Automatic dismounting and mounting device, dismounting method and mounting method for bogie bolster spring wedge

Abstract

The invention relates to an automatic disassembly and assembly device, disassembly method and installation method for a bogie bolster spring wedge, the disassembly and assembly device comprises a bolster spring wedge disassembly and assembly unit and an auxiliary wedge disassembly and assembly unit, the bolster spring wedge disassembly and assembly unit comprises a disassembly and assembly clamp and an industrial robot, and the disassembly and assembly clamp is arranged at the tail end of a joint of the industrial robot; the disassembly and assembly clamp comprises an electromagnetic iron core, a coil winding, an air cylinder ejector pin, a pen-shaped air cylinder, a clamp supporting seat and a clamp mounting seat. The assembling and disassembling clamp adopts a combination form of an electromagnet and a pen-shaped air cylinder, the pen-shaped air cylinder installed behind the electromagnet controls a pneumatic ejector pin to penetrate through a gap of an outer bolster spring to abut against an inner bolster spring, automatic assembling and disassembling operation of K2 and K6 bogie bolster springs and wedges is very convenient, the structure is simple, installation and maintenance are convenient, and the assembling and disassembling efficiency is high. The clamp is also suitable for automatic disassembly and assembly of K4 and K5 bogie bolster springs and wedges.

Description

Technical Field

[0001] The invention relates to the technical field of bolster spring and wedge disassembly and assembly operations, and in particular to a bogie bolster spring and wedge automatic disassembly and assembly device, a disassembly method and an installation method. Background Art

[0002] The components of railway freight car bogies, such as brake beams, load-bearing saddles, pillow springs and wedges, are still mainly disassembled, decomposed, inspected and assembled manually. Some workstations even require the cooperation of multiple people. There are problems such as high labor intensity, low operating efficiency, high safety hazards, and serious noise and dust pollution, which have become the shortcomings of railway freight car bogie maintenance. Since there are four common types of freight car bogies, namely K2, K4, K5 and K6, their structural composition, spatial dimensions and number of parts are quite different, resulting in obvious differences in their manual disassembly and assembly methods, tools used, operation processes and operation time, especially the disassembly and assembly of pillow springs and wedges are relatively complicated.

[0003] In recent years, only a few railway bureaus have applied industrial robots and machine vision technology to the disassembly and assembly of bogie brake beams, disassembly of load-bearing saddles, disassembly and assembly of bolster springs and wedges, etc. However, factors such as ambient light, part background, and size differences have a great impact on the automation equipment, and the system composition and mechanical structure are relatively complex, which can only realize the disassembly and assembly of K2 and K6 bogie bolster springs and wedges. At the same time, during the disassembly and assembly of bolster springs and wedges, there are still cases where the bolster springs and wedges are stuck with other parts and loosened from the fixture. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a bogie bolster spring and wedge automatic disassembly and assembly device, disassembly method and installation method to solve the problems of high labor intensity and low operation efficiency in the existing bogie maintenance process through manual disassembly and assembly of bolster springs and wedges.

[0005] The technical solution adopted by the present invention is: an automatic disassembly and assembly device for a bogie pillow spring wedge, characterized in that it includes a pillow spring wedge disassembly and assembly unit and an auxiliary wedge disassembly and assembly unit, the pillow spring wedge disassembly and assembly unit includes a disassembly and assembly fixture and an industrial robot, the disassembly and assembly fixture is arranged at the end of the joint of the industrial robot; the disassembly and assembly fixture includes an electromagnetic core, a coil winding, a cylinder ejector pin, a pen-shaped cylinder, a fixture support seat and a fixture mounting seat; one end of the fixture support seat is connected to the electromagnetic core, and the other end is connected to the end of the joint of the industrial robot through the fixture mounting seat; the pen-shaped cylinder is arranged in the fixture support seat and connected to the cylinder ejector pin; the cylinder ejector pin passes through the electromagnetic core and can support the inner pillow spring; the electromagnetic core is provided with a coil winding outside and can adsorb the outer pillow spring; the auxiliary wedge disassembly and assembly unit is used for lifting, lifting and moving the wedge.

[0006] Preferably, the auxiliary wedge disassembly and assembly unit includes a wedge carrying tool and a three-degree-of-freedom module. The wedge carrying tool is arranged at the load end of the three-degree-of-freedom module and can achieve linear movement in three directions of XYZ under the drive of the three-degree-of-freedom module, and is used for lifting, supporting and moving the wedge.

[0007] Preferably, the inclined wedge bearing tooling includes an F-shaped support plate, a rotating support shaft, a bidirectional swing cylinder, a load mounting seat and a load mounting plate, the bidirectional swing cylinder is connected to the F-shaped support plate via a rotating support shaft, the bidirectional swing cylinder drives the F-shaped support plate to rotate bidirectionally via the rotating support shaft, and the F-shaped support plate can lift the inclined wedge; the bidirectional swing cylinder is installed on the load mounting seat, the load mounting seat is fixed on the load mounting plate, and the load mounting plate is connected to the load end of the three-degree-of-freedom module.

[0008] Preferably, the rotary support shaft is mounted in the load mounting seat via a rolling bearing.

[0009] Preferably, the three-degree-of-freedom module is fixedly mounted on a module mounting base.

[0010] Preferably, the electromagnet core is a U-shaped structure, including two magnetic poles, and coil windings are installed on the two magnetic poles.

[0011] Preferably, the electromagnet core is provided with a waist-shaped hole and a plurality of threaded mounting holes for mounting a pneumatic tooling, and the cylinder ejector pin is mounted in the pneumatic tooling; the rear end of the pneumatic tooling is connected to a pen-shaped cylinder, and the reciprocating motion of the pneumatic ejector pin is controlled by adjusting the air pressure of the pen-shaped cylinder, so that the pneumatic ejector pin passes through the waist-shaped hole of the electromagnet core and presses against the inner pillow spring.

[0012] Preferably, the electromagnet core is provided with a threaded mounting hole connected to the fixture support seat, and an adjusting washer is provided between the electromagnet core and the fixture support seat for adjusting the gap size between the electromagnet core and the fixture support seat.

[0013] Preferably, a machine vision sensor is provided at the joint end of the industrial robot, and the machine vision sensor is mounted on a fixture mounting seat.

[0014] Preferably, the industrial robot is mounted on an industrial robot mounting base, and the industrial robot mounting base is fixedly connected to the module mounting base.

[0015] A method for automatically disassembling a bolster spring and a wedge on a bogie, using the above-mentioned automatic disassembly device for bolster spring and a wedge on a bogie to disassemble the bolster spring and the wedge on the bogie, comprising the following steps:

[0016] S1, start: the industrial robot and the three-degree-of-freedom module return to the reference position, and the control parameters and command parameters are reset and set to zero;

[0017] S2. Removal of the first row of pillow springs

[0018] S21, machine vision sensor scanning: the end of the industrial robot moves to the front end of the side frame, and the machine vision sensor uses a line laser sensor to scan the side frame, bolster, and the first row of bolster springs. The bogie model is identified by analyzing the point cloud data, and the key dimensions of the working space are parametrically identified to obtain the size and position information of the side frame, bolster, and the first row of bolster springs, and finally transmitted to the host computer through the network port (TCP / IP protocol);

[0019] S22, data transmission and data processing: the host computer will obtain the size and position information of the parts for data processing, and send the size and position information of the disassembled pillow spring to the industrial robot controller through the network port (TCP / IP protocol); the industrial robot controller assigns and calculates the motion instructions and parameters according to the size and position information of the obtained pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the disassembly operation of the first row of pillow springs;

[0020] S23, disassembling the first row of pillow springs: the industrial robot moves to the designated position according to the motion command of the controller, and controls the optical coupling relay through the logic control command (IO output) to control the current on and off of the disassembly fixture coil and the cylinder action, and takes out the first row of pillow springs from the inside of the side frame in turn and places them at the designated transfer point; after completing the disassembly operation of the first row of pillow springs, the robot arm returns to the designated position;

[0021] S3, Removal of the second row pillow spring and wedge

[0022] S31, machine vision sensor scanning: the end of the industrial robot moves to the front end of the side frame, and the machine vision sensor scans the side frame, bolster, and the second row of bolster springs and wedges. By analyzing the point cloud data, the key dimensions of the work space are parametrically identified, and the dimensions and position information of the side frame, bolster, and the second row of side frames, bolster springs, bolster springs and wedges are obtained. Finally, the information is transmitted to the host computer through the network port (TCP / IP protocol);

[0023] S32, data transmission and data processing: the host computer will obtain the size and position information of the parts for data processing, and send the size and position information of the disassembled pillow spring and the inclined wedge to the industrial robot controller through the network port; the industrial robot controller assigns and calculates the motion instructions and parameters according to the size and position information of the obtained pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the disassembly operation of the second row pillow springs and the inclined wedge;

[0024] S33, disassembling the second row middle position pillow spring: the industrial robot moves to the designated position according to the motion instruction of the controller, and controls the optical coupling relay through the logic control port (IO output) to control the current on and off of the disassembly fixture coil and the cylinder action, and takes out the second row middle position pillow spring from the inside of the side frame and places it at the designated transfer point; after completing the disassembly operation of the second row middle position pillow spring, the robot arm returns to the designated position;

[0025] S34. Disassemble the second row of left-side pillow springs and wedges: The upper computer first drives the three-degree-of-freedom module to move to the specified position through the serial port (or PLC controller) based on the size and position information of the pillow springs and wedges obtained, and controls the two-way swing cylinder to make the F-shaped support plate of the wedge-bearing tooling open downward at the initial position, and pass through the gap between the side frame and the pillow spring and move to the bottom of the left-side wedge, and control the load end of the three-degree-of-freedom module to make the F-shaped support plate lift the wedge to a certain height; then, the industrial robot moves to the specified position according to the motion instructions of the controller, and controls the optical coupler relay through the logic control instructions (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, so as to take out the second row of left-side pillow springs from the inside of the side frame and place them on the specified transfer station. point; then, the bidirectional swing cylinder is controlled to rotate 90° counterclockwise through the logic control port (IO output) of the industrial robot controller, and after the F-shaped support plate holds the inclined wedge, the host computer controls the load end of the three-degree-of-freedom module through the serial port (or PLC controller) to move the inclined wedge out from the bolster and the side frame; at the same time, the industrial robot moves to the specified position according to the motion command of the controller, and controls the optical coupling relay through the logic control command (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and places the left inclined wedge to the specified transfer point; finally, the host computer and the industrial robot controller drive the three-degree-of-freedom module and the auxiliary inclined wedge disassembly and assembly unit to move to the specified position through the serial port (or PLC controller) and logic control command (IO output) respectively;

[0026] S35, disassembling the second row right side bolster spring and the cam: referring to the disassembly steps of the left side bolster spring and the cam to disassemble the bolster spring and the cam;

[0027] S4, third row pillow spring removal

[0028] S41, machine vision sensor scanning: the end of the industrial robot moves to the front end of the side frame, and the machine vision sensor uses a line laser sensor to scan the side frame, the bolster, and the third row of bolster springs. By analyzing the point cloud data, the key dimensions of the working space are parametrically identified, and the size and position information of the side frame, the bolster, and the third row of bolster springs are obtained, and finally transmitted to the host computer through the network port (TCP / IP protocol);

[0029] S42, data transmission and data processing: the host computer will obtain the size and position information of the parts for data processing, and send the size and position information of the disassembled pillow spring to the industrial robot controller through the network port; the industrial robot controller assigns and calculates the motion instructions and parameters according to the size and position information of the obtained pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the disassembly operation of the third row pillow spring;

[0030] S43, disassembling the third row of pillow springs: the industrial robot moves to the designated position according to the motion command of the controller, and controls the optical coupling relay through the logic control command (IO output) to control the current on and off of the disassembly fixture coil and the cylinder action, and takes out the third row of pillow springs from the inside of the side frame in turn and places them at the designated transfer point; after completing the disassembly operation of the third row of pillow springs, the robot arm returns to the designated position;

[0031] S5, bogie rotation action: the industrial robot and the three-degree-of-freedom module return to their initial positions, and the rotating mechanism of the hoisting line drives the bogie to rotate 180°;

[0032] S6, loop operation: repeat steps S1-S4.

[0033] A method for automatically installing a bogie bolster spring and a wedge, characterized in that the bolster spring and a wedge on the bogie are installed by using the above-mentioned automatic disassembly and assembly device for the bogie bolster spring and a wedge, comprising the following steps:

[0034] T1, Start: The industrial robot and the three-degree-of-freedom module return to the reference position, and the control parameters and command parameters are reset and set to zero;

[0035] T2, third row pillow spring installation

[0036] T21, machine vision sensor scanning: The end of the industrial robot first moves to the front end of the side frame, and the machine vision sensor scans the side frame and bolster, collects the characteristic parameters of the bogie and key positions of the components, and identifies the bogie model and the key dimensions of the side frame working space by analyzing the point cloud data for parametric identification; then, the end of the industrial robot moves to the front end of the bolster spring in the preparation area, and the machine vision sensor scans the size and position information of the bolster spring, identifies the size and position information of the bolster spring by analyzing the point cloud data, and transmits it to the host computer through the network port (TCP / IP protocol);

[0037] T22, Data transmission and data processing: The host computer will obtain the size and position information of the parts for data processing, automatically identify the model of the bogie, and send the size and position information of the installation pillow spring to the industrial robot controller through the network port (TCP / IP protocol); the industrial robot controller assigns and calculates the motion instructions and parameters based on the size and position information of the pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the installation operation of the third row pillow spring;

[0038] T23. Install the third row of pillow springs: The industrial robot moves to the designated position according to the motion command of the controller, and controls the optocoupler relay through the logic control command (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and takes out the third row of pillow springs from the preparation area in turn and places them in the designated position in the side frame; after completing the installation of the third row of pillow springs, the robot arm returns to the designated position;

[0039] T3, Installation of the second row of wedges and pillow springs

[0040] T31, machine vision sensor scanning: The end of the industrial robot moves to the front end of the pillow spring and the inclined wedge in the preparation area, and the machine vision sensor scans the size and position information of the pillow spring and the inclined wedge, identifies the size and position information of the pillow spring and the inclined wedge by analyzing the point cloud data, and transmits it to the host computer through the network port (TCP / IP protocol);

[0041] T32, Data transmission and data processing: The host computer will obtain the size and position information of the parts for data processing, and send the size and position information of the pillow spring and the wedge to the industrial robot controller through the network port (TCP / IP protocol); the industrial robot controller assigns and calculates the motion instructions and parameters according to the size and position information of the pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the installation of the second row of wedges and pillow springs;

[0042] T33. Install the left-side wedge and pillow spring of the second row: Based on the size and position information of the pillow spring and the wedge, the upper computer first drives the three-degree-of-freedom module to move to the specified position through the serial port (or PLC controller), and rotates the F-shaped support plate of the wedge-bearing tooling 90° counterclockwise; then, the industrial robot moves to the specified position according to the motion instructions of the controller, and controls the optical coupling relay through the logic control instructions (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and places the left-side wedge from the preparation area to the F-shaped support plate; then, based on the size and position information of the wedge, the upper computer drives the three-degree-of-freedom module and its negative pressure through the serial port (or PLC controller). At the loading end, the inclined wedge is moved to the inside of the bolster and the side frame and lifted to a certain height, and then the F-shaped support plate (2101) of the inclined wedge carrying tool (2100) is rotated 90° clockwise; at the same time, the industrial robot moves to the specified position according to the motion command of the controller, and controls the optical coupling relay through the logic control command (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and takes out the second row of left-side bolster springs from the preparation area and places them at the specified position on the left side of the side frame; finally, the host computer and the industrial robot controller drive the three-degree-of-freedom module and the auxiliary inclined wedge disassembly and assembly unit to move to the specified position through the serial port (or PLC controller) and the logic control command (IO output) respectively;

[0043] T34. Install the right-side wedge and pillow spring of the second row: refer to the installation steps of the left-side wedge and pillow spring to install the right-side wedge and pillow spring;

[0044] T35. Install the middle pillow spring of the second row: the industrial robot moves to the specified position according to the motion command of the controller, and controls the optocoupler relay through the logic control command (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and takes out the middle pillow spring of the second row from the preparation area and places it in the specified position in the side frame; after completing the installation of the middle pillow spring of the second row, the robot arm returns to the specified position;

[0045] T4, first row of pillow spring installation

[0046] T41. The end of the industrial robot moves to the front end of the pillow spring in the preparation area. The machine vision sensor scans the size and position information of the pillow spring, identifies the size and position information of the pillow spring by analyzing the point cloud data, and transmits it to the host computer through the network port (TCP / IP protocol);

[0047] T42, the host computer will obtain the size and position information of the parts for data processing, and send the size and position information of the pillow spring to the industrial robot controller through the network port (TCP / IP protocol); the industrial robot controller assigns and calculates the motion instructions and parameters according to the size and position information of the pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the installation operation of the first row of pillow springs;

[0048] T43. Install the first row of pillow springs: The industrial robot moves to the designated position according to the motion command of the controller, and controls the optocoupler relay through the logic control command (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and takes out the first row of pillow springs from the preparation area in turn and places them in the designated position in the side frame; after completing the installation of the first row of pillow springs, the robot arm returns to the designated position;

[0049] T5, bogie rotation action: the industrial robot and the three-degree-of-freedom module return to their initial positions, and the rotating mechanism of the hoisting line drives the bogie to rotate 180°;

[0050] T6, loop operation: repeat steps T1-T4.

[0051] The beneficial effects achieved by the present invention are:

[0052] 1. The disassembly and assembly fixture adopts the combination of electromagnet and pen-shaped cylinder. The two coil windings of the electromagnet adopt enameled flat copper wire, which can make the coil winding structure more compact and have a higher slot fill rate. The magnetic pole surface adopts V-shaped (or arc-shaped) style, which can directly magnetically fix the outer pillow springs and wedges of different models and sizes. The pen-shaped cylinder installed behind the electromagnet controls the pneumatic ejector to pass through the gap of the outer pillow spring to support the inner pillow spring, which is very convenient for the automatic disassembly and assembly of the pillow springs and wedges of K2 and K6 bogies. The structure is simple and easy to install and maintain. This fixture is also suitable for the automatic disassembly and assembly of the pillow springs and wedges of K4 and K5 bogies.

[0053] 2. The machine vision sensor used is installed just above the disassembly and assembly fixture, making the entire structure installed at the end of the industrial robot more compact. At the same time, the structural dimensions and position information of the spring and the wedge can be collected at any time during the operation of the industrial robot (1300), which is convenient for positioning and controlling the industrial robot;

[0054] 3. The industrial robot uses a six-axis industrial robot, which can design corresponding disassembly and assembly paths for pillow spring groups and wedges of different positions and sizes of different models of bogies, reducing the labor intensity on site and the potential safety hazards of on-site operations;

[0055] 4. In order to assist the disassembly and assembly of the inclined wedge of the industrial robot (1300), an inclined wedge bearing tooling is designed, which includes an F-shaped support plate, a rotating support shaft, a rolling bearing, a bidirectional swing cylinder, a load mounting seat and a load mounting plate; the two ends of the rotating support shaft are respectively connected to a rolling bearing, one end is connected to the F-shaped support plate, and the other end is connected to the bidirectional swing cylinder. The rotating support shaft and the two rolling bearings are installed together inside the load mounting seat so that the rotation of the F-shaped support plate can be controlled under the drive of the bidirectional swing cylinder. The structure is simple and compact, and the inclined wedge can be lifted, supported and moved before the pillow spring group is disassembled and installed;

[0056] 5. The six-axis industrial robot and the three-degree-of-freedom module use the industrial robot mounting base and the module mounting base respectively, and the mounting bases are fastened to each other, so that the industrial robot for automatic disassembly and assembly of the pillow spring and inclined wedge and the three-degree-of-freedom module unit for auxiliary disassembly and assembly of the inclined wedge are more stable and firm during the operation, which is convenient for the handling, positioning, care and maintenance of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A three-dimensional diagram of an automatic disassembly and assembly device for a pillow spring wedge in an embodiment of the present invention;

[0058] Figure 2 It is a front view of an industrial robot for automatic disassembly and assembly of a pillow spring and wedge in an embodiment of the present invention;

[0059] Figure 3 A three-dimensional diagram of an industrial robot for automatic assembly and disassembly of a pillow spring wedge according to an embodiment of the present invention;

[0060] Figure 4 A stereoscopic diagram of a disassembly and assembly fixture and a machine vision sensor in an embodiment of the present invention;

[0061] Figure 5 This is a front view of the disassembly and assembly fixture and the machine vision sensor in an embodiment of the present invention;

[0062] Figure 6 A three-dimensional diagram of a three-degree-of-freedom module unit for assisting the disassembly and assembly of an angled wedge in an embodiment of the present invention;

[0063] Figure 7 It is a front view of a three-degree-of-freedom module unit for assisting the disassembly and assembly of the wedge in an embodiment of the present invention;

[0064] Figure 8 A three-dimensional diagram of an inclined wedge bearing tooling in an embodiment of the present invention;

[0065] Fig. 9 It is a front view of the inclined wedge bearing tooling in an embodiment of the present invention;

[0066] Among them: 1- pillow spring wedge automatic disassembly and assembly unit; 1100- disassembly and assembly fixture; 1101- electromagnet core; 1102- coil winding; 1103- pneumatic tooling; 1104- cylinder ejector pin; 1105- pen-shaped cylinder; 1106- adjusting washer; 1107- fixture support seat; 1108- fixture mounting seat; 1200- machine vision sensor; 1300- industrial robot; 1400- industrial robot mounting base; 1401- support seat; 1402- mounting plate; 2- auxiliary wedge disassembly and assembly unit; 2100- wedge bearing tooling; 2101- F-shaped support plate; 2102- rotating support shaft; 2103- rolling bearing; 2104- bidirectional swing cylinder; 2105- load mounting seat; 2106- load mounting plate; 2200- three-degree-of-freedom module; 2300- module mounting base. DETAILED DESCRIPTION

[0067] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0068] like Figure 1-9 As shown, an automatic disassembly and assembly device of a bogie pillow spring wedge of the present invention comprises a pillow spring wedge disassembly and assembly unit 1 and an auxiliary wedge disassembly and assembly unit 2, wherein the pillow spring wedge disassembly and assembly unit 1 comprises a disassembly and assembly fixture 1100 and an industrial robot 1300, wherein the disassembly and assembly fixture 1100 is arranged at the end of the joint of the industrial robot 1300; the disassembly and assembly fixture 1100 comprises an electromagnet core 1101, a coil winding 1102, a cylinder ejector pin 1104, a pen-shaped cylinder 1105, a fixture support seat 1107 and a fixture mounting seat 1108; One end of the clamp support seat 1107 is connected to the electromagnet core 1101, and the other end is connected to the joint end of the industrial robot 1300 through the clamp mounting seat 1107; the pen-shaped cylinder 1105 is arranged in the clamp support seat 1107 and is connected to the cylinder ejector pin 1104; the cylinder ejector pin 1104 passes through the electromagnet core 1101 and can support the inner pillow spring; a coil winding 1102 is provided outside the electromagnet core 1101 and can absorb the outer pillow spring; the auxiliary wedge disassembly and assembly unit 2 is used for lifting, lifting and moving the wedge.

[0069] Combination Figure 2-3 As shown, in this embodiment, the industrial robot 1300 adopts a six-axis industrial robot, which is used to transfer the pillow spring and the wedge on the disassembly and assembly fixture to the specified position; the industrial robot mounting base 1400 includes a support seat 1401 and a mounting plate 1402, and the mounting plate 1402 can adjust the position of the six-axis industrial robot 1300 on the support seat 1401.

[0070] Combination Figure 4-5As shown, the disassembly and assembly fixture 1100 consists of an electromagnet core 1101, a coil winding 1102, a pneumatic tool 1103, a cylinder ejector pin 1104, a pen-shaped cylinder 1105, an adjusting washer 1106, a fixture support seat 1107 and a fixture mounting seat 1108; the electromagnet core 1101 is a U-shaped structure, and its two magnetic poles are respectively installed with a group of coil windings 1102, and the magnetic pole surface of the electromagnet core 1101 is set in a V-shape (or arc-shaped) style, which can be used to directly magnetically attract external pillow springs and wedges of different models and sizes; a waist-shaped through hole is provided at the center of the front end of the electromagnet core 1101, and a plurality of threaded mounting holes are provided at the rear end, and the threaded mounting holes are used to connect the pneumatic tool 1103 ... Two threaded mounting holes are respectively provided on the upper and lower end surfaces of 1101 for connecting the fixture support seat 1107. An adjusting washer 1106 is respectively provided on the threaded mounting holes on the upper and lower end surfaces of the electromagnet core 1101 for adjusting the gap between the electromagnet core 1101 and the fixture support seat 1107. A threaded mounting hole is provided at the rear end of the pneumatic tooling 1103 for directly connecting to the pen-shaped cylinder 1105. By adjusting the air pressure of the pen-shaped cylinder 1105, the reciprocating motion of the pneumatic ejector pin 1104 is controlled so that it passes through the waist-shaped hole of the electromagnet core 1101 and supports the inner pillow spring. The end of the fixture support seat 1107 is connected to the fixture mounting seat 1108 and is connected to the joint end of the six-axis industrial robot 1300.

[0071] Combination Figure 4-5 As shown, the machine vision sensor 1200 is arranged directly above the disassembly and assembly fixture 1100, and its end is connected to the fixture mounting seat 1108, which is used to collect the size and position information of the pillow spring and the wedge, and provide reference coordinate information for the operation of the disassembly and assembly fixture 1100; the fixture mounting seat 1108 is used to install the disassembly and assembly fixture 1100 and the machine vision sensor 1200, and is connected to the joint end of the six-axis industrial robot 1300.

[0072] See also Figure 6-7 As shown, the three-degree-of-freedom module unit 2 for assisting the disassembly and assembly of the inclined wedge includes an inclined wedge bearing fixture 2100, a three-degree-of-freedom module 2200 and a module mounting base 2300; the inclined wedge bearing fixture 2100 is connected to the load end of the three-degree-of-freedom module 2200 for lifting, supporting and moving the inclined wedge; the bottom of the three-degree-of-freedom module 2200 is connected to the module mounting base 2300 for assisting the automatic disassembly and assembly of the inclined wedge; the module mounting base 2300 is connected to the industrial robot mounting base 1400 for fixing the relative positions of the six-axis industrial robot 1300 and the three-degree-of-freedom module 2200.

[0073] See also Figures 8-9As shown, the inclined wedge bearing fixture 2100 includes an F-shaped support plate 2101, a rotating support shaft 2102, a rolling bearing 2103, a bidirectional swing cylinder 2104, a load mounting seat 2105 and a load mounting plate 2106; the rotating support shaft 2102 is connected to a rolling bearing 2103 at both ends, one end is connected to the F-shaped support plate 2101, and the other end is connected to the bidirectional swing cylinder 2104, the rotating support shaft 2102 and the two rolling bearings 2103 are installed together inside the load mounting seat 2105, so that they can control the rotation of the F-shaped support plate 2101 under the drive of the bidirectional swing cylinder 2104; the load mounting plate 2106 is connected to the load mounting seat 2105, and is used to connect the inclined wedge bearing fixture 2100 to the load end of the three-degree-of-freedom module 2200.

[0074] The present invention provides a method for automatically disassembling a bolster spring and a wedge of a bogie, wherein the bolster spring and the wedge of the bogie are disassembled by using the automatic disassembly device for bolster spring and wedge of the bogie, and the method comprises the following steps:

[0075] S1. Start: The industrial robot and the three-degree-of-freedom module return to the reference position, and the control parameters and command parameters are reset and set to zero;

[0076] S2. Removal of the first row of pillow springs

[0077] S21, machine vision sensor scanning: the end of the industrial robot moves to the front end of the side frame, and the machine vision sensor uses a line laser sensor to scan the side frame, bolster, and the first row of bolster springs. The bogie model is identified by analyzing the point cloud data, and the key dimensions of the working space are parametrically identified to obtain the size and position information of the side frame, bolster, and the first row of bolster springs, and finally transmitted to the host computer through the network port (TCP / IP protocol);

[0078] S22, data transmission and data processing: the host computer will obtain the size and position information of the parts for data processing, and send the size and position information of the disassembled pillow spring to the industrial robot controller through the network port (TCP / IP protocol); the industrial robot controller assigns and calculates the motion instructions and parameters according to the size and position information of the obtained pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the disassembly operation of the first row of pillow springs;

[0079] S23, disassembling the first row of pillow springs: the industrial robot moves to the designated position according to the motion command of the controller, and controls the optical coupling relay through the logic control command (IO output) to control the current on and off of the disassembly fixture coil and the cylinder action, and takes out the first row of pillow springs from the inside of the side frame in turn and places them at the designated transfer point; after completing the disassembly operation of the first row of pillow springs, the robot arm returns to the designated position;

[0080] S3, Removal of the second row pillow spring and wedge

[0081] S31, machine vision sensor scanning: the end of the industrial robot moves to the front end of the side frame, and the machine vision sensor scans the side frame, bolster, and the second row of bolster springs and wedges. By analyzing the point cloud data, the key dimensions of the work space are parametrically identified, and the dimensions and position information of the side frame, bolster, and the second row of side frames, bolster springs, bolster springs and wedges are obtained. Finally, the information is transmitted to the host computer through the network port (TCP / IP protocol);

[0082] S32, data transmission and data processing: the host computer will obtain the size and position information of the parts for data processing, and send the size and position information of the disassembled pillow spring and the inclined wedge to the industrial robot controller through the network port (TCP / IP protocol); the industrial robot controller assigns and calculates the motion instructions and parameters according to the size and position information of the obtained pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the disassembly operation of the second row of pillow springs and the inclined wedge;

[0083] S33, disassembling the second row middle position pillow spring: the industrial robot moves to the designated position according to the motion instruction of the controller, and controls the optical coupling relay through the logic control port (IO output) to control the current on and off of the disassembly fixture coil and the cylinder action, and takes out the second row middle position pillow spring from the inside of the side frame and places it at the designated transfer point; after completing the disassembly operation of the second row middle position pillow spring, the robot arm returns to the designated position;

[0084] S34. Disassemble the second row of left-side pillow springs and wedges: The upper computer first drives the three-degree-of-freedom module to move to the specified position through the serial port (or PLC controller) based on the size and position information of the pillow springs and wedges obtained, and controls the two-way swing cylinder to make the F-shaped support plate of the wedge-bearing tooling open downward at the initial position, and pass through the gap between the side frame and the pillow spring and move to the bottom of the left-side wedge, and control the load end of the three-degree-of-freedom module to make the F-shaped support plate lift the wedge to a certain height; then, the industrial robot moves to the specified position according to the motion instructions of the controller, and controls the optical coupler relay through the logic control instructions (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, so as to take out the second row of left-side pillow springs from the inside of the side frame and place them on the specified transfer station. point; then, the bidirectional swing cylinder is controlled to rotate 90° counterclockwise through the logic control port (IO output) of the industrial robot controller, and after the F-shaped support plate holds the inclined wedge, the host computer controls the load end of the three-degree-of-freedom module through the serial port (or PLC controller) to move the inclined wedge out from the bolster and the side frame; at the same time, the industrial robot moves to the specified position according to the motion command of the controller, and controls the optical coupling relay through the logic control command (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and places the left inclined wedge to the specified transfer point; finally, the host computer and the industrial robot controller drive the three-degree-of-freedom module and the auxiliary inclined wedge disassembly and assembly unit to move to the specified position through the serial port (or PLC controller) and logic control command (IO output) respectively;

[0085] S35, disassembling the second row right side pillow spring and the inclined wedge: referring to the disassembly steps of the left side pillow spring and the inclined wedge to disassemble the pillow spring and the inclined wedge;

[0086] S4, third row pillow spring removal

[0087] S41, machine vision sensor scanning: the end of the industrial robot moves to the front end of the side frame, and the machine vision sensor uses a line laser sensor to scan the side frame, the bolster, and the third row of bolster springs. By analyzing the point cloud data, the key dimensions of the working space are parametrically identified, and the size and position information of the side frame, the bolster, and the third row of bolster springs are obtained, and finally transmitted to the host computer through the network port (TCP / IP protocol);

[0088] S42, data transmission and data processing: the host computer will obtain the size and position information of the parts for data processing, and send the size and position information of the disassembled pillow spring to the industrial robot controller through the network port; the industrial robot controller assigns and calculates the motion instructions and parameters according to the size and position information of the obtained pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the disassembly operation of the third row pillow spring;

[0089] S43, disassembling the third row of pillow springs: the industrial robot moves to the designated position according to the motion command of the controller, and controls the optical coupling relay through the logic control command (IO output) to control the current on and off of the disassembly fixture coil and the cylinder action, and takes out the third row of pillow springs from the inside of the side frame in turn and places them at the designated transfer point; after completing the disassembly operation of the third row of pillow springs, the robot arm returns to the designated position;

[0090] S5, bogie rotation action: the industrial robot and the three-degree-of-freedom module return to their initial positions, and the rotating mechanism of the hoisting line drives the bogie to rotate 180°;

[0091] S6, loop operation: repeat steps S1-S4.

[0092] The present invention provides a method for automatically installing a bolster spring and a wedge on a bogie, which is characterized in that the bolster spring and the wedge on the bogie are installed by using the automatic disassembly and assembly device for the bolster spring and the wedge on the bogie, and comprises the following steps:

[0093] T1, Start: The industrial robot and the three-degree-of-freedom module return to the reference position, and the control parameters and command parameters are reset and set to zero;

[0094] T2, third row pillow spring installation

[0095] T21, machine vision sensor scanning: The end of the industrial robot first moves to the front end of the side frame, and the machine vision sensor scans the side frame and bolster, collects the characteristic parameters of the bogie and key positions of the components, and identifies the bogie model and the key dimensions of the side frame working space by analyzing the point cloud data for parametric identification; then, the end of the industrial robot moves to the front end of the bolster spring in the preparation area, and the machine vision sensor scans the size and position information of the bolster spring, identifies the size and position information of the bolster spring by analyzing the point cloud data, and transmits it to the host computer through the network port (TCP / IP protocol);

[0096] T22, Data transmission and data processing: The host computer will obtain the size and position information of the parts for data processing, automatically identify the model of the bogie, and send the size and position information of the installation pillow spring to the industrial robot controller through the network port (TCP / IP protocol); the industrial robot controller assigns and calculates the motion instructions and parameters based on the size and position information of the pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the installation operation of the third row pillow spring;

[0097] T23. Install the third row of pillow springs: The industrial robot moves to the designated position according to the motion command of the controller, and controls the optocoupler relay through the logic control command (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and takes out the third row of pillow springs from the preparation area in turn and places them in the designated position in the side frame; after completing the installation of the third row of pillow springs, the robot arm returns to the designated position;

[0098] T3, Installation of the second row of wedges and pillow springs

[0099] T31, machine vision sensor scanning: The end of the industrial robot moves to the front end of the pillow spring and the inclined wedge in the preparation area, and the machine vision sensor scans the size and position information of the pillow spring and the inclined wedge, identifies the size and position information of the pillow spring and the inclined wedge by analyzing the point cloud data, and transmits it to the host computer through the network port (TCP / IP protocol);

[0100] T32, Data transmission and data processing: The host computer will obtain the size and position information of the parts for data processing, and send the size and position information of the pillow spring and the wedge to the industrial robot controller through the network port (TCP / IP protocol); the industrial robot controller assigns and calculates the motion instructions and parameters according to the size and position information of the pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the installation of the second row of wedges and pillow springs;

[0101] T33. Install the left-side wedge and pillow spring of the second row: Based on the size and position information of the pillow spring and the wedge, the upper computer first drives the three-degree-of-freedom module to move to the specified position through the serial port (or PLC controller), and rotates the F-shaped support plate of the wedge-bearing tooling 90° counterclockwise; then, the industrial robot moves to the specified position according to the motion instructions of the controller, and controls the optocoupler relay through the logic control instructions (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and places the left-side wedge from the preparation area to the F-shaped support plate; then, based on the size and position information of the wedge, the upper computer drives the three-degree-of-freedom module through the serial port (or PLC controller) The three-degree-of-freedom module and its load end move the angled wedge to the inside of the bolster and the side frame and lift it up to a certain height, and then rotate the F-shaped support plate of the angled wedge bearing tooling 90° clockwise; at the same time, the industrial robot moves to the specified position according to the motion command of the controller, and controls the optical coupling relay through the logic control command (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and takes out the second row of left-side bolster springs from the preparation area and places them at the specified position on the left side of the side frame; finally, the host computer and the industrial robot controller drive the three-degree-of-freedom module and the auxiliary angled wedge disassembly and assembly unit to move to the specified position through the serial port (or PLC controller) and the logic control command (IO output) respectively;

[0102] T34. Install the right-side wedge and pillow spring of the second row: refer to the installation steps of the left-side wedge and pillow spring to install the right-side wedge and pillow spring;

[0103] T35. Install the middle pillow spring of the second row: the industrial robot moves to the specified position according to the motion command of the controller, and controls the optocoupler relay through the logic control command (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and takes out the middle pillow spring of the second row from the preparation area and places it in the specified position in the side frame; after completing the installation of the middle pillow spring of the second row, the robot arm returns to the specified position;

[0104] T4, first row of pillow spring installation

[0105] T41. The end of the industrial robot moves to the front end of the pillow spring in the preparation area. The machine vision sensor scans the size and position information of the pillow spring, identifies the size and position information of the pillow spring by analyzing the point cloud data, and transmits it to the host computer through the network port (TCP / IP protocol);

[0106] T42, the host computer will obtain the size and position information of the parts for data processing, and send the size and position information of the pillow spring to the industrial robot controller through the network port (TCP / IP protocol); the industrial robot controller assigns and calculates the motion instructions and parameters according to the size and position information of the pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the installation operation of the first row of pillow springs;

[0107] T43. Install the first row of pillow springs: The industrial robot moves to the designated position according to the motion command of the controller, and controls the optocoupler relay through the logic control command (IO output) to control the current on and off of the disassembly and assembly fixture coil and the cylinder action, and takes out the first row of pillow springs from the preparation area in turn and places them in the designated position in the side frame; after completing the installation of the first row of pillow springs, the robot arm returns to the designated position;

[0108] T5, bogie rotation action: the industrial robot and the three-degree-of-freedom module return to their initial positions, and the rotating mechanism of the hoisting line drives the bogie to rotate 180°;

[0109] T6, loop operation: repeat steps T1-T4.

[0110] The above shows and describes the basic principles and main structural features of the present invention. The present invention is not limited to the above examples. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A bogie bolster spring wedge automatic disassembly and assembly device, characterized in that: The invention comprises a pillow spring wedge disassembly and assembly unit (1) and an auxiliary wedge disassembly and assembly unit (2); the pillow spring wedge disassembly and assembly unit (1) comprises a disassembly and assembly fixture (1100) and an industrial robot (1300); the disassembly and assembly fixture (1100) is arranged at the end of a joint of the industrial robot (1300); the disassembly and assembly fixture (1100) comprises an electromagnetic core (1101), a coil winding (1102), a cylinder ejector pin (1104), a pen-shaped cylinder (1105), a fixture support seat (1107) and a fixture mounting seat (1108); the fixture support seat (110 7) one end is connected to the electromagnet core (1101), and the other end is connected to the joint end of the industrial robot (1300) through the fixture mounting seat (1108); the pen-shaped cylinder (1105) is arranged in the fixture support seat (1107) and is connected to the cylinder ejector pin (1104); the cylinder ejector pin (1104) passes through the electromagnet core (1101) and can support the inner pillow spring; the electromagnet core (1101) is provided with a coil winding (1102) outside, which can absorb the outer pillow spring; the auxiliary wedge disassembly and assembly unit (2) is used for lifting, lifting and moving the wedge.

2. The automatic disassembly and assembly device for the bolster spring wedge of the bogie according to claim 1, characterized in that: The auxiliary inclined wedge disassembly and assembly unit (2) comprises an inclined wedge bearing fixture (2100) and a three-degree-of-freedom module (2200); the inclined wedge bearing fixture (2100) is arranged at the load end of the three-degree-of-freedom module (2200) and can achieve linear movement in three directions of X, Y and Z under the drive of the three-degree-of-freedom module (2200), and is used for lifting, supporting and moving the inclined wedge.

3. The automatic disassembly and assembly device of the bogie bolster spring wedge according to claim 2, characterized in that: The inclined wedge bearing tooling (2100) comprises an F-shaped support plate (2101), a rotating support shaft (2102), a bidirectional swing cylinder (2104), a load mounting seat (2105) and a load mounting plate (2106); the bidirectional swing cylinder (2104) is connected to the F-shaped support plate (2101) via the rotating support shaft (2102); the bidirectional swing cylinder (2104) drives the F-shaped support plate (2101) to rotate bidirectionally via the rotating support shaft (2102); the F-shaped support plate (2101) can lift the inclined wedge; the bidirectional swing cylinder (2104) is mounted on the load mounting seat (2105); the load mounting seat (2105) is fixed on the load mounting plate (2106); and the load mounting plate (2106) is connected to the load end of the three-degree-of-freedom module (2200).

4. The automatic disassembly and assembly device for the bolster spring wedge of the bogie according to claim 3, characterized in that: The rotating support shaft (2102) is installed in the load mounting seat (2105) via a rolling bearing (2103); the three-degree-of-freedom module (2200) is fixedly installed on the module mounting base (2300).

5. The automatic disassembly and assembly device for the bolster spring wedge of a bogie according to claim 1, characterized in that: The electromagnet core (1101) is a U-shaped structure, comprising two magnetic poles, and the coil winding (1102) is installed on both magnetic poles.

6. The automatic disassembly and assembly device for the bolster spring wedge of a bogie according to claim 1, characterized in that: The electromagnet core (1101) is provided with a waist-shaped hole and a plurality of threaded mounting holes for mounting a pneumatic tool (1103), and the cylinder ejector pin (1104) is mounted in the pneumatic tool (1103); the rear end of the pneumatic tool (1103) is connected to a pen-shaped cylinder (1105), and the reciprocating motion of the pneumatic ejector pin (1104) is controlled by adjusting the air pressure of the pen-shaped cylinder (1105), so that the pneumatic ejector pin (1104) passes through the waist-shaped hole of the electromagnet core (1101) and supports the inner pillow spring.

7. The automatic disassembly and assembly device for the bolster spring wedge of a bogie according to claim 1, characterized in that: The electromagnetic core (1101) is provided with a threaded mounting hole connected to the clamp support seat (1107), and an adjusting washer (1106) is provided between the electromagnetic core (1101) and the clamp support seat (1107) for adjusting the gap size between the electromagnetic core (1101) and the clamp support seat (1107).

8. The automatic disassembly and assembly device for the bolster spring wedge of a bogie according to claim 1, characterized in that: A machine vision sensor (1200) is provided at the joint end of the industrial robot (1300), and the machine vision sensor (1200) is mounted on a fixture mounting seat (1108); the industrial robot (1300) is mounted on an industrial robot mounting base (1400), and the industrial robot mounting base (1400) is fixedly connected to the module mounting base (2300).

9. A method for automatically disassembling a bolster spring and a wedge of a bogie, wherein the bolster spring and the wedge of the bogie are disassembled by using the automatic disassembly device for bolster spring and wedge of the bogie as claimed in any one of claims 1 to 10, comprising the following steps: S1. Start: The industrial robot (1300) and the three-degree-of-freedom module (2200) return to the reference position, and the control parameters and command parameters are reset and set to zero; S2. Removal of the first row of pillow springs S21, machine vision sensor (1200) scanning: the end of the industrial robot (1300) moves to the front end of the side frame, and the machine vision sensor (1200) scans the side frame, the bolster, and the first row of bolster springs, identifies the bogie model by analyzing the point cloud data, obtains the size and position information of the side frame, the bolster, and the first row of bolster springs, and transmits it to the host computer; S22, data transmission and data processing: the host computer processes the acquired component size and position information, and sends the size and position information of the disassembled pillow spring to the industrial robot (1300) controller; the industrial robot (1300) controller assigns and calculates motion instructions and parameters based on the acquired size and position information of the pillow spring, and adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the disassembly operation of the first row of pillow springs; S23, disassembling the first row of pillow springs: the industrial robot (1300) moves to a designated position according to a motion instruction of the controller, controls the current on and off of the coil of the disassembly and assembly fixture (1100) and the movement of the cylinder, and sequentially takes out the first row of pillow springs from the inside of the side frame and places them at a designated transfer point; after completing the disassembly operation of the first row of pillow springs, the mechanical arm of the industrial robot (1300) returns to the designated position; S3, Removal of the second row pillow spring and wedge S31, scanning by a machine vision sensor (1200): the end of the industrial robot (1300) moves to the front end of the side frame, and the machine vision sensor (1200) scans the side frame, the bolster, the second row of bolster springs and the inclined wedge, obtains size and position information of the side frame, the bolster, the second row of side frame, the bolster springs, the bolster springs and the inclined wedge, and transmits the size and position information to the host computer; S32, data transmission and data processing: the host computer processes the acquired size and position information of the components, and sends the size and position information of the disassembled pillow spring and the wedge to the industrial robot (1300) controller; the industrial robot (1300) controller assigns and calculates the motion instructions and parameters according to the acquired size and position information of the pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the disassembly operation of the second row of pillow springs and the wedge; S33, disassembling the second row middle position pillow spring: the industrial robot (1300) moves to the designated position according to the motion instruction of the controller, controls the current on and off of the coil of the disassembly and assembly fixture (1100) and the action of the cylinder, takes out the second row middle position pillow spring from the inside of the side frame and places it at the designated transfer point; after completing the disassembly operation of the second row middle position pillow spring, the industrial robot (1300) mechanical arm returns to the designated position; S34, disassembling the second row of left-side pillow springs and inclined wedges: the upper computer first drives the three-degree-of-freedom module (2200) to move to the specified position based on the size and position information of the pillow springs and inclined wedges obtained, controls the two-way swing cylinder (2104) to make the F-shaped support plate (2101) of the inclined wedge bearing tooling (2100) open downward at the initial position, passes through the gap between the side frame and the pillow spring and moves to the bottom of the left-side inclined wedge, controls the load end of the three-degree-of-freedom module (2200) to make the F-shaped support plate (2101) lift the inclined wedge to a certain height; then, the industrial robot (1300) moves to the specified position according to the motion command of the controller, controls the current on and off of the coil of the disassembly and assembly fixture (1100) and the cylinder movement, and disassembles the second row of left-side pillow springs. The left side of the side frame is taken out from the inside of the side frame and placed at the designated transfer point; then, the bidirectional swing cylinder (2104) is controlled to rotate 90° counterclockwise through the logic control port of the industrial robot (1300) controller, and after the F-shaped support plate (2101) holds the inclined wedge, the host computer controls the load end of the three-degree-of-freedom module (2200) to move the inclined wedge out from the inside of the bolster and the side frame; at the same time, the industrial robot (1300) moves to the designated position according to the motion command of the controller, controls the current on and off of the coil of the disassembly and assembly fixture (1100) and the cylinder movement, and places the left side of the inclined wedge at the designated transfer point; finally, the host computer and the industrial robot (1300) controller drive the three-degree-of-freedom module (2200) and the auxiliary inclined wedge disassembly and assembly unit (2) to move to the designated position; S35, disassembling the second row right side pillow spring and the inclined wedge: referring to the disassembly steps of the left side pillow spring and the inclined wedge to disassemble the pillow spring and the inclined wedge; S4, third row pillow spring removal S41, scanning by a machine vision sensor (1200): the end of the industrial robot (1300) moves to the front end of the side frame, and the machine vision sensor (1200) scans the side frame, the bolster, and the third row of bolster springs to obtain size and position information of the side frame, the bolster, and the third row of bolster springs, and transmits the size and position information to the host computer; S42, data transmission and data processing: the host computer processes the acquired component size and position information, and sends the size and position information of the disassembled pillow spring to the industrial robot (1300) controller; the industrial robot (1300) controller assigns and calculates the motion instructions and parameters according to the acquired size and position information of the pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the disassembly operation of the third row pillow spring; S43, disassembling the third row of pillow springs: the industrial robot (1300) moves to a designated position according to a motion instruction of the controller, controls the current on and off of the coil of the disassembly and assembly fixture (1100) and the movement of the cylinder, and sequentially takes out the third row of pillow springs from the inside of the side frame and places them at a designated transfer point; after completing the disassembly operation of the third row of pillow springs, the mechanical arm of the industrial robot (1300) returns to a designated position; S5, bogie rotation action: the industrial robot (1300) and the three-degree-of-freedom module (2200) return to their initial positions, and the rotating mechanism of the hoisting line drives the bogie to rotate 180°; S6, loop operation: repeat steps S1-S4.

10. A method for automatically installing a bogie bolster spring wedge, characterized in that: The automatic disassembly and assembly device for the bolster spring and wedge of the bogie according to any one of claims 1 to 10 is used to install the bolster spring and wedge on the bogie, comprising the following steps: T1. Start: The industrial robot (1300) and the three-degree-of-freedom module (2200) return to the reference position, and the control parameters and command parameters are reset and set to zero; T2, third row pillow spring installation T21. Scanning with a machine vision sensor (1200): The end of the industrial robot (1300) first moves to the front end of the side frame, and the machine vision sensor (1200) scans the side frame and the bolster, collects characteristic parameters of the bogie and key positions of components, and identifies the bogie model and key dimensions of the side frame working space by analyzing the point cloud data for parameterized identification; then, the end of the industrial robot (1300) moves to the front end of the bolster spring in the material preparation area, and the machine vision sensor (1200) scans the size and position information of the bolster spring, identifies the size and position information of the bolster spring, and transmits the information to the host computer; T22, data transmission and data processing: the host computer will obtain the size and position information of the parts for data processing, automatically identify the model of the bogie, and send the size and position information of the installed pillow spring to the industrial robot controller; the industrial robot (1300) controller assigns and calculates the motion instructions and parameters according to the size and position information of the obtained pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the installation operation of the third row pillow spring; T23. Installing the third row of pillow springs: the industrial robot (1300) moves to the designated position according to the motion command of the controller, controls the current on and off of the coil of the disassembly and assembly fixture (1100) and the movement of the cylinder, and sequentially takes out the third row of pillow springs from the preparation area and places them at the designated position in the side frame; after completing the installation of the third row of pillow springs, the mechanical arm of the industrial robot (1300) returns to the designated position; T3, Installation of the second row of wedges and pillow springs T31, machine vision sensor (1200) scanning: the end of the industrial robot (1300) moves to the front end of the pillow spring and the inclined wedge in the material preparation area, and the machine vision sensor (1200) scans the size and position information of the pillow spring and the inclined wedge, identifies the size and position information of the pillow spring and the inclined wedge by analyzing the point cloud data, and transmits the information to the host computer; T32, data transmission and data processing: the host computer obtains the size and position information of the parts for data processing, and sends the size and position information of the pillow spring and the inclined wedge to the industrial robot (1300) controller through the network port; the industrial robot (1300) controller assigns and calculates the motion instructions and parameters according to the size and position information of the pillow spring, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the installation operation of the second row of inclined wedges and pillow springs; T33. Install the second row of left-side bevel wedges and pillow springs: The host computer drives the three-degree-of-freedom module (2200) to move to the specified position based on the size and position information of the pillow spring and the bevel wedge, and rotates the F-shaped support plate (2101) of the bevel wedge bearing fixture (2100) counterclockwise by 90° to make it horizontal; then, the industrial robot (1300) moves to the specified position according to the motion instructions of the controller, controls the current on and off of the coil of the disassembly and assembly fixture (1100) and the action of the cylinder, and places the left-side bevel wedge from the preparation area to the F-shaped support plate (2101); then, the host computer drives the three-degree-of-freedom module (2200) based on the size and position information of the bevel wedge. The group (2200) and its load end move the inclined wedge to the inside of the bolster and the side frame and lift it up to a certain height, and then rotate the F-shaped support plate (2101) of the inclined wedge bearing tooling (2100) clockwise by 90°; at the same time, the industrial robot (1300) moves to the specified position according to the motion command of the controller, controls the current on and off of the coil of the disassembly and assembly fixture (1100) and the cylinder action, takes out the second row of left-side bolster springs from the preparation area and places them at the specified position on the left side of the side frame; finally, the host computer and the industrial robot (1300) controller drive the three-degree-of-freedom module (2200) and the auxiliary inclined wedge disassembly and assembly unit (2) to move to the specified position; T34. Install the right-side wedge and pillow spring of the second row: refer to the installation steps of the left-side wedge and pillow spring to install the right-side wedge and pillow spring; T35. Install the middle pillow spring of the second row: the industrial robot (1300) moves to the designated position according to the motion instruction of the controller, controls the current on and off of the coil of the disassembly and assembly fixture (1100) and the action of the cylinder, takes out the middle pillow spring of the second row from the preparation area and places it at the designated position in the side frame; after completing the installation of the middle pillow spring of the second row, the mechanical arm of the industrial robot (1300) returns to the designated position; T4, first row of pillow spring installation T41. The end of the industrial robot (1300) moves to the front end of the pillow spring in the material preparation area, and the machine vision sensor (1200) scans the size and position information of the pillow spring, identifies the size and position information of the pillow spring by analyzing the point cloud data, and transmits the information to the host computer; T42, the host computer processes the acquired component size and position information, and sends the size and position information of the pillow spring to the industrial robot (1300) controller through the network port; the industrial robot (1300) controller assigns and calculates the motion instructions and parameters according to the acquired pillow spring size and position information, and appropriately adjusts and optimizes the spatial point coordinate values ​​and motion instruction parameters of the default path to meet the installation operation of the first row of pillow springs; T43. Installing the first row of pillow springs: the industrial robot (1300) moves to the designated position according to the motion command of the controller, controls the current on and off of the coil of the disassembly and assembly fixture (1100) and the movement of the cylinder, and takes out the first row of pillow springs from the preparation area in sequence and places them at the designated position in the side frame; after completing the installation of the first row of pillow springs, the industrial robot (1300) mechanical arm returns to the designated position; T5, bogie rotation action: the industrial robot (1300) and the three-degree-of-freedom module (2200) return to their initial positions, and the rotating mechanism of the hoisting line drives the bogie to rotate 180°; T6, loop operation: repeat steps T1-T4.

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