An intelligent disassembly system for the bolts of the lower center plate of railway freight cars

Abstract

The present invention discloses an intelligent disassembly system for the lower center plate bolts of a railway freight car, the intelligent disassembly system for the center plate bolts comprises a control mechanism, an industrial robot, a visual device, a disassembly device and a positioning device, the control mechanism is respectively connected to the industrial robot, the visual device, the disassembly device and the positioning device for communication; the positioning device automatically fixes the bogie of the railway freight car at a specified position, the visual device scans the bogie model and the size and spatial position information of the center plate bolts and feeds back to the control mechanism, the industrial robot receives the feedback information of the control mechanism to select and connect the corresponding disassembly device, and the disassembly device performs an integrated disassembly of the center plate bolts. The present invention can improve the disassembly efficiency of the lower center plate bolts, reduce the labor cost and labor intensity of the enterprise, and produce good economic and social benefits.

Description

Technical Field

[0001] The invention belongs to the technical field of rail transportation, and in particular relates to an intelligent disassembly system for bolts on a lower center plate of a railway freight car. Background Art

[0002] The process of disassembling the bolts of the lower center plate of the bogie of a railway freight car (including but not limited to freight cars) is currently mainly carried out by manual disassembly and auxiliary tools. The personnel fix the bottom nut with a wrench with one hand at the work station, and then manually or electrically rotate the bolt to loosen it, and manually assist in completely disassembling it. In addition, because there are 4 sets of bolts on one side of the bogie, after disassembling the 4 sets of bolts on one side, it is necessary to turn over to the other side to disassemble the other 4 sets of bolts.

[0003] The above decomposition process of the center plate bolt has the following defects:

[0004] (1) Most of the work is done manually. Under the conditions of high work intensity and harsh environment, the continuous operation cannot be compared with automation. The output stability, controllability and efficiency of the product line are low.

[0005] (2) The environment is harsh and there is a lot of rust powder in the environment, which affects the health of personnel;

[0006] (3) Poor safety. For example, when a single operator holds the tool with both hands, the stability is poor and there are obvious safety hazards. At the same time, when personnel are working at various positions of the product, it is easy to cause corresponding contact scratches, bumps and other safety hazards.

[0007] (4) If multiple people are used, there will be problems such as small space, inconvenient operation, and a large proportion of manpower. Summary of the invention

[0008] The purpose of the present invention is to provide an intelligent disassembly system for the bolts of the lower center plate of a railway freight car, which has the advantages of improving the efficiency of disassembly of the center plate bolts, reducing labor intensity and cost, and reducing safety hazards.

[0009] The technical solution of the present invention is as follows:

[0010] An intelligent disassembly system for the bolts of the lower center plate of a railway freight car comprises a control mechanism, an industrial robot, a visual device, a disassembly device and a positioning device, wherein the control mechanism is respectively connected to the industrial robot, the visual device, the disassembly device and the positioning device for communication; the positioning device automatically fixes the bogie of the railway freight car at a specified position, the visual device scans the bogie model and the size and spatial position information of the center plate bolts and feeds back the information to the control mechanism, the industrial robot receives the feedback information of the control mechanism to select and connect the corresponding disassembly device, and the disassembly device disassembles the center plate bolts.

[0011] Furthermore, the disassembly device is symmetrically arranged, including a bracket, a motor, a disassembly cylinder, a guide rod, a sleeve and a wrench. The control mechanism is communicated with the motor and the disassembly cylinder respectively. The bracket is the substrate of the disassembly device. Both sides of the bracket are respectively provided with a complete set of connected motors and sleeves, and the sleeve is used to fix the core plate bolt; the outer side of the sleeve is provided with a complete set of connected disassembly cylinders, guide rods and wrenches. The disassembly cylinder drives the guide rod and the wrench to move up and down, and the wrench is used to fix the nut of the core plate bolt.

[0012] Furthermore, the wrench as a whole is configured as an inwardly bent structure, and a bayonet is provided at the end of the wrench for clamping the nut, and a material return rod is provided below the wrench opening, and the surface of the material return rod is sloped. When the wrench is lowered along with the disassembly cylinder, the nut is pressed against the material return rod, and the slope of the material return rod plays an auxiliary force role to help the nut fall off.

[0013] Furthermore, the sleeve and the wrench are arranged in a one-to-one correspondence.

[0014] Furthermore, the disassembly device is provided with two of the sockets and the wrench; or the disassembly device is provided with four of the sockets and the wrench, which are arranged in a matrix; and the bracket is configured as an inverted "T"-shaped structure.

[0015] Furthermore, the positioning device includes an inductive proximity switch, a wheelset blocking structure and a wheelset clamping structure. The control mechanism is respectively communicated with the inductive proximity switch, the wheelset blocking structure and the wheelset clamping structure. The wheelset blocking structure and the wheelset clamping structure are both located on the side of the specified position of the conveying line of the bogie. The wheelset blocking structure includes a blocking cylinder and a blocking block. The blocking cylinder is connected and starts the blocking block to extend from the forward or backward direction of the bogie to stop the wheelset of the bogie; the wheelset clamping structure includes a positioning cylinder and a clamping fixing block. The positioning cylinder is connected and starts the clamping fixing block to extend and press the outer side of the wheel rim of the bogie.

[0016] Furthermore, the wheelset blocking structure and the wheelset clamping structure are arranged in pairs; the blocking block and the clamping fixing block are made of any one of rubber, plastic, metal or wood.

[0017] Furthermore, the visual device is mounted on a visual bracket, and the visual bracket is arranged above the fixed positioning position of the bogie.

[0018] Furthermore, the industrial robot is arranged on a gantry, and the front end of the industrial robot is connected to the disassembly device via a floating joint.

[0019] Furthermore, the industrial robot is configured as a downward-probing six-axis robot.

[0020] In the disassembly of the lower center plate bolts of railway freight cars, it is currently mainly done manually using wrenches, which is noisy and labor-intensive. For a long time, research on the automatic disassembly of the lower center plate bolts and other issues has been a blind spot, and intelligent equipment that integrates vision, robot application technology, integrated disassembly devices, positioning devices, etc. is still blank at home and abroad. It is a topic worth exploring and a beneficial supplementary means for the development of smart car services. Therefore, the emergence of the present invention plays a positive role in ensuring railway transportation safety, improving railway informatization construction, and building a harmonious railway. The automation and intelligence of the disassembly and assembly process of the lower center plate bolts can be realized through the present invention, which can improve operational safety, accelerate the upgrading and transformation process, and is of great significance to improving the efficiency of the lower center plate assembly process and the reliability and stability of the detection process. The details are as follows:

[0021] (1) The present invention meets the trend of most automated operations of existing production lines, ensures stable output of product lines and increases controllability, and has no dependence on personnel; solves the problem of high labor intensity; and solves the problem of low efficiency caused by reliance on manual operations;

[0022] (2) Solve the conflicts between people and operations caused by the harsh environment;

[0023] (3) Solve safety problems caused by manual operations and reduce safety hazards;

[0024] (4) The robot adopts a targeted design to solve the problem of personnel working in a small space: the use of a downward-reaching robot with a gantry structure can better match the existing rail industry bogie maintenance operations to the working conditions, which can not only reduce the requirements for the robot's arm length and reduce costs, but also solve the problem of large space occupation, which can be more suitable for promoting the implementation of the project; in addition, the use of a gantry structure can avoid the upper and lower spaces, and the use of a downward-reaching robot can match the operation mode of the existing rail matching equipment. The straddle type can ensure smooth inflow and outflow of the bogie, the robot's operating stroke is short, and it is very convenient to enter and exit the operating area. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the decomposition system of the present invention;

[0026] Figure 2 This is a schematic diagram of the positioning device. Figure 1 ;

[0027] Figure 3 This is a schematic diagram of the positioning device. Figure 2 ;

[0028] Figure 4 is a schematic diagram of the structure of the disassembly device;

[0029] Figure 5It is a schematic diagram of a wrench;

[0030] Among them, 1-gantry; 2-industrial robot; 3-visual support; 4-visual device; 5-floating joint;

[0031] 6-disassembly device, 61-motor, 62-reducer, 63-disassembly cylinder, 64-guide rod, 65-sleeve, 66-wrench, 66a-slope, 67-nut, 68-bolt, 69-bracket;

[0032] 7-Bogie;

[0033] 8-positioning device, 81-blocking cylinder, 82-positioning cylinder, 83-blocking block, 84-holding fixing block;

[0034] 9-Floating docking station. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Reference Figure 1 As shown, it is a schematic diagram of the intelligent disassembly system of the lower center plate bolts of a railway freight car of this embodiment. The intelligent disassembly system of the lower center plate bolts of a railway freight car is applied to the intelligent disassembly work of the center plate bolts, which includes a control mechanism, an industrial robot 2, a visual device 4, a disassembly device 6 and a positioning device 8. The control mechanism is communicated and connected with the industrial robot 2, the visual device 4, the positioning device 8 and the disassembly device 6 respectively.

[0037] The industrial robot 2 receives the model information of the bogie 7 and the size and spatial position information of the center plate bolts fed back by the control mechanism, and selects and connects the corresponding disassembly device 6 .

[0038] Preferably, the industrial robot 2 is arranged on the gantry 2. The gantry structure is used, and the robot can be matched with the downward robot to ensure the passability of the bogie 7 and maximize the utilization of the robot arm span, and the occupation control is better. This implementation form has the advantages of uniqueness and maximization of space utilization under the same conditions.

[0039] Preferably, the front end of the industrial robot 2 is connected to the disassembly device 6 via a floating joint 5. The industrial robot 2 is connected to the disassembly device 6 via the floating joint 5, which can allow the disassembly device 6 to have a certain position offset during operation without affecting the state of the industrial robot 2.

[0040] Preferably, the industrial robot 2 of this embodiment is not limited to a robot, and may include a spatial displacement mechanism such as a truss type manipulator.

[0041] Preferably, the industrial robot 2 of this embodiment is a downward-probing six-axis robot, including but not limited to the number of robot axes.

[0042] Preferably, the industrial robot 2 of this embodiment adopts a general-purpose six-axis robot, including but not limited to a general-purpose type, and may include a truss type, or a robot of non-standard design, etc.

[0043] The visual device 4 scans the model of the bogie 7, and scans the center plate area of ​​the bogie 7 to feed back information such as the bolt size and the spatial position of the bolt to the control mechanism.

[0044] The visual device 4 refers to a device using laser visual three-dimensional technology.

[0045] Preferably, the visual device 4 is mounted on a visual bracket 3 , and the visual bracket 3 is arranged above a fixed positioning position of the bogie 7 .

[0046] Regarding the positioning device 8, it can automatically fix the bogie 7 at a specified position. Figures 2 to 3 As shown, the positioning device 8 includes an inductive proximity switch, a wheelset blocking structure and a wheelset clamping structure, wherein the control mechanism is respectively communicated with the inductive proximity switch, the wheelset blocking structure and the wheelset clamping structure, and when the bogie 7 reaches the specified position, the inductive proximity switch can be triggered, and the inductive proximity switch transmits the sensing signal to the control mechanism, and the control mechanism transmits the signal for positioning the bogie 7 to the wheelset blocking structure and the wheelset clamping structure.

[0047] The wheelset blocking structure and the wheelset clamping structure are both located outside the designated position of the conveying line of the bogie 7. The wheelset blocking structure includes a blocking cylinder 81 and a blocking block 83. The blocking cylinder 81 is connected to the blocking block 83. The blocking cylinder 81 can activate the blocking block 83 to extend and stop the wheelset of the bogie 7 from the forward or backward direction of the bogie 7.

[0048] The wheelset clamping structure includes a positioning cylinder 82 and a clamping fixing block 84. The positioning cylinder 82 is connected to the clamping fixing block 84. The positioning cylinder 82 can activate the clamping fixing block 84 to extend and press the outer side of the wheel rim of the bogie 7.

[0049] The blocking block 83 and the clamping and fixing block 84 are arranged in pairs to fix and position the same wheelset. Figure 2 shown) or more.

[0050] The materials of the blocking block 83 and the holding and fixing block 84 can be rubber, metal, plastic, wood, etc.

[0051] Preferably, the blocking block 83 is configured as a triangular rubber block.

[0052] Preferably, the holding and fixing block 84 is configured as a rectangular rubber block.

[0053] The workflow of the positioning device 8 includes:

[0054] (1) Manually push the bogie 7 to the designated location and trigger the switch (inductive proximity switch) to sense the wheelset.

[0055] (2) The wheelset blocking structure blocks the wheelset of the bogie 7, and the wheelset clamping structure starts working at the same time: specifically, the blocking cylinder 81 drives the triangular rubber block to extend, and after the wheel rim of the bogie 7 contacts the triangular rubber block, the positioning cylinder 82 drives the rectangular rubber block to extend and press the outer side surface of the wheel rim of the upper bogie 7, thereby achieving the effect of positioning and fixing the bogie 7.

[0056] Regarding the disassembly device 6, refer to Figure 4 As shown, it includes a bracket 69, a motor 61, a reducer 62, a disassembly cylinder 63, a guide rod 64, a sleeve 65 and a wrench 66. The control mechanism is communicated with the motor 61 and the cylinder 63 respectively, and the disassembly device is symmetrically arranged on both sides.

[0057] Among them, the bracket 69 is located at the center of the entire disassembly device 6 and is the base plate of other structures of the disassembly device 6 . The industrial robot 2 or other devices can carry the disassembly device 6 through the bracket 69 .

[0058] Preferably, the bracket 69 is configured as an inverted "T"-shaped structure.

[0059] A motor 61 , a reducer 62 (operation is also possible without the reducer 62 ) and a sleeve 65 are arranged on both sides of the bracket 69 from top to bottom. The sleeve 65 is used to cover and fix the center plate bolt 68 . The sleeve 65 extends from the bottom of the bracket 69 .

[0060] On the outside of the motor 61, the reducer 62 and the sleeve 65, that is, on both sides of the entire device, a disassembly cylinder 63, a guide rod 64 and a wrench 66 are arranged in sequence from top to bottom, that is, the upper end of the guide rod 64 moves as a piston in the cylinder, and the lower end of the guide rod 64 is connected to the wrench 6.

[0061] The wrench 66 is configured as an inwardly bent structure. The end of the wrench 66 is provided with a bayonet for clamping the nut 67. The end of the bayonet is configured as a slope 66a to help the nut 67 fall off after the disassembly work is completed.

[0062] The disassembly device 6 of the present embodiment is an automated device for disassembling the lower center plate bolts of the bogie. Different bogie models correspond to different lower center plate bolt models.

[0063] In this embodiment, the whole set of connected motor 61, reducer 62 and sleeve 65, as well as the whole set of connected disassembly cylinder 63, guide rod 64, and high torque electric wrench 66 are all two, that is, Figure 5 shown.

[0064] In addition, it can also be set up as: a complete set of connected motors 61, reducers 62 and sleeves 65, as well as a complete set of connected disassembly cylinders 63, guide rods 64, and high-torque electric wrenches 66 are all four, and are arranged in a matrix on the bracket 69, that is, four (2 groups) of bolts 68 can be directly disassembled completely in one operation.

[0065] Preferably, the disassembly device 6 is located on a floating docking station 9 , and the floating docking station 9 is arranged above the fixed positioning position of the bogie 7 .

[0066] The method of using the disassembly device 6 of this embodiment is as follows:

[0067] (1) When the industrial robot 2 or other device carries the disassembly device 6 of the present embodiment through the bracket 69, and the two sleeves 65 on the disassembly device 6 are simultaneously sleeved on a group of two bolts 68, the disassembly cylinder 63 drives the wrench 66 to move upward through the guide rod 64, and the wrench 66 clamps the two nuts 67 matching the two bolts 68 respectively, and the disassembly cylinder 63 maintains the clamping pressure;

[0068] (2) The motor 61 is decelerated by the reducer 62 and drives the two sleeves 65 to rotate counterclockwise ( Figure 4 (see from top to bottom), when the sleeve 65 drives the bolt 68 to rotate a certain angle, the nut 67 falls into the slot of the wrench 66 and cannot rotate with the bolt 68;

[0069] (3) After the motor 61 rotates for a certain period of time, the bolt 68 and the nut 67 are separated;

[0070] (4) The disassembly cylinder 63 drives the wrench 66 to move downward, and the nut 67 falls off.

[0071] (5) The industrial robot 2 or other device moves the disassembly device 6 and puts it on the next set of bolts 68, and repeats the above steps until the 4 groups and 8 sets of bolts 68 on the core plate are completely disassembled.

[0072] The workflow of the intelligent disassembly system for the lower center plate bolts of a railway freight car of this embodiment includes the following:

[0073] (1) The operator pushes the bogie 7 to the designated location in the work area, and the operator evacuates the site and confirms that all personnel have evacuated;

[0074] (2) The operator presses the start button, and the positioning device 8 of the bogie 7 automatically fixes it;

[0075] (3) The visual device 4 installed on the visual support 3 identifies the model of the bogie 7 and scans the center plate area, calculates the size of the bolt 68 and the spatial position of the bolt 68, and feeds back to the control mechanism;

[0076] (4) The control mechanism determines the model of the bogie 7 and connects with the industrial robot 2 to select a suitable disassembly device 6 to be placed on the floating docking station 9;

[0077] (5) The industrial robot 2 moves the disassembly device 6 to a designated position above the bogie 7, and the disassembly device 6 starts to disassemble the center plate bolts;

[0078] (6) After the disassembly device 6 is finished, the industrial robot 2 is reset, the positioning device 8 is reset, and the bogie 7 enters the next process. Specifically, the eight bolts 68 are automatically disassembled four times. After the disassembly is completed, the industrial robot 2 is restored to a safe range, and the positioning device 8 of the bogie 7 is automatically released.

[0079] The above description is only a preferred embodiment of the present invention and does not constitute a limitation on the protection scope of the present invention. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An intelligent disassembly system for the bolts of the lower center plate of a railway freight car, characterized by: The center plate bolt intelligent disassembly system comprises a control mechanism, an industrial robot, a visual device, a disassembly device and a positioning device, wherein the control mechanism is respectively connected to the industrial robot, the visual device, the disassembly device and the positioning device for communication; the positioning device automatically fixes the bogie of the railway freight car at a specified position, the visual device scans the bogie model and the size and spatial position information of the center plate bolt and feeds back the information to the control mechanism, the industrial robot receives the feedback information of the control mechanism to select and connect the corresponding disassembly device, and the disassembly device performs integrated disassembly of the center plate bolt; The disassembly device is symmetrically arranged, including a bracket, a motor, a disassembly cylinder, a guide rod, a sleeve and a wrench. The control mechanism is respectively connected to the motor and the disassembly cylinder in communication. The bracket is the base plate of the disassembly device. Both sides of the bracket are respectively provided with a complete set of connected motors and sleeves, and the sleeve is used to fix the central plate bolt; the outer side of the sleeve is provided with a complete set of connected disassembly cylinders, guide rods and wrenches, and the disassembly cylinder drives the guide rods and the wrench to move up and down, and the wrench is used to fix the nuts of the central plate bolts; The positioning device includes an inductive proximity switch, a wheelset blocking structure and a wheelset clamping structure. The control mechanism is respectively communicated with the inductive proximity switch, the wheelset blocking structure and the wheelset clamping structure. The wheelset blocking structure and the wheelset clamping structure are both located on the side of the specified position of the conveying line of the bogie. The wheelset blocking structure includes a blocking cylinder and a blocking block. The blocking cylinder is connected and starts the blocking block to extend from the forward or backward direction of the bogie to stop the wheelset of the bogie; the wheelset clamping structure includes a positioning cylinder and a clamping fixing block. The positioning cylinder is connected and starts the clamping fixing block to extend and press the outer side of the wheel rim of the bogie.

2. The intelligent disassembly system for the lower center plate bolts of a railway freight car according to claim 1, characterized in that: The wrench is configured as an inwardly bent structure as a whole, and a bayonet is provided at the end of the wrench for clamping the nut to help the nut fall off.

3. The intelligent disassembly system for lower center plate bolts of railway freight cars according to claim 1, characterized in that: The sleeves and the wrenches are arranged in one-to-one correspondence.

4. The intelligent disassembly system for the lower center plate bolts of a railway freight car according to claim 3, characterized in that: The disassembly device is provided with two of the sleeves and the wrench; or the disassembly device is provided with four of the sleeves and the wrench, which are arranged in a matrix; the bracket is configured as an inverted "T"-shaped structure.

5. The intelligent disassembly system for the lower center plate bolts of a railway freight car according to claim 1, characterized in that: The wheelset blocking structure and the wheelset clamping structure are arranged in pairs; the blocking block and the clamping fixing block are made of any one of rubber, plastic, metal or wood.

6. The intelligent disassembly system for lower center plate bolts of railway freight cars according to any one of claims 1 to 4, characterized in that: The visual device is installed on a visual bracket, and the visual bracket is arranged above the fixed positioning position of the bogie.

7. The intelligent disassembly system for lower center plate bolts of railway freight cars according to any one of claims 1 to 4, characterized in that: The industrial robot is arranged on a gantry, and the front end of the industrial robot is connected to the disassembly device through a floating joint.

8. The intelligent disassembly system for the lower center plate bolts of a railway freight car according to claim 7, characterized in that: The industrial robot is configured as a downward-probing six-axis robot.

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