A bogie bolster spring quick disassembly device

Abstract

The present invention provides a bogie pillow spring quick disassembly device, comprising an actuator, a disassembly device and a control system; the disassembly device comprises a pillow spring first hook-down assembly, a connecting spring assembly and a frame; the frame is installed on the actuator; the pillow spring first hook-down assembly is installed on the frame; the connecting spring assembly comprises a receiving assembly and a first side thrust assembly, which are respectively installed on the frame; the device provided by the present invention, utilizing the connecting spring assembly design, can not only realize the disassembly of multiple groups of pillow springs in the same row at a time, but also realize the disassembly of multiple groups of pillow springs in the front and rear rows, especially in the same column of the front and rear rows at a time, thereby accelerating disassembly, and is particularly suitable for solving the problem of increasing the transportation time required for disassembling and transporting a single pillow spring in multiple times when only one row of front and rear rows of pillow springs is left inside the bogie. The present invention speeds up the rhythm of the spring removal link, significantly reduces the number of connections, improves the overall efficiency, and is suitable for bogies of various models.

Description

Technical Field

[0001] The invention relates to an automatic disassembly mechanism for a bolster spring on a railway train bogie, in particular to a bogie bolster spring quick disassembly device, and belongs to the technical field of rail vehicle component disassembly. Background Art

[0002] Railway train bogies need to be regularly inspected to ensure driving safety. There are many parts on the bogie, and the bogie structure needs to be disassembled during inspection, and important parts need to be removed and inspected one by one. The pillow springs on the bogie are usually removed manually, which is time-consuming and labor-intensive, and the safety hazards cannot be ignored.

[0003] At present, there are some pillow spring disassembly devices, which can replace manual work to realize the automatic disassembly of pillow springs when used in combination with a robotic arm. The structure used to remove the pillow spring from the bogie in the pillow spring disassembly device is roughly divided into two types: the toggle type and the clamping type. The patent document discloses a railway freight car bogie pillow spring intelligent disassembly device disclosed in CN115570366A, which records a toggle structure, using a toggle mechanism that can extend into the pillow spring to hook the pillow spring and then receive it, and the robot drives the entire device to transport the disassembled pillow spring to the maintenance line, thus completing the automatic disassembly and transportation of the pillow spring; the patent document CN108857312A discloses a bogie load-bearing spring disassembly process, which records a clamping structure, after the inclined wedge is taken out, the mechanical arm drives the clamp to take out the pillow spring in the bogie and place it on the transfer rack.

[0004] Because the robot moves under load during docking and often needs to drive the disassembly mechanism to rotate as a whole, the speed is generally slow and the movement trajectory is long, so the number of docking times is one of the main factors affecting the overall efficiency.

[0005] The existing pillow spring disassembly device can only remove one set of pillow springs for transportation in a single process, and the number of dockings is basically equal to the number of pillow spring groups on the bogie. In order to reduce the number of dockings and speed up the disassembly efficiency, it is usually considered to add a set of structures on the basis of the existing toggle-type or clamp-type disassembly structure to form two sets of parallel disassembly structures, so that two sets of pillow springs can be disassembled and transported to other stations in a single process, thereby improving the overall disassembly efficiency. Due to the limited internal space of the bogie, the optimal design of the disassembly structure is two sets in parallel: in the three-set parallel design scenario, when entering the interior of the bogie at the same time, the size is basically equal to the internal width of the bogie, which not only makes the overall structure bloated, but also easily collides with the internal structure of the bogie; and because the time interval for entering the interior of the bogie is too rigid, lacks flexibility, and has limited usage scenarios, it is not applicable to bogies with inconsistent distribution of pillow springs in each row (such as the K5 type bogie); in addition, the three-set parallel design will make the overall mechanism too heavy, and coupled with the weight of the three sets of pillow springs themselves, it is not conducive to the operation of the robot and reduces the docking speed.

[0006] In actual application, the two sets of parallel disassembly structures may also have the following problems: there are three rows of pillow springs in the bogie, namely the outer, middle and inner rows. Different types of bogies have different numbers of pillow springs in each row. Taking the K6 bogie as an example, there are three sets of pillow springs in each row. When the pillow springs are removed by using the two sets of parallel disassembly structures mentioned above, a row of front and rear pillow springs will be left on the bogie. In this case, if only one pillow spring is left, only one set of pillow springs can be removed even if two sets of parallel disassembly structures are used. The next set of pillow springs can only be removed after one set of pillow springs is transferred. Similar situations of single pillow springs may also occur on other types of bogies. The commonly used device structure design cannot remove multiple sets of pillow springs and reduce the number of connections in such situations. Summary of the invention

[0007] The purpose of the present invention is to solve the problems raised in the above-mentioned background technology and to provide a rapid pillow spring disassembly device which is applicable to various types of bogies and can significantly reduce the number of connections.

[0008] The technical solution of the present invention to solve the above technical problems is as follows:

[0009] A bogie pillow spring quick disassembly device comprises: an actuator, a disassembly device and a control system; the disassembly device comprises a pillow spring first hooking assembly, a connecting spring assembly and a frame; the frame is mounted on the actuator; the pillow spring first hooking assembly is mounted on the frame, and is used to enter the bogie and hook the pillow spring in the bogie; the connecting spring assembly comprises a receiving assembly and a first side thrust assembly, which are respectively mounted on the frame; the receiving assembly is used to enter the bogie and receive the pillow spring hooked by the pillow spring first hooking assembly; the receiving assembly comprises a first receiving position and a second receiving position, and the first receiving position and the second receiving position are used to receive the pillow spring hooked or pushed; the pillow spring first hooking assembly is arranged above the first receiving position, and the first receiving position can be moved forward and backward by a driving mechanism and extend into the bogie; the first side thrust assembly is arranged on the side close to the first receiving position, and is used to push the pillow spring on the first receiving position to the second receiving position after the pillow spring hooked to the first receiving position by the pillow spring first hooking assembly is retracted to the waiting position of the disassembly device.

[0010] The invention comprises a same-row disassembly method, wherein the same-row disassembly method is used to disassemble pillow springs located in the front and rear rows and in the same row; the same-row disassembly method comprises the following steps:

[0011] Sa1 The control system obtains information of pillow springs in the same row to be removed;

[0012] Sa2 The control system controls the actuator to drive the disassembly device to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position is aligned with the first pillow spring to be disassembled;

[0013] Sa3 The control system controls the first receiving position to move to the receiving position of the i-th row where the first pillow spring to be removed is located,

[0014] Sa4 The control system controls the first hooking assembly of the pillow spring to extend to the hooking position of the first pillow spring to be removed, hooks the first pillow spring, and the first receiving position receives the hooked first pillow spring;

[0015] Sa5 The control system controls the first receiving position to be retracted to the waiting position of the disassembly device;

[0016] Sa6: the control system controls the first side thrust assembly to push the first pillow spring from the first receiving position to the second receiving position;

[0017] Sa7 The control system controls the first receiving position to move to the receiving position of the jth row where the second pillow spring to be removed is located;

[0018] Sa8 The control system controls the first hooking assembly of the pillow spring to extend to the hooking position of the second pillow spring to be removed, hooking the second pillow spring, and the first receiving position receives the hooked second pillow spring;

[0019] Sa9 The control system controls the first receiving position to be retracted to the waiting position of the disassembling device;

[0020] The first pillow spring is the i-th row pillow spring. Before the Sa1 step, there is no pillow spring in the front row of the first pillow spring. The second pillow spring is located in the back row and in the same column as the first pillow spring. After the first pillow spring is removed, there is no pillow spring in the front row of the second pillow spring.

[0021] The invention also includes a non-co-row disassembly method of a side thruster mechanism, wherein the non-co-row disassembly method of the side thruster mechanism comprises the following steps:

[0022] Sb1 The control system obtains information of non-column pillow springs to be removed;

[0023] Sb2 The control system controls the actuator to drive the disassembly device to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position is aligned with the third pillow spring to be disassembled;

[0024] Sb3 the control system controls the first receiving position to move to the receiving position of the kth row where the third pillow spring to be removed is located;

[0025] Sb4 The control system controls the first hooking assembly of the pillow spring to extend to the hooking position of the third pillow spring to be disassembled, hooking the third pillow spring, and the first receiving position receives the hooked third pillow spring;

[0026] Sb5 The control system controls the first receiving position to be retracted to the waiting position of the disassembly device;

[0027] Sb6 The control system controls the first side thrust assembly to push the third pillow spring from the first receiving position to the second receiving position;

[0028] Sb7 The control system controls the actuator to move laterally, driving the disassembly device to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position is aligned with the fourth pillow spring to be disassembled;

[0029] Sb8 The control system controls the first receiving position to move to the position where the fourth pillow spring to be removed is located. The receiving position of the row;

[0030] Sb9 The control system controls the first hooking assembly of the pillow spring to extend to the hooking position of the fourth pillow spring to be disassembled, hooking the fourth pillow spring, and the first receiving position receives the hooked fourth pillow spring;

[0031] Sb10 the control system controls the receiving assembly to be retracted to the waiting position of the disassembly device;

[0032] The third pillow spring is the kth row pillow spring, and the fourth pillow spring is the kth row pillow spring. The third pillow spring and the fourth pillow spring are in different rows. Before the step Sb1, there is no pillow spring in the front row of the third pillow spring and the fourth pillow spring.

[0033] The invention also includes a second hooking assembly of a pillow spring, wherein the second hooking assembly of the pillow spring is arranged above the second receiving position of the receiving assembly; the second receiving position can move forward and backward to extend into the interior of the bogie; and includes a same-row quick disassembly method and a same-column disassembly method, wherein the same-row quick disassembly method is used to quickly disassemble two groups of pillow springs located adjacent to each other in the same row when there is no pillow spring in the front row; the same-row quick disassembly method includes the following steps:

[0034] Sc1 The control system obtains information of the pillow springs in the same row to be removed;

[0035] Sc2 The control system controls the actuator to drive the disassembly device to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position and the second receiving position are respectively aligned with the fifth pillow spring and the sixth pillow spring to be disassembled;

[0036] Sc3 the control system controls the first receiving position and the second receiving position to move to the receiving position of the mth row where the fifth pillow spring and the sixth pillow spring to be removed are located;

[0037] Sc4 The control system controls the first hooking assembly of the pillow spring and the second hooking assembly of the pillow spring to extend to the hooking position of the pillow spring to be removed, respectively hooking the fifth pillow spring and the sixth pillow spring, the first receiving position receiving the hooked fifth pillow spring; the second receiving position receiving the hooked sixth pillow spring;

[0038] Sc5 The control system controls the first receiving position and the second receiving position to be retracted backward to the waiting position of the disassembly device;

[0039] The fifth pillow spring and the sixth pillow spring are pillow springs in the mth row. Before the Sc1 step, there is no pillow spring in the front row of the fifth pillow spring, and there is no pillow spring in the front row of the sixth pillow spring.

[0040] The receiving assembly is composed of the first receiving position, the second receiving position and a first connecting spring linear driving mechanism; the first receiving position is installed on the first connecting spring linear driving mechanism, and the first connecting spring linear driving mechanism is used to push the first receiving position to move forward and backward.

[0041] The receiving assembly is composed of two receiving positions and two connecting spring linear driving mechanisms; the two connecting spring linear driving mechanisms are arranged side by side, and one receiving position is installed on each of them; the two receiving positions move forward and backward respectively under the drive of the connecting spring linear driving mechanisms.

[0042] The receiving assembly consists of the first receiving position, the second receiving position and a pillow spring receiving linear driving mechanism; the first receiving position and the second receiving position are an integrated structure, and the integrated structure is installed on the pillow spring receiving linear driving mechanism, and the first receiving position and the second receiving position move forward and backward synchronously under the drive of the pillow spring receiving linear driving mechanism.

[0043] The connecting spring assembly also includes a second side pushing assembly, which is installed on the frame and arranged on the side close to the second receiving position; the second side pushing assembly is used to push the pillow spring on the second receiving position to the first receiving position after the pillow spring, which is hooked to the second receiving position by the pillow spring second hooking assembly, is retracted to the waiting position of the disassembly device.

[0044] The first side push assembly comprises: a pushing mechanism and a side push piece, wherein the pushing mechanism is mounted on the frame; the side push piece is connected to the pushing mechanism, and the side push piece moves left and right under the push of the pushing mechanism.

[0045] The side push member adopts a V-shaped push block, and the V-shaped push block is used to contact the side surface of the pillow spring.

[0046] The present invention has the following beneficial effects: a bogie bolster spring quick disassembly device is provided, which utilizes the design of the connecting spring assembly to push the hooked and received bolster spring from one receiving position to the other receiving position, and reserve a receiving position for the next group of bolster springs to be disassembled, which can not only realize the disassembly of multiple groups of bolster springs in the same row at a time, but also realize the disassembly of multiple groups of bolster springs in the front and rear rows, especially in the same column of the front and rear rows at a time, solving the problem of increasing the transportation time when only one column of bolster springs in the front and rear rows is left inside the bogie. The present invention speeds up the rhythm of the spring removal link, significantly reduces the number of connections, improves the overall efficiency, and is suitable for bogies of various models. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of the present invention;

[0048] Figure 2 It is a front view of the disassembly device 2 in Example 1;

[0049] Figure 3 It is a structural schematic diagram of the first hook component 21 of the pillow spring in the present invention;

[0050] Figure 4 It is a structural schematic diagram of the receiving component 24 in Example 1;

[0051] Figure 5 It is a schematic structural diagram of the first side thrust assembly 25 in the present invention;

[0052] Figure 6 Schematic diagram of the distribution of pillow springs in different types of bogies;

[0053] Figure 7 It is a front view of the disassembly device 2 in Example 2;

[0054] Figure 8 It is a structural schematic diagram of the receiving component 24 in Example 2;

[0055] Fig. 9 It is a structural schematic diagram of the receiving component 24 in Example 3;

[0056] Fig.10 This is a schematic diagram of the structure of the disassembly device 2 in Example 4. Specific embodiments

[0057] 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.

[0058] Example 1

[0059] A bogie pillow spring quick disassembly device, such as Figure 1 As shown, it includes: an actuator 1, a disassembly device 2 and a control system; the disassembly device 2 includes a pillow spring first hook assembly 21, a spring connection assembly and a frame 22.

[0060] The actuator 1 may be a robot arm or a robot hand.

[0061] The frame 22 is mounted on the actuator 1 ; the first pillow spring hooking assembly 21 is mounted on the frame 22 and is used to enter the interior of the bogie to hook the pillow spring in the bogie.

[0062] The spring connecting assembly includes a receiving assembly 24 and a first side thrust assembly 25, which are respectively installed on the frame 22; the receiving assembly 24 is used to enter the interior of the bogie to receive the pillow spring hooked by the first hooking assembly 21 of the pillow spring; the receiving assembly 24 includes a first receiving position 241 and a second receiving position 242), and the first receiving position 241 and the second receiving position 242 are used to receive the hooked or pushed pillow spring; the first hooking assembly 21 of the pillow spring is arranged above the first receiving position 241, and the first receiving position 241 can be moved forward and backward by a driving mechanism to extend into the interior of the bogie.

[0063] The first side pushing assembly 25 is arranged on the side close to the first receiving position 241, and is used for pushing the pillow spring on the first receiving position 241 to the second receiving position 242 after the pillow spring, which is hooked to the first receiving position 241 by the pillow spring first hooking assembly 21, is retracted to the waiting position of the disassembly device 2.

[0064] A specific embodiment of a disassembly device 2 is provided, such as Figure 2 As shown, the receiving assembly 24 is installed on the inner bottom side of the frame 22; the first hook assembly 21 of the pillow spring is installed inside the frame 22 through the first mounting seat 23; the first side thrust assembly 25) is installed on the front side of the frame 22, specifically arranged on the side of the receiving assembly 24, located on the side close to the first receiving position 241.

[0065] The first hook component 21 of the pillow spring can be adopted as follows Figure 3 The structure shown includes a pillow spring hook mechanism 211 and a longitudinal linear pushing mechanism 212 ; the pillow spring hook mechanism 211 is installed on the longitudinal linear pushing mechanism 212 and moves back and forth driven by the longitudinal linear pushing mechanism 212 .

[0066] The structure of the receiving assembly 24 is as follows Figure 4 As shown, it is composed of a first receiving position 241, a second receiving position 242 and a first spring linear pushing mechanism 243. The first receiving position 241 is installed on the first spring linear pushing mechanism 243, and the first spring linear pushing mechanism 243 is used to push the first receiving position 241 to move forward and backward.

[0067] The first side thrust assembly 25 may be implemented as follows Figure 5 As shown in the structure, the first side-thrust component 25 includes: a pushing mechanism 251 and a side-thrust piece 252, wherein the pushing mechanism 251 can adopt a pushing cylinder, and the pushing mechanism 251 is installed on the frame 22 through a side-thrust fixing plate 253; one end of the side-thrust piece 252 is used to contact the side surface of the pillow spring supported on the supporting component 24, and the other end is connected to the pushing mechanism 251 through a side-thrust adapter plate 254, and the side-thrust piece 252 moves left and right under the push of the pushing mechanism 251.

[0068] The side push member 252 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 an arc shape, 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.

[0069] A bogie bolster spring quick disassembly device includes a same-row disassembly method: the same-row disassembly method is used to disassemble bolster springs located in the front and rear rows and in the same row, and includes the following steps:

[0070] Sa1 The control system obtains the information of the pillow springs in the same row to be removed;

[0071] Sa2 The control system controls the actuator 1 to drive the disassembly device 2 to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position 241 is aligned with the first pillow spring to be disassembled;

[0072] Sa3 The control system controls the first receiving position 241 to move to the receiving position of the first pillow spring to be removed in the i-th row.

[0073] Sa4 The control system controls the first hooking assembly 21 of the pillow spring to extend to the hooking position of the first pillow spring to be disassembled, hooks the first pillow spring, and the first receiving position 241 receives the hooked first pillow spring;

[0074] Sa5 The control system controls the first receiving position 241 to be retracted to the waiting position of the disassembly device 2;

[0075] Sa6 control system controls the first side thrust assembly 25 to push the first pillow spring from the first receiving position 241 to the second receiving position 242;

[0076] Sa7 The control system controls the first receiving position 241 to move to the receiving position of the jth row where the second pillow spring to be removed is located;

[0077] Sa8 The control system controls the first hooking assembly 21 of the pillow spring to extend to the hooking position of the second pillow spring to be removed, hooks the second pillow spring, and the first receiving position 241 receives the hooked second pillow spring;

[0078] Sa9 The control system controls the first receiving position 241 to be retracted to the waiting position of the disassembly device 2;

[0079] The first pillow spring is the i-th row of pillow springs. Before step Sa1, there is no pillow spring in the front row of the first pillow spring. The second pillow spring is located in the back row and in the same column as the first pillow spring. After the first pillow spring is removed, there is no pillow spring in the front row of the second pillow spring.

[0080] Figure 6 The distribution of bolster springs in various types of bogies is shown. Each circle represents a group of bolster springs. Taking the K6 bogie as an example, it includes bolster springs I, II and III in the first row, bolster springs IV, V and VI in the second row, and bolster springs VII, VIII and IX in the third row.

[0081] Still Figure 6 Taking the distribution of pillow springs in the K6 type bogie as an example, the disassembled first pillow spring and the second pillow spring can be pillow spring I and pillow spring V, or pillow spring II and pillow spring IV, or pillow spring III and pillow spring VI, or pillow spring V and pillow spring VII after pillow spring I has been disassembled, and so on.

[0082] A bogie bolster spring quick disassembly device includes a non-column disassembly method of a side thrust mechanism, and the non-column disassembly method of the side thrust mechanism includes the following steps:

[0083] The Sb1 control system obtains information about the non-column pillow springs to be removed;

[0084] Sb2 The control system controls the actuator 1 to drive the disassembly device 2 to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position 241 is aligned with the third pillow spring to be disassembled;

[0085] Sb3 The control system controls the first receiving position 241 to move to the receiving position of the kth row where the third pillow spring to be disassembled is located;

[0086] Sb4 The control system controls the first hooking assembly 21 of the pillow spring to extend to the hooking position of the third pillow spring to be disassembled, hooks the third pillow spring, and the first receiving position 241 receives the hooked third pillow spring;

[0087] Sb5 The control system controls the first receiving position 241 to be retracted to the waiting position of the disassembly device 2;

[0088] The Sb6 control system controls the first side thrust assembly 25 to push the third pillow spring from the first receiving position 241 to the second receiving position 242;

[0089] Sb7 The control system controls the actuator 1 to move laterally, driving the disassembly device 2 to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position 241 is aligned with the fourth pillow spring to be disassembled;

[0090] Sb8 The control system controls the first receiving position 241 to move to the position where the fourth pillow spring to be removed is located. The receiving position of the row;

[0091] Sb9 The control system controls the first hooking assembly 21 of the pillow spring to extend to the hooking position of the fourth pillow spring to be disassembled, hooks the fourth pillow spring, and the first receiving position 241 receives the hooked fourth pillow spring;

[0092] Sb10 The control system controls the receiving assembly 24 to be retracted to the waiting position of the disassembly device 2;

[0093] The third pillow spring is the kth row pillow spring, and the fourth pillow spring is the kth row pillow spring. The third and fourth pillow springs are in different rows. Before step Sb1, there are no pillow springs in the row in front of the third and fourth pillow springs.

[0094] by Figure 6 Take the distribution of pillow springs in the K6 type bogie as an example: the third pillow spring and the fourth pillow spring can be any two groups of pillow springs in the first row; they can be pillow spring V and pillow spring IV after pillow spring I and pillow spring II have been disassembled, or pillow spring IV and pillow spring III, or pillow spring V and pillow spring III; and so on.

[0095] Figure 6 The internal layout of other types of bogies shown can also be disassembled in the same row or in different rows using this device.

[0096] Example 2

[0097] Figure 7 Another specific embodiment of the disassembly device 2 is shown.

[0098] Different from the first embodiment, the disassembly device 2 further includes a pillow spring second hook component 26 .

[0099] The second hook assembly 26 of the pillow spring is arranged on the second receiving position 242 of the receiving assembly 24; the second receiving position 242 can move forward and backward to extend into the interior of the bogie; the second hook assembly 26 of the pillow spring is installed inside the frame 22 through the second mounting seat 27; the same structure as the first hook assembly 21 of the pillow spring can be adopted, and the two are symmetrically distributed.

[0100] The receiving assembly 24 is composed of two receiving positions and two spring-connecting linear driving mechanisms; the two spring-connecting linear driving mechanisms are arranged side by side, and one receiving position is installed on each of them; the receiving positions are individually driven by the corresponding spring-connecting linear driving mechanisms, and move forward and backward respectively under the drive of the corresponding spring-connecting linear driving mechanisms.

[0101] like Figure 8 As shown, the first receiving position 241 and the second receiving position 242 of the receiving assembly 24 are respectively installed on the first connecting spring linear driving mechanism 243 and the second connecting spring linear driving mechanism 244.

[0102] The design of the two sets of pillow spring hook-down assemblies can adopt a same-row quick disassembly method in addition to the same-row disassembly method described in Example 1.

[0103] The same-row quick-disassembly method is used to quickly disassemble two adjacent sets of bolster springs in the same row when there is no bolster spring in the front row, and includes the following steps:

[0104] Sc1 The control system obtains the information of the pillow springs in the same row to be removed;

[0105] Sc2 The control system controls the actuator 1 to drive the disassembly device 2 to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position 241 and the second receiving position 242 are respectively aligned with the fifth pillow spring and the sixth pillow spring to be disassembled;

[0106] Sc3 The control system controls the first receiving position 241 and the second receiving position 242 to move to the receiving position of the mth row where the fifth pillow spring and the sixth pillow spring to be removed are located;

[0107] Sc4 The control system controls the first hooking assembly 21 of the pillow spring and the second hooking assembly 26 of the pillow spring to extend to the hooking position of the pillow spring to be removed, respectively hooking the fifth pillow spring and the sixth pillow spring, the first receiving position 241 receives the hooked fifth pillow spring; the second receiving position 242 receives the hooked sixth pillow spring;

[0108] Sc5 The control system controls the first receiving position 241 and the second receiving position 242 to be retracted backward to the waiting position of the disassembly device 2;

[0109] The fifth pillow spring and the sixth pillow spring are the mth row of pillow springs. Before step Sc1, there is no pillow spring in the front row of the fifth pillow spring and there is no pillow spring in the front row of the sixth pillow spring.

[0110] by Figure 6 Taking the distribution of pillow springs in the K6 type bogie as an example, the disassembled fifth and sixth pillow springs can be two sets of adjacent pillow springs in the first row of the K6 type bogie, such as pillow spring I and pillow spring II, or pillow spring II and pillow spring III, or two sets of adjacent pillow springs in the rear row whose front row pillow springs have been disassembled.

[0111] Example 3

[0112] The receiving component 24 in Example 2 can also be replaced by the following implementation.

[0113] like Fig. 9 As shown, the receiving assembly 24 is composed of a first receiving position 241, a second receiving position 242 and a pillow spring receiving linear driving mechanism 245; the first receiving position 241 and the second receiving position 242 are an integrated structure, and the integrated structure composed of the first receiving position 241 and the second receiving position 242 is installed on the pillow spring receiving linear driving mechanism 245, and moves forward and backward synchronously under the drive of the pillow spring receiving linear driving mechanism 245.

[0114] Example 4

[0115] Based on embodiments 2 to 3, the disassembly device 2 may further include a second side push assembly 28, which is installed on the frame 22; specifically, it is arranged on the side of the receiving assembly 24, located on the side close to the second receiving position 242.

[0116] The second side push assembly 28 can adopt the same structure as the first side push assembly 25, and the two are symmetrically distributed on both sides of the receiving assembly 24, such as Fig.10 shown.

[0117] The second side pushing assembly 28 is used to push the pillow spring on the second receiving position 242 to the first receiving position 241 after the pillow spring, which has been hooked to the second receiving position 242 by the pillow spring second hooking assembly 26, is retracted to the waiting position of the disassembly device 2.

[0118] Two sets of side-thrust assemblies can increase the flexibility of the disassembly device, and can more conveniently disassemble the bolster springs in the same row for any edge row.

[0119] Example 5

[0120] Based on the above embodiment, a camera 3 is also installed at the front end of the frame 22. The camera 3 is used to collect the posture information of the bogie, calculate the posture difference of the bogie through recognition and positioning software, and then control the actuator 1 to be disassembled in a standard disassembly posture relative to the bogie.

[0121] 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.

[0122] 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.

[0123] In addition, generally speaking, in order to prevent the pillow spring received on the receiving position from falling, after receiving the pillow spring, the receiving position can be tilted so that the pillow spring slides down into the receiving position. The action of tilting the receiving position can be performed by the actuator 1, or a mechanism that can control the tilting of the receiving position can be set in the disassembly device 2.

[0124] As above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention defined in the appended claims.

[0125] The disassembly device provided by the present invention can realize the disassembly of multiple groups of pillow springs in the same row at a time, and can also realize the disassembly of multiple groups of pillow springs in the front and rear rows, especially in the same column of the front and rear rows at a time, so as to solve the problem that when only one column of pillow springs in the front and rear rows is left inside the bogie, it is necessary to disassemble and transport a single pillow spring in multiple times, which increases the transportation time. And the maximum connection number of the pillow spring group in the bogie can be reduced from the existing Q times to roundup (Q / N, 0) times, where Q is the number of pillow spring groups in the bogie, N is the number of receiving positions in the receiving assembly 24, and roundup (Q / N, 0) is an integer rounded up to Q / N.

Claims

1. A bogie bolster spring quick disassembly device, characterized in that: include: An actuator (1), a disassembly device (2) and a control system; the disassembly device (2) comprises a first hooking assembly (21) of a pillow spring, a connecting spring assembly and a frame (22); the frame (22) is mounted on the actuator (1); the first hooking assembly (21) of the pillow spring is mounted on the frame (22) and is used to enter the interior of a bogie and hook the pillow spring in the bogie; The spring receiving assembly comprises a receiving assembly (24) and a first side thrust assembly (25), which are respectively mounted on the frame (22); the receiving assembly (24) is used to enter the interior of the bogie to receive the pillow spring hooked by the pillow spring first hooking assembly (21); the receiving assembly (24) comprises a first receiving position (241) and a second receiving position (242), the first receiving position (241) and the second receiving position (242) being used to receive the pillow spring that is hooked or pushed; the pillow spring first hooking assembly (21 ) is arranged above the first receiving position (241), and the first receiving position (241) can be moved forward and backward by a driving mechanism to extend into the interior of the bogie; the first side pushing assembly (25) is arranged on the side close to the first receiving position (241), and is used to push the pillow spring on the first receiving position (241) to the second receiving position (242) after the pillow spring hooked to the first receiving position (241) by the pillow spring first hooking assembly (21) is retracted to the waiting position of the disassembly device (2); The first receiving position (241) and the second receiving position (242) are driven by the linear driving mechanism to move forward and backward respectively or move forward and backward synchronously; The first side-pushing assembly (25) comprises: a pushing mechanism (251) and a side-pushing member (252); the pushing mechanism (251) is mounted on the frame (22); the side-pushing member (252) is connected to the pushing mechanism (251); the side-pushing member (252) moves left and right under the pushing of the pushing mechanism (251).

2. A bogie bolster spring quick disassembly device as claimed in claim 1, characterized in that: The invention comprises a same-row disassembly method, wherein the same-row disassembly method is used to disassemble pillow springs located in the front and rear rows and in the same row; the same-row disassembly method comprises the following steps: Sa1 The control system obtains information of pillow springs in the same row to be removed; Sa2 The control system controls the actuator (1) to drive the disassembly device (2) to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position (241) is aligned with the first pillow spring to be disassembled; Sa3 The control system controls the first receiving position (241) to move to the receiving position of the i-th row where the first pillow spring to be removed is located, Sa4 The control system controls the pillow spring first hooking assembly (21) to extend to the hooking position of the first pillow spring to be disassembled, hooking the first pillow spring, and the first receiving position (241) receives the hooked first pillow spring; Sa5: the control system controls the first receiving position (241) to be retracted to the waiting position of the disassembly device (2); Sa6 The control system controls the first side thrust assembly (25) to push the first pillow spring from the first receiving position (241) to the second receiving position (242); Sa7 The control system controls the first receiving position (241) to move to the receiving position of the jth row where the second pillow spring to be removed is located; Sa8 The control system controls the first hooking assembly (21) of the pillow spring to extend to the hooking position of the second pillow spring to be removed, hooking the second pillow spring, and the first receiving position (241) receives the hooked second pillow spring; Sa9 the control system controls the first receiving position (241) to be retracted to the waiting position of the disassembling device (2); The first pillow spring is the i-th row pillow spring. Before the Sa1 step, there is no pillow spring in the front row of the first pillow spring. The second pillow spring is located in the back row and in the same column as the first pillow spring. After the first pillow spring is removed, there is no pillow spring in the front row of the second pillow spring.

3. A bogie bolster spring quick disassembly device as claimed in claim 1, characterized in that: A method for disassembling a thrust mechanism in a non-column manner is provided, wherein the method comprises the following steps: Sb1 The control system obtains information of non-column pillow springs to be removed; Sb2 The control system controls the actuator (1) to drive the disassembly device (2) to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position (241) is aligned with the third pillow spring to be disassembled; Sb3 the control system controls the first receiving position (241) to move to the receiving position of the kth row where the third pillow spring to be disassembled is located; Sb4 The control system controls the first hooking assembly (21) of the pillow spring to extend to the hooking position of the third pillow spring to be disassembled, hooking the third pillow spring, and the first receiving position (241) receives the hooked third pillow spring; Sb5 the control system controls the first receiving position (241) to be retracted to the waiting position of the disassembly device (2); Sb6 the control system controls the first side thrust assembly (25) to push the third pillow spring from the first receiving position (241) to the second receiving position (242); Sb7 The control system controls the actuator (1) to move laterally, driving the disassembly device (2) to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position (241) is aligned with the fourth pillow spring to be disassembled; Sb8 The control system controls the first receiving position (241) to move to the position where the fourth pillow spring to be removed is located. The receiving position of the row; Sb9 The control system controls the first hooking assembly (21) of the pillow spring to extend to the hooking position of the fourth pillow spring to be disassembled, hooking the fourth pillow spring, and the first receiving position (241) receives the hooked fourth pillow spring; Sb10 the control system controls the receiving assembly (24) to be retracted to a waiting position of the disassembly device (2); The third pillow spring is the kth row pillow spring, and the fourth pillow spring is the kth row pillow spring. The third pillow spring and the fourth pillow spring are in different rows. Before the step Sb1, there is no pillow spring in the front row of the third pillow spring and the fourth pillow spring.

4. The bogie bolster spring quick disassembly device as claimed in claim 1, characterized in that: It also includes a pillow spring second hook component (26), wherein the pillow spring second hook component (26) is arranged above the second receiving position (242) of the receiving component (24); the second receiving position (242) can move forward and backward to extend into the interior of the bogie; The invention comprises a same-row quick disassembly method and a same-column disassembly method, wherein the same-row quick disassembly method is used to quickly disassemble two adjacent groups of pillow springs in the same row when there is no pillow spring in the front row; the same-row quick disassembly method comprises the following steps: Sc1 The control system obtains information of the pillow springs in the same row to be removed; Sc2 The control system controls the actuator (1) to drive the disassembly device (2) to a standard disassembly posture corresponding to the pillow spring to be disassembled, so that the first receiving position (241) and the second receiving position (242) are respectively aligned with the fifth pillow spring and the sixth pillow spring to be disassembled; Sc3 the control system controls the first receiving position (241) and the second receiving position (242) to move to the receiving position of the mth row where the fifth pillow spring and the sixth pillow spring to be removed are located; Sc4 The control system controls the first hooking assembly (21) of the pillow spring and the second hooking assembly (26) of the pillow spring to extend to the hooking position of the pillow spring to be removed, respectively hooking the fifth pillow spring and the sixth pillow spring, the first receiving position (241) receiving the hooked fifth pillow spring; the second receiving position (242) receiving the hooked sixth pillow spring; Sc5 The control system controls the first receiving position (241) and the second receiving position (242) to retract backwards to a waiting position of the disassembly device (2); The fifth pillow spring and the sixth pillow spring are pillow springs in the mth row. Before the Sc1 step, there is no pillow spring in the front row of the fifth pillow spring, and there is no pillow spring in the front row of the sixth pillow spring.

5. A bogie bolster spring quick disassembly device as claimed in claim 1, characterized in that: The receiving assembly (24) is composed of the first receiving position (241), the second receiving position (242) and a first connecting spring linear driving mechanism (243); the first connecting spring linear driving mechanism (243) is installed on the first connecting spring linear driving mechanism (243), and the first connecting spring linear driving mechanism (243) is used to drive the first receiving position (241) to move forward and backward.

6. A bogie bolster spring quick disassembly device as claimed in claim 4, characterized in that: The receiving assembly (24) is composed of two receiving positions and two connecting spring linear push mechanisms; the two connecting spring linear push mechanisms are arranged side by side, and one of the receiving positions is respectively installed thereon; the two receiving positions move forward and backward respectively under the drive of the connecting spring linear push mechanisms.

7. A bogie bolster spring quick disassembly device as claimed in claim 4, characterized in that: The receiving assembly (24) is composed of the first receiving position (241), the second receiving position (242) and a pillow spring receiving linear driving mechanism (245); the first receiving position (241) and the second receiving position (242) are an integrated structure, the integrated structure is mounted on the pillow spring receiving linear driving mechanism (245), and the first receiving position (241) and the second receiving position (242) move forward and backward synchronously under the drive of the pillow spring receiving linear driving mechanism (245).

8. A bogie bolster spring quick release device as claimed in claim 6 or 7, characterized in that: The connecting spring assembly also includes a second side-pushing assembly (28), which is mounted on the frame (22) and disposed close to the second receiving position (242); the second side-pushing assembly (28) is used to push the pillow spring on the second receiving position (242) to the first receiving position (241) after the pillow spring, which has been hooked to the second receiving position (242) by the pillow spring second hooking assembly (26), is retracted to the waiting position of the disassembly device (2).

9. A bogie bolster spring quick disassembly device as claimed in claim 1, characterized in that: The side push piece (252) adopts a V-shaped push block, and the V-shaped push block is used to contact the side surface of the pillow spring.

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