Automatic disassembly and assembly device for bogie bolster spring wedges, disassembly method and installation method

Abstract

This invention relates to an automatic bogie spring and wedge disassembly and assembly device, disassembly method, and installation method. The disassembly and assembly device includes a bogie spring and wedge disassembly and assembly unit and an auxiliary wedge disassembly and assembly unit. The bogie spring and wedge disassembly and assembly unit includes a disassembly and assembly fixture and an industrial robot. The disassembly and assembly fixture is located at the end of the joint of the industrial robot. The disassembly and assembly fixture includes an electromagnet core, a coil winding, a cylinder ejector pin, a pen-shaped cylinder, a fixture support base, and a fixture mounting base. The disassembly and assembly fixture adopts a combination of an electromagnet and a pen-shaped cylinder. The pen-shaped cylinder installed behind the electromagnet controls the pneumatic ejector pin to pass through the gap of the outer bogie spring and press against the inner bogie spring. This is very convenient for the automatic disassembly and assembly of the bogie springs and wedges of K2 and K6 bogies. The structure is simple and easy to install and maintain. This fixture form is also applicable to the automatic disassembly and assembly of the bogie springs and wedges of K4 and K5 bogies.

Description

Technical Field

[0001] This invention relates to the field of bogie bolster spring and wedge disassembly and assembly technology, specifically to an automatic bogie bolster spring and wedge disassembly and assembly device, disassembly method and installation method. Background Technology

[0002] The disassembly, disassembly, inspection, and assembly of components such as brake beams, load-bearing saddles, bolster springs, and wedges on railway freight car bogies are still mainly done manually. Some workstations even require multiple people to work together, resulting in high labor intensity, low work efficiency, high safety hazards, and serious noise and dust pollution. This has become a bottleneck in the maintenance of railway freight car bogies. Since there are four common types of freight car bogies—K2, K4, K5, and K6—their structural composition, spatial dimensions, and number of parts vary significantly, leading to marked differences in manual disassembly and assembly methods, tools used, work processes, and operation times. The disassembly and assembly of bolster springs and wedges are particularly complex.

[0003] In recent years, only a few railway depots have applied industrial robots and machine vision technology to maintenance operations such as bogie brake beam disassembly and assembly, load-bearing saddle disassembly, and bolster and wedge disassembly and assembly. However, factors such as ambient light, component background, and size differences have a significant impact on automated equipment, and the system composition and mechanical structure are relatively complex, enabling only the disassembly and assembly of bolster and wedges on K2 and K6 bogies. Furthermore, during the disassembly and assembly of bolster and wedges, issues such as bolster and wedges getting stuck with other components or becoming loose from the clamps still exist. Summary of the Invention

[0004] To address the above problems, this invention provides an automatic bogie bolster spring and wedge disassembly and assembly device, disassembly method, and installation method, solving the problems of high labor intensity and low work efficiency caused by manual disassembly and assembly of bolster springs and wedges in existing bogie maintenance processes.

[0005] The technical solution adopted in this invention is: an automatic bogie bolster spring wedge disassembly and assembly device, characterized in that: it includes a bolster spring wedge disassembly and assembly unit and an auxiliary wedge disassembly and assembly unit. The bolster spring wedge disassembly and assembly unit includes a disassembly and assembly fixture and an industrial robot. The disassembly and assembly fixture is set at the end of the joint of the industrial robot. The disassembly and assembly fixture includes an electromagnet 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 electromagnet 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 set in the fixture support seat and connected to the cylinder ejector pin. The cylinder ejector pin passes through the electromagnet core and can press against the inner bolster spring. The electromagnet core is provided with a coil winding, which can attract and hold the outer bolster spring. The auxiliary wedge disassembly and assembly unit is used for lifting, supporting, and moving the wedge.

[0006] Preferably, the auxiliary wedge assembly / disassembly unit includes a wedge bearing fixture and a three-degree-of-freedom module. The wedge bearing fixture is located at the load end of the three-degree-of-freedom module and can move linearly in the XYZ directions under the drive of the three-degree-of-freedom module, for lifting, supporting and moving the wedge.

[0007] Preferably, the wedge bearing fixture includes an F-shaped support plate, a rotary support shaft, a bidirectional swing cylinder, a load mounting base, and a load mounting plate. The bidirectional swing cylinder is connected to the F-shaped support plate via the rotary support shaft, and drives the F-shaped support plate to rotate bidirectionally via the rotary support shaft, enabling the F-shaped support plate to lift the wedge. The bidirectional swing cylinder is mounted on the load mounting base, which is fixed to the load mounting plate. 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 bracket via rolling bearings.

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

[0010] Preferably, the electromagnet core has a U-shaped structure, including two magnetic pole posts, and coil windings are installed on both magnetic pole posts.

[0011] Preferably, the electromagnet core has a waist-shaped hole and multiple threaded mounting holes for installing pneumatic fixtures, and the cylinder ejector pin is installed inside the pneumatic fixture; the rear end of the pneumatic fixture is connected to a pen-shaped cylinder, and the reciprocating motion of the cylinder ejector pin is controlled by adjusting the air pressure of the pen-shaped cylinder, so that it 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 for connecting to the clamp support, and an adjusting washer is provided between the electromagnet core and the clamp support to adjust the gap between the electromagnet core and the clamp support.

[0013] Preferably, the industrial robot has a machine vision sensor at the end of its joints, and the machine vision sensor is mounted on a fixture mounting base.

[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] An automatic disassembly method for bogie bolster spring wedges, using the aforementioned automatic bogie bolster spring wedge disassembly and assembly device to disassemble the bolster springs and wedges on the bogie, includes the following steps: 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 zeroed. S2, First row of pillow springs disassembly S21. Machine vision sensor scanning: The end effector of the industrial robot moves to the front end of the side frame. The machine vision sensor uses a line laser sensor to scan the side frame, bolster, and first row of bolster springs. By analyzing the point cloud data, the bogie model is identified, and the key dimensions of the working space are parametrically identified to obtain the size and position information of the side frame, bolster, and first row of bolster springs. Finally, the information is transmitted to the host computer through the network port (TCP / IP protocol). S22. Data transmission and data processing: The host computer will acquire the size and position information of the parts, process the data, and send the size and position information of the disassembled bolster springs to the industrial robot controller via the network port (TCP / IP protocol); The industrial robot controller will assign and calculate motion commands and parameters based on the acquired size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the disassembly operation of the first row of bolster springs; S23. Disassembling the first row of bolster springs: The industrial robot moves to the designated position according to the motion instructions of the controller, and controls the optocoupler relay through 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 first row of bolster springs from the inside of the side frame in sequence and place them to the designated transfer point; after completing the disassembly of the first row of bolster springs, the robotic arm returns to the designated position. S3, second row of pillow springs and wedge disassembly S31. Machine vision sensor scanning: The end effector of the industrial robot moves to the front end of the side frame. The machine vision sensor scans the side frame, bolster, second row of bolster springs and wedges. By analyzing point cloud data, the key dimensions of the work space are parametrically identified, and the size and position information of the side frame, bolster, second row of side frame, bolster springs, bolster springs and wedges are obtained. Finally, the information is transmitted to the host computer through the network port (TCP / IP protocol). S32. Data transmission and data processing: The host computer will acquire the size and position information of the parts, process the data, and send the size and position information of the disassembled bolster springs and wedges to the industrial robot controller via the network port; The industrial robot controller will assign and calculate motion commands and parameters based on the acquired size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the disassembly operation of the second row of bolster springs and wedges; S33. Disassembling the second row of middle position 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 port (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 middle position springs from the inside of the side frame and place them at the designated transfer point; after completing the disassembly of the second row of middle position springs, the robotic arm returns to the designated position. S34. Disassembling the second row of left-side pillow springs and wedges: Based on the obtained size and position information of the pillow springs and wedges, the host computer first drives the three-degree-of-freedom module to move to the designated position via serial port (or PLC controller). It then controls the bidirectional swing cylinder to position the F-shaped support plate of the wedge-bearing fixture with its opening facing downwards, passing through the gap between the side frame and the pillow spring, and moving directly below the left-side wedge. The load end of the three-degree-of-freedom module is then controlled to raise the wedge to a certain height using the F-shaped support plate. Next, the industrial robot moves to the designated position according to the controller's motion instructions and controls the optocoupler relay via logic control instructions (IO output) to control the current flow of the disassembly / removal fixture coil and the cylinder's movement, removing the second row of left-side pillow springs from inside the side frame and placing them in the designated transfer position. The process begins with the industrial robot controller controlling a bidirectional swing cylinder to rotate 90° counterclockwise via its logic control port (IO output). Once the F-shaped support plate holds the wedge, the host computer controls the load end of the three-degree-of-freedom module via a serial port (or PLC controller) to move the wedge out from inside the bolster and side frame. Simultaneously, the industrial robot moves to the designated position according to the controller's motion instructions and controls the optocoupler relay via logic control instructions (IO output) to control the current switching of the disassembly and assembly fixture coil and the cylinder's movement, placing the left wedge at the designated transfer point. Finally, the host computer and the industrial robot controller drive the three-degree-of-freedom module and the auxiliary wedge disassembly and assembly unit to the designated position via a serial port (or PLC controller) and logic control instructions (IO output), respectively. S35. Disassemble the second row right side pillow spring and wedge: Refer to the disassembly steps for the left side pillow spring and wedge to disassemble the pillow spring and wedge. S4, Third row of pillow springs removal S41. Machine vision sensor scanning: The end effector of the industrial robot moves to the front end of the side frame. The machine vision sensor uses a line laser sensor to scan the side frame, bolster, and third row of bolster springs. By analyzing point cloud data, the key dimensions of the work space are parametrically identified to obtain the size and position information of the side frame, bolster, and third row of bolster springs. Finally, the data is transmitted to the host computer via the network port (TCP / IP protocol). S42. Data transmission and data processing: The host computer will acquire the size and position information of the parts, process the data, and send the size and position information of the disassembled bolster springs to the industrial robot controller via the network port; The industrial robot controller will assign and calculate motion commands and parameters based on the acquired size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the disassembly operation of the third row of bolster springs. S43. Disassembling the third row of bolster springs: The industrial robot moves to the designated position according to the motion instructions of the controller, and controls the optocoupler relay through 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 third row of bolster springs from the inside of the side frame in sequence and place them to the designated transfer point; after completing the disassembly of the third row of bolster springs, the robotic arm returns to the designated position. S5. Bogie rotation action: The industrial robot and the three-degree-of-freedom module return to the initial position, and the rotation mechanism of the hoisting line drives the bogie to rotate 180°. S6. Cyclic operation: Repeat steps S1-S4.

[0016] An automatic installation method for bogie bolster spring wedges, characterized by: using the aforementioned automatic bogie bolster spring wedge removal and installation device to install the bolster springs and wedges on the bogie, comprising the following steps: 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 zeroed. T2, Third Row Pillow Spring Installation T21. Machine Vision Sensor Scanning: The end effector of the industrial robot first moves to the front end of the side frame, where the machine vision sensor scans the side frame and bolster, collecting feature parameters of the bogie and key positions of components. By analyzing the point cloud data, the bogie model and key dimensions of the side frame's working space are identified through parametric recognition. Then, the end effector of the industrial robot moves to the front end of the bolster spring in the material preparation area, where the machine vision sensor scans the size and position information of the bolster spring. By analyzing the point cloud data, the size and position information of the bolster spring are identified and transmitted to the host computer via the network port (TCP / IP protocol). T22. Data Transmission and Processing: The host computer will acquire the size and position information of the components, process the data, automatically identify the bogie model, and send the size and position information of the bolster springs to the industrial robot controller via the network port (TCP / IP protocol). The industrial robot controller will assign and calculate motion commands and parameters based on the acquired size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the installation requirements of the third row of bolster springs. T23. Install the third row of springs: The industrial robot moves to the designated position according to the motion instructions of the controller, and controls the optocoupler relay through 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 third row of springs from the preparation area and place them in the designated position in the side frame in sequence; after completing the installation of the third row of springs, the robotic arm returns to the designated position. T3, second row of wedges and bolster spring installation T31. Machine vision sensor scanning: The end effector of the industrial robot moves to the front end of the spring and wedge in the preparation area. The machine vision sensor scans the size and position information of the spring and wedge. By analyzing the point cloud data, the size and position information of the spring and wedge are identified and transmitted to the host computer through the network port (TCP / IP protocol). T32. Data Transmission and Processing: The host computer will acquire the size and position information of the components, process the data, and send the size and position information of the installed bolster spring and wedge to the industrial robot controller via the network port (TCP / IP protocol). The industrial robot controller will assign and calculate motion commands and parameters based on the acquired size and position information of the bolster spring, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the installation operation of the second row of wedges and bolster springs. T33. Install the second row of left-side wedges and bolster springs: Based on the obtained size and position information of the bolster springs and wedges, the host computer first drives the three-degree-of-freedom module to move to the designated position via a serial port (or PLC controller), and rotates the F-shaped support plate of the wedge-bearing fixture 90° counterclockwise; then, the industrial robot moves to the designated position according to the controller's motion instructions, and controls the optocoupler relay through logic control instructions (IO output) to control the current switching of the disassembly and assembly fixture coil and the cylinder action, placing the left-side wedge from the preparation area onto the F-shaped support plate; subsequently, based on the obtained size and position information of the wedges, the host computer drives the three-degree-of-freedom module and its load cell via a serial port (or PLC controller). At the loading end, the wedge is moved into the bolster and side frame and raised to a certain height. Then, the F-shaped support plate (2101) of the wedge bearing fixture (2100) is rotated 90° clockwise. At the same time, 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, so as to take out the second row of left side bolster springs from the preparation area and place them in the designated position on the left side inside the side frame. Finally, the host computer and the industrial robot controller drive the three-degree-of-freedom module and the auxiliary wedge disassembly and assembly unit to move to the designated position through the serial port (or PLC controller) and the logic control command (IO output), respectively. T34. Install the second row right-side wedge and bolster spring: Refer to the installation steps for the left-side wedge and bolster spring to install the right-side wedge and bolster spring; T35. Install the second row of middle position springs: The industrial robot moves to the designated position according to the controller's motion instructions, and controls the optocoupler relay through 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 the second row of middle position springs from the preparation area and place them in the designated position in the side frame; after completing the installation of the second row of middle position springs, the robotic arm returns to the designated position. T4, First row of pillow spring installation T41. The end effector of the industrial robot moves to the front end of the spring in the preparation area. The machine vision sensor scans the size and position information of the spring, identifies the size and position information of the spring by analyzing the point cloud data, and transmits it to the host computer through the network port (TCP / IP protocol). T42, the host computer will obtain the size and position information of the parts and process the data. It will then send the size and position information of the installed bolster springs to the industrial robot controller via the network port (TCP / IP protocol). The industrial robot controller will assign and calculate motion commands and parameters based on the obtained size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the installation operation of the first row of bolster springs. T43. Install the first row of springs: The industrial robot moves to the designated position according to the motion instructions of the controller, and controls the optocoupler relay through 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 first row of springs from the preparation area and place them in the designated position in the side frame in sequence; after completing the installation of the first row of springs, the robotic arm returns to the designated position. T5. Bogie rotation action: The industrial robot and the three-degree-of-freedom module return to the initial position, and the rotation mechanism of the hoisting line drives the bogie to rotate 180°. T6. Cyclic operation: Repeat steps T1-T4.

[0017] The beneficial effects achieved by this invention are: 1. The disassembly and assembly fixture adopts a combination of electromagnet and pen-shaped cylinder. The two coil windings of the electromagnet are made of enameled flat copper wire, which makes the coil winding structure more compact and has a higher slot fill factor. The magnetic pole face adopts a V-shaped (or arc-shaped) style, which can directly magnetically fix the outer bolster springs and wedges of different models and sizes. The pen-shaped cylinder installed behind the electromagnet controls the cylinder pin to pass through the gap of the outer bolster spring and press against the inner bolster spring. It is very convenient for the automatic disassembly and assembly of the bolster 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 bolster springs and wedges of K4 and K5 bogies. 2. The machine vision sensor used is installed directly above the disassembly and assembly fixture, making the entire structure installed at the end of the industrial robot more compact. At the same time, during the operation of the industrial robot (1300), the structural dimensions and position information of the spring and wedge can be collected at any time, which is convenient for positioning and control of the industrial robot. 3. The industrial robot adopts a six-axis industrial robot, which can design corresponding disassembly and assembly operation paths for different positions and sizes of bolster springs and wedges of different bogie models, reducing the labor intensity and safety hazards on site. 4. To assist the wedge assembly and disassembly operations of the industrial robot (1300), a wedge bearing fixture was designed, including an F-shaped support plate, a rotating support shaft, rolling bearings, a bidirectional swing cylinder, a load mounting base, and a load mounting plate. The rotating support shaft is connected to a rolling bearing at each end, with one end connected to the F-shaped support plate and the other end connected to the bidirectional swing cylinder. The rotating support shaft and the two rolling bearings are installed together inside the load mounting base, so that the rotation of the F-shaped support plate is controlled by the bidirectional swing cylinder. It has the characteristics of simple and compact structure, and can lift, support, and move the wedge before disassembling and installing the bolster spring assembly. 5. The six-axis industrial robot and the three-degree-of-freedom module adopt industrial robot mounting base and module mounting base respectively, and the mounting base is fastened together, which makes the industrial robot for automatic disassembly and assembly of pillow spring wedge and the three-degree-of-freedom module unit for auxiliary wedge disassembly and assembly more stable and secure during operation, and facilitates the handling, positioning, maintenance and upkeep of the equipment. Attached Figure Description

[0018] Figure 1 This is a perspective view of the automatic disassembly and assembly device for the pillow spring wedge in an embodiment of the present invention; Figure 2 This is a front view of the industrial robot for automatic assembly and disassembly of the pillow spring and wedge in an embodiment of the present invention; Figure 3 This is a perspective view of the industrial robot for automatic assembly and disassembly of the pillow spring and inclined wedge in an embodiment of the present invention; Figure 4 This is a perspective view of the disassembly and assembly fixture and the machine vision sensor in an embodiment of the present invention; 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; Figure 6 This is a perspective view of the three-degree-of-freedom module unit that assists in the assembly and disassembly of the wedge in an embodiment of the present invention; Figure 7 This is a front view of the three-degree-of-freedom module unit that assists in the assembly and disassembly of the wedge in an embodiment of the present invention; Figure 8 This is a perspective view of the wedge bearing fixture in an embodiment of the present invention; Figure 9 This is a front view of the wedge bearing fixture in an embodiment of the present invention; The components are as follows: 1-Automatic assembly / disassembly unit for pillow spring and wedge; 1100-Assembly / disassembly fixture; 1101-Electromagnetic core; 1102-Coil winding; 1103-Pneumatic tooling; 1104-Cylinder ejector pin; 1105-Pen-shaped cylinder; 1106-Adjusting washer; 1107-Fixture support base; 1108-Fixture mounting base; 1200-Machine vision sensor; 1300-Industrial robot; 1400-Industrial robot mounting base; 1401-Support base; 1402-Mounting plate; 2-Auxiliary wedge assembly / disassembly unit; 2100-Wedge bearing tooling; 2101-F-shaped support plate; 2102-Rotating support shaft; 2103-Rolling bearing; 2104-Bidirectional swing cylinder; 2105-Load mounting base; 2106-Load mounting plate; 2200-Three-degree-of-freedom module; 2300-Module mounting base. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0020] like Figure 1-9 As shown, an automatic bogie spring wedge disassembly and assembly device of the present invention includes a bogie spring wedge disassembly and assembly unit 1 and an auxiliary wedge disassembly and assembly unit 2. The bogie spring wedge disassembly and assembly unit 1 includes a disassembly and assembly fixture 1100 and an industrial robot 1300. The disassembly and assembly fixture 1100 is disposed at the joint end of the industrial robot 1300. The disassembly and assembly fixture 1100 includes 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 1107 is connected to the electromagnet core 1101, and the other end is connected to the end of the joint of the industrial robot 1300 through the clamp mounting base 1107; the pen-shaped cylinder 1105 is set inside the clamp support 1107 and connected to the cylinder ejector pin 1104; the cylinder ejector pin 1104 passes through the electromagnet core 1101 and can press against the inner pillow spring; the electromagnet core 1101 is provided with a coil winding 1102, which can attract the outer pillow spring; the auxiliary wedge disassembly and assembly unit 2 is used for lifting, supporting and moving the wedge.

[0021] Combination Figure 2-3 As shown, in this embodiment, the industrial robot 1300 is a six-axis industrial robot used to transfer the bolster spring and wedge on the disassembly and assembly fixture to a designated position; the industrial robot mounting base 1400 includes a support base 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 base 1401.

[0022] Combination Figure 4-5As shown, the disassembly and assembly fixture 1100 consists of an electromagnet core 1101, coil windings 1102, pneumatic tooling 1103, cylinder ejector pins 1104, pen-shaped cylinders 1105, adjusting washers 1106, fixture support base 1107, and fixture mounting base 1108. The electromagnet core 1101 has a U-shaped structure, with a set of coil windings 1102 mounted on each of its two magnetic pole posts. The magnetic pole surfaces of the electromagnet core 1101 are set in a V-shape (or arc shape), which can be used to directly magnetically attract external pillow springs and wedges of different models and sizes. The electromagnet core 1101 has a waist-shaped through hole at the center of its front end and multiple threaded mounting holes at its rear end for connecting the pneumatic tooling 1103. Two threaded mounting holes are provided on the upper and lower end faces of the electromagnet core 1101 for connecting the fixture support 1107. An adjusting washer 1106 is provided on the threaded mounting holes on the upper and lower end faces of the electromagnet core 1101 for adjusting the gap between the electromagnet core 1101 and the fixture support 1107. The pneumatic tooling 1103 has a threaded mounting hole at its rear end for directly connecting the pen-shaped cylinder 1105. By adjusting the air pressure of the pen-shaped cylinder 1105, the reciprocating motion of the cylinder pin 1104 is controlled, so that it passes through the waist-shaped hole of the electromagnet core 1101 and presses against the inner pillow spring. The end of the fixture support 1107 is connected to the fixture mounting base 1108 and is connected to the joint end of the six-axis industrial robot 1300.

[0023] Combination Figure 4-5 As shown, the machine vision sensor 1200 is positioned directly above the disassembly and assembly fixture 1100, with its end connected to the fixture mounting base 1108. It is used to collect the size and position information of the bolster spring and the wedge, providing reference coordinate information for the operation of the disassembly and assembly fixture 1100. The fixture mounting base 1108 is used to mount 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.

[0024] See Figures 6-7 As shown, the three-degree-of-freedom module unit for assisting in the assembly and disassembly of the wedge includes a wedge bearing fixture 2100, a three-degree-of-freedom module 2200, and a module mounting base 2300. The wedge bearing fixture 2100 is connected to the load end of the three-degree-of-freedom module 2200 and is used to lift, support, and move the wedge. The bottom of the three-degree-of-freedom module 2200 is connected to the module mounting base 2300 to assist in the automatic assembly and disassembly of the wedge. The module mounting base 2300 is connected to the industrial robot mounting base 1400 to fix the relative position of the six-axis industrial robot 1300 and the three-degree-of-freedom module 2200.

[0025] See Figures 8-9As shown, the wedge bearing fixture 2100 includes an F-shaped support plate 2101, a rotary support shaft 2102, rolling bearings 2103, a bidirectional swing cylinder 2104, a load mounting base 2105, and a load mounting plate 2106. The rotary support shaft 2102 is connected to a rolling bearing 2103 at each end, with one end connected to the F-shaped support plate 2101 and the other end connected to the bidirectional swing cylinder 2104. The rotary support shaft 2102 and the two rolling bearings 2103 are installed together inside the load mounting base 2105, allowing it to 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 base 2105 and is used to connect the wedge bearing fixture 2100 to the load end of the three-degree-of-freedom module 2200.

[0026] This invention provides an automatic disassembly method for bogie bolster spring wedges, which uses the aforementioned automatic bogie bolster spring wedge disassembly and assembly device to disassemble the bolster springs and wedges on the bogie, including the following steps: 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 zeroed. S2, First row of pillow springs disassembly S21. Machine vision sensor scanning: The end effector of the industrial robot moves to the front end of the side frame. The machine vision sensor uses a line laser sensor to scan the side frame, bolster, and first row of bolster springs. By analyzing the point cloud data, the bogie model is identified, and the key dimensions of the working space are parametrically identified to obtain the size and position information of the side frame, bolster, and first row of bolster springs. Finally, the information is transmitted to the host computer through the network port (TCP / IP protocol). S22. Data transmission and data processing: The host computer will acquire the size and position information of the parts, process the data, and send the size and position information of the disassembled bolster springs to the industrial robot controller via the network port (TCP / IP protocol); The industrial robot controller will assign and calculate motion commands and parameters based on the acquired size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the disassembly operation of the first row of bolster springs; S23. Disassembling the first row of bolster springs: The industrial robot moves to the designated position according to the motion instructions of the controller, and controls the optocoupler relay through 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 first row of bolster springs from the inside of the side frame in sequence and place them to the designated transfer point; after completing the disassembly of the first row of bolster springs, the robotic arm returns to the designated position. S3, second row of pillow springs and wedge disassembly S31. Machine vision sensor scanning: The end effector of the industrial robot moves to the front end of the side frame. The machine vision sensor scans the side frame, bolster, second row of bolster springs and wedges. By analyzing point cloud data, the key dimensions of the work space are parametrically identified, and the size and position information of the side frame, bolster, second row of side frame, bolster springs, bolster springs and wedges are obtained. Finally, the information is transmitted to the host computer through the network port (TCP / IP protocol). S32. Data transmission and data processing: The host computer will acquire the size and position information of the parts, process the data, and send the size and position information of the disassembled bolster springs and wedges to the industrial robot controller via the network port (TCP / IP protocol); The industrial robot controller will assign and calculate motion commands and parameters based on the acquired size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the disassembly operation of the second row of bolster springs and wedges; S33. Disassembling the second row of middle position 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 port (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 middle position springs from the inside of the side frame and place them at the designated transfer point; after completing the disassembly of the second row of middle position springs, the robotic arm returns to the designated position. S34. Disassembling the second row of left-side pillow springs and wedges: Based on the obtained size and position information of the pillow springs and wedges, the host computer first drives the three-degree-of-freedom module to move to the designated position via serial port (or PLC controller). It then controls the bidirectional swing cylinder to position the F-shaped support plate of the wedge-bearing fixture with its opening facing downwards, passing through the gap between the side frame and the pillow spring, and moving directly below the left-side wedge. The load end of the three-degree-of-freedom module is then controlled to raise the wedge to a certain height using the F-shaped support plate. Next, the industrial robot moves to the designated position according to the controller's motion instructions and controls the optocoupler relay via logic control instructions (IO output) to control the current flow of the disassembly / removal fixture coil and the cylinder's movement, removing the second row of left-side pillow springs from inside the side frame and placing them in the designated transfer position. The process begins with the industrial robot controller controlling a bidirectional swing cylinder to rotate 90° counterclockwise via its logic control port (IO output). Once the F-shaped support plate holds the wedge, the host computer controls the load end of the three-degree-of-freedom module via a serial port (or PLC controller) to move the wedge out from inside the bolster and side frame. Simultaneously, the industrial robot moves to the designated position according to the controller's motion instructions and controls the optocoupler relay via logic control instructions (IO output) to control the current switching of the disassembly and assembly fixture coil and the cylinder's movement, placing the left wedge at the designated transfer point. Finally, the host computer and the industrial robot controller drive the three-degree-of-freedom module and the auxiliary wedge disassembly and assembly unit to the designated position via a serial port (or PLC controller) and logic control instructions (IO output), respectively. S35. Disassemble the second row right side pillow spring and wedge: Refer to the disassembly steps for the left side pillow spring and wedge to disassemble the pillow spring and wedge. S4, Third row of pillow springs removal S41. Machine vision sensor scanning: The end effector of the industrial robot moves to the front end of the side frame. The machine vision sensor uses a line laser sensor to scan the side frame, bolster, and third row of bolster springs. By analyzing point cloud data, the key dimensions of the work space are parametrically identified to obtain the size and position information of the side frame, bolster, and third row of bolster springs. Finally, the data is transmitted to the host computer via the network port (TCP / IP protocol). S42. Data transmission and data processing: The host computer will acquire the size and position information of the parts, process the data, and send the size and position information of the disassembled bolster springs to the industrial robot controller via the network port; The industrial robot controller will assign and calculate motion commands and parameters based on the acquired size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the disassembly operation of the third row of bolster springs. S43. Disassembling the third row of bolster springs: The industrial robot moves to the designated position according to the motion instructions of the controller, and controls the optocoupler relay through 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 third row of bolster springs from the inside of the side frame in sequence and place them to the designated transfer point; after completing the disassembly of the third row of bolster springs, the robotic arm returns to the designated position. S5. Bogie rotation action: The industrial robot and the three-degree-of-freedom module return to the initial position, and the rotation mechanism of the hoisting line drives the bogie to rotate 180°. S6. Cyclic operation: Repeat steps S1-S4.

[0027] This invention provides an automatic installation method for bogie bolster spring wedges, characterized by: using the aforementioned automatic bogie bolster spring wedge removal and installation device to install the bolster springs and wedges on the bogie, comprising the following steps: 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 zeroed. T2, Third Row Pillow Spring Installation T21. Machine Vision Sensor Scanning: The end effector of the industrial robot first moves to the front end of the side frame, where the machine vision sensor scans the side frame and bolster, collecting feature parameters of the bogie and key positions of components. By analyzing the point cloud data, the bogie model and key dimensions of the side frame's working space are identified through parametric recognition. Then, the end effector of the industrial robot moves to the front end of the bolster spring in the material preparation area, where the machine vision sensor scans the size and position information of the bolster spring. By analyzing the point cloud data, the size and position information of the bolster spring are identified and transmitted to the host computer via the network port (TCP / IP protocol). T22. Data Transmission and Processing: The host computer will acquire the size and position information of the components, process the data, automatically identify the bogie model, and send the size and position information of the bolster springs to the industrial robot controller via the network port (TCP / IP protocol). The industrial robot controller will assign and calculate motion commands and parameters based on the acquired size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the installation requirements of the third row of bolster springs. T23. Install the third row of springs: The industrial robot moves to the designated position according to the motion instructions of the controller, and controls the optocoupler relay through 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 third row of springs from the preparation area and place them in the designated position in the side frame in sequence; after completing the installation of the third row of springs, the robotic arm returns to the designated position. T3, second row of wedges and bolster spring installation T31. Machine vision sensor scanning: The end effector of the industrial robot moves to the front end of the spring and wedge in the preparation area. The machine vision sensor scans the size and position information of the spring and wedge. By analyzing the point cloud data, the size and position information of the spring and wedge are identified and transmitted to the host computer through the network port (TCP / IP protocol). T32. Data Transmission and Processing: The host computer will acquire the size and position information of the components, process the data, and send the size and position information of the installed bolster spring and wedge to the industrial robot controller via the network port (TCP / IP protocol). The industrial robot controller will assign and calculate motion commands and parameters based on the acquired size and position information of the bolster spring, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the installation operation of the second row of wedges and bolster springs. T33. Install the second row of left-side wedges and bolster springs: Based on the obtained size and position information of the bolster springs and wedges, the host computer first drives the three-degree-of-freedom module to move to the designated position via a serial port (or PLC controller), and rotates the F-shaped support plate of the wedge-bearing fixture 90° counterclockwise; then, the industrial robot moves to the designated position according to the controller's motion instructions, and controls the optocoupler relay through logic control instructions (IO output) to control the current switching of the disassembly and assembly fixture coil and the cylinder action, placing the left-side wedge from the preparation area onto the F-shaped support plate; subsequently, based on the obtained size and position information of the wedges, the host computer drives the three-degree-of-freedom module to move to the designated position via a serial port (or PLC controller). The three-degree-of-freedom module and its load end move the wedge into the bolster and side frame and lift it to a certain height. Then, the F-shaped support plate of the wedge bearing fixture rotates 90° clockwise. At the same time, the industrial robot moves to the designated position according to the motion command of the controller and controls the optocoupler relay through logic control command (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 bolster springs from the preparation area and place them in the designated position on the left side inside the side frame. Finally, the host computer and the industrial robot controller drive the three-degree-of-freedom module and the auxiliary wedge disassembly and assembly unit to move to the designated position through the serial port (or PLC controller) and logic control command (IO output), respectively. T34. Install the second row right-side wedge and bolster spring: Refer to the installation steps for the left-side wedge and bolster spring to install the right-side wedge and bolster spring; T35. Install the second row of middle position springs: The industrial robot moves to the designated position according to the controller's motion instructions, and controls the optocoupler relay through 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 the second row of middle position springs from the preparation area and place them in the designated position in the side frame; after completing the installation of the second row of middle position springs, the robotic arm returns to the designated position. T4, First row of pillow spring installation T41. The end effector of the industrial robot moves to the front end of the spring in the preparation area. The machine vision sensor scans the size and position information of the spring, identifies the size and position information of the spring by analyzing the point cloud data, and transmits it to the host computer through the network port (TCP / IP protocol). T42, the host computer will obtain the size and position information of the parts and process the data. It will then send the size and position information of the installed bolster springs to the industrial robot controller via the network port (TCP / IP protocol). The industrial robot controller will assign and calculate motion commands and parameters based on the obtained size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the installation operation of the first row of bolster springs. T43. Install the first row of springs: The industrial robot moves to the designated position according to the motion instructions of the controller, and controls the optocoupler relay through 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 first row of springs from the preparation area and place them in the designated position in the side frame in sequence; after completing the installation of the first row of springs, the robotic arm returns to the designated position. T5. Bogie rotation action: The industrial robot and the three-degree-of-freedom module return to the initial position, and the rotation mechanism of the hoisting line drives the bogie to rotate 180°. T6. Cyclic operation: Repeat steps T1-T4.

[0028] The foregoing has shown and described the basic principles and main structural features of the present invention. The present invention is not limited to the above examples; various changes and modifications can be made without departing from the spirit and scope of the invention, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic disassembly and assembly device for bogie bolster spring wedges, characterized in that: The system includes 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) includes a disassembly and assembly fixture (1100) and an industrial robot (1300). The disassembly and assembly fixture (1100) is located at the joint end of the industrial robot (1300). The disassembly and assembly fixture (1100) includes an electromagnet core (1101), a coil winding (1102), a cylinder ejector pin (1104), a pen-shaped cylinder (1105), a fixture support base (1107), and a fixture mounting base (1108). The fixture support base (1107) is located at the joint end of the industrial robot (1300). 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 clamp mounting base (1108); the pen-shaped cylinder (1105) is set in the clamp support base (1107) and connected to the cylinder ejector pin (1104); the cylinder ejector pin (1104) passes through the electromagnet core (1101) and can hold the inner pillow spring; the electromagnet core (1101) is provided with a coil winding (1102) which can attract the outer pillow spring; the auxiliary wedge disassembly and assembly unit (2) is used to lift, support and move the wedge; The auxiliary wedge assembly / disassembly unit (2) includes a wedge bearing fixture (2100) and a three-degree-of-freedom module (2200). The wedge bearing fixture (2100) is located at the load end of the three-degree-of-freedom module (2200) and can move linearly in the XYZ directions under the drive of the three-degree-of-freedom module (2200) for lifting, supporting and moving the wedge. The wedge bearing fixture (2100) includes an F-shaped support plate (2101), a rotating support shaft (2102), a bidirectional swing cylinder (2104), a load mounting base (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 wedge. The bidirectional swing cylinder (2104) is mounted on the load mounting base (2105). The load mounting base (2105) is fixed on the load mounting plate (2106). The load mounting plate (2106) is connected to the load end of the three-degree-of-freedom module (2200).

2. The bogie bolster spring wedge automatic dismounting device according to claim 1, characterized in that: The rotating support shaft (2102) is mounted in the load mounting base (2105) via a rolling bearing (2103); the three-degree-of-freedom module (2200) is fixedly mounted on the module mounting base (2300).

3. The automatic bogie bolster spring wedge disassembly and assembly device according to claim 1, characterized in that: The electromagnet core (1101) has a U-shaped structure and includes two magnetic pole posts, on which coil windings (1102) are installed.

4. The automatic bogie bolster spring wedge disassembly and assembly device according to claim 1, characterized in that: The electromagnet core (1101) has a waist-shaped hole and multiple threaded mounting holes for installing pneumatic tooling (1103). The cylinder ejector pin (1104) is installed inside the pneumatic tooling (1103). The rear end of the pneumatic tooling (1103) is connected to a pen-shaped cylinder (1105). By adjusting the air pressure of the pen-shaped cylinder (1105), the reciprocating motion of the cylinder ejector pin (1104) is controlled, so that it passes through the waist-shaped hole of the electromagnet core (1101) and presses against the inner pillow spring.

5. The automatic bogie bolster spring wedge disassembly and assembly device according to claim 1, characterized in that: The electromagnet core (1101) is provided with a threaded mounting hole for connecting to the clamp support base (1107). An adjusting washer (1106) is provided between the electromagnet core (1101) and the clamp support base (1107) to adjust the gap between the electromagnet core (1101) and the clamp support base (1107).

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

7. A method for automatically removing bogie bolster spring wedges, comprising the following steps: using the automatic bogie bolster spring wedge removal and installation device as described in any one of claims 1 to 6 to remove the bolster springs and wedges on the bogie. 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, First row of pillow springs disassembly S21, Machine vision sensor (1200) scanning: The end effector of the industrial robot (1300) moves to the front end of the side frame, and the machine vision sensor (1200) scans the side frame, bolster and first row of bolster springs. By analyzing the point cloud data, the bogie model is identified, and the size and position information of the side frame, bolster and first row of bolster springs are obtained and transmitted to the host computer. S22. Data transmission and data processing: The host computer will acquire the size and position information of the parts, process the data, and send the size and position information of the disassembled pillow springs to the industrial robot (1300) controller; The industrial robot (1300) controller will assign and calculate the motion commands and parameters according to the acquired size and position information of the pillow springs, and adjust and optimize the spatial point coordinates and motion command 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 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 action, and takes out the first row of pillow springs from the inside of the side frame in sequence and places them to the designated transfer point; after completing the disassembly of the first row of pillow springs, the robotic arm of the industrial robot (1300) returns to the designated position. S3, second row of pillow springs and wedge disassembly S31, Machine vision sensor (1200) scanning: The end effector of the industrial robot (1300) moves to the front end of the side frame, and the machine vision sensor (1200) scans the side frame, bolster, and second row of bolster springs and wedges to obtain the size and position information of the side frame, bolster, second row of side frame, bolster springs, bolster springs and wedges, and transmits it to the host computer; S32. Data transmission and data processing: The host computer will acquire the size and position information of the parts, process the data, and send the size and position information of the disassembled pillow springs and wedges to the industrial robot (1300) controller; The industrial robot (1300) controller will assign and calculate the motion commands and parameters according to the acquired size and position information of the pillow springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the disassembly operation of the second row of pillow springs and wedges; S33. Disassembling the second row of middle position pillow springs: The industrial robot (1300) moves to the designated position according to the motion command of the controller, controls the current switching of the coil of the disassembly and assembly fixture (1100) and the cylinder action, removes the second row of middle position pillow springs from the inside of the side frame and places them at the designated transfer point; after completing the disassembly of the second row of middle position pillow springs, the robotic arm of the industrial robot (1300) returns to the designated position. S34. Disassembling the second row of left-side pillow springs and wedges: Based on the obtained size and position information of the pillow springs and wedges, the host computer first drives the three-degree-of-freedom module (2200) to move to the designated position, controls the bidirectional swing cylinder (2104) to make the F-shaped support plate (2101) of the wedge bearing fixture (2100) face downwards in the initial position, and move through the gap between the side frame and the pillow spring to the right below the left-side wedge. The load end of the three-degree-of-freedom module (2200) is controlled to make the F-shaped support plate (2101) raise the wedge to a certain height. Then, the industrial robot (1300) moves to the designated position according to the motion command of the controller, controls the current switching of the coil of the disassembly and assembly fixture (1100) and the cylinder action, and takes out the second row of left-side pillow springs from the inside of the side frame and places them at the designated transfer point. Subsequently, the bidirectional swing cylinder (2104) is controlled to rotate 90° counterclockwise through the logic control port of the industrial robot (1300) controller. After the F-shaped support plate (2101) supports the wedge, the host computer controls the load end of the three-degree-of-freedom module (2200) to move the wedge out from inside the bolster and 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 switching of the coil of the disassembly and assembly fixture (1100) and the cylinder action, and places the left wedge to 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 wedge disassembly and assembly unit (2) to move to the designated position; S35. Disassemble the second row right side pillow spring and wedge: Refer to the disassembly steps for the left side pillow spring and wedge to disassemble the pillow spring and wedge. S4, Third row of pillow springs removal S41, Machine vision sensor (1200) scanning: The end effector of the industrial robot (1300) moves to the front end of the side frame, and the machine vision sensor (1200) scans the side frame, bolster, and third row of bolster springs to obtain the size and position information of the side frame, bolster, and third row of bolster springs, and transmits it to the host computer; S42. Data transmission and data processing: The host computer will acquire the size and position information of the parts, process the data, and send the size and position information of the disassembled pillow springs to the industrial robot (1300) controller; The industrial robot (1300) controller will assign and calculate the motion commands and parameters according to the acquired size and position information of the pillow springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the disassembly operation of the third row of pillow springs; S43. Disassembling 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 switching of the coil of the disassembly and assembly fixture (1100) and the cylinder action, and takes out the third row of pillow springs from the inside of the side frame in sequence and places them to the designated transfer point; after completing the disassembly of the third row of pillow springs, the robotic arm of the industrial robot (1300) returns to the 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 rotation mechanism of the hoisting line drives the bogie to rotate 180°; S6. Cyclic operation: Repeat steps S1-S4.

8. An automatic installation method for bogie bolster spring wedges, characterized in that: The installation of bogie bolster springs and wedges using the automatic bogie bolster spring and wedge removal and installation device as described in any one of claims 1 to 6 includes 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 zeroed; T2, Third Row Pillow Spring Installation T21. Machine vision sensor (1200) scanning: The end effector of the industrial robot (1300) first moves to the front end of the side frame. The machine vision sensor (1200) scans the side frame and bolster, collects the feature parameters of the bogie and key positions of the components, and identifies the bogie model and key dimensions of the side frame working space by analyzing the point cloud data. Then, the end effector of the industrial robot (1300) moves to the front end of the bolster spring in the preparation area. 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 it to the host computer. T22. Data transmission and data processing: The host computer will acquire the size and position information of the parts and process the data, automatically identify the model of the bogie, and send the size and position information of the installed bolster springs to the industrial robot controller; The industrial robot (1300) controller will assign and calculate the motion commands and parameters according to the acquired size and position information of the bolster springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the installation operation of the third row of bolster springs; T23. Install the third row of springs: The industrial robot (1300) moves to the designated position according to the motion command of the controller, controls the current switching of the coil of the disassembly and assembly fixture (1100) and the cylinder action, and takes out the third row of springs from the preparation area in sequence and places them in the designated position in the side frame; after the installation of the third row of springs is completed, the robotic arm of the industrial robot (1300) returns to the designated position. T3, second row of wedges and bolster spring installation T31, Machine vision sensor (1200) scanning: The end of the industrial robot (1300) moves to the front end of the bolster spring and wedge in the preparation area. The machine vision sensor (1200) scans the size and position information of the bolster spring and wedge. By analyzing the point cloud data, the size and position information of the bolster spring and wedge are identified and transmitted to the host computer. T32. Data transmission and data processing: The host computer will acquire the size and position information of the parts, process the data, and send the size and position information of the installed pillow spring and wedge to the industrial robot (1300) controller through the network port; The industrial robot (1300) controller will assign and calculate the motion commands and parameters according to the acquired size and position information of the pillow spring, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the installation operation of the second row of wedges and pillow spring; T33. Install the second row of left-side wedges and pillow springs: Based on the obtained size and position information of the pillow springs and wedges, the host computer drives the three-degree-of-freedom module (2200) to move to the designated position and rotates the F-shaped support plate (2101) of the wedge bearing fixture (2100) counterclockwise by 90° to make it horizontal; then, the industrial robot (1300) moves to the designated position according to the motion command of the controller, controls the current switching of the coil of the disassembly and assembly fixture (1100) and the cylinder action, and places the left-side wedges from the preparation area onto the F-shaped support plate (2101); subsequently, based on the obtained size and position information of the wedges, the host computer drives the three-degree-of-freedom module (2200) to move to the designated position and rotates the F-shaped support plate (2101) of the wedge bearing fixture (2100) counterclockwise by 90° to make it horizontal; then, the industrial robot (1300) moves to the designated position according to the motion command of the controller, controls the current switching of the coil of the disassembly and assembly fixture (1100) and the cylinder action, and places the left-side wedges from the preparation area onto the F-shaped support plate (2101); subsequently, the host computer drives the three-degree-of-freedom module to move to the designated position according to the obtained size and position information of the wedges. The assembly (2200) and its load end move the wedge into the bolster and side frame and lift it to a certain height. Then, the F-shaped support plate (2101) of the wedge bearing fixture (2100) rotates 90° clockwise. At the same time, the industrial robot (1300) moves to the designated position according to the motion command of the controller, controls the current switching of the coil of the disassembly and assembly fixture (1100) and the cylinder action, and takes out the second row of left side bolster springs from the material preparation area and places them in the designated position on the left side inside the side frame. Finally, the host computer and the industrial robot (1300) controller drive the three-degree-of-freedom module (2200) and the auxiliary wedge disassembly and assembly unit (2) to move to the designated position. T34. Install the second row right-side wedge and bolster spring: Refer to the installation steps for the left-side wedge and bolster spring to install the right-side wedge and bolster spring; T35. Install the second row of middle position springs: The industrial robot (1300) moves to the designated position according to the motion command of the controller, controls the current switching of the coil of the disassembly and assembly fixture (1100) and the cylinder action, and takes out the second row of middle position springs from the preparation area and places them in the designated position in the side frame; after completing the installation of the second row of middle position springs, the robotic arm of the industrial robot (1300) returns to the designated position; T4, First row of pillow spring installation T41, the end effector of the industrial robot (1300) moves to the front end of the spring in the preparation area, and the machine vision sensor (1200) scans the size and position information of the spring. By analyzing the point cloud data, the size and position information of the spring is identified and transmitted to the host computer. T42, the host computer will obtain the size and position information of the parts and process the data. It will send the size and position information of the installed pillow springs to the industrial robot (1300) controller through the network port. The industrial robot (1300) controller will assign and calculate the motion commands and parameters according to the obtained size and position information of the pillow springs, and make appropriate adjustments and optimizations to the spatial point coordinates and motion command parameters of the default path to meet the installation operation of the first row of pillow springs. T43. Install the first row of 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 cylinder action, and takes out the first row of springs from the preparation area in sequence and places them in the designated position in the side frame; after the installation of the first row of springs is completed, the robotic arm of the industrial robot (1300) 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 rotation mechanism of the hoisting line drives the bogie to rotate 180°. T6. Cyclic operation: Repeat steps T1 to T4.

Images