WO2022247229A1

WO2022247229A1 - Fully automated laser cleaning system for railway vehicle wheelset and cleaning method

Info

Publication number: WO2022247229A1
Application number: PCT/CN2021/137501
Authority: WO
Inventors: 马明明; 叶晨; 邓望红; 李林; 孙伟峰; 王杰; 肖黎亚; 杨帆
Original assignee: 株洲国创轨道科技有限公司
Priority date: 2021-05-28
Filing date: 2021-12-13
Publication date: 2022-12-01
Also published as: CN113510118A; CN113510118B

Abstract

A fully automated laser cleaning system for a railway vehicle wheelset and a cleaning method. The system comprises a laser cleaning protective room (9), a wheelset turning unit (7), a wheelset transport unit (1), and a laser cleaning unit (2); the wheelset transport unit (1) comprises a movement unit (5) and a holding and driving unit (6); the movement unit (5) is used for executing movement between a cleaning station and a wheelset flow line; the holding and driving unit (6) is mounted on the movement unit (5) and is used to hold a wheel axle (10c) of a wheelset (10), and drive the wheelset (10) to roll; the wheelset turning unit (7) is installed at the cleaning station within the laser cleaning protective room (9) and used for elevating a wheelset (10) at the cleaning station and driving said wheelset (10) to turn; and the laser cleaning unit (2) is installed within the laser cleaning protective room (9) and is used for performing fully automated laser cleaning on the wheelset (10) at the cleaning station.

Description

Fully automatic laser cleaning system and cleaning method for rail vehicle wheelset

Cross References to Related Applications

This application is based on the Chinese patent application with the application date of "2021-05-28", the application number of "202110593380.4", and the invention titled "Full-automatic laser cleaning system and cleaning method for rail vehicle wheel sets", and claims its priority Right, the full text of this Chinese patent application is hereby quoted in this application as a part of this application.

【Technical field】

The invention mainly relates to the technical field of laser cleaning, in particular to a fully automatic laser cleaning system and cleaning method for rail vehicle wheelsets.

【Background technique】

Wheel set is the most important accessory of rail transit vehicles. Since the wheels and axles are made of carbon steel without added alloying elements, which tends to be the cause of cracks and brittle fractures, the wheelset must be overhauled after a period of operation.

Before overhauling, the coating on the axle and spokes needs to be completely stripped off. The traditional method is cleaning by mechanical friction, chemical reagents, etc. Although these methods can peel off the coating, the efficiency is very low, the environment is polluted, and the labor intensity of the operators is very high. It may also cause damage to the surface of the wheel set, so that affect the next step of flaw detection.

Laser cleaning has the advantages of good cleaning effect, low overall cost, no consumables, no maintenance, and no pollution. Engineering applications have begun to be realized in tire mold cleaning, large ship hull cleaning, and aircraft surface cleaning, and are currently considered to be the most reliable and effective cleaning methods. Laser cleaning is equipped with an automatic system, which can realize fully automated laser cleaning operations. Automated laser cleaning saves manpower, further improves cleaning efficiency, and has a far-reaching impact on improving the stability of cleaning quality and optimizing the wheel set maintenance process.

Patent application CN111570408A discloses a laser cleaning system for train wheels, which lifts the wheels through two mutually aligned positioning support mechanisms, and is provided with a wheel set for driving the wheels to rotate on the lifting mechanism beside the positioning support mechanisms. The mechanism, through the lateral abutment of the roller on the rotating mechanism on the wheel pair, thereby realizing the rotation of the wheel pair. In the actual wheel set maintenance production line, there are various types of wheel sets and some wheelsets are equipped with gearboxes. The lifting mechanism in the positioning support system in this patent application lifts the wheel set through the worm gear lifter directly below the shaft end of the wheel set. This lifting mechanism limits the height of the wheel set wheel shaft from the ground due to its high height and short lifting stroke. , thereby limiting the type of wheel set that can be laser cleaned; in order to solve the problem of wheel set slippage in the patent application CN107030040A, this patent application uses the way that the rollers abut against the wheel set laterally to avoid slipping and drive the wheel set to rotate. The roller driving assembly will be subjected to corresponding reaction force, not only the roller assembly is easily damaged, but also the wheel pair is movable and positioned on its lifting mechanism, the application of lateral force will cause the center of rotation of the roller to jump, and it is difficult to improve the slipping phenomenon; and the patent application CN111570408A And in CN107030040A, all have only wheel to positioning mechanism, need wheel to be positioned on the cleaning station manually, can only realize the laser cleaning operation of semi-automation.

In order to meet the requirements of laser cleaning for various types of wheelsets and realize fully automatic laser cleaning operations, it is necessary to provide a laser cleaning device (system) for rail vehicle wheelsets to solve the above problems. Have not yet found description or report similar to the present invention, and have not yet collected similar data at home and abroad.

【Content of invention】

The technical problem to be solved by the present invention is that, aiming at the problems existing in the prior art, the present invention provides a rail vehicle wheel set automatic laser cleaning system and cleaning method with simple structure, high degree of automation and high cleaning efficiency.

In order to solve the problems of the technologies described above, the technical solution proposed by the present invention is:

A fully automatic laser cleaning system for rail vehicle wheels, comprising a laser cleaning protection room, a wheel set rotation unit, a wheel set transfer unit and a laser cleaning unit;

The wheel set transfer unit includes a mobile unit and a holding drive unit;

The mobile unit is used to move between the cleaning station and the wheel set assembly line;

The holding drive unit is installed on the moving unit, and is used to hold the wheel axle of the wheel set and drive the wheel set to roll;

The wheel set rotation unit is installed at the cleaning station in the laser cleaning protection room, and is used to lift the wheel set at the cleaning station and drive the wheel set to rotate;

The laser cleaning unit is installed in the laser cleaning protection room, and is used for fully automatic laser cleaning of the wheel set at the cleaning station.

As a further improvement of the above technical solution:

The wheel set rotation unit includes a lifting mechanism, a supporting roller assembly, a friction roller assembly, a base and a mounting plate; the lifting mechanism is installed on the base; the supporting roller assembly is installed below the mounting plate, and the friction roller The components are installed above the installation board, and the installation board is slidably installed on the base through a sliding mechanism.

The sliding mechanism includes a second linear guide rail, a second slide block, a rack and pinion mechanism and a second servo motor; the second linear guide rail is installed on the base, the mounting plate is fixed on the second slide block, and the second servo motor Installed on one side of the mounting plate, the rack and pinion mechanism is installed on the base and parallel to the second linear guide rail, and the second servo motor drives the mounting plate on the second slider to move through the rack and pinion mechanism.

The lifting mechanism includes a hydraulic cylinder, a frame, a first slider, two guide rods and a positioning block; the hydraulic cylinder is installed vertically at the bottom of the frame in a shoulder-mounted form; the two guide rods are installed vertically and parallelly On the frame, the guide rod of the hydraulic cylinder is movably connected to the first slider, and the guide rod is sleeved inside the sliding bearing of the first slider; the positioning block is installed on the front of the first slider and is V-shaped, for Locates and supports the ends of the wheelsets.

The support roller assembly includes a support roller and a support roller frame; the support roller assembly is symmetrically installed at the bottom of the mounting plate for supporting the upper structure of the mounting plate and the weight of the wheelset; the support roller assembly is slightly higher than the base; the friction roller assembly includes a second The driving motor, the friction wheel and the friction roller frame, and the friction roller assembly are symmetrically installed on both sides of the mounting plate, and the friction wheel and the support roller are located on the same axis.

Two friction roller assemblies are installed on each side of the installation plate, and a stable triangular support structure is formed between the two friction wheels and the wheel pair in the two friction roller assemblies on the same side.

The clasp driving unit includes a first cylinder, a small roller assembly, a first connecting plate, a large roller assembly and a bottom plate;

Both the small roller assembly and the large roller assembly are mounted on the bottom plate, the first cylinder is located on the moving unit, and both sides of the bottom plate are mounted on the first cylinder through a first connecting plate;

The large roller assembly includes a large roller, a roller frame and a first servo motor; the large roller is mounted on the roller frame and driven to rotate by the first servo motor;

First linear guide rails are installed on the left and right sides of the lower bottom surface of the bottom plate, and a slider is arranged on the first linear guide rail, and a second connecting plate is installed on the slider, and two sets of small roller assemblies are installed on the second connecting plate surface; the tailstock of the third cylinder and the top of the guide rod are respectively installed on the lower surface of the second connecting plate on both sides.

The small roller assembly includes a support frame, a third slider, a small roller and a second cylinder; the small roller is mounted on the third slider, the third slider slides on the support frame, and the second cylinder is installed on the on the support frame and is movably connected with the third slide block.

The laser cleaning unit includes a laser cleaning truss robot unit, a six-axis robot and a laser head; a group of linear guide rails and a mounting plate parallel to each other are installed on the laser cleaning truss robot unit, and the six-axis robot is installed on the mounting plate. The mounting plate slides on the linear guide rail, and the laser head is installed at the end of the six-axis robot.

The present invention also discloses a full-automatic laser cleaning method based on the above-mentioned full-automatic laser cleaning system for rail vehicle wheels, comprising steps:

S1. The moving unit moves the holding drive unit from the cleaning station to the bottom of the wheel set on the wheel set assembly line;

S2. The embracing driving unit is lifted upwards, embracing the axle of the wheel set, and driving the wheel set to roll to the cleaning station;

S3. The wheel pair rotating unit lifts the wheel pair at the cleaning station to support the wheel pair, and then drives the wheel pair to rotate;

S4. The laser cleaning unit performs automatic laser cleaning on the rotating wheel pair located at the cleaning station.

Compared with the prior art, the present invention has the advantages of:

(1) The present invention moves the clamping drive unit to the bottom of the wheel pair to be cleaned through the moving unit, and then realizes the clamping of the wheel shaft through the clamping drive unit, and then drives the wheel pair to roll to the cleaning station, and then passes the wheel The rotation unit rotates the wheel set, and then realizes the automatic laser cleaning of the wheel set through the laser cleaning unit; the above-mentioned overall structure is simple, realizes the automatic loading and unloading of the wheel set, and improves the automation and operation of the laser cleaning efficiency.

(2) The present invention identifies the specifications and models of the wheelsets by providing a visual detection unit on the RGV trolley, and the subsequent rotation operation can be adjusted according to the specifications of the wheelsets; Laser cleaning of different types of wheel sets reduces cost and improves operating efficiency.

(3) In the process of wheel pair transfer, the present invention does not use the power of the RGV trolley, but drives the large roller to rotate through the first servo motor, so that the wheel pair rolls and pulls the RGV trolley to move, avoiding the wheel pair on the track. Sliding friction on the tread to prevent wear on the tread and avoid the impact on subsequent flaw detection and other processes.

(4) The positions of the supporting roller assembly and the friction roller assembly of the present invention can be properly adjusted according to the rules of the wheel set to ensure the stability and reliability of the support and rotation of the subsequent wheel set; wherein the friction roller and the support roller are basically on the same axis , to further ensure the stability of the support and subsequent rotation; the angle between the two friction rollers and the center line of the wheel set is 60 degrees, forming a stable triangular support structure, which effectively ensures the stability and centering of the wheel set during rotation.

【Description of drawings】

Fig. 1 is the schematic diagram of the position of the system of the present invention on the wheel pair assembly line;

Fig. 2 is a schematic diagram of the overall structure of the system of the present invention in a specific embodiment;

Fig. 3 is a schematic diagram of the cooperative relationship between the wheel set rotation unit, the wheel set transfer unit, and the laser cleaning truss robotic device of the present invention;

Fig. 4 is a schematic structural view of one side of the wheel set rotation unit of the present invention;

Fig. 5 is a schematic structural view of the other side of the wheel set rotating unit of the present invention;

Fig. 6 is a schematic structural view of one side of the wheel set transfer unit of the present invention;

Fig. 7 is a schematic diagram of the cooperative relationship between the mobile unit and the holding drive unit in the wheel set transfer unit of the present invention;

Fig. 8 is a structural schematic diagram of the laser cleaning truss robot unit of the present invention.

Legend: 1. Wheelset transfer unit; 2. Laser cleaning unit; 5. Mobile unit; 5a. First drive motor; 5b. Clutch; 5c. Frame; , the first cylinder; 6b, the small roller assembly; 6b1, the support frame; 6b2, the third slider; 6b3, the small roller; 6b4, the second cylinder; 6c, the first connecting plate; 6d, the first linear guide rail; 6e, Large roller assembly; 6e1, large roller; 6e2, roller frame; 6e3, first servo motor; 6f, third cylinder; 6g, bottom plate; 6h, second connecting plate; 7, wheel set rotation unit; 7a, lifting mechanism; 7a1, hydraulic cylinder; 7a2, frame; 7a3, first slider; 7a4, guide rod; 7a5, positioning block; 7b, support roller assembly; 7b1, support roller; 7b2, support roller frame; 7c, friction roller assembly; 7c1, second drive motor; 7c2, friction wheel; 7c3, friction roller frame; 7d, base; 7e, second linear guide rail; 7f, roller mounting plate; 7g, second slider; 7h, rack and pinion mechanism; 7i , second servo motor; 8, laser cleaning truss robot unit; 8a, truss; 8a1, beam; 8a2, column; 8b, robot mounting plate; 8c, linear guide rail; 9, laser cleaning protection room; Access door; 9c, warning light; 10, wheel set; 10a, end; 10b, wheel; 10c, wheel axle; 11, ground; 12, wheel set track; 13, light track; 14, six-axis robot; 15, laser head.

【Detailed ways】

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 to 3, the rail vehicle wheel pair automatic laser cleaning system of the present embodiment includes a laser cleaning protection room 9, a wheel pair rotation unit 7, a wheel pair transfer unit 1 and a laser cleaning unit 2; Unit 7 is installed at the cleaning station of the laser cleaning protection room 9, and is used to lift the wheel pair 10 at the cleaning station and drive the wheel pair 10 to rotate; the wheel pair transfer unit 1 includes a mobile unit 5 (the mobile unit in this embodiment 5 is the RGV trolley) and the tight driving unit 6; the tight driving unit 6 is installed on the RGV trolley, and is used to hug the wheel shaft 10c of the wheel pair 10 and drive the wheel pair 10 to roll; the mobile unit 5 is used to hold the wheel The tight drive unit 6 moves from the cleaning station to any position on the wheel pair assembly line (the wheel pair assembly line is composed of a plurality of wheel pairs 10); the laser cleaning unit 2 is used for fully automatic laser cleaning of the wheel pairs 10 located at the cleaning station. cleaning. Specifically, the wheel pair rotation unit 7 is installed symmetrically on both sides of the wheel pair track 12 of the wheel pair assembly line, and its main function is to lift the wheel shaft end 10a of the wheel pair 10 and drive the wheel pair 10 to rotate; two light rails 13 are laid in parallel In the middle of the wheel pair track 12, the RGV trolley walks on the lightweight track 13.

In the rail vehicle wheel set automatic laser cleaning system of the present invention, the holding drive unit 6 is moved to the bottom of the wheel set 10 to be cleaned through the moving unit 5, and then the wheel shaft 10c is held tightly through the holding drive unit 6, and then Drive the wheel pair 10 to roll to the cleaning station, then rotate the wheel pair 10 through the wheel pair rotating unit 7, and then realize the automatic laser cleaning of the wheel pair 10 through the laser cleaning unit 2; The automatic loading and unloading of 10 improves the automation and operating efficiency of laser cleaning.

In a specific embodiment, as shown in FIG. 6 to FIG. 7 , the wheel set transfer unit 1 mainly includes an RGV trolley, a holding drive unit 6 and two light rails 13 parallel to each other. The light rail 13 is laid in parallel in the middle of the wheel pair assembly line, and the RGV trolley is placed on the light rail 13 and shuttles freely along the arrangement direction of the wheel pair assembly line. Wherein the RGV trolley comprises a first drive motor 5a, a clutch 5b, a vehicle frame 5c and a rail wheel 5d; wherein the driving components such as the first drive motor 5a, a clutch 5b, a rail wheel 5d and a gear set are all installed at the bottom of the frame 5c; the clutch 5b It is installed between the first drive motor 5a and the gear set to disconnect the power connection; among them, a visual identification unit is installed on the RGV trolley, which can identify different types of wheel sets 10, so that it is convenient for the follow-up to hold the drive unit 6 pairs Effective clamping of the wheel set 10;

The clamping drive unit 6 includes a first cylinder 6a, a small roller assembly 6b, a first connecting plate 6c, a first linear guide rail 6d, a large roller assembly 6e, a third cylinder 6f and a bottom plate 6g; wherein the first cylinder 6a is fixed on the vehicle frame 5c, the holding drive unit 6 is installed on the RGV trolley as a whole through the first connecting plate 6c; through the lifting of the first cylinder 6a, the holding drive unit 6 is brought into contact with the axle 10c;

The two groups of large roller assemblies 6e respectively include large rollers 6e1, roller frames 6e2 and first servo motors 6e3; the bottom plate 6g has a hole at the installation place of the large roller assemblies 6e, and the large roller assemblies 6e are installed on the bottom surface of the bottom plate 6g to be slightly higher than the bottom plate 6g top surface; the large roller 6e1 is installed on the roller frame 6e2, and the first servo motor 6e3 drives the large roller 6e1 to rotate; during the process of transferring the wheel pair 10, the clutch 5b of the RGV trolley disconnects its own driving force, and the first servo The motor 6e3 drives the large roller 6e1 to rotate, so that the wheel pair 10 rolls and pulls the RGV trolley to move, avoiding the sliding friction of the wheel pair 10 on the wheel pair track 12, preventing wear on the tread surface, and avoiding the impact on subsequent flaw detection and other processes;

A set of parallel first linear guide rails 6d is installed on the left and right sides of the lower bottom surface of the bottom plate 6g, and two sets of small roller assemblies 6b are installed on the sliders of the first linear guide rails 6d on both sides through the roller support frame 6b1 (not shown in the figure). ), a second connecting plate 6h is installed on the slider. The tailstock of the third cylinder 6f and the top of the guide rod are respectively installed on the second connecting plate 6h on both sides, and the movement of the third cylinder 6f drives the second connecting plate 6h to move, thereby driving the small roller assembly 6b on the two sliders carry out cooperation operations;

The small roller assembly 6b includes a support frame 6b1, a third slider 6b2, a small roller 6b3 and a second cylinder 6b4. The small roller 6b3 is installed on the third slider 6b2, and the third slider 6b2 slides on the support frame 6b1. The second air cylinder 6b4 is installed on the support frame 6b1 and is movably connected with the third slider 6b2. The second cylinder 6b4 drives the third slider 6b2 to slide, so that the small roller assembly 6b can be lifted up and down, meeting the requirements of different types of wheelsets 10 .

In addition, a visual detection unit (such as an industrial camera, etc., not shown in the figure) is provided above the RGV trolley to identify the specification and model of the wheel set 10, so as to facilitate subsequent lifting and rotating operations of the wheel set 10.

In a specific embodiment, as shown in Figures 4 to 5, the wheel set rotation unit 7 includes a lifting mechanism 7a, a support roller assembly 7b, a friction roller assembly 7c, a base 7d, a second linear guide rail 7e, a roller mounting plate 7f, Slider 7g, rack and pinion mechanism 7h and second servo motor 7i;

Wherein the lifting mechanism 7a comprises a hydraulic cylinder 7a1, a frame 7a2, a first slide block 7a3, two guide rods 7a4 and a positioning block 7a5; the hydraulic cylinder 7a1 is vertically installed on the bottom of the frame 7a2 in the form of shoulder installation, and the base 7d A circular avoidance hole is opened at the corresponding position to avoid interference during installation of the hydraulic cylinder 7a1; two guide rods 7a4 are installed vertically and parallelly on the frame 7a2, and the guide rod of the hydraulic cylinder 7a1 is movably connected to the first slider 7a3 , the guide rod 7a4 is set inside the sliding bearing of the first slider 7a3 to play the role of guiding and lubrication; the V-shaped positioning block 7a5 is installed in the front of the first slider 7a3, and the V-shaped positioning block 7a5 can be used for positioning and supporting The role of the axle end 10a; the above-mentioned lifting mechanism 7a adopts a hydraulic lifting method, and is installed outside the axle end 10a of the wheel set 10 (that is, outside the base 7d), so as to avoid interference with the wheel set 10 on the wheel set assembly line ;In addition, the hydraulic cylinder 7a1 has a longer stroke and a lower limit position, further avoiding its interference with the wheel set 10;

Two parallel second linear guide rails 7e are installed on the base 7d, the installation plate 7f is fixed on the second slider 7g, a second servo motor 7i is installed on one side of the installation plate 7f, and the rack and pinion mechanism 7h is parallel The second linear guide rail 7e is installed on the base 7d, the second servo motor 7i is connected with the second slider 7g through the rack and pinion mechanism 7h, so that the mounting plate 7f on the second slider 7g can slide back and forth smoothly; When not working, the mounting plate 7f can be shrunk to the outside of the wheel set assembly line to avoid interference with the wheel set; when working, after identifying the specifications and models corresponding to the wheel set 10 through the industrial camera, by controlling the movement of the second servo motor 7i, To move the supporting roller assembly 7b and the friction roller assembly 7c on the mounting plate 7f to a suitable position (that is, directly below the wheel 10b), so as to support and rotate the wheel pair 10;

Wherein the support roller assembly 7b is composed of a support roller 7b1 and a support roller frame 7b2, and the support roller 7b1 is installed on the support roller frame 7b2. Two grooves are provided on the base 7d to avoid interference when the supporting roller assembly 7b moves back and forth. The support roller assembly 7b is symmetrically installed on the bottom of the mounting plate 7f to support the superstructure and the weight of the wheel pair 10 . After installation, the two supporting roller assemblies 7b should be slightly higher than the base 7d to ensure that the supporting roller assemblies 7b are in contact with the ground 11;

Wherein the friction roller assembly 7c is made up of a second driving motor 7c1, a polyurethane friction wheel 7c2 and a friction roller frame 7c3; the friction roller assembly 7c is symmetrically installed on both sides of the mounting plate 7f, and the second driving motor 7c1 drives the friction roller frame 7c3 Polyurethane friction wheel 7c2 rotates. Among them, the polyurethane friction roller 7c2 and the support roller 7b1 are basically located on the same axis to ensure the stability of support and subsequent rotation. Each side of the mounting plate 7f is provided with two polyurethane friction wheels 7c2, and the included angle between the two polyurethane friction wheels 7c2 and the center line of the wheel pair 10 is 60 degrees, forming a stable triangular support structure, effectively ensuring that the wheel pair 10 rotates smoothly and stably. Sexuality and neutrality.

In a specific embodiment, as shown in Figure 8, a group of linear guide rails 8c and a robot mounting plate 8b parallel to each other are installed on the laser cleaning truss robot unit 8, and the six-axis robot 14 is installed on the mounting plate 8b, and the mounting plate 8b Slide on the linear guide rail 8c. The truss 8a of the laser cleaning truss robot unit 8 is welded by two columns 8a2 and a beam 8a1; the six-axis robot 14 is mounted sideways on the truss 8a, and moves laterally through the linear guide rail 8c; the laser head 15 is installed on the six The end of the shaft robot 14 realizes the automatic cleaning of the wheel pair 10.

In a specific embodiment, as shown in Figure 1, fast rolling doors 9a are installed in the front and back of the laser cleaning protection room 9, and inspection doors 9b are arranged on the left and right sides; the top of the laser cleaning protection room 9 is equipped with a three-color warning light 9c, Used to display the operation of the internal system.

S1. The moving unit 5 moves the holding drive unit 6 from the cleaning station to the bottom of the wheel pair 10 on the wheel pair assembly line;

S2. Embrace the driving unit 6 and lift it up, embrace the wheel shaft 10c of the wheel pair 10, and drive the wheel pair 10 to roll to the cleaning station;

S3. The wheel pair rotating unit 7 lifts the wheel pair 10 at the cleaning station, and drives the wheel pair 10 to rotate;

S4. The laser cleaning unit 2 performs automatic laser cleaning on the rotating wheel pair 10 located at the cleaning station.

The fully automatic laser cleaning method of the present invention can fully automatically realize operations such as automatic loading and unloading, transfer, and laser cleaning of the wheel set 10, thereby improving the degree of automation and cleaning efficiency.

The present invention will be further described below in conjunction with a specific complete embodiment:

Step 1, the two wheels 10b of the rail vehicle wheel pair 10 to be cleaned are transferred to the area to be cleaned along the light rail 13, and the fast rolling door 9a of the laser cleaning protection room 9 is in an open state at this time;

The RGV trolley moves along the light track 13 directly under the wheel set 10 to be cleaned by its own driving force, and the model of the wheel set 10 is recognized by the visual recognition unit. The drive unit 6 is at the lowest position as a whole to avoid interference with the wheel shaft 10c; the other two small roller assemblies 6b are also in an open state;

Then the first air cylinder 6a lifts up to make the large roller assembly 6e conflict with the axle 10c; then the second air cylinder 6b4 lifts the small roller assembly 6b to the highest position, and the third air cylinder 6f contracts to drive the small roller 6b3 of the two small roller assemblies 6b to the axle 10c conflicts, that is, the two small roller assemblies 6b are in a closed state, thereby "embracing" the wheel set 10;

Step 2: The clutch 5b of the RGV trolley is disconnected from the first drive motor 5a, and the first servo motor 6e3 starts to drive the large roller 6e1 to rotate, thereby driving the wheel pair 10 to roll; the wheel pair 10 is laser cleaned along the light rail 13 The station rolls, and the RGV trolley is pulled and moved until the wheel set 10 is transferred to the cleaning station in the laser cleaning protection room 9;

Step 3. During the transfer process of the wheel set 10, the second servo motor 7i is not activated, that is, the friction roller assembly 7c and the support roller assembly 7b are still in the retracted state (that is, both are located on the outside of the base 7d, away from the wheel set 10 The center of the center); the hydraulic cylinder 7a1 of the lifting mechanism 7a is also in a contracted state, and the V-shaped positioning block 7a5 is at the minimum stroke; that is, the wheel pair rotating unit 7 will not interfere with the wheel pair 10 at this time;

After the wheelset 10 is transferred to the cleaning station, hold the drive unit 6 and the RGV trolley and disengage from the wheelset 10; then the hydraulic cylinder 7a1 of the lifting mechanism 7a lifts the V-shaped positioning block 7a5, and the end 10a of the wheelset 10 is roughly positioned Go to the positioning block 7a5, then lift the wheel pair 10 to a certain height, the friction roller assembly 7c and the support roller assembly 7b stretch out to the inner side of the base 7d (that is, the center of the wheel pair 10), and move to the right below the wheel 10b; The mechanism 7a falls slowly, and the wheel set 10 is placed on the friction roller assembly 7c stably, the second driving motor 7c1 is started, and the friction wheel assembly 7c drives the wheel set 10 to rotate;

Step 4. After the front and rear fast rolling doors 9a of the laser cleaning protection room 9 are closed, the laser head 15 emits a laser beam, and the six-axis robot 14 cooperates with the linear guide rail 8c to move along the preset trajectory to realize the laser cleaning operation of the wheel set 10;

After the laser cleaning operation of the wheel pair 10 is completed, the second drive motor 7c1 stops, and the wheel pair 10 stops rotating; the lifting mechanism 7a lifts the wheel pair 10, and breaks away from the contact between the wheel pair 10 and the roller assembly 7c; other mechanisms return to the state before cleaning Finally, the lifting mechanism 7a drops the wheel set 10 back onto the light rail 13 again; repeating the above step 2, the wheel set 10 is transported out of the laser cleaning and protection room 9 .

The above are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

A fully automatic laser cleaning system for rail vehicle wheels, characterized in that it comprises a laser cleaning protection room (9), a wheel set rotation unit (7), a wheel set transfer unit (1) and a laser cleaning unit (2);

The wheel set transfer unit (1) includes a moving unit (5) and a clasp driving unit (6);

The moving unit (5) is used to move between the cleaning station and the wheel set assembly line;

The holding drive unit (6) is installed on the moving unit (5), and is used to hold the wheel shaft (10c) of the wheel set (10) and drive the wheel set (10) to roll;

The wheel set rotation unit (7) is installed at the cleaning station in the laser cleaning protection room (9), and is used to lift the wheel set (10) at the cleaning station and drive the wheel set (10) ) rotation;

The laser cleaning unit (2) is installed in the laser cleaning protection room (9), and is used for fully automatic laser cleaning of the wheel set (10) at the cleaning station.
The rail vehicle wheel set automatic laser cleaning system according to claim 1, characterized in that, the wheel set rotation unit (7) comprises a lifting mechanism (7a), a supporting roller assembly (7b), a friction roller assembly (7c) , a base (7d) and a mounting plate (7f); the lifting mechanism (7a) is installed on the base (7d); the support roller assembly (7b) is installed under the mounting plate (7f), and the friction The roller assembly (7c) is installed above the installation plate (7f), and the installation plate (7f) is slidably installed on the base (7d) through a sliding mechanism.
The fully automatic laser cleaning system for rail vehicle wheels according to claim 2, wherein the sliding mechanism includes a second linear guide rail (7e), a second slider (7g), a rack and pinion mechanism (7h) and The second servo motor (7i); the second linear guide rail (7e) is installed on the base (7d), the mounting plate (7f) is fixed on the second slider (7g), and the second servo motor (7i) is installed on One side of the mounting plate (7f), the rack and pinion mechanism (7h) is installed on the base (7d) and parallel to the second linear guide rail (7e), and the second servo motor (7i) passes through the rack and pinion mechanism (7h ) drives the mounting plate (7f) on the second slider (7g) to move.
The fully automatic laser cleaning system for rail vehicle wheels according to claim 2 or 3, characterized in that the lifting mechanism (7a) includes a hydraulic cylinder (7a1), a frame (7a2), a first slider (7a3) , two guide rods (7a4) and positioning block (7a5); the hydraulic cylinder (7a1) is installed vertically on the bottom of the frame (7a2) in the form of shoulder installation; two guide rods (7a4) are installed vertically and parallel On the frame (7a2), the guide rod of the hydraulic oil cylinder (7a1) is movably connected on the first slider (7a3), and the guide rod (7a4) is sleeved inside the sliding bearing of the first slider (7a3); the positioning block ( 7a5) is mounted on the front of the first slider (7a3) and is V-shaped for positioning and supporting the end (10a) of the wheel set (10).
The fully automatic laser cleaning system for rail vehicle wheels according to claim 2 or 3, wherein the supporting roller assembly (7b) comprises a supporting roller (7b1) and a supporting roller frame (7b2); the supporting roller assembly (7b ) are installed symmetrically at the bottom of the mounting plate (7f) to support the upper structure of the mounting plate (7f) and the weight of the wheel set (10); wherein the supporting roller assembly (7b) is slightly higher than the base (7d); the friction roller assembly (7c) Including the second driving motor (7c1), friction wheel (7c2) and friction roller frame (7c3), the friction roller assembly (7c) is symmetrically installed on both sides of the mounting plate (7f), the friction wheel (7c2) and the support roller ( 7b1) on the same axis.
The fully automatic laser cleaning system for rail vehicle wheels according to claim 5, wherein two friction roller assemblies (7c) are installed on each side of the mounting plate (7f), and the two friction roller assemblies (7c) on the same side are A stable triangular support structure is formed between the two friction wheels (7c2) and the wheel set (10) in the assembly (7c).
The rail vehicle wheel set automatic laser cleaning system according to any one of claims 1-3, characterized in that, the clamping drive unit (6) includes a first cylinder (6a), a small roller assembly (6b) , the first connecting plate (6c), the large roller assembly (6e) and the bottom plate (6g);

Both the small roller assembly (6b) and the large roller assembly (6e) are installed on the bottom plate (6g), the first cylinder (6a) is located on the mobile unit (5), and the bottom plate (6g) Both sides of the cylinder are installed on the first cylinder (6a) through the first connecting plate (6c);

The large roller assembly (6e) includes a large roller (6e1), a roller frame (6e2) and a first servo motor (6e3); the large roller (6e1) is installed on the roller frame (6e2), and passes through the first A servo motor (6e3) drives the rotation;

First linear guide rails (6d) are installed on the left and right sides of the lower bottom surface of the bottom plate (6g), and a slider is provided on the first linear guide rail (6d), and a second connecting plate (6h) is installed on the slider. Two groups of small roller assemblies (6b) are installed on the upper surface of the second connecting plate (6h); the tailstock and the top of the guide rod of the third cylinder (6f) are respectively installed on the lower surface of the second connecting plate (6h) on both sides.
The fully automatic laser cleaning system for rail vehicle wheels according to claim 7, wherein the small roller assembly (6b) includes a support frame (6b1), a third slider (6b2), a small roller (6b3) and The second cylinder (6b4); the small roller (6b3) is installed on the third slider (6b2), and the third slider (6b2) slides on the support frame (6b1), and the second cylinder (6b4) is installed It is on the support frame (6b1) and is movably connected with the third sliding block (6b2).
The fully automatic laser cleaning system for rail vehicle wheels according to any one of claims 1 to 3, wherein the laser cleaning unit (2) includes a laser cleaning truss robot unit (8), a six-axis robot (14 ) and a laser head (15); a group of linear guide rails (8c) and a mounting plate (8b) parallel to each other are installed on the laser cleaning truss robot unit (8), and the six-axis robot (14) is installed on the mounting plate (8b ), the mounting plate (8b) slides on the linear guide rail (8c), and the laser head (15) is installed at the end of the six-axis robot (14).
A fully automatic laser cleaning method based on the rail vehicle wheel set automatic laser cleaning system described in any one of claims 1 to 9, characterized in that it comprises the steps of:

S1. The moving unit (5) moves the holding drive unit (6) from the cleaning station to the bottom of the wheel pair (10) on the wheel pair assembly line;

S2. The embracing drive unit (6) rises upwards, hugs the axle (10c) of the wheel set (10), and drives the wheel set (10) to roll to the cleaning station;

S3, the wheel pair rotating unit (7) lifts the wheel pair (10) at the cleaning station to support the wheel pair (10), and then drives the wheel pair (10) to rotate;

S4. The laser cleaning unit (2) performs automatic laser cleaning on the rotating wheel set (10) located at the cleaning station.