CN209407858U

CN209407858U - Equipment is used in a kind of dismantling of bogie

Info

Publication number: CN209407858U
Application number: CN201822178392.7U
Authority: CN
Inventors: 不公告发明人
Original assignee: Chengdu Year Old Science And Technology Co Ltd
Current assignee: Chengdu Year Old Science And Technology Co Ltd
Priority date: 2018-12-25
Filing date: 2018-12-25
Publication date: 2019-09-20
Anticipated expiration: 2028-12-25

Abstract

The utility model discloses a kind of bogie dismantling equipment, the equipment includes tool frame and clamp device, and the clamp device includes rod assembly and support member；The rod assembly includes bar body, is also equipped with grasping mechanism on the bar body；The bar body is telescopic rod；The grasping mechanism includes shaft and lever；The shaft is articulated on bar body, is additionally provided with flanging on the free end of the bar body；Lever can turn to parallel with bar body；The support member is located at the underface of bar body.The equipment provided using this programme, can effectively reduce the failure rate during bogie dismantling, simultaneously this programme also have the characteristics that on completion and bogie part cooperate and remove it is described cooperate it is fireballing.

Description

Equipment is used in a kind of dismantling of bogie

Technical field

The utility model relates to bogie device for disassembling technical fields, more particularly to a kind of bogie dismantling equipment.

Background technique

Bogie is one of the ost important components in rail vehicle structure, and the various parameters of bogie also directly determine vehicle Stability and vehicle ride comfort.It in bogie maintenance process, needs to split structure, bogie includes holding Carry spring, wherein bearing spring is mainly removed by way of artificial lift, the bearing spring at bogie both ends be divided into it is outer, in, Interior three row, for the different bogie of model, quantity and model of bearing spring etc. are had differences, the pitch of bearing spring Also different, a bearing spring includes interior bearing spring and outer bearing spring, and interior bearing spring and outer bearing spring Between it is mutually indepedent, when moving bearing spring, needing to increase additional power makes interior bearing spring and outer bearing spring holding phase To fixation.

The quality of a usual bearing spring only picks and places bearing spring in such a way that worker moves, makes in 10kg or more The daily working strength of worker is very big.And worker, during moving, due to the duplication of labour, operating space is narrow, holds The larger problem of spring weight itself is carried, easily occurs leading to thing of hurting sb.'s feelings occur during bearing spring dismantling because of rubber sleeve, de- power Therefore.

In view of the above problems, to solve the problems, such as that dismantling bogie set forth above exists, occur in the prior art as Application No. is: technical solution provided by 201810798273.3 patent application can not only be realized using the program and be utilized machine Tool dismantling substitution hand labor, due to using automation dismantling so that dismantling bogie also have the characteristics that it is high-efficient.

It is for further study to the structure design and bogie disassembling method of the device disassembled for bogie, so that its Field of track traffic can be preferably served, is those skilled in the art's technical problem urgently to be resolved.

Utility model content

Make for the structure design and bogie disassembling method set forth above to the device disassembled for bogie into one Step research, so that it can preferably serve field of track traffic, it is those skilled in the art's technology urgently to be resolved Problem.The utility model provides a kind of bogie dismantling equipment, and the equipment provided using this programme can effectively reduce steering Also there is part on completion and bogie to cooperate and remove the cooperation speed for failure rate while this programme during frame dismantling Fast feature.

The technological means of this programme is as follows, a kind of bogie dismantling equipment, including tool frame and is mounted on tool frame Clamp device, the clamp device includes rod assembly and support member；

The rod assembly includes bar body, and the bar body is the cantilever beam-like structure by stretching out on tool frame, The grasping mechanism for applying pulling force for part on bogie is also equipped on the free end of the bar body；

The bar body is relative to the telescopic telescopic rod of tool frame；

The grasping mechanism includes shaft and the lever that is connected in shaft, and the side of shaft is fixed in one end of the lever On face；

The shaft is articulated on bar body, and flanging, the shaft are additionally provided on the free end of the bar body Adjacent with flanging, shaft is located at the ipsilateral of flanging with tool frame；

Lever with shaft rotation, lever free end to when rotating on the outside of bar body free end, the flanging passes through The dead-centre position for stopping limitation lever rotation is carried out to lever；And lever can turn to it is parallel with bar body；

The support member is located at the underface of bar body, and part under the action of rod assembly on bogie is toppled over When, support member is used to provide support for the part toppled on bogie: the part is poured over the supporting surface of support member.

In the prior art, for rail truck structure comprising spring, tapered wedges the cavity of side frame is set Interior, the spring includes damping spring and bearing spring.Meanwhile it being provided with salient point on the surface of the cavity, for constraining The position of damping spring, bearing spring in the cavity, tapered wedges are mounted on the upper end of bearing spring.Therefore carrying out damping bullet When spring, bearing spring, tapered wedges dismantling, it is limited to the size with upper cavity, when realizing mechanical arm dismantling, it is desirable that manipulator Arm will have extremely accurate motion flow.And in the prior art, it is disassembled for damping spring and bearing spring, the motion flow Generally are as follows: above mention after clamping corresponding spring using the fixture for including claw so that the upper of the salient point is crossed in the lower end of spring End, then by the movement of claw described in robot drives so that spring with claw by being removed in the cavity, subsequent storing bullet Spring is on station or inspection rack.

In the above process, the distance above mentioned in the cavity for spring is smaller, meanwhile, realize spring with claw to When outer mobile, at this time since spring is still in the state of standing up, therefore the required precision for executing the above movement to manipulator is higher, no It so just will appear spring end collision accident, bogie dismantling process caused to break down.

The workflow or principle of this programme are as follows: this fixture is fixed on manipulator, is such as directed to the structure of existing manipulator, Connecting flange is set on tool frame, and the above connecting flange with the connecting flange on manipulator for being connected.In this way, in the above machine Under the action of tool hand, the above equipment can move in space.Both rod assembly and support member are mobile with tool frame, and move The side for moving the cavity on bogie, due to the load bearing component that bar body is lever, and bar body is telescopic rod, is driven Dynamic bar body, so that bar body protrudes into the gap above with upper spring, when lever and spring contact, lever is around the shaft Rotation, so that bar body can continue to protrude into；When the free end of lever enters the central area of the spring, lever exists Drive shaft is auto-reverse under gravity；Then driving bar body retracts, and acts on the interior table in the spring center hole in lever When face, the flanging hinders lever further to rotate, and lever is that spring applies pulling force at this time, so that the spring is poured over institute It states on supporting surface；Part is then constrained by support member, the position of support member in space is changed by manipulator, is completed The part on bogie by removing.

In the present solution, the structure using the above equipment designs, and since spring by the cavity on bogie before being removed, bullet Spring has one to topple over movement and be poured in the support member under the action of rod assembly, therefore compared to the prior art, with Upper process is not related to the process that spring is above proposed, that is, does not need spring and above propose displacement control；During spring is removed, by Topple in spring, be moved out of compared to spring in vertical state, at this time in the vertical direction, has protruded into the support of the cavity Component has bigger movable space.Therefore above scheme is used, it can not only reduce the failure rate during bogie is disassembled, reduce The requirement of the motion control difficulty of manipulator or this equipment, reduction to bogie spatial positioning accuracy, simultaneously because more than completing Constraint is applied to spring and realizes that spring topples over movement during bar body is stretched out and recycled relative to tool frame It completes: completing to cooperate and remove the fireballing feature of cooperation with part on bogie, the efficiency of dismantling bogie can be improved. Achievable dismantling movement is designed based on the above structure, since equipment is when carrying out bogie dismantling, for its movable space Become larger, therefore this programme also has has better applicability to the bogie of different model, i.e. this programme also has versatile The characteristics of.

As those skilled in the art, although the case where above course of work or principles and methods are only described for spring, As those skilled in the art, this equipment also can be used for the dismantling or transhipment of such as tapered wedges part.It is used as this field skill simultaneously Art personnel bring into normal play function to avoid support member from influencing rod assembly, and the above telescopic amplitude of bar body must meet Grasping mechanism can be extend out to the outside of pocketed space free end relative to tool frame, i.e. lever can be by relative to tool frame It extend out to the outside of pocketed space free end.

Further technical solution are as follows:

As the specific implementation form of support member, setting are as follows: the support member includes two and stretched out by tool frame Cantilever lever further includes pocket body, and the pocket body is flexible material, and one end of pocket body is fixed on a wherein cantilever lever, pocket body The other end is fixed on another cantilever lever；

The middle part of pocket body drops, to form the pocketed space for constraining the part on the supporting member；

The support member further includes third driving mechanism, and the third driving mechanism is for changing between two cantilever levers Away from；

The grasping mechanism is located at the surface in pocketed space.It is provided in the present solution, being toppled over by rod assembly for spring Pulling force, under with upper pulling force, spring rotates and topples over relative to lower end, and is poured onto the pocketed space；For support portion Part, before its bearing spring, the spacing between two cantilever levers guarantees that spring can smoothly be fallen on pocket body, falls into spring Afterwards, it under the action of third driving mechanism, is moved toward one another by two cantilever levers, at this time pocketed reduced space, simultaneously because pocket Body is flexible material, and pocket body can deform according to the shape of spring at this time, by spring clamping in pocket body space.And Afterwards, by the whole movement outside to cavity of robot drives equipment, realize spring by being moved out of in the cavity.This programme mentions The support member of confession, during spring is moved out of, by applying in such as inside lateral spring for realizing interior lateral spring and outside The fixed constraint in spring relative position tilts spring far from one end of tool frame, that is, can guarantee in spring Lateral spring will not use pocket body flexible to clamp outer lateral spring compared to existing by falling in outer lateral spring in during removing Claw can provide more structurally sound constraint for spring, so that manipulator has when driver equipment frame is moved in tool frame It still can guarantee that this equipment has reliable restraint performance to spring when bigger linear velocity, therefore use above scheme, can not only reduce Dismantling bogie can be improved in the failure rate of support member, the linear velocity movable from manipulator during bogie dismantling Efficiency.

To make spring etc. under the action of rod assembly, the middle part of two cantilever levers can be directly fallen in every time, so that When cantilever lever moves under the action of third driving mechanism, pocket body, which has spring etc., wraps up effect preferably in favor of improving machine The linear velocity of tool during the work time achievees the purpose that improve bogie dismantling efficiency, while it is mutual to optimize two cantilever levers Stress, setting are as follows: the cantilever lever, bar body are parallel to each other, and bar body is located at the center of two cantilever levers.

It is realized as described above, support member changes the constraint of the parts such as spring by the spacing of cantilever lever, and cantilever lever Spacing increase the parts such as spring can be facilitated to fall into pocketed space, to make the relative motion of cantilever lever enable to spring etc. Part two sides can uniform stressed, avoid pocketed space pocket body when reducing from sliding relative to parts such as springs, with raising The service life of reliability and extension pocket body that support member constrains the parts such as spring, while cantilever lever is increased in distance During, when being matched in the middle part of pocket body with parts fall trajectories such as springs, to avoid the above spacing increase from influencing spring etc. zero Contact point of the part on pocket body such as makes the above contact point be located at the middle part of pocket body, setting are as follows: the support member is also as far as possible Including the driving motor being mounted on tool frame, the threaded rod being connected on driving motor output end, it is threaded in threaded rod On two pieces of sliding blocks, a cantilever lever is respectively and fixedly provided on each sliding block, and two pieces of sliding blocks pass through oppositely oriented screw thread and threaded rod It is connected；

It further include the sliding slot parallel with threaded rod, the sliding slot is for constraining sliding block or cantilever lever, for avoiding cantilever lever It is rotated with threaded rod.Using this programme, in driving motor rotation, two sliding blocks are only capable of moving toward one another or relative motion Guarantee middle part symmetric motion of two cantilever levers relative to pocket body.As those skilled in the art, may be configured as having on tool frame There is the cavity for accommodating driving part, threaded rod and sliding block, cantilever lever on the housing bore of tool frame by stretching out, at this point, with upper casing Body opening can be used as the sliding slot；Further, to avoid cantilever lever from being worn, being set as the sliding slot is after threaded rod The track groove of side, and sliding slot is located on tool frame, under this setting, cantilever lever is respectively positioned on the front side of threaded rod.The third driving Mechanism includes driving motor, threaded rod, sliding slot and sliding block.As those skilled in the art, the above third driving mechanism also may be used Using other driving methods: such as driving of hydraulic-driven, air pressure, other electric drive forms.

To make this equipment can be used for providing positioning function to bogie, be such as used for following operating condition: bogie, which is suspended, to be hung It rises, and there is rotation axis on the suspender sling for realizing bogie, to rotate by the rotation axis, realize bogie rotation Turn for bogie positioning and arranged on left and right sides side frame location swap, setting are as follows: further include that pushing away on tool frame is fixed in one end Bar, the push rod are relative to the telescopic telescopic rod of tool frame.It is i.e. flexible by the push rod, apply thrust for bogie, Complete the rotate driving of bogie in space.Preferably, it is contemplated that this equipment is used to fix on a robotic arm and manipulator has There is maximum stroke, to make movement or the state of manipulator complete push rod under the premise of meeting bogie dismantling and push bogie Action form required for rotating is the simplest, setting are as follows: bar body, cantilever lever and push rod have the same side of tool frame It stretches out.

As a kind of push rod drive scheme light-weight, small in size, controllability is good, setting are as follows: further include being pushed away for driving The first flexible driving mechanism of bar, first driving mechanism are cylinder driving mechanism.

As those skilled in the art, support member and rod assembly realize its function to push rod when to avoid push rod from working It impacts, compared with tool frame, the free end of push rod can extend out to the outside of rod assembly, support member free end, Therefore push rod needs the length stretched out longer, as one kind can reduce push rod when idle length dimension and be its matched first The technical solution of the length dimension of driving mechanism, setting are as follows: first driving mechanism includes multiple cylinders, and multiple cylinders according to Secondary series connection, one of cylinder in end are fixed on tool frame, and push rod is arranged in another and is on the cylinder of end. Specifically, the axis of three cylinders is parallel, and the cylinder body of first cylinder is fixed on tool frame if number of cylinders is three, the The cylinder body of two cylinders is fixed on the piston rod of second cylinder, and the cylinder body of third cylinder is fixed on the work of second cylinder On stopper rod, push rod is fixed on the piston rod of third cylinder or the piston rod end of third cylinder is the end of push rod.

As the specific setting form of rod assembly, setting are as follows: be additionally provided with hole, institute on the free end of the bar body State the upper and lower end of hole perforation bar body；

The both ends of the shaft are articulated on the hole wall in the hole, and hinge joint is located at one of the hole far from tool frame On end；

Shaft is vertical with bar body, and the flanging is the edge of the hole wherein side, which is positioned at pull rod sheet The edge of body free end；

The bar body is flat bar, and when rod assembly hooks up part, the width direction of bar body is located at water Square to before lever and the feature contacts, the length direction of the lever is located at vertical direction；

Lever can rotate completely with shaft to being accommodated in the hole.In the present solution, the bar body is flat rod, no It only may make it that there are the strength and stiffness for meeting job requirement, while it being facilitated to be inserted into the gap on the upside of spring；It sets above The free end for being set to bar body has hole, while realizing shaft connection, may make both ends of the shaft to suffer restraints, with side Just it controls the rotary motion trace of lever and guarantees that lever pulls spring so that the reliability that spring is toppled over；The lever can with turn Axis rotation completely to be accommodated in the hole be intended to avoid lever stop bar body further protruded into the gap.It is preferred that , it is set as the shaft and is also located between the upper and lower end in the hole, influence bar body to avoid shaft and further go deep into institute It states gap or increases the resistance for the process that protrudes into, meanwhile, it also can avoid because part generation frictional influence turns on shaft and bogie Axis reversion is caused when bar body retracts relative to tool frame, and lever can not normally be discharged and rod assembly pair occurs It is corresponding that part is unconfined happens.

It is light-weight as a kind of rod assembly, and the big implementation of area coverage on corresponding part, setting are as follows: described Lever is multiple, and arranges along the axis direction of shaft that multiple levers are arranged in a row.Preferably, to further increase shelves Reliability of the bar to corresponding part constraint, setting are as follows: the bottom of each lever is provided with hook-shaped portion, and in the length of the lever When degree direction is located at vertical direction, hook-shaped portion is located at the ipsilateral of lever with tool frame.

To make the internal lateral spring of this equipment itself that there is restriction ability, setting are as follows: further include being installed on tool frame Locked assembly, the locked assembly include compression bar, and the compression bar is located at the pocketed space in the side of tool frame, and When one end of the bearing spring of bogie falls into side of the pocketed space close to tool frame, the compression bar can be in the diameter of bearing spring It is moved to direction, the pressure towards outside bearing spring is applied with bearing spring inwardly.In specific use, when mutually embedding When the interior lateral spring and outer lateral spring of set are poured onto together in pocketed space, support member is lifted by manipulator, so that support Upward, when pocket body does not clamp outer lateral spring, two springs are slided to one end of the close tool frame in pocketed space for the free end of component, It can guarantee that two springs are fallen in the operable station of locked assembly at this time.Then, compression bar under the action of respective drive mechanism to Interior lateral spring applies the pressure towards outer lateral spring, is locally cut by frictional force between two springs and/or two springs, can be real The mutual constraint of existing two springs；Then, cantilever lever moves toward one another between each other, i.e., clamps outer lateral spring using pocket body, so that Two springs are reliably constrained on the supporting member.When needing release spring, the internal lateral spring of locked assembly is removed Power.As those skilled in the art, it can be moved in a straight line with upperpush rod relative to tool frame and movement can be rested on Any point on track, therefore the driving of compression bar can still be adopted as cylinder drive scheme.

For the stress for optimizing cantilever lever, setting are as follows: the compression bar is the rod-like structure parallel with bar body, and compression bar The direction of motion is located at the groove depth direction in pocketed space.Using this programme, when compression bar is moved to the bottom side of pocket body, with interior lateral spring After contact, the internal lateral spring of compression bar acts through the transmitting of pocket body, so that two cantilever levers are subject to downward force.In this way, meeting Under the premise of the spring function of constraint inside and interior lateral spring is enabled smoothly to slide into pocketed space close to the side of tool frame Under the premise of, the move distance of compression bar also has the characteristics that minimum.

As a kind of push rod drive scheme light-weight, small in size, controllability is good, setting are as follows: further include being drawn for driving The second flexible driving mechanism of bar body, second driving mechanism are cylinder driving mechanism.

Meanwhile this programme also discloses a kind of bogie disassembling method, using any one bogie as provided above Dismantling realizes with equipment and disassembles to the part on bogie that the part includes bearing spring and damping spring, including suitable The following steps that sequence carries out:

S1, driving bar body, so that bar body protrudes into the gap above the part, in lever and feature contacts When, lever rotates around the axis, so that bar body can continue to protrude into；

When the free end of lever enters the central area of the part, drive shaft is auto-reverse under gravity for lever；

S2, driving bar body retract, and when lever acts on the surface of the part, the flanging hinders lever into one Step rotation, lever is that part applies pulling force at this time, so that the part is toppled on the support surface；

S3, part is constrained by support member, by changing support member position in space, complete the part by It is removed on bogie.Above method is application method or motion flow of the above equipment when disassembling bogie, using this method, It can effectively reduce the failure rate during bogie is disassembled, improve bogie dismantling speed.

The utility model has the following beneficial effects:

In the present solution, the structure using the above equipment designs, and since spring by the cavity on bogie before being removed, bullet Spring has one to topple over movement and be poured in the support member under the action of rod assembly, therefore compared to the prior art, with Upper process is not related to the process that spring is above proposed, that is, does not need spring and above propose displacement control；During spring is removed, by Topple in spring, be moved out of compared to spring in vertical state, at this time in the vertical direction, has protruded into the support of the cavity Component has bigger movable space.Therefore above scheme is used, it can not only reduce the failure rate during bogie is disassembled, reduce The requirement of the motion control difficulty of manipulator or this equipment, reduction to bogie spatial positioning accuracy, simultaneously because more than completing Constraint is applied to spring and realizes that spring topples over movement during bar body is stretched out and recycled relative to tool frame It completes, the efficiency of dismantling bogie can be improved.Achievable dismantling movement is designed based on the above structure, since equipment is being turned When being disassembled to frame, become larger for its movable space, therefore this programme also has the bogie to different model with preferably suitable With property, i.e. this programme also has the characteristics that versatile.

Above method is that application method or motion flow of the above equipment when disassembling bogie can be had using this method Effect reduces failure rate, raising bogie dismantling speed during bogie dismantling.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of one specific embodiment of bogie dismantling equipment described in the utility model；

Fig. 2 is a kind of bogie dismantling described in the utility model in one specific embodiment of mechanical mobile phone, reflection the The partial schematic diagram of three driving mechanism structures, cantilever lever and third driving mechanism connection relationship；

Fig. 3 is the partial enlarged view in the portion A shown in Fig. 1.

Appended drawing reference in figure is respectively as follows: 1, tool frame, 2, rod assembly, 21, bar body, 22, flanging, 23, shaft, 24, lever, 3, locked assembly, 31, compression bar, 4, support member, 41, cantilever lever, 42, pocket body, 43, sliding block, 44, threaded rod, 45, Driving motor, 5, push rod, the 6, first driving mechanism, the 7, second driving mechanism.

Specific embodiment

Below with reference to embodiment, the utility model is described in further detail, but the structure of the utility model is not only It is limited to following embodiment.

Embodiment 1:

As shown in Figure 1 to Figure 3, a kind of bogie dismantling equipment, including tool frame 1 and the folder being mounted on tool frame 1 Device is taken, the clamp device includes rod assembly 2 and support member 4；

The rod assembly 2 includes bar body 21, and the bar body 21 is the cantilever beam-like by stretching out on tool frame 1 Structure is also equipped with the grasping mechanism for applying pulling force for part on bogie on the free end of the bar body 21；

The bar body 21 is relative to the telescopic telescopic rod of tool frame 1；

The grasping mechanism includes shaft 23 and the lever being connected in shaft 23 24, and one end of the lever 24 is fixed on On the side of shaft 23；

The shaft 23 is articulated on bar body 21, is additionally provided with flanging 22 on the free end of the bar body 21, The shaft 23 is adjacent with flanging 22, and shaft 23 is located at the ipsilateral of flanging 22 with tool frame 1；

Lever 24 with the rotation of shaft 23, lever 24 free end to when rotating on the outside of 21 free end of bar body, it is described Flanging 22 is by carrying out the dead-centre position for stopping the limitation rotation of lever 24 to lever 24；And lever 24 is can turn to and bar body 21 is parallel；

The support member 4 is located at the underface of bar body 21, part under the action of rod assembly 2 on bogie When toppling over, support member 4 is used to provide support for the part toppled on bogie: the part is poured over the branch of support member 4 On support face.

The workflow or principle of this programme are as follows: this fixture is fixed on manipulator, is such as directed to the structure of existing manipulator, Connecting flange is set on tool frame 1, and the above connecting flange with the connecting flange on manipulator for being connected.In this way, above Under the action of manipulator, the above equipment can move in space.Both rod assembly 2 and support member 4 are moved with tool frame 1 It is dynamic, and be moved to the side of the cavity on bogie, due to the load bearing component that bar body 21 is lever 24, and bar body 21 be telescopic rod, bar body 21 is driven, so that bar body 21 protrudes into the gap above with upper spring, in lever 24 and bullet When spring contacts, 23 rotation around the shaft of lever 24, so that bar body 21 can continue to protrude into；Enter in the free end of lever 24 When the central area of the spring, drive shaft 23 is auto-reverse under gravity for lever 24；Then driving bar body 21 retracts, When lever 24 acts on the inner surface in the spring center hole, the flanging 22 hinders lever 24 further to rotate, at this time shelves Bar 24 is that spring applies pulling force, so that the spring is toppled on the support surface；Then pass through the constraint of support member 4 zero Part changes the position of support member 4 in space by manipulator, completes the part by removing on bogie.

In the present solution, the structure using the above equipment designs, and since spring by the cavity on bogie before being removed, bullet Spring has one to topple over movement and be poured in the support member 4 under the action of rod assembly 2, therefore compared to the prior art, Above procedure is not related to the process that spring is above proposed, that is, does not need spring and above propose displacement control；During spring is removed, It since spring has been toppled over, is moved out of compared to spring in vertical state, at this time in the vertical direction, protrudes into the branch of the cavity Support part part 4 has bigger movable space.Therefore use above scheme, can not only reduce bogie dismantling during failure rate, It reduces the motion control difficulty of manipulator or this equipment, reduce the requirement to bogie spatial positioning accuracy, simultaneously because completing Constraint is applied to spring above and realizes that spring topples over the process that movement is stretched out and recycled relative to tool frame 1 in bar body 21 In can be completed, can be improved dismantling bogie efficiency.Achievable dismantling movement is designed based on the above structure, since equipment exists When carrying out bogie dismantling, become larger for its movable space, therefore this programme also has the bogie to different model with more Good applicability, i.e. this programme also have the characteristics that versatile.

As those skilled in the art, although the case where above course of work or principles and methods are only described for spring, As those skilled in the art, this equipment also can be used for the dismantling or transhipment of such as tapered wedges part.It is used as this field skill simultaneously Art personnel bring into normal play function to avoid support member 4 from influencing rod assembly 2, the telescopic amplitude palpus of the above bar body 21 Meet the outside that grasping mechanism can be extend out to pocketed space free end relative to tool frame 1, i.e. lever 24 can be opposite The outside of pocketed space free end is extend out in tool frame 1.

Embodiment 2:

As shown in Figure 1 to Figure 3, the present embodiment is further qualified on the basis of embodiment 1: as support member 4 Specific implementation form, setting are as follows: the support member 4 includes two cantilever levers 41 stretched out by tool frame 1, further includes pocket body 42, the pocket body 42 is flexible material, and one end of pocket body 42 is fixed on a wherein cantilever lever 41, and the other end of pocket body 42 is solid Due on another cantilever lever 41；

The middle part of pocket body 42 drops, to form the pocketed space for constraining the part in support member 4；

The support member 4 further includes third driving mechanism, and the third driving mechanism is for changing two cantilever levers 41 Spacing；

The grasping mechanism is located at the surface in pocketed space.It is provided in the present solution, being toppled over by rod assembly 2 for spring Pulling force, under with upper pulling force, spring rotates and topples over relative to lower end, and is poured onto the pocketed space；For support portion Part 4, before its bearing spring, the spacing between two cantilever levers 41 guarantees that spring can smoothly be fallen on pocket body 42, in bullet After spring is fallen into, under the action of third driving mechanism, moved toward one another by two cantilever levers 41, at this time pocketed reduced space, together When due to pocket body 42 be flexible material, pocket body 42 can deform according to the shape of spring at this time, by spring clamping in the pocket In 42 space of body.Then, by the whole movement outside to cavity of robot drives equipment, realize spring by quilt in the cavity It removes.This programme provide support member 4, during spring is moved out of, by such as inside lateral spring application for realizing The constraint fixed with outer lateral spring relative position of interior lateral spring tilts spring far from one end of tool frame 1, It can guarantee that interior lateral spring will not be clamped outer by falling in outer lateral spring using pocket body 42 flexible during spring removes Lateral spring can provide more structurally sound constraint compared to existing claw for spring, so that manipulator is transported in driver equipment frame 1 When dynamic, still can guarantee that this equipment has reliable restraint performance to spring when tool frame 1 has bigger linear velocity, thus use with Upper scheme can not only reduce the failure rate of support member 4 during bogie dismantling, in the linear velocity movable from manipulator It says, the efficiency of dismantling bogie can be improved.

To make spring etc. under the action of rod assembly 2, the middle part of two cantilever levers 41 can be directly fallen in every time, so that Cantilever lever 41 when being moved under the action of third driving mechanism, pocket body 42 to spring etc. have preferably package effect in favor of The linear velocity of equipment during the work time is improved, achievees the purpose that improve bogie dismantling efficiency, while optimizing two cantilever levers 41 Mutual stress, setting are as follows: the cantilever lever 41, bar body 21 are parallel to each other, and bar body 21 is located at two cantilevers The center of bar 41.

It is realized as described above, support member 4 changes the constraint of the parts such as spring by the spacing of cantilever lever 41, and cantilever The spacing increase of bar 41 can facilitate the parts such as spring to fall into pocketed space, to enable to the relative motion of cantilever lever 41 The parts such as spring two sides can uniform stressed, avoid pocketed space pocket body 42 when reducing from sliding relative to parts such as springs It is dynamic, to improve the service life of reliability and extension pocket body 42 that support member 4 constrains the parts such as spring, while making cantilever Bar 41 is during distance increases, when 42 middle part of pocket body is matched with parts fall trajectories such as springs, to avoid the above spacing Increasing influences the contact points of the parts on pocket body 42 such as spring, the above contact point such as to be made to be located at the middle part of pocket body 42 as far as possible, Setting are as follows: the support member 4 further includes the driving motor 45 being mounted on tool frame 1, is connected to 45 output end of driving motor On threaded rod 44, two pieces of sliding blocks 43 being threaded on threaded rod 44, be respectively and fixedly provided with a cantilever lever 41 on each sliding block 43, And two pieces of sliding blocks 43 are connected by oppositely oriented screw thread with threaded rod 44；

It further include the sliding slot parallel with threaded rod 44, the sliding slot is for constraining sliding block 43 or cantilever lever 41, for avoiding Cantilever lever 41 is rotated with threaded rod 44.Using this programme, when driving motor 45 rotates, two sliding blocks 43 be only capable of moving toward one another or Relative motion can guarantee middle part symmetric motion of two cantilever levers 41 relative to pocket body 42.As those skilled in the art, can set Be set to has the cavity for accommodating driving part, threaded rod 44 and sliding block 43 on tool frame 1, and cantilever lever 41 is by tool frame 1 It is stretched out on housing bore, at this point, the above housing bore can be used as the sliding slot；Further, to avoid cantilever lever 41 from being worn, if Being set to the sliding slot is the track groove positioned at 44 rear side of threaded rod, and sliding slot is located on tool frame 1, under this setting, cantilever lever 41 It is respectively positioned on the front side of threaded rod 44.The third driving mechanism includes driving motor 45, threaded rod 44, sliding slot and sliding block 43.

To make this equipment can be used for providing positioning function to bogie, be such as used for following operating condition: bogie, which is suspended, to be hung It rises, and there is rotation axis on the suspender sling for realizing bogie, to rotate by the rotation axis, realize bogie rotation Turn for bogie positioning and arranged on left and right sides side frame location swap, setting are as follows: further include that one end is fixed on tool frame 1 Push rod 5, the push rod 5 are relative to the telescopic telescopic rod of tool frame 1.It is i.e. flexible by the push rod 5, apply for bogie Thrust completes the rotate driving of bogie in space.Preferably, it is contemplated that this equipment is for fixed on a robotic arm and mechanical Hand has maximum stroke, to make movement or the state of manipulator complete push rod 5 under the premise of meeting bogie dismantling and push Action form required for bogie rotates is the simplest, setting are as follows: bar body 21, cantilever lever 41 and push rod 5 are organic The same side for having frame 1 is stretched out.

As a kind of 5 drive scheme of push rod light-weight, small in size, controllability is good, setting are as follows: further include being pushed away for driving The first flexible driving mechanism 6 of bar 5, first driving mechanism 6 are cylinder driving mechanism.

As those skilled in the art, support member 4 and rod assembly 2 realize it to push rod 5 when to avoid push rod 5 from working Function impacts, and compared with tool frame 1, the free end of push rod 5 can extend out to rod assembly 2,4 free end of support member Outside, therefore push rod 5 needs the length stretched out longer, can reduce the length dimension and be it when idle of push rod 5 as one kind The technical solution of the length dimension of matched first driving mechanism 6, setting are as follows: first driving mechanism 6 includes multiple cylinders, And multiple cylinders are sequentially connected in series, one of cylinder in end is fixed on tool frame 1, and push rod 5 is arranged at another In on the cylinder of end.Specifically, the axis of three cylinders is parallel if number of cylinders is three, the cylinder body of first cylinder is solid Due on tool frame 1, the cylinder body of second cylinder is fixed on the piston rod of second cylinder, and the cylinder body of third cylinder is fixed In on the piston rod of second cylinder, push rod 5 is fixed on the piston rod of third cylinder or the tailpiece of the piston rod of third cylinder Portion is the end of push rod 5.

As the specific setting form of rod assembly 2, setting are as follows: be additionally provided on the free end of the bar body 21 Hole, the upper and lower end of the hole perforation bar body 21；

The both ends of the shaft 23 are articulated on the hole wall in the hole, and hinge joint is located at the hole far from tool frame 1 One end on；

Shaft 23 is vertical with bar body 21, and the flanging 22 is the edge of the hole wherein side, the edge be positioned at The edge of 21 free end of bar body；

The bar body 21 is flat bar, when rod assembly 2 hooks up part, the width direction position of bar body 21 In horizontal direction, before lever 24 and the feature contacts, the length direction of the lever 24 is located at vertical direction；

Lever 24 can be rotated completely with shaft 23 to being accommodated in the hole.In the present solution, the bar body 21 is flat Flat bar not only may make it to have the strength and stiffness for meeting job requirement, while it being facilitated to be inserted into the gap on the upside of spring； Arrangement above is that the free end of bar body 21 has hole, while realizing that shaft 23 connects, may make 23 both ends of shaft equal Suffer restraints, with facilitate control lever 24 rotary motion trace and guarantee lever 24 pull spring so that spring topple over it is reliable Property；The lever 24 can be rotated with shaft 23 completely to be accommodated in the hole be intended to avoid lever 24 stop bar body 21 into One step is protruded into the gap.Preferably, the shaft 23 is set as also between the upper and lower end in the hole, to avoid Shaft 23 influences bar body 21 and further gos deep into the gap or increase to protrude into the resistance of process, meanwhile, also can avoid because Part generates frictional influence shaft 23 and inverts in shaft 23 and bogie, causes to retract in bar body 21 relative to tool frame 1 When, lever 24 can not normally be discharged and occur 2 pairs of rod assembly corresponding part be unconfined happens.

It is light-weight as a kind of rod assembly 2, and the big implementation of area coverage on corresponding part, setting are as follows: institute It is multiple for stating lever 24, and is arranged along the axis direction of shaft 23, and multiple levers 24 are arranged in a row.It preferably, is into one Step improves the reliability of 24 pairs of lever corresponding part constraints, setting are as follows: the bottom of each lever 24 is provided with hook-shaped portion, and in institute When the length direction for the lever 24 stated is located at vertical direction, hook-shaped portion is located at the ipsilateral of lever 24 with tool frame 1.

To make the internal lateral spring of this equipment itself that there is restriction ability, setting are as follows: further include being installed on tool frame 1 Locked assembly 3, the locked assembly 3 include compression bar 31, and the compression bar 31 is located at the pocketed space close to the side of tool frame 1 It is interior, and when one end of the bearing spring in bogie falls into side of the pocketed space close to tool frame 1, the compression bar 31 can held The radial direction movement for carrying spring, applies the pressure towards outside bearing spring with bearing spring inwardly.Specifically using When, when mutually nested interior lateral spring and outer lateral spring are poured onto together in pocketed space, support portion is lifted by manipulator Part 4, so that the free end of support member 4 is upward, when pocket body 42 does not clamp outer lateral spring, two springs are to the close machine in pocketed space Have one end sliding of frame 1, can guarantee that two springs are fallen in the operable station of locked assembly 3 at this time.Then, compression bar 31 is corresponding Inside lateral spring applies the pressure towards outer lateral spring under the action of driving mechanism, by frictional force between two springs and/or Two springs are locally cut the mutual constraint, it can be achieved that two springs；Then, cantilever lever 41 moves toward one another between each other, i.e., available Pocket body 42 clamps outer lateral spring, so that two springs are reliably constrained in support member 4.When needing release spring, Locked assembly 3 is removed to the power of interior lateral spring.As those skilled in the art, with upperpush rod 31 relative to 1 energy of tool frame Any point on motion profile is enough moved in a straight line and can rest on, therefore the driving of compression bar 31 can be still adopted as Cylinder drive scheme.

For the stress for optimizing cantilever lever 41, setting are as follows: the compression bar 31 is the rod-like structure parallel with bar body 21, and The direction of motion of compression bar 31 is located at the groove depth direction in pocketed space.Using this programme, moved in compression bar 31 to the bottom side of pocket body 42 When, after being contacted with interior lateral spring, compression bar 31 to interior lateral spring act through pocket body 42 transmit so that two cantilever levers 41 by Downward power.In this way, under the premise of meeting constraint inside spring function and interior lateral spring is enabled smoothly to slide into pocketed sky Between close to tool frame 1 side under the premise of, the move distance of compression bar 31 also has the characteristics that minimum.

As a kind of 5 drive scheme of push rod light-weight, small in size, controllability is good, setting are as follows: further include being drawn for driving The second flexible driving mechanism 7 of bar body 21, second driving mechanism 7 are cylinder driving mechanism.

Embodiment 3:

The present embodiment provides a kind of bogie disassembling methods, are mentioned using any one provided by any of the above embodiment For bogie dismantling equipment realization the part on bogie is disassembled, the part includes bearing spring and damping bullet Spring, the following steps carried out including sequence:

S1, driving bar body 21, so that bar body 21 protrudes into the gap above the part, in lever 24 and zero When part contacts, 23 rotation around the shaft of lever 24, so that bar body 21 can continue to protrude into；

When the free end of lever 24 enters the central area of the part, drive shaft 23 is automatic under gravity for lever 24 Reversion；

S2, driving bar body 21 retract, and when lever 24 acts on the surface of the part, the flanging 22 hinders shelves Bar 24 further rotates, and lever 24 is that part applies pulling force at this time, so that the part is toppled on the support surface；

S3, part is constrained by support member 4, by changing the position of support member 4 in space, completes the part By being removed on bogie.Above method is application method or motion flow of the above equipment when disassembling bogie, using the party Method can effectively reduce the failure rate during bogie is disassembled, improve bogie dismantling speed.

The above content is the further descriptions made in conjunction with specific preferred embodiment to the utility model, cannot recognize Determine specific embodiment of the present utility model to be only limited to these instructions.For the common skill of the utility model technical field For art personnel, the other embodiments obtained in the case where not departing from the technical solution of the utility model be should be included in corresponding real With in novel protection scope.

Claims

1. a kind of bogie dismantling equipment, including tool frame (1) and the clamp device being mounted on tool frame (1), feature It is, the clamp device includes rod assembly (2) and support member (4)；

The rod assembly (2) includes bar body (21), and the bar body (21) is the cantilever by stretching out on tool frame (1) Beam texture is also equipped with the gripper for applying pulling force for part on bogie on the free end of the bar body (21) Structure；

The bar body (21) is relative to tool frame (1) telescopic telescopic rod；

The grasping mechanism includes shaft (23) and the lever (24) being connected on shaft (23), and one end of the lever (24) is solid Due on the side of shaft (23)；

The shaft (23) is articulated on bar body (21), is additionally provided with flanging on the free end of the bar body (21) (22), the shaft (23) is adjacent with flanging (22), and shaft (23) is located at the ipsilateral of flanging (22) with tool frame (1)；

When lever (24) is rotated with the free end of shaft (23) rotation, lever (24) to bar body (21) free end outside, The flanging (22) is by carrying out the dead-centre position for stopping limitation lever (24) rotation to lever (24)；And lever (24) can be rotated It is extremely parallel with bar body (21)；

The support member (4) is located at the underface of bar body (21), under the action of rod assembly (2) on bogie zero When part is toppled over, support member (4) is used to provide support for the part toppled on bogie: the part is poured over support member (4) on supporting surface.

2. a kind of bogie dismantling equipment according to claim 1, which is characterized in that the support member (4) includes Two cantilever levers (41) stretched out by tool frame (1), further include pocket body (42), and the pocket body (42) is flexible material, pocket body (42) one end is fixed on a wherein cantilever lever (41), and the other end of pocket body (42) is fixed on another cantilever lever (41) On；

The middle part of pocket body (42) drops, to form the pocketed space for constraining the part on support member (4)；

The support member (4) further includes third driving mechanism, and the third driving mechanism is for changing two cantilever levers (41) Spacing；

The grasping mechanism is located at the surface in pocketed space.

3. a kind of bogie dismantling equipment according to claim 2, which is characterized in that the cantilever lever (41), pull rod Ontology (21) is parallel to each other, and bar body (21) is located at the center of two cantilever levers (41).

4. a kind of bogie dismantling equipment according to claim 2, which is characterized in that the support member (4) is also wrapped Include the driving motor (45) being mounted on tool frame (1), the threaded rod (44) being connected on driving motor (45) output end, screw thread Two pieces of sliding blocks (43) being connected on threaded rod (44) are respectively and fixedly provided with a cantilever lever (41), and two pieces of cunnings on each sliding block (43) Block (43) is connected by oppositely oriented screw thread with threaded rod (44)；

It further include the sliding slot parallel with threaded rod (44), the sliding slot is for constraining sliding block (43) or cantilever lever (41), for keeping away Exempt from cantilever lever (41) to rotate with threaded rod (44).

5. a kind of bogie dismantling equipment according to claim 1, which is characterized in that further include that equipment is fixed in one end Push rod (5) on frame (1), the push rod (5) are relative to tool frame (1) telescopic telescopic rod.

6. a kind of bogie dismantling equipment according to claim 1, which is characterized in that the bar body (21) from By being additionally provided with hole, the upper and lower end of hole perforation bar body (21) on end；

The both ends of the shaft (23) are articulated on the hole wall in the hole, and hinge joint is located at the hole far from tool frame (1) One end on；

Shaft (23) is vertical with bar body (21), and the flanging (22) is the edge of the hole wherein side, which is position In the edge of bar body (21) free end；

The bar body (21) is flat bar, when rod assembly (2) hooks up part, the width direction of bar body (21) Positioned at horizontal direction, before lever (24) and the feature contacts, the length direction of the lever (24) is located at vertical direction；

Lever (24) can rotate completely with shaft (23) to being accommodated in the hole.

7. a kind of bogie dismantling equipment according to claim 6, which is characterized in that the lever (24) be it is multiple, And arrange along the axis direction of shaft (23), multiple levers (24) are arranged in a row.

8. a kind of bogie dismantling equipment according to claim 2, which is characterized in that further include being installed on tool frame (1) locked assembly (3) on, the locked assembly (3) include compression bar (31), and the compression bar (31) is located at the pocketed space and leans on In the side of nearly tool frame (1), and one end of the bearing spring in bogie falls into pocketed space close to the side of tool frame (1) When, the compression bar (31) can move in the radial direction of bearing spring, applied with bearing spring inwardly towards outside and carried The pressure of spring.

9. a kind of bogie dismantling equipment according to claim 8, which is characterized in that the compression bar (31) is and pull rod The parallel rod-like structure of ontology (21), and the direction of motion of compression bar (31) is located at the groove depth direction in pocketed space.