CN115890586A

CN115890586A - Mechanical device for assisting in assembling and disassembling train door leaf

Info

Publication number: CN115890586A
Application number: CN202211207042.3A
Authority: CN
Inventors: 关鸿耀; 濮建荣; 高海涛; 曾世文; 史金飞; 张�杰; 王贤民; 吴嘉明; 陆缘
Original assignee: Nanjing Kangni Mechanical and Electrical Co Ltd
Current assignee: Nanjing Kangni Mechanical and Electrical Co Ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2023-04-04

Abstract

The invention discloses a mechanical device for assisting in assembling and disassembling train door leaves, which comprises a movable trolley, a fine adjustment mechanism, a grabbing mechanism and a control device. A frame is arranged above the movable trolley; the frame is connected with the lifting plate through a connecting rod, and the connecting rod is driven by the oil cylinder to drive the lifting plate to move; the fine adjustment mechanism is arranged on the lifting plate; a bracket assembly of the grabbing mechanism is fixed on a movable plate of the fine adjustment mechanism and is provided with a swinging arm capable of swinging and rotating, and a universal sucking disc for grabbing a door leaf is arranged at the end part of the swinging arm; the control device is arranged on the frame. The invention is an electromechanical integrated device which can move according to actual needs; the height of the adaptive door leaf is adjusted by using the oil cylinder, the connecting rod and the fine adjustment mechanism, and the door leaf is grabbed by using the sucking disc; the swing arm structure capable of rotating and swinging and the adjustable universal sucker are simultaneously arranged, the swing arm structure can adapt to different poses and forms of the door leaf, and the door leaf can be grabbed and adjusted to be placed. The invention can be operated and used by one person, thereby improving the working efficiency and saving labor and labor.

Description

Mechanical device for assisting in assembling and disassembling train door leaf

Technical Field

The invention relates to a train auxiliary assembly and disassembly device, in particular to a mechanical device for assisting in assembling and disassembling a train door leaf.

Background

The wear and the fault of the subway and the train inevitably occur in the long-term operation process, and the subway and the train must be dismantled for maintenance. The overhaul of subway, train is usually carried out at special subway maintenance vehicle company, and convenient omnidirectional maintenance vehicle generally raises whole train, and the commonly used frame height distance is 1100mm and 1480mm apart from the workshop ground on carriage ground. At present, the maintenance and the assembly and disassembly of train door leaves are all carried out by manual operation. 3 persons are required to cooperate to complete the assembly and disassembly work of the single-sided door leaf of the train, namely 2 persons on the workshop ground, 1 person on the carriage ground, and 2 persons on the workshop ground are responsible for lifting the door leaf, and 1 person on the carriage ground carries out alignment and assembly and disassembly of a door leaf screw; if the door leaves are assembled and disassembled on two sides of the subway carriage, at least 5 persons are needed, namely 4 persons on the ground of the workshop and 1 person on the ground of the carriage. The weight of a single subway door leaf is usually 35-50 kg, the requirement on physical ability of workers on the floor of a workshop is high, meanwhile, the distance between a carriage and the floor is 1100mm or 1480mm, and the requirement on the height of the workers is also certain.

In the prior art, the auxiliary device for disassembling the vehicle door is mostly used for passenger cars and automobiles, is less limited by the working environment and is not suitable for disassembling and assembling the doors of subways and trains. In addition, the door leaf grabbing of the vehicle door dismounting device is mostly realized by adopting a clamping structure or a magnetic absorption structure, for example, the invention patent with the patent number of CN109531535A discloses a high-side vehicle door dismounting device, the structure for moving the vehicle door is a permanent magnetic chuck, the suction force is difficult to control by the structure, the adaptability to the door leaf is low, and the operation is complex; still like the utility model patent of patent number CN210852722U discloses a door dismouting auxiliary device, its structure that specifically removes the door leaf is fixture, and this kind of structure exerts great pressure in order to counter door self gravity when the centre gripping door to the door, has the risk of damaging the door, and clamping position is comparatively fixed, and is low to the adaptability of door leaf structure, is difficult to do the dismouting door that becomes more meticulous.

In addition, in order to ensure that the auxiliary device is reliable in the process of detaching the vehicle door in the prior art, the mode of increasing a mechanical structure is mostly adopted for realizing, but the structure of the device is complex, the adaptability to the vehicle door and the environment is further reduced, the cost is increased, the efficiency is reduced, and the intelligent degree is low.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a mechanical device which is suitable for a door leaf structure, efficient, safe and labor-saving and can be used for assisting in assembling and disassembling a train door leaf.

The technical scheme is as follows: the mechanical device for assisting in assembling and disassembling the train door leaf comprises a moving trolley, wherein a rack is arranged on one side of the moving trolley, a lifting plate is hinged to the vertical part of the rack through an upper connecting rod and a lower connecting rod to form a parallelogram structure, the lower connecting rod is pushed by a telescopic structure hinged to the moving trolley and drives the lifting plate to move, and the mechanical device is characterized in that a grabbing mechanism is mounted on the lifting plate and comprises a support assembly, a swing arm and a universal sucker, the universal sucker is mounted at the end of the swing arm, and the swing arm is mounted on the support assembly.

Preferably, the grabbing mechanism is mounted on the lifting plate through a fine adjustment mechanism.

Preferably, the fine adjustment mechanism comprises a ball screw mechanism and a servo motor for driving the ball screw mechanism, the ball screw mechanism is fixed on the lifting plate through a bottom plate in the vertical direction, a moving plate is fixedly mounted on a screw nut moving in the vertical direction of the ball screw mechanism, and a support assembly of the grabbing mechanism is fixed on the moving plate.

Preferably, the bracket component includes the bottom plate, is equipped with the gear structure by gear motor drive on the bottom plate, and the last fixed mounting of gear structure has the swing arm support, be equipped with swing axle and swing span on the swing arm support, the swing span rotates with the swing axle to be connected, swing span fixed connection swing arm, the swing span does the swing of 4 within ranges around the swing axle.

Preferably, the swing frame is connected with the swing shaft through a return spring, the swing arm can swing to adapt to the door leaf when grabbing the door leaf, automatic righting is achieved after grabbing, and the swing frame is always in an initial state when no load exists.

Preferably, the universal sucker comprises a sucker, a sucker support seat for fixing the sucker, a sucker shaft and a linear bearing, the linear bearing is fixedly arranged at the tail end of the swing arm, and the sucker shaft is arranged in the linear bearing; the tail end of the sucker shaft is provided with a joint ball hinge, the outer ring of the joint ball hinge is tightly matched with the sucker supporting seat, and the inner ring of the joint ball hinge is tightly matched with the sucker shaft; a compression spring is sleeved outside the sucker shaft, one end of the compression spring is abutted against the swing arm, and the other end of the compression spring is abutted against the sucker supporting seat; the sucking disc is connected with the gas storage tank and the vacuum generator, and the gas circuit is connected with a pressure sensor for monitoring the negative pressure of the sucking disc.

Preferably, the universal sucker further comprises a sucker extending length adjusting sleeve and an adjusting screw which are arranged at the end part of the sucker shaft, so that each sucker can be guaranteed to be in good contact with the door leaf.

Preferably, the telescopic structure is an electro-hydraulic integrated oil cylinder.

Preferably, the length of one of the links is adjustable by means of a bolt.

Preferably, the upper connecting rod or the lower connecting rod is a plurality of parallel connecting rod groups hinged with the lifting plate and the frame.

Preferably, an angle sensor for monitoring an included angle between the connecting rod and the frame is arranged at the hinged position of the connecting rod and the frame.

Preferably, the swing arm is equipped with four, including two long swing arms and two short swing arms, can avoid the door leaf lockhole at the during operation.

Preferably, two sucking disc groups in any diagonal position in the universal sucking discs connected by the four swing arms can independently realize that the door leaf snatchs, and on the premise that one group of air passages breaks down, the other group of air passages still can ensure safety.

Preferably, two groups of storage battery packs and vacuum pump stations which are used alternately and an oil cylinder attached pump station are arranged in the moving trolley.

Preferably, one side of the moving trolley is provided with a stop iron for bearing the fine adjustment mechanism.

Preferably, a laser sensor capable of monitoring the distance between the door leaf shelf and the door leaf shelf is arranged on the front side of the movable trolley.

Preferably, the device also comprises a control device arranged on the machine frame and a wireless code disc used for controlling the swing arm and the suction cup to slightly move.

The working principle is as follows: the invention supplies power through the storage battery, can move in any direction, realizes rough height adjustment of the grabbing mechanism by using the oil cylinder, namely primary positioning, and realizes fine height adjustment of the grabbing mechanism by using the ball screw mechanism, namely precise positioning; the swing arm of the grabbing mechanism can swing to adapt to the position of the door leaf, the sucker can adapt to the plane of the door leaf in a self-adaptive mode and realize negative pressure grabbing, and the whole grabbing mechanism can drive the door leaf to rotate. The door leaf can be smoothly grabbed, dismantled and placed through height adjustment, angle adaptation, negative pressure adjustment and rotary movement.

Has the advantages that: compared with the prior art, the invention has the following remarkable advantages:

1. the door leaf grabbing device is provided with the rotatable and swinging swing arms and the universal suckers, different postures of the door leaf can be self-adapted, the length of the universal suckers can be adjusted, the suckers can be kept in good contact with the door leaf, and meanwhile, the swing arms are short and short, so that lockholes can be avoided when the door leaf is grabbed;

2. the oil cylinder works to move the connecting rod, and simultaneously the fine adjustment mechanism moves in the vertical direction, so that the coarse adjustment of the height of the grabbing mechanism is realized; the ball screw mechanism is used for moving, so that the grabbing mechanism can realize fine height adjustment, and the code disc is used for realizing accurate positioning; due to multiple adjustment, the grabbing mechanism can be accurately aligned with the door leaf, grabbing is convenient to implement, and fine operation of unhooking the door leaf is realized;

3. the fine adjustment mechanism and the grabbing mechanism can move horizontally during the coarse adjustment of the height, and meanwhile, the grabbing mechanism can rotate in a direction parallel to the door leaf by using the servo motor, so that the door leaf is convenient to take down and place;

4. by adopting a redundancy design, two groups of air storage tanks with the same structure and a vacuum generator are combined and grouped by four-claw diagonal lines, and each group of air passages can independently bear the load of a single door leaf when working independently, so that the other group of air passages can still ensure safety on the premise that one group of air passages fails, and the maintenance time is won;

5. two groups of storage battery packs which are used alternately are adopted for supplying power, so that the replacement of batteries is not influenced; meanwhile, when the electric power is insufficient in a normal working state, the air storage tank plays a pressure maintaining role so that the sucker can maintain safe negative pressure for at least 2 minutes, remediation time is provided for power supply again, and the door leaf is prevented from being suddenly dropped and damaged;

6. when the door leaf dismounting device is in actual use, the device control operation can be completed by 1 person, and all the door leaf dismounting and mounting work can be completed only by the cooperation of another 1 person in the carriage, so that the labor and the physical strength can be saved, and meanwhile, the working efficiency and the safety guarantee are greatly improved.

Drawings

FIG. 1 is a front view of the structure of the present invention;

FIG. 2 is a side view of the structure of the present invention;

FIG. 3 is a schematic view of the ball screw structure of the present invention;

FIG. 4 is a front view of the grasping configuration of the present invention;

FIG. 5 is a top view of a grasping configuration of the present invention;

FIG. 6 is a schematic view of the structure of the universal chuck of the present invention;

fig. 7 is a schematic view of the working state of the present invention.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings.

As shown in figure 1, the invention discloses a mechanical device for assisting in assembling and disassembling train door leaves.A moving trolley 1 is the basis of the whole machine, two directional wheels 12 are arranged below the moving trolley, two universal wheels 13 are arranged below the moving trolley, the universal wheels 13 are provided with brake rods 14, and a rack 2 is arranged above the universal wheels 13. The two directional wheels 12 and the two universal wheels 13 support the whole device, and flexible movement and steering of the whole device can be ensured.

Frame 2 passes through fixed-length pole 32 and length adjustment pole 31 and connects lifter plate 4, constitute a two rocker motion's "parallelogram" structure between the four, fixed-length pole 32 passes through hinge and frame 2 with length adjustment pole 31, lifter plate 4 links to each other, length adjustment pole 31 can pass through bolt adjustment length, keep isometric with fixed-length pole 32 all the time, be equipped with electric liquid integration hydro-cylinder 33 between fixed-length pole 32 and the travelling car 1, fixed-length pole 32 passes through the hinge and links to each other with the piston rod of hydro-cylinder 33, hydro-cylinder 33 passes through the hinge to be fixed at travelling car 1 upper surface. The piston rod of the oil cylinder 33 can drive the fixed-length rod 32 and the length adjusting rod 31 to swing up and down through the hinge when being extended and shortened, so as to drive the lifting plate 4 to move up and down and back and forth in a composite translational manner, an angle sensor for monitoring the included angle between the fixed-length rod 32 and the frame 2 is arranged at the hinged position, and the angle value monitored by the angle sensor is converted into height data to be used as the control basis of the fine adjustment mechanism.

Two groups of storage battery packs, vacuum pump stations and auxiliary pump stations of the oil cylinders 33 which are used alternately are arranged in the movable trolley 1.

The fine adjustment mechanism 5 is fixedly installed on the lifting plate 4, the fine adjustment mechanism 5 comprises a ball screw mechanism 54, an installation plate 51 of the ball screw mechanism 54 is fixed on one side of the lifting plate 4 through bolts, and the lifting plate 4 can drive the ball screw mechanism 54 to move together when moving. The fine adjustment mechanism 5 further comprises a servo motor 52, the servo motor 52 drives the screw rod to rotate through a synchronous belt 53 to enable the nut to move up and down, the nut is fixedly connected with a moving plate 55 through a screw, and the moving plate 55 is driven to move together.

One side of the movable trolley 1 is fixedly provided with a stop iron 11 which can support the lifting plate 4 and the fine adjustment mechanism 5 which move downwards, and the front side of the movable trolley is also provided with a laser sensor which can measure the distance between the movable trolley and the goods shelf.

The moving plate 55 is provided with a grabbing mechanism 6, a bracket assembly 61 of the grabbing mechanism 6 comprises a bottom plate 611, the bottom plate 611 is fixed on the moving plate 55 through screws, and the moving plate 55 can drive the grabbing mechanism 6 to move up and down together. The bottom plate 611 is provided with a pinion gear 6131 driven by the gear motor 612 and a bull gear 6132 engaged with the pinion gear 6131, and the bull gear 6132 is fixedly provided with a swing arm support 62. The swing arm support 62 is provided with a swing shaft 63, the swing shaft 63 is sleeved with a swing frame 64, the swing frame 64 is connected with the swing shaft 63 through four return springs 65, and four swing arms 66 are fixedly connected at the same time. The pinion gear 6131 drives the bull gear 6132 to rotate through the driving of the motor 612, the bull gear 6132 drives the swing arm support 62 to rotate together, and the swing arm 66 also rotates together with the support 62. The swing arm 66 can rotate and simultaneously swing plus or minus 4 degrees around the swing shaft 63 along with the swing frame 64, and can return to the positive position under the action of the return spring 65.

The four swing arms 66 comprise two long swing arms 661 and two short swing arms 662 which can avoid a door leaf lock hole when in use, the tail ends of the swing arms are fixedly connected with universal sucker structures 67, in the universal sucker structures 67, suckers 671 are fixedly connected with sucker supporting seats 672 through screws, joint ball hinges 674 are arranged at the tail ends of sucker shafts 673, the sucker supporting seats 672 are tightly matched with the outer rings of the joint ball hinges 674, the inner rings of the joint ball hinges 674 are tightly matched with the sucker shafts 673, and swinging in any direction of plus or minus 7 degrees can be realized between the sucker shafts 673 and the suckers 671; a linear bearing 675 and a compression spring 676 are sleeved outside the sucker shaft 673, the linear bearing 675 is fixed in a through hole at the tail end of the swing arm 66, and the compression spring 676 props between the sucker support base 672 and the swing arm 66 to provide a certain pressing force for the sucker 671; the sucking disc 671 is provided with a pipe joint and an air pipe which are directly communicated with the air storage tank and the vacuum generator, the device adopts a redundancy design, the combination of the two groups of air storage tanks with the same structure and the vacuum generator takes diagonal lines as groups, and each group of air circuits can independently bear the load of a single door leaf when working independently. In the universal sucking disc structure 67 that long swing arm 661 is connected, sucking disc axle 673 end is equipped with one and stretches out length adjusting sleeve 677, can adjust the length that sucking disc axle 673 stretches out swing arm 66 through taut sucking disc axle screw 678, and then guarantees that the sucking disc 671 on the long swing arm 661 also can realize fine contact with the door leaf. For example, when the door leaf is a bent door, the bending angle of the bent door is 10 degrees, the single side is 5 degrees, a vertical distance difference exists between the long swing arm 661 and the short swing arm 662 to the door leaf, the long swing arm 661 is 120mm longer than the short swing arm 662, according to calculation, the distance difference is 120tan5 degrees =10.5mm, and at this time, the suction cup shaft 673 is adjusted, so that theoretically, four suction cups 671 can be guaranteed to be in good contact with the door leaf; when the door leaf is a flat door, the sucker extension length adjusting sleeve 677 can be detached.

The mechanical device for assisting in assembling and disassembling the train door leaf further comprises a control device and a wireless code disc, wherein the control device is arranged on the rack 2 and can control the whole device to execute an operation command; the wireless code disc can finely adjust the grabbing mechanism 6 to realize accurate grabbing and unhooking operations of the door leaf.

The whole machine adopts two groups of storage batteries to supply power alternately, the storage battery power reaches below 70%, the machine must be stopped to replace the battery, if the storage battery power is insufficient in the working process and needs to be replaced, the gas storage tank can maintain the pressure so that the sucker can keep the negative pressure safety pressure for at least more than 2 minutes.

When the train is overhauled, the door leaf needs to be removed, and after the overhaul is finished and a new door is repaired, the door leaf needs to be installed on the train. When the door leaf assembling device works, two processes of assisting in disassembling the door leaf and assembling the door leaf can be completed.

When the door leaf is disassembled, the train door leaf to be overhauled needs to be disassembled and then placed into a specified position of a specified door leaf shelf. The specific process is as follows:

firstly, the whole machine is aligned to the door leaf to be removed, which is called as contraposition for short. Secondly, starting the electro-hydraulic integrated oil cylinder 33 to adjust the height of the lifting plate 4; starting the servo motor 52 to drive the ball screw mechanism 54 to move, and synchronously lifting the moving plate 55, the four-bar swing arm 66 and the universal suction cup 67 to preset positions; the gear motor 612 is activated to drive the big and small gears so that the four-bar swing arm 66 and the universal suction cup 67 are rotated 90 deg. to align the door leaf to be removed. And then the whole machine is pushed to enable each universal suction cup 67 to press the door leaf, and after the four suction cups 671 can completely contact the door leaf at the same time, two paths of vacuum pipelines of the suction cups are started to enable the suction cups to vacuumize, so that the pressure reaches the set pressure of-86 KPa.

After the pressure reaches a set value, the disassembly action is started, 1 person on the carriage unloads the screw, and the door leaf is separated from the door carrying frame positioning pin hole on the train. The wireless code disc is operated by 1 person on the workshop ground to respectively control the four-rod swing arm 66 and the universal suction disc 67 to slightly move and rotate up and down, so that the door leaf is driven to slightly move and is matched with 1 person on the carriage to ensure that the door leaf is connected with the door leaf on the train and the lower swing arm is unhooked.

After the door leaf is unhooked, the door leaf is rotated to the horizontal position, the whole machine is pushed to aim at a door leaf shelf to move, the laser sensor is used for detecting that the door leaf is stopped after reaching a specified position, then the oil cylinder 33 is started to enable the lifting plate 4 to move downwards to a low position to touch a dead stop iron 11 with a lower limit, the ball screw mechanism 54 is used for driving the door leaf to move to about 20mm away from the bottom of the door leaf shelf, finally the vacuum sucker is used for releasing negative pressure, the door leaf is enabled to freely fall to the specified position of the door leaf shelf, and a cycle of detaching the door leaf is completed.

When the door leaf is installed, the door leaf on the door leaf shelf needs to be grabbed by the sucker and then loaded into the installation frame of the train. The specific process is as follows:

firstly, the four-bar swing arm 66 and the universal suction cup 67 are rotated to be in a horizontal position and are lowered to a low position, namely an initial position, the whole machine is pushed to be aligned to a door leaf to be installed manually, and when the four suction cups 671 just contact the door leaf, the ball screw mechanism 54 is driven to drive the four-bar swing arm 66 and the universal suction cup 67 to move downwards by about 20mm; then, the four suckers 671 are pushed manually to effectively press the door leaf, the vacuum generator is started until negative pressure indicates-86 MPa, and after the pressure reaches the standard, the ball screw mechanism 54 is driven to drive the swing arm 66, the universal sucker 67 and the grabbed door leaf to move upwards to separate from a door leaf shelf; then, the whole machine is continuously moved and indexed to be aligned to the position of a train door leaf to be installed, the oil cylinder 33 and the ball screw mechanism 54 are simultaneously started, the four-rod swing arm 66 and the universal suction cup 67 move upwards together with the door leaf, and the whole machine is automatically stopped after the angle sensor detects a specified position; the gear motor 612 is started to enable the four-rod swing arm 66 and the universal suction cup 67 to rotate by 90 degrees, so that the door leaf is converted into a vertical state from a horizontal state, the whole machine is pushed to the position of a train for installing the door leaf, the manual coded disc is utilized to operate the swing arm 66 and the universal suction cup 67 to ascend and rotate to perform micro-motion after the door leaf is in place, and the door leaf swing arm on the train are hooked by aligning with 1 person on the carriage in an interactive mode.

After the door leaf is hooked, the wireless code disc stops acting immediately, and 1 person on the carriage carries out the positioning of the door leaf positioning pin and the door carrying frame on the train and tightens the screw. At the moment, the vacuum generator releases the negative pressure of the sucker for unloading, the sucker is separated from the train door leaf, and a cycle of 'mounting the door leaf' is completed.

Claims

1. The utility model provides a supplementary mechanical device who installs and removes train door leaf, includes travelling car (1), travelling car (1) one side is equipped with frame (2), and the vertical portion of frame (2) articulates through upper and lower two connecting rods (3) has lifter plate (4), constitutes parallelogram structure, and wherein below connecting rod (32) promote and drive lifter plate (4) and remove by extending structure (33) that articulate in the travelling car, its characterized in that, install on lifter plate (4) and snatch mechanism (6), snatch mechanism (6) and include bracket component (61), swing arm (66) and universal sucking disc (67), and universal sucking disc (67) are installed at swing arm (66) tip, and swing arm (66) are installed on bracket component (61).

2. The mechanical device for assisting in the assembly and disassembly of train door leaves as claimed in claim 1, wherein the gripping mechanism (6) is mounted on the lifting plate (4) by a fine adjustment mechanism (5).

3. The mechanical device for assisting in assembling and disassembling the train door leaf according to claim 2, wherein the fine adjustment mechanism (5) comprises a ball screw mechanism (54) and a servo motor (52) for driving the ball screw mechanism (54), the ball screw mechanism (54) is fixed on the lifting plate (4) through a mounting plate (51) in a vertical direction, a moving plate (55) is fixedly mounted on a screw nut moving in the vertical direction of the ball screw mechanism (54), and a bracket assembly (61) of the grabbing mechanism (6) is fixed on the moving plate (55).

4. The mechanical device for assisting in assembling and disassembling the train door leaf as claimed in claim 1, wherein the bracket assembly (61) comprises a bottom plate (611), a gear structure (613) driven by a speed reduction motor (612) is arranged on the bottom plate (611), a swing arm support (62) is fixedly installed on the gear structure (613), a swing shaft (63) and a swing frame (64) are arranged on the swing arm support (62), the swing frame (64) is rotatably connected with the swing shaft (63), and the swing frame (64) is fixedly connected with the swing arm (66).

5. The mechanical device for assisting in assembling and disassembling train door leaves according to claim 4, characterized in that the swing frame (64) is connected with the swing shaft (63) through a return spring (65).

6. The mechanical device for assisting in assembling and disassembling the train door leaf according to claim 1, wherein the universal suction cup (67) comprises a suction cup (671), a suction cup supporting seat (672) for fixing the suction cup (671), a suction cup shaft (673) and a linear bearing (675), the linear bearing (675) is fixedly arranged at the tail end of the swing arm (66), and the suction cup shaft (673) is arranged in the linear bearing (675); the tail end of the sucker shaft (673) is provided with a joint ball hinge (674), the outer ring of the joint ball hinge is tightly matched with the sucker support seat (672), and the inner ring of the joint ball hinge is tightly matched with the sucker shaft (673); a compression spring (676) is sleeved outside the sucker shaft (673), one end of the compression spring is abutted against the swing arm (66), and the other end of the compression spring is abutted against the sucker supporting seat (672); the sucking disc (671) is connected with the gas storage tank and the vacuum generator, and the gas circuit is connected with a pressure sensor for monitoring the negative pressure of the sucking disc.

7. The mechanical device for assisting in the assembly and disassembly of train door leaves as claimed in claim 6, wherein the universal suction cup (67) further comprises a suction cup protrusion length adjusting sleeve (677) and an adjusting screw (678) at the end of a suction cup shaft.

8. The mechanical device for assisting in assembling and disassembling train door leaves according to claim 1, characterized in that the telescopic structure (33) is an electro-hydraulic integrated oil cylinder.

9. Mechanical device for assisting the mounting and dismounting of train door leaves according to claim 1, characterized in that the length of one of the connecting rods (3) is adjustable by means of a bolt.

10. The mechanical device for assisting in the assembly and disassembly of train door leaves as claimed in claim 1, wherein the connecting rods (3) located above or below are a plurality of parallel connecting rod groups hinged with the lifting plate (4) and the frame (2).

11. The mechanical device for assisting in assembling and disassembling the train door leaf as claimed in claim 1, wherein an angle sensor for monitoring an included angle between the connecting rod (3) and the frame (2) is arranged at any hinged position of the connecting rod and the frame.

12. Mechanical device for assisting the mounting and dismounting of train door leaves according to claim 1, characterized in that said swing arms (66) are provided with four, comprising two long swing arms (661) and two short swing arms (662).

13. The mechanical device for assisting in assembling and disassembling the train door leaf according to claim 12, characterized in that two sucker groups at any diagonal position in the universal suckers (67) connected with the four swing arms (66) can independently realize door leaf grabbing.

14. The mechanical device for assisting in assembling and disassembling the train door leaf according to claim 1, wherein two groups of storage battery packs and vacuum pump stations which are alternately used and auxiliary pump stations of oil cylinders are arranged in the movable trolley (1).

15. The mechanical device for assisting in assembling and disassembling the train door leaf as claimed in claim 1, wherein a stop iron (11) for receiving the fine adjustment mechanism (5) and the lifting plate (4) is arranged on one side of the moving trolley (1).

16. The mechanical device for assisting in assembling and disassembling the train door leaf as claimed in claim 1, wherein a laser sensor capable of monitoring the distance between the laser sensor and a door leaf shelf is arranged on the front side of the moving trolley (1).

17. The mechanical device for assisting in assembling and disassembling the train door leaf as claimed in claim 1, further comprising a control device arranged on the frame (2) and a wireless code disc for controlling the micro-motion of the swing arm (66) and the suction cup (67).