A mechanical device for assisting in the installation and removal of train doors

Abstract

The present invention discloses a mechanical device for assisting in the installation and disassembly of train doors, including a mobile trolley, a fine-tuning mechanism, a grasping mechanism, and a control device. A frame is provided above the mobile trolley; the frame is connected to a lifting plate through a connecting rod, and the connecting rod is driven by an oil cylinder to drive the lifting plate to move; the fine-tuning mechanism is arranged on the lifting plate; the bracket assembly of the grasping mechanism is fixed on the moving plate of the fine-tuning mechanism, and is provided with a swingable and rotatable swing arm, and a universal suction cup for grasping the door leaf is arranged at the end of the swing arm; the control device is arranged on the frame. The present invention is a mechatronic device that can be moved according to actual needs; the height of the door leaf is adjusted and adapted by using the oil cylinder, the connecting rod, and the fine-tuning mechanism, and the door leaf is grasped by using the suction cup; at the same time, it has a swing arm structure that can rotate and swing and an adjustable universal suction cup, which can adapt to different postures and forms of the door leaf, and is adjusted and placed after being grasped. The present invention can be operated by one person, improving work efficiency and saving labor and manpower.

Description

Technical Field

[0001] The present invention relates to a train auxiliary installation and disassembly device, and particularly to a mechanical device for auxiliary installation and disassembly of train doors. Background Art

[0002] During the long-term operation of subways and trains, wear and faults are inevitable and they must be removed for maintenance. The maintenance of subways and trains is usually carried out in specialized subway maintenance vehicle companies. To facilitate comprehensive maintenance of the vehicles, the entire train is usually lifted. The common lifting distances are 1100 mm and 1480 mm between the carriage floor and the workshop floor. Currently, the maintenance, installation, and disassembly of train doors are all carried out manually. It takes 3 people to cooperate to complete the installation and disassembly of a single-sided train door, that is, 2 people on the workshop floor and 1 person on the carriage floor. The 2 people on the workshop floor are responsible for lifting the door leaf, and the 1 person on the carriage floor is responsible for alignment and installing and removing the door leaf screws; if the doors on both sides of the subway carriage are installed and disassembled simultaneously, at least 5 people are required, that is, 4 people on the workshop floor and 1 person on the carriage floor. The weight of a single subway door leaf is usually between 35 and 50 kg, which requires high physical strength from the workers on the workshop floor. At the same time, the carriage is 1100 mm or 1480 mm above the ground, which also has certain requirements for the height of the workers.

[0003] In the prior art, door disassembly auxiliary devices are mostly used for passenger cars and automobiles, and are less restricted by the working environment, and are not suitable for the disassembly and assembly of subway and train doors. In addition, most of these door disassembly devices use clamping structures or magnetic adsorption structures to realize door leaf grasping. For example, a high-side car door disassembly device disclosed in the invention patent with the patent number CN109531535A, the specific structure for moving the door is a permanent magnet suction cup. Such a structure is difficult to control the suction force, has low adaptability to the door leaf, and is complex in operation; another example is a door assembly and disassembly auxiliary device disclosed in the utility model patent with the patent number CN210852722U, the specific structure for moving the door leaf is a clamping mechanism. Such a structure exerts a large pressure on the door when clamping the door to counteract the self-gravity of the door, there is a risk of damaging the door, and the clamping position is relatively fixed, with low adaptability to the door leaf structure, and it is difficult to achieve refined disassembly and assembly of the door.

[0004] In addition, in the prior art, to ensure the reliability of the disassembly auxiliary device during the door disassembly process, the method of increasing the mechanical structure is mostly adopted, but this will make the device structure complex, further reduce the adaptability to the door and the environment, increase the cost, reduce the efficiency, and have a low degree of intelligence. Summary of the Invention

[0005] Object of the Invention: The object of the present invention is to provide a mechanical device for auxiliary installation and disassembly of train doors that adapts to the door leaf structure, is efficient, safe, and labor-saving.

[0006] Technical solution: The mechanical device for assisting the assembly and disassembly of train door leaves described in the present invention comprises a moving trolley, a frame is provided on one side of the moving trolley, the vertical part of the frame is hinged with a lifting plate through two upper and lower connecting rods to form a parallelogram structure, wherein the lower connecting rod is pushed by a telescopic structure hinged to the moving trolley and drives the lifting plate to move, and is characterized in that a grasping mechanism is installed on the lifting plate, the grasping mechanism comprises a bracket assembly, a swing arm and a universal suction cup, the universal suction cup is installed at the end of the swing arm, and the swing arm is installed on the bracket assembly.

[0007] Preferably, the grabbing mechanism is mounted on the lifting plate via a fine-tuning mechanism.

[0008] Preferably, the fine-tuning mechanism includes a ball screw mechanism and a servo motor driving the ball screw mechanism. The ball screw mechanism is fixed to the lifting plate through a vertical base plate. A moving plate is fixedly mounted on the vertically moving screw nut of the ball screw mechanism, and the bracket assembly of the gripping mechanism is fixed on the moving plate.

[0009] Preferably, the bracket assembly includes a base plate, on which is provided a gear structure driven by a reduction motor, on which is fixedly mounted a swing arm support, on which is provided a swing shaft and a swing frame, the swing frame being rotatably connected to the swing shaft, the swing frame being fixedly connected to the swing arm, and the swing frame swings within a range of ±4° around the swing shaft.

[0010] Preferably, the swing frame is connected to the swing shaft via a reset spring, and the swing arm can swing to adapt to the door leaf when grabbing the door leaf, and automatically right itself after grabbing, and is always in the initial state when unloaded.

[0011] Preferably, the universal suction cup includes a suction cup, a suction cup support seat for fixing the suction cup, a suction cup shaft and a linear bearing. The linear bearing is fixed at the end of the swing arm, and the suction cup shaft is arranged in the linear bearing; a joint ball hinge is provided at the end of the suction cup shaft, and its outer ring is tightly matched with the suction cup support seat, and its inner ring is tightly matched with the suction cup shaft; a compression spring is sleeved on the outer side of the suction cup shaft, one end of which abuts the swing arm, and the other end abuts the suction cup support seat; the suction cup is connected to the air storage tank and the vacuum generator, and a pressure sensor for monitoring the negative pressure of the suction cup is connected to the air path.

[0012] Preferably, the universal suction cup also includes a suction cup extension length adjustment sleeve and an adjustment screw at the end of the suction cup shaft, which can ensure that each suction cup can maintain good contact with the door leaf.

[0013] Preferably, the telescopic structure is an electro-hydraulic integrated cylinder.

[0014] Preferably, the length of one of the connecting rods is adjustable by a bolt.

[0015] Preferably, the upper connecting rod or the lower connecting rod is a group of parallel connecting rods arranged side by side and hinged to the lifting plate and the frame.

[0016] Preferably, an angle sensor for monitoring the angle between the connecting rod and the frame is provided at the hinge of the connecting rod and the frame.

[0017] Preferably, there are four swing arms, including two long swing arms and two short swing arms, which can avoid the door lock hole during operation.

[0018] Preferably, two suction cup groups at any diagonal position of the universal suction cups connected by the four swing arms can independently realize the grasping of the door leaf. On the premise that one group of air circuits fails, the other group of air circuits can still ensure safety.

[0019] Preferably, two sets of alternately used battery packs, vacuum pump stations, and oil cylinder accessory pump stations are provided in the mobile trolley.

[0020] Preferably, a stop iron for receiving the fine adjustment mechanism is provided on one side of the mobile trolley.

[0021] Preferably, a laser sensor for monitoring the distance between the mobile trolley and the door leaf shelf is provided on the front side of the mobile trolley.

[0022] Preferably, it further includes a control device provided on the frame and a wireless code disk for controlling the fine movement of the swing arm and the suction cup.

[0023] Working principle: The present invention is powered by a battery and can move in any direction. The height of the grasping mechanism is roughly adjusted, that is, initially positioned, by using an oil cylinder, and the height of the grasping mechanism is finely adjusted, that is, precisely positioned, by using a ball screw mechanism; the swing arm of the grasping mechanism can swing to adapt to the pose of the door leaf, and the suction cup can adapt to the plane of the door leaf and realize negative pressure grasping, and the entire grasping mechanism can drive the door leaf to rotate. The present invention can smoothly realize the grasping, removal, and placement of the door leaf through height adjustment, angle adaptation, negative pressure adjustment, and rotational movement.

[0024] Beneficial effects: Compared with the prior art, the present invention has the following remarkable advantages:

[0025] 1. It is provided with rotatable and swingable swing arms and universal suction cups, which can adapt to different postures of the door leaf. The length of the universal suction cup is adjustable, and good contact between each suction cup and the door leaf can be maintained. At the same time, the swing arms are divided into long and short ones, and the lock hole can be avoided when grasping the door leaf. The present invention has high adaptability to different door leaves and can effectively improve work efficiency;

[0026] 2. Use the hydraulic cylinder to move the connecting rod, and at the same time move the fine-tuning mechanism in the vertical direction to achieve rough adjustment of the height of the grasping mechanism; use the ball screw mechanism to move the grasping mechanism to achieve fine adjustment of the height, and use the code disk to achieve precise positioning; multiple adjustments can achieve accurate alignment of the grasping mechanism with the door leaf, facilitating grasping and realizing refined operation of door leaf unhooking;

[0027] 3. When making rough adjustment of the height, the fine-tuning mechanism and the grasping mechanism can also be moved in the horizontal direction. At the same time, the servo motor can be used to rotate the grasping mechanism parallel to the direction of the door leaf, facilitating the removal and placement of the door leaf;

[0028] 4. Adopt redundant design, and use two groups of gas storage tanks with the same structure combined with vacuum generators, grouped by the diagonal of the four claws. Each group of gas circuits can independently bear the load of a single door leaf when working alone. Therefore, on the premise that one group of gas circuits fails, the other group of gas circuits can still ensure safety and gain maintenance time;

[0029] 5. Use two groups of alternately used battery packs for power supply, which does not affect battery replacement; at the same time, when the power is insufficient under normal working conditions, the gas storage tank plays a role in maintaining pressure to keep the suction cup at a safe negative pressure for at least 2 minutes, providing a remedial time for re-power supply and avoiding sudden dropping and damage of the door leaf;

[0030] 6. When the present invention is actually used, the equipment control operation can be completed by 1 person, and only 1 person in the carriage needs to cooperate to complete all the work of door leaf disassembly and assembly, which can save labor and physical strength, and at the same time greatly improve work efficiency and safety guarantee. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is the main view of the structure of the present invention;

[0032] Figure 2 is the side view of the structure of the present invention;

[0033] Figure 3 is the schematic diagram of the ball screw structure of the present invention;

[0034] Figure 4 is the main view of the grasping structure of the present invention;

[0035] Figure 5 is the top view of the grasping structure of the present invention;

[0036] Figure 6 is the schematic diagram of the universal suction cup structure of the present invention;

[0037] Figure 7 is the schematic diagram of the working state of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0038] The technical solutions of the present invention will be further described below in conjunction with the drawings.

[0039] As Figure 1 shown in the figure, a mechanical device for assisting in the installation and disassembly of train doors disclosed by the present invention, the mobile trolley 1 is the basis of the whole machine. There are two directional wheels 12 and two universal wheels 13 under it. The universal wheel 13 has a brake lever 14, and a frame 2 is arranged above it. The two directional wheels 12 and the two universal wheels 13 support the whole device, which can ensure the flexible movement and turning of the whole machine.

[0040] The frame 2 is connected to the lifting plate 4 through a fixed-length rod 32 and a length-adjusting rod 31, and a "parallelogram" structure with a double-rocker movement is formed among the four. The fixed-length rod 32 and the length-adjusting rod 31 are connected to the frame 2 and the lifting plate 4 through hinges. The length of the length-adjusting rod 31 can be adjusted by bolts and always remains equal to the fixed-length rod 32. There is an electro-hydraulic integrated oil cylinder 33 between the fixed-length rod 32 and the mobile trolley 1. The fixed-length rod 32 is connected to the piston rod of the oil cylinder 33 through a hinge, and the oil cylinder 33 is fixed on the upper surface of the mobile trolley 1 through a hinge. The extension and shortening of 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, so as to drive the lifting plate 4 to perform a combined translational movement up and down and back and forth. An angle sensor for monitoring the included angle between the two is arranged at the hinge joint of the fixed-length rod 32 and the frame 2. The angle value monitored by the angle sensor is converted into height data and used as the control basis for the fine-tuning mechanism.

[0041] The mobile trolley 1 is equipped with two groups of alternately used battery packs, a vacuum pump station and an accessory pump station for the oil cylinder 33.

[0042] A fine-tuning mechanism 5 is fixedly installed on the lifting plate 4. The fine-tuning mechanism 5 includes a ball screw mechanism 54. The mounting plate 51 of the ball screw mechanism 54 is fixed on one side of the lifting plate 4 through bolts. When the lifting plate 4 moves, it can drive the ball screw mechanism 54 to move together. The fine-tuning mechanism 5 further includes a servo motor 52. The servo motor 52 drives the screw to rotate through a synchronous belt 53 to make the nut move up and down. The nut is fixedly connected to the moving plate 55 through screws and drives the moving plate 55 to move together.

[0043] A stop iron 11 is fixedly installed on one side of the mobile trolley 1, which can receive the descending lifting plate 4 and the fine-tuning mechanism 5. A laser sensor is also arranged on the front side, which can measure the distance from the shelf.

[0044] A grasping mechanism 6 is provided on the moving plate 55. The bracket assembly 61 of the grasping mechanism 6 includes a bottom plate 611, and the bottom plate 611 is fixed on the moving plate 55 by screws. The moving plate 55 can drive the grasping mechanism 6 to move up and down together. A small gear 6131 driven by a reduction motor 612 and a large gear 6132 meshing with the small gear 6131 are provided on the bottom plate 611. A swing arm support 62 is fixedly provided on the large gear 6132. A swing shaft 63 is provided on the swing arm support 62, and a swing frame 64 is sleeved on the swing shaft 63. The swing frame 64 is connected to the swing shaft 63 by four return springs 65 and is fixedly connected to four swing arms 66 at the same time. The small gear 6131 drives the large gear 6132 to rotate through the motor 612, and the large gear 6132 drives the swing arm support 62 to rotate together, and the swing arms 66 also rotate with the support 62. While the swing arms 66 are rotating, they can also swing around the swing shaft 63 by plus or minus 4° with the swing frame 64 and can return to the original position under the action of the return springs 65.

[0045] The four swing arms 66 include two long swing arms 661 and two short swing arms 662, which can avoid the door lock holes during use. Universal suction cup structures 67 are fixedly connected to the ends of the swing arms. In the universal suction cup structure 67, the suction cup 671 is fixedly connected to the suction cup support seat 672 by screws. A ball joint 674 is provided at the end of the suction cup shaft 673. The suction cup support seat 672 is in interference fit with the outer ring of the ball joint 674, and the inner ring of the ball joint 674 is in interference fit with the suction cup shaft 673. The suction cup shaft 673 can swing in any direction of plus or minus 7° between the suction cup 671; a linear bearing 675 and a compression spring 676 are sleeved on the outside of the suction cup shaft 673. The linear bearing 675 is fixed in the through hole at the end of the swing arm 66, and the compression spring 676 abuts between the suction cup support seat 672 and the swing arm 66 to provide a certain pressing force for the suction cup 671; a pipe joint and an air pipe are installed on the suction cup 671, which are directly connected to the air storage tank and the vacuum generator. The device adopts a redundant design, and two sets of air storage tanks and vacuum generators with the same structure are combined in a diagonal grouping. Each group of air circuits can independently bear the load of a single door leaf when working alone. In the universal suction cup structure 67 connected to the long swing arm 661, an extension length adjusting sleeve 677 is provided at the end of the suction cup shaft 673. The length of the suction cup shaft 673 extending out of the swing arm 66 can be adjusted by tightening the suction cup shaft screw 678, so as to ensure that the suction cup 671 on the long swing arm 661 can also make good contact with the door leaf. For example, when the door leaf is a curved door, the bending angle of the curved door is 10 degrees, 5 degrees on one side. There is a vertical distance difference between the long swing arm 661 and the short swing arm 662 to the door leaf. The long swing arm 661 is 120 mm longer than the short swing arm 662. According to the calculation, the distance difference is 120tan5° = 10.5 mm. At this time, adjusting the suction cup shaft 673 can ensure that theoretically all four suction cups 671 can make good contact with the door leaf; when the door leaf is a flat door, the suction cup extension length adjusting sleeve 677 can also be removed.

[0046] The mechanical device for assisting the assembly and disassembly of train door leaves disclosed in the present invention also includes a control device and a wireless code disk. The control device is installed on the frame 2 and can control the entire device to execute operation commands; the wireless code disk can fine-tune the grasping mechanism 6 to achieve accurate grasping and unhooking operations of the door leaf.

[0047] The whole machine is powered by two sets of batteries alternately. When the battery power reaches below 70%, the machine must be shut down and the battery must be replaced. If the battery power is low and needs to be replaced during operation, the gas tank can maintain the pressure so that the suction cup maintains the negative pressure safety pressure for at least 2 minutes.

[0048] The door leaf is removed during the overhaul of the train, and is installed on the train after the overhaul is completed and the door leaf is repaired. When the present invention is working, two processes of assisting the disassembly of the door leaf and the installation of the door leaf can be completed.

[0049] When disassembling the door leaf, you need to remove the train door leaf to be inspected and then put it into the designated position of the designated door leaf rack. The specific process is as follows:

[0050] First, the whole machine should be aligned with the door leaf to be removed, which is referred to as alignment. Secondly, start the electro-hydraulic integrated cylinder 33 to adjust the height of the lifting plate 4; start the servo motor 52 to drive the ball screw mechanism 54 to move, and synchronously raise the moving plate 55, the four-bar swing arm 66 and the universal suction cup 67 to the predetermined position; start the reduction motor 612 to drive the large and small gears, so that the four-bar swing arm 66 and the universal suction cup 67 rotate 90° to align with the door leaf to be removed. Then push the whole machine so that each universal suction cup 67 presses the door leaf. After the four suction cups 671 can fully contact the door leaf at the same time, start the two vacuum pipes of the suction cup to evacuate the suction cup so that the pressure reaches the set -86KPa.

[0051] When the pressure reaches the set value, the disassembly action begins. One person on the carriage removes the screws to disengage the door leaf from the positioning pin hole of the door carrier on the train. One person on the floor of the workshop operates the wireless code disk to control the up and down micro-movement and rotation of the four-bar swing arm 66 and the universal suction cup 67, respectively, to drive the door leaf to make micro-movements, and cooperate with one person on the carriage to disengage the door leaf from the lower swing arm connecting the door leaf on the train.

[0052] After the door leaf is unhooked, it is rotated to a horizontal position, and the whole machine is pushed to move toward the door leaf shelf. The laser sensor is used to detect that it stops after reaching the specified position, and then the cylinder 33 is started to move the lifting plate 4 down to a low position to touch the dead stop iron 11 at the lower limit. The ball screw mechanism 54 is used to drive the door leaf to move to about 20 mm from the bottom of the door leaf shelf. Finally, the vacuum suction cup releases the negative pressure, allowing the door leaf to fall freely to the specified position of the door leaf shelf, completing a cycle of "disassembling the door leaf".

[0053] When installing the door leaf, you need to grab the door leaf on the door leaf shelf with a suction cup and then install it on the installation frame of the train. The specific process is as follows:

[0054] First, rotate the four-bar swing arm 66 and the universal suction cup 67 to a horizontal position and lower them to a low position, i.e., the initial position. Manually push the whole machine to align with the door leaf to be installed. When the four suction cups 671 just touch the door leaf, drive the ball screw mechanism 54 to drive the four-bar swing arm 66 and the universal suction cup 67 to move down about 20 mm; then manually push to make the four suction cups 671 effectively press the door leaf, start the vacuum generator until the negative pressure indicates -86MPa, and after the pressure reaches the standard, drive the ball screw mechanism 54 to drive the swing arm 66, the universal suction cup 67 and the grabbed door leaf to move up and leave the door leaf shelf; then continue to move and rotate The whole machine is aligned with the position of the train door leaf to be installed, the cylinder 33 and the ball screw mechanism 54 are started at the same time, and the four-bar swing arm 66 and the universal suction cup 67 are moved upward together with the door leaf, and the angle sensor detects the specified position and stops automatically; the reduction motor 612 is started to rotate the four-bar swing arm 66 and the universal suction cup 67 90°, so that the door leaf is turned from a horizontal state to a vertical state, and the whole machine is pushed to the position where the train door leaf is installed. After it is in place, the manual code disk is used to operate the swing arm 66 and the universal suction cup 67 to rise and rotate the micro-motion, and the door leaf is interactively aligned with a person on the carriage to allow the door leaf to be hooked with the door swing arm on the train.

[0055] After the door leaf is hooked, the wireless code disk stops working immediately, and one person in the carriage positions the door leaf positioning pin with the door carrier on the train and tightens the screws. At this time, the vacuum generator releases the negative pressure of the suction cup to unload, detach from the train door leaf, and complete a cycle of "installing the door leaf".

Claims

1. An auxiliary mechanical device for assembling and disassembling train doors, comprising a mobile trolley (1), with a frame (2) provided on one side of the mobile trolley (1). The vertical part of the frame (2) is articulated with a lifting plate (4) through upper and lower connecting rods (3) to form a parallelogram structure. Among them, the lower connecting rod (32) is pushed by a telescopic structure (33) articulated to the mobile trolley and drives the lifting plate (4) to move. It is characterized in that, A grasping mechanism (6) is installed on the lifting plate (4). The grasping mechanism (6) includes a bracket assembly (61), a swing arm (66) and a universal suction cup (67). The universal suction cup (67) is installed at the end of the swing arm (66), and the swing arm (66) is installed on the bracket assembly (61). The grasping mechanism (6) is installed on the lifting plate (4) through a fine-tuning mechanism (5). The fine-tuning mechanism (5) includes 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 vertically installed plate (51). A moving plate (55) is fixedly installed on the lead screw nut that moves vertically in the ball screw mechanism (54). The bracket assembly (61) of the grasping mechanism (6) is fixed on the moving plate (55). The bracket assembly (61) includes a bottom plate (611). A gear structure (613) driven by a reduction motor (612) is provided 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 provided on the swing arm support (62). The swing frame (64) is rotatably connected to the swing shaft (63), and the swing frame (64) is fixedly connected to the swing arm (66). The swing frame (64) is connected to the swing shaft (63) through a return spring (65).

2. The auxiliary mechanical device for assembling and disassembling train doors according to claim 1, characterized in that, The universal suction cup (67) includes a suction cup (671), a suction cup support (672) for fixing the suction cup (671), a suction cup shaft (673), and a linear bearing (675). The linear bearing (675) is fixedly provided at the end of the swing arm (66), and the suction cup shaft (673) is arranged in the linear bearing (675). A spherical hinge (674) is provided at the end of the suction cup shaft (673). Its outer ring is closely fitted with the suction cup support (672), and its inner ring is closely fitted with the suction cup shaft (673). A compression spring (676) is sleeved outside the suction cup shaft (673). One end of it abuts against the swing arm (66), and the other end abuts against the suction cup support (672). The suction cup (671) is connected to an air storage tank and a vacuum generator, and a pressure sensor for monitoring the negative pressure of the suction cup is connected to the air circuit.

3. The auxiliary mechanical device for assembling and disassembling train doors according to claim 2, characterized in that, The universal suction cup (67) further includes a suction cup extension length adjusting sleeve (677) and an adjusting screw (678) at the end of the suction cup shaft.

4. The auxiliary mechanical device for assembling and disassembling train doors according to claim 1, characterized in that, The telescopic structure (33) is an electro-hydraulic integrated oil cylinder.

5. The auxiliary mechanical device for assembling and disassembling train doors according to claim 1, characterized in that, The length of one of the connecting rods (3) can be adjusted by bolts.

6. The auxiliary mechanical device for assembling and disassembling train doors according to claim 1, characterized in that, The connecting rods (3) located above or below are a plurality of parallel connecting rod groups that are hinged to the lifting plate (4) and the frame (2).

7. The auxiliary mechanical device for assembling and disassembling train doors according to claim 1, characterized in that, An angle sensor for monitoring the angle between the connecting rod (3) and any hinge of the frame (2) is provided at any hinge.

8. The auxiliary mechanical device for assembling and disassembling train doors according to claim 1, characterized in that, There are four swing arms (66), including two long swing arms (661) and two short swing arms (662).

9. The auxiliary mechanical device for assembling and disassembling train doors according to claim 8, characterized in that, Among the universal suction cups (67) connected by the four swing arms (66), the two suction cup groups at any diagonal position can independently realize the grasping of the door leaf.

10. The auxiliary mechanical device for assembling and disassembling train doors according to claim 1, characterized in that, Two groups of alternately used battery packs, a vacuum pump station, and an oil cylinder accessory pump station are provided in the moving trolley (1).

11. The auxiliary mechanical device for assembling and disassembling train doors according to claim 1, characterized in that, On one side of the mobile trolley (1), there is a stop iron (11) for receiving the fine adjustment mechanism (5) and the lifting plate (4).

12. The auxiliary mechanical device for assembling and disassembling train doors according to claim 1, characterized in that, On the front side of the mobile trolley (1), there is a laser sensor that can monitor the distance between the door leaf and the goods shelf.

13. The auxiliary mechanical device for assembling and disassembling train doors according to claim 1, characterized in that, It also includes a control device provided on the frame (2) and a wireless code disc for controlling the swing arm (66) and the micro motion of the suction cup.

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