Wheel set grabbing system

Abstract

The invention relates to the technical field of wheel set transfer devices, and provides a wheel set grabbing system which comprises a height measuring device, a transfer device and a control device, and the height measuring device detects the height of a wheel shaft of a target wheel set; the transfer device comprises a walking mechanism and a grabbing mechanism with the height capable of being adjusted in a lifting mode, the grabbing mechanism grabs a wheel shaft of a target wheel pair, and the walking mechanism drives the grabbing mechanism to move. At least the height measuring device, the walking mechanism and the grabbing mechanism are electrically connected with the control device, and the control device controls operation of the walking mechanism and controls the lifting position of the grabbing mechanism according to the detected axle height. Thus, the height measuring device is used for detecting the height of the wheel shaft of the target wheel set, the height of the grabbing mechanism is controlled according to the detected height, the grabbing mechanism of the transferring device is used for grabbing the target wheel set, the walking mechanism is used for transferring, manual operation is reduced, and labor intensity is lowered; the problem that in the prior art, the labor intensity of workers is large when a transfer wheel set is overhauled is solved.

Description

Technical Field

[0001] The invention relates to the technical field of wheelset transfer devices and provides a wheelset grabbing system. Background Art

[0002] Wheelsets are key components that allow rail vehicles to contact and move with tracks. When rail vehicles are in normal operation, the wheelsets are in contact and friction with the tracks, and the wheelset treads are constantly worn. After a period of operation, the shape of the wheelset treads will change. Due to many factors such as the operating speed of the rail vehicle, the wheel material, and the geographical environment, the wheelset treads will wear differently, and the axle heights of the wheelsets are different (the heights are roughly distributed in the range of 390 mm to 460 mm). When the rail vehicle reaches the corresponding maintenance period, the wheelset will be disassembled for inspection.

[0003] During the wheelset maintenance process, the wheelset needs to be transported. Based on the structural characteristics of the wheelset, in the related technology, the wheelset is generally transported by rolling on the transport track. The power for the wheelset to rotate on the transport track mainly comes from the force applied to the wheelset by humans, with a low degree of automation and low transport efficiency. Moreover, the transport distance is long, up to about 100 meters, and the labor intensity is high, resulting in high labor costs.

[0004] Therefore, how to solve the problem of high manual labor intensity when repairing and transferring wheelsets in the prior art has become an important technical problem to be solved by technical personnel in this field. Summary of the invention

[0005] The embodiment of the present invention provides a wheelset gripping system to solve the defect of high manual labor intensity in the related art when repairing and transferring wheelsets, improve the degree of automation of rotating wheelsets, reduce manual labor intensity, reduce labor costs, and improve transfer efficiency.

[0006] The present invention provides a wheelset grabbing system, comprising: A height measuring device, adapted to detect the height of the axle of the target wheelset; The transfer device comprises a walking mechanism and a grabbing mechanism capable of being raised and lowered, wherein the grabbing mechanism is suitable for grabbing the wheel axle of the target wheelset, and the walking mechanism is suitable for driving the grabbing mechanism to move; A control device, wherein at least the height measuring device, the walking mechanism and the gripping mechanism are electrically connected to the control device, and the control device is suitable for controlling the operation of the walking mechanism and controlling the lifting position of the gripping mechanism according to the detected height of the axle of the target wheelset.

[0007] A wheelset grabbing system according to the present invention further comprises: A track, suitable for the target wheelset to roll along the extension direction of the track; A positioning device is adapted to position the target wheelset at a target position on the track.

[0008] According to a wheelset gripping system provided by the present invention, the positioning device comprises: A fixed seat, fixed relative to the track; A positioning seat, located at a side of the target position of the track close to the wheel rim of the target wheelset, the positioning seat is slidably connected to the fixing seat, the positioning seat is arranged in a vertical direction relative to the sliding direction of the fixing seat, and a positioning groove is arranged at the upper end of the positioning seat, the positioning groove is suitable for the wheel rim of the target wheelset to enter; A lifting drive mechanism, adapted to drive the positioning seat to slide back and forth relative to the fixing seat, the lifting drive mechanism being electrically connected to the control device; The first detection element is suitable for detecting the relative position between the target wheel pair and the positioning groove, and the first detection element is electrically connected to the control device.

[0009] According to a wheelset gripping system provided by the present invention, the positioning device further comprises: A buffer member, disposed between the positioning seat and the fixing seat, the buffer member being suitable for alleviating the impact generated by the target wheelset; And / or, a guiding mechanism is disposed between the positioning seat and the fixing seat, and the guiding mechanism is suitable for guiding the sliding of the positioning seat relative to the fixing seat.

[0010] According to a wheelset gripping system provided by the present invention, the positioning device further comprises: a second detection element, adapted to detect the pressure between the target wheelset and the positioning seat, the second detection element being electrically connected to the control device, the control device being adapted to control the lifting drive mechanism to stop operating when the pressure value detected by the second detection element is greater than a preset value; And / or, the lifting drive mechanism comprises: A cylinder, wherein the axis of the cylinder is arranged in a vertical direction, the cylinder barrel of the cylinder is connected to the fixing seat, and the piston rod of the cylinder is connected to the positioning seat; The pneumatic control circuit is suitable for controlling the extension and retraction action of the cylinder.

[0011] According to a wheelset gripping system provided by the present invention, the gripping mechanism comprises: A base, fixedly arranged on the walking mechanism; A sliding seat, slidably connected to the base, wherein the sliding seat is arranged in a vertical direction relative to a sliding direction of the base; A lifting drive assembly, adapted to drive the sliding seat to slide back and forth relative to the base, the lifting drive assembly being electrically connected to the control device; A mechanical claw is arranged on the sliding seat, and the mechanical claw is suitable for clamping or releasing the axle of the target wheelset.

[0012] According to a wheelset gripping system provided by the present invention, the mechanical gripper comprises: A support arm, wherein the axis of the support arm is arranged in a horizontal direction, a first end of the support arm is fixedly connected to the sliding seat, and a second end of the support arm extends in a direction away from the sliding seat; At least one pair of clamping jaws, two of each pair of the clamping jaws are distributed in the vertical direction, the clamping jaws include a connecting rod portion and a clamping jaw portion, one end of the connecting rod portion is rotatably connected to the second end of the support arm, and the other end of the connecting rod portion is rotatably connected to the clamping jaw portion; A pull rod, slidably connected to the support arm, wherein the sliding direction of the pull rod relative to the support arm is parallel to the axis of the support arm, and the pull rod is rotatably connected to the clamping claw portion; A driving member is adapted to drive the pull rod to slide reciprocatingly relative to the support arm, and the driving member is electrically connected to the control device.

[0013] According to a wheelset gripping system provided by the present invention, the mechanical gripper further comprises: A third detection element is disposed on the clamping jaw portion, and the third detection element is suitable for detecting the pressure between the clamping jaw portion and the wheel axle of the target wheelset, and the third detection element is electrically connected to the control device.

[0014] According to a wheelset gripping system provided by the present invention, the height measuring device comprises: A fixing portion, fixed relative to the track; A lifting part, slidably connected to the fixed part, wherein the lifting part is arranged in a vertical direction relative to a sliding direction of the fixed part; An elastic member, disposed between the lifting portion and the fixing portion, the elastic member being adapted to allow the lifting portion to have a tendency to slide upward; The distance measuring element is suitable for detecting the relative position of the lifting part and the fixed part. The distance measuring element is electrically connected to the control device. The control device is suitable for determining the height of the upper end of the lifting part according to the detected relative position of the lifting part and the fixed part.

[0015] A wheelset grabbing system according to the present invention further comprises: A trigger member is located downstream of the height measuring device along the rolling direction of the target wheelset on the track. The trigger member is electrically connected to the control device and is suitable for being triggered when the target wheelset passes above the trigger member.

[0016] The wheel set grabbing system provided by the present invention comprises a height measuring device, a transfer device and a control device. The height measuring device can detect the height of the wheel axle of the target wheel set, and the transfer device comprises a running mechanism and a grabbing mechanism, and the height of the grabbing mechanism can be adjusted by lifting and lowering. The grabbing mechanism is used to grab the wheel axle of the target wheel set, and the running mechanism is used to drive the grabbing mechanism and the target wheel set to move so as to transfer the target wheel set. At least the height measuring device, the running mechanism and the grabbing mechanism are electrically connected to the control device, and the control device can control the operation of the running mechanism, and can control the lifting position of the grabbing mechanism according to the height of the wheel axle of the detected target wheel set. In this way, the height of the wheel axle of the target wheel set is detected by the height measuring device, and the detection result is sent to the control device, and the control device controls the height of the grabbing mechanism of the transfer device according to the detected wheel axle height. The control device controls the running mechanism of the transfer device to operate so that the transfer device approaches the target wheel set, and at the same time controls the grabbing mechanism of the transfer device to grab the wheel axle of the target wheel set. After the grabbing mechanism completes the grabbing action of the target wheel set, the running mechanism can drive the grabbing mechanism and the target wheel set to move so as to transfer the target wheel set. Utilizing the wheelset grabbing system provided by the present invention to transfer a target wheelset effectively reduces manual operations, reduces labor intensity and labor costs, and solves the problem of high manual labor intensity in the prior art when repairing and transferring wheelsets. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of the wheelset grasping system provided by the present invention before the target wheelset rolls to the target position.

[0019] Figure 2 It is a structural schematic diagram of the wheelset grasping system provided by the present invention when the target wheelset rolls to the target position.

[0020] Figure 3 It is a schematic diagram of the relative positions of the height measuring device and the triggering member provided by the present invention.

[0021] Figure 4It is a structural schematic diagram of the target wheelset provided by the present invention being located at the target position of the track and the positioning device positioning the target wheelset at a certain viewing angle.

[0022] Figure 5 It is a structural schematic diagram of the target wheelset provided by the present invention being located at the target position of the track and the positioning device positioning the target wheelset at another viewing angle.

[0023] Figure 6 It is a structural schematic diagram of the grabbing mechanism provided by the present invention.

[0024] Reference numerals: 1. Track; 2. Target wheelset; 3. Height measuring device; 4. Positioning device; 5. Transfer device; 6. Traveling mechanism; 7. Grasping mechanism; 8. Fixed seat; 9. Positioning seat; 10. Positioning slot; 11. Lifting drive mechanism; 12. Buffer; 13. Guide mechanism; 14. Base; 15. Sliding seat; 16. Lifting drive assembly; 17. Support arm; 18. Connecting rod; 19. Clamping claw; 20. Pull rod; 21. Traveling wheelset; 22. Trigger; 23. Roller. DETAILED DESCRIPTION

[0025] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0026] Combine the following Figures 1 to 6 The wheelset gripping system of the present invention is described.

[0027] like Figures 1 to 6 As shown, the wheelset grasping system provided by the embodiment of the present invention includes a height measuring device 3, a transfer device 5 and a control device.

[0028] The height measuring device 3 can detect the height of the axle of the target wheelset 2. Different wheelsets have different diameters, and the heights of the axles of the wheelsets are also different. By detecting the height of the axle of the target wheelset 2 by the height measuring device 3, the position of the axle of the target wheelset 2 can be accurately determined.

[0029] The transfer device 5 includes a running mechanism 6 and a grabbing mechanism 7, and the height of the grabbing mechanism 7 can be adjusted. The grabbing mechanism 7 is used to grab the axle of the target wheelset 2. By adjusting the lifting and lowering of the grabbing mechanism 7, the target wheelset 2 with the axle at different heights can be grabbed. The running mechanism 6 is used to drive the grabbing mechanism 7 and the target wheelset 2 to move, so as to transfer the target wheelset 2.

[0030] At least the height measuring device 3, the traveling mechanism 6 and the grasping mechanism 7 are all electrically connected to the control device, which can control the operation of the traveling mechanism 6 and control the lifting and lowering position of the grasping mechanism 7 according to the height of the axle of the detected target wheelset 2.

[0031] In this configuration, the height of the axle of the target wheelset 2 is detected by the height measuring device 3, and the detection result is sent to the control device, which controls the height of the grabbing mechanism 7 of the transfer device 5 according to the detected axle height. At this time, the control device controls the running mechanism 6 of the transfer device 5 to operate so that the transfer device 5 is close to the target wheelset 2, and at the same time controls the grabbing mechanism 7 of the transfer device 5 to grab the axle of the target wheelset 2. After the grabbing mechanism 7 completes the grabbing action of the target wheelset 2, the running mechanism 6 can drive the grabbing mechanism 7 and the target wheelset 2 to move, so as to transfer the target wheelset 2. The target wheelset 2 is transferred by using the wheelset grabbing system provided by the embodiment of the present invention, which effectively reduces manual operation, labor intensity and labor cost, and solves the problem of high manual labor intensity in the prior art when repairing and transferring wheelsets.

[0032] In the embodiment of the present invention, the wheelset grasping system further includes a track and a positioning device.

[0033] Specifically, the track 1 can be fixedly arranged on the ground between the two workstations, and the target wheelset 2 is placed on the track 1, and the target wheelset 2 can roll along the extension direction of the track 1. When the target wheelset 2 passes the height measuring device 3, the height measuring device 3 can measure the height of the wheel axle of the target wheelset 2.

[0034] The positioning device 4 is used to position the target wheelset 2 at the target position of the track 1, so that the target wheelset 2 can be stopped at the target position of the track 1 and ensure the stability of the position of the target wheelset 2, so that the transfer device 5 can accurately grasp the axle of the target wheelset 2.

[0035] It should be noted that the power for the target wheel pair 2 to roll on the track 1 can be driven by a mechanical drive device, or by manually applying a driving force to the target wheel pair 2, as long as the target wheel pair 2 can roll on the track 1, and no specific limitation is made here. The height measuring device 3 and the positioning device 4 can be set at a position relatively close to the previous workstation on the track 1 to reduce the rolling distance of the target wheel pair 2 on the track 1, reduce the driving force required to be applied to the target wheel pair 2 by humans, and reduce labor intensity. In general, the rolling distance of the target wheel pair 2 on the track 1 is less than ten meters, which greatly reduces the labor intensity compared to the prior art that relies entirely on manual transfer of wheelsets between two workstations, and the distance between the two workstations is 100 meters.

[0036] In the embodiment of the present invention, the positioning device 4 includes a fixing seat 8, a positioning seat 9, a lifting drive mechanism 11 and a first detection element. Figure 4 and Figure 5 shown.

[0037] The fixing seat 8 is relatively fixed to the track 1, and the positioning seat 9 is located at the target position of the track 1 and at the side of the track 1 close to the wheel rim of the target wheelset 2. The target wheelset 2 has a wheel rim and a tread, the tread is in contact with the track 1, and the wheel rim is suspended relative to the track 1. The positioning seat 9 is set at the side of the track 1 close to the wheel rim of the target wheelset 2, and when the target wheelset 2 passes the target position of the track 1, the target wheelset 2 is just located above the positioning seat 9.

[0038] The positioning seat 9 is slidably connected to the fixed seat 8, and the sliding direction of the positioning seat 9 relative to the fixed seat 8 is arranged along the vertical direction, and the lifting drive mechanism 11 is used to drive the positioning seat 9 to slide back and forth relative to the fixed seat 8. In other words, the positioning seat 9 can be lifted and lowered, and the lifting drive mechanism 11 is used to drive the positioning seat 9 to lift and lower.

[0039] Before the target wheelset 2 reaches the target position of the track 1, the positioning seat 9 is located at a lower position so that the height of the upper end of the positioning seat 9 is lower than the height of the lowest point of the wheel rim of the target wheelset 2 to ensure that the target wheelset 2 can smoothly reach the target position of the track 1.

[0040] A positioning groove 10 is provided at the upper end of the positioning seat 9, and the positioning groove 10 can be used for the wheel rim of the target wheel pair 2 to enter, so that the wheel rim of the target wheel pair 2 is partially embedded in the positioning groove 10. The above-mentioned first detection element is used to detect the relative position of the target wheel pair 2 and the positioning groove 10, and the first detection element and the lifting drive mechanism 11 are both electrically connected to the control device. When the first detection element detects that the wheel rim of the target wheel pair 2 is located above the positioning groove 10, a signal is sent to the control device, and the control device controls the lifting drive mechanism 11 to operate to drive the positioning seat 9 to slide upward until the side wall of the positioning groove 10 abuts against the wheel rim of the target wheel pair 2, and the lifting drive mechanism 11 is controlled to stop running. At this time, the tread of the target wheel pair 2 is still in contact with the track 1. Through the interaction between the side wall of the positioning groove 10 and the wheel rim of the target wheel pair 2, the target wheel pair 2 can be positioned at the target position of the track 1, ensuring that the position of the target wheel pair 2 is stable and convenient for grabbing.

[0041] The positioning groove 10 is a V-shaped groove arranged at the upper end of the positioning seat 9. The V-shaped groove can be adapted to target wheelsets 2 of different diameters and has strong applicability.

[0042] The first detection element may be a light sensor, which is disposed in the positioning groove 10. Specifically, the light sensor may be disposed at the bottom of the V-shaped groove. When the target wheelset 2 reaches the target position of the track 1, the wheel rim of the target wheelset 2 is located above the light sensor, which blocks the light sensor, and the light intensity detected by the light sensor changes. The control device may determine whether the target wheelset 2 has reached the target position of the track 1 based on the change in the light intensity detected by the light sensor.

[0043] The wheelset has two wheels, and positioning devices 4 are respectively arranged at the positions of the two wheels corresponding to the target positions of the track 1. The above-mentioned first detection element is arranged in the positioning groove 10 of each positioning device 4. When the first detection elements of the two positioning devices 4 are triggered, it is regarded that the target wheelset 2 has reached the target position of the track 1.

[0044] In some embodiments, the positioning device 4 also includes a second detection element, which is arranged on the positioning seat 9 and is used to detect the pressure between the target wheelset 2 and the positioning seat 9. When the pressure between the target wheelset 2 and the positioning seat 9 reaches a certain value, it indicates that the positioning seat 9 has risen into place, and the target wheelset 2 supported on the track 1 can be effectively positioned.

[0045] The second detection element is electrically connected to the control device. When the pressure value detected by the second detection element is greater than a preset value, the control device controls the lifting drive mechanism 11 to stop running, so that the positioning seat 9 stops lifting and lowering, and keeps the position of the positioning seat 9 stable.

[0046] The second detection element can be, but is not limited to, a pressure sensor.

[0047] At this time, the lifting drive mechanism 11 can be set to any structural form such as a cylinder, a hydraulic cylinder, an electric cylinder, a gear rack transmission, a screw nut transmission, etc., and the details will not be elaborated again.

[0048] In other embodiments, the lifting drive mechanism 11 is configured to be driven by a cylinder. Specifically, the lifting drive mechanism 11 includes a cylinder and a pneumatic control circuit.

[0049] The axis of the cylinder is arranged in the vertical direction, the cylinder barrel of the cylinder is connected to the fixing seat 8, and the piston rod of the cylinder is connected to the positioning seat 9. The pneumatic control circuit is used to control the telescopic action of the cylinder and has the function of maintaining pressure so that the cylinder is fixed at a certain telescopic length, so that the cylinder can provide a certain supporting force.

[0050] The axle and wheel of the wheelset are forged parts, which are formed by repeated impact compression. Their density is greater than that of ordinary steel. The weight of the wheelset is very large, and the lifting force provided by the cylinder cannot lift the wheelset off the track 1. The target wheelset 2 is a large load for the cylinder. When the cylinder is extended to the pressure between the locating seat 9 and the wheel rim of the target wheelset 2 increases to a certain value when driving the locating seat 9 to rise, the cylinder cannot continue to extend. At this time, the pneumatic control circuit is switched to the pressure-maintaining state to ensure the stability of the position of the locating seat 9.

[0051] In the embodiment of the present invention, the positioning device 4 further includes at least one of a buffer 12 and a guide mechanism 13. Figure 4 shown.

[0052] The buffer member 12 is disposed between the positioning seat 9 and the fixing seat 8 . The buffer member 12 is used to alleviate the impact generated by the target wheelset 2 , thereby reducing damage to the lifting drive mechanism 11 .

[0053] Specifically, the buffer member 12 may be, but is not limited to, a spring or an elastic support block.

[0054] The guide mechanism 13 is disposed between the positioning seat 9 and the fixing seat 8 , and is used to guide the sliding of the positioning seat 9 relative to the fixing seat 8 , so as to ensure that the sliding of the positioning seat 9 is smooth.

[0055] The guide mechanism 13 may be, but is not limited to, a guide column, which is fixedly connected to the positioning seat 9 , and slidably connected to the fixing seat 8 . The buffer 12 may also be disposed between the guide column and the fixing seat 8 .

[0056] In the embodiment of the present invention, the grasping mechanism 7 includes a base 14, a sliding seat 15, a lifting drive assembly 16 and a mechanical claw. Figure 6 shown.

[0057] The base 14 is fixedly arranged on the walking mechanism 6 as a support for the grabbing mechanism 7. The sliding seat 15 is slidably connected to the base 14, and the sliding direction of the sliding seat 15 relative to the base 14 is arranged along the vertical direction. The lifting drive assembly 16 is arranged between the sliding seat 15 and the base 14, and the lifting drive assembly 16 is used to drive the sliding seat 15 to slide reciprocatingly relative to the base 14, so as to realize the reciprocating lifting of the sliding seat 15.

[0058] The mechanical claw is arranged on the sliding seat 15, and the mechanical claw can be raised and lowered synchronously with the sliding seat 15. The mechanical claw is used to clamp or release the wheel axle of the target wheelset 2.

[0059] The lifting drive assembly 16 and the mechanical claw are both electrically connected to the control device, and the control device can control the start and stop of the lifting drive assembly 16 and the movement of the mechanical claw to achieve automatic control of the grasping mechanism 7.

[0060] The lifting drive assembly 16 can be, but is not limited to, configured as any one of a hydraulic cylinder, an electric cylinder, a gear rack transmission, a screw nut transmission, etc., which will not be described in detail.

[0061] In this embodiment, the mechanical claw includes a support arm 17, a pull rod 20, a driving member and at least one pair of clamping claws, such as Figure 6 shown.

[0062] The axis of the support arm 17 is arranged in the horizontal direction, and the first end of the support arm 17 is fixedly connected to the sliding seat 15 so that the support arm 17 can be raised and lowered synchronously with the sliding seat 15. The second end of the support arm 17 extends in a direction away from the sliding seat 15, and the clamp is arranged at the second end of the support arm 17.

[0063] The clamping jaw includes a connecting rod portion 18 and a clamping jaw portion 19. Figure 6 One end of the connecting rod 18 is rotatably connected to the second end of the support arm 17, and the other end of the connecting rod 18 is rotatably connected to the clamping claw 19. The axis of the pull rod 20 is parallel to the axis of the support arm 17, and the pull rod 20 is slidably connected to the support arm 17. The sliding direction of the pull rod 20 relative to the support arm 17 is parallel to the axis of the support arm 17. The pull rod 20 is rotatably connected to the clamping claw 19. The rotation axis of the pull rod 20 relative to the support arm 17, the rotation axis of the connecting rod 18 relative to the clamping claw 19, and the rotation axis of the clamping claw 19 relative to the pull rod 20 are parallel to each other and are all arranged in the horizontal direction. The support arm 17, the pull rod 20, the connecting rod 18 and the clamping claw 19 form a connecting rod mechanism.

[0064] The two jaws in each pair are distributed in the vertical direction, each pair of jaws corresponds to the same pull rod 20, and the two jaws in each pair are symmetrically distributed about the axis of the pull rod 20. When the pull rod 20 slides relative to the support arm 17, the two jaws in each pair are close to or away from each other to achieve the action of clamping, opening and releasing.

[0065] The driving member is used to drive the pull rod 20 to slide back and forth relative to the support arm 17. The driving member is electrically connected to the control device, and the control device can control the start and stop of the driving member to achieve automatic control of the mechanical claw.

[0066] The above-mentioned driving component can be, but is not limited to, set to any structural form such as a hydraulic cylinder, an electric cylinder, a gear rack transmission, a screw nut transmission, etc., and can mainly drive the pull rod 20 to slide reciprocatingly relative to the support arm 17, and the details will not be elaborated again.

[0067] When the transfer device 5 in this embodiment grabs the axle of the target wheelset 2, it first adjusts the height of the grabbing mechanism 7 so that each pair of jaws of the mechanical claw is opened, and the space between the two jaws in each pair of jaws is facing the axle of the target wheelset 2. Then the walking mechanism 6 is controlled to drive the grabbing mechanism 7 to move in the direction close to the target wheelset 2 until the axle of the target wheelset 2 is located between the two jaws 19 of each pair of jaws. At this time, the driving member is controlled to move so that the two jaws in each pair of jaws are close to each other until the jaws 19 clamp the axle of the target wheelset 2, and the grabbing of the axle of the target wheelset 2 is completed. After the grabbing of the target wheelset 2 is completed, before the target wheelset 2 is transferred, it is necessary to adjust the height of the grabbing mechanism 7 so that the target wheelset 2 is out of contact with the track 1, and then the walking mechanism 6 is controlled to run to the next station.

[0068] In this embodiment, the mechanical claw also includes a third detection element, which is arranged on the clamping jaw portion 19. The third detection element can detect the pressure between the clamping jaw portion 19 and the axle of the target wheelset 2. When the pressure between the clamping jaw portion 19 and the axle of the target wheelset 2 reaches a certain value, it indicates that the mechanical claw has clamped the axle of the target wheelset 2.

[0069] The third detection element is electrically connected to the control device, and the control device controls the driving member, the lifting drive assembly 16 and the walking mechanism 6 according to the detection result of the third detection element.

[0070] Specifically, the third detection element may be, but is not limited to, a pressure sensor.

[0071] In some embodiments, a plurality of rollers 23 are provided on the clamping jaw portion 19, and the plurality of rollers 23 are spaced apart along the extension direction of the clamping jaw portion 19. The rollers 23 can rotate relative to the clamping jaw portion 19, so that when the mechanical claw clamps the axle of the target wheelset 2, the wear on the axle of the target wheelset 2 and the clamping jaw portion 19 can be reduced.

[0072] The material of the roller 23 may be, but is not limited to, nylon.

[0073] In the embodiment of the present invention, the traveling mechanism 6 has a traveling wheel pair 21, and the traveling wheel pair 21 can roll on the track 1. The traveling mechanism 6 itself also has a vehicle body and a power assembly, and the power assembly is electrically connected to the control device. The power assembly and the traveling wheel pair 21 are both arranged on the vehicle body, and the power assembly can drive the traveling wheel pair 21 to rotate relative to the vehicle body to drive the vehicle body to move.

[0074] That is to say, the traveling mechanism 6 is set to the structure of an RGV trolley (the full name in English is Rail Guided Vehicle, and the Chinese name is rail-type automatic guided vehicle), so that the traveling mechanism 6 has excellent stability and safety, and the path is precise, and it can reach the predetermined position very accurately, reduce position deviation, and improve the transfer accuracy and transfer efficiency of the transfer device 5.

[0075] In the embodiment of the present invention, the height measuring device 3 includes a fixing portion, a lifting portion, an elastic member and a distance measuring element.

[0076] The fixed part serves as a supporting structure of the height measuring device 3 and is fixed relative to the track 1. The lifting part is slidably connected to the fixed part, and the lifting part is arranged in a vertical direction relative to the sliding direction of the fixed part. An elastic member is arranged between the lifting part and the fixed part, and the elastic member can make the lifting part have a tendency to slide upward.

[0077] The track 1 has two rails, each of which corresponds to a wheel of the target wheelset 2. The fixed part of the height measuring device 3 can be set between the two rails of the track 1. When the target wheelset 2 passes over the height measuring device 3, the wheel axle of the target wheelset 2 can interact with the lifting part to drive the lifting part to slide downward relative to the fixed part. In this process, the elastic part undergoes elastic deformation to accumulate energy.

[0078] The distance measuring element can detect the relative position of the lifting part and the fixed part. The distance measuring element is electrically connected to the control device. The control device can determine the height of the upper end of the lifting part according to the detected relative position of the lifting part and the fixed part, thereby determining the height of the axle of the target wheelset 2.

[0079] The distance measuring element may be, but is not limited to, a distance measuring sensor.

[0080] When the axle of the target wheelset 2 passes the position of the height measuring device 3, the elastic member restores its deformation and releases energy. Under the action of the elastic member, the lifting part slides upward relative to the fixed part until the lifting part returns to the highest position, waiting for the arrival of the next target wheelset 2.

[0081] In order to ensure that the lifting part can be smoothly pressed downward during the rolling of the target wheelset 2, a guide slope can be provided on the lifting part, and the height of the guide slope gradually increases in the direction approaching the positioning device 4.

[0082] In this embodiment, the height measuring device 3 is set to a contact measurement structure, so that the measurement of the axle height of the target wheelset 2 is more accurate, which is beneficial to improving the grasping accuracy and grasping efficiency of the transfer device 5 for the target wheelset 2, and improving the working efficiency of the wheelset grasping system.

[0083] In the embodiment of the present invention, the wheelset grasping system further includes a triggering member 22, and along the rolling direction of the target wheelset 2 on the track 1, the triggering member 22 is located at the downstream position of the height measuring device 3, that is, when the target wheelset 2 rolls along the track 1 from the upper station to the lower station, the target wheelset 2 first passes through the height measuring device 3, and then passes through the triggering member 22, Figure 3 .

[0084] When the target wheelset 2 passes above the triggering member 22, the triggering member 22 is triggered. The triggering member 22 is electrically connected to the control device, and the control device can receive a signal indicating that the triggering member 22 is triggered.

[0085] When batch maintenance is performed on wheelsets, each target wheelset 2 passes through the height measuring device 3 in turn. The height data of the axles of different target wheelsets 2 can be recorded in order according to the triggering time of the trigger member 22 by different target wheelsets 2, so as to adjust the height of the grabbing mechanism 7 of the transfer device 5 in sequence to grab and transfer different target wheelsets 2, so that the transfer process can proceed in an orderly manner.

[0086] The trigger member 22 may be, but is not limited to, a button. The button may be disposed on one side of the track 1 near the wheel rim of the target wheel pair 2, and when the target wheel pair 2 rolls to the vicinity of the trigger member 22, the wheel rim of the target wheel pair 2 rolls on the button, and the button is pressed down, thereby triggering the button.

[0087] In summary, the wheelset grasping system provided in the embodiment of the present invention can replace the manual rolling process of the wheelset to realize the circulation of the wheelset between different workstations, has high automation, and greatly reduces the labor intensity of manual work. The wheelset grasping system provided in this embodiment realizes the precise grasping of wheelsets with different axle heights through the setting of the height measuring device 3 and the lifting grasping mechanism 7, can flexibly adapt to wheelsets of various diameters, has strong adaptability, greatly improves the working efficiency, and prolongs the service life of the mechanical claw.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wheelset grabbing system, characterized in that: include: A height measuring device (3) adapted to detect the height of the wheel axle of the target wheelset (2); The transfer device (5) comprises a walking mechanism (6) and a gripping mechanism (7) whose height can be raised and lowered, wherein the gripping mechanism (7) is suitable for gripping the wheel axle of the target wheelset (2), and the walking mechanism (6) is suitable for driving the gripping mechanism (7) to move; A control device, wherein at least the height measuring device (3), the walking mechanism (6) and the grasping mechanism (7) are electrically connected to the control device, and the control device is suitable for controlling the operation of the walking mechanism (6) and controlling the lifting position of the grasping mechanism (7) according to the detected height of the axle of the target wheelset (2).

2. The wheelset gripping system according to claim 1, characterized in that: Also includes: A track (1) suitable for the target wheelset (2) to roll along the extension direction of the track (1); A positioning device (4) is suitable for positioning the target wheelset (2) at a target position on the track (1).

3. The wheelset gripping system according to claim 2, characterized in that: The positioning device (4) comprises: A fixed seat (8) fixed relative to the track (1); A positioning seat (9) is located at a side of the target position of the track (1) close to the wheel rim of the target wheelset (2), the positioning seat (9) is slidably connected to the fixing seat (8), the positioning seat (9) is arranged in a vertical direction relative to the sliding direction of the fixing seat (8), and a positioning groove (10) is arranged at the upper end of the positioning seat (9), the positioning groove (10) being suitable for the wheel rim of the target wheelset (2) to enter; a lifting drive mechanism (11), adapted to drive the positioning seat (9) to slide reciprocatingly relative to the fixing seat (8), the lifting drive mechanism (11) being electrically connected to the control device; A first detection element is suitable for detecting the relative position between the target wheel pair (2) and the positioning groove (10), and the first detection element is electrically connected to the control device.

4. The wheelset gripping system according to claim 3, characterized in that: The positioning device (4) further comprises: A buffer member (12) is disposed between the positioning seat (9) and the fixing seat (8), the buffer member (12) being suitable for alleviating the impact generated by the target wheelset (2); And / or, a guide mechanism (13) is arranged between the positioning seat (9) and the fixing seat (8), and the guide mechanism (13) is suitable for guiding the sliding of the positioning seat (9) relative to the fixing seat (8).

5. The wheelset gripping system according to claim 3, characterized in that: The positioning device (4) further comprises: a second detection element, adapted to detect the pressure between the target wheelset (2) and the positioning seat (9), the second detection element being electrically connected to the control device, the control device being adapted to control the lifting drive mechanism (11) to stop operating when the pressure value detected by the second detection element is greater than a preset value; And / or, the lifting drive mechanism (11) comprises: A cylinder, wherein the axis of the cylinder is arranged in a vertical direction, the cylinder barrel of the cylinder is connected to the fixing seat (8), and the piston rod of the cylinder is connected to the positioning seat (9); The pneumatic control circuit is suitable for controlling the extension and retraction action of the cylinder.

6. The wheelset gripping system according to any one of claims 1 to 5, characterized in that: The grabbing mechanism (7) comprises: A base (14) fixedly mounted on the walking mechanism (6); A sliding seat (15) is slidably connected to the base (14), and the sliding seat (15) is arranged in a vertical direction relative to the sliding direction of the base (14); a lifting drive assembly (16), adapted to drive the sliding seat (15) to slide reciprocatingly relative to the base (14), the lifting drive assembly (16) being electrically connected to the control device; A mechanical claw is arranged on the sliding seat (15), and the mechanical claw is suitable for clamping or releasing the wheel axle of the target wheelset (2).

7. The wheelset gripping system according to claim 6, characterized in that: The mechanical claw comprises: a support arm (17), wherein the axis of the support arm (17) is arranged in a horizontal direction, a first end of the support arm (17) is fixedly connected to the sliding seat (15), and a second end of the support arm (17) extends in a direction away from the sliding seat (15); at least one pair of clamping jaws, two of each pair of the clamping jaws being distributed in a vertical direction, the clamping jaws comprising a connecting rod portion (18) and a clamping jaw portion (19), one end of the connecting rod portion (18) being rotatably connected to the second end of the support arm (17), and the other end of the connecting rod portion (18) being rotatably connected to the clamping jaw portion (19); A pull rod (20) is slidably connected to the support arm (17); a sliding direction of the pull rod (20) relative to the support arm (17) is parallel to an axis of the support arm (17); and the pull rod (20) is rotatably connected to the clamping claw portion (19); A driving member is suitable for driving the pull rod (20) to slide back and forth relative to the support arm (17), and the driving member is electrically connected to the control device.

8. The wheelset gripping system according to claim 7, characterized in that: The mechanical claw also includes: A third detection element is arranged on the clamping jaw portion (19), the third detection element is suitable for detecting the pressure between the clamping jaw portion (19) and the wheel axle of the target wheelset (2), and the third detection element is electrically connected to the control device.

9. The wheelset gripping system according to any one of claims 2 to 5, characterized in that: The height measuring device (3) comprises: A fixing portion, fixed relative to the track (1); A lifting part, slidably connected to the fixed part, wherein the lifting part is arranged in a vertical direction relative to a sliding direction of the fixed part; An elastic member, disposed between the lifting portion and the fixing portion, the elastic member being adapted to allow the lifting portion to have a tendency to slide upward; The distance measuring element is suitable for detecting the relative position of the lifting part and the fixed part. The distance measuring element is electrically connected to the control device. The control device is suitable for determining the height of the upper end of the lifting part according to the detected relative position of the lifting part and the fixed part.

10. The wheelset gripping system according to any one of claims 2 to 5, characterized in that: Also includes: A trigger member (22) is located downstream of the height measuring device (3) along the rolling direction of the target wheelset (2) on the track (1); the trigger member (22) is electrically connected to the control device; and the trigger member (22) is suitable for being triggered when the target wheelset (2) passes above the trigger member (22).

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