A quick disassembly process for K5 bogie

Abstract

A rapid disassembly process for a K5 bogie comprises: S1, disassembling a first pillow spring group consisting of two left and right pillow springs in the front row, and transferring the first pillow spring group to other docking stations; S2, disassembling a pillow spring group in a pillow spring group set consisting of two front and rear rows of pillow springs in the same column according to a set sequence, and transferring the pillow spring group to other docking stations; S3, repeating step 2 until all the pillow spring groups in the pillow spring group set are disassembled and the transfer and docking are completed; using a side-push disassembly method to disassemble pillow spring A in the pillow spring group to be disassembled, and using a pillow spring disassembly method to disassemble pillow spring B in the pillow spring group to be disassembled; in view of the problem that pillow springs in each row on the K5 bogie are difficult to disassemble quickly due to different distribution, the present invention combines an added efficiency-enhancing side-push mechanism to reasonably plan the disassembly sequence and method of pillow springs on the K5 bogie, greatly increasing the disassembly efficiency of pillow springs on the K5 bogie and significantly reducing the number of docking times.

Description

Technical Field

[0001] The invention relates to an automated disassembly process for a bolster spring on a railway train bogie, in particular to a quick disassembly process for a K5 bogie, and belongs to the technical field of robot automated disassembly processes. Background Art

[0002] As a key component of railway vehicles, the maintenance of bogies is extremely important to ensure the smoothness and safety of train operation. When inspecting and repairing bogies, their structure needs to be disassembled so that each component can be inspected and maintained separately. The removal of the pillow springs on the bogies often requires workers to do it manually, which is not only time-consuming and labor-intensive, but also poses certain safety risks.

[0003] Although the automated system used in the bogie disassembly line can realize the automated disassembly of the pillow spring, it still has some shortcomings. Existing disassembly systems, such as the pillow spring wedge disassembly manipulator disclosed in patent document CN116277033A and the railway freight car bogie damping component disassembly device disclosed in CN220782845U, only focus on how to disassemble a single set of pillow springs from the bogie by automated means, but lack research on improving the disassembly efficiency and disassembly process of the overall pillow springs of the bogie.

[0004] The pillow spring disassembly process currently used usually adopts a method of disassembling one by one from the outer row, disassembling all the pillow springs in the front row and then disassembling the pillow springs in the rear row. For example, a bogie load-bearing spring disassembly process disclosed in CN 108857312 A removes three rows of pillow springs in sequence from the outside to the inside, and the disassembly efficiency is difficult to improve. Therefore, how to optimize the disassembly device, optimize the disassembly process, and maximize the disassembly efficiency of the entire bogie needs to be solved. Especially for the K5 type bogie, the distribution of the pillow spring groups on each row is different, which brings difficulties to the rapid disassembly work. Summary of the invention

[0005] A quick disassembly process of a K5 bogie is provided, and a bogie disassembly device is used, the bogie disassembly device comprising a disassembly device, an actuator and a control system; the disassembly device is installed at the end of the actuator of the actuator; the disassembly device comprises: a frame, and a pillow spring hooking assembly, a connecting spring assembly and a side thrust assembly installed on the frame; the pillow spring hooking assembly is used to enter the interior of the bogie to hook up the pillow spring in the bogie; the connecting spring assembly comprises a first receiving position and a second receiving position, the first receiving position is used to enter the interior of the bogie to receive the pillow spring hooked by the pillow spring hooking assembly, and the second receiving position is used to receive the pillow spring pushed by the side thrust assembly; the pillow spring hooking assembly is arranged above the first receiving position, and the first receiving position can be moved forward and backward by a driving mechanism to extend into the interior of the bogie; the side thrust assembly is arranged close to the first receiving position, and is used to push the pillow spring received by the first receiving position to the second receiving position;

[0006] The rapid disassembly process comprises:

[0007] S1: disassembling a first bolster spring group consisting of two left and right bolster springs in the front row, and transporting the first bolster spring group to another connection station;

[0008] S2 disassembles the bolster spring group in the bolster spring group set consisting of two bolster springs in the front and rear rows of the same column according to the set order, and transports the bolster spring group to other connection stations;

[0009] S3: repeat step S2 until all the pillow spring groups in the pillow spring group set are disassembled and transported and connected;

[0010] The first pillow spring group and the pillow spring group in the pillow spring group set both include pillow spring A to be disassembled and pillow spring B to be disassembled, and the pillow spring A to be disassembled is first disassembled using the side push disassembly method, and then the pillow spring B to be disassembled is disassembled using the pillow spring disassembly method; the first pillow spring group includes a first pillow spring and a third pillow spring; the number of pillow spring groups in the pillow spring group set is 3, including a second pillow spring group, a third pillow spring group and a fourth pillow spring group, the second pillow spring group consists of a fifth pillow spring and a seventh pillow spring, the third pillow spring group consists of a second pillow spring and a fourth pillow spring, and the fourth pillow spring group consists of a sixth pillow spring and an eighth pillow spring;

[0011] The method of disassembling the pillow spring A to be disassembled by using the side-push disassembly method comprises the following steps:

[0012] The control system controls the actuator to drive the disassembly device to the disassembly station of the pillow spring A in the pillow spring group to be disassembled;

[0013] The control system controls the disassembly device to be adjusted to the disassembly state of the pillow spring A, and controls the first receiving position to reach the receiving position of the pillow spring A;

[0014] The control system controls the pillow spring hook assembly to hook the pillow spring A to the first receiving position;

[0015] The control system controls the first receiving position to be retracted to the waiting position of the disassembly device;

[0016] The control system controls the side thrust assembly to push the pillow spring A carried by the first receiving position to the second receiving position;

[0017] The method for disassembling the pillow spring B to be disassembled using the pillow spring disassembly method comprises the following steps:

[0018] The control system controls the actuator to drive the disassembly device to the disassembly station of the pillow spring B in the pillow spring group to be disassembled;

[0019] The control system controls the disassembly device to be adjusted to the disassembly state of the pillow spring B, and controls the first receiving position to reach the receiving position of the pillow spring B;

[0020] The control system controls the pillow spring hook assembly to hook the pillow spring B to the first receiving position;

[0021] After the pillow spring A and pillow spring B in the pillow spring group to be disassembled are disassembled, the control system controls the actuator to drive the disassembly device away from the bogie, and drives the pillow spring A and pillow spring B carried by the connecting spring assembly to be transported to other connection stations;

[0022] The front row of pillow springs of pillow spring A in the pillow spring group to be removed is empty; the pillow spring B in the pillow spring group to be removed is behind the pillow spring A in the same row or column in the pillow spring group to be removed.

[0023] The side-push disassembly method for disassembling the pillow spring A to be disassembled specifically includes the following steps:

[0024] Sa1 The control system obtains information of the pillow spring A to be disassembled;

[0025] Sa2: the control system controls the actuator to drive the disassembly device to a standard disassembly posture of the pillow spring A to be disassembled, so that the first receiving position is aligned with the pillow spring A to be disassembled;

[0026] Sa3: the control system controls the first receiving position to move to the receiving position of the row where the pillow spring A to be removed is located;

[0027] Sa4: the control system controls the pillow spring hooking assembly to extend to the hooking position of the pillow spring A to be disassembled, hooks the pillow spring A, and the first receiving position receives the hooked pillow spring A;

[0028] Sa5, the control system controls the first receiving position to be retracted to the waiting position of the disassembly device;

[0029] Sa6 The control system controls the side thrust assembly to push the pillow spring A from the first receiving position to the second receiving position.

[0030] The method for disassembling the pillow spring B to be disassembled using the pillow spring disassembly method specifically comprises the following steps:

[0031] Sb1 The control system obtains information of the pillow spring B to be disassembled;

[0032] Sb2: the control system controls the actuator to drive the disassembly device to a standard disassembly posture of the pillow spring B to be disassembled, so that the first receiving position is aligned with the pillow spring B to be disassembled;

[0033] Sb3: the control system controls the first receiving position to move to the receiving position of the row where the pillow spring B to be removed is located;

[0034] Sb4: the control system controls the pillow spring hooking assembly to extend to the hooking position of the pillow spring B to be disassembled, hooking the pillow spring B, and the first receiving position receives the hooked pillow spring B;

[0035] Sb5 The control system controls the first receiving position to be retracted to the waiting position of the disassembly device.

[0036] In the step S2, the pillow spring group in the pillow spring group set consisting of two pillow springs in the front and rear rows of the same column is disassembled, and the third pillow spring group is disassembled first.

[0037] When the pillow spring disassembly method is used to disassemble the pillow spring B in the first pillow spring group, the control system controls the actuator to drive the disassembly device to move laterally to the standard disassembly posture of the pillow spring B to be disassembled, so that the first receiving position is aligned with the pillow spring B to be disassembled.

[0038] The pillow spring hook-down assembly is composed of a pillow spring hook-down mechanism and a pillow spring linear push mechanism; the pillow spring hook-down mechanism is installed on the pillow spring linear push mechanism and moves back and forth driven by the pillow spring linear push mechanism.

[0039] The connecting spring assembly consists of the first receiving position, the second receiving position and a connecting spring linear driving mechanism. The first receiving position is installed on the connecting spring linear driving mechanism and moves forward and backward in and out of the bogie under the drive of the connecting spring linear driving mechanism.

[0040] The side-pushing assembly comprises a pushing mechanism and a side-pushing module, wherein the pushing mechanism is mounted on the frame; the side-pushing module is connected to the pushing mechanism, and the side-pushing module moves left and right under the pushing of the pushing mechanism.

[0041] Different from the traditional method of disassembling one by one from the outer row, and then disassembling the rear row of bolster springs after disassembling all the bolster springs in the front row, the present invention aims at the problem that the bolster springs in each row on the K5 bogie are difficult to disassemble quickly due to the different distribution of the bolster springs. In combination with the added efficiency-enhancing side thrust mechanism, the disassembly sequence and method of the bolster springs on the K5 bogie are reasonably planned, which greatly increases the disassembly efficiency of the bolster springs on the K5 bogie and significantly reduces the number of connections.

[0042] The present invention uses a side-thrust mechanism to group the pillow springs on the K5 bogie into two to form a pillow spring group for disassembly, thereby reducing the number of operating connections to four times; except for the two pillow springs in the front row of the left and right edge columns, the two pillow springs in the same column are grouped into a pillow spring group for disassembly, which can effectively avoid the actuator from moving laterally and re-adjusting the positioning action, thereby reducing the time consumption of disassembling the pillow spring group and maximizing speed and efficiency.

[0043] Furthermore, the present invention adopts a disassembly sequence of first disassembling the two front row pillow springs of the left and right edge columns, then disassembling the two pillow springs of the middle column, and finally disassembling the remaining two pillow springs of the left and right edge columns. After the two front row pillow springs and the front row pillow springs of the middle column are disassembled, inside the bogie, only two small-volume pillow springs (shock springs) located in the middle row of the edge column and significantly smaller in volume than the pillow springs (shock springs) at other positions are left at the left front and right front of the rear row pillow springs of the middle column, respectively. The distance between the two small-volume pillow springs is large, so the interior of the bogie can provide sufficient working space for disassembling the rear row pillow springs of the middle column, effectively avoiding interference and collision between the disassembly device and the pillow springs or other parts in the bogie; after all the pillow springs in the middle column are disassembled, the disassembly device can easily enter and exit the bogie to disassemble the remaining pillow springs of the left and right edge columns. Relatively speaking, the pillow springs of the edge column located obliquely behind the pillow springs of the middle column in the edge column are disassembled first. Due to the limited space inside the bogie, when the disassembly device enters and exits the bogie and performs the disassembly action, the probability of collision with the large-volume rocker springs or other parts at the position of the middle column will increase. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of the present invention;

[0045] Figure 2 A flow chart of disassembling a pillow spring assembly in the present invention;

[0046] Figure 3 It is a schematic top view of the distribution of pillow springs on the K5 model bogie of the present invention;

[0047] Figure 4 A top view of the bogie disassembly device of the present invention;

[0048] Figure 5 It is a structural schematic diagram of the disassembly device 1 in the present invention;

[0049] Figure 6It is a structural schematic diagram of the pillow spring hook assembly 12 in the present invention;

[0050] Figure 7 It is a structural schematic diagram of the spring assembly 13 in the present invention;

[0051] Figure 8 It is a schematic diagram of the structure of the side thrust assembly 14 in the present invention. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0053] Example 1

[0054] A quick disassembly process of a K5 bogie, using a bogie disassembly device, the bogie disassembly device is as follows Figure 4 As shown, it includes a disassembly device 1, an actuator 2 and a control system; the disassembly device 1 is installed at the end of the actuator of the actuator 2.

[0055] The actuator 2 may be a robot arm or a robot hand.

[0056] Disassembly device 1, such as Figure 5 As shown, it includes: a frame 11, and a pillow spring hook assembly 12, a connecting spring assembly 13 and a side thrust assembly 14 installed on the frame 11; the disassembly device 1 is installed on the actuator 2 through the frame 11.

[0057] The pillow spring hooking assembly 12 is used to enter the interior of the bogie to hook the pillow spring in the bogie, and is installed inside the frame 11 through the mounting seat 15.

[0058] The spring connecting assembly 13 includes a first receiving position 131 and a second receiving position 132. The first receiving position 131 is used to enter the interior of the bogie to receive the pillow spring hooked by the pillow spring hooking assembly 12, and the second receiving position 132 is used to receive the pillow spring pushed by the side thrust assembly 14. The pillow spring hooking assembly 12 is arranged above the first receiving position 131, and the first receiving position 131 can be moved forward and backward by a driving mechanism to extend into the interior of the bogie.

[0059] The side push assembly 14 is disposed near the first receiving position 131 and is used to push the pillow spring received by the first receiving position 131 to the second receiving position 132 .

[0060] There are 8 sets of pillow springs on the K5 bogie. The distribution diagram of pillow springs is as follows: Figure 3 For the convenience of description, the pillow springs are named as the first pillow spring 31, the second pillow spring 32, the third pillow spring 33, the fourth pillow spring 34, the fifth pillow spring 35, the sixth pillow spring 36, the seventh pillow spring 37 and the eighth pillow spring 38 respectively.

[0061] The first pillow spring 31 and the third pillow spring 33 are located in the outermost row, i.e., the frontmost row, and the seventh pillow spring 37 and the eighth pillow spring 38 are located in the innermost row, i.e., the rearmost row;

[0062] The first pillow spring 31, the fifth pillow spring 35, and the seventh pillow spring 37 are left-row pillow springs;

[0063] The second pillow spring 32 and the fourth pillow spring 34 are middle row pillow springs;

[0064] The third pillow spring 33, the sixth pillow spring 36, and the eighth pillow spring 38 are right-row pillow springs.

[0065] In addition to the pillow spring, there are also two inclined wedges in the bogie, which are symmetrically distributed left and right inclined wedges. The left and right inclined wedges are respectively embedded in the following positions: Figure 3 On the fifth pillow spring 35 and the sixth pillow spring 36 shown.

[0066] Before removing the fifth pillow spring 35 or the sixth pillow spring 36, auxiliary equipment, such as an inclined wedge lifting robot, should be used to lift the inclined wedge nested above the fifth pillow spring 35 or the sixth pillow spring 36 to be removed, and separate the inclined wedge from the pillow spring in which it is nested, so as to remove the pillow spring. Alternatively, the inclined wedge may be lifted at the beginning in accordance with the method in the prior art, and the pillow spring removal work may be performed after the inclined wedge is lifted.

[0067] K5 bogie quick disassembly process, such as Figure 1 As shown, the following steps are included:

[0068] S1 disassembles the first bolster spring assembly consisting of the two left and right bolster springs in the front row, and transports the first bolster spring assembly to other connection stations;

[0069] S2 disassembles the bolster spring group in the bolster spring group set consisting of two bolster springs in the front and rear rows of the same column according to the set order, and transports the bolster spring group to other connection stations;

[0070] S3 Repeat step S2 until all the pillow spring groups in the pillow spring group set are disassembled and transported and connected.

[0071] The pillow spring groups in the first pillow spring group and the pillow spring group set both include pillow spring A to be disassembled and pillow spring B to be disassembled. The pillow spring A to be disassembled is first disassembled using the side-push disassembly method, and then the pillow spring B to be disassembled is disassembled using the pillow spring disassembly method.

[0072] The first pillow spring group includes a first pillow spring 31 and a third pillow spring 33; the number of pillow spring groups in the pillow spring group set is 3, including a second pillow spring group, a third pillow spring group and a fourth pillow spring group, the second pillow spring group consists of a fifth pillow spring 35 and a seventh pillow spring 37, the third pillow spring group consists of a second pillow spring 32 and a fourth pillow spring 34, and the fourth pillow spring group consists of a sixth pillow spring 36 and an eighth pillow spring 38.

[0073] Before removing the pillow spring, ensure that there is enough space inside the bogie for each component in the bogie disassembly device to perform corresponding actions. Before removing any pillow spring, there should be no pillow spring directly in front of it.

[0074] like Figure 2 As shown, the side push disassembly method is used to disassemble the pillow spring A to be disassembled, including the following steps:

[0075] The control system controls the actuator 2 to drive the disassembly device 1 to the disassembly station of the pillow spring A in the pillow spring group to be disassembled;

[0076] The control system controls the disassembly device 1 to be adjusted to the disassembly state of the pillow spring A, and controls the first receiving position 131 to reach the receiving position of the pillow spring A;

[0077] The control system controls the pillow spring hooking assembly 12 to hook the pillow spring A to the first receiving position 131;

[0078] The control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1;

[0079] The control system controls the side thrust assembly 14 to push the pillow spring A carried by the first receiving position 131 to the second receiving position 132;

[0080] The pillow spring B to be removed is removed using the pillow spring removal method, comprising the following steps:

[0081] The control system controls the actuator 2 to drive the disassembly device 1 to the disassembly station of the pillow spring B in the pillow spring group to be disassembled;

[0082] The control system controls the disassembly device 1 to be adjusted to the disassembly state of the pillow spring B, and controls the first receiving position 131 to reach the receiving position of the pillow spring B;

[0083] The control system controls the pillow spring hooking assembly 12 to hook the pillow spring B to the first receiving position 131;

[0084] After the pillow springs A and B in the pillow spring group to be disassembled are disassembled, the control system controls the actuator 2 to drive the disassembly device 1 away from the bogie, and drives the pillow springs A and B carried by the connecting spring assembly 13 to be transported to other connecting stations;

[0085] The front row of pillow springs of pillow spring A in the pillow spring group to be removed is empty; the pillow spring B in the pillow spring group to be removed is behind the pillow spring A in the same row or column in the pillow spring group to be removed.

[0086] Example 2

[0087] The side-push disassembly method described in Example 1 for disassembling the pillow spring A to be disassembled further comprises the following steps:

[0088] Sa1 control system obtains information of pillow spring A to be disassembled;

[0089] The Sa2 control system controls the actuator 2 to drive the disassembly device 1 to the standard disassembly posture of the pillow spring A to be disassembled, so that the first receiving position 131 is aligned with the pillow spring A to be disassembled;

[0090] Sa3 control system controls the first receiving position 131 to move to the receiving position of the row where the pillow spring A to be removed is located;

[0091] The Sa4 control system controls the pillow spring hooking assembly 12 to extend to the hooking position of the pillow spring A to be disassembled, hooks the pillow spring A, and the first receiving position 131 receives the hooked pillow spring A;

[0092] Sa5 control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1;

[0093] The Sa6 control system controls the side thrust assembly 14 to push the pillow spring A from the first receiving position 131 to the second receiving position 132.

[0094] The pillow spring disassembly method disassembles the pillow spring B to be disassembled, and further specifically comprises the following steps:

[0095] Sb1 control system obtains information of pillow spring B to be disassembled;

[0096] The Sb2 control system controls the actuator 2 to drive the disassembly device 1 to the standard disassembly posture of the pillow spring B to be disassembled, so that the first receiving position 131 is aligned with the pillow spring B to be disassembled;

[0097] Sb3 control system controls the first receiving position 131 to move to the receiving position of the row where the pillow spring B to be disassembled is located;

[0098] The Sb4 control system controls the pillow spring hooking assembly 12 to extend to the hooking position of the pillow spring B to be disassembled, hooking the pillow spring B, and the first receiving position 131 receives the hooked pillow spring B;

[0099] The Sb5 control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1 .

[0100] Example 3

[0101] In step S2, a pillow spring group in a pillow spring group set consisting of two pillow springs in the front and rear rows of the same column is disassembled. The order of disassembling the pillow spring groups can be set manually, and the third pillow spring group is disassembled first.

[0102] Specifically, the following disassembly sequence is adopted:

[0103] S2.1 remove the third pillow spring group, including the middle row of the second pillow spring 32 and the fourth pillow spring 34;

[0104] S2.2 remove the second pillow spring group, including the fifth pillow spring 35 and the seventh pillow spring 37 in the left column;

[0105] S2.3 remove the fourth pillow spring group, including the right column sixth pillow spring 36 and the eighth pillow spring 38;

[0106] Or use the following disassembly sequence:

[0107] S2.1 remove the third pillow spring group, including the middle row of the second pillow spring 32 and the fourth pillow spring 34;

[0108] S2.2 remove the fourth pillow spring group, including the right column sixth pillow spring 36 and the eighth pillow spring 38;

[0109] S2.3 Disassemble the second pillow spring assembly, including the fifth pillow spring 35 and the seventh pillow spring 37 in the left row.

[0110] Removing the third bolster spring assembly includes the following steps:

[0111] First, the second pillow spring 32 is disassembled by the side push disassembly method:

[0112] The control system obtains information of the second pillow spring 32 to be removed;

[0113] The control system controls the actuator 2 to drive the disassembly device 1 to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position 131 is aligned with the second pillow spring 32 to be disassembled;

[0114] The control system controls the first receiving position 131 to move to the receiving position of the row where the second pillow spring 32 to be removed is located;

[0115] The control system controls the pillow spring hooking assembly 12 to extend to the hooking position of the second pillow spring 32 to be removed, hooks the second pillow spring 32, and the first receiving position 131 receives the hooked second pillow spring 32;

[0116] The control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1;

[0117] The control system controls the side thrust assembly 14 to push the second pillow spring 32 from the first receiving position 131 to the second receiving position 132 .

[0118] Then, the fourth pillow spring 34 is disassembled using the pillow spring disassembly method:

[0119] The control system obtains information of the fourth pillow spring 34 to be removed;

[0120] The actuator 2 remains stationary, and the control system controls the first receiving position 131 to move to the receiving position of the row where the fourth pillow spring 34 to be disassembled is located; or the control system controls the actuator 2 to drive the disassembly device 1 to move toward the direction of the fourth pillow spring 34 inside the bogie to the standard disassembly posture of the fourth pillow spring 34 to be disassembled, and then the control system controls the first receiving position 131 to move to the receiving position of the row where the fourth pillow spring 34 to be disassembled is located;

[0121] The control system controls the pillow spring hooking assembly 12 to extend to the hooking position of the fourth pillow spring 34 to be disassembled, hooks the fourth pillow spring 34, and the first receiving position 131 receives the hooked fourth pillow spring 34;

[0122] The control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1 .

[0123] After the third pillow spring group is disassembled, the control system controls the actuator 2 to drive the disassembly device 1 away from the bogie, and drives the second pillow spring 32 and the fourth pillow spring 34 carried by the connecting spring assembly 13 to be transported to other connecting stations.

[0124] Removing the second bolster spring assembly includes the following steps:

[0125] First, the fifth pillow spring 35 is removed by the side push removal method:

[0126] The control system obtains information of the fifth pillow spring 35 to be removed;

[0127] The control system controls the actuator 2 to drive the disassembly device 1 to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position 131 is aligned with the fifth pillow spring 35 to be disassembled;

[0128] The control system controls the first receiving position 131 to move to the receiving position of the row where the fifth pillow spring 35 to be disassembled is located;

[0129] The control system controls the pillow spring hooking assembly 12 to extend to the hooking position of the fifth pillow spring 35 to be disassembled, hooks the fifth pillow spring 35, and the first receiving position 131 receives the hooked fifth pillow spring 35;

[0130] The control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1;

[0131] The control system controls the side thrust assembly 14 to push the fifth pillow spring 35 from the first receiving position 131 to the second receiving position 132 .

[0132] Then, the seventh pillow spring 37 is disassembled using the pillow spring disassembly method:

[0133] The control system obtains information of the seventh pillow spring 37 to be removed;

[0134] The actuator 2 remains stationary, and the control system controls the first receiving position 131 to move to the receiving position of the row where the seventh pillow spring 37 to be disassembled is located; or the control system controls the actuator 2 to drive the disassembly device 1 to move toward the direction of the seventh pillow spring 37 inside the bogie to a standard disassembly posture corresponding to the seventh pillow spring 37 to be disassembled, and then the control system controls the first receiving position 131 to move to the receiving position of the row where the seventh pillow spring 37 to be disassembled is located;

[0135] The control system controls the pillow spring hooking assembly 12 to extend to the hooking position of the seventh pillow spring 37 to be disassembled, hooks the seventh pillow spring 37, and the first receiving position 131 receives the hooked seventh pillow spring 37;

[0136] The control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1 .

[0137] After the second pillow spring group is disassembled, the control system controls the actuator 2 to drive the disassembly device 1 away from the bogie, and drives the fifth pillow spring 35 and the seventh pillow spring 37 carried by the connecting spring assembly 13 to be transported to other connecting stations.

[0138] Removing the fourth bolster spring assembly includes the following steps:

[0139] First, the sixth pillow spring 36 is removed by the side push removal method:

[0140] The control system obtains information of the sixth pillow spring 36 to be removed;

[0141] The control system controls the actuator 2 to drive the disassembly device 1 to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position 131 is aligned with the sixth pillow spring 36 to be disassembled;

[0142] The control system controls the first receiving position 131 to move to the receiving position of the row where the sixth pillow spring 36 to be removed is located.

[0143] The control system controls the pillow spring hooking assembly 12 to extend to the hooking position of the sixth pillow spring 36 to be removed, hooking the sixth pillow spring 36, and the first receiving position 131 receives the hooked sixth pillow spring 36;

[0144] The control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1;

[0145] The control system controls the side thrust assembly 14 to push the sixth pillow spring 36 from the first receiving position 131 to the second receiving position 132 .

[0146] Then, the eighth pillow spring 38 is disassembled using the pillow spring disassembly method:

[0147] The control system obtains information of the eighth pillow spring 38 to be removed;

[0148] The actuator 2 remains stationary, and the control system controls the first receiving position 131 to move to the receiving position of the row where the eighth pillow spring 38 to be disassembled is located; or the control system controls the actuator 2 to drive the disassembly device 1 to move toward the direction of the eighth pillow spring 38 inside the bogie to the standard disassembly posture corresponding to the eighth pillow spring 38 to be disassembled, and then the control system controls the first receiving position 131 to move to the receiving position of the row where the eighth pillow spring 38 to be disassembled is located;

[0149] The control system controls the pillow spring hooking assembly 12 to extend to the hooking position of the eighth pillow spring 38 to be disassembled, hooks the eighth pillow spring 38, and the first receiving position 131 receives the hooked eighth pillow spring 38;

[0150] The control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1 .

[0151] After the fourth pillow spring group is disassembled, the control system controls the actuator 2 to drive the disassembly device 1 away from the bogie, and drives the sixth pillow spring 36 and the eighth pillow spring 38 carried by the connecting spring assembly 13 to be transported to other connecting stations.

[0152] Example 4

[0153] When the pillow spring B in the first pillow spring group is disassembled by the pillow spring disassembly method, the control system controls the actuator 2 to drive the disassembly device 1 to move laterally to the standard disassembly posture of the pillow spring B to be disassembled, so that the first receiving position 131 is aligned with the pillow spring B to be disassembled.

[0154] Step S1 disassembles the first pillow spring assembly, specifically comprising the following steps:

[0155] First, the first pillow spring 31 is disassembled by a side push disassembly method:

[0156] The control system obtains information of the first pillow spring 31 to be removed;

[0157] The control system controls the actuator 2 to drive the disassembly device 1 to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position 131 is aligned with the first pillow spring 31 to be disassembled;

[0158] The control system controls the first receiving position 131 to move to the receiving position of the row where the first pillow spring 31 to be removed is located.

[0159] The control system controls the pillow spring hooking assembly 12 to extend to the hooking position of the first pillow spring 31 to be disassembled, hooks the first pillow spring 31, and the first receiving position 131 receives the hooked first pillow spring 31;

[0160] The control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1;

[0161] The control system controls the side thrust assembly 14 to push the first pillow spring 31 from the first receiving position 131 to the second receiving position 132 .

[0162] Then, the third pillow spring 33 is disassembled using the pillow spring disassembly method:

[0163] The control system obtains information of the third pillow spring 33 to be removed;

[0164] The control system controls the actuator 2 to drive the disassembly device 1 to move laterally to a standard disassembly posture of the third pillow spring 33 to be disassembled, so that the first receiving position 131 is aligned with the third pillow spring 33 to be disassembled;

[0165] The control system controls the first receiving position 131 to move to the receiving position of the row where the third pillow spring 33 to be disassembled is located;

[0166] The control system controls the pillow spring hooking assembly 12 to extend to the hooking position of the third pillow spring 33 to be disassembled, hooks the third pillow spring 33, and the first receiving position 131 receives the hooked third pillow spring 33;

[0167] The control system controls the first receiving position 131 to be retracted to the waiting position of the disassembly device 1 .

[0168] After the first pillow spring assembly is disassembled, the control system controls the actuator 2 to drive the disassembly device 1 away from the bogie, and drives the first pillow spring 31 and the third pillow spring 33 carried by the connecting spring assembly 13 to be transported to other connecting stations.

[0169] The first pillow spring 31 and the third pillow spring 33 are pillow springs in the same row, and there is no pillow spring in front of them. The order of disassembling the first pillow spring 31 and the third pillow spring 33 can be swapped. You can first use the side-push disassembly method to disassemble the first pillow spring 31, and then use the pillow spring disassembly method to disassemble the third pillow spring 33, or you can first use the side-push disassembly method to disassemble the third pillow spring 33, and then use the pillow spring disassembly method to disassemble the first pillow spring 31.

[0170] Example 5

[0171] A specific embodiment of a pillow spring hook assembly 12 is provided, such as Figure 6 As shown, it is composed of a pillow spring hooking mechanism 121 and a pillow spring linear pushing mechanism 122; the pillow spring linear pushing mechanism 122 is installed on the mounting seat 15, and a linear module can be used; the pillow spring hooking mechanism 121 is installed on the pillow spring linear pushing mechanism 122, and moves back and forth driven by the pillow spring linear pushing mechanism 122.

[0172] The pillow spring hook mechanism 121 can be composed of a lever and a finger installed on the lever.

[0173] A specific embodiment of a spring assembly 13 is provided, such as Figure 7 As shown, the connecting spring assembly 13 is composed of a first receiving position 131, a second receiving position 132 and a connecting spring linear driving mechanism 133. The connecting spring linear driving mechanism 133 is installed on the frame 11 and can adopt a linear module; the first receiving position 131 is installed on the connecting spring linear driving mechanism 133, and moves forward and backward in and out of the bogie under the drive of the connecting spring linear driving mechanism 133; the second receiving position 132 is fixedly installed inside the frame 11.

[0174] A specific embodiment of a side thrust assembly 14 is provided, such as Figure 8 As shown, it includes a pushing mechanism 141 and a side-pushing module 142, wherein the pushing mechanism 141 can adopt a pushing cylinder, and the pushing mechanism 141 is installed on one side of the front end of the frame 11 through a side-pushing fixing plate 143; one end of the side-pushing module 142 is used to contact the side surface of the pillow spring supported on the spring assembly 13, and the other end is connected to the pushing mechanism 141 through a side-pushing adapter plate 144. The side-pushing module 142 moves left and right under the push of the pushing mechanism 141.

[0175] The side-pushing module 142 can adopt a V-shaped push block, which is used to contact the side surface of the pillow spring hooked to the receiving position. Since the side surface of the pillow spring is arc-shaped, the use of a V-shaped push block can increase the contact area with the side surface of the pillow spring, thereby improving stability and safety during the side-pushing process.

[0176] Example 6

[0177] A camera 16 is also installed at the front end of the frame 11. The camera 16 is used to collect the position information of the bogie, calculate the position difference of the bogie through recognition and positioning software, and then control the actuator 2 to be disassembled in a standard disassembly posture relative to the bogie.

[0178] Before formal disassembly, the standard disassembly posture of each pillow spring in different positions is generally taught first. Then, after the position of the bogie is fixed each time, the camera collects the posture information of the bogie and adjusts the robot posture to the standard disassembly posture based on the posture result.

[0179] It should be noted that the standard disassembly posture does not correspond to a certain disassembly posture value. Each pillow spring in different position has its own standard disassembly posture.

[0180] Different from the traditional limited method of disassembling one by one starting from the outer row, disassembling all the pillow springs in the front row and then disassembling the pillow springs in the rear row, the present invention aims at the problem that the pillow springs in each row on the K5 bogie are difficult to disassemble quickly due to different distributions. Combined with the added efficiency-enhancing side thrust mechanism, the order and method of disassembly of the pillow springs on the K5 bogie are rationally planned, which greatly increases the efficiency of disassembly of the pillow springs on the K5 bogie and significantly reduces the number of connection times. The present invention uses a side thrust mechanism to group the pillow springs on the K5 bogie into two groups to form a pillow spring group for disassembly, reducing the number of operation connections to four times; except for the two pillow springs in the front row of the left and right edge columns, the two pillow springs in the same column are grouped into a pillow spring group for disassembly, which can effectively avoid the actuator from moving laterally and re-adjusting the positioning action, thereby reducing the time-consuming disassembly of the pillow spring group and maximizing speed and efficiency.

[0181] In addition, it should be understood that the above embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A quick disassembly process for a K5 bogie, characterized in that: A bogie disassembly device is used, the bogie disassembly device comprising a disassembly device (1), an actuator (2) and a control system; the disassembly device (1) is mounted at the end of an actuator of the actuator (2); the disassembly device (1) comprises: a frame (11), and a pillow spring hooking assembly (12), a connecting spring assembly (13) and a side thrust assembly (14) mounted on the frame (11); the pillow spring hooking assembly (12) is used to enter the interior of the bogie to hook the pillow spring in the bogie; the connecting spring assembly (13) comprises a first receiving position (131) and a second receiving position (132), The first receiving position (131) is used to enter the interior of the bogie to receive the pillow spring hooked by the pillow spring hooking assembly (12), and the second receiving position (132) is used to receive the pillow spring pushed by the side thrust assembly (14); the pillow spring hooking assembly (12) is arranged above the first receiving position (131), and the first receiving position (131) can be moved forward and backward by a driving mechanism to extend into the interior of the bogie; the side thrust assembly (14) is arranged on the side close to the first receiving position (131), and is used to push the pillow spring received by the first receiving position (131) to the second receiving position (132); The rapid disassembly process comprises: S1: disassembling a first bolster spring group consisting of two left and right bolster springs in the front row, and transporting the first bolster spring group to another connection station; S2 disassembles the bolster spring group in the bolster spring group set consisting of two bolster springs in the front and rear rows of the same column according to the set order, and transports the bolster spring group to other connection stations; S3: repeat step S2 until all the pillow spring groups in the pillow spring group set are disassembled and transported and connected; The first pillow spring group and the pillow spring group in the pillow spring group set both include a pillow spring A to be disassembled and a pillow spring B to be disassembled, and the pillow spring A to be disassembled is first disassembled using a side push disassembly method, and then the pillow spring B to be disassembled is disassembled using a pillow spring disassembly method; the first pillow spring group includes a first pillow spring (31) and a third pillow spring (33); the number of pillow spring groups in the pillow spring group set is 3, including a second pillow spring group, a third pillow spring group and a fourth pillow spring group, the second pillow spring group consists of a fifth pillow spring (35) and a seventh pillow spring (37), the third pillow spring group consists of a second pillow spring (32) and a fourth pillow spring (34), and the fourth pillow spring group consists of a sixth pillow spring (36) and an eighth pillow spring (38); The method of disassembling the pillow spring A to be disassembled by using the side-push disassembly method comprises the following steps: The control system controls the actuator (2) to drive the disassembly device (1) to a disassembly station of the pillow spring A in the pillow spring group to be disassembled; The control system controls the disassembly device (1) to be adjusted to a disassembly state of the pillow spring A, and controls the first receiving position (131) to reach a receiving position of the pillow spring A; The control system controls the pillow spring hooking assembly (12) to hook the pillow spring A to the first receiving position (131); The control system controls the first receiving position (131) to be retracted to a waiting position of the disassembly device (1); The control system controls the side thrust assembly (14) to push the pillow spring A carried by the first receiving position (131) to the second receiving position (132); The method for disassembling the pillow spring B to be disassembled using the pillow spring disassembly method comprises the following steps: The control system controls the actuator (2) to drive the disassembly device (1) to a disassembly station of the pillow spring B in the pillow spring group to be disassembled; The control system controls the disassembly device (1) to be adjusted to a disassembly state of the pillow spring B, and controls the first receiving position (131) to reach a receiving position of the pillow spring B; The control system controls the pillow spring hooking assembly (12) to hook the pillow spring B to the first receiving position (131); After the pillow springs A and B in the pillow spring group to be disassembled are disassembled, the control system controls the actuator (2) to drive the disassembly device (1) away from the bogie, and drives the pillow springs A and B received by the connecting spring assembly (13) to be transported to other connecting stations; The front row of pillow springs of pillow spring A in the pillow spring group to be removed is empty; the pillow spring B in the pillow spring group to be removed is behind the pillow spring A in the same row or column in the pillow spring group to be removed.

2. A quick disassembly process for a K5 bogie as claimed in claim 1, characterized in that: The side-push disassembly method for disassembling the pillow spring A to be disassembled specifically includes the following steps: Sa1 The control system obtains information of the pillow spring A to be disassembled; Sa2 the control system controls the actuator (2) to drive the disassembly device (1) to a standard disassembly posture of the pillow spring A to be disassembled, so that the first receiving position (131) is aligned with the pillow spring A to be disassembled; Sa3: the control system controls the first receiving position (131) to move to the receiving position of the row where the pillow spring A to be removed is located; Sa4: the control system controls the pillow spring hooking assembly (12) to extend to the hooking position of the pillow spring A to be disassembled, hooking the pillow spring A, and the first receiving position (131) receives the hooked pillow spring A; Sa5: the control system controls the first receiving position (131) to be retracted to a waiting position of the disassembly device (1); Sa6 The control system controls the side thrust assembly (14) to push the pillow spring A from the first receiving position (131) to the second receiving position (132).

3. A quick disassembly process of a K5 bogie as claimed in claim 1, characterized in that: The method for disassembling the pillow spring B to be disassembled using the pillow spring disassembly method specifically comprises the following steps: Sb1 The control system obtains information of the pillow spring B to be disassembled; Sb2 the control system controls the actuator (2) to drive the disassembly device (1) to a standard disassembly posture of the pillow spring B to be disassembled, so that the first receiving position (131) is aligned with the pillow spring B to be disassembled; Sb3 the control system controls the first receiving position (131) to move to a receiving position of the row where the pillow spring B to be removed is located; Sb4 The control system controls the pillow spring hooking assembly (12) to extend to the hooking position of the pillow spring B to be disassembled, hooking the pillow spring B, and the first receiving position (131) receives the hooked pillow spring B; Sb5 The control system controls the first receiving position (131) to be retracted to the waiting position of the disassembly device (1).

4. A quick disassembly process for a K5 bogie as claimed in claim 1 or 2, characterized in that: In the step S2, the pillow spring group in the pillow spring group set consisting of two pillow springs in the front and rear rows of the same column is disassembled, and the third pillow spring group is disassembled first.

5. A quick disassembly process for a K5 bogie as claimed in claim 1, characterized in that: The pillow spring hook-down assembly (12) is composed of a pillow spring hook-down mechanism (121) and a pillow spring linear push mechanism (122); the pillow spring hook-down mechanism (121) is installed on the pillow spring linear push mechanism (122) and moves forward and backward under the drive of the pillow spring linear push mechanism (122).

6. A K5 bogie quick disassembly process as claimed in claim 1, characterized in that: The connecting spring assembly (13) is composed of the first receiving position (131), the second receiving position (132) and a connecting spring linear driving mechanism (133); the first receiving position (131) is mounted on the connecting spring linear driving mechanism (133) and moves forward and backward in and out of the bogie under the drive of the connecting spring linear driving mechanism (133).

7. A K5 bogie quick disassembly process as claimed in claim 1, characterized in that: The side-pushing assembly (14) comprises a pushing mechanism (141) and a side-pushing module (142); the pushing mechanism (141) is mounted on the frame (11); the side-pushing module (142) is connected to the pushing mechanism (141); the side-pushing module (142) moves left and right under the pushing of the pushing mechanism (141).

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