Locomotive end cover dismounting tool and dismounting robot

Abstract

The invention relates to a locomotive end cover dismounting tool and a dismounting robot, and relates to the technical field of end cover dismounting. The locomotive end cover dismounting tool comprises a mounting assembly, the mounting assembly comprises a quick-change disc and a mounting plate, the mounting plate is mounted at one end of the quick-change disc, and the end, away from the mounting plate, of the quick-change disc can be mounted at the execution end of a mechanical arm; the magnetic suction units are mounted on the mounting plate, each magnetic suction unit comprises a magnetic suction cup, the magnetic suction cups can linearly move in the first direction, and the first direction is perpendicular to the mounting plate. The dismounting tool does not need to be clamped on the outer edge of the end cover, so that the end cover is prevented from being damaged in the end cover dismounting process. By adjusting the extending position of the magnetic attraction unit, the magnetic attraction unit is attracted to different positions of the end cover, so that attraction of the special-shaped end cover is achieved, and the special-shaped end cover is disassembled.

Description

Technical Field

[0001] The invention relates to the technical field of locomotive end cover disassembly, and in particular to a locomotive end cover disassembly tool and a disassembly robot. Background Art

[0002] The end cover of a locomotive is heavy. In order to reduce the labor intensity of the staff, the relevant technology will adopt a spiral hook removal method or a claw clamp clamping method to remove the end cover.

[0003] The spiral hook removal method specifically refers to using a hook with a spiral to hook the raised part on the shaft end cover, and then rotating the hook to apply a rotational force to remove the shaft end cover. However, the rotational force is difficult to control accurately, and the raised parts of many end covers are difficult to hook, so the application scope of the spiral hook removal method is relatively narrow.

[0004] The claw clamping method requires the use of clamping claws to clamp the edge of the end cover, which may cause the edge of the end cover to be clamped and damaged when the end cover is removed.

[0005] The current end cover disassembly tools either have a narrow application range or cause damage to the end cover, and there is an urgent need for a disassembly tool that has a wide application range and does not damage the end cover. Summary of the invention

[0006] The present invention provides a locomotive end cover disassembly tool and a disassembly robot, which can be applicable to more types of end covers and are not prone to damage the end covers when disassembling them.

[0007] In the first aspect, the present invention provides a locomotive end cover removal tool, comprising: an installation assembly, the installation assembly comprising a quick-change disk and a mounting plate, the mounting plate is installed at one end of the quick-change disk, and the end of the quick-change disk away from the mounting plate can be installed at the execution end of a robotic arm; and a plurality of magnetic suction units, the magnetic suction units are installed on the mounting plate, and the magnetic suction units include magnetic suction cups, which can move linearly along a first direction, and the first direction is perpendicular to the mounting plate.

[0008] In one embodiment, a plurality of mounting holes are formed on the mounting plate, the number of the mounting holes corresponds to the number of the magnetic attraction units, and the axes of the mounting holes extend along the first direction;

[0009] The magnetic suction unit comprises a guide shaft, one end of which is fixed with a magnetic suction cup, the other end of which is inserted into the mounting hole, and the guide shaft can slide along the axial direction of the mounting hole.

[0010] In one embodiment, an external thread is provided on the outer side of the guide shaft, and an adjusting piece is provided on the outer sleeve of the guide shaft. The adjusting piece is threadedly connected to the guide shaft, and screwing the adjusting piece can drive the guide shaft to move relative to the mounting hole along the first direction.

[0011] In one embodiment, the magnetic suction unit further includes an elastic member, one end of the elastic member abuts against the outside of the magnetic suction cup, and the other end of the elastic member abuts against a side of the adjustment member away from the mounting plate.

[0012] In one embodiment, at least two groups of magnetic units arranged in a ring are installed on the mounting plate, wherein one group of magnetic units is arranged along a first ring, and the other group of magnetic units is arranged along a second ring, wherein the first ring is coaxial with the second ring, and the diameter of the first ring is greater than the diameter of the second ring.

[0013] In one embodiment, a magnetic attraction units are arranged at equal intervals along the first ring, and b magnetic attraction units are arranged at equal intervals along the second ring, wherein a is greater than b.

[0014] In one embodiment, the radius of the first ring is r1, and the radius of the second ring is r2, wherein a:b=r1:r2.

[0015] In one embodiment, a detection component is installed on the mounting component, and the detection component is installed on the mounting plate. The detection component includes a transmitter and a receiver. The transmitter emits a detection light toward the receiver, and the detection light is located at one end of the magnetic unit away from the mounting plate.

[0016] In one embodiment, the detection light extends in a radial direction of the mounting plate.

[0017] In a second aspect, an embodiment of the present invention provides a disassembly robot, which includes: a main body, an execution end of the main body is detachably connected to the locomotive end cover disassembly tool as described above.

[0018] Compared with the prior art, the advantage of the present invention is that when removing the end cover, the magnetic unit can be adsorbed on the end face of the end cover, and the end cover can be removed by moving the disassembly tool. The disassembly tool does not need to be clamped on the outer edge of the end cover, thereby avoiding damage to the end cover during the process of removing the end cover. And because a plurality of magnetic units that can move along the first direction are provided on the mounting plate of the present application, the magnetic units can be adsorbed on different positions of the end cover by adjusting the extension position of the magnetic unit, thereby achieving the adsorption of the special-shaped end cover, and thus removing the special-shaped end cover. In other words, the locomotive end cover removal tool provided by the present application can not only reduce the damage to the end cover, but also complete the disassembly of the special-shaped end cover, and can be applicable to the disassembly of various end covers. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0020] Figure 1 is a schematic diagram of the front three-dimensional structure of a locomotive end cover removal tool in an embodiment of the present invention;

[0021] Figure 2is a schematic diagram of the rear three-dimensional structure of a locomotive end cover removal tool in an embodiment of the present invention;

[0022] Figure 3 is a left-side structural schematic diagram of a locomotive end cover removal tool in an embodiment of the present invention;

[0023] Figure 4 is a rear structural schematic diagram of a locomotive end cover removal tool in an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of the main structure of a locomotive end cover removal tool in an embodiment of the present invention;

[0025] Figure 6 It is a schematic diagram of the exploded structure of the locomotive end cover removal tool in an embodiment of the present invention.

[0026] Reference numerals:

[0027] 100, installation assembly; 110, quick-change plate; 120, installation plate; 130, plug connector;

[0028] 200, magnetic unit; 201, magnetic chuck; 202, guide shaft; 203, adjustment member; 204, elastic member;

[0029] 300, detection component; 301, first frame; 302, transmitter; 303, receiver; 304, detection light. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] See also Figure 1 and Figure 2 As shown, in a first aspect, an embodiment of the present application provides a locomotive end cover removal tool, which comprises:

[0032] An installation assembly 100, the installation assembly 100 includes a quick-change disk 110 and a mounting plate 120, the mounting plate 120 is mounted on one end of the quick-change disk 110, and the end of the quick-change disk 110 away from the mounting plate 120 can be mounted on the execution end of the robot arm; and

[0033] A plurality of magnetic units 200 are installed on the mounting plate 120 , and the magnetic units 200 include magnetic cups 201 . The magnetic cups 201 can move linearly along a first direction, and the first direction is perpendicular to the mounting plate 120 .

[0034] When in use, the quick-change disk 110 of the mounting assembly 100 can be connected to the execution end of the robot arm, so that the multiple magnetic units 200 mounted on the mounting plate 120 can move together with the movement of the execution end of the robot arm.

[0035] Since there are multiple magnetic units 200 in the present application, when the locomotive end cover needs to be removed, the magnetic cup 201 of the magnetic unit 200 can be adsorbed on the end face of the end cover, so that the magnetic unit 200 is tightly connected to the end cover, so that when the mechanical arm drives the magnetic unit 200 to move, the end cover is driven to move, thereby realizing the removal of the end cover.

[0036] Since multiple magnetic units 200 are installed on the mounting plate 120 of the mounting assembly 100, when the end cover needs to be moved, multiple magnetic units 200 can be simultaneously adsorbed on the end cover. Compared with a single magnetic unit 200 adsorbed on the end cover, the connection force between the end cover and the locomotive end cover removal tool in the present application is enhanced.

[0037] In the present application, the combined suction force of multiple magnetic suction units 200 can reach 1000KG, which is enough to remove the heaviest end cover currently.

[0038] Since the magnetic unit 200 is used in the present application to complete the removal of the shaft end cap, compared with other adsorption methods, the magnitude of the magnetic attraction force can be conveniently adjusted by controlling the current, so that when the end cap needs to be removed from the magnetic unit 200, the difficulty of removing the end cap can be reduced by lowering the magnetic attraction force. At the same time, compared with the outer edge of the end cap being clamped by the clamping claw, the end cap is driven to move by adsorption, which causes less damage to the outer edge of the end cap, and the surface of the end cap is almost not scratched during the removal process, thereby improving the quality of the removed end cap, and the removed end cap can be reused.

[0039] In addition, since a plurality of magnetic units 200 are mounted on the mounting plate 120 in the present application, and the magnetic units 200 can move along the first direction, the position of each magnetic unit 200 in the first direction can be adjusted so that the disassembly unit can adapt to the shape of the end face of the end cover to be disassembled. For example, if an end cover with a protruding center face needs to be disassembled, the outer magnetic unit 200 can be controlled to extend longer, while the inner magnetic unit 200 can be controlled to extend shorter, so that the adsorption surface formed by each magnetic unit 200 fits the outer end face of the end cover. In other words, the vehicle end cover disassembly tool in the present application can not only reduce the damage to the end cover during the disassembly process of the end cover, but also can adapt to end covers with different end faces, and has a wide range of applications.

[0040] See also Figure 1 and Figure 6 As shown, in some implementations, a plurality of mounting holes are provided on the mounting plate 120, the number of the mounting holes corresponds to the number of the magnetic suction units 200, and the axis of the mounting holes extends along the first direction; the magnetic suction unit 200 includes a guide shaft 202, a magnetic suction cup 201 is fixed to one end of the guide shaft 202, the other end of the guide shaft 202 is inserted into the mounting hole, and the guide shaft 202 can slide along the axial direction of the mounting hole.

[0041] That is, the moving direction of the magnetic suction cup 201 is limited by the guide shaft 202 and the mounting hole, so that the magnetic suction unit 200 moves in the first direction. In other implementations, the magnetic suction cup 201 of the magnetic suction unit 200 can be directly connected by a telescopic cylinder, and the movement of the magnetic suction cup 201 in the first direction is achieved by the telescopic cylinder, so that the adsorption surfaces of the multiple magnetic suction cups 201 can adapt to the end cap with an outer convex surface or an inner concave surface.

[0042] See also Figure 1 and Figure 2 As shown, in some implementations, an external thread is provided on the outer side of the guide shaft 202, and an adjusting member 203 is provided on the outer sleeve of the guide shaft 202. The adjusting member 203 is threadedly connected to the guide shaft 202, and screwing the adjusting member 203 can drive the guide shaft 202 to move along the first direction relative to the mounting hole.

[0043] When the position of the magnetic suction cup 201 needs to be adjusted to fit the outer end face of the end cover, the guide shaft 202 threadedly connected to the adjusting member 203 can be moved along the axial direction by screwing the adjusting member 203, so that the magnetic suction cup 201 installed on the end face of the guide shaft 202 can be moved. Since the threaded connection itself has a self-locking property, the original position can be maintained after the adjusting member 203 is screwed, so as to prevent the guide shaft 202 from being offset along the axis. The position of the guide shaft 202 and the magnetic suction cup 201 can be adjusted by manually screwing the adjusting member 203, or the axial displacement of the guide shaft 202 can be controlled by connecting the adjusting member 203 to a rotating motor and driving the adjusting member 203 to rotate by the rotating motor.

[0044] It is understandable that in some implementations, a scale may be set on the guide shaft 202 so that the current adjustment progress can be determined by observing the scale on the guide shaft 202 during the process of screwing the adjustment member 203 .

[0045] See also Figure 1 and Figure 3 As shown, in some implementations, the magnetic suction unit 200 further includes an elastic member 204, one end of which contacts the outside of the magnetic suction cup 201, and the other end of the elastic member 204 contacts the side of the adjusting member 203 away from the mounting plate 120. Due to the provision of the elastic member 204, the guide shaft 202 can be tightly attached to the thread of the adjusting member 203 under the action of elastic force, thereby avoiding the loosening of the thread between the guide shaft 202 and the adjusting member 203, improving the self-locking performance of the thread, and avoiding the shaft from being displaced on the axis due to the loosening of the thread after the guide shaft 202 is adjusted into place by the adjusting member 203. And because the elastic member 204 contacts the side of the adjusting member 203 away from the mounting plate 120, the mounting plate 120 can be fitted with the adjusting member 203, thereby avoiding the dislocation of the adjusting member 203 itself in the axial direction.

[0046] It is understandable that the elastic member 204 may be a spring, or a rubber band, a rubber belt or other elastic structure, as long as the guide shaft 202 and the adjusting member 203 can be tightly attached in the axial direction.

[0047] In order to prevent the adjusting member 203 from axially deviating relative to the mounting plate 120, the adjusting member 203 may be inserted into the mounting plate 120 and rotatably connected to the mounting plate 120, and a limiting structure may be provided to limit the axial deviation of the adjusting member 203 relative to the mounting plate 120. For example, a limiting protrusion may be provided on the mounting plate 120, and a limiting groove may be provided on the adjusting member 203, wherein the limiting protrusion is inserted into the limiting groove in the radial direction, so as to prevent the adjusting member 203 from axially moving relative to the mounting plate 120.

[0048] See also Figure 1 , Figure 4 as well as Figure 5 As shown, in some implementations, at least two groups of magnetic units 200 arranged in a ring are installed on the mounting plate 120, wherein one group of magnetic units 200 is arranged along a first ring, and the other group of magnetic units 200 is arranged along a second ring, wherein the first ring is coaxial with the second ring, and the diameter of the first ring is greater than the diameter of the second ring.

[0049] like Figure 5 In the embodiment, the plurality of magnetic units 200 arranged along circle A are arranged along the first ring, and the plurality of magnetic units 200 arranged along circle B are arranged along the second ring. The end face protrusion structure of the current end cap is mostly annular. In the present application, a group of magnetic units 200 arranged along the first ring can be attached to the outer side of the end face of the end cap, while a group of magnetic units 200 arranged along the second ring can be attached to the inner side of the end face of the end cap.

[0050] In some implementations, the adjusting members 203 of the multiple magnetic units 200 arranged along the first ring are configured to be screwed at the same time, and the screwing speed is the same. That is to say, when one of the adjusting members 203 is screwed, the multiple adjusting members 203 arranged along the first ring will rotate at the same time, thereby moving the multiple magnetic units 200 synchronously. The difficulty of adjustment is reduced. Among them, a gear ring structure can be set on the mounting plate 120, and the linkage of the multiple adjusting members 203 is achieved by setting the outer sides of the multiple adjusting members 203 as a gear structure, and the gear structures are all engaged with the gear rings set on the mounting plate 120. When one of the adjusting members 203 is screwed, the gear ring on the mounting plate 120 will be driven to rotate, so that the multiple adjusting members 203 engaged on the gear ring rotate synchronously to complete the synchronous movement of the multiple magnetic suction cups 201. It can be understood that in order to facilitate the screwing of each adjusting member 203 on the second ring, multiple adjusting members 203 on the second ring can also be engaged with the same gear ring, so that when one of the adjusting members 203 is screwed, the rotation of multiple adjusting members 203 is completed, thereby realizing the synchronous movement of multiple magnetic suction cups 201.

[0051] See also Figure 1 and Figure 5 As shown, in some implementations, a magnetic units 200 are arranged at equal intervals along the first ring, and b magnetic units 200 are arranged at equal intervals along the second ring, where a is greater than b. In other words, more magnetic units 200 are arranged on the first ring with a larger diameter, which can increase the adsorption force on the outer ring of the end face of the end cap when the magnetic units 200 on the first ring are adsorbed on the end face of the end cap. Moreover, since the magnetic units 200 arranged along each ring are arranged at equal intervals, a more uniform magnetic attraction force can be provided to the outer ring of the end face of the end cap through the multiple magnetic units 200 along the first ring, and a more uniform magnetic attraction force can be provided to the inner ring of the end cap through the multiple magnetic units 200 arranged along the second ring. The direction of the resultant magnetic attraction force is along the axial direction of the end cap, avoiding the difficulty of disassembly caused by the inclination of the magnetic attraction force relative to the axis of the end cap.

[0052] In some implementations, the radius of the first ring is r1, and the radius of the second ring is r2, wherein a:b=r1:r2. That is, the number of arranged magnetic units 200 is proportional to the radius of the arrangement circle, which can make the adsorption force more uniform and improve the stability of the end cap removal process.

[0053] See also Figure 1 as well as Figure 3 As shown, in some implementations, a detection component 300 is installed on the mounting component 100, and the detection component 300 is installed on the mounting plate 120. The detection component 300 includes a transmitter 302 and a receiver 303. The transmitter 302 emits a detection light 304 toward the receiver 303, and the detection light 304 is located at one end of the magnetic unit 200 away from the mounting plate 120.

[0054] The detection assembly 300 includes two first frames 301 arranged opposite to each other, and the first frames 301 are mounted on the mounting plate 120. The transmitter 302 is mounted on one of the first frames 301, and the receiver 303 is mounted on the other first frame 301, so that the transmitter 302 and the receiver 303 are arranged on opposite sides of the mounting plate 120 along the radial direction of the mounting plate 120. The transmitter 302 emits a detection light 304 to the receiver 303, and the detection light 304 is located at the end of the magnetic unit 200 away from the mounting plate 120. When the receiver 303 can receive the detection light 304, it means that there is no foreign matter at the end of the magnetic unit 200 away from the mounting plate 120, and there is no end cap. When the receiver 303 fails to receive the detection light 304, it means that there is an end cap at the end of the magnetic unit 200 away from the mounting plate 120. At this time, each magnetic unit 200 can be controlled to generate a magnetic field to adsorb the end cap.

[0055] It can be understood that in order to facilitate the control of each magnetic unit 200, a controller can be installed on the mounting plate 120 and electrically connected to the receiver 303. It is determined whether there is an end cover that needs to be removed based on whether the receiver 303 can receive the detection light 304. When the receiver 303 receives the detection light 304, the controller controls each magnetic unit 200 on the mounting plate 120 to generate a magnetic field to absorb the end cover. When the receiver 303 fails to receive the detection light 304, the controller controls each magnetic unit 200 on the mounting plate 120 not to generate a magnetic field, thereby reducing energy consumption.

[0056] See also Figure 5 As shown, the detection light 304 extends in the radial direction of the mounting plate 120 .

[0057] In a second aspect, the present invention further provides a disassembly robot, which includes a main body, and an execution end of the main body is detachably connected to the above-mentioned locomotive end cover disassembly tool.

[0058] Since the locomotive end cover removal tool has the quick-change disc 110, the quick-change disc 110 can be conveniently installed on the mechanical arm of the main body or the quick-change disc 110 on the mechanical arm of the main body can be removed.

[0059] See also Figure 2 and Figure 4 As shown, a plug connector 130 is also connected to the mounting plate 120. When the quick-change disk 110 is mechanically connected to the main body, the plug connector 130 can be electrically connected to the power supply circuit of the main body, so that the power supply device on the main body can supply power to the magnetic unit 200, thereby realizing the disassembly of the end cover.

[0060] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A locomotive end cover removal tool, characterized in that: It includes: A mounting assembly, the mounting assembly comprising a quick-change disk and a mounting plate, the mounting plate being mounted on one end of the quick-change disk, and an end of the quick-change disk away from the mounting plate being mountable on an execution end of the robotic arm; as well as A plurality of magnetic units are installed on the mounting plate, and the magnetic units include magnetic cups, and the magnetic cups can move linearly along a first direction, and the first direction is perpendicular to the mounting plate.

2. The locomotive end cover removal tool according to claim 1, characterized in that: The mounting plate is provided with a plurality of mounting holes, the number of the mounting holes corresponds to the number of the magnetic attraction units, and the axes of the mounting holes extend along the first direction; The magnetic suction unit comprises a guide shaft, one end of which is fixed with the magnetic suction cup, the other end of which is inserted into the mounting hole, and the guide shaft can slide along the axial direction of the mounting hole.

3. The locomotive end cover removal tool according to claim 2, characterized in that: The outer side of the guide shaft is provided with an external thread, and the outer sleeve of the guide shaft is provided with an adjusting member, the adjusting member is threadedly connected to the guide shaft, and screwing the adjusting member can drive the guide shaft to move relative to the mounting hole along the first direction.

4. The locomotive end cover removal tool according to claim 3, characterized in that: The magnetic suction unit further comprises an elastic member, one end of which abuts against the outside of the magnetic suction cup, and the other end of which abuts against a side of the adjusting member away from the mounting plate.

5. The locomotive end cover removal tool according to claim 1 or 2, characterized in that: At least two groups of magnetic units arranged in a ring are installed on the mounting plate, wherein one group of magnetic units is arranged along a first ring, and the other group of magnetic units is arranged along a second ring, wherein the first ring is coaxial with the second ring, and the diameter of the first ring is greater than the diameter of the second ring.

6. The locomotive end cover removal tool according to claim 5, characterized in that: There are a magnetic attraction units arranged at equal intervals along the first ring, and b magnetic attraction units arranged at equal intervals along the second ring, wherein a is greater than b.

7. The locomotive end cover removal tool according to claim 6, characterized in that: The radius of the first ring is r1, and the radius of the second ring is r2, wherein a:b=r1:r2.

8. The locomotive end cover removal tool according to claim 1, characterized in that: A detection component is installed on the mounting component, and the detection component is installed on the mounting plate. The detection component includes a transmitter and a receiver. The transmitter emits a detection light toward the receiver, and the detection light is located at an end of the magnetic unit away from the mounting plate.

9. The locomotive end cover removal tool according to claim 8, characterized in that: The detection light extends along the radial direction of the mounting plate.

10. A disassembly robot, characterized in that: It includes: A main body, the execution end of which is detachably connected to the locomotive end cover removal tool as described in any one of claims 1-9.

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