A bogie bolster spring wedge integrated disassembly mechanism and disassembly method using the same

Abstract

The present invention provides a bogie bolster spring and oblique wedge integrated disassembly mechanism and a disassembly method using the same, comprising a frame; an oblique wedge lifting assembly, which is installed above the frame; a bolster spring lever assembly, which is located below the oblique wedge lifting assembly; and a connecting spring assembly, which is located below the bolster spring lever assembly. The present invention integrates the bolster spring disassembly mechanism and the oblique wedge disassembly mechanism into one, and can realize the integrated disassembly of multiple groups of bolster springs or bolster spring oblique wedges. In a single disassembly process, multiple groups of bolster springs or bolster spring oblique wedges can be disassembled simultaneously. At the same time, the oblique wedge lifting component adopts a special U-shaped structure design with a lateral opening. Through a set of lifting structural components, it can adapt to the oblique wedges on the left and right sides of the bogie, has a compact structure, and matches the groove at the bottom of the oblique wedge, thereby improving the stability and safety of the oblique wedge disassembly process and reducing the probability of the oblique wedge falling.

Description

Technical Field

[0001] The invention relates to the automated disassembly of a railroad freight car bolster spring wedge, in particular to an integrated disassembly mechanism for a bogie bolster spring wedge and a disassembly method using the same, belonging to the technical field of automated tooling disassembly. Background Art

[0002] The bogie is one of the important components in the structure of rail vehicles. The inspection and maintenance of the bogie is crucial to the comfort and safety of the vehicle. During the inspection and maintenance process, the vibration reduction device of the bogie needs to be disassembled. The vibration reduction device mainly includes the bolster spring and the wedge on the bogie.

[0003] Currently, there is an automated disassembly system for pillow springs and wedges on the bogie disassembly line. However, the disassembly of pillow springs and wedges requires the cooperation of two independent mechanisms, namely the wedge auxiliary disassembly mechanism and the pillow spring disassembly mechanism. This has the problems of high cost and large working space requirements.

[0004] On the other hand, in a single disassembly process, the existing automated disassembly system can only remove one wedge or pillow spring workpiece, and the disassembly efficiency is low, resulting in the need to frequently transfer the workpiece from the disassembly station to the subsequent docking station. The disassembly system repeatedly moves and transfers the workpiece between the disassembly station and the docking station, affecting the system's working rhythm and low operating efficiency. Summary of the invention

[0005] The purpose of the present invention is to solve the problems raised in the above-mentioned background technology, and to provide a bogie bolster spring and wedge integrated disassembly mechanism, which is suitable for the integrated disassembly of the bolster spring and wedge, thereby improving the maintenance efficiency of the bogie.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] A bogie bolster spring wedge integrated disassembly mechanism, comprising:

[0008] frame;

[0009] A cam lifting assembly, mounted above the frame, for entering the interior of the bogie to lift and remove the transport cam;

[0010] A pillow spring lever assembly is located below the inclined wedge lifting assembly and is installed inside the frame through a mounting seat, and is used to enter the interior of the bogie to hook the pillow spring in the bogie;

[0011] A connecting spring assembly is located below the pillow spring lever assembly and is installed on the bottom side of the frame to enter the bogie to receive the pillow spring hooked by the pillow spring lever assembly;

[0012] The inclined wedge lifting assembly comprises: an inclined wedge lifting member and an inclined wedge linear pushing mechanism; the inclined wedge lifting member is installed on the inclined wedge linear pushing mechanism through a mounting block, and the inclined wedge linear pushing mechanism is installed on the frame through a mounting member, so as to drive the inclined wedge lifting member to move forward and backward;

[0013] The pillow spring lever assembly comprises: a pillow spring hook-down mechanism, a lever linear pushing mechanism and a lifting mechanism; the pillow spring hook-down mechanism is suspended above the connecting spring assembly, and the pillow spring hook-down mechanism is used to hook up the pillow spring; the pillow spring hook-down mechanism can be slidably mounted on the lever linear pushing mechanism, and the lever linear pushing mechanism is used to drive the pillow spring hook-down mechanism to move forward and backward; the lifting mechanism is used to drive the lever linear pushing mechanism to move up and down, and one end of the lifting mechanism is fixedly mounted on the mounting seat, and the other end is connected to the lever linear pushing mechanism through the lever lifting bottom plate;

[0014] The connecting spring assembly includes: a pillow spring receiving mechanism and a connecting spring linear pushing mechanism; the pillow spring receiving mechanism is used to receive the pillow spring hooked down by the pillow spring lever assembly; the pillow spring receiving mechanism can be slidably installed on the connecting spring linear pushing mechanism, and the connecting spring linear pushing mechanism is used to push the pillow spring receiving mechanism to move forward and backward.

[0015] The end of the inclined wedge lifting member is a U-shaped structure, and the opening of the U-shaped structure faces one side; the inclined wedge lifting assembly also includes a rotating mechanism, the inclined wedge lifting member is connected to the slewing bearing of the rotating mechanism, and the rotating mechanism is fixedly connected to the mounting block.

[0016] The inclined wedge lifting assembly also includes: an auxiliary guide mechanism, which is installed on the frame parallel to the inclined wedge linear pushing mechanism, and the mounting block is slidably mounted on the auxiliary guide mechanism.

[0017] There are two groups of pillow spring lever assemblies, which are respectively installed in the frame through two groups of mounting seats; the pillow spring receiving mechanism includes two grooves for supporting pillow springs, and the grooves are respectively arranged below the pillow spring hooking mechanisms of the two groups of pillow spring lever assemblies.

[0018] The pillow spring hook-down mechanism is composed of an integrated shifting rod and a shifting finger connected to the integrated shifting rod.

[0019] The connecting spring assembly also includes a connecting spring support plate, and the pillow spring receiving mechanism is suspended on the top of the connecting spring support plate.

[0020] It also includes: a push spring assembly, which is connected to the connecting spring assembly through a push spring mechanism mounting plate and is used to push the pillow spring supported on the connecting spring assembly; the push spring assembly is close to the reverse end of the connecting spring end of the connecting spring assembly; the push spring assembly includes: a push spring plate and a push spring mechanism; the push spring mechanism is installed on the push spring mechanism mounting plate, and one end is connected to the push spring plate.

[0021] A disassembly method of a bogie bolster spring and angular wedge integrated disassembly mechanism, comprising the bogie bolster spring and angular wedge integrated disassembly mechanism, an actuator and a control system, wherein the bogie bolster spring and angular wedge integrated disassembly mechanism is installed at the end of the actuator actuator through an actuator mounting plate, and the disassembly method comprises a bolster spring disassembly method and an angular wedge bolster spring integrated disassembly method, wherein the angular wedge bolster spring integrated disassembly method comprises:

[0022] S1 Use the pillow spring removal method to remove all the pillow springs in the front row and the second row below the non-wedge position;

[0023] S2 The control system obtains information about the currently to-be-removed cam, the information including whether the cam is to be removed is a left cam or a right cam. According to the information about the cam to be removed, the control system controls the rotation mechanism of the cam lifting assembly to control the opening of the U-shaped structure of the cam lifting member to face the cam to be removed;

[0024] S3 The control system controls the actuator to drive the disassembly mechanism to move to the standard wedge disassembly posture I, and the wedge lifting member faces the middle position of the bogie;

[0025] S4: The control system controls the inclined wedge linear pushing mechanism to move forward, driving the inclined wedge lifting member to extend into the middle space inside the bogie to reach the inclined wedge removal standard posture II, at which time the opening of the U-shaped structure of the inclined wedge lifting member faces the side of the inclined wedge to be removed, and the upper surface of the U-shaped structure is slightly lower than the groove surface at the bottom of the inclined wedge to be removed;

[0026] S5: the control system controls the actuator to move the inclined wedge lifting member from the side toward the direction of the inclined wedge to be removed, to reach the inclined wedge removal standard posture III, at which time the U-shaped structure of the inclined wedge lifting member contacts the groove surface at the bottom of the inclined wedge;

[0027] S6 The control system controls the actuator to move upward, and lifts the inclined wedge through the inclined wedge lifting member, so that the inclined wedge is separated from the pillow spring nested at the bottom;

[0028] S7 The control system controls the connecting spring linear driving mechanism to drive the pillow spring receiving mechanism to move to the receiving position of the pillow spring below the second row of wedges to be removed;

[0029] S8 The control system controls the lever linear driving mechanism to drive the pillow spring hooking mechanism to move to the position of the pillow spring below the second row of the inclined wedge to be removed inside the pillow spring group, hooks down the pillow spring at the bottom of the inclined wedge, and retracts the pillow spring hooking mechanism; the pillow spring receiving mechanism receives the hooked pillow spring;

[0030] S9 the control system controls the spring linear push mechanism to retract the pillow spring receiving mechanism to its original position;

[0031] S10 the control system controls the actuator to drive the inclined wedge lifting member to lower its position, and remove the inclined wedge from the bolster groove;

[0032] The inclined wedge disassembly standard posture I, the inclined wedge disassembly standard posture II and the inclined wedge disassembly standard posture III constitute an inclined wedge standard disassembly posture set.

[0033] The control system obtains information about the current cam to be removed, and also obtains a posture difference between the cam to be removed and the standard teaching cam, and then controls the actuator to lift and remove the cam under the cam standard removal posture set relative to the cam;

[0034] The method for obtaining the position difference between the inclined wedge to be disassembled and the standard teaching inclined wedge includes a camera, which is installed at the front end of the frame; the control system controls the actuator to drive the disassembly mechanism to move to the side in the middle of the bogie, and controls the posture of the disassembly mechanism, so that the camera simultaneously obtains the triangular surface, auxiliary wear surface and bottom surface information of the inclined wedge to be disassembled in an oblique upward shooting manner, and calculates the position difference between the inclined wedge to be disassembled and the standard teaching inclined wedge through recognition and positioning software.

[0035] The camera is also used to collect the bogie posture information, calculate the bogie posture difference through the identification and positioning software, and then control the actuator to remove the pillow spring in the standard disassembly posture relative to the bogie.

[0036] The present invention provides a reliable and stable integrated disassembly mechanism for pillow springs and inclined wedges in view of the deficiencies in the technical background. Specifically, the present invention integrates the pillow spring disassembly mechanism and the inclined wedge disassembly mechanism into one, and can realize the integrated disassembly of multiple groups of pillow springs or pillow spring inclined wedges, without the need to be equipped with other devices, with low cost and saved working space. In a single disassembly process, multiple groups of pillow springs or pillow spring inclined wedges can be disassembled simultaneously, and the disassembly robot transports the disassembled multiple groups of pillow springs or pillow spring inclined wedges to the subsequent docking station at one time, reducing the number of times the disassembly robot transfers parts between the disassembly station and the docking station, greatly improving the overall efficiency. At the same time, the inclined wedge lifting part adopts a special U-shaped structure design with a side opening. Through a set of lifting structural parts, it can adapt to the inclined wedges on the left and right sides of the bogie, with a compact structure, and the U-shaped structure design matches the groove at the bottom of the inclined wedge, which improves the stability and safety of the inclined wedge disassembly process and reduces the probability of the inclined wedge falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of the present invention;

[0038] Figure 2 It is a structural schematic diagram of the frame 1 in the present invention;

[0039] Figure 3 It is a schematic structural diagram of the inclined wedge lifting assembly 2 in the present invention;

[0040] Figure 4 It is a structural schematic diagram of the pillow spring lever assembly 3 in the present invention;

[0041] Figure 5 It is a structural schematic diagram of the spring assembly 4 in the present invention;

[0042] Figure 6 It is a structural schematic diagram of the push spring assembly 5 in the present invention;

[0043] Figure 7 A schematic diagram of the distribution of bolster spring wedges on a K6 model bogie in an embodiment provided by the present invention. Specific embodiments

[0044] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0045] See also Figure 1 The present invention discloses a bogie bolster spring and wedge integrated disassembly mechanism, which is composed of a frame 1, an oblique wedge lifting assembly 2, a bolster spring lever assembly 3, a connecting spring assembly 4, and a push spring assembly 5.

[0046] The cam lifting assembly 2 is installed above the frame 1 and is used to enter the interior of the bogie to lift and remove the transport cam.

[0047] The pillow spring lever assembly 3 is located below the inclined wedge lifting assembly 2 and is installed inside the frame 1 through a mounting seat 35 for entering the interior of the bogie to hook the pillow spring in the bogie.

[0048] The connecting spring assembly 4 is located below the pillow spring lever assembly 3 and is installed on the bottom side of the frame 1 to enter the interior of the bogie to receive the pillow spring hooked by the pillow spring lever assembly 3 .

[0049] The push spring assembly 5 is installed on the connecting spring assembly 4.

[0050] See also Figure 2 The frame 1 is a frame structure, and an actuator mounting frame 12 is installed on the top of the frame 1. When in use, the bogie pillow spring wedge integrated disassembly mechanism is installed at the end of the actuator actuator through the actuator mounting plate 13 on the actuator mounting frame 12.

[0051] The actuator can be a robotic arm or a manipulator.

[0052] See also Figure 3 The inclined wedge lifting assembly 2 is composed of an inclined wedge lifting member 21 and an inclined wedge linear pushing mechanism 22. The inclined wedge linear pushing mechanism 22 is installed on the frame 1 through a mounting member 11.

[0053] The inclined wedge linear pushing mechanism 22 may adopt a linear module to drive the inclined wedge lifting member 21 to move forward and backward.

[0054] The inclined wedge lifting member 21 is installed on the inclined wedge linear pushing mechanism 22 through a mounting block, and moves forward and backward under the drive of the inclined wedge linear pushing mechanism 22.

[0055] The mounting block may be composed of a fixed plate 25 and a wedge adapter plate 26 that are fixedly connected. The wedge adapter plate 26 may be slidably mounted on the wedge linear pushing mechanism 22. The wedge lifting member 21 is connected to the wedge adapter plate 26 via the fixed plate 25. Driven by the wedge linear pushing mechanism 22, the wedge adapter plate 26 drives the fixed plate 25 and the wedge lifting member 21 to move forward and backward.

[0056] The end of the inclined wedge lifting member 21 adopts a U-shaped structure, the opening of the U-shaped structure faces one side, and its structure matches the bottom groove structure of the inclined wedge. The inclined wedge lifting member 21 extends into the bogie and can contact the bottom groove structure of the inclined wedge.

[0057] Correspondingly, the inclined wedge lifting assembly 2 further includes a rotating mechanism 23, the inclined wedge lifting member 21 is connected to the slewing bearing 231 of the rotating mechanism 23, and the inclined wedge lifting member 21 rotates under the drive of the rotating mechanism 23; one end of the rotating mechanism 23 is fixed to the fixed plate 25 of the mounting block.

[0058] The U-shaped structure at the end of the inclined wedge lifting member 21 matches the groove structure at the bottom of the inclined wedge, and can support the inclined wedge more stably. Since the inclined wedges on the bogie are symmetrically distributed and the grooves at the bottom of the two inclined wedges are in opposite directions, when the inclined wedge lifting member 21 lifts different inclined wedges, it is necessary to adjust the direction of the U-shaped structure opening. The inclined wedge lifting member 21 rotates under the drive of the rotating mechanism 23 to change the direction of the U-shaped structure opening.

[0059] The inclined wedge lifting assembly 2 can further include an auxiliary guide mechanism 24, which is installed on the guide mechanism mounting plate 14 of the frame 1 parallel to the inclined wedge linear pushing mechanism 22, and the inclined wedge adapter plate 26 of the mounting block is slidably mounted on the auxiliary guide mechanism 24 through a slider.

[0060] See also Figure 4 The pillow spring lever assembly 3 includes a pillow spring hooking mechanism 31, a lever linear pushing mechanism 32 and a lifting mechanism 33. The pillow spring hooking mechanism 31 is suspended above the connecting spring assembly 4 and is used to hook the pillow spring. The lever linear pushing mechanism 32 can adopt a linear module. The pillow spring hooking mechanism 31 can be slidably installed on the lever linear pushing mechanism 32 and move back and forth driven by the lever linear pushing mechanism 32.

[0061] The lifting mechanism 33 is used to drive the lever linear pushing mechanism 32 to move up and down. One end of the lifting mechanism 33 is fixedly mounted on the mounting seat 35, and the other end is connected to the lever linear pushing mechanism 32 through the lever lifting base plate 34. The lifting mechanism 33 can use a pneumatic cylinder or an electric cylinder, preferably an electric cylinder.

[0062] The pillow spring lever assembly 3 is used to hook the pillow spring inside the bogie. The pillow spring lever assembly 3 can be one group, or two groups are installed on the frame 1 through two groups of mounting seats 35 respectively. The two groups of pillow spring lever assemblies 3 can be symmetrically distributed.

[0063] When there are two sets of pillow spring lever assemblies 3, the pillow spring receiving mechanism 41 includes two grooves for carrying pillow springs. The grooves are respectively arranged below the pillow spring hooking mechanisms 31 of the two sets of pillow spring lever assemblies 3.

[0064] The pillow spring hook mechanism 31 includes an integrated lever 311 and a finger 312 , wherein the finger 312 is connected to the integrated lever 311 .

[0065] See also Figure 5 The connecting spring assembly 4 includes a pillow spring receiving mechanism 41 and a connecting spring linear pushing mechanism 42. The connecting spring linear pushing mechanism 42 is installed on the inner side of the bottom of the frame 1 through a connecting spring mounting plate 43. The connecting spring linear pushing mechanism 42 can adopt a linear module. The pillow spring receiving mechanism 41 can be slidably installed on the connecting spring linear pushing mechanism 42 and move back and forth under the drive of the connecting spring linear pushing mechanism 42.

[0066] The pillow spring receiving mechanism 41 may include two grooves for supporting pillow springs, and may receive two groups of pillow springs placed side by side.

[0067] The spring assembly 4 also includes a spring support plate 44, and the pillow spring receiving mechanism 41 is suspended on the top of the spring support plate 44. When the pillow spring falls on the pillow spring receiving mechanism 41, the spring support plate 44 can support the pillow spring receiving mechanism 41. The bottom of the spring support plate 44 is installed on the spring mounting plate 43 through a support frame 45.

[0068] The spring connecting assembly 4 is used to receive the pillow spring hooked down by the pillow spring lever assembly 3 so as to transport the pillow spring to other workstations.

[0069] See also Figure 6 , is the push spring assembly 5 of the present invention, which is connected to the connecting spring assembly 4 through the push spring mechanism mounting plate 52, and is used to push the pillow spring supported on the connecting spring assembly 4; the push spring assembly 5 is close to the opposite end of the connecting spring end of the connecting spring assembly 4; the connecting spring end of the connecting spring assembly 4 is the end close to the bogie.

[0070] The push spring assembly 5 is composed of a push spring plate 51 and a push spring mechanism 53 .

[0071] The push spring mechanism 53 can adopt a guide rod cylinder. The push spring mechanism 53 is installed on the push spring mechanism mounting plate 52. One end of the push spring mechanism 53 is provided with a push spring adapter plate 54, which is connected to the push spring plate 51 through the push spring adapter plate 54. A support plate 55 is provided under the push spring mechanism 53. The support plate 55 is installed on the push spring mechanism mounting plate 52 to play a reinforcement role.

[0072] To prevent the pillow spring on the pillow spring receiving mechanism 41 from falling off, in a non-working state, the distance between the spring push plate 51 and the spring end of the spring assembly 4 can be designed to be greater than the height of the pillow spring.

[0073] The push spring assembly 5 helps to push the pillow spring received by the connecting spring assembly 4 to a subsequently designated connecting station.

[0074] By applying the disassembly mechanism provided by the present invention in combination with an actuator, the disassembly of the pillow spring and the integrated disassembly of the inclined wedge pillow spring can be realized.

[0075] The method for disassembling a pillow spring comprises the following steps:

[0076] The control system controls the actuator to drive the disassembly mechanism to move to the standard disassembly posture of the pillow spring;

[0077] The control system controls the connecting spring linear pushing mechanism 42 to push the pillow spring receiving mechanism 41 to move to the receiving position of the pillow spring to be removed;

[0078] The control system controls the lever linear pushing mechanism 32 to push the pillow spring hooking mechanism 31 to move to the inside of the pillow spring, hook the pillow spring to be removed, and retract the pillow spring hooking mechanism 31; the pillow spring receiving mechanism 41 receives the hooked pillow spring.

[0079] The integrated disassembly of the wedge-bolster spring is explained using the K6 bogie as an example.

[0080] Figure 7 The distribution of bolster springs and inclined wedges in the K6 bogie includes 9 groups of bolster springs in 3 rows, with 3 springs in each row, marked as bolster spring Ⅰ, bolster spring Ⅱ, bolster spring Ⅲ, bolster spring Ⅳ, bolster spring Ⅴ, bolster spring VI, bolster spring VII, bolster spring VIII and bolster spring IX. There are 2 inclined wedges, namely the left inclined wedge and the right inclined wedge, which are located directly above bolster spring V and bolster spring VI respectively.

[0081] The pillow springs located in the first row, including pillow spring I, pillow spring II, and pillow spring III, can be directly disassembled using the pillow spring lever assembly 3.

[0082] The pillow springs located in the second row and below the inclined wedges, including pillow springs V and VI, need to be removed after the front row pillow springs have been removed and the inclined wedges have been lifted up by the inclined wedge lifting assembly 2 before they can be removed using the pillow spring lever assembly 3.

[0083] The pillow springs located in the second row but not under the inclined wedge, including pillow spring IV, need to be removed using the pillow spring lever assembly 3 after the pillow springs in the front row are removed.

[0084] The bolster springs located in the third row, including bolster spring VII, bolster spring VIII, and bolster spring IX, need to be removed using the bolster spring lever assembly 3 after the bolster springs in the front row have been removed.

[0085] Taking the K6 bogie as an example, the integrated disassembly method of the wedge bolster spring includes:

[0086] S1 Use the pillow spring removal method to remove the pillow springs in the front row and the non-wedge position of the second row;

[0087] The pillow spring at the angled wedge position refers to the pillow spring located below the angled wedge, such as Figure 7 The pillow spring V and pillow spring VI in the K6 type bogie shown, the pillow spring at the non-wedge position of the second row refers to pillow spring IV.

[0088] S2 The control system obtains information about the currently to-be-removed cam, including whether the cam is to be removed from the left or right cam. Based on the information about the cam to be removed, the control system controls the rotation mechanism 23 of the cam lifting assembly 2 to control the opening of the U-shaped structure of the cam lifting member 21 to face the cam to be removed.

[0089] S3 The control system controls the actuator to drive the disassembly mechanism to move to the standard wedge disassembly posture I, with the wedge lifting member 21 facing the middle position of the bogie;

[0090] The S4 control system controls the inclined wedge linear push mechanism 22 to move forward, driving the inclined wedge lifting member 21 to extend into the middle space inside the bogie, and reaches the inclined wedge removal standard posture II. At this time, the opening of the U-shaped structure of the inclined wedge lifting member 21 faces the side of the inclined wedge to be removed, and the upper surface of the U-shaped structure is slightly lower than the groove surface at the bottom of the inclined wedge to be removed;

[0091] S5 control system controls the actuator to move the inclined wedge lifting member 21 from the side toward the direction of the inclined wedge to be removed, to reach the inclined wedge removal standard posture III, at which time the U-shaped structure of the inclined wedge lifting member 21 contacts the groove surface at the bottom of the inclined wedge;

[0092] The S6 control system controls the actuator to move upward, and lifts the inclined wedge through the inclined wedge lifting member 21, so that the inclined wedge is separated from the pillow spring nested at the bottom;

[0093] S7 control system controls the spring linear push mechanism 42 to push the pillow spring receiving mechanism 41 to move to the receiving position of the pillow spring below the second row of wedges to be removed;

[0094] The S8 control system controls the lever linear push mechanism 32 to push the pillow spring hooking mechanism 31 to move to the position of the pillow spring below the second row of the inclined wedge to be removed inside the pillow spring group, hooks down the pillow spring at the bottom of the inclined wedge, and retracts the pillow spring hooking mechanism 31; the pillow spring receiving mechanism 41 receives the hooked pillow spring;

[0095] S9 control system controls the spring linear push mechanism 42 to retract the pillow spring receiving mechanism 41 to its original position;

[0096] S10 The control system controls the actuator to drive the inclined wedge lifting member 21 to lower its position, and remove the inclined wedge from the bolster groove;

[0097] The standard disassembly postures of the inclined wedge I, the inclined wedge disassembly posture II and the inclined wedge disassembly posture III constitute the standard disassembly posture set of the inclined wedge.

[0098] The above-mentioned standard postures Ⅰ, Ⅱ and Ⅲ for disassembly of the wedge can be obtained through teaching.

[0099] The control system obtains information about the current inclined wedge to be disassembled, and also includes obtaining the difference in posture between the inclined wedge to be disassembled and the standard teaching inclined wedge, and then controls the actuator to lift and disassemble the inclined wedge under the standard disassembly posture set of the inclined wedge relative to the inclined wedge; obtains the difference in posture between the inclined wedge to be disassembled and the standard teaching inclined wedge, including camera 6, which is installed at the front end of the frame 1; the control system controls the actuator to drive the disassembly mechanism to move to the side in the middle of the bogie, controls the posture of the disassembly mechanism, so that the camera simultaneously obtains the triangular surface, auxiliary wear surface and bottom surface information of the inclined wedge to be disassembled in an oblique upward shooting manner, and calculates the difference in posture between the inclined wedge to be disassembled and the standard teaching inclined wedge through the recognition and positioning software.

[0100] The camera 6 is also used to collect the bogie posture information, calculate the bogie posture difference through the identification and positioning software, and then control the actuator to remove the pillow spring in the standard disassembly posture relative to the bogie.

[0101] The disassembly system provided by the present invention integrates the pillow spring disassembly mechanism and the wedge disassembly mechanism into one, and can realize the integrated disassembly of multiple groups of pillow springs or pillow spring wedges without the need to be equipped with other devices, with low cost and saving of working space. In a single disassembly process, multiple groups of pillow springs or pillow spring wedges can be disassembled simultaneously, and the disassembly robot transfers the disassembled multiple groups of pillow springs or pillow spring wedges to subsequent docking stations at one time, reducing the number of times the disassembly robot transfers parts between the disassembly station and the docking station, greatly improving the overall efficiency. At the same time, the wedge lifting part adopts a special U-shaped structure design with side openings. Through a set of lifting structure parts design, it can adapt to the left and right side wedges of the bogie, with a compact structure, and the U-shaped structure design matches the groove at the bottom of the wedge, which improves the stability and safety of the wedge disassembly process and reduces the probability of the wedge falling.

Claims

1. A bogie bolster spring wedge integrated disassembly mechanism, characterized in that: include: Frame (1); A cam lifting assembly (2) is installed above the frame (1) and is used to enter the interior of the bogie to lift and remove the transport cam; A pillow spring lever assembly (3) is located below the inclined wedge lifting assembly (2), is mounted inside the frame (1) via a mounting seat, and is used to enter the interior of the bogie to hook down the pillow spring in the bogie; A connecting spring assembly (4) is located below the pillow spring lever assembly (3), is installed on the bottom side of the frame (1), and is used to enter the interior of the bogie to receive the pillow spring hooked by the pillow spring lever assembly (3); The inclined wedge lifting assembly (2) comprises: an inclined wedge lifting member (21) and an inclined wedge linear pushing mechanism (22); the inclined wedge lifting member (21) is mounted on the inclined wedge linear pushing mechanism (22) via a mounting block, and the inclined wedge linear pushing mechanism (22) is mounted on the frame (1) via a mounting member, and is used to drive the inclined wedge lifting member (21) to move forward and backward; The pillow spring lever assembly (3) comprises: a pillow spring hooking mechanism (31), a lever linear pushing mechanism (32) and a lifting mechanism (33); the pillow spring hooking mechanism (31) is suspended above the connecting spring assembly (4), and the pillow spring hooking mechanism (31) is used to hook the pillow spring; the pillow spring hooking mechanism (31) is slidably mounted on the lever linear pushing mechanism (32), and the lever linear pushing mechanism (32) is used to drive the pillow spring hooking mechanism (31) to move forward and backward; the lifting mechanism (33) is used to drive the lever linear pushing mechanism (32) to move up and down, and one end of the lifting mechanism (33) is fixedly mounted on the mounting seat, and the other end is connected to the lever linear pushing mechanism (32) through a lever lifting bottom plate; The connecting spring assembly (4) comprises: a pillow spring receiving mechanism (41) and a connecting spring linear pushing mechanism (42); the pillow spring receiving mechanism (41) is used to receive the pillow spring hooked by the pillow spring lever assembly (3); the pillow spring receiving mechanism (41) is slidably mounted on the connecting spring linear pushing mechanism (42), and the connecting spring linear pushing mechanism (42) is used to push the pillow spring receiving mechanism (41) to move forward and backward; The end of the inclined wedge lifting member (21) is a U-shaped structure, with an opening of the U-shaped structure facing one side; the inclined wedge lifting assembly (2) further comprises a rotating mechanism (23), the inclined wedge lifting member (21) is connected to a slewing bearing (231) of the rotating mechanism (23), and the rotating mechanism (23) is fixedly connected to the mounting block.

2. A bogie bolster spring and wedge integrated disassembly mechanism as claimed in claim 1, characterized in that: The inclined wedge lifting assembly (2) further comprises: an auxiliary guide mechanism (24) which is mounted on the frame (1) in parallel with the inclined wedge linear pushing mechanism (22); the mounting block is slidably mounted on the auxiliary guide mechanism (24).

3. The bogie bolster spring and wedge integrated disassembly mechanism according to claim 1, characterized in that: The pillow spring lever assembly (3) is divided into two groups, which are respectively installed in the frame (1) through two groups of mounting seats; the pillow spring receiving mechanism (41) comprises two grooves for supporting pillow springs, and the grooves are respectively arranged below the pillow spring hooking mechanism (31) of the two groups of pillow spring lever assemblies (3).

4. The bogie bolster spring and wedge integrated disassembly mechanism according to claim 1, characterized in that: The pillow spring hook mechanism (31) is composed of an integrated shifting rod (311) and a shifting finger (312) connected to the integrated shifting rod (311).

5. The integrated disassembly mechanism of the bogie bolster spring and wedge according to claim 1, characterized in that: The connecting spring assembly (4) further comprises a connecting spring support plate (44), and the pillow spring receiving mechanism (41) is suspended on the top of the connecting spring support plate (44).

6. The bogie bolster spring and wedge integrated disassembly mechanism according to claim 1, characterized in that: Also includes: A push spring assembly (5), the push spring assembly (5) being connected to the connecting spring assembly (4) via a push spring mechanism mounting plate and being used for pushing a pillow spring supported on the connecting spring assembly (4); the push spring assembly (5) being close to the opposite end of the connecting spring end of the connecting spring assembly (4); the push spring assembly (5) comprising: a push spring plate (51) and a push spring mechanism (53); the push spring mechanism (53) being mounted on the push spring mechanism mounting plate and having one end connected to the push spring plate (51).

7. A method for disassembling a bogie bolster spring and wedge integrated disassembly mechanism, characterized in that: The invention comprises a bogie bolster spring and wedge integrated disassembly mechanism, an actuator and a control system as claimed in any one of claims 2 to 6, wherein the bogie bolster spring and wedge integrated disassembly mechanism is installed at the end of an actuator of the actuator through an actuator mounting plate (13), the disassembly method comprises a bolster spring disassembly method and an wedge bolster spring integrated disassembly method, and the wedge bolster spring integrated disassembly method comprises: S1 Use the pillow spring removal method to remove all the pillow springs in the front row and the second row below the non-wedge position; S2 The control system obtains information about the currently to-be-removed cam, the information including whether the cam is to be removed from the left cam or the right cam. Based on the information about the cam to be removed, the control system controls the rotation mechanism (23) of the cam lifting assembly (2) to control the opening of the U-shaped structure of the cam lifting member (21) to face the cam to be removed; S3 the control system controls the actuator to drive the disassembly mechanism to move to the inclined wedge disassembly standard posture I, and the inclined wedge lifting member (21) faces the middle position of the bogie; S4: the control system controls the inclined wedge linear pushing mechanism (22) to move forward, driving the inclined wedge lifting member (21) to extend into the middle empty space inside the bogie, and reaching the inclined wedge removal standard posture II, at which time the opening of the U-shaped structure of the inclined wedge lifting member (21) faces the side of the inclined wedge to be removed, and the upper surface of the U-shaped structure is slightly lower than the groove surface at the bottom of the inclined wedge to be removed; S5: the control system controls the actuator to move the inclined wedge lifting member (21) from the side toward the direction of the inclined wedge to be removed, to reach the inclined wedge removal standard posture III, at which time the U-shaped structure of the inclined wedge lifting member (21) contacts the groove surface at the bottom of the inclined wedge; S6 the control system controls the actuator to move upward, and lifts the inclined wedge through the inclined wedge lifting member (21), so that the inclined wedge is separated from the pillow spring nested at the bottom; S7 The control system controls the connecting spring linear pushing mechanism (42) to push the pillow spring receiving mechanism (41) to move to a receiving position of the pillow spring below the second row of inclined wedges to be removed; S8 The control system controls the lever linear driving mechanism (32) to drive the pillow spring hooking mechanism (31) to move to the position of the pillow spring below the second row of the inclined wedge to be removed inside the pillow spring group, hooks the pillow spring at the bottom of the inclined wedge, and retracts the pillow spring hooking mechanism (31); the pillow spring receiving mechanism (41) receives the hooked pillow spring; S9 the control system controls the spring linear push mechanism (42) to retract the pillow spring receiving mechanism (41) to its original position; S10 the control system controls the actuator to drive the inclined wedge lifting member (21) to lower its position, thereby removing the inclined wedge from the bolster groove; The inclined wedge disassembly standard posture I, the inclined wedge disassembly standard posture II and the inclined wedge disassembly standard posture III constitute an inclined wedge standard disassembly posture set.

8. A method for disassembling a bogie bolster spring and wedge integrated disassembly mechanism as claimed in claim 7, characterized in that: The control system obtains information about the current cam to be removed, and also obtains a posture difference between the cam to be removed and the standard teaching cam, and then controls the actuator to lift and remove the cam under the cam standard removal posture set relative to the cam; The method for obtaining the position difference between the inclined wedge to be disassembled and the standard teaching inclined wedge comprises a camera, wherein the camera is mounted at the front end of the frame (1); the control system controls the actuator to drive the disassembly mechanism to move to the side of the middle of the bogie, and controls the posture of the disassembly mechanism so that the camera simultaneously obtains the triangular surface, auxiliary wear surface and bottom surface information of the inclined wedge to be disassembled in an oblique upward shooting manner, and calculates the position difference between the inclined wedge to be disassembled and the standard teaching inclined wedge through recognition and positioning software.

9. A method for disassembling a bogie bolster spring and wedge integrated disassembly mechanism as claimed in claim 8, characterized in that: The camera is also used to collect the bogie posture information, calculate the bogie posture difference through the identification and positioning software, and then control the actuator to remove the pillow spring in the standard disassembly posture relative to the bogie.

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