in failures in the bogie disassembly process.

The working process or principle of this scheme is: the fixture is fixed on the manipulator, for example, according to the structure of the existing manipulator, a connecting flange is provided on the tool frame, and the above connecting flange is used to connect with the connecting flange on the manipulator. Like this, under the effect of above-mentioned manipulator, above-mentioned implement can move in space. The pull rod assembly, the locking assembly and the supporting part move with the tool frame and move to the side of the cavity on the bogie, then the pull rod assembly works, and the pull rod body protrudes toward the spring relative to the tool frame, such as the action of the grabbing mechanism At the top of the spring, the pull rod body retreats, and under the action of the catch mechanism, the spring falls and falls onto the supporting surface of the supporting component. Then, for the nested spring form, the inner spring and the outer spring are mutually constrained by the locking component, so that the inner spring can move synchronously with the outer spring during the subsequent movement of the supporting parts, thereby completing the removal of the bogie spring .

In this scheme, the structural design of the above equipment is adopted. Before the spring is moved out of the cavity on the bogie, the spring has a dumping action under the action of the pull rod assembly and is dumped on the supporting surface of the supporting component. Therefore, compared with the existing There is technology, the above process does not involve the process of the spring being lifted up, that is, the displacement control of the spring is not required; in the process of moving the spring out, since the spring has been tilted, compared with the spring being moved out in a vertical state, at this time In the vertical direction, the supporting part protruding into the cavity has a larger movable space; when the spring is moved out, the locking component is applied to the inner spring to realize the relative position fixation of the inner spring and the outer spring The constraint is to ensure that the inner spring will not fall from the outer spring when the nested spring is moved out. Therefore, the adoption of the above scheme can not only reduce the failure rate during the disassembly process of the bogie, reduce the difficulty of motion control of the manipulator or the machine tool, and reduce the requirements for the spatial positioning accuracy of the bogie, but also improve The linear speed of the manipulator movement, in order to improve the efficiency of dismantling the bogie. Based on the disassembly action that can be produced by the above structural design, since the space for the tool to move becomes larger when the bogie is disassembled, this scheme also has better applicability to different types of bogies, that is, this scheme is also It has the characteristics of strong versatility.

As a person skilled in the art, according to the setting purpose of the grabbing mechanism, the above grabbing mechanism can apply force to the spring, so it can use an electromagnet, a rod that can provide force to the spring, etc. At the same time, as a person skilled in the art, although the above working process or principle introduction only introduces the situation for springs, as a person skilled in the art, this machine tool can also be used for disassembly or transfer of parts such as wedge blocks. At the same time, as a person skilled in the art, in order to prevent the support component from affecting the normal function of the pull rod assembly, the retractable range of the pull rod body must meet the requirement that the grabbing mechanism can be extended to the outside of the free end of the support component relative to the tool frame.

Considering the optimal design of the fixture structure, for the locking assembly, since the spring is tilted towards the side where the tool frame is located, one end of the dumped spring must face the tool frame, so it is set that the locking component is located between the support part and the tool frame. On the end that the frame is connected, so that the center of gravity of the program is as close as possible to the manipulator when in use.

As a specific implementation of the grabbing mechanism, it is set as follows: the grabbing mechanism includes a rotating shaft and a gear rod connected to the rotating shaft, and one end of the gear rod is fixed on the side of the rotating shaft;

The rotating shaft is hinged on the pull rod body, the free end of the pull rod body is also provided with a flanging edge, the rotating shaft is adjacent to the flanging edge, and the rotating shaft and the tool frame are located on the same side of the flanging edge;

When the shift rod rotates with the rotating shaft and the free end of the shift rod rotates to the outside of the free end of the pull rod body, the folded edge restricts the stop position of the shift rod by blocking the shift rod; and the shift rod can be rotated to be parallel to the pull rod body ;

The support component is located directly below the pull rod body, and when the spring falls under the action of the pull rod assembly, the spring falls on the support surface of the support component. In this solution, since the pull rod body is the bearing part of the shift rod, when the pull rod body is driven to move to the side where the spring is located, the pull rod body extends into the gap above the spring, and when the shift rod is in contact with the spring, the shift rod rotates around the axis to The pull rod body can continue to extend in; when the free end of the gear rod enters the central area of the spring, the gear rod drives the rotating shaft to reverse automatically under gravity; then the pull rod body is driven back, and the gear rod acts on the center of the spring When the inner surface of the hole is closed, the folded edge hinders further rotation of the shift rod, and at this time, the shift rod applies tension to the spring, so that the spring falls on the support surface. Due to the completion of the above constraints on the spring and the realization of the spring dumping action can be completed in the process of stretching out and recovering the pull rod body relative to the tool frame: the completion of the cooperation with the spring on the bogie and the removal of the cooperation have the characteristics of fast speed and can be used. Improve the efficiency of bogie removal. In the process of dismantling the wedge block by using the lifting rod proposed above, after the wedge block is moved out of the bogie, the above equipment can also be used for further position transfer of the wedge block, that is, the stop rod under the action of the pull rod body After passing over the top of the wedge, the clamping device moves out of the clamping of the wedge, and when the pull rod body retreats, the gear rod exerts a pulling force on the upper part of the wedge, so that the wedge falls on the supporting part, and through the manipulator, Complete the position transfer of the wedge block in space.

As a realization scheme that the pull rod assembly is light in weight and has a large coverage area on the corresponding spring parts, it is set as follows: there are multiple gear rods arranged along the axial direction of the rotating shaft, and the multiple gear rods are arranged in a row ;

The free end of the pull rod body is also provided with a hole, and the hole runs through the upper and lower ends of the pull rod body;

Both ends of the rotating shaft are hinged on the hole wall of the hole, and the hinge point is located at the end of the hole away from the tool frame;

The rotating shaft is perpendicular to the pull rod body, and the folded edge is the edge of one side of the hole, which is the edge at the free end of the pull rod body;

The pull rod body is in the shape of a flat rod. When the pull rod assembly hooks the spring, the width direction of the pull rod body is in the horizontal direction, and before the gear rod contacts the spring, the length direction of the gear rod is in the vertical direction;

The gear rod can rotate with the rotating shaft until it is fully accommodated in the hole. In this solution, the pull rod body is a flat rod, which not only makes it have the strength and rigidity to meet the working requirements, but also facilitates its insertion into the gap on the upper side of the spring; the above setting is that the free end of the pull rod body has a hole. At the same time as the connection, both ends of the rotating shaft can be restrained, so as to facilitate the control of the rotation track of the shift rod and ensure the reliability of the shift rod pulling the spring to make the spring fall over; the shift rod can rotate with the rotating shaft until it is completely accommodated in the hole The middle is intended to prevent the gear rod from blocking the pull rod body from further extending into the gap. Preferably, it is set that the rotating shaft is also located between the upper and lower ends of the hole, so as to prevent the rotating shaft from affecting the pull rod body to further penetrate into the gap or increase the resistance of the insertion process. The friction of the parts affects the reverse rotation of the rotating shaft, resulting in that when the pull rod body retreats relative to the tool frame, the gear lever cannot be released normally and the pull rod assembly does not restrain the corresponding dumped spring.

As a specific implementation of the support component, the support component includes two cantilever rods protruding from the tool frame, and a pocket body, the pocket body is cloth, one end of the pocket body is fixed on one of the cantilever rods, and the pocket body The other end is fixed on another cantilever rod;

The middle part of the pocket body falls down to form a pocket-shaped space for constraining the spring on the support member;

The support component also includes a third drive mechanism, which is used to change the distance between the two cantilever rods;

The grabbing mechanism is located directly above the pocket-shaped space. In this solution, the pull rod assembly is used to provide tension for spring tilting. Under the above tension, the spring rotates relative to the lower end and tilts, and dumps into the pocket-shaped space; The distance between them ensures that the spring can fall into the pocket body smoothly. After the spring falls, under the action of the third driving mechanism, the two cantilever rods move towards each other. The cloth, that is, the pocket body is actually a flexible cloth pocket. At this time, the pocket body can be deformed according to the shape of the spring, and the spring is clamped in the space of the pocket body. Then, the manipulator drives the implement to move to the outside of the cavity as a whole, so that the spring is removed from the cavity. The supporting part provided by this solution uses a flexible pocket to clamp the outer spring. Compared with the existing claws, it has better wrapping properties and greater friction between the pocket and the spring, which can provide more reliable restraint for the spring. , so that when the manipulator drives the tool frame to move, it can still ensure that the tool has a reliable restraint performance on the spring when the tool frame has a greater linear speed. Therefore, the above scheme can improve the linear speed of the manipulator. Efficiency in dismantling bogies.

In order to make the spring fall directly on the middle of the two cantilever rods each time under the action of the pull rod assembly, so that when the cantilever rod moves under the action of the third driving mechanism, the pocket body has a better wrapping effect on the spring and the like so that It is beneficial to improve the linear speed of the machine tool in the working process, achieve the purpose of improving the removal efficiency of the bogie, and optimize the force between the two cantilever rods at the same time. the center of the cantilever rod;

As mentioned above, the restraint of the spring by the support member is achieved by changing the spacing of the cantilever rods, and the increase in the spacing of the cantilever rods can facilitate the spring to fall into the pocket-shaped space. force, avoiding the sliding of the pocket body relative to the spring when the pocket-like space shrinks, so as to improve the reliability of the spring constraint of the supporting part and prolong the service life of the pocket body, and at the same time make the cantilever rod in the process of increasing the distance, in the pocket body When the middle part is matched with the falling track of the spring, in order to avoid the increase of the above distance from affecting the contact point of the spring on the pocket body, if the above contact point is located in the middle part of the pocket body as much as possible, it is set as follows: the supporting part also includes a The drive motor on the drive motor, the threaded rod connected to the output end of the drive motor, and the two sliders threadedly connected to the threaded rod, each slider is fixed with a cantilever rod, and the two sliders pass through the opposite screw thread connected with threaded rod;

It also includes a chute parallel to the threaded rod, the chute is used to constrain the slide block or the cantilever rod, and is used to prevent the cantilever rod from rotating with the threaded rod. With this solution, when the driving motor rotates, the two sliders can only move towards each other or move relative to each other, which can ensure the symmetrical movement of the two cantilever rods relative to the middle of the pocket body. As a person skilled in the art, it can be set to have a cavity for accommodating drive parts, threaded rods and sliders on the tool frame, and the cantilever rod protrudes from the housing hole of the tool frame. At this time, the above housing holes can be used as The chute; further, in order to prevent the cantilever rod from being worn out, the chute is set to be a track groove located on the rear side of the threaded rod, and the chute is located on the tool frame. Under this setting, the cantilever rod is located on the threaded rod the front side. The third driving mechanism includes a driving motor, a threaded rod, a chute and a slide block. As those skilled in the art, the above third drive mechanism can also adopt other drive methods: such as hydraulic drive, pneumatic drive, other electric drive forms and so on.

As a specific implementation of the locking assembly, it is provided that: the locking assembly includes a pressing rod, the pressing rod is located in the side of the pocket-shaped space close to the tool frame, and the spring on the bogie is constrained by the support member After being put on, the pressure rod can move in the radial direction of the spring to apply pressure to the inner bearing spring towards the outer bearing spring. When in the space, lift the supporting part by the manipulator so that the free end of the supporting part faces upwards. When the outer spring is not clamped by the pocket body, the two springs slide toward the end of the pocket-shaped space close to the tool frame. At this time, it can be ensured that the two springs fall on In the station where the locking component can be operated. Then, under the action of the corresponding driving mechanism, the pressure rod applies pressure towards the outer spring to the inner spring, and the mutual restraint of the two springs can be realized through the friction force between the two springs and/or the local shearing of the two springs; then, the cantilever rod By moving towards each other, the outer spring can be clamped by the pocket body, so that the two springs are reliably restrained on the support member. When it is necessary to release the spring, it is sufficient to remove the force of the locking component on the inner spring. As a person skilled in the art, it is enough that the above pressing rod can move linearly relative to the tool frame and can stay at any point on the motion track, so the driving of the pressing rod can still be adopted as a cylinder driving scheme;

In order to optimize the force of the cantilever rod, it is set as follows: the pressure rod is a rod-shaped structure parallel to the pull rod body, and the movement direction of the pressure rod is located in the groove depth direction of the pocket-shaped space. With this solution, when the pressure rod moves to the bottom side of the pocket body, after contacting the inner spring, the effect of the pressure rod on the inner spring is transmitted through the pocket body, so that both cantilever rods are subjected to downward force. In this way, under the premise of satisfying the restriction of the function of the inner spring and enabling the inner spring to slide smoothly to the side of the pocket-like space close to the tool frame, the movement distance of the pressing bar also has the characteristic of being the smallest.

As a driving solution with light weight, small volume and good controllability, it is configured to further include a second driving mechanism for driving the extension and contraction of the pull rod body, and the second driving mechanism is an air cylinder driving mechanism.

As a light-weight, small-volume, and good-controllable first push rod drive scheme, it is configured to: further include a first drive mechanism for driving the first push rod to expand and contract, and the first drive mechanism is an air cylinder drive mechanism .

As a person skilled in the art, in order to avoid the influence of the supporting part and the pull rod assembly on the first push rod when the first push rod is working, the free end of the first push rod can extend to the pull rod assembly, The outer side of the free end of the support member, so the first push rod needs to extend a longer length, as a technical solution that can reduce the length of the first push rod when it is idle and the length of the first driving mechanism that matches it, It is set that: the first drive mechanism includes a plurality of cylinders, and the plurality of cylinders are connected in series in sequence, one of the cylinders at the end is fixed on the tool frame, and the first push rod is arranged on the other cylinder at the end. Specifically, if the number of cylinders is three, the axes of the three cylinders are parallel, the cylinder body of the first cylinder is fixed on the tool frame, the cylinder body of the second cylinder is fixed on the piston rod of the second cylinder, and the cylinder body of the third cylinder is fixed on the tool frame. The cylinder body of the first cylinder is fixed on the piston rod of the second cylinder, and the first push rod is fixed on the piston rod of the third cylinder or the end of the piston rod of the third cylinder is the end of the first push rod. And for the second push rod, because the second push rod is installed on the mounting frame, so considering the influence of the lift rod on the work of the second push rod, the second push rod can be stretched out relative to the lift rod, because the installation The lifting rod itself on the frame is a telescopic rod, so the telescopic driving mechanism for driving the second push rod is adopted as an air cylinder.

The utility model has the following beneficial effects:

In this solution, the dismantling unit and the implement are respectively driven by the three-axis frame body and the manipulator to change their positions in space to adapt to the position of the parts to be dismantled on the bogie. The pole and the implement include a first push rod, and both the first push rod and the second push rod are telescopic rods, so that the bogie can be horizontally suspended by a pendant that can rotate around its own axis, so that the bogie can go around the middle of the bolster Rotation, using the movable characteristics of the dismantling unit and the tool rack itself, respectively carry the second push rod and the first push rod to move to different sides of the pendant or the middle of the bolster, and then through the expansion and contraction of the first push rod and the second push rod , respectively apply thrust to the bogie. For example, the first push rod and the second push rod are located at the front side of the bogie and are respectively located on the left and right sides of the front side of the bogie. The thrust generated by the above two push rods pushes the bogie Rotating around the hanger, when the bogie reaches a specific space position, by applying support to the bottom of the bogie, the position of the bogie in space can be fixed to facilitate subsequent disassembly operations. In summary, with this scheme, using the three-coordinate system and the movable characteristics of the manipulator system itself, the position of the bogie in space can be quickly realized. At the same time, by setting the push rods to include the first push rod and the second push rod, The orientation adjustment of the bogie in space can be accurately completed by applying torque or torque in opposite directions to the bogie by the above two push rods.

Description of drawings

Fig. 1 is a structural schematic diagram of a three-coordinate system in a specific embodiment of the bogie removal device capable of realizing bogie spatial positioning described in the present invention;

Fig. 2 is in the three-coordinate system shown in Fig. 1, the structure schematic diagram of a specific embodiment of dismantling unit;

Fig. 3 is a partial enlarged view of part B shown in Fig. 2;

Fig. 4 is a schematic structural view of the implement in a specific embodiment of the bogie dismounting device capable of realizing the spatial positioning of the bogie according to the present invention;

Fig. 5 is a partial enlarged view of part A shown in Fig. 4;

Fig. 6 is a partial schematic diagram of a specific embodiment reflecting the structure of the third driving mechanism, the connection relationship between the cantilever rod and the third driving mechanism in the implement provided in Fig. 4 .

The reference signs in the figure are respectively: 1. Tool rack, 2. Pull rod assembly, 21. Pull rod body, 22. Hemming, 23. Rotating shaft, 24. Shift lever, 3. Locking component, 31. Press rod, 4 , support component, 41, cantilever rod, 42, pocket body, 43, slide block, 44, threaded rod, 45, drive motor, 5, first push rod, 6, first drive mechanism, 7, second drive mechanism, 81. Three-axis frame body, 82. Detachment unit, 83. Mounting frame, 84. Second push rod, 85. Lifting rod, 851. Main rod, 852. Support rod, 86. Connecting seat, 87. Fourth Drive mechanism, 88, aviation plug, 89, clamping device.

Detailed ways

The utility model will be further described in detail below in conjunction with the examples, but the structure of the utility model is not limited to the following examples.

Example 1:

As shown in Figures 1 to 3, the bogie removal device that can realize the spatial positioning of the bogie includes a three-coordinate system and a manipulator system. Removing unit 82, described dismantling unit 82 is used for dismantling the wedge block on the bogie, described manipulator system comprises manipulator body and the implement that is connected on the manipulator body, described dismantling unit 82 comprises mounting bracket 83 and installation The second push rod 84 on the mounting frame 83, the implement includes the machine tool frame 1 and the first push rod 5 installed on the machine tool frame 1, and the second push rod 84 is telescopic and telescopic relative to the mounting frame 83. Rod, the first push rod 5 is a telescopic rod that is telescopic relative to the tool frame 1 .

In the prior art, the structural design of the track frame is generally as follows: including a bolster, side frames are arranged on both sides of the bolster, and a component installation cavity is arranged on each side frame, and a load-bearing spring, Shock absorbing spring, wedge block. As stated in the utility model application document with the application number 201810798273.3, in order to realize the mechanization or automatic disassembly of the bogie, it is first necessary to complete the positioning of the bogie in space, and then constrain the wedge through the three-coordinate system and remove it through the equipment on the manipulator. The springs and other parts on the bogie, that is, the three-coordinate system and the manipulator system, each need a power source to drive the functional components on each to change their positions in space when they are working.

In this solution, the removal unit 82 and the implement are respectively driven by the three-axis frame body 81 and the manipulator to change positions in space to adapt to the position of the parts to be removed on the bogie, and the removal unit 82 is set to include The first push rod 5 is included on the second push rod 84 and the implement, and both the first push rod 5 and the second push rod 84 are telescopic rods, so as to suspend the bogie horizontally by a pendant that can rotate around its own axis, so that The bogie can rotate around the middle of the bolster, and take advantage of the movable characteristics of the removal unit 82 and the tool frame 1 to carry the second push rod 84 and the first push rod 5 to different sides of the pendant or the middle of the bolster, and then pass The expansion and contraction of the first push rod 5 and the second push rod 84 apply thrust to the bogie respectively, as the first push rod 5 and the second push rod 84 are all located at the front side of the bogie and are respectively located on the left side of the bogie front. On the side and the right side, the thrust generated by the above two push rods pushes the bogie to rotate around the hanger. When the bogie reaches a specific space position, the position of the bogie in space can be fixed by applying support to the bottom of the bogie. It is convenient to disassemble it later. To sum up, with this solution, using the three-coordinate system and the movable characteristics of the manipulator system itself, the position of the bogie in space can be quickly realized. 84. By applying torque or torque in opposite directions to the bogie by the above two push rods, the orientation adjustment of the bogie in space can be accurately completed.

As a person skilled in the art, the telescopic driving forms of the first push rod 5 and the second push rod 84 above can be electric, pneumatic drive, hydraulic drive and other forms.

Example 2:

As shown in Figures 1 to 3, this embodiment is further limited on the basis of Embodiment 1: As a specific implementation of the removal unit 82, the removal unit 82 also includes a lifting device installed on the mounting frame 83. There are two rods 85, and there are two lifting rods 85, and each lifting rod 85 is a telescopic rod that is telescopic with respect to the mounting frame 83;

Two lifting rods 85 can stretch out from the same side of the mounting frame 83 to the outside of the mounting frame 83, and each lifting rod 85 is provided with a lifting surface for supporting the oblique wedge, and the lifting surfaces are corresponding lifting surfaces. the upper surface of the local location of the rod 85;

During the movement of the lifting surface as the lifting rod 85 expands and contracts relative to the mounting frame 83, the two lifting surfaces can move relative to each other until they are in a symmetrical relationship;

The second push rod 84 and the lifting rod 85 can protrude from the same side of the mounting frame 83 . For the wedge on the bogie, the structural design of the bogie in the prior art is generally as follows: the wedge is placed on the upper end of the outer bearing spring, and two left and right wedges are placed on one end of the bogie , there are four oblique wedges placed at both ends. For the oblique wedges at the same end, the two oblique wedges are arranged symmetrically. For a single wedge, the shape of the wedge generally has a downwardly protruding annular flange at the bottom, and the above flange is used for positioning the wedge in the radial direction of the load spring, while the middle of the wedge has a hollow.

For the removal of the load spring with the wedge block and the wedge block above it, the specific installation method determines that it is more convenient to remove it in the following way: first lift the wedge block, remove the constraints of the wedge block and the load spring, and then take out Load the spring, then use the space below the wedge to remove the wedge.

In this solution, the above three-axis frame body 81 is: it has X-axis guide rails, Y-axis guide rails and Z-axis guide rails. The above three guide rails are perpendicular to each other in space. It can move along the extension direction of the X-axis guide rail, and the Z-axis guide rail can move along the extension direction of the Y-axis guide rail. At this time, the removal unit 82 can be installed on the Z-axis guide rail. The specific installation form of the removal unit 82 is preferred It is set that the detachment unit 82 itself can change its position along the extending direction of the Z-axis guide rail. Under the action of the tripod 81 , according to the position of the specific operation object, the position transformation of the detachment unit 82 in space can be completed. The specific movement form, cooperation form or driving form of the three-axis frame body 81 can be in the form of a ball screw, or can be in the form of gear and gear plate cooperation.

In this solution, the lifting rod 85 is the component that directly interacts with the wedge block in the three-coordinate system: it is set that there are two lifting rods 85, and two The wedge block, that is, when the removal unit 82 moves to the outside of the wedge block installation space, a lifting rod 85 is responsible for dismounting a wedge block; it is set that each lifting rod 85 is telescopic relative to the mounting frame 83 The telescopic rods are designed to achieve: when the position of the mounting frame 83 in space remains unchanged, through the movement of each lifting rod 85, the lifting rod 85 can be stretched out to the bottom side of the corresponding wedge to complete the alignment. The support at the bottom of the wedge and the lifting of the wedge, after the removal of the lower bearing spring, the lifting rod 85 is retracted after descending, and the wedge can be carried and removed from the installation space on the bogie; The lifting rod 85 can protrude from the same side of the mounting frame 83 to the outside of the mounting frame 83, that is, after the mounting frame 83 is positioned outside the installation space, it is only necessary to translate and remove the unit 82 or directly limit the two lifting rods 85 Corresponding to the relative position of the two oblique wedges, the relative positions of each lifting rod 85 and the corresponding oblique wedges can be completed, so as to improve the removal efficiency of the oblique wedges; the set lifting surface is the lift On the rod 85, the supporting surface of the inclined wedge block; it is set to adopt the upper surface as the supporting surface, and the lifting rod 85 can be inserted into the bottom side of the inclined wedge block; During the telescopic movement of the 85 relative to the mounting frame 83, the two lifting surfaces can move relative to each other to form a symmetrical relationship, that is, to match the two oblique wedges arranged symmetrically on the same side of the bogie. During the process of relative movement or synchronous movement of the lifting rod 85 , the above-mentioned plane symmetry relationship can appear.

When this scheme is actually implemented, the relative positional relationship between the above two lifting rods 85 and the two lifting rods 85 can make the three-axle frame body 81 and the removal unit 82 The upper itself does not need complex actions to match the symmetrical relationship between the two wedges on the same side of the bogie, so as to improve the removal efficiency of the wedges.

As a person skilled in the art, the telescopic driving form of the lifting rod 85 above can adopt forms such as electric drive, pneumatic drive, hydraulic drive and the like. The above setting is that the second push rod 84 and the lifting rod 85 can be stretched out from the same side of the mounting frame 83. Carry out corresponding operations, that is, after using the three-coordinate system to fix the position of the bogie in space, the wedge blocks on the bogie can be operated without moving the mounting frame 83 or simply moving the mounting frame 83 subsequently.

The three-coordinate system also includes two clamping devices 89, and the clamping devices 89 are installed on the mounting frame 83 or on the lifting rod 85;

One of the clamping devices 89 and one of the lifting rods 85 form a wedge constraining station, and the other clamping device 89 and another lifting rod 85 form a wedge constraining station;

On each constraint station, the lifting surface on the lifting rod 85 provides support for the bottom of the wedge, and the clamping device 89 is used to apply a pressure towards the lifting surface to the wedge to realize the constraint station. Constraints on wedges. In this scheme, a clamping device 89 cooperates with a lifting rod 85 to form a working group for constraining a wedge. With this scheme, the clamping device 89 provides pressure to the wedge, which can increase the wedge The purpose of the maximum static friction force between the wedge and the device, the increase of the above maximum static friction force, under the condition of ensuring the reliable restraint of the oblique wedge at the above restraint station, is conducive to improving the linear speed of the lifting rod 85 movement and improving the steering rack removal efficiency. The concrete realization mode of clamping device 89 can be: adopt the form of cylinder-driven briquetting, and above briquetting is positioned at the front end of lifting bar 85 and is positioned at the top of lifting bar 85, and briquetting is simultaneously with lifting bar 85 to to-be-disassembled. The wedge moves, and when the lifting rod 85 stretches into the bottom side of the wedge, the briquetting block stretches into the cavity of the wedge, and then under the action of the cylinder, the briquetting moves to the supporting surface of the lifting rod 85 to counteract the slanting wedge. Wedges provide pressure. The specific implementation manner above can be achieved by installing the clamping device 89 on the lifting rod 85 . However, as a person skilled in the art, when the clamping device 89 is installed on the mounting frame 83, during the retraction process of the wedge block with the lifting rod 85, the above form of the cylinder-driven briquetting block can also be moved to the The pressing block is inserted into the cavity of the wedge block. At this time, the restraint of the clamping device 89 on the wedge block also ensures the stability and reliability of the follow-up operation of the wedge block, such as through the pull rod assembly 2 and the support member 4 provided below When moving the wedge block, when the stop rod 24 of the pull rod assembly 2 crosses the top of the wedge block to prepare for the pull-down action of the wedge block, the clamping device 89 and the lifting rod 85 are used to constrain the wedge block together, so as to avoid the Under the action of the pull rod assembly 2, the wedge block accidentally topples over.

The lifting rod 85 includes a main rod 851 and a pole 852, the pole 852 is fixed on the main rod 851, the length direction of the main rod 851 is in the same direction as the moving direction of the lifting rod 85, and the supporting rod 852 is fixed on the main rod 851. The upper surface of 852 is higher than the upper surface of main rod 851, and the above two upper surfaces are planes, and the two planes are parallel to each other;

The lifting surface is jointly formed by the upper surface of the main rod 851 and the upper surface of the strut 852;

The main rods 851 of the two lifting rods 85 are parallel to each other, and the poles 852 on each main rod 851 protrude from the side of the main rod 851 away from the other main rod 851;

The lifting rods 85 are all installed on the side of the mounting frame 83, and the two sides for installing the lifting rods 85 on the mounting frame 83 are a pair of sides, the two lifting rods 85 are of equal height, and each pole 852 The free ends of all are towards the outside of mounting frame 83. This solution provides a solution with a simple structure and the shape of the supporting surface matches the shape of the bottom of the wedge: the front end of the main rod 851 is used to support the middle of the bottom of the wedge, and the support rod 852 is used to support the bottom of the wedge. The sides provide support to minimize tipping of the wedge during removal. Preferably, it is set that the mounting frame 83 is also provided with a connecting seat 86 for realizing the connection between the mounting frame 83 and the three-axis frame body 81. In order to optimize the force of the device, it is set that the connecting seat 86 is located between the two lifts. Between the rods 85; at the same time, it is set that the mounting frame 83 is two pieces, the mounting frame 83 is installed on a pair of opposite sides of the connecting seat 86, and a lifting rod 85 and a clamping device 89 are installed on each mounting frame 83; Each mounting bracket 83 can move in the vertical direction relative to the connecting seat 86, so as to complete the lifting and lowering operation of the wedge block through the removal unit 82, and the above movement can be driven by a fourth pneumatic drive. Mechanism 87 is implemented. At the same time, it is set that each connecting seat 86 has an aviation plug 88, so as to facilitate the standardized wiring and modular disassembly of the device.

Example 3:

As shown in Figures 4 to 6, this embodiment is further limited on the basis of Embodiment 1: the implement includes a pull rod assembly 2, a locking assembly 3 and a support member 4, the pull rod assembly 2, the locking The component 3 and the support component 4 are installed on the same side of the tool frame 1, and in the height direction, from bottom to top, they are: support component 4, locking component 3, and tie rod component 2;

The tie rod assembly 2 includes a tie rod body 21, which is a cantilever beam-like structure protruding from the implement frame 1, and the free end of the tie rod body 21 is also installed with a spring for applying force on the bogie. a catch mechanism, the force is used to force the spring to fall;

The supporting part 4 is provided with a supporting surface, and the supporting surface is used to carry the spring toppled over;

The locking assembly 3 is used to impose constraints on the springs on the support component 4 , the constraints are: among the springs, the relative positions of the inner spring and the outer spring are fixed. In the prior art, for the rail car bogie structure, the springs and wedge blocks included are arranged in the cavity of the side frame, and the springs include damping springs and bearing springs. At the same time, a raised point is provided on the surface of the cavity for constraining the position of the damping spring and the bearing spring in the cavity, and the wedge block is installed on the upper end of the bearing spring. Therefore, when disassembling the shock absorbing spring, bearing spring, and wedge block, the size of the cavity above is limited. When disassembling the robotic arm, the robotic arm is required to have an extremely accurate movement process. And in the prior art, for the disassembly of the shock absorbing spring and the bearing spring, the action process is generally as follows: use a clamp including claws to clamp the corresponding spring and then lift it up so that the lower end of the spring crosses the upper end of the bump, and then The manipulator drives the jaws to move, so that the spring moves out of the cavity along with the jaws, and then the springs are placed on the operating platform or maintenance platform.

In the above process, the distance for the spring to be lifted in the cavity is small. At the same time, when the spring moves outward with the jaws, since the spring is still in the standing state, the manipulator performs the above actions. High precision is required, otherwise there will be spring end collision accidents, resulting in failures in the bogie disassembly process.

The working process or principle of this scheme is: the fixture is fixed on the manipulator, for example, for the structure of the existing manipulator, a connecting flange is provided on the tool frame 1, and the above connecting flange is used to connect with the connecting flange on the manipulator. Like this, under the effect of above-mentioned manipulator, above-mentioned implement can move in space. The pull rod assembly 2, the locking assembly 3 and the supporting part 4 move with the tool frame 1, and move to the side of the cavity on the bogie, and then the pull rod assembly 2 works, and the pull rod body 21 stretches toward the spring relative to the tool frame 1. If the catch mechanism acts on the top of the spring, then the pull rod body 21 retreats, and under the action of the catch mechanism, the spring falls and falls on the supporting surface of the support member 4 . Then, for the nested spring form, the inner spring and the outer spring are mutually constrained by the locking assembly 3, so that the inner spring can move synchronously with the outer spring during the subsequent movement of the support member 4, thereby completing the bogie Spring removal.

In this scheme, the structural design of the above equipment is adopted. Before the spring is moved out of the cavity on the bogie, the spring has a dumping action under the action of the pull rod assembly 2 and is dumped on the support surface of the support member 4, so compared with Compared with the prior art, the above process does not involve the process of the spring being lifted up, that is, the displacement control of the spring’s lifting is not required; in the process of moving the spring out, since the spring has been tilted, compared with the spring being moved out in a vertical state, this In the vertical direction, the support member 4 extending into the cavity has a larger movable space; when the spring is moved out, it is applied to the inner spring through the locking assembly 3 to realize the inner spring and the outer spring. The constraint that the relative positions of the springs are fixed can ensure that the inner springs will not fall from the outer springs when the nested springs are moved out. Therefore, the adoption of the above scheme can not only reduce the failure rate during the disassembly process of the bogie, reduce the difficulty of motion control of the manipulator or the machine tool, and reduce the requirements for the spatial positioning accuracy of the bogie, but also through the constraints imposed by the locking component 3, can Increase the linear speed of the manipulator movement to achieve the purpose of improving the efficiency of dismantling the bogie. Based on the disassembly action that can be produced by the above structural design, since the space for the tool to move becomes larger when the bogie is disassembled, this scheme also has better applicability to different types of bogies, that is, this scheme is also It has the characteristics of strong versatility.

As a person skilled in the art, according to the setting purpose of the grabbing mechanism, the above grabbing mechanism can apply force to the spring, so it can use an electromagnet, a rod that can provide force to the spring, etc. At the same time, as a person skilled in the art, although the above working process or principle introduction only introduces the situation for springs, as a person skilled in the art, this machine tool can also be used for disassembly or transfer of parts such as wedge blocks. At the same time, as a person skilled in the art, in order to prevent the support member 4 from affecting the normal function of the tie rod assembly 2, the retractable range of the tie rod body 21 must meet the requirement that the grabbing mechanism can be extended to the outside of the free end of the support member 4 relative to the tool frame 1.

Considering the optimal design of the fixture structure, for the locking assembly 3, since the spring is tilted toward the side where the tool frame 1 is located, one end of the dumped spring must face the tool frame 1, so it is set that the locking component 3 is located at On the end that the supporting part 4 is connected with the tool frame 1, so that the center of gravity of the program is as close as possible to the manipulator when in use.

As a specific implementation of the grabbing mechanism, it is set as follows: the grabbing mechanism includes a rotating shaft 23 and a gear lever 24 connected to the rotating shaft 23, and one end of the gear lever 24 is fixed on the side of the rotating shaft 23;

Described rotating shaft 23 is hinged on the pull rod body 21, and the free end of described pull rod body 21 is also provided with flanging 22, and described rotating shaft 23 is adjacent to flanging 22, and revolving shaft 23 is positioned at the same side of flanging 22 as machine frame 1. side;

When the gear lever 24 rotates with the rotating shaft 23 and the free end of the gear lever 24 rotates to the outside of the free end of the pull rod body 21, the folded edge 22 restricts the dead center position of the gear lever 24 by blocking the gear lever 24; and the gear lever 24 can be rotated to be parallel to the pull rod body 21;

The support component 4 is located directly below the pull rod body 21 , and when the spring falls under the action of the pull rod assembly 2 , the spring falls on the support surface of the support component 4 . In this solution, since the pull rod body 21 is the load-bearing part of the gear lever 24, when the pull rod body 21 is driven to move to the side where the spring is located, the pull rod body 21 extends into the gap above the spring, and when the gear lever 24 contacts the spring, the gear lever 24 rotates around the rotating shaft 23 so that the pull rod body 21 can continue to stretch in; when the free end of the gear rod 24 enters the central area of the spring, the gear rod 24 drives the rotating shaft 23 to reverse automatically under gravity; then drives the pull rod body 21 Back, when the gear rod 24 acts on the inner surface of the spring center hole, the folded edge 22 hinders the further rotation of the gear rod 24. At this time, the gear rod 24 applies a pulling force to the spring, so that the spring falls on the spring. supporting surface. Due to the completion of the above constraints on the spring and the realization of the spring dumping action, it can be completed in the process of the pull rod body 21 extending and recovering relative to the tool frame 1: completing the cooperation with the spring on the bogie and removing the cooperation has the characteristics of fast speed , which can improve the efficiency of dismantling the bogie. In the process of using the lifting rod 85 to disassemble the cam block proposed above, after the cam block is removed from the bogie, the above equipment can also be used for further position transfer of the cam block, that is, under the action of the tie rod body 21 After the gear lever 24 crosses the top of the wedge, the clamping device 89 moves out of the clamping of the wedge, and when the pull bar body 21 retreats, the gear lever 24 applies a pulling force to the top of the wedge, so that the wedge falls to the support On part 4, the position transfer of the wedge block in space is completed by the manipulator.

As a realization that the pull rod assembly 2 is light in weight and has a large coverage area on the corresponding spring parts, it is set as follows: there are multiple shift rods 24 arranged along the axial direction of the rotating shaft 23, and the plurality of shift rods 24 arranged in a row;

The free end of the pull rod body 21 is also provided with a hole, and the hole runs through the upper and lower ends of the pull rod body 21;

Both ends of the rotating shaft 23 are hinged on the hole wall of the hole, and the hinge point is located at the end of the hole away from the tool frame 1;

The rotating shaft 23 is perpendicular to the pull rod body 21, and the folded edge 22 is the edge of one side of the hole, which is the edge at the free end of the pull rod body 21;

The pull rod body 21 is in the shape of a flat rod. When the pull rod assembly 2 hooks the spring, the width direction of the pull rod body 21 is in the horizontal direction. Before the gear rod 24 contacts the spring, the length direction of the gear rod 24 is in the vertical direction. straight direction;

The gear rod 24 can rotate with the rotating shaft 23 until it is fully received in the hole. In this solution, the pull rod body 21 is a flat rod, which not only makes it have the strength and rigidity to meet the working requirements, but also facilitates its insertion into the gap on the upper side of the spring; the above setting is that the free end of the pull rod body 21 has a hole. While realizing the connection of the rotating shaft 23, both ends of the rotating shaft 23 can be constrained, so as to facilitate the control of the rotation track of the gear lever 24 and ensure the reliability that the gear lever 24 pulls the spring so that the spring is toppled over; Rotating to be completely accommodated in the hole aims to prevent the blocking rod 24 from blocking the pull rod body 21 from further extending into the gap. Preferably, it is set that the rotating shaft 23 is also located between the upper and lower ends of the hole, so as to prevent the rotating shaft 23 from affecting the pull rod body 21 to further penetrate into the gap or increase the resistance of the insertion process. The friction with the parts on the bogie affects the reverse rotation of the rotating shaft 23, resulting in that when the pull rod body 21 retreats relative to the tool frame 1, the gear rod 24 cannot be released normally and the pull rod assembly 2 is unconstrained to the corresponding dumped spring. .

As a specific implementation of the supporting part 4, the supporting part 4 includes two cantilever rods 41 stretched out from the tool frame 1, and also includes a pocket body 42, the pocket body 42 is cloth, and one end of the pocket body 42 is fixed on one of them. On the cantilever bar 41, the other end of the pocket body 42 is fixed on another cantilever bar 41;

The middle part of the pocket body 42 falls down to form a pocket-shaped space for constraining the spring on the support member 4;

The supporting member 4 also includes a third driving mechanism, which is used to change the distance between the two cantilever rods 41 ;

The grabbing mechanism is located directly above the pocket-shaped space. In this solution, the pull rod assembly 2 provides pulling force for the spring to fall. Under the above pulling force, the spring rotates and falls relative to the lower end, and falls into the pocket-shaped space; for the supporting part 4, before it bears the spring, two cantilever The distance between the rods 41 ensures that the spring can smoothly fall into the pocket body 42. After the spring falls, under the action of the third driving mechanism, the two cantilever rods 41 move towards each other. Now the pocket-like space dwindles. Simultaneously because pocket body 42 is cloth, promptly pocket body 42 is a flexible cloth pocket in fact, now pocket body 42 can deform according to the profile of spring, and spring is clamped in described pocket body 42 spaces. Then, the manipulator drives the implement to move to the outside of the cavity as a whole, so that the spring is removed from the cavity. The support member 4 provided by this solution uses a flexible pocket body 42 to clamp the outer spring. Compared with the existing claws, it has good wrapping properties and greater friction between the pocket body 42 and the spring, which can provide more flexibility for the spring. Reliable constraints, so that when the manipulator drives the tool frame 1 to move, it can still ensure that the tool has a reliable constraint performance on the spring when the tool frame 1 has a greater linear velocity. As mentioned above, the efficiency of dismantling the bogie can be improved.

In order to make the spring under the effect of the pull rod assembly 2, it can directly fall on the middle part of the two cantilever rods 41 each time, so that when the cantilever rods 41 move under the action of the third drive mechanism, the pocket body 42 has a better effect on the springs and the like. The wrapping effect is beneficial to improve the linear speed of the machine tool in the working process, to achieve the purpose of improving the efficiency of bogie disassembly, and at the same time optimize the force between the two cantilever rods 41, which is set as follows: the cantilever rod 41 and the tie rod body 21 Parallel, and the rod body 21 is located in the center of the two cantilever rods 41;

As mentioned above, the restraint of the spring by the support member 4 is realized by changing the spacing of the cantilever rods 41, and the increase of the spacing of the cantilever rods 41 can facilitate the spring to fall into the pocket-shaped space, so that the relative movement of the cantilever rods 41 can make the springs The side can be evenly stressed, avoiding the pocket body 42 from sliding relative to the spring when the pocket-like space is shrinking, so as to improve the reliability of the spring restraint of the support member 4 and prolong the service life of the pocket body 42, while making the cantilever rod 41 increase in distance. In the big process, when the middle part of the pocket body 42 matches the falling track of the spring, in order to avoid the increase of the above spacing and affect the contact point of the spring on the pocket body 42, as possible, the above contact point is positioned at the middle part of the pocket body 42, set as : the supporting part 4 also includes a drive motor 45 installed on the tool frame 1, a threaded rod 44 connected to the output end of the drive motor 45, two slide blocks 43 threaded on the threaded rod 44, each slide block 43 A cantilever rod 41 is fixed on the top, and the two sliders 43 are connected to the threaded rod 44 through threads with opposite directions of rotation;

It also includes a chute parallel to the threaded rod 44 , the chute is used to constrain the slider 43 or the cantilever rod 41 to prevent the cantilever rod 41 from rotating with the threaded rod 44 . With this solution, when the driving motor 45 rotates, the two sliders 43 can only move toward each other or move relative to each other, which can ensure the symmetrical movement of the two cantilever rods 41 relative to the middle of the pocket body 42 . As a person skilled in the art, it can be arranged that there are cavities for accommodating drive components, threaded rods 44 and slide blocks 43 on the tool frame 1, and the cantilever rod 41 protrudes from the housing hole of the tool frame 1. At this time, the upper shell The body hole can be used as the chute; further, in order to avoid the cantilever rod 41 from being worn, it is set that the chute is a track groove located at the rear side of the threaded rod 44, and the chute is located on the tool frame 1. This setting Below, the cantilever rods 41 are all positioned at the front side of the threaded rod 44 . The third driving mechanism comprises a driving motor 45 , a threaded rod 44 , a chute and a slide block 43 . As those skilled in the art, the above third drive mechanism can also adopt other drive methods: such as hydraulic drive, pneumatic drive, other electric drive forms and so on.

As a specific implementation of the locking assembly 3, it is set as follows: the locking assembly 3 includes a pressing rod 31, the pressing rod 31 is located in the side of the pocket-shaped space close to the tool frame 1, and the spring of the bogie After being constrained on the support member 4, the pressing rod 31 can move in the radial direction of the spring to apply pressure to the inner bearing spring towards the outer bearing spring. When the outer springs are toppled into the pocket-shaped space together, the support member 4 is lifted by the manipulator so that the free end of the support member 4 is upwards. One end slides, this moment can guarantee that two springs fall in the working position of locking assembly 3. Then, the pressure rod 31 applies pressure towards the outer spring to the inner spring under the action of the corresponding driving mechanism, and the mutual restraint of the two springs can be realized through the friction force between the two springs and/or the local shearing of the two springs; then, the cantilever The rods 41 move toward each other, and the pocket body 42 can be used to clamp the outer spring, so that the two springs are reliably restrained on the support member 4 . When the spring needs to be released, it is sufficient to remove the force of the locking assembly 3 on the inner spring. As a person skilled in the art, it is sufficient that the above pressing rod 31 can move linearly relative to the tool frame 1 and can stay at any point on the motion track, so the driving of the pressing rod 31 can still be adopted as a cylinder driving scheme;

In order to optimize the stress of the cantilever rod 41, it is set that: the pressure rod 31 is a rod-shaped structure parallel to the pull rod body 21, and the movement direction of the pressure rod 31 is located in the groove depth direction of the pocket-shaped space. With this solution, when the pressure rod 31 moves to the bottom side of the pocket body 42, after contacting the inner spring, the action of the pressure rod 31 on the inner spring is transmitted through the pocket body 42, so that both cantilever rods 41 are subjected to downward force. In this way, under the premise of satisfying the function of constraining the inner spring and enabling the inner spring to slide smoothly to the side of the pocket-like space close to the tool frame 1, the moving distance of the pressing rod 31 also has the characteristic of minimum.

As a driving solution with light weight, small volume and good controllability, it is configured to further include a second driving mechanism 7 for driving the pull rod body 21 to expand and contract, and the second driving mechanism 7 is an air cylinder driving mechanism.

As a driving solution for the first push rod 5 with light weight, small size and good controllability, it is set to: further include a first drive mechanism 6 for driving the first push rod 5 to expand and contract, and the first drive mechanism 6 For the cylinder drive mechanism.

As a person skilled in the art, in order to avoid the influence of the support member 4 and the pull rod assembly 2 on the first push rod 5 when the first push rod 5 is working, so with respect to the tool frame 1, the free end of the first push rod 5 can be Stretch out to the outside of the free end of the pull rod assembly 2 and the support member 4, so the first push rod 5 needs to extend a longer length, as a first push rod 5 that can reduce the length and size of the first push rod 5 when it is idle and match it. The technical scheme of the length dimension of a driving mechanism 6 is set as follows: the first driving mechanism 6 includes a plurality of cylinders, and the plurality of cylinders are connected in series one by one, one of the cylinders at the end is fixed on the tool frame 1, and the first push rod 5 is arranged on another cylinder that is at the end. Specifically, if the number of cylinders is three, the axes of the three cylinders are parallel, the cylinder body of the first cylinder is fixed on the tool frame 1, the cylinder body of the second cylinder is fixed on the piston rod of the second cylinder, and the cylinder body of the second cylinder is fixed on the second cylinder. The cylinder block of three cylinders is fixed on the piston rod of the second cylinder, and the first push rod 5 is fixed on the piston rod of the third cylinder or the end of the piston rod of the third cylinder is the end of the first push rod 5. Ends. And for the second push rod 84, because the second push rod 84 is installed on the mounting frame 83, so considering the influence of the lifting rod 85 on the work of the second pushing rod 84, the second pushing rod 84 can be lifted relative to the lifting rod 85. Stretch out, because the lifting rod 85 itself on the mounting frame 83 is a telescopic rod, so the driving mechanism that drives the second push rod 84 telescopically adopts an air cylinder.

The above content is a further detailed description of the utility model in combination with specific preferred embodiments, and it cannot be determined that the specific embodiments of the utility model are only limited to these descriptions. For a person of ordinary skill in the technical field to which the utility model belongs, other implementation modes obtained without departing from the technical solution of the utility model shall be included in the protection scope of the corresponding utility model.

Claims (10)

1. it can realize the sterically defined bogie provision for disengagement of bogie, including system of 3 axes and arm-and-hand system, described three Coordinate system includes three pedestal bodies (81) and is mounted on retracting unit (82) on three pedestal bodies (81), described to retract unit (82) For dismantling the tapered wedges on bogie, the arm-and-hand system includes manipulator ontology and the machine that is connected on manipulator ontology Tool, which is characterized in that second push rod for retracting unit (82) and including mounting rack (83) and being mounted on mounting rack (83) (84), the equipment includes tool frame (1) and the first push rod (5) being mounted on tool frame (1), and second push rod (84) is Relative to mounting rack (83) telescopic telescopic rod, first push rod (5) is telescopic flexible relative to tool frame (1) Bar.

2. the sterically defined bogie provision for disengagement of achievable bogie according to claim 1, which is characterized in that described Retracting unit (82) further includes being mounted on lifting bar (85) on mounting rack (83), and described lift bar (85) are two, and each support Lifting bar (85) is relative to mounting rack (83) telescopic telescopic rod；

Two, which lift bar (85), to be stretched out by the outside of the same lateral mounting rack (83) of mounting rack (83), respectively lift on bar (85) It is provided with the face of lifting for being used to support tapered wedges, the face of lifting is the corresponding upper surface for lifting bar (85) local location；

Face is lifted with lifting in the motion process that bar (85) stretches relative to mounting rack (83), two faces of lifting can be movable relatively To in face symmetric relation；

Second push rod (84) and lift bar (85) can be by the ipsilateral stretching of mounting rack (83).

3. the sterically defined bogie provision for disengagement of achievable bogie according to claim 2, which is characterized in that described System of 3 axes further includes two clamping devices (89), and the clamping device (89) is mounted on mounting rack (83) or lifts bar (85) on；

One of clamping device (89) lifts bar (85) with wherein one and forms a tapered wedges constraint station, another clamping Device (89) lifts bar (85) with another and forms a tapered wedges constraint station；

On each constraint station, the face of lifting lifted on bar (85) provides support for the bottom of tapered wedges, and clamping device (89) is used The pressure in face is lifted described in a direction in applying to tapered wedges to realize constraint of the constraint station to tapered wedges.

4. the sterically defined bogie provision for disengagement of achievable bogie according to claim 2, which is characterized in that described Lifting bar (85) includes mobile jib (851) and strut (852), and the strut (852) is fixed on mobile jib (851), the mobile jib (851) length direction and the direction of motion for lifting bar (85) are in the same direction, and the upper surface of the strut (852) is higher than mobile jib (851) Upper surface, and two above upper surface is plane, and two planes are parallel to each other；

The face of lifting is collectively formed by the upper surface of mobile jib (851) and the upper surface of strut (852)；

Two mobile jibs (851) for lifting bar (85) are parallel to each other, and the strut (852) on each mobile jib (851) is by the mobile jib (851) Side far from another mobile jib (851) is stretched out；

The bar (85) of lifting is installed on the side of mounting rack (83), lifts bar (85) for installing on mounting rack (83) Two sides are a pair to side, and two are lifted that bar (85) is contour, and the free end of each strut (852) is towards mounting rack (83) Outside.

5. the sterically defined bogie provision for disengagement of achievable bogie according to claim 1, which is characterized in that described Equipment is including further including rod assembly (2), locked assembly (3) and support member (4), the rod assembly (2), locked assembly (3) and support member (4) is installed in the ipsilateral of tool frame (1), in the height direction, is respectively as follows: support member from the bottom to top (4), locked assembly (3), rod assembly (2)；

The rod assembly (2) includes bar body (21), and the bar body (21) is the cantilever by stretching out on tool frame (1) Beam texture is also equipped with for the gripper for bogie upper spring applied force on the free end of the bar body (21) Structure, the power is for forcing the spring to be toppled over；

Supporting surface is provided on the support member (4), the supporting surface is for carrying the spring toppled over；

The locked assembly (3) is used to apply constraint, the constraint are as follows: realize the spring to the spring on support member (4) In, interior lateral spring is fixed with outer lateral spring relative position.

6. the sterically defined bogie provision for disengagement of achievable bogie according to claim 5, which is characterized in that described Grasping mechanism includes shaft (23) and the lever (24) being connected on shaft (23), and shaft is fixed in one end of the lever (24) (23) on side；

The shaft (23) is articulated on bar body (21), is additionally provided with flanging on the free end of the bar body (21) (22), the shaft (23) is adjacent with flanging (22), and shaft (23) is located at the ipsilateral of flanging (22) with tool frame (1)；

When lever (24) is rotated with the free end of shaft (23) rotation, lever (24) to bar body (21) free end outside, The flanging (22) is by carrying out the dead-centre position for stopping limitation lever (24) rotation to lever (24)；And lever (24) can be rotated It is extremely parallel with bar body (21)；

The support member (4) is located at the underface of bar body (21), when spring is toppled under the action of rod assembly (2), The spring is poured on the supporting surface of support member (4).

7. the sterically defined bogie provision for disengagement of achievable bogie according to claim 6, which is characterized in that described Lever (24) is multiple, and arranges along the axis direction of shaft (23) that multiple levers (24) are arranged in a row；

Hole, the upper and lower end of hole perforation bar body (21) are additionally provided on the free end of the bar body (21)；

The both ends of the shaft (23) are articulated on the hole wall in the hole, and hinge joint is located at the hole far from tool frame (1) One end on；

Shaft (23) is vertical with bar body (21), and the flanging (22) is the edge of the hole wherein side, which is position In the edge of bar body (21) free end；

The bar body (21) is flat bar, when rod assembly (2) hooks up spring, the width direction of bar body (21) Positioned at horizontal direction, before lever (24) is contacted with the spring, the length direction of the lever (24) is located at vertical direction；

Lever (24) can be turned to shaft (23) and is accommodated in the hole completely.

8. the sterically defined bogie provision for disengagement of achievable bogie according to claim 5, which is characterized in that described Support member (4) includes two cantilever levers (41) stretched out by tool frame (1), further includes pocket body (42), the pocket body (42) is Cloth, one end of pocket body (42) are fixed on a wherein cantilever lever (41), and the other end of pocket body (42) is fixed on another and hangs On armed lever (41)；

The middle part of pocket body (42) drops, to form the pocketed space for constraining the spring on support member (4)；

The support member (4) further includes third driving mechanism, and the third driving mechanism is for changing two cantilever levers (41) Spacing；

The grasping mechanism is located at the surface in pocketed space.

9. the sterically defined bogie provision for disengagement of achievable bogie according to claim 8, which is characterized in that described Cantilever lever (41), bar body (21) are parallel to each other, and bar body (21) is located at the center of two cantilever levers (41)；

The support member (4) further includes the driving motor (45) being mounted on tool frame (1), to be connected to driving motor (45) defeated Threaded rod (44) in outlet, two pieces of sliding blocks (43) being threaded on threaded rod (44) are respectively and fixedly provided on each sliding block (43) A piece cantilever lever (41), and two pieces of sliding blocks (43) are connected by oppositely oriented screw thread with threaded rod (44)；

It further include the sliding slot parallel with threaded rod (44), the sliding slot is for constraining sliding block (43) or cantilever lever (41), for keeping away Exempt from cantilever lever (41) to rotate with threaded rod (44).

10. the sterically defined bogie provision for disengagement of achievable bogie according to claim 8, which is characterized in that institute Stating locked assembly (3) includes compression bar (31), and the compression bar (31) is located at the pocketed space in the side of tool frame (1), And after the spring of bogie is constrained on support member (4), the compression bar (31) can move in the radial direction of spring, with Bearing spring inwardly applies the pressure towards outside bearing spring；

The compression bar (31) is the rod-like structure parallel with bar body (21), and the direction of motion of compression bar (31) is located at pocketed sky Between groove depth direction.