CN108637634B - Automatic dismounting system for bogie bearing spring - Google Patents
Automatic dismounting system for bogie bearing spring Download PDFInfo
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- CN108637634B CN108637634B CN201810798273.3A CN201810798273A CN108637634B CN 108637634 B CN108637634 B CN 108637634B CN 201810798273 A CN201810798273 A CN 201810798273A CN 108637634 B CN108637634 B CN 108637634B
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- 239000013307 optical fiber Substances 0.000 claims description 29
- 230000003014 reinforcing effect Effects 0.000 claims description 4
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- 239000000835 fiber Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
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- 210000003734 kidney Anatomy 0.000 description 1
- CNQCVBJFEGMYDW-UHFFFAOYSA-N lawrencium atom Chemical compound [Lr] CNQCVBJFEGMYDW-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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Abstract
The invention discloses an automatic dismounting system for a bogie load spring, which belongs to the technical field of bogie dismounting devices and is used for solving the problems of high labor intensity and low working efficiency caused by taking out the load spring and an inclined wedge block in the manual moving mode in the existing bogie dismounting process. The invention comprises a jacking device and a clamping device; the jacking device comprises a jacking unit for taking out the inclined wedge, the jacking unit is connected with a triaxial cantilever, the clamping device comprises a clamping head for clamping the bearing spring, and the clamping head is connected with a mechanical arm.
Description
Technical Field
The invention relates to the technical field of bogie disassembly, in particular to an automatic disassembly system for a bogie bearing spring.
Background
The bogie is one of the most important components in the construction of rail vehicles, and various parameters of the bogie also directly determine the stability of the vehicle and the ride comfort of the vehicle. In the bogie overhauling process, the structure needs to be detached, wherein the bearing springs are mainly taken down in a manual moving mode, the bearing springs at two ends of the bogie are divided into an outer row, a middle row and an inner row, the number and the model and the like of the bearing springs are different aiming at the bogies with different models, the pitch of the bearing springs are different, one bearing spring comprises an inner bearing spring and an outer bearing spring, the inner bearing spring and the outer bearing spring are mutually independent, and when the bearing springs are moved, additional force needs to be added to enable the inner bearing spring to be relatively fixed with the outer bearing spring, so that the labor force of workers is increased.
And a wedge block is also arranged between the bearing spring and the swing bolster, and the wedge block has the function of providing the anti-diamond deformation capacity of the swing bolster and the side frame of the bogie, ensuring the right position of the bogie and further meeting the requirement of the linear running stability and the curve passing performance of the vehicle. The inclined wedge blocks are placed at the upper ends of the outer bearing springs, the left inclined wedge block and the right inclined wedge block are placed at one end, and four inclined wedge blocks are placed at the two ends.
Before the bearing spring is taken out, the bearing spring is firstly required to be manually moved out, then the bearing spring is taken out, the lower end of the inclined wedge is provided with a lug which is used for positioning the bearing spring, so that the inclined wedge is prevented from sliding when the upper end of the bearing spring is positioned, the cross section schematic diagram of the inclined wedge is a direct triangle, when the inclined wedge is placed on the bearing spring, one right-angle side of the inclined wedge is positioned on the surface of the bearing spring, one right-angle side is positioned near the side wall of the bogie, an inclined reinforcing rib is connected between the two right-angle sides, inclined surfaces of the two inclined wedges are prevented in opposite directions, a gap enough for transversely removing the inclined wedge is reserved between the swing bolster and the side wall of the bogie when the inclined wedge is taken out, the inclined wedge is firstly moved upwards for a certain distance, and then the inclined wedge is taken out from the gap between the swing bolster and the bogie; the weight of a bearing spring is about 14kg, the bearing spring is taken and placed only through a mode of moving by workers, so that the daily working strength of the workers is very high, the workers have the conditions of sliding and releasing force in the moving process, potential safety hazards are easily brought under the condition that the bearing spring is smashed, and the inclined wedge and the bearing spring are moved through a manual mode, so that the working efficiency is low.
Disclosure of Invention
The invention aims at: in order to solve the problems of high labor intensity and low working efficiency caused by taking out the bearing spring and the inclined wedge block in the existing bogie disassembling process in a manual moving mode, the invention provides an automatic disassembling system for the bearing spring of the bogie.
The invention adopts the following technical scheme for realizing the purposes:
the automatic dismounting system for the bogie bearing spring comprises a jacking device and a clamping device; the jacking device comprises a jacking unit for taking out the inclined wedge, the jacking unit is connected with a triaxial cantilever, the clamping device comprises a clamping head for clamping the bearing spring, and the clamping head is connected with a mechanical arm.
The three-axis cantilever comprises an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail which are all provided with ball screws, wherein the lower end of the three-axis cantilever is provided with a bracket, the X-axis guide rail is horizontally arranged at the upper end of the bracket, the Y-axis guide rail is horizontally arranged at the upper end of the X-axis guide rail and is mutually perpendicular to the X-axis guide rail, the lower end of the middle part of the Y-axis guide rail is connected with a first sliding seat, the first sliding seat is mutually connected with the X-axis guide rail, the upper end of the Y-axis guide rail is vertically connected with the Z-axis guide rail, the lower end of the Z-axis guide rail is connected with a second sliding seat, the second sliding seat is mutually connected with the Y-axis guide rail, and servo motors are arranged on the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail.
In the invention, as a further preferable mode, the Z-axis guide rail is also connected with a third sliding seat, the two jacking units are symmetrical relative to the Z-axis guide rail, and the two jacking units are connected with the third sliding seat;
the lifting unit comprises a laser sensor, a connecting plate, a lifting platform, lifting rods and a small cylinder, wherein the connecting plate is used for connecting the lifting platform with the third sliding seat, the laser sensor is arranged at the upper end of the lifting platform, the lifting plate is arranged in the middle of the lower end of the lifting platform, U-shaped clamping grooves are formed in the lifting plate, the lifting rods are arranged on the left side and the right side of the lifting plate, the front ends of the lifting rods are located in front of the front ends of the lifting platform, and the lifting plates are connected with the small cylinder.
In the invention, as a further preferable mode, an adjusting cylinder is also adjusted between the connecting plate and the jacking platform.
In the invention, preferably, the upper end of the jacking platform is also provided with a reinforcing rib.
The clamping head is further preferable, the clamping head comprises a supporting piece, the front end of the supporting piece is connected with a positioning device for positioning, a tightening force-hooking piece acting on the outer spring is arranged in the supporting piece, and a V-shaped abutting piece acting on the inner spring is further arranged in a space between the tightening force-hooking piece and the supporting piece.
The positioning device comprises a group of correlation optical fiber sensors which are horizontally arranged, wherein the correlation optical fiber sensors are vertically provided with a group, the correlation optical fiber sensors are connected with fixing pieces, the upper ends and the lower ends of the fixing pieces are respectively connected with double-shaft cylinders, the left side and the right side of the fixing pieces are respectively connected with a first guide rail, the outer wall of each supporting piece is provided with a first guide block, and a first sliding block is connected between each first guide rail and each first guide block.
The invention further preferably provides that the hooking force element comprises a T-shaped hook head, a connecting rod and a mounting block; the T-shaped hook head comprises a hook fastening block and a connecting rod, wherein the hook fastening block is vertically arranged, one end of the connecting rod is connected with the hook fastening block, and the other end of the connecting rod is connected with an installation block fixedly arranged inside the supporting piece.
The V-shaped abutting piece comprises a first abutting block and a second abutting block which are respectively arranged at the left side and the right side of the hooking stressed piece, wherein the first abutting block and the second abutting block are respectively connected with a first connecting block and a second connecting block which are vertically arranged, the upper ends of the first connecting block and the second connecting block are connected with a second guide rail which is horizontally arranged, the second guide rail is positioned between the first connecting block and the second connecting block, the inner wall of the supporting piece is provided with a second guide block, and a second sliding block is connected between the second guide rail and the second guide block; the rear end of the first connecting block is connected with an ultrathin cylinder.
In a further preferred aspect of the present invention, the chuck and the mechanical arm are connected to each other by a flange.
The beneficial effects of the invention are as follows:
1. according to the invention, through the jacking device and the clamping device, the automatic taking-out of the bearing spring of the bogie and the inclined wedge block arranged at the upper end of the bearing spring is realized, the manual taking-out of the inclined wedge block and the bearing spring in a moving way is avoided, the labor intensity of workers is reduced, meanwhile, through mechanical self-positioning, the accurate positioning of the bearing spring can be realized only by roughly assisting an operator, and the dismounting efficiency of the bearing spring of the bogie is improved.
2. Taking and placing the inclined wedge blocks: (1) the three-axis cantilever realizes the space movement of the jacking units, two jacking units are symmetrically arranged at the left side and the right side of the Z-axis guide rail, the jacking unit at the left side is used for taking and placing the wedge block at the right side, and the jacking unit at the right side is used for taking and placing the wedge block at the left side, so that the two wedge blocks are taken and placed through one three-axis cantilever;
(2) the connecting plate and the jacking platform are directly provided with an adjusting cylinder, so that the adjusting cylinder moves upwards for a certain distance after the jacking plate lifts the inclined wedge, a lug at the lower end of the inclined wedge is separated from the bearing spring, then the inclined wedge moves laterally through a triaxial cantilever, and finally the inclined wedge moves longitudinally, and the inclined wedge is taken out;
(3) the left side and the right side of the lifting plate are provided with lifting rods, the foremost ends of the lifting rods exceed the foremost ends of the lifting plates by a certain distance, the lifting rods are contacted with the inclined wedges firstly in the moving process of the lifting plates and the lifting rods, the lifting rods are contacted with two right-angle surface inclined connecting blocks of the inclined wedges mutually, after the inclined wedges are lifted to be separated from the surface of the bearing spring, the protruding blocks at the lower ends of the inclined wedges are positioned in U-shaped clamping grooves formed in the lifting plates, and the bearing of the inclined wedges is used for lifting the inclined wedges on the lifting plates.
3. Picking and placing of the bearing spring: the double-shaft cylinder that mounting upper end and lower extreme are connected drives the mounting and reciprocates, realize correlation formula optical fiber sensor to carrying the outer spring clearance accurate positioning of spring, T type collude tight piece and V type support tight piece and be located same horizontal plane and mutually perpendicular, after the location is accomplished, T type collude the tight piece of carrying spring clearance of outer spring, then chuck rotation 90, T type collude the vertical state of original level state change, V type supports tight piece and changes horizontal device from original vertical state, then V type supports tight piece and moves forward under ultra-thin cylinder's effect, V type supports tight piece and T type collude the tight piece of holding of realization to the holding of inner spring, the realization is kept relatively fixed with quiet friction mode to outer spring and inner spring, the atress of carrying spring is on V type supports tight piece and T type and colludes, the automatic dismantlement of carrying spring is realized to the removal chuck.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the positions of the wedge and the load spring;
FIG. 3 is a schematic view of the structure of the jacking device;
fig. 4 is a perspective view of the jacking device showing only the right jacking unit;
fig. 5 is a perspective view of the jacking unit;
FIG. 6 is a bottom view of the jacking unit;
FIG. 7 is an end view schematic of a chuck;
FIG. 8 is a schematic cross-sectional view of A-A;
FIG. 9 is a bottom perspective view of the collet;
FIG. 10 is a top perspective view of the collet;
FIG. 11 is a schematic cross-sectional view of a collet with the positioning device removed;
FIG. 12 is a schematic perspective view of a V-shaped abutment;
FIG. 13 is a schematic view of the construction of the hook fastener;
FIG. 14 is a schematic view of an opposite-type fiber sensor without shielding the center;
FIG. 15 is a schematic view of an opposite type fiber sensor with a shield in the center;
FIG. 16 is a signal diagram of an opposite type fiber optic sensor without shielding the center;
FIG. 17 is a signal diagram of an opposite type fiber optic sensor without shielding the center;
FIG. 18 is a schematic view of the position of a T-shaped hook when the center of the correlation optical fiber sensor is not blocked;
FIG. 19 is a schematic view of the position of a T-shaped hook when the center of the correlation optical fiber sensor is blocked;
reference numerals: 1-chuck, 101-support, 1021-correlation fiber optic sensor, 1022-fixture, 1023-biaxial cylinder, 1024-first rail, 1025-first slider, 1026-first guide block, 103-hooking force piece, 1031-T-type hooking head, 10311-hooking block, 10312-connecting rod, 1032-mounting block, 104-V-type abutting piece, 1041-first abutting block, 1042-second abutting block, 1043-first connecting block, 1044-second connecting block, 1045-ultrathin cylinder, 1046-second rail, 1047-second slider, 1048-second guide block, 2-mechanical arm, 3-bracket, 4-lifting unit, 401-connecting plate, 402-adjusting cylinder, 403-lifting platform, 404-reinforcing rib, 405-lifting plate, 4051-U-shaped clamping groove, 406-lifting rod, 407-small cylinder, 5-bogie, 6-wedge block, 601-bump, 7-bearing spring, 701-outer spring, 702-inner spring, 801-X axis guide rail, 8011-first slide, 802-Y axis guide rail, 8021-second slide, 803-Z axis guide rail, 8031-third slide, 9-servo motor and 10-flange.
Detailed Description
For a better understanding of the present invention, reference is made to the following description of the invention, taken in conjunction with the accompanying drawings and the following examples.
Example 1
As shown in fig. 1 and fig. 1, the bogie 5 carrying spring 7 automatic dismounting system of the invention comprises a jacking device and a clamping device; the jacking device comprises a jacking unit 4 for taking out an inclined wedge 6, the jacking unit 4 is connected with a triaxial cantilever, the clamping device comprises a clamping head 1 for clamping a bearing spring 7, and the clamping head 1 is connected with a mechanical arm 2.
In the embodiment, the space movement of the jacking device is realized through the triaxial cantilever, and the inclined wedge block 6 is firstly taken out through the jacking device; then the space movement of the clamping head 1 is realized through the mechanical arm 2, then the bearing spring 7 is taken out through the clamping head 1, in the process of taking out the inclined wedge 6 and the bearing spring 7, only the operation equipment is needed to move the jacking device to the approximate position opposite to the inclined wedge 6 manually, the clamping head 1 is moved to the middle part of the bearing spring 7, and then the inclined wedge 6 and the bearing spring 7 are taken out mechanically and automatically. After the technical scheme is adopted, the labor intensity of workers is reduced, meanwhile, through mechanical self-positioning, accurate positioning of the bearing spring 7 can be realized only by roughly assisting an operator, and the dismounting efficiency of the bearing spring 7 of the bogie 5 is improved.
Example 2
As shown in fig. 3-4, the following optimization was performed on the basis of example 1: the triaxial cantilever is including X axle guide rail 801, Y axle guide rail 802 and the Z axle guide rail 803 that all are provided with ball, triaxial cantilever lower extreme is provided with support 3, X axle guide rail 801 level sets up in support 3 upper end, Y axle guide rail 802 level set up at X axle guide rail 801 upper end and with X axle guide rail mutually perpendicular, Y axle guide rail 802 middle part lower extreme is connected with first slide 8011, first slide 8011 and X axle guide rail 801 interconnect, Y axle guide rail 802 upper end is vertical to be connected with Z axle guide rail 803, the lower extreme of Z axle guide rail 803 is connected with second slide 8021, second slide 8021 and Y axle guide rail 802 interconnect, X axle guide rail 801, Y axle guide rail 802 and Z axle guide rail 803 all are provided with servo motor 9.
In this embodiment, the X-axis guide rail 801 is horizontally disposed at the upper end of the bracket 3, the Y-axis guide rail 802 is disposed at the upper end of the X-axis guide rail 801, the planes of the X-axis guide rail 801 and the Y-axis guide rail 802 are parallel to each other, but the X-axis guide rail 801 and the Y-axis guide rail 802 are perpendicular to each other, the middle lower end of the Y-axis guide rail 802 is connected with the X-axis guide rail 801 through the first sliding seat 8011, and the servo motor 9 and the lead screw are connected to the X-axis guide rail 801, the Y-axis guide rail 802 and the Z-axis guide rail 803, and the Y-axis guide rail 802 can move at the upper end of the X-axis guide rail 801; the upper end of the Y-axis guide rail 802 is provided with a Z-axis guide rail 803, the plane of the Y-axis guide rail 802 is perpendicular to the plane of the Z-axis guide rail 803, and the X-axis guide rail 801 and the Z-axis guide rail 803 are connected with each other through a second slide, so that the Z-axis guide rail 803 moves on the Y-axis guide rail 802. After the technical scheme is adopted, the lifting unit 4 is moved in space through the triaxial cantilever.
Example 3
As shown in fig. 5-6, this example was based on example 2, and was optimized as follows: the Z-axis guide 803 is further connected to a third slide 8031, two jacking units 4 are symmetrically arranged about the Z-axis guide 803, and the two jacking units 4 are connected to the third slide 8031; the jacking unit 4 comprises a laser sensor, a connecting plate 401, a jacking platform 403, a jacking rod 406 and a small cylinder 407, wherein the jacking platform 403 and a third sliding seat 8031 are mutually connected by the connecting plate 401, the laser sensor is arranged at the upper end of the jacking platform 403, a jacking plate 405 is arranged at the middle part of the lower end of the jacking platform 403, a U-shaped clamping groove is formed in the jacking plate 405, jacking rods 406 are arranged on the left side and the right side of the jacking plate 405, the front end of the jacking rod 406 is located in front of the front end of the jacking platform 403, and the jacking plate 405 and the jacking rod 406 are connected with the small cylinder 407.
As a further optimization, an adjusting cylinder 402 is also adjusted between the connection plate 401 and the jacking platform 403.
In this embodiment, two jacking units 4 are disposed on the left and right sides of the Z-axis guide 803, and the two jacking units 4 are symmetrical about the Z-axis guide 803, and a third slide 8031 is disposed on one surface of the front and rear surfaces of the Z-axis guide 803, and the two jacking units 4 are all connected with the third slide 8031, so that simultaneous lifting and lowering of the two jacking units 4 are achieved. The left jack unit 4 of the Z-axis guide 803 picks up and places the right wedge 6, and the right jack unit 4 of the Z-axis guide 803 picks up and places the left wedge 6. Taking the jacking unit 4 on the right side as an example, the taking and placing process of the inclined wedge 6 is as follows: firstly, manually adjusting the jacking unit 4 to the approximate position of the inclined wedge 6, then positioning the inclined wedge 6 by a laser sensor, wherein the model of the laser sensor is Kidney laser ranging LK-G150, after the positioning is finished, driving the lifting plate 405 and the jacking rod 406 to move forwards by a small cylinder 407 arranged at the lower end of the jacking platform 403, enabling the forefront end of the jacking rod 406 to exceed the forefront end of the lifting plate 405 by a certain distance, firstly enabling the jacking rod 406 to contact with the inclined wedge 6 in the moving process of the lifting plate 405 and the jacking rod 406, enabling the jacking rod 406 to contact with two right-angle-face inclined connecting blocks of the inclined wedge 6, enabling a lug 601 at the lower end of the inclined wedge 6 to be positioned in a U-shaped clamping groove formed in the lifting plate 405 after the inclined wedge 6 is jacked and separated from the surface of the bearing spring 7, enabling the bearing of the inclined wedge 6 to lift on the lifting plate 405, then enabling the lifting plate 405 to drive the inclined wedge 6 to move upwards by an adjusting cylinder 402 arranged between the jacking platform 403 and the connecting plate 401, enabling the inclined wedge 6 to be completely separated from the bearing spring 7, and then enabling the inclined wedge 6 to move leftwards to the jacking platform 403 to move to the inclined wedge 5, and taking out the inclined wedge 6 from the gap between the jacking platform and the supporting platform 5; the right wedge 6 is taken and put in the same way as described above, the only difference being that it is realized by the left jacking unit 4, but the procedure is identical.
Example 4
This example was based on example 3, and was optimized as follows: the upper end of the jacking platform 403 is also provided with a reinforcing rib 404.
After the technical scheme is adopted, the overall safety of the jacking platform 403 and the connecting plate 401 is ensured, and unstable side connection of the connecting plate 401 and the jacking platform 403 is avoided.
Example 5
As shown in fig. 7-13, this embodiment is based on embodiment 1, and is optimized as follows: the chuck 1 comprises a supporting piece 101, wherein the front end of the supporting piece 101 is connected with a positioning device for positioning, a tightening piece 103 acting on an outer spring 701 is arranged inside the supporting piece 101, and a V-shaped abutting piece acting on an inner spring 702 is arranged outside the tightening piece 103.
In this embodiment, the double-shaft air cylinder 1023 connected to the upper end and the lower end of the fixing piece 1022 drives the fixing piece 1022 to move back and forth, so as to accurately position the gap between the outer spring 701 of the bearing spring 7 by the opposite-type optical fiber sensor 1021, the hooking block 10311 of the T-shaped hook head 1031 and the V-shaped hook head 1031 are located on the same horizontal plane and are perpendicular to each other, after the positioning is completed, the T-shaped hook head 1031 passes through the gap between the bearing spring 7 of the outer spring 701, then the chuck 1 rotates by 90 °, the T-shaped hook head 1031 rotates from the original horizontal state to the vertical state, the V-shaped hook head 104 rotates from the original vertical state to the horizontal device, then the V-shaped hook head 104 moves forward under the action of the ultra-thin air cylinder 1045, the V-shaped hook head 104 passes through the gap between the outer spring 701 to clamp the inner spring 702, the V-shaped hook head 1031 and the outer spring 701 are mutually matched, so as to keep relatively fixed in a static friction manner, the stress of the bearing spring 7 is on the V-shaped hook head 104 and the T-shaped hook head 1031, and the automatic detachment of the bearing spring 7 is realized.
Example 6
This example was based on example 5, and was optimized as follows: the positioning device comprises a group of correlation type optical fiber sensors 1021 which are horizontally arranged, 8-12 groups of correlation type optical fiber sensors 1021 are arranged in the vertical direction, the correlation type optical fiber sensors 1021 are connected with fixing pieces 1022, the upper ends and the lower ends of the fixing pieces 1022 are respectively connected with double-shaft cylinders 1023, the left side and the right side of the fixing pieces 1022 are respectively connected with a first guide rail 1024, the outer wall of each supporting piece 101 is provided with a first guide block 1026, and a first sliding block 1025 is connected between each first guide rail 1024 and each first guide block 1026.
In this embodiment, the correlation type optical fiber sensor 1021 and the fixing member 1022 are connected with each other, so that the distance between the correlation type optical fiber sensors 1021 is kept straight, the correlation type optical fiber sensor 1021 moves back and forth along with the fixing member 1022, the accurate positioning of the bearing spring 7 is realized, double-shaft cylinders 1023 are arranged at the upper end and the lower end of the fixing member 1022, the moving stability of the fixing member 1022 is ensured, and first guide blocks 1026 and first guide rails 1024 which are matched with each other are arranged at the left side and the right side of the fixing member 1022, the moving path of the fixing member 1022 is limited, the fixing member 1022 is supported, and the stress of the double-shaft cylinders 1023 is reduced.
14-19, a brief overview of the positioning method in this embodiment is provided:
s1, respectively arranging a plurality of groups of opposite-type optical fiber sensors at the left side and the right side of a bearing spring and the transmitting end of each opposite-type optical fiber sensor, wherein the plurality of groups of opposite-type optical fiber sensors are vertically arranged;
s2, outputting a switching value signal to be True or False by the correlation optical fiber sensor;
s3, defining the distance between the center of the T-shaped hook head of the robot clamp and the uppermost group of correlation type optical fiber sensors as a known installation distance D2;
s4, if the gap of the bearing spring is detected, calculating the offset distance of the robot; definition D Calculation of The distance from the middle point of a plurality of groups of non-shielding correlation optical fiber sensors to the uppermost correlation optical fiber sensor group is set;
s5, if the outer edge of the bearing spring is detected, calculating the offset distance of the robot; definition H Calculation of The midpoint of the correlation optical fiber sensor shielded by multiple groups reaches the uppermost correlation groupThe distance of the optical fiber sensor;
s6, the center point of the T-shaped hook of the robot clamp moves to the middle of the spring gap, and positioning is completed.
Preferably, in the step S1, the lateral widths of the receiving end and the transmitting end are greater than the outer diameter of the bearing spring.
Preferably, in the step S1, a plurality of groups of correlation optical fiber sensors are disposed in a vertical direction, an installation space of each group of correlation optical fiber sensors is D1, and a space W between an uppermost correlation optical fiber sensor and a lowermost correlation optical fiber sensor is: max { D Spring ，L Spring gap }＜W＜min{D Spring +2·L Spring gap ，L Spring gap +2·D Spring }, wherein D Spring Showing the wire diameter of the load bearing spring.
Preferably, in the step S4, a point B is defined as a slot position at the location, a slot position at the point B is a point a, a slot position at the next point B is a point C, the point D is selected by calculating the offset distance of the robot, and the movement is selected by actually calculating D Calculation of And D2 and the distance between two adjacent gaps.
Preferably, the moving distance of the T-shaped hook is as follows: d (D) Calculation of -D2, moving to the gap B, the specific calculation of the robot is:
1) When D is Calculation of When D2 is more than or equal to 0, the mechanical arm drives the T-shaped hook head of the clamp to move upwards;
2) When D is Calculation of When D2 is smaller than 0, the mechanical arm drives the T-shaped hook head of the clamp to move downwards;
preferably, in the step S5, a center position of the outer edge of the spring is defined as a point E, a gap position above the point E is defined as a point F, and a gap position below the point E is defined as a point G, wherein a distance d between E and F and a distance d between E and G Spring center-gap center 1/2L Spring gap +1/2·D Spring Selecting to move to the nearest gap point through calculation of the offset distance of the robot, wherein the selection of specific movement is calculated by the actually calculated H Calculation of D2 and D Spring center-gap center Calculation ofAnd obtaining the product.
Preferably, the specific calculation mode of the robot is as follows:
1) When H is Calculation of ≥D2；
The distance that the T-shaped hook head moves to the point F is shorter than the point G is shown, and the distance is calculated as follows: l=1/2 (L Spring gap +D Spring )-(H Calculation of -D2) the direction of movement is upward;
2) When H is Calculation of ＜D2；
The distance that the T-shaped hook head moves to the point G is shorter than the point F is shown, and the distance is calculated as follows: l=1/2 (L Spring gap +D Spring )-(D2-H Calculation of ) The direction of movement is downward.
Example 7
This example was based on example 5, and was optimized as follows: the hooking force element 103 comprises a T-shaped hooking head 1031, a connecting rod 10312 and a mounting block 1032; the T-shaped hook 1031 comprises a hook block 10311 and a connecting rod 10312, the hook block 10311 is vertically arranged, one end of the connecting rod 10312 is connected with the hook block 10311, and the other end of the connecting rod 10312 is connected with an installation block 1032 fixedly arranged inside the supporting piece 101.
In this embodiment, the hooking block 10311 of the T-shaped hook head 1031 is vertically disposed, the V-shaped abutting piece 104 is horizontally disposed, the hooking block 10311 and the V-shaped abutting piece 104 are mutually perpendicular, the chuck 1 rotates 90 ° to keep the hooking block 10311 horizontal, passes through the gap of the outer spring 701, then rotates 90 ° again, so that the hooking block 10311 keeps a vertical state, and the hooking block 10311 retreats and cannot pass through the gap of the bearing spring 7, so that the stress of the hooking block 10311 on the outer spring 701 can be realized.
Example 8
This example was based on example 5, and was optimized as follows: the V-shaped tightening piece 104 includes a first tightening block 1041 and a second tightening block 1042 that are respectively disposed at the left and right sides of the hooking force piece 103, the first tightening piece and the second tightening piece are respectively connected with a first connecting block 1043 and a second connecting block 1044 that are vertically disposed, the upper ends of the first connecting block 1043 and the second connecting block 1044 are connected with a second guiding block 1048 that is horizontally disposed, the second guiding block 1048 is disposed between the first connecting block 1043 and the second connecting block 1044, a second guiding rail 1046 is disposed on the inner wall of the supporting piece 101, and a second sliding block 1047 is connected between the second guiding rail 1046 and the second guiding block 1048; the rear end of the first connecting block 1043 is connected with an ultra-thin cylinder 1045,
in this embodiment, the first abutting block 1041 and the second abutting block 1042 are respectively located at two sides of the T-shaped hook 1031, the shape formed by combining the first abutting block 1041 and the second abutting block 1042 is in a V shape, the V-shaped abutting piece 104 and the hook 10311 are mutually perpendicular, the initial V-shaped abutting piece 104 is in a horizontal state, when the chuck 1 rotates 90 ° to extend the hook 10311 into the outer spring 701, the V-shaped abutting piece 104 is located outside the bearing spring 7, then the chuck 1 rotates 90 ° and the hook is in a vertical state, so that the force to the outer spring 701 can be realized, at this time, the V-shaped abutting piece 104 is in a horizontal state, and the V-shaped abutting piece 104 is driven by the ultrathin cylinder 1045 to move forward, the first abutting piece and the second abutting piece are respectively connected with the first connecting block 1043 and the second connecting block 1044, the second guide rail 6 is connected with the upper end of the first connecting block 1043 and the second connecting block 1044, the second guide rail 1046 is located between the first connecting block 1043 and the second connecting block 1044, so that the inner side of the second guide rail 1046 and the second guide rail 702 can move toward the inner side of the outer spring 702, so that the inner side of the outer spring 702 can be kept against the inner side of the outer spring 702, so that the force to keep the inner side of the outer spring 702 is kept against the inner side of the V-shaped guide piece 702, and the inner force of the outer spring 702, so that the inner force is realized. The load spring 7 is forced on the V-shaped abutting piece 104 and the T-shaped hook 1031, and the inner spring 702 and the outer spring 701 are taken out integrally by the backward movement of the chuck 1.
Example 9
This example was based on example 1, and was optimized as follows: the clamping head 1 and the mechanical arm 2 are connected with each other through a flange 10.
After the technical scheme is adopted, as a preferable mode, the clamping head 1 and the mechanical arm 2 are connected with each other, so that the disassembly, the overhaul and the replacement are convenient.
The above description is only a preferred embodiment of the present invention, and the patent protection scope of the present invention is defined by the claims, and all equivalent structural changes made by the specification and the drawings of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An automatic disassembly system for a bogie bearing spring is characterized by comprising a jacking device and a clamping device; the jacking device comprises a jacking unit (4) for taking out the inclined wedge block (6), the jacking unit (4) is connected with a triaxial cantilever, the clamping device comprises a clamping head (1) for clamping a bearing spring (7), and the clamping head (1) is connected with a mechanical arm (2);
the three-axis cantilever comprises an X-axis guide rail (801), a Y-axis guide rail (802) and a Z-axis guide rail (803) which are all provided with ball screws, a bracket (3) is arranged at the lower end of the three-axis cantilever, the X-axis guide rail (801) is horizontally arranged at the upper end of the bracket (3), the Y-axis guide rail (802) is horizontally arranged at the upper end of the X-axis guide rail (801) and is mutually perpendicular to the X-axis guide rail, a first sliding seat (8011) is connected at the lower end of the middle of the Y-axis guide rail (802), the first sliding seat (8011) is mutually connected with the X-axis guide rail (801), the upper end of the Y-axis guide rail (802) is vertically connected with the Z-axis guide rail (803), the lower end of the Z-axis guide rail (803) is connected with a second sliding seat (8021), and the second sliding seat (8021) is mutually connected with the Y-axis guide rail (802), and servo motors (9) are respectively arranged at the X-axis guide rail (801), the Y-axis guide rail (802) and the Z-axis guide rail (803);
the Z-axis guide rail (803) is also connected with a third sliding seat (8031), the two jacking units (4) are symmetrical relative to the Z-axis guide rail (803), and the two jacking units (4) are connected with the third sliding seat (8031) mutually; the lifting unit (4) comprises a laser sensor, a connecting plate (401), a lifting platform (403), a lifting rod (406) and a small cylinder (407), wherein the lifting platform (403) is connected with a third sliding seat (8031) through the connecting plate (401), the laser sensor is arranged at the upper end of the lifting platform (403), a lifting plate (405) is arranged in the middle of the lower end of the lifting platform (403), a U-shaped clamping groove is formed in the lifting plate (405), lifting rods (406) are arranged on the left side and the right side of the lifting plate (405), the front end of the lifting rod (406) is located in front of the front end of the lifting platform (403), and the lifting plate (405) and the lifting rod (406) are connected with the small cylinder (407);
the chuck (1) comprises a supporting piece (101), wherein the front end of the supporting piece (101) is connected with a positioning device for positioning, a hooking and tightening force piece (103) acting on an outer spring (701) is arranged inside the supporting piece (101), and a V-shaped abutting piece (104) acting on an inner spring (702) is also arranged in a space between the hooking and tightening force piece (103) and the supporting piece (101);
the hooking force piece (103) comprises a T-shaped hooking head (1031), a connecting rod (10312) and a mounting block (1032); the T-shaped hook head (1031) comprises a hooking block (10311) and a connecting rod (10312), the hooking block (10311) is vertically arranged, one end of the connecting rod (10312) is connected with the hooking block (10311), and the other end of the connecting rod (10312) is connected with a mounting block (1032) fixedly arranged in the supporting piece (101);
the V-shaped abutting piece (104) comprises a first abutting block (1041) and a second abutting block (1042) which are respectively arranged at the left side and the right side of the hooking force piece (103), the first abutting block (1041) and the second abutting block (1042) are respectively connected with a first connecting block (1043) and a second connecting block (1044) which are vertically arranged, the upper ends of the first connecting block (1043) and the second connecting block (1044) are connected with a second guide rail (1046) which is horizontally arranged, the second guide rail (1046) is positioned between the first connecting block (1043) and the second connecting block (1044), and a second guide block (1048) is arranged on the inner wall of the supporting piece (101), and a second slider (1047) is connected between the second guide rail (1046) and the second guide block (1048); the rear end of the first connecting block (1043) is connected with an ultrathin cylinder (1045).
2. The automatic truck load spring disassembly system according to claim 1, characterized in that an adjusting cylinder (402) is also adjusted between the connection plate (401) and the jacking platform (403).
3. The automatic disassembly system of bogie load springs according to claim 1, wherein the upper end of the jacking platform (403) is further provided with a reinforcing rib (404).
4. The automatic disassembly system of bogie load springs according to claim 1, wherein the positioning device comprises a group of correlation type optical fiber sensors (1021) which are horizontally arranged, 8-12 groups of correlation type optical fiber sensors (1021) are arranged in the vertical direction, the correlation type optical fiber sensors (1021) are connected with fixing pieces (1022), the upper ends and the lower ends of the fixing pieces (1022) are connected with double-shaft cylinders (1023), the left side and the right side of the fixing pieces (1022) are connected with first guide rails (1024), the outer wall of the supporting piece (101) is provided with first guide blocks (1026), and first sliding blocks (1025) are connected between the first guide rails (1024) and the first guide blocks (1026).
5. The automatic disassembly system of bogie load springs according to claim 1, characterized in that the collet (1) and the mechanical arm (2) are interconnected by a flange (10).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810798273.3A CN108637634B (en) | 2018-07-19 | 2018-07-19 | Automatic dismounting system for bogie bearing spring |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798273.3A CN108637634B (en) | 2018-07-19 | 2018-07-19 | Automatic dismounting system for bogie bearing spring |
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| CN108637634A CN108637634A (en) | 2018-10-12 |
| CN108637634B true CN108637634B (en) | 2023-11-03 |
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| CN201810798273.3A Active CN108637634B (en) | 2018-07-19 | 2018-07-19 | Automatic dismounting system for bogie bearing spring |
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| CN109465624A (en) * | 2018-12-25 | 2019-03-15 | 成都岁生科技有限责任公司 | A kind of steering dismantling equipment and bogie disassembling method |
| CN109366155B (en) * | 2018-12-25 | 2023-06-20 | 成都岁生科技有限责任公司 | Tool for disassembling springs of railway vehicle bogie and spring disassembling method |
| CN109465616A (en) * | 2018-12-25 | 2019-03-15 | 成都岁生科技有限责任公司 | A kind of bogie disassembly manipulator equipment and bogie method for dismounting |
| CN109483196B (en) * | 2018-12-29 | 2023-07-25 | 成都岁生科技有限责任公司 | Bogie dismounting device capable of realizing positioning between bogie |
| CN109500568A (en) * | 2018-12-29 | 2019-03-22 | 成都岁生科技有限责任公司 | A kind of rail vehicle truck provision for disengagement |
| CN109483197A (en) * | 2018-12-29 | 2019-03-19 | 成都岁生科技有限责任公司 | A kind of bogie disassembling system |
| CN111283698B (en) * | 2020-03-24 | 2021-07-27 | 成都岁生科技有限责任公司 | Bogie sleeper spring and wedge decomposition detection robot system |
| CN112427912B (en) * | 2020-12-03 | 2022-06-28 | 中车石家庄车辆有限公司 | Bogie disassembling system and method |
| CN115077388B (en) * | 2022-08-22 | 2022-11-18 | 成都岁生科技有限责任公司 | Railway freight car bogie slide wedge detection device |
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