Rail vehicle door dismounting system

Abstract

The application discloses a rail vehicle door dismounting system, which comprises a dismounting operation mechanism, a loading mechanism and a control system. The dismounting operation mechanism comprises an operation trolley, a moving assembly and a gripper. The moving assembly is arranged on the operation trolley, and the gripper for grabbing the door is arranged on the moving assembly and is driven to move by the moving assembly. The loading mechanism comprises a storage rack for storing the door. The control system controls the dismounting operation mechanism and the loading mechanism to cooperate to load and unload the door. The rail vehicle door dismounting system can conveniently load and unload the door, reduces the participation of manual work, effectively reduces the labor intensity and improves the operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of rail vehicle maintenance equipment technology, and in particular to a rail vehicle door disassembly and assembly system. Background Technology

[0002] Rail vehicles have a large number of doors that open and close frequently. To ensure the safe and reliable operation of rail vehicles, door disassembly and maintenance are required when doors malfunction or when the vehicle undergoes major overhauls. Current technology typically uses manual disassembly and assembly. However, the large size and weight of the doors usually require multiple people to work together, resulting in high labor intensity, safety risks, and low efficiency. While existing door disassembly and assembly mechanisms exist, such as the one disclosed in CN215475455 U, these still require manual assistance during disassembly and transport, further impacting efficiency. Summary of the Invention

[0003] The technical problem to be solved and the technical task proposed by the present invention is to improve the existing technology and provide a rail vehicle door disassembly and assembly system to solve the problems of high manual operation, high labor intensity and low efficiency in the current door disassembly and assembly operation.

[0004] To solve the above technical problems, the technical solution of the present invention is as follows:

[0005] A rail vehicle door assembly / disassembly system includes an assembly / disassembly mechanism, a loading mechanism, and a control system. The assembly / disassembly mechanism includes a working trolley, a moving component, and a gripper. The moving component is mounted on the working trolley, and the gripper for grasping the door is mounted on the moving component and moved by it. The loading mechanism includes a storage rack for storing the door. The control system controls the assembly / disassembly mechanism and the loading mechanism to cooperate in assembling and disassembling the door. The rail vehicle door assembly / disassembly system of this invention is convenient to use and highly mobile. The assembly / disassembly mechanism can flexibly and conveniently travel to the location of the rail vehicle door via the working trolley to perform door assembly / disassembly operations. The gripper can reliably grasp the door and move flexibly under the drive of the moving component. This allows the door to be removed from the rail vehicle and transported to the storage rack of the loading mechanism, or the door to be transported from the storage rack to the rail vehicle for installation. The transport process requires no manual intervention, effectively reducing labor intensity, improving assembly / disassembly efficiency, and enhancing operational safety.

[0006] Furthermore, the moving component includes a supporting robotic arm and an actuation mechanism. The gripper is supported by the supporting robotic arm and connected to the actuation mechanism. The actuation mechanism drives the gripper to move and causes the supporting robotic arm to follow. Car doors are large in size and heavy. Simply relying on the actuation mechanism to move the door and bear its weight would place a heavy load on the actuation mechanism, requiring a larger actuator to meet the requirements. This would result in an excessively large overall size of the disassembly and assembly mechanism and higher implementation costs. This invention utilizes a supporting robotic arm to bear the weight of the car door, while the actuation mechanism only drives the door to move. During the door's movement, the supporting robotic arm follows, thus maintaining its weight-bearing function and reducing the load on the actuation mechanism. Consequently, the actuation mechanism can be a lightweight, small-sized model, which helps reduce the overall size of the disassembly and assembly mechanism and lower equipment costs.

[0007] Furthermore, the gripper is rotatably connected to the free end of the supporting robotic arm and bears the weight of the supporting robotic arm. The actuation mechanism is rigidly connected to the gripper to drive the gripper to move and control the gripper's posture. The door not only bears the weight of the supporting robotic arm, but can also rotate relative to the supporting robotic arm. Thus, the actuation mechanism can control not only the position of the door, but also the posture of the door, facilitating the placement of the door and enabling the door to be accurately installed on the rail vehicle or placed on the storage rack.

[0008] Furthermore, the supporting robotic arm includes multiple cantilever segments that are connected in sequence. The supporting robotic arm can stably bear the weight of the car door, ensuring safety and reliability during the movement of the car door, while also being flexible and able to follow along without affecting the precise control of the door's position and posture by the motion mechanism.

[0009] Furthermore, the motion mechanism is an articulated robot, which has a simplified structure, occupies little space, and has high motion precision and reliability.

[0010] Furthermore, the mobile component also includes a slewing mechanism that rotates laterally. The supporting robotic arm and the action mechanism are connected to the work trolley through the slewing mechanism, which makes the overall working range of the mobile component wider, the action flexibility better, and facilitates the precise disassembly and placement of the car door.

[0011] Furthermore, the gripper is also equipped with a visual positioning component. The control system receives information from the visual positioning component to control the moving component to drive the gripper to move. The visual positioning component is used for precise visual positioning to ensure that the moving component can accurately move the door to the designated position, thereby improving the reliability and efficiency of assembly and disassembly.

[0012] Furthermore, the loading mechanism also includes a transport trolley for transferring the storage shelves, which improves the mobility of the storage shelves. Under the action of the transport trolley, the storage shelves can be flexibly rotated to the required position. After the storage shelves are filled with car doors, the transport trolley transfers the storage shelves to the storage position, and then transfers the new empty storage shelves to the working position of the disassembly and assembly operation mechanism to continue storing new car doors, ensuring that the disassembly and assembly operation is continuous and uninterrupted, and improving the work efficiency.

[0013] Furthermore, the transport trolley is equipped with a lifting platform mechanism. The transport trolley uses the lifting platform mechanism to lift the storage shelf for transfer and lower the storage shelf to place it in a designated position. The lifting method is used to transfer the storage shelf, which not only ensures that the storage shelf can stably store the car door, but also ensures the stability of the car door on the storage shelf during the rotation process.

[0014] Furthermore, the storage rack is provided with several placement positions for storing vehicle doors. Each placement position is also equipped with a sensor for monitoring whether a vehicle door is stored in the placement position. The storage rack includes a positioning seat, on which several positioning slots matching the vehicle doors are arranged side by side at intervals. Above the positioning seat are several parallel and spaced horizontal bars that mate with the positioning slots. The interval area between adjacent horizontal bars mates with the positioning slots to form the placement position. A single storage rack can store multiple vehicle doors. The sensor monitors whether the storage rack is full, facilitating timely replacement with a new storage rack and ensuring the continuity of disassembly and assembly operations. Moreover, the placement position structure adopted in this invention is simplified, providing stable and safe storage of vehicle doors while allowing for convenient retrieval and placement, ensuring disassembly and assembly efficiency.

[0015] Compared with the prior art, the advantages of the present invention are as follows:

[0016] The rail vehicle door assembly and disassembly system of the present invention can facilitate the assembly and disassembly of doors, reduce manual intervention, effectively reduce labor intensity, and improve work efficiency.

[0017] By using a support robotic arm to support the weight of the car door, the motion mechanism only controls the position and posture of the car door, reducing the load on the motion mechanism, which helps to reduce the overall size of the equipment and improves the safety of the disassembly and handling process.

[0018] The storage racks used to store car doors are transported by transport trolleys, which allows for timely replacement of the racks, ensuring the continuity of disassembly and assembly operations and improving work efficiency. Attached Figure Description

[0019] Figure 1 A schematic diagram of the overall structure of the rail vehicle door assembly / disassembly system;

[0020] Figure 2 This is a structural diagram of the disassembly and assembly mechanism;

[0021] Figure 3This is a schematic diagram of the storage rack structure;

[0022] Figure 4 This is a schematic diagram of the transport trolley.

[0023] In the picture:

[0024] 1. Disassembly and assembly operation mechanism; 2. Loading mechanism; 3. Working trolley; 4. Moving component; 41. Supporting robotic arm; 42. Action mechanism; 43. Rotation mechanism; 44. Transfer rod; 5. Grab; 6. Storage rack; 61. Positioning seat; 62. Crossbar; 7. Transport trolley; 71. Lifting platform mechanism; 8. Vision positioning component. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] The present invention discloses a rail vehicle door assembly and disassembly system, which can facilitate the assembly and disassembly of doors, reduce manual intervention, effectively reduce labor intensity, improve assembly and disassembly efficiency, and has high reliability, good stability and good safety in use.

[0027] like Figures 1 to 4 As shown, a rail vehicle door disassembly and assembly system mainly includes a disassembly and assembly operation mechanism 1, a loading mechanism 2, and a control system. The disassembly and assembly operation mechanism 1 includes a working trolley 3, a moving component 4, and a gripper 5. The moving component is mounted on the working trolley 3, and the gripper 5 for grabbing the door is mounted on the moving component 4 and moved by it. The loading mechanism 2 includes a storage rack 6 for storing the door. The control system controls the disassembly and assembly operation mechanism 1 and the loading mechanism 2 to cooperate in the disassembly and assembly of the door.

[0028] When it is necessary to disassemble or assemble doors on rail vehicles, the disassembly / assembly mechanism 1 uses its own trolley 3 to easily move to the location of the door. Then, the moving component 4 moves the gripper 5 to the door to grasp it, and then the door is disassembled. After the door is removed from the rail vehicle, the moving component 4 moves the gripper 5 to a storage rack 6 located next to the disassembly / assembly mechanism 1 for placement. After the door is placed in place on the storage rack 6, the gripper 5 releases the door, and then the disassembly / assembly of the next door is performed. When installing doors, the moving component 4 moves the gripper 5 to the storage rack 6 to grasp a door, and then moves the door to the door frame of the rail vehicle for installation. Throughout the entire door disassembly / assembly process, no manual handling is required, effectively reducing labor intensity and improving work efficiency.

[0029] In this embodiment, the gripper 5 includes several spaced vacuum suction cups, which use vacuum adsorption to grip the car door. This method is simple in structure, easy to implement, and avoids damage to the car door, ensuring its integrity during disassembly and assembly. The moving component 4 includes a supporting robotic arm 41 and an actuating mechanism 42. The gripper 5 is supported by the supporting robotic arm 41, so when the gripper 5 grips the car door, the weight of the door is actually borne by the supporting robotic arm 41. The gripper 5 is connected to the actuating mechanism 42, which moves the gripper 5 and causes the supporting robotic arm 41 to move accordingly. The actuating mechanism 42 primarily drives the gripper's movement and does not bear the weight of the car door, thus its load is low. This allows for a lightweight, compact structure with a small footprint, reducing the overall size of the disassembly and assembly mechanism 1 and lowering implementation costs. Specifically, the motion mechanism 42 adopts an articulated robot, which has a compact structure, occupies little space, and has high motion precision, meeting the requirements for precise control of the car door position. The free end of the articulated robot is connected to a transition rod 44, which is rigidly connected to the gripper 5. Thus, the articulated robot can precisely drive the gripper 5 to move, thereby precisely controlling the position and posture of the car door grasped by the gripper 5. The transition rod 44 is rotatably connected to the free end of the supporting robotic arm 41, with the rotation axis along the vertical direction. Thus, the gripper 5 can rotate laterally relative to the free end of the supporting robotic arm 41, allowing the car door grasped by the gripper 5 to rotate in a certain position in space under the action of the motion mechanism 42 to adjust its posture, facilitating more precise placement of the car door. The supporting robotic arm 41 includes multiple cantilever segments connected in sequence, allowing relative movement between the cantilever segments as the actuation mechanism 42 moves the gripper 5. This ensures that the supporting robotic arm 41 moves as a whole, preventing interference with the actuation mechanism 42 and guaranteeing stable support of the gripper 5 and the door it grasps throughout its movement. In this embodiment, the supporting robotic arm 41 includes a first cantilever and a second cantilever. The proximal end of the first cantilever is rotatably connected to the base, with the rotation axis along the lateral direction, thus giving the first cantilever a degree of vertical deflection. The proximal end of the second cantilever is rotatably connected to the distal end of the first cantilever, and the rotation axis of the second cantilever relative to the first cantilever is vertical, so that the second cantilever can rotate laterally relative to the first cantilever. The adapter rod 44 is rotatably connected to the distal end of the second cantilever. When the action mechanism 42 drives the gripper 5 to move to control the position and posture of the door, the first and second cantilever of the supporting mechanical arm 41 send relative rotation to follow up, without affecting the activity of the action mechanism 42, and at the same time can maintain stable support of the gripper 5 and the door on the gripper 5, ensuring safety and reliability during disassembly, assembly and transportation.

[0030] Furthermore, the moving component 4 described in this embodiment also includes a slewing mechanism 43 that rotates laterally. The supporting robotic arm 41 and the action mechanism 42 are connected to the work trolley 3 through the slewing mechanism 43. That is, the supporting robotic arm 41 and the action mechanism 42 are driven by the slewing mechanism 43 to rotate laterally, increasing the overall range of motion of the moving component 4 and facilitating more flexible and precise installation, removal, and handling of the doors.

[0031] Furthermore, the gripper 5 is also equipped with a visual positioning component 8, which includes a 3D camera and a laser rangefinder. The visual positioning component 8 uses visual positioning to locate the position and posture of the gripper. The control system receives information from the visual positioning component 8 to control the moving component 4 to move the gripper 5, so that the moving component 4 can accurately control the gripper 5, that is, accurately control the position and posture of the car door on the gripper 5, thereby accurately and reliably disassembling and assembling the car door.

[0032] The bottom of the storage rack 6 can be equipped with rollers, allowing for manual pushing for transfer. To improve automation and reduce manual labor intensity, in this embodiment, the loading mechanism 2 also includes a transport trolley 7 for transferring the storage rack 6. The transport trolley 7 is an independent component structure from the storage rack 6. Multiple storage racks 6 can be provided to store a large number of doors, while only one transport trolley 7 is required. Thus, multiple storage racks 6 share one transport trolley 7, reducing costs. After transporting one storage rack 6 to the required position, the transport trolley 7 can leave that storage rack to transfer another storage rack 6. The transport trolley 7 has high utilization and can reduce idle waiting time. For example, transport... The trolley 7 moves a storage shelf 6 to the disassembly and assembly mechanism 1 to store the disassembled car door. The disassembly of the car door takes a certain amount of time. During this time, the trolley 7 can move the next storage shelf to a position close to the disassembly and assembly mechanism 1. After the previous storage shelf 6 is full, the trolley 7 first moves the full storage shelf 6 away a certain distance, and then moves the next empty storage shelf 6 that is placed nearby to the disassembly and assembly mechanism 1 to store the disassembled car door. Then the trolley 7 transfers the full storage shelf 6 to the maintenance station. This can ensure the continuity of the disassembly and assembly mechanism 1, avoid the situation of the disassembly and assembly mechanism 1 waiting, and improve the overall efficiency of the disassembly and assembly operation. In this embodiment, the transport trolley 7 is equipped with a lifting platform mechanism 71. When the transport trolley 7 travels under the storage shelf 6, the lifting platform mechanism 71 lifts or lowers the storage shelf 6. When the lifting platform mechanism 71 lifts the storage shelf 6 off the ground, the transport trolley 7 can move freely and rotate the storage shelf 6 to the required position. Then, the lifting platform mechanism 71 lowers the storage shelf 6 and places it stably in the designated position.

[0033] In this embodiment, the storage rack 6 is provided with several placement positions for storing vehicle doors, improving the utilization rate of the storage rack 6. Each placement position is also equipped with a sensor to monitor whether a vehicle door is stored in the placement position. The control system receives the information from the sensor and promptly knows whether the storage rack 6 is full, so as to promptly control the transport trolley 7 to replace the storage rack 6 to ensure the continuity of disassembly and assembly operations, avoid waiting situations, and improve overall operation efficiency. Specifically, the storage rack 6 includes a positioning seat 61, on which several positioning slots matching the vehicle doors are arranged side by side at intervals. Above the positioning seat 61, several parallel and spaced crossbars 62 that cooperate with the positioning slots are arranged. The interval area between adjacent crossbars 62 cooperates with the positioning slots to form the placement position. The structure is simple and convenient for picking up and placing vehicle doors.

[0034] Furthermore, the rail vehicle door assembly and disassembly system also includes an auxiliary system, which includes charging components, UPS power supply, wireless network equipment, etc. The operation trolley 3 and the transport trolley 7 are both AGV trolleys, equipped with electromagnetic or optical automatic navigation devices, which travel along the prescribed navigation path, have safety protection and various transfer functions, and can automatically travel to the charging components for power replenishment when power is insufficient.

[0035] The control system for the rail vehicle door assembly / disassembly system mainly consists of a PC server console and a handheld terminal. The PC server console controls the entire rail vehicle door assembly / disassembly system, while the handheld terminal operates the vacuum suction cups on the gripper, the work trolley, and the transport trolley. Specifically, the control system comprises four relatively independent functional units: a motion unit, a work unit, a positioning unit, and a logic control unit. The logic control unit performs the logic control functions for the work unit, motion unit, and positioning unit.

[0036] The control system program includes PC communication subroutines, logic processing programs, operation control subroutines, motion control subroutines, security subroutines, PLC interaction subroutines, HMI communication subroutines, initialization subroutines, etc. The system control is mainly divided into communication control and IO control. The movement of moving parts such as servo motors and robotic arms is controlled by communication, while the status of monitoring sensors and key equipment is controlled by IO to ensure low signal latency and safety and reliability.

[0037] The PC communication subroutine is responsible for communicating with the host PC, initially using MODBUS-TCP, to achieve system command and status interaction. The logic processing program is responsible for the overall system logic control, parsing commands issued by the host PC and distributing them to various functional modules. It also collects feedback status from each module and uploads it to the host PC to achieve closed-loop system control. The operation control subroutine receives commands from the logic processing program to control the operation unit. Through logic processing, it controls the supporting robotic arm, vacuum suction cup, and motion mechanisms, while simultaneously feeding back the status to the logic processing program to complete closed-loop control. The motion control subroutine receives commands from the logic processing program and interacts with the AGV controller and battery. The security subroutine is mainly responsible for collecting the status and indicator lights of various safety devices. When a system error occurs, it outputs corresponding audible and visual prompts and feeds back the error code to the host PC. The HMI communication subroutine is mainly responsible for interacting with the HMI to achieve status and command interaction.

[0038] The above are merely preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be considered as limitations on the present invention, and the scope of protection of the present invention should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A rail vehicle door assembly / disassembly system, characterized in that, The system includes a disassembly and assembly mechanism (1), a loading mechanism (2), and a control system. The disassembly and assembly mechanism (1) includes a work trolley (3), a moving component (4), and a gripper (5). The moving component is mounted on the work trolley (3), and the gripper (5) for grabbing the car door is mounted on the moving component (4) so ​​that it can be driven to move. The loading mechanism (2) includes a storage rack (6) for storing the car door. The control system controls the disassembly and assembly mechanism (1) and the loading mechanism (2) to cooperate in order to disassemble and assemble the car door. The moving component (4) includes a supporting robotic arm (41) and an action mechanism (42). The gripper (5) is carried by the supporting robotic arm (41) and is connected to the action mechanism (42). The action mechanism (42) drives the gripper (5) to move and causes the supporting robotic arm (41) to move accordingly. The action mechanism (42) is an articulated robot. The moving component (4) also includes a rotary mechanism (43) that rotates laterally, and the supporting robotic arm (41) and the action mechanism (42) are connected to the work trolley (3) through the rotary mechanism (43); The gripper (5) is rotatably connected to the free end of the supporting mechanical arm (41) and the weight is borne by the supporting mechanical arm (41). The action mechanism (42) is rigidly connected to the gripper (5) to drive the gripper (5) to move and control the posture of the gripper (5).

2. The rail vehicle door assembly / disassembly system according to claim 1, characterized in that, The supporting robotic arm (41) includes multiple cantilever segments that are connected in sequence.

3. The rail vehicle door assembly / disassembly system according to claim 1, characterized in that, The gripper (5) is also provided with a visual positioning component (8), and the control system receives information from the visual positioning component (8) to control the moving component (4) to drive the gripper (5) to move.

4. The rail vehicle door assembly / disassembly system according to claim 1, characterized in that, The loading mechanism also includes a transport trolley (7) for transferring the storage rack (6).

5. The rail vehicle door assembly / disassembly system according to claim 4, characterized in that, The transport trolley (7) is equipped with a lifting platform mechanism (71). The transport trolley (7) lifts the storage rack (6) through the lifting platform mechanism (71) for transfer and lowers the storage rack (6) to place it in a designated position.

6. The rail vehicle door assembly / disassembly system according to claim 1, characterized in that, The storage rack (6) is provided with several placement positions for storing car doors. Each placement position is also provided with a sensor for monitoring whether a car door is stored in the placement position. The storage rack (6) includes a positioning seat (61). The positioning seat (61) is provided with several positioning slots that match the car door, arranged side by side at intervals. Above the positioning seat (61) are several parallel and spaced horizontal bars (62) that cooperate with the positioning slots. The interval area between adjacent horizontal bars (62) cooperates with the positioning slots to form the placement position.

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