CN209852267U - Wheel set cleaning device based on six-axis robot - Google Patents
Wheel set cleaning device based on six-axis robot Download PDFInfo
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- CN209852267U CN209852267U CN201920617355.3U CN201920617355U CN209852267U CN 209852267 U CN209852267 U CN 209852267U CN 201920617355 U CN201920617355 U CN 201920617355U CN 209852267 U CN209852267 U CN 209852267U
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- 238000004140 cleaning Methods 0.000 title claims abstract description 29
- 210000003813 thumb Anatomy 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 6
- 230000003137 locomotive effect Effects 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The utility model relates to a wheel pair cleaning device based on six-axis robot, wherein a portal equipment frame crossing the track is arranged above the track, the six-axis robot is arranged below a cross beam of the equipment frame, and a laser cleaning head is adopted at the working end of the six-axis robot; the track side in the front and the rear of the equipment frame is respectively provided with a wheel set No. 1 dial wheel positioning device and a wheel set No. 2 dial wheel positioning device, the wheel set No. 1 dial wheel positioning device is provided with a wheel set No. 1 sensor, and the wheel set No. 2 dial wheel positioning device is provided with a wheel set No. 2 sensor. The utility model discloses can utilize the robot to realize cleaning wheel pair fast conveniently, the limited work radius of six robots of effectual utilization need not with the help of mechanisms such as other runners, has simplified external mechanism, has simplified work flow, practices thrift the human cost.
Description
Technical Field
The utility model relates to a surface cleaning operation technical field of wheel pairs such as locomotive, vehicle, motor car among the railway industry, concretely relates to wheel pair cleaning device based on six robots.
Background
With the rapid development of railways, more and more locomotives and vehicle sections are built and put into use in various places, and various maintenance equipment in the sections are also put into use successively. According to the requirements of relevant regulations, wheel sets of locomotives and vehicles need to be periodically overhauled, and in the long-term running process of the wheel sets, except for a tread and a wheel rim which are in contact with a steel rail, the rest parts exposed in the air can be rusted to different degrees, so that the existence of the rust can cause serious interference to flaw detection, and the accuracy of the flaw detection is greatly reduced. Therefore, the paint and rust on the surface of each part of the wheel set need to be removed during maintenance.
At present, in most sections, the wheel set cleaning operation is still based on manual work or a simpler mechanical mode, the workload is large, the operation difficulty is large, and the operation time is long.
Disclosure of Invention
The utility model aims at providing a wheel pair cleaning device based on six robots can utilize the robot to realize cleaning wheel pair fast conveniently, the limited working radius of six robots of effectual utilization, and this kind of operation method need not with the help of mechanisms such as other runners, has simplified external mechanism, has simplified work flow, practices thrift the human cost.
The utility model discloses the technical scheme who adopts does:
the utility model provides a wheel pair cleaning device based on six robots which characterized in that:
a portal equipment frame crossing the track is arranged above the track, a six-axis robot is arranged below a cross beam of the equipment frame, and a laser cleaning head is adopted at the working end of the six-axis robot;
the track side in the front and the rear of the equipment frame is respectively provided with a wheel set No. 1 dial wheel positioning device and a wheel set No. 2 dial wheel positioning device, the wheel set No. 1 dial wheel positioning device is provided with a wheel set No. 1 sensor, and the wheel set No. 2 dial wheel positioning device is provided with a wheel set No. 2 sensor.
The number 1 wheel pair sensor and the number 2 wheel pair sensor are photoelectric proximity switches, when the wheels trigger the photoelectric proximity switches, the six-axis robot receives a closing signal generated by the photoelectric proximity switches, and the six-axis robot starts to execute the cleaning work of the wheel pairs.
Wheel pair No. 1 thumb wheel positioner and wheel pair No. 2 thumb wheel positioner are cylinder flip structure, specifically constitute by cylinder and the push pedal that is located the cylinder front end.
The six-axis robot is fixed on a cross beam of the equipment frame through a robot mounting frame; the mounting frame is of a double-end flange structure, one end of the mounting frame is connected with the six-axis robot through a flange, and the other end of the mounting frame is connected with the linear guide rail sliding block through a flange; the linear guide slider moves horizontally along a linear guide installed on the equipment rack, and the six-axis robot is driven by the installation rack to move horizontally along the linear guide.
The distance between the wheel set 1 poking wheel positioning device and the six-axis robot in the horizontal direction is equal to the distance between the wheel set 2 poking wheel positioning device and the six-axis robot in the horizontal direction.
The utility model has the advantages of it is following:
1. the utility model discloses an equipment shared space is little, need not reform transform current workshop basis, saves the cost.
2. The utility model discloses an equipment has utilized the wheel pair roll to go forward and the self upset that produces, and equipment structure is simple, does not have too many rotation, slide mechanism.
3. The utility model discloses use the operation of robot to alleviate intensity of labour, improve productivity, can guarantee the stability of product again to the operation quality has been improved.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a working principle diagram of the present invention.
In the figure, a 1-six-axis robot, a 2-robot mounting frame, a 3-wheel set No. 1 shifting wheel positioning device, a 4-wheel set No. 2 shifting wheel positioning device, a 5-track, a 6-wheel set, a 7-equipment frame, a 8-1 wheel set sensor, a 9-2 wheel set sensor, a 10-guide rail sliding block and a 11-linear guide rail are arranged.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The utility model relates to a wheel pair cleaning device based on six robots sets up the equipment rack 7 that spanes track 5's door shape above track 5, and six robots 1 are installed to equipment rack 7 crossbeam below, and the laser cleaning head is adopted to the work end of six robots 1, and the laser cleaning head passes through the ring flange and is connected with six robots 1.
The side faces of the track 5 in front of and behind the equipment frame 7 are respectively provided with a wheel set No. 1 dial wheel positioning device 3 and a wheel set No. 2 dial wheel positioning device 4, a wheel set No. 1 wheel sensor 8 is arranged on the wheel set No. 1 dial wheel positioning device 3, and a wheel set No. 2 wheel sensor 9 is arranged on the wheel set No. 2 dial wheel positioning device 4. The sensors are all below the upper surface of the rail. The wheel pair sensor 1 and the wheel pair sensor 2 are both specifically photoelectric proximity switches, when the wheel pair 6 is located above the photoelectric proximity switches, the photoelectric proximity switches are triggered, and the six-axis robot 1 starts cleaning work in a program setting mode after receiving closing signals of the photoelectric proximity switches.
Wheel pair No. 1 thumb wheel positioner 3 and wheel pair No. 2 thumb wheel positioner 4 are cylinder flip structure, specifically constitute by cylinder and the push pedal that is located the cylinder front end. The rotation of the push plate is controlled through the air cylinder, so that the wheel pair is positioned.
The six-axis robot 1 is fixed to a cross beam of the equipment rack 7 by the robot mounting frame 2. The mounting rack 2 is of a double-end flange structure, the six-axis robot 1 is fixed on a flange at one end of the mounting rack 2 through bolts, and a flange at the other end of the mounting rack 2 is connected with the linear guide rail slide block 10. The linear guide rail slide block 10 can horizontally move along a linear guide rail 11 installed on an equipment rack, and the six-axis robot is driven by the installation rack 2 to horizontally move along the linear guide rail 11.
The height of the equipment frame 7 of the six-axis robot 1 meets certain requirements, so that the effective working radius of the robot can be fully utilized, and the wheel pair cleaning operation range of the six-axis robot 1 is optimal when the six-axis robot 1 points to the wheel pair No. 1 thumb wheel positioning device 3 and the wheel pair No. 2 thumb wheel positioning device 4.
The wheels roll on the track to advance and sequentially pass through the wheel set No. 1 shifting wheel positioning device, the six-axis robot mounting frame and the wheel set No. 2 shifting wheel positioning device.
When the wheels roll forward and are positioned on the wheel pair No. 1 poking wheel positioning device 3, the wheel pair No. 1 sensor 8 is triggered, the six-axis robot 1 starts to operate, the tool end cleaning device of the six-axis robot 1 points to the wheel pair 6 to carry out cleaning operation, and the operation area is the x area of the wheel pair 6. After the operation in the x area is completed, the wheel pair 6 is pulled out by the wheel pair No. 1 poking wheel positioning device 3, the wheels roll forward, and when the wheels are positioned on the wheel pair No. 2 poking wheel positioning device 4, the wheel pair No. 2 sensor 9 is triggered. When the wheel set No. 1 poking wheel positioning device 3 is used, the y area which is not cleaned is overturned out and is close to the six-axis robot 1, and at the moment, the cleaning device at the tool end of the six-axis robot 1 points to the wheel set 6 to carry out cleaning operation, so that the y area of the wheel set is cleaned. The two wash zones need to overlap.
The labels in fig. 3 are: the six-axis robot seat coordinate origin a, the wheel set upper point B, the wheel set upper point c, the wheel set area x, the wheel set area y, the wheel set radius R and the center distance B between the wheel set locating device 1 and the wheel set locating device 1. The vertical distance between the coordinate origin a of the six-axis robot base and the track is h, the center distance B between the wheel pair and the positioning device 1 and the center distance B between the wheel pair and the positioning device 2 are B = d × 2 pi R/360 degrees, d =120 degrees, h =1000mm and R =420mm are selected at the moment, ab can be achieved, the length of ac is smaller than the effective working radius of the robot, and the ab is close to the length of ac, so that the robot can well take the x and y areas of the wheel pair into account in the effective working radius, and the robot is fully utilized.
The utility model has the advantages of simple external structure and high efficiency. The whole structure of the device is simple, and the device does not have too many rotating and sliding mechanisms. The robot reduces the labor intensity, improves the labor productivity, and ensures the stability of the product, thereby improving the operation quality.
The content of the present invention is not limited to the examples, and any equivalent transformation adopted by the technical solution of the present invention is covered by the claims of the present invention by those skilled in the art through reading the present invention.
Claims (5)
1. The utility model provides a wheel pair cleaning device based on six robots which characterized in that:
a door-shaped equipment frame (7) crossing the rail (5) is arranged above the rail (5), a six-axis robot (1) is arranged below a cross beam of the equipment frame (7), and a laser cleaning head is adopted at the working end of the six-axis robot (1);
the side surfaces of the track (5) in front of and behind the equipment frame (7) are respectively provided with a wheel set No. 1 dial wheel positioning device (3) and a wheel set No. 2 dial wheel positioning device (4), a wheel set No. 1 sensor (8) is arranged on the wheel set No. 1 dial wheel positioning device (3), and a wheel set No. 2 sensor (9) is arranged on the wheel set No. 2 dial wheel positioning device (4).
2. The wheel-set cleaning device based on the six-axis robot as claimed in claim 1, wherein:
the wheel pair sensor 1 (8) and the wheel pair sensor 2 (9) are photoelectric proximity switches, when the wheels (6) trigger the photoelectric proximity switches, the six-axis robot (1) receives a closing signal generated by the photoelectric proximity switches, and the six-axis robot (1) starts to perform cleaning work on the wheel pairs.
3. The wheel-set cleaning device based on the six-axis robot as claimed in claim 1, wherein:
wheel pair No. 1 thumb wheel positioner (3) and wheel pair No. 2 thumb wheel positioner (4) are cylinder flip structure, specifically constitute by cylinder and the push pedal that is located the cylinder front end.
4. The wheel-set cleaning device based on the six-axis robot as claimed in claim 1, wherein:
the six-axis robot (1) is fixed on a cross beam of an equipment frame (7) through a robot mounting frame (2); the mounting rack (2) is of a double-end flange structure, one end of the mounting rack is connected with the six-axis robot (1) through a flange, and the other end of the mounting rack is connected with the linear guide rail sliding block (10) through a flange; the linear guide rail sliding block (10) horizontally moves along a linear guide rail (11) installed on the equipment frame (7), and the six-axis robot is driven by the installation frame (2) to horizontally move along the linear guide rail (11).
5. The wheel-set cleaning device based on the six-axis robot as claimed in claim 1, wherein:
the distance between the wheel set No. 1 poking wheel positioning device (3) and the six-axis robot (1) in the horizontal direction is equal to the distance between the wheel set No. 2 poking wheel positioning device (4) and the six-axis robot (1) in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920617355.3U CN209852267U (en) | 2019-04-30 | 2019-04-30 | Wheel set cleaning device based on six-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920617355.3U CN209852267U (en) | 2019-04-30 | 2019-04-30 | Wheel set cleaning device based on six-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209852267U true CN209852267U (en) | 2019-12-27 |
Family
ID=68939926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920617355.3U Active CN209852267U (en) | 2019-04-30 | 2019-04-30 | Wheel set cleaning device based on six-axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209852267U (en) |
-
2019
- 2019-04-30 CN CN201920617355.3U patent/CN209852267U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: HUBEI REMOTE RAILWAY TECHNOLOGY Co.,Ltd. Assignor: CHINA RAILWAY FIRST SURVEY AND DESIGN INSTITUTE GROUP Co.,Ltd. Contract record no.: X2022980015357 Denomination of utility model: A wheelset cleaning device based on a six-axis robot Granted publication date: 20191227 License type: Common License Record date: 20220916 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Lanzhou Liyuan railway special equipment Co.,Ltd. Assignor: CHINA RAILWAY FIRST SURVEY AND DESIGN INSTITUTE GROUP Co.,Ltd. Contract record no.: X2024980003757 Denomination of utility model: A wheelset cleaning device based on a six axis robot Granted publication date: 20191227 License type: Common License Record date: 20240402 |