CN219324968U - Bogie vibration damper assembly system - Google Patents

Abstract

The utility model provides an assembly system of a bogie vibration damping device, which relates to the technical field of railway wagon overhaul equipment and comprises the following components: the conveyor belt is used for conveying the wedge and the sleeper spring to be assembled; the transfer robot is arranged at one side of the conveyor belt and used for clamping the wedge and the sleeper spring to be assembled from the conveyor belt; the assembly robot and the transfer robot are arranged on the same side of the conveyor belt and are used for receiving the wedge and the sleeper spring clamped by the transfer robot; and the bogie positioning system is arranged on the other side of the conveyor belt and used for fixing the bogie and adjusting the gesture of the bogie so as to assemble the wedge and the sleeper spring by matching with the assembling robot. Based on the technical scheme of the utility model, the full-automatic assembly of the wedge and the sleeper spring on the bogie can be realized, the bogie can adapt to the operation occasion with larger assembly difficulty, the operation space is saved, the times of manual intervention are reduced, and the assembly operation efficiency is improved.

Description

Bogie vibration damper assembly system

Technical Field

The utility model relates to the technical field of railway wagon overhaul equipment, in particular to an assembly system of a bogie vibration damping device.

Background

Railway freight cars are used as key transportation equipment for improving transportation efficiency of railways, and long-term load is driven on the railway, so that good running state of the vehicles needs to be ensured. Railway systems are provided with departments such as vehicle repair factories, vehicle sections, station repair centers, train check centers and the like for regular maintenance and daily maintenance of the vehicles of the supply vehicles. The bogie is used as a key component of a railway wagon, and the maintenance work of the bogie is particularly important.

In the bogie overhauling process, after the vibration damper of the bogie is disassembled and overhauled, the sleeper spring and the inclined wedges are disassembled, the vibration damper is required to be assembled, the inclined wedges are horizontally placed on the top of the bogie, the inclined wedges are fixed, the inclined wedges are assembled, and after the two inclined wedges are fixed, the sleeper springs are placed into a frame one by one, and are pushed to be upright, so that the sleeper spring is assembled.

At present, when the vibration damper of the bogie is assembled, a mode of manual moving is generally adopted to take and place the sleeper spring and the wedge, but the weight of the sleeper spring and the wedge is very large, so that the labor intensity of the mode of manual moving is very high, the efficiency is low, and meanwhile, dangerous situations are easily caused in the assembling process because of manual sliding and releasing force.

The bogie vibration damping device assembling system is one kind of bogie vibration damping device assembling equipment system for railway wagon production and maintenance workshop. Major problems and drawbacks of the currently available products of the same type include: the device cannot be well adapted to actual complex working conditions, cannot be used for assembling a bogie with high assembling difficulty, or needs manual frequent intervention, has low working efficiency, occupies large space, and cannot meet manual obstacle removing requirements.

Disclosure of Invention

The utility model provides an assembly system of a bogie vibration damper, which utilizes a transfer robot to clamp wedges and sleeper springs to be assembled from a conveyor belt, and a bogie positioning system is used for adjusting and positioning the gesture of a bogie.

The utility model provides a bogie vibration damping device assembly system, comprising:

the conveyor belt is used for conveying the wedge and the sleeper spring to be assembled;

the transfer robot is arranged at one side of the conveyor belt and used for clamping the wedge and the sleeper spring to be assembled from the conveyor belt;

The assembly robot and the transfer robot are arranged on the same side of the conveyor belt and are used for receiving the wedge and the sleeper spring clamped by the transfer robot; and

and the bogie positioning system is arranged on the other side of the conveyor belt and used for fixing the bogie and adjusting the gesture of the bogie so as to assemble the wedge and the sleeper spring by matching with the assembling robot.

In one embodiment, a transfer robot is provided with a transfer manipulator thereon, and the transfer robot includes:

the base is used for connecting the transfer robot;

the wedge clamping mechanism is arranged on one side of the base and used for clamping the wedge;

the sleeper spring clamping mechanism is arranged on the end face of the base and used for clamping the sleeper spring; and

the visual positioning mechanism is arranged on the base and used for positioning the wedge and the sleeper spring.

In one embodiment, the cam clamping mechanism comprises:

the mounting plate is fixedly connected with the base;

the two wedge clamping fingers are respectively arranged on two opposite sides of the mounting plate; and

and the wedge clamping driving piece is connected with the two wedge clamping fingers and is used for driving the two wedge clamping fingers to clamp the wedge.

In one embodiment, the pillow spring clamping mechanism comprises:

The inner springs clamp fingers, at least three inner springs are arranged at intervals in the circumferential direction of the end face of the base, and are arranged in a sliding manner along the radial direction of the end face of the base;

the outer springs clamp fingers, at least three outer springs are arranged at intervals in the circumferential direction of the end face of the base, and the outer springs slide along the radial direction of the end face of the base;

the clamping driving assembly is arranged on the end face of the base, is in transmission connection with each inner spring clamping finger and each outer spring clamping finger, and is used for driving each inner spring clamping finger and each outer spring clamping finger to move;

wherein each outer spring gripping finger is located outside each inner spring gripping finger.

In one embodiment, an assembling robot is provided with an assembling robot, and the assembling robot includes:

the connecting disc is used for connecting the assembling robot;

the support plate group is arranged on one side of the connecting disc, which is away from the assembling robot, and is used for receiving the wedge and the sleeper spring;

the inner spring fixing device is arranged on the supporting plate group and used for fixing the inner springs on the sleeper springs;

the outer spring fixing device is arranged on the supporting plate group and used for fixing the outer springs on the sleeper springs; and

Wherein, the opposite sides of the supporting plate group respectively form an inclined wedge connection side and a sleeper spring connection side; the inner spring fixing device and the outer spring fixing device are arranged on the pillow spring receiving side; when the supporting plate is assembled with the sleeper spring, the inner spring fixing device and the outer spring fixing device clamp the sleeper spring up and down together.

In one embodiment, the assembly robot is further provided with a size measurement sensor for measuring the size of the truck side frame cavity.

In one embodiment, the steering frame positioning system further comprises a transit platform arranged on one side of the steering frame positioning system, wherein the transit platform is positioned between the transit robot and the assembling robot; the transfer platform comprises a bottom support assembly and a sleeper spring adjusting assembly arranged on the bottom support assembly; the pillow spring adjusting assembly includes:

the sleeper spring adjusting platform is horizontally and rotatably arranged on the bottom supporting component; and

the sleeper spring middle rotary table is vertically and rotatably arranged on one side of the sleeper spring adjusting platform and used for placing sleeper springs to be assembled;

wherein, a sleeper spring positioning device is arranged on the sleeper spring middle rotary table; the tie spring positioning means restricts the tie spring from falling off the tie spring turntable when the tie spring to be assembled rotates with the tie spring turntable in an inclined state.

In one embodiment, the conveyor belt side and the truck positioning system side are each provided with an RFID reader for scanning RFID tags on the pallet and truck side frames, respectively.

In one embodiment, the bogie positioning system comprises:

the two jacking devices are respectively arranged right below the two side frames of the bogie and are used for jacking the bogie; and

the hoisting clamp is arranged right above the swing bolster on the bogie and is used for hoisting the bogie; and

the positioning driving device is arranged above the hoisting clamp and is in transmission connection with the hoisting clamp and used for driving the hoisting clamp to rotate so as to adjust the gesture of the bogie.

In one embodiment, the assembly manipulator and the transfer manipulator are both provided with leveling sensors, and the leveling sensors are electrically connected with the positioning driving device.

In summary, compared with the prior art, the utility model has the following beneficial technical effects:

(1) The transfer robot is utilized to clamp the wedge and the sleeper spring to be assembled from the conveyor belt, the bogie is subjected to gesture adjustment and positioning by the bogie positioning system, the wedge and the sleeper spring transmitted by the transfer robot are assembled on the bogie by the assembling robot, so that the full-automatic assembly of the wedge and the sleeper spring on the bogie can be realized, the operation occasion with high assembly difficulty can be adapted, the times of manual intervention are reduced, and the assembly operation efficiency is improved;

(2) The installation positions of the transfer robot, the assembly robot and the bogie positioning system are reasonably set, and the bogie is hoisted by the hoisting clamp, so that the operation range of the bogie is prevented from interfering with each other, the operation space is saved, and the operation efficiency of the assembly robot is improved;

(3) By arranging the transfer platform, the action planning of each robot is facilitated, a plurality of sleeper springs can be cooperatively processed, and the operation efficiency is further improved;

(4) By means of the visual positioning mechanism and the sensor, the gesture of the bogie and the position gesture of the sleeper spring and the wedge can be judged, the obstacle can be automatically identified, eliminated or bypassed when the obstacle is met, the error rate is reduced, the manual intervention times are reduced, and the operation efficiency is improved.

Drawings

The utility model will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:

FIG. 1 is a schematic view of the overall construction of a steering frame damper assembly system in accordance with one embodiment of the present utility model;

FIG. 2 is a schematic view of the overall structure of a transfer robot in one embodiment of the present utility model;

FIG. 3 is a schematic view of a cam clamping mechanism in accordance with one embodiment of the present utility model;

FIG. 4 is a schematic view of a sleeper spring clamping mechanism in accordance with an embodiment of the present utility model;

FIG. 5 is a schematic view showing the overall structure of an assembly robot after the assembly robot receives a sleeper spring according to an embodiment of the present utility model;

FIG. 6 is a schematic view showing the construction of an innerspring retention apparatus in accordance with one embodiment of the utility model;

FIG. 7 is a schematic view of an embodiment of the present utility model, which is primarily used to embody the outer spring retention device and the tumble drive assembly;

FIG. 8 is a schematic view of the construction of a jack drive assembly according to one embodiment of the present utility model;

FIG. 9 is a schematic diagram of a movable slot and a through slot according to an embodiment of the present utility model;

FIG. 10 is a schematic diagram of the overall structure of a transfer platform according to an embodiment of the present utility model;

FIG. 11 is a schematic view of a turntable and a device for detecting a gap of a sleeper spring according to an embodiment of the present utility model;

fig. 12 is a schematic view showing the overall structure of a bogie positioning system according to an embodiment of the present utility model.

Reference numerals:

1. a conveyor belt;

2. a transfer manipulator; 21. a base; 22. wedge clamping mechanism; 221. a mounting plate; 222. the wedge clamps the finger; 2221. a plug block; 223. wedge clamping driving cylinder; 224. a first guide rail; 225. a first slider; 226. lifting the connecting piece; 2261. a mounting inclined plane; 227. a side cylinder; 228. wedge compacting blocks; 229. a compression driving cylinder; 23. a pillow spring clamping mechanism; 231. the inner spring clamps the finger; 232. the outer spring clamps the finger; 233. the sleeper spring clamps the driving cylinder; 234. a second slider; 235. a second guide rail; 236. compressing the connecting piece; 24. a visual positioning mechanism;

3. Assembling a manipulator; 31. a connecting disc; 32. a sliding cover plate; 33. a support base plate; 331. a support rail; 332. a through groove; 34. a bottom plate cylinder; 35. a push plate; 36. pressing the finger; 361. a groove; 37. a compacting cylinder; 38. pushing the guide rail; 39. a pushing cylinder; 310. a sleeper spring placing plate; 311. tightly pushing the head; 312. a drive gear; 313. a telescopic rack; 314. a telescopic cylinder; 3141. a cylinder bracket; 315. a sleeper spring limiting block; 316. driving a sliding block; 3161. matching with the inclined plane; 317. a drive link; 3171. a movable groove; 318. a turnover driving cylinder; 319. a roller;

4. a bogie positioning system; 41. a jacking device; 42. hoisting the clamp;

5. a transfer platform; 51. a pillow spring adjusting platform; 52. a sleeper spring middle rotary table; 53. a transfer platform bracket; 54. a lifting platform; 55. lifting guide rods; 56. a platform driving member; 57. a slewing bearing; 58. a pillow spring turntable; 59. a turntable drive; 510. a clamping block; 511. positioning a driving piece; 512. a notch detection sensor; 513. a connecting frame; 514. a vertical bracket; 515. a sliding block; 516. a transverse bracket;

6. an RFID reader.

Detailed Description

The present utility model will now be described more fully hereinafter with reference to the accompanying drawings.

Referring to fig. 1, a bogie vibration damping device assembling system comprises a conveyor belt 1 for transporting wedges and springs to be assembled, wherein a transfer robot and an assembling robot are arranged on one side of the conveyor belt 1, and a bogie positioning system 4 is arranged on the other side of the conveyor belt.

In practical application, the conveyor belt 1 transports the wedge and the wedge to be assembled through the tray, the bogie positioning system 4 can adjust and position the bogie, the transfer robot clamps the wedge and the wedge from the tray and transmits the wedge and the wedge to the assembling robot, and the assembling robot assembles the fetched wedge and the fetched wedge onto the bogie, so that the full-automatic assembly of the wedge and the wedge on the bogie is realized, and the assembly efficiency of the bogie damping device is improved.

Referring to fig. 2, the transfer robot is provided with a transfer manipulator 2, and the transfer robot can clamp the sleeper spring and the wedge from the conveyor belt 1 through the transfer manipulator 2.

Specifically, the transfer robot 2 includes a base 21 for connecting with the transfer robot, and a wedge clamping mechanism 22 and a sleeper clamping mechanism 23 are respectively provided on the base 21. In practical application, the transfer manipulator 2 clamps the wedge to be assembled from the tray through the wedge clamping mechanism 22, and clamps the sleeper spring to be assembled from the tray through the sleeper spring clamping mechanism 23, so that transfer between the wedge and the sleeper spring from the tray to the assembling robot is realized, and the assembling efficiency of the wedge and the sleeper spring is improved.

Referring to fig. 3, the cam clamping mechanism 22 includes a mounting plate 221 fixedly disposed on a side surface of the base 21, and at least two cam clamping fingers 222 and a cam clamping driving member for driving the two cam clamping fingers 222 to move synchronously are disposed on the mounting plate 221. In operation, the cam clamping driving member may drive the two cam clamping fingers 222 to synchronously approach and clamp the cam to clamp the cam on the tray.

Specifically, in order to install the two wedge clamping fingers 222, a first sliding block 225 is slidably arranged on the mounting plate 221 through a first guide rail 224; the first slider 225 is fixedly provided with a lifting connection member 226. The elevating connector 226 may be provided in a block-shaped structure, and one side of the mounting plate 221 is further provided with an elevating driving member connected to the elevating connector 226. The lifting driving member may be a side cylinder 227, and the end of a piston rod of the side cylinder 227 is fixedly connected with the lifting connecting member 226, so that the lifting connecting member 226 can be driven to slide back and forth on the mounting plate 221, and the wedge to be assembled is conveniently clamped from the tray.

The two wedge clamping fingers 222 and the wedge clamping driving member are integrally disposed on a side of the lifting connecting member 226 away from the mounting plate 221. Two wedge gripping fingers 222 are located on opposite sides of the lifting link 226; the wedge clamping driving member is a wedge clamping driving cylinder 223, and the wedge clamping driving cylinder 223 preferably adopts a double-rod cylinder, which is arranged between two wedge clamping fingers 222, and two piston rods are respectively fixedly connected with the wedge clamping fingers 222 at two sides and are used for driving the two wedge clamping fingers 222 to synchronously move.

In one embodiment, a mounting inclined surface 2261 is disposed on a side of the lifting connector 226 facing away from the mounting plate 221, and the two wedge clamping fingers 222 and the wedge clamping driving cylinder 223 are disposed on the mounting inclined surface 2261. The inclination angle of the installation inclined plane 2261 can be determined according to the inclination angle of the inclined plane on the corresponding wedge, so that the two wedges can clamp the gesture of the finger 222 conveniently, conveniently and accurately to clamp the wedge from the tray.

In another embodiment, to further improve the stability of the wedge clamping, the two wedge clamping fingers 222 are provided with plug blocks 2221, and the two plug blocks 2221 are disposed towards the side where the wedge is located; when the wedge is clamped by the clamping of the two wedges, the plug blocks 2221 on the two wedge clamping fingers 222 are respectively inserted into the holes on two sides of the wedge, so that the wedge is further restrained, and the stability of the wedge is improved.

In another embodiment, the mounting inclined surface 2261 is further provided with a tightening component; when two slide wedge clamping fingers 222 clamp the slide wedge, the jacking assembly can jack the inclined plane at the bottom of the slide wedge from bottom to top so as to further improve the stability of slide wedge clamping.

Specifically, the jacking assembly includes a wedge pressing block 228 that is lifted and lowered by the lifting guide rod 55 and is disposed on the installation inclined plane 2261, and a pressing driving member that is fixedly disposed on the installation inclined plane 2261. The compression driving piece can be a compression driving cylinder 229, the end part of a piston rod of the compression driving cylinder 229 is fixedly connected with the wedge compression block 228, and the wedge compression block 228 can be driven to move upwards and prop against the inclined plane of the bottom of the wedge.

The jacking components can be arranged in one group or two or more groups, and in order to ensure the stability of wedge clamping and control the cost, the jacking components are preferably arranged in two groups. Moreover, the two groups of tightening assemblies can be symmetrically arranged on two opposite sides of the installation inclined plane 2261; at this time, the two groups of tightening assemblies and the two wedge clamping fingers 222 are just located around the installation inclined plane 2261 respectively, so that the structural distribution is more reasonable, and the clamping stability of the wedge is guaranteed.

In practical application, the two wedge clamping fingers 222 are driven by the wedge clamping driving cylinder 223 to synchronously approach and clamp the wedge on the tray; at this time, the plug blocks 2221 on the two wedge clamping fingers 222 are respectively inserted into the holes on both sides of the wedge. Subsequently, the pressing driving cylinder 229 drives the cam pressing block 228 to move upward and abut against the inclined surface of the bottom of the cam. Thus, the two wedge clamping fingers 222 can stably clamp the wedge without great power.

Referring to fig. 4, the above-described pillow clamp mechanism 23 includes an inner spring clamp finger 231, an outer spring clamp finger 232, and a clamp drive assembly for driving the inner spring clamp finger 231 and the outer spring clamp finger 232. In operation, the clamping drive assembly drives the inner spring clamping finger 231 to move outwardly and the outer spring clamping finger 232 to move inwardly, such that the inner spring clamping finger 231 and the outer spring clamping finger 232 respectively abut against the inner spring and the outer spring on the sleeper spring, thereby achieving a clamping effect on the sleeper spring.

Specifically, at least three innerspring fingers 231 are disposed on the end surface of the base 21, and each of the innerspring fingers 231 may be disposed at regular intervals along the circumferential direction of the end surface of the base 21. Taking three innerspring retention fingers 231 as an example, any two adjacent innerspring retention fingers 231 are disposed at exactly 120 ° intervals in the circumferential direction of the end face of the base 21.

To mount each innerspring clamping finger 231, a plurality of second sliders 234 are provided on the end face of the base 21, each second slider 234 is slidably disposed on the end face of the base 21 through a second rail 235, and each second rail 235 is disposed along the radial direction of the end face of the base 21.

The respective innerspring gripping fingers 231 are respectively fixed to the respective second sliders 234 such that the respective innerspring gripping fingers 231 are slidably movable in the radial direction of the end face of the base 21. When each innerspring gripping finger 231 moves synchronously toward the outside of the end face of the base 21, each innerspring gripping finger 231 moves synchronously closer to the innerspring; conversely, when the respective innerspring gripping fingers 231 move synchronously toward the inside of the end surface of the base 21, the respective innerspring gripping fingers 231 move synchronously away from the innerspring.

Similarly, each of the outer spring clamping fingers 232 may also be slidably disposed on the end surface of the base 21 by each of the second sliders 234, so that each of the outer spring clamping fingers 232 may also move in the radial direction of the end surface of the base 21. The specific arrangement of each outer spring clamping finger 232 may refer to the arrangement of the inner spring clamping finger 231 described above, and will not be described again. After the actual installation is completed, each second slider 234 corresponds to each clamping finger (including the inner spring clamping finger 231 and the outer spring clamping finger 232) one by one, and each outer spring clamping finger 232 is located just outside each inner spring clamping finger 231.

The outer side of the second slider 234 is also fixedly connected with a pressing connecting piece 236, the pressing connecting piece 236 and the second slider 234 are arranged in a one-to-one correspondence, and the pressing connecting piece 236 extends to the outer side of the end face of the base 21.

Correspondingly, the clamping driving assembly comprises a plurality of clamping driving members which are arranged in one-to-one correspondence with the compression connecting members 236. The clamping driving member may be a sleeper spring clamping driving cylinder 233, and the sleeper spring clamping driving cylinder 233 may be fixed on the end surface of the base 21 by bolts, and a piston rod thereof extends toward the outer side of the end surface of the base 21 in the radial direction of the end surface of the base 21 and is fixedly connected with the corresponding compression connecting member 236. In this way, the sleeper spring clamping driving cylinder 233 can drive the corresponding second slider 234 and the clamping finger to move along the radial direction of the base 21 through the corresponding pressing connection member 236.

In practical application, the pillow spring clamping driving cylinder 233 and the clamping fingers (including the inner spring clamping finger 231 and the outer spring clamping finger 232) are arranged in a one-to-one correspondence; each sleeper spring clamping driving cylinder 233 can drive the corresponding clamping finger to move along the radial direction of the end surface of the base 21 through the pressing connecting piece 236 and the second sliding block 234. When the sleeper spring needs to be clamped, each inner spring clamping finger 231 moves synchronously towards the outer side of the end face of the base 21, and each outer spring clamping finger 232 moves towards the inner side of the end face of the base 21, so that each inner spring clamping finger 231 simultaneously abuts against the inner spring, each outer spring clamping finger 232 simultaneously abuts against the outer spring, and the sleeper spring can be jointly clamped by the inner spring clamping fingers 231 matched with the outer spring clamping fingers 232.

In one embodiment, at least one protrusion and/or recess is provided on the outer side of the inner spring clamping finger 231 and/or the inner side of the outer spring clamping finger 232 to further improve stability of the pillow clamping. Preferably, the outer side of each inner spring clamping finger 231 and the inner side of each outer spring clamping finger 232 are provided with at least one protrusion and/or depression at the same time. As such, the protrusions and/or depressions on the inner spring clamping finger 231 and the outer spring clamping finger 232 can form a grain; the grooves help to increase friction between the inner spring clamping fingers 231 and the outer spring clamping fingers 232 and effectively prevent the springs from falling off.

In another embodiment, to facilitate gripping of the pillow springs from the tray, the dimensions of the inner spring gripping fingers 231 and the outer spring gripping fingers 232 described above are tapered in a direction away from the end face of the base 21. Thus, the ends of the respective inner spring clamping fingers 231 and the respective outer spring clamping fingers 232 remote from the end face of the base 21 are each sharp; on the one hand, the clamping fingers 231 of each inner spring can conveniently extend into the sleeper springs, and on the other hand, interference when the sleeper springs rotate from the transfer manipulator 2 to the assembling manipulator 3 can be reduced, so that the sleeper springs can be conveniently transferred from the transfer manipulator 2 to the assembling manipulator 3.

Meanwhile, as shown in fig. 2, in another embodiment, the transfer manipulator 2 further includes a visual positioning mechanism 24 disposed on one side of the base 21, and the visual positioning mechanism 24 can use an image sensor to match with a controller to realize self-positioning of the wedge and the sleeper spring, so as to reduce errors in transfer and assembly. Specifically, the visual positioning mechanism 24 may be any visual positioning device in the prior art, which is well-established in the application of the manipulator, and is not the focus of the embodiment, so that the description is omitted.

Referring to fig. 5, the assembling robot is provided with an assembling manipulator 3, and the assembling robot can access the sleeper spring and the wedge through the assembling manipulator 3.

Specifically, the assembly robot 3 includes a connection pad 31 for connecting to an assembly robot, and a support plate group is provided on a side of the connection pad 31 facing away from the assembly robot. In practical application, the connecting disc 31 is rotationally connected with the assembling robot, and the assembling robot can drive the whole assembling manipulator 3 to rotate through the connecting disc 31, so that angle adjustment is realized; the opposite sides of the supporting plate group are respectively used for connecting the wedge and the sleeper spring, namely, the opposite sides of the supporting plate group respectively form an inclined wedge connection side and a sleeper spring connection side.

In this embodiment, the support plate set includes a slide cover plate 32 connected to the connection plate 31, and the slide cover plate 32 may be vertically fixed on a side of the connection plate 31 facing away from the assembly robot by bolts, and vertically extends toward a side facing away from the connection plate 31. The sliding cover plate 32 can be arranged into a hollow cavity structure, and a supporting bottom plate 33 is inserted into the sliding cover plate; the support base plate 33 is slidably connected to the slide cover plate 32 through the support rail 331 so that the support base plate 33 can be moved in a telescopic manner in a direction perpendicular to the connection plate 31.

Meanwhile, a first driving member for driving the supporting base plate 33 is further arranged on the sliding cover plate 32; specifically, the first driving member may be a bottom plate cylinder 34, where the bottom plate cylinder 34 may be fixed on one side of the sliding cover plate 32 corresponding to the oblique wedge access side, and a piston rod of the first driving member is fixedly connected with the supporting bottom plate 33; when the base plate cylinder 34 is operated, it drives the support base plate 33 to move telescopically inside the slide plate 32. When the supporting base plate 33 extends out from the sliding cover plate 32, one side of the supporting base plate 33 corresponding to the wedge connection side can be used for connecting the wedge to be assembled.

Referring to fig. 6, the side of the support plate set facing away from the base plate cylinder 34 is the pillow spring receiving side; due to the structure of the sleeper spring, the sleeper spring is easy to roll after being assembled by the support plate. In order to ensure the stability of the sleeper spring, the support plate group is also provided with an inner spring fixing device and an outer spring fixing device, and the inner spring fixing device and the outer spring fixing device can jointly clamp the sleeper spring up and down so as to ensure the stability of the sleeper spring on the support plate group.

In this embodiment, the innerspring fixing apparatus includes a push plate 35, a pressing member movably disposed on the push plate 35, and a second driving member in transmission connection with the pressing member. The second driving piece can drive the compressing piece to move and compress the inner spring, so that stability of the sleeper spring is improved.

Specifically, the pushing plate 35 may be disposed in parallel on the sliding cover plate 32, and may implement reciprocating sliding movement in the extending direction of the supporting plate set through the pushing rail 38. Correspondingly, a third driving piece in transmission connection with the push plate 35 is further arranged on the sliding cover plate 32, the third driving piece can be a pushing air cylinder 39, the pushing air cylinder 39 is fixedly connected with the sliding cover plate 32, and a piston rod of the pushing air cylinder is fixedly connected with the push plate 35; the pushing cylinder 39 can drive the pushing plate 35 to reciprocate in the extending direction of the supporting plate group when working, so that the compressing piece can extend into the pillow spring and fix the pillow spring.

The second driving member may be a pressing cylinder 37, the bottom of the pressing cylinder 37 is hinged to the pushing plate 35, and the piston rod of the second driving member is hinged to the pressing member. The pressing member may be a pressing finger 36, and the pressing finger 36 may be provided in a bent rod-like structure or a bent plate-like structure, for example, in one embodiment, the pressing finger 36 may be provided in an L-shaped structure, which is not particularly limited. The middle part of the pressing finger 36 is hinged with the push plate 35, one end of the pressing finger is hinged with the end part of a piston rod of the pressing cylinder 37, and the other end of the pressing finger is used for contacting and pressing the inner spring.

In another embodiment, to further improve stability of the pillow spring, a groove 361 is further provided at one end of the pressing finger 36 for contacting the inner spring; the pressing finger 36 can contact and press the inner spring through the groove 361, so that the contact area between the pressing finger 36 and the inner spring is larger, and the stabilizing effect is better.

In practical application, the pushing cylinder 39 can push the pushing plate 35 to move towards the sleeper spring, so that the compressing finger 36 stretches into the sleeper spring; subsequently, the pressing cylinder 37 pushes the pressing finger 36 to rotate around the hinge point of the push plate 35 thereof, so that the pressing finger 36 presses the inner spring through the groove 361 to fix the pillow spring.

Referring to fig. 7, the outer spring fixing device includes a pillow placing plate 310 disposed on a supporting base 33, and a tightening member and a tightening driving assembly in driving connection with the tightening member are vertically lifted and lowered on the pillow placing plate 310. In practical application, after the tie spring is received by the tie spring placement plate 310, the jack driving assembly can drive the jack member to lift and jack the outer spring from bottom to top, so as to clamp and fix the tie spring in cooperation with the inner spring fixing device.

The propping piece comprises a propping head 311 and a connecting rod fixedly arranged on one side of the propping head 311; the connecting rod vertically passes through the sleeper spring placing plate 310 and is in threaded connection with the sleeper spring placing plate 310 through threads on the outer wall of the connecting rod. In order to improve the tightening effect of the tightening head 311 on the outer spring, the tightening head 311 may be configured in a cross shape, a Y shape or other similar structures, so as to increase the contact area between the tightening head 311 and the outer spring.

As shown in fig. 8, the tightening driving assembly includes a driving gear 312 rotatably disposed on a side of the sleeper spring placing plate 310 facing away from the tightening head 311, a telescopic rack 313 engaged with the driving gear 312, and a fourth driving member connected to the telescopic rack 313.

Specifically, the driving gear 312 may be a spur gear, and the connecting rod vertically penetrates through the sleeper spring placing plate 310 and penetrates through the mounting hole of the driving gear 312; the connecting rod is provided with a polish rod part, and the polish rod part is in transmission connection with the driving gear 312 in a key connection mode, so that when the driving gear 312 rotates, the driving gear 312 drives the whole propping piece to synchronously rotate through the connecting rod.

The telescopic rack 313 is slidably disposed along a length direction thereof on a side of the pillow spring placement plate 310 facing away from the tightening head 311, and is engaged with the driving gear 312. The fourth driving member may be a telescopic cylinder 314, where the telescopic cylinder 314 is fixed on the side of the sleeper spring placing plate 310 away from the tightening head 311 through a cylinder bracket 3141, and the end of a piston rod of the telescopic cylinder is fixedly connected with one end of a telescopic rack 313.

In practical application, the telescopic cylinder 314 drives the telescopic racks 313 to move in a telescopic manner, so as to drive the driving gear 312 to rotate; the driving gear 312 drives the whole propping head 311 to synchronously rotate through the connecting rod; because of the threaded connection between the connecting rod and the pillow spring placement plate 310, the jack will rise or fall along the connecting rod axis as the jack rotates. When the sleeper spring needs to be fixed, the jacking piece rises and props against the outer spring, and the clamping and fixing of the sleeper spring are realized by matching with the inner spring fixing device.

In one embodiment, to further enhance stability of placement of the tie springs, a tie spring stop is also provided on the side of tie spring placement plate 310 facing away from the jack drive assembly. Specifically, the pillow spring limiting member may be a pillow spring limiting member 315, where the pillow spring limiting member 315 may be disposed on two opposite sides of the pillow spring placing plate 310, and the two pillow spring limiting members 315 are preferably symmetrically disposed, and adjacent sides thereof are both disposed in an inclined plane structure or an arc surface structure. Thus, two tie-spring stoppers 315 enclose a slot for receiving a tie spring on tie-spring receiving plate 310, thereby preventing the tie spring from rolling off of tie-spring receiving plate 310.

In another embodiment, the above-mentioned sleeper spring placing plate 310 is hinged to a side of the support base plate 33 away from the slide cover plate 32, so that the entire sleeper spring placing plate 310 can be turned upside down on the support base plate 33, and the sleeper springs can be conveniently adjusted to be in a vertical state for assembly.

Referring to fig. 7, in order to drive the pillow plate 310 to turn over, a turn-over driving assembly is further provided on the support base 33. The flip driving assembly includes a driving slider 316 slidably disposed on the supporting base 33, a driving link 317 for connecting the driving slider 316 with the pillow placement plate 310, and a fifth driving member connected with the driving slider 316.

Specifically, the driving slider 316 may be slidably connected to the supporting base 33 through the supporting rail 331, so that the driving slider 316 may move along the extending direction of the supporting base 33. Two ends of the driving connecting rod 317 are respectively hinged with the driving sliding block 316 and the sleeper spring placing plate 310; also, to ensure stability, the driving links 317 may be provided in parallel at intervals along the width direction of the pillow spring placing plate 310. The fifth driving member may be a roll-over driving cylinder 318, and the roll-over driving cylinder 318 may be a biaxial cylinder; an inversion driving cylinder 318 may be fixed to the support base 33 on a side of the driving slider 316 facing away from the pillow placement plate 310, and connected to the driving slider 316.

In practical application, the overturning driving cylinder 318 pushes the driving slider 316 to move along the supporting rail 331, and the driving slider 316 drives the pillow spring placing plate 310 to overturn through the connecting rod, so as to adjust the posture of the pillow spring.

Since the driving slider 316 and the driving link 317 are positioned at the dead point in the initial state, the turning driving cylinder 318 is accelerated to give the impact force to the reed placing plate 310 when the reed placing plate 310 is turned.

In another embodiment, to facilitate the initial upward turning of the sleeper 310, the side of the driving slider 316 adjacent to the sleeper 310 is provided with a mating slope 3161. Correspondingly, a roller 319 is rotatably arranged on the side of the sleeper spring placing plate 310 away from the hinge point of the sleeper spring placing plate and the supporting base plate 33. In practical application, the driving slider 316 contacts with the roller 319 under the action of the overturning driving cylinder 318; the roller 319 will roll upward along the mating inclined surface 3161 when receiving an impact, thereby naturally lifting the sleeper-placing plate 310, and facilitating the subsequent turning movement of the sleeper-placing plate 310.

Meanwhile, as shown in fig. 9, in order to ensure that the turnover driving cylinder 318 can be sufficiently accelerated initially, a movable slot 3171 is formed in the driving link 317 at one end for hinging the driving slider 316, the movable slot 3171 may be configured as a kidney-shaped slot structure, and the driving link 317 is hinged to the driving slider 316 through the movable slot 3171. A through groove 332 extending along the length direction of the support base plate 33 is also provided on the support base plate 33 at a position corresponding to the driving link 317; the end of the drive link 317 for articulating one end of the drive slide 316 may pass through the slot 332.

In practical application, since the driving link 317 is hinged to the driving slider 316 through the movable slot 3171, and the end of the driving link 317 can pass through the through slot 332, in the initial state, when the driving slider 316 is initially pushed by the overturning driving cylinder 318, the driving link 317 and the driving slider 316 can move relatively, or rotate relatively, i.e. the movable slot 3171 reserves a distance for the initial acceleration of the overturning driving cylinder 318, and the through slot 332 reserves a space for the rotation and movement of the link, so that the driving slider 316 can conveniently drive the driving link 317 to move and pass through the dead point position thereof.

In another embodiment, the assembling robot 3 is further provided with a dimension measuring sensor (not shown in the figure), and the dimension measuring sensor may be disposed on the sliding cover plate 32 or the supporting base plate 33, which may be used to measure the height, length and width dimensions of the bogie side frame cavity, so as to obtain the expected assembling position of the sleeper spring and the wedge.

Referring to fig. 10, in order to improve the transfer efficiency of the sleeper spring between the transfer robot 2 and the assembly robot 3, a transfer platform may be further provided at one side of the bogie positioning system 4, and the transfer platform may be provided between the transfer robot and the assembly robot. In operation, the transfer manipulator 2 clamps and places the sleeper springs to be assembled on the transfer platform from the tray, the transfer platform can place a plurality of sleeper springs and adjust the posture of the sleeper springs, so that the sleeper springs are conveniently clamped by the assembly manipulator 3, and the working efficiency of the assembly manipulator 3 is improved.

Specifically, the transfer platform comprises a bottom support assembly which plays a role in supporting a main body, a sleeper spring adjusting platform 51 is horizontally arranged on the bottom support assembly in a rotating mode, and a sleeper spring transfer table 52 is vertically arranged on one side of the sleeper spring adjusting platform 51 in a rotating mode. In practice, the tie to be assembled is placed on the tie-in turntable 52; the sleeper spring middle rotary table 52 can drive the sleeper springs to be assembled to rotate in a vertical plane, so that the inclination angle of the sleeper springs is adjusted; the sleeper spring picking platform can drive the sleeper springs to rotate in a horizontal plane through the sleeper spring middle rotary table 52, so that the sleeper springs can be transferred between the transfer manipulator 2 and the assembly manipulator 3.

The bottom supporting assembly comprises a transfer platform bracket 53 and a lifting platform 54 arranged on the transfer platform bracket 53, wherein the transfer platform bracket 53 plays a role in integral supporting, and the lifting platform 54 is used for installing the sleeper adjustment platform 51.

In this embodiment, the structure of the transfer platform support 53 can be flexibly set according to needs, but because the weight of the sleeper spring on the transfer platform is relatively large, the bottom of the transfer platform support 53 in this embodiment is preferably provided with a plurality of oblique support columns to ensure the overall stability of the transfer platform. Of course, those skilled in the art may arrange them into other support structures as desired, which are not particularly limited.

The lifting platform 54 is arranged above the transfer platform bracket 53; in order to realize the lifting movement of the lifting platform 54, two lifting guide rods 55 which are arranged at intervals in parallel are vertically arranged on the transfer platform support 53, and the lifting guide rods 55 are fixed on the transfer platform support 53, and the upper ends of the lifting guide rods are fixedly connected with the bottom of the lifting platform 54. Meanwhile, a platform driving piece 56 is further arranged on the transfer platform support 53, and the platform driving piece 56 is connected with the lifting platform 54 and used for driving the lifting platform 54 to move. Specifically, the stage driving member 56 may be a cylinder or an oil cylinder, which is not particularly limited.

Referring to fig. 10-11, the pillow adjustment platform 51 may be integrally and horizontally mounted above the lifting platform 54, and may be rotatably connected to the lifting platform 54 by a swivel bearing 57, so that the whole pillow adjustment platform 51 may be horizontally rotated on the lifting platform 54.

In one of the embodiments, one side of the pillow adjustment platform 51 in the horizontal direction may be provided in a U-shaped opening structure. The pillow spring middle rotary table 52 is integrally embedded in the inner side of the U-shaped opening structure and is in rotary connection with the pillow spring middle rotary table 52 through a rotary shaft, so that the pillow spring middle rotary table 52 can rotate around the rotary shaft in the inner side of the U-shaped opening structure, and further the pillow springs placed on the pillow spring middle rotary table can be driven to rotate in a vertical plane, and the inclination angle of the pillow springs is adjusted.

In another embodiment, two or more U-shaped opening structures may be provided on the pillow adjustment platform 51, and each of the U-shaped opening structures may be provided at regular intervals along the rotation circumferential direction of the pillow adjustment platform 51. Taking two as an example, two U-shaped opening structures are respectively located at opposite sides of the pillow adjustment platform 51. Correspondingly, two pillow middle turntables 52 can be correspondingly arranged, and the two pillow middle turntables 52 are respectively positioned on the inner sides of the two U-shaped opening structures and are in rotary connection with the pillow adjusting platform 51. By adopting the technical scheme, two or more sleeper spring middle rotary tables 52 can be simultaneously provided on the sleeper spring adjusting platform 51, so that the middle rotary platform can simultaneously process a plurality of sleeper springs to be assembled, and the sleeper spring assembling efficiency is improved.

It should be noted that the rotation of the pillow adjustment platform 51 on the lifting platform 54 and the rotation of the pillow middle turntable 52 on the pillow adjustment platform 51 may be performed by manual driving, or may be designed into a motor driving structure if necessary, which may be selected according to actual requirements, and is not particularly limited. When the motor-driven structural form is adopted, the scheme for driving the object to rotate by the motor can find various corresponding schemes in the prior art, so that the description is omitted.

Referring to fig. 11, the whole of the pillow middle rotary table 52 can be provided with a U-shaped structure, which is convenient for connecting the pillow and adjusting

The entire platform 51 and the sleeper springs to be assembled are taken and placed. Considering that the gap alignment is required during the assembly of the sleeper spring, the sleeper spring rotary table 58 is rotatably arranged on the sleeper spring rotary table 52, and the sleeper spring rotary table 58 can be provided with an anti-slip pad for placing

A sleeper spring to be assembled. Meanwhile, a turntable driving member 59 for driving the pillow turntable 58 to rotate is arranged at the bottom of the pillow middle turntable 52, and the turntable driving member 59 can be a motor which can be connected with the pillow turntable 58 through a speed reducer so as to drive the pillow turntable 58 to rotate.

In practical application, the turntable driving piece 59 drives the sleeper spring arranged on the turntable driving piece to rotate through the sleeper spring turntable 58, and 0 is used for adjusting the orientation of a notch on the sleeper spring, so that the sleeper spring is convenient to assemble; wherein, the anti-slip pad can play a role of preventing the sleeper spring from sliding,

And the pillow turntable 58 is convenient to drive the pillow to synchronously move through friction force. Specifically, the anti-slip pad may be a rubber pad or other materials with anti-slip function, which is not particularly limited.

Considering that, as the tie springs rotate with the tie-spring turntable 52 in a vertical plane, the tie springs tilt may cause a fall,

the pillow positioning device is also provided on the pillow middle turntable 52. When the tie is in an inclined state, the tie positioning device 5 can restrict the tie, preventing the tie from falling off the tie middle turn table 52.

In this embodiment, the pillow positioning device includes two clamping blocks 510 respectively disposed on opposite sides of the pillow middle turntable 52, and the two clamping blocks 510 are respectively connected with a positioning driving member 511. The positioning driving member 511 can drive the corresponding clamping blocks 510 to move, and the clamping blocks 510 on both sides are synchronously close to each other and are abutted against the pillow springs, so that the pillow can be aligned

The springs are held stationary to prevent them from falling off the pillow spring turntable 52. Specifically, the positioning driving members 511 may be cylinders or oil cylinders, the two positioning driving members 511 are respectively and fixedly arranged at two opposite sides of the turntable 52 in the sleeper spring,

and the two clamping blocks 510 are fixedly connected with the piston rods of the corresponding cylinders or cylinders respectively.

In another embodiment, to further enhance the fixing effect of the pillow positioning device on the pillow, the side of the clamping block 510 facing away from the corresponding positioning driving member 511 is provided with a V-shaped or U-shaped clamping opening, which is helpful for increasing the size

The contact area between the clamping block 510 and the sleeper spring can realize multi-point pressing on the sleeper spring so as to ensure the firmness of fixation. 5 by means of the above-mentioned turntable driving member 59 and the pillow turntable 58, the pillow to be assembled can be driven to rotate so as to make pillow opposite to the pillow

The spring realizes the adjustment of the notch orientation; in practice, the notch is preferably oriented outwardly of the transfer platform, i.e., on the side of the sleeper spring facing away from the lift platform 54. And when judging whether the notch orientation is accurate, the notch orientation can be judged by adopting an artificial naked eye, and also can be positioned and detected by adopting a sensor.

In one embodiment, as shown in the figure, the lifting platform 54 is further provided with a pillow gap detecting device for detecting a gap on the pillow to be assembled, and adjusting the orientation of the gap in cooperation with the turntable driving member 59 and the pillow turntable 58.

The pillow spring gap detection device comprises a detection bracket for connecting the lifting platform 54, wherein a gap detection sensor 512 is arranged on the detection bracket, and the gap detection sensor 512 is electrically connected with the turntable driving member 59 through a matched control system. The notch detection sensor 512 is provided toward the tie spring middle turn table 52 on one side thereof; when the tie spring is put on the tie spring turntable 58, the notch detection sensor 512 can detect the notch thereof; when the position of the notch is determined, the turntable driving member 59 is started to drive the sleeper spring turntable 58 to rotate until the notch on the sleeper spring faces the outer side of the transfer platform, and the turntable driving member 59 stops working.

In another embodiment, the detecting bracket may be configured to be liftable and horizontally adjustable. Specifically, the detection support comprises a connecting frame 513 fixedly connected with the lifting platform 54, a vertical support 514 is vertically and fixedly arranged on the connecting frame 513, a sliding block 515 is arranged on one side of the vertical support 514 in a sliding manner in a sliding way through a sliding groove and sliding rail in a matching manner, and a transverse support 516 is horizontally arranged on one side, away from the vertical support 514, of the sliding block 515; the transverse bracket 516 and the sliding block 515 can also be slidably connected in a sliding way through a sliding groove and sliding rail, so that the transverse bracket 516 can horizontally move on the sliding block 515.

Meanwhile, a lifting driving component for driving the sliding block 515 and the transverse bracket 516 to move up and down is arranged on the vertical bracket 514, and a horizontal driving component for driving the transverse bracket 516 to move horizontally is arranged on the transverse bracket 516. Specifically, the lifting driving assembly and the horizontal driving assembly can adopt a combined structure of a motor and a screw rod; because the proposal of adopting the motor and the screw rod to drive the object to slide linearly belongs to the prior art in the field, the description is not repeated.

At this time, the notch detection sensor 512 is disposed on a side of the lateral bracket 516 (actually, a side close to the transfer robot 2) close to one of the tie-spring transfer tables 52. The vertical bracket 514 is matched with the transverse bracket 516, and can drive the notch detection sensor 512 to realize vertical and horizontal movement so as to adjust the position of the notch detection sensor 512 and conveniently detect the notch on the sleeper to be assembled.

Referring to fig. 12, the bogie positioning system 4 includes a jacking device 41, a lifting jig 42, and a positioning driving device (not shown) disposed above the lifting jig 42; in operation, the positioning driving device can hoist the bogie through the hoisting clamp 42 and drive the bogie to rotate through the hoisting clamp 42 so as to adjust the gesture of the bogie, thereby facilitating the assembly operation of the assembly manipulator 3.

Specifically, two jacking devices 41 may be provided, and the two jacking devices 41 are respectively disposed under two side frames of the bogie, so as to jack the bogie together. The jacking device 41 may adopt an oil cylinder or a structure form of the oil cylinder matched with a jacking block, or other devices with jacking function, which is not particularly limited, and only needs to ensure the stability of the bogie.

The lifting jig 42 is integrally located directly above the bolster on the bogie, and any lifting jig 42 in the prior art may be used, which is not particularly limited. In actual operation, the lifting clamp 42 clamps the swing bolster on the bogie through the clamping jaws, and can lift the bogie integrally through the swing bolster.

In this embodiment, the positioning driving device is used to drive the lifting fixture 42 to rise, fall and rotate, and any device (such as a crane) with a lifting function in the prior art can be used, and the positioning driving device is connected with the lifting lug on the lifting fixture 42 through a wire rope, so as to lift the lifting fixture 42.

In one embodiment, the RFID reader 6 is disposed on one side of the conveyor 1 and one side of the bogie positioning system 4; correspondingly, the tray for placing the sleeper spring and the wedge on the conveyor belt 1 and the side frame of the bogie are all stuck with RFID marks. In actual operation, when the transfer manipulator 2 clamps the wedge and the assembly manipulator 3 assembles the wedge on the bogie, the RFID reader 6 can scan the corresponding RFID mark, so that the original position of the two wedges on the bogie side frame can be conveniently assembled, and the assembled performance of the bogie damping device is ensured.

In another embodiment, the assembly robot 3 and the transfer robot 2 are provided with leveling sensors (not shown in the figure), and the leveling sensors and the positioning driving device may be electrically connected in a wired or wireless manner. In the work, the bogie lifting clamp 42 can be controlled to rotate through the leveling sensors on the assembling manipulator 3 and the transferring manipulator 2, and the bogie position is corrected until the side frame of the bogie is opposite to the assembling manipulator 3 and the transferring manipulator 2, so that the assembling operation is convenient.

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

While the utility model has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present utility model is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims (10)

1. A bogie vibration damping device assembly system, comprising:

the conveyor belt is used for conveying the wedge and the sleeper spring to be assembled;

the transfer robot is arranged at one side of the conveyor belt and used for clamping the wedge and the sleeper spring to be assembled from the conveyor belt;

the assembly robot and the transfer robot are arranged on the same side of the conveyor belt and are used for receiving the wedge and the sleeper spring clamped by the transfer robot; and

and the bogie positioning system is arranged on the other side of the conveyor belt and used for fixing the bogie and adjusting the gesture of the bogie so as to assemble the wedge and the sleeper spring by matching with the assembling robot.

2. The bogie vibration damping device assembly system according to claim 1, wherein the relay robot is provided thereon with a relay manipulator, the relay manipulator comprising:

The base is used for connecting the transfer robot;

the wedge clamping mechanism is arranged on one side of the base and used for clamping the wedge;

the sleeper spring clamping mechanism is arranged on the end face of the base and used for clamping the sleeper spring; and

the visual positioning mechanism is arranged on the base and used for positioning the wedge and the sleeper spring.

3. The bogie vibration reduction device assembly system according to claim 2, wherein the cam clamping mechanism comprises:

the mounting plate is fixedly connected with the base;

the two wedge clamping fingers are respectively arranged on two opposite sides of the mounting plate; and

and the wedge clamping driving piece is connected with the two wedge clamping fingers and is used for driving the two wedge clamping fingers to clamp the wedge.

4. A bogie vibration damping device assembly system according to claim 2 or 3, wherein the tie spring clamping mechanism comprises:

the inner springs clamp fingers, at least three inner springs are arranged at intervals in the circumferential direction of the end face of the base, and are arranged in a sliding manner along the radial direction of the end face of the base;

the outer springs clamp fingers, at least three outer springs are arranged at intervals in the circumferential direction of the end face of the base, and the outer springs slide along the radial direction of the end face of the base;

The clamping driving assembly is arranged on the end face of the base, is in transmission connection with each inner spring clamping finger and each outer spring clamping finger, and is used for driving each inner spring clamping finger and each outer spring clamping finger to move;

wherein each outer spring gripping finger is located outside each inner spring gripping finger.

5. The bogie vibration damping device assembly system according to claim 1, wherein the assembly robot is provided thereon with an assembly robot including:

the connecting disc is used for connecting the assembling robot;

the support plate group is arranged on one side of the connecting disc, which is away from the assembling robot, and is used for receiving the wedge and the sleeper spring;

the inner spring fixing device is arranged on the supporting plate group and used for fixing the inner springs on the sleeper springs;

the outer spring fixing device is arranged on the supporting plate group and used for fixing the outer springs on the sleeper springs; and

wherein, the opposite sides of the supporting plate group respectively form an inclined wedge connection side and a sleeper spring connection side; the inner spring fixing device and the outer spring fixing device are arranged on the pillow spring receiving side; when the supporting plate is assembled with the sleeper spring, the inner spring fixing device and the outer spring fixing device clamp the sleeper spring up and down together.

6. The system of claim 5, wherein the assembly robot further comprises a size sensor for measuring the size of the truck side frame cavity.

7. The bogie vibration damping device assembly system according to claim 1, further comprising a transfer platform disposed on a side of the bogie positioning system, the transfer platform being located between the transfer robot and the assembly robot; the transfer platform comprises a bottom support assembly and a sleeper spring adjusting assembly arranged on the bottom support assembly; the pillow spring adjusting assembly includes:

the sleeper spring adjusting platform is horizontally and rotatably arranged on the bottom supporting component; and

the sleeper spring middle rotary table is vertically and rotatably arranged on one side of the sleeper spring adjusting platform and used for placing sleeper springs to be assembled;

wherein, a sleeper spring positioning device is arranged on the sleeper spring middle rotary table; the tie spring positioning means restricts the tie spring from falling off the tie spring turntable when the tie spring to be assembled rotates with the tie spring turntable in an inclined state.

8. A bogie vibration damping device assembly system according to claim 1 wherein the conveyor belt side and the bogie positioning system side are each provided with RFID readers for scanning RFID tags on the pallet and bogie side frames, respectively.

9. A bogie vibration damping device assembly system according to claim 1, wherein the bogie positioning system comprises:

the two jacking devices are respectively arranged right below the two side frames of the bogie and are used for jacking the bogie; and

the hoisting clamp is arranged right above the swing bolster on the bogie and is used for hoisting the bogie; and

the positioning driving device is arranged above the hoisting clamp and is in transmission connection with the hoisting clamp and used for driving the hoisting clamp to rotate so as to adjust the gesture of the bogie.

10. The bogie vibration damping device assembling system according to claim 9, wherein the assembling robot is provided with an assembling manipulator, the transfer robot is provided with a transfer manipulator, and the assembling manipulator and the transfer manipulator are provided with leveling sensors, and the leveling sensors are electrically connected with the positioning driving device.

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