Wheel pair gripping system

Abstract

This invention relates to the field of wheelset transfer device technology, providing a wheelset gripping system including a height measuring device, a transfer device, and a control device. The height measuring device detects the height of the axle of the target wheelset. The transfer device includes a traveling mechanism and a gripping mechanism with adjustable height. The gripping mechanism grips the axle of the target wheelset, and the traveling mechanism drives the gripping mechanism to move. At least the height measuring device, the traveling mechanism, and the gripping mechanism are all electrically connected to the control device. The control device controls the operation of the traveling mechanism and controls the lifting position of the gripping mechanism according to the detected axle height. Thus, by using a height measuring device to detect the axle height of the target wheelset, controlling the height of the gripping mechanism based on the detected height, using the gripping mechanism of the transfer device to grip the target wheelset, and using the traveling mechanism for transfer, manual operation is reduced, labor intensity is lowered, and the problem of high manual labor intensity during the maintenance and transfer of wheelsets in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of wheelset transfer device technology, and provides a wheelset gripping system. Background Technology

[0002] Wheelsets are key components that enable rail vehicles to contact and move along the track. During normal operation, the wheelsets are in contact with the track, resulting in friction and continuous wear on the wheel tread. After a period of operation, the shape of the wheel tread changes. Due to factors such as operating speed, wheel material, and geographical environment, the wear on the wheel tread varies, leading to different axle heights (approximately ranging from 390 mm to 460 mm). When a rail vehicle reaches its appropriate maintenance stage, the wheelsets are disassembled and inspected.

[0003] During wheelset maintenance, the wheelsets need to be transferred. Due to the structural characteristics of wheelsets, related technologies generally involve transferring them by rolling them on a transfer track. The power for the wheelsets to rotate on the transfer track mainly comes from the force applied manually, resulting in low automation and low transfer efficiency. Furthermore, the transfer distance is relatively long, reaching approximately 100 meters, leading to high labor intensity and labor costs.

[0004] Therefore, how to solve the problem of high manual labor intensity in the maintenance and transfer of wheelsets in the existing technology has become an important technical problem to be solved by those skilled in the art. Summary of the Invention

[0005] This invention provides a wheelset gripping system to address the shortcomings of high manual labor intensity in the inspection and transfer of wheelsets in related technologies, thereby improving the automation level of wheelset rotation, reducing manual labor intensity, lowering labor costs, and increasing transfer efficiency.

[0006] This invention provides a wheelset grasping system, comprising:

[0007] A height measuring device suitable for detecting the height of the axle of a target wheelset;

[0008] The transfer device includes a walking mechanism and a gripping mechanism with adjustable height. The gripping mechanism is adapted to grip the axle of the target wheelset, and the walking mechanism is adapted to drive the gripping mechanism to displacement.

[0009] The control device includes at least the height measuring device, the walking mechanism, and the gripping mechanism, all of which are electrically connected to the control device. The control device is adapted to control the operation of the walking mechanism and to control the lifting position of the gripping mechanism according to the detected height of the wheel axle of the target wheelset.

[0010] A wheelset gripping system according to the present invention further includes:

[0011] A track, adapted for the target wheelset to roll along the extension direction of the track;

[0012] A positioning device adapted to position the target wheelset at a target position on the track.

[0013] According to a wheelset gripping system provided by the present invention, the positioning device includes:

[0014] The fixed base is fixed relative to the track;

[0015] A positioning seat is located on the side of the target position of the track near the rim of the target wheelset. The positioning seat is slidably connected to the fixed seat. The sliding direction of the positioning seat relative to the fixed seat is arranged in the vertical direction. A positioning groove is provided at the upper end of the positioning seat. The positioning groove is adapted for the rim of the target wheelset to enter.

[0016] A lifting drive mechanism is adapted to drive the positioning seat to slide back and forth relative to the fixed seat, and the lifting drive mechanism is electrically connected to the control device;

[0017] A first detection element is adapted to detect the relative position of the target wheelset and the positioning groove, and the first detection element is electrically connected to the control device.

[0018] According to a wheelset gripping system provided by the present invention, the positioning device further includes:

[0019] A buffer element is disposed between the positioning seat and the fixed seat, and the buffer element is adapted to mitigate the impact generated by the target wheelset;

[0020] And / or, a guiding mechanism, disposed between the positioning seat and the fixed seat, the guiding mechanism being adapted to slide the positioning seat relative to the fixed seat.

[0021] According to a wheelset gripping system provided by the present invention, the positioning device further includes:

[0022] The second detection element is adapted to detect the pressure between the target wheelset and the positioning seat. The second detection element is electrically connected to the control device. The control device is 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.

[0023] And / or, the lifting drive mechanism includes:

[0024] A cylinder, wherein the cylinder axis is arranged in a vertical direction, the cylinder barrel is connected to the fixed seat, and the cylinder piston rod is connected to the positioning seat;

[0025] A pneumatic control circuit is provided to control the extension and retraction of the cylinder.

[0026] According to a wheelset gripping system provided by the present invention, the gripping mechanism includes:

[0027] The base is fixedly mounted on the walking mechanism;

[0028] A sliding seat is slidably connected to the base, and the sliding direction of the sliding seat relative to the base is arranged in the vertical direction;

[0029] A lifting drive assembly is adapted to drive the sliding seat to reciprocate relative to the base, and the lifting drive assembly is electrically connected to the control device;

[0030] A mechanical gripper is disposed on the sliding seat, and the mechanical gripper is adapted to clamp or release the axle of the target wheelset.

[0031] According to a wheelset gripping system provided by the present invention, the mechanical gripper includes:

[0032] A support arm, the axis of which is set in a horizontal direction, a first end of which is fixedly connected to the sliding seat, and a second end of which extends away from the sliding seat;

[0033] At least one pair of grippers, two of the grippers in each pair are distributed in a vertical direction, each gripper includes a connecting rod portion and a gripper 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 gripper portion;

[0034] A pull rod is slidably connected to the support arm, 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 gripper portion;

[0035] A drive element is adapted to drive the pull rod to slide back and forth relative to the support arm, and the drive element is electrically connected to the control device.

[0036] According to a wheelset gripping system provided by the present invention, the mechanical gripper further includes:

[0037] A third detection element is disposed on the gripper portion. The third detection element is adapted to detect the pressure between the gripper portion and the wheel axle of the target wheelset. The third detection element is electrically connected to the control device.

[0038] According to a wheelset gripping system provided by the present invention, the height measuring device includes:

[0039] The fixing part is fixed relative to the track;

[0040] A lifting part is slidably connected to the fixed part, and the sliding direction of the lifting part relative to the fixed part is arranged in the vertical direction;

[0041] An elastic element is disposed between the lifting part and the fixed part, and the elastic element is adapted to give the lifting part an upward sliding tendency;

[0042] A ranging element is adapted to detect the relative position of the lifting part and the fixed part. The ranging element is electrically connected to the control device, which is adapted to determine the height of the upper end of the lifting part based on the detected relative position of the lifting part and the fixed part.

[0043] A wheelset gripping system according to the present invention further includes:

[0044] A trigger, located downstream of the height measuring device, along the rolling direction of the target wheelset on the track, electrically connected to the control device, and adapted to be triggered when the target wheelset passes over it.

[0045] The wheelset gripping system provided by this invention includes a height measuring device, a transfer device, and a control device. The height measuring device detects the height of the axle of the target wheelset. The transfer device includes a traveling mechanism and a gripping mechanism, the height of which is adjustable. The gripping mechanism grips the axle of the target wheelset, and the traveling mechanism drives the gripping mechanism and the target wheelset to move, thereby transferring the target wheelset. At least the height measuring device, the traveling mechanism, and the gripping mechanism are electrically connected to the control device. The control device controls the operation of the traveling mechanism and controls the lifting position of the gripping mechanism based on the detected axle height of the target wheelset. With this configuration, the height of the axle of the target wheelset is detected by the height measuring device, and the detection result is sent to the control device. The control device controls the height of the gripping mechanism of the transfer device based on the detected axle height. The control device controls the traveling mechanism of the transfer device to move the transfer device closer to the target wheelset, and simultaneously controls the gripping mechanism of the transfer device to grip the axle of the target wheelset. After the gripping mechanism completes the gripping action on the target wheelset, the traveling mechanism drives the gripping mechanism and the target wheelset to move, thereby transferring the target wheelset. The wheelset grabbing system provided by this invention effectively reduces manual operation, lowers labor intensity and labor costs, and solves the problem of high manual labor intensity in the prior art when inspecting and transferring wheelsets. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of the wheelset gripping system provided by the present invention before the target wheelset rolls to the target position.

[0048] Figure 2 This is a schematic diagram of the wheel set gripping system provided by the present invention when the target wheel set rolls to the target position.

[0049] Figure 3 This is a schematic diagram showing the relative positions of the height measuring device and the trigger element provided by the present invention.

[0050] Figure 4 This is a schematic diagram of the structure of the positioning device when the target wheelset is located at the target position on the track and from a certain perspective, as provided by the present invention.

[0051] Figure 5 This is a schematic diagram of the structure of the positioning device when the target wheelset is located at the target position on the track and from another perspective, as provided by the present invention.

[0052] Figure 6 This is a schematic diagram of the gripping mechanism provided by the present invention.

[0053] Figure label:

[0054] 1. Track; 2. Target wheelset; 3. Height measuring device; 4. Positioning device; 5. Transfer device; 6. Walking mechanism; 7. Gripping mechanism; 8. Fixed seat; 9. Positioning seat; 10. Positioning groove; 11. Lifting drive mechanism; 12. Buffer; 13. Guide mechanism; 14. Base; 15. Sliding seat; 16. Lifting drive assembly; 17. Support arm; 18. Linkage part; 19. Gripper part; 20. Pull rod; 21. Traveling wheelset; 22. Trigger; 23. Roller. Detailed Implementation

[0055] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0056] The following is combined with Figures 1 to 6 The wheelset gripping system of the present invention is described.

[0057] like Figures 1 to 6As shown, the wheelset gripping system provided in this embodiment of the invention includes a height measuring device 3, a transfer device 5, and a control device.

[0058] The height measuring device 3 can detect the height of the axle of the target wheelset 2. Different wheelsets have different diameters, and therefore different axle heights. By detecting the height of the axle of the target wheelset 2 using the height measuring device 3, the position of the axle of the target wheelset 2 can be accurately determined.

[0059] The transfer device 5 includes a traveling mechanism 6 and a gripping mechanism 7, the height of which is adjustable. The gripping mechanism 7 is used to grip the axle of the target wheelset 2. By adjusting the height of the gripping mechanism 7, the target wheelset 2 with axles at different heights can be gripped. The traveling mechanism 6 is used to drive the gripping mechanism 7 and the target wheelset 2 to move, thereby transferring the target wheelset 2.

[0060] At least the height measuring device 3, the walking mechanism 6, and the gripping mechanism 7 are all electrically connected to the control device. The control device can control the operation of the walking mechanism 6 and can control the lifting position of the gripping mechanism 7 according to the height of the wheel axle of the detected target wheelset 2.

[0061] With this setup, the height measuring device 3 detects the height of the axle of the target wheelset 2 and sends the detection result to the control device. The control device controls the height of the gripping mechanism 7 of the transfer device 5 based on the detected axle height. At this time, the control device controls the walking mechanism 6 of the transfer device 5 to move the transfer device 5 closer to the target wheelset 2, and simultaneously controls the gripping mechanism 7 of the transfer device 5 to grip the axle of the target wheelset 2. After the gripping mechanism 7 completes its gripping action on the target wheelset 2, the walking mechanism 6 can then drive the gripping mechanism 7 and the target wheelset 2 to move, thereby transferring the target wheelset 2. Using the wheelset gripping system provided in this embodiment of the invention to transfer the target wheelset 2 effectively reduces manual operation, lowers labor intensity and labor costs, and solves the problem of high manual labor intensity in the prior art when inspecting and transferring wheelsets.

[0062] In this embodiment of the invention, the wheelset gripping system further includes a track and a positioning device.

[0063] Specifically, track 1 can be fixedly set on the ground between two workstations. The target wheelset 2 is placed on track 1, and the target wheelset 2 can roll along the extension direction of 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.

[0064] The positioning device 4 is used to position the target wheelset 2 at the target position on the track 1, so that the target wheelset 2 can stop at the target position on the track 1 and ensure that the position of the target wheelset 2 is stable, so that the transfer device 5 can accurately grab the axle of the target wheelset 2.

[0065] It should be noted that the power for the target wheelset 2 to roll on track 1 can be driven by a mechanical drive device or by manual application of pushing force to the target wheelset 2, as long as it can roll on track 1; no specific limitation is made here. The height measuring device 3 and the positioning device 4 can be placed on track 1 relatively close to the previous workstation to reduce the rolling distance of the target wheelset 2 on track 1, thereby reducing the pushing force required by manual operation and lowering labor intensity. Generally, the rolling distance of the target wheelset 2 on track 1 is less than ten meters. Compared to the existing technology where wheelsets are transported entirely manually between two workstations with a distance of up to 100 meters, this significantly reduces labor intensity.

[0066] In this embodiment of the invention, the positioning device 4 includes a fixed base 8, a positioning base 9, a lifting drive mechanism 11, and a first detection element, such as... Figure 4 and Figure 5 As shown.

[0067] The fixed seat 8 is fixed relative to the track 1, and the positioning seat 9 is located at the target position on the track 1, specifically on the side of the track 1 closest to the rim of the target wheelset 2. The target wheelset 2 has a rim and a tread; the tread contacts the track 1, and the rim is suspended relative to the track 1. By positioning the positioning seat 9 on the side of the track 1 closest to the rim of the target wheelset 2, when the target wheelset 2 passes the target position on the track 1, the target wheelset 2 is exactly above the positioning seat 9.

[0068] The positioning seat 9 is slidably connected to the fixed seat 8. The sliding direction of the positioning seat 9 relative to the fixed seat 8 is set in the vertical direction. The lifting drive mechanism 11 is used to drive the positioning seat 9 to slide back and forth relative to the fixed seat 8. That is to say, the positioning seat 9 can be raised and lowered, and the lifting drive mechanism 11 is used to drive the positioning seat 9 to rise and fall.

[0069] Before the target wheelset 2 reaches the target position on track 1, the positioning seat 9 is in 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 flange of the target wheelset 2, so as to ensure that the target wheelset 2 can reach the target position on track 1 smoothly.

[0070] A positioning groove 10 is provided at the upper end of the positioning seat 9, allowing the rim of the target wheelset 2 to enter and embed itself within the groove. The aforementioned first detection element detects the relative position of the target wheelset 2 and the positioning groove 10. Both the first detection element and the lifting drive mechanism 11 are electrically connected to the control device. When the first detection element detects that the rim of the target wheelset 2 is above the positioning groove 10, it sends a signal to the control device. The control device then controls the lifting drive mechanism 11 to operate, driving the positioning seat 9 to slide upwards until the sidewall of the positioning groove 10 abuts against the rim of the target wheelset 2. At this point, the lifting drive mechanism 11 stops operating. At this time, the tread of the target wheelset 2 remains in contact with the track 1. Through the interaction between the sidewall of the positioning groove 10 and the rim of the target wheelset 2, the target wheelset 2 can be positioned at the target location on the track 1, ensuring the stability of the target wheelset 2 and facilitating gripping.

[0071] The aforementioned positioning groove 10 is a V-shaped groove set on the upper end of the positioning seat 9. The V-shaped groove can adapt to target wheelsets 2 of different diameters and has strong applicability.

[0072] The first detection element mentioned above can be a light sensor, which is disposed within the positioning groove 10. Specifically, the light sensor can be disposed at the bottom of the V-shaped groove. When the target wheelset 2 reaches the target position on the track 1, the rim of the target wheelset 2 is above the light sensor, which will block the light sensor, causing a change in the light intensity detected by the light sensor. Based on the change in light intensity detected by the light sensor, the control device can determine whether the target wheelset 2 has reached the target position on the track 1.

[0073] The wheelset has two wheels. Positioning devices 4 are set at the target position of the track 1 corresponding to the positions of the two wheels. Each positioning device 4 has a positioning groove 10 with the aforementioned first detection element. The target wheelset 2 is considered to have reached the target position of the track 1 only when the first detection elements of both positioning devices 4 are triggered.

[0074] In some embodiments, the positioning device 4 further includes a second detection element disposed on the positioning seat 9, which 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 can effectively position the target wheelset 2 supported on the track 1.

[0075] The second detection element is electrically connected to the control device. When the pressure value detected by the second detection element is greater than the preset value, the control device controls the lifting drive mechanism 11 to stop running, so that the positioning seat 9 stops lifting and maintaining the stable position of the positioning seat 9.

[0076] The second sensing element can be, but is not limited to, a pressure sensor.

[0077] At this time, the lifting drive mechanism 11 can be configured as any structural form such as a cylinder, hydraulic cylinder, electric cylinder, gear and rack transmission, or screw and nut transmission, which will not be described in detail here.

[0078] In other embodiments, the lifting drive mechanism 11 is configured as a cylinder-driven structure. Specifically, the lifting drive mechanism 11 includes a cylinder and a pneumatic control circuit.

[0079] The cylinder's axis is vertically oriented, its cylinder barrel is connected to the fixed base 8, and its piston rod is connected to the positioning base 9. The pneumatic control circuit controls the cylinder's extension and retraction movements and has a pressure-holding function to fix the cylinder at a certain extension / retraction length, enabling it to provide a certain supporting force.

[0080] The wheelset's axle and wheels are both forged, formed through repeated impact compression, resulting in a higher density than ordinary steel. The wheelset is very heavy, and the lifting force provided by the cylinder is insufficient to remove it from track 1. The target wheelset 2 represents a significant load for the cylinder. When the positioning seat 9 rises, the cylinder can no longer extend when the pressure between the positioning seat 9 and the rim of the target wheelset 2 increases to a certain value. At this point, switching the pneumatic control circuit to a pressure-holding state ensures the stability of the positioning seat 9.

[0081] In this embodiment of the invention, the positioning device 4 further includes at least one of a buffer member 12 and a guiding mechanism 13, such as... Figure 4 As shown.

[0082] The buffer 12 is disposed between the positioning seat 9 and the fixed seat 8. The buffer 12 is used to mitigate the impact generated by the target wheelset 2 and can reduce damage to the lifting drive mechanism 11.

[0083] Specifically, the buffer 12 may be, but is not limited to, a spring or an elastic support block.

[0084] The guide mechanism 13 is disposed between the positioning seat 9 and the fixed seat 8. The guide mechanism 13 is used to guide the sliding of the positioning seat 9 relative to the fixed seat 8 to ensure that the positioning seat 9 slides smoothly.

[0085] The aforementioned guide mechanism 13 may be configured as a guide post, which is fixedly connected to the positioning seat 9 and slidably connected to the fixed seat 8. The buffer 12 may also be configured between the guide post and the fixed seat 8.

[0086] In this embodiment of the invention, the gripping mechanism 7 includes a base 14, a sliding seat 15, a lifting drive assembly 16, and a mechanical claw, such as... Figure 6 As shown.

[0087] The base 14 is fixedly mounted on the traveling mechanism 6, serving as a support for the gripping 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 set in the vertical direction. The lifting drive assembly 16 is disposed 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 back and forth relative to the base 14, so as to realize the reciprocating lifting of the sliding seat 15.

[0088] The mechanical gripper is mounted on the sliding seat 15 and can rise and fall synchronously with the sliding seat 15. The mechanical gripper is used to clamp or release the axle of the target wheelset 2.

[0089] Both the lifting drive assembly 16 and the mechanical gripper are electrically connected to the control device. The control device can control the start and stop of the lifting drive assembly 16 and the movement of the mechanical gripper to achieve automatic control of the gripping mechanism 7.

[0090] The aforementioned lifting drive assembly 16 can be configured as any structural form, such as a hydraulic cylinder, an electric cylinder, a gear and rack transmission, or a lead screw and nut transmission, and will not be described in detail here.

[0091] In this embodiment, the mechanical gripper includes a support arm 17, a pull rod 20, a drive component, and at least one pair of grippers, such as... Figure 6 As shown.

[0092] The axis of the support arm 17 is set in the horizontal direction. The first end of the support arm 17 is fixedly connected to the sliding seat 15 so that the support arm 17 can rise and fall synchronously with the sliding seat 15. The second end of the support arm 17 extends away from the sliding seat 15, and the gripper is set at the second end of the support arm 17.

[0093] The gripper includes a connecting rod portion 18 and a gripper portion 19, as shown in the reference. 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 gripper 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 gripper 19. The rotation axes of the pull rod 20 relative to the support arm 17, the rotation axes of the connecting rod 18 relative to the gripper 19, and the rotation axes of the gripper 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 gripper 19 form a linkage mechanism.

[0094] Two of the jaws in each pair are distributed vertically, 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 move closer or further apart to achieve the action of clamping, opening and releasing.

[0095] The drive component is used to drive the pull rod 20 to slide back and forth relative to the support arm 17. The drive component is electrically connected to the control device, which can control the start and stop of the drive component to achieve automatic control of the mechanical gripper.

[0096] The aforementioned driving component can be configured as any structure such as a hydraulic cylinder, electric cylinder, gear and rack transmission, or lead screw and nut transmission. Its main purpose is to drive the pull rod 20 to slide back and forth relative to the support arm 17. The specific details will not be elaborated further.

[0097] In this embodiment, when the transfer device 5 grips the axle of the target wheelset 2, it first adjusts the height of the gripping mechanism 7 so that each pair of grippers of the mechanical claw opens, with the space between the two grippers in each pair aligned with the axle of the target wheelset 2. Then, it controls the traveling mechanism 6 to move the gripping mechanism 7 in a direction closer to the target wheelset 2 until the axle of the target wheelset 2 is located between the two gripper portions 19 of each pair of grippers. At this point, it controls the drive component to move the two grippers in each pair closer to each other until the gripper portions 19 clamp the axle of the target wheelset 2, thus completing the gripping of the axle of the target wheelset 2. After gripping the target wheelset 2, before transferring the target wheelset 2, it is necessary to adjust the height of the gripping mechanism 7 to disengage the target wheelset 2 from the track 1, and then control the traveling mechanism 6 to move to the next workstation.

[0098] In this embodiment, the mechanical gripper also includes a third detection element. The third detection element is disposed on the gripper portion 19. The third detection element can detect the pressure between the gripper portion 19 and the axle of the target wheelset 2. When the pressure between the gripper portion 19 and the axle of the target wheelset 2 reaches a certain value, it indicates that the mechanical gripper has clamped the axle of the target wheelset 2.

[0099] The third detection element is electrically connected to the control device. Based on the detection result of the third detection element, the control device controls the drive component, the lifting drive assembly 16, and the walking mechanism 6.

[0100] Specifically, the third sensing element may be, but is not limited to, a pressure sensor.

[0101] In some embodiments, a plurality of rollers 23 are provided on the gripper portion 19. The plurality of rollers 23 are spaced apart along the extending direction of the gripper portion 19. The rollers 23 are rotatable relative to the gripper portion 19. When the mechanical gripper clamps the axle of the target wheelset 2, it can reduce the wear on the axle of the target wheelset 2 and the gripper portion 19.

[0102] The roller 23 may be made of, but is not limited to, nylon.

[0103] In this embodiment of the invention, the traveling mechanism 6 has a traveling wheel pair 21, which can roll on the track 1. The traveling mechanism 6 also has a vehicle body and a power assembly, which is electrically connected to a control device. Both the power assembly and the traveling wheel pair 21 are disposed on the vehicle body, and the power assembly can drive the traveling wheel pair 21 to rotate relative to the vehicle body, thereby causing the vehicle body to move.

[0104] In other words, by setting the walking mechanism 6 into the structure of an RGV (Rail Guided Vehicle), the walking mechanism 6 has excellent stability and safety, and the path is accurate, enabling it to reach the predetermined position very accurately, reducing position deviation and improving the transfer accuracy and transfer efficiency of the transfer device 5.

[0105] In this embodiment of the invention, the height measuring device 3 includes a fixed part, a lifting part, an elastic element, and a distance measuring element.

[0106] The fixed part serves as the support structure for 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 sliding direction of the lifting part relative to the fixed part is vertical. An elastic element is disposed between the lifting part and the fixed part, and the elastic element enables the lifting part to have an upward sliding tendency.

[0107] The track 1 has two rails, each corresponding to one 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 axle of the target wheelset 2 can interact with the lifting part, driving the lifting part to slide downward relative to the fixed part. During this process, the elastic element undergoes elastic deformation and accumulates energy.

[0108] The ranging element can detect the relative position of the lifting part and the fixed part. The ranging element is electrically connected to the control device. The control device can determine the height of the upper end of the lifting part based on the detected relative position of the lifting part and the fixed part, thereby determining the height of the wheel axle of the target wheelset 2.

[0109] The aforementioned ranging element may be, but is not limited to, a ranging sensor.

[0110] When the axle of the target wheelset 2 passes the position of the height measuring device 3, the elastic element recovers its deformation and releases energy. Under the action of the elastic element, 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.

[0111] To ensure that the lifting part can be smoothly pressed down during the rolling movement of the target wheelset 2, a guide slope can be set on the lifting part, and the height of the guide slope gradually increases along the direction close to the positioning device 4.

[0112] In this embodiment, the height measuring device 3 is configured as a contact measurement structure, which makes the measurement of the wheel axle height of the target wheelset 2 more accurate. This is beneficial to improving the gripping accuracy and efficiency of the transfer device 5 on the target wheelset 2, and improving the working efficiency of the wheelset gripping system.

[0113] In this embodiment of the invention, the wheelset gripping system further includes a trigger 22. Along the rolling direction of the target wheelset 2 on the track 1, the trigger 22 is located downstream of the height measuring device 3. That is, when the target wheelset 2 rolls along the track 1 from one station to the next, it first passes the height measuring device 3, then the trigger 22. Figure 3 .

[0114] When the target wheelset 2 passes over the trigger 22, the trigger 22 is activated. The trigger 22 is electrically connected to the control device, which can receive the signal that the trigger 22 has been activated.

[0115] When performing batch maintenance on wheelsets, each target wheelset 2 passes through the height measuring device 3 in sequence. Based on the triggering time of the trigger element 22 by different target wheelsets 2, the height data of the wheel axle of different target wheelsets 2 can be recorded in an orderly manner. This allows the height of the gripping mechanism 7 of the transfer device 5 to be adjusted in sequence to grip and transfer different target wheelsets 2, thus ensuring that the transfer process proceeds in an orderly manner.

[0116] The trigger 22 described above can be, but is not limited to, a button. The button can be placed on the side of the track 1 near the rim of the target wheelset 2. When the target wheelset 2 rolls to the vicinity of the trigger 22, the rim of the target wheelset 2 rolls on the button, pressing the button down and thus triggering the button.

[0117] In summary, the wheelset gripping system provided in this embodiment of the invention can replace manual rolling of wheelsets in the gripping and transfer process, enabling the transfer of wheelsets between different workstations. It boasts a high degree of automation and significantly reduces the labor intensity of manual labor. Through the height measuring device 3 and the liftable gripping mechanism 7, the wheelset gripping system provided in this embodiment achieves precise gripping of wheelsets with different axle heights. It can flexibly adapt to wheelsets of various diameters, exhibiting strong adaptability, greatly improving work efficiency, and extending the service life of the mechanical gripper.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wheelset grasping system, characterized in that, include: A height measuring device (3) is suitable for detecting the height of the wheel axle of the target wheelset (2), wherein the height measuring device (3) is a contact measuring device; The transfer device (5) includes a walking mechanism (6) and a gripping mechanism (7) whose height can be adjusted. The gripping mechanism (7) is adapted to grip the axle of the target wheelset (2), and the walking mechanism (6) is adapted to drive the gripping mechanism (7) to move. The control device is electrically connected to at least the height measuring device (3), the walking mechanism (6) and the gripping mechanism (7). The control device is adapted to control the operation of the walking mechanism (6) and control the lifting position of the gripping mechanism (7) according to the height of the wheel axle of the detected target wheelset (2). The track (1) is adapted to allow the target wheelset (2) to roll along the extension direction of the track (1); Positioning device (4) is adapted to position the target wheelset (2) at the target position on the track (1); The target wheelset (2) is placed on the track (1). The target wheelset (2) rolls along the extension direction of the track (1). When the target wheelset (2) passes the height measuring device (3), the height measuring device (3) measures the height of the wheel axle of the target wheelset (2) and sends the detection result to the control device. The control device controls the height of the gripping mechanism (7) of the transfer device (5) according to the detected height of the wheel axle. The control device controls the walking mechanism (6) of the transfer device (5) to run so that the transfer device (5) gets closer to the target wheelset (2). At the same time, the control device controls the gripping mechanism (7) of the transfer device (5) to grip the wheel axle of the target wheelset (2). After the gripping mechanism completes the gripping action of the target wheelset (2), the walking mechanism (6) can drive the gripping mechanism (7) and the target wheelset (2) to move so as to transfer the target wheelset (2). The wheelset grasping system also includes: The trigger (22) is located downstream of the height measuring device (3) along the rolling direction of the target wheelset (2) on the track (1), and is electrically connected to the control device. The trigger (22) is adapted to be triggered when the target wheelset (2) passes over the trigger (22). When the target wheelset (2) rolls along the track (1) from the previous station to the next station, the target wheelset (2) first passes the height measuring device (3) and then passes the trigger (22); according to the trigger time of the trigger (22) being triggered by different target wheelsets (2), the height data of the wheel axles of different target wheelsets (2) are recorded in an orderly manner, thereby adjusting the height of the gripping mechanism (7) of the transfer device (5) in sequence.

2. The wheelset gripping system according to claim 1, characterized in that, The positioning device (4) includes: The fixed seat (8) is fixed relative to the track (1); The positioning seat (9) is located on the side of the target position of the track (1) near the rim of the target wheelset (2). The positioning seat (9) is slidably connected to the fixed seat (8). The sliding direction of the positioning seat (9) relative to the fixed seat (8) is set in the vertical direction. The upper end of the positioning seat (9) is provided with a positioning groove (10). The positioning groove (10) is suitable for the rim of the target wheelset (2) to enter. The lifting drive mechanism (11) is adapted to drive the positioning seat (9) to slide back and forth relative to the fixed seat (8), and the lifting drive mechanism (11) is electrically connected to the control device; A first detection element is adapted to detect the relative position of the target wheelset (2) and the positioning groove (10), and the first detection element is electrically connected to the control device.

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

4. The wheelset gripping system according to claim 2, characterized in that, The positioning device (4) further includes: The second detection element is adapted to detect the pressure between the target wheelset (2) and the positioning seat (9). The second detection element is electrically connected to the control device. The control device is adapted to control the lifting drive mechanism (11) to stop running when the pressure value detected by the second detection element is greater than a preset value. And / or, the lifting drive mechanism (11) includes: The cylinder has its axis set vertically, the cylinder barrel is connected to the fixed seat (8), and the cylinder piston rod is connected to the positioning seat (9). A pneumatic control circuit is provided to control the extension and retraction of the cylinder.

5. The wheelset gripping system according to any one of claims 1-4, characterized in that, The grasping mechanism (7) includes: The base (14) is fixedly installed on the walking mechanism (6); A 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 in the vertical direction; The lifting drive assembly (16) is adapted to drive the sliding seat (15) to slide back and forth relative to the base (14), and the lifting drive assembly (16) is electrically connected to the control device; A mechanical gripper is provided on the sliding seat (15), and the mechanical gripper is adapted to clamp or release the axle of the target wheelset (2).

6. The wheelset gripping system according to claim 5, characterized in that, The mechanical gripper includes: Support arm (17), the axis of the support arm (17) is set in the horizontal direction, the first end of the support arm (17) is fixedly connected to the sliding seat (15), and the second end of the support arm (17) extends in a direction away from the sliding seat (15); At least one pair of grippers, with two of the grippers in each pair distributed in a vertical direction, the grippers including a connecting rod portion (18) and a gripper 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 gripper portion (19); A 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 gripper (19). A drive element is adapted to drive the pull rod (20) to slide back and forth relative to the support arm (17), and the drive element is electrically connected to the control device.

7. The wheelset gripping system according to claim 6, characterized in that, The mechanical gripper also includes: A third detection element is disposed on the gripper portion (19). The third detection element is adapted to detect the pressure between the gripper portion (19) and the wheel axle of the target wheelset (2). The third detection element is electrically connected to the control device.

8. The wheelset gripping system according to any one of claims 1-4, characterized in that, The height measuring device (3) includes: The fixing part is fixed relative to the track (1); A lifting part is slidably connected to the fixed part, and the sliding direction of the lifting part relative to the fixed part is arranged in the vertical direction; An elastic element is disposed between the lifting part and the fixed part, and the elastic element is adapted to give the lifting part an upward sliding tendency; A ranging element is adapted to detect the relative position of the lifting part and the fixed part. The ranging element is electrically connected to the control device, which is adapted to determine the height of the upper end of the lifting part based on the detected relative position of the lifting part and the fixed part.

Images