Intelligent auxiliary transfer system for sleeper spring and tapered wedge of truck bogie

Abstract

The invention provides an intelligent auxiliary transfer system for a sleeper spring and a wedge of a truck bogie. And the driving arm extends into a fixing hole of the auxiliary transfer device to carry out transfer operation. And the blocking part rotates, so that the pillow spring to be transferred can be limited when being clamped. The first clamping part and the second clamping part are driven by the driving part to move in the horizontal direction; during horizontal movement, the first clamping plate set and the second clamping plate set conduct opening / closing movement on the same horizontal plane, and when the first clamping plate set and the second clamping plate set are both tangent to the peripheral face of the pillow spring to be transferred, the pillow spring to be transferred is centered, and transferring operation is conducted. When the first clamping part and the second clamping part move, the first clamping wedge taking dovetail plate and the second clamping wedge taking dovetail plate move along with the first clamping part and the second clamping part, bosses on the plates are matched with through holes in the tails of the wedges, and the purpose of clamping the wedges is achieved. The device has the advantages that pillow springs of different sizes can be clamped, and the problems that in the prior art, pillow springs and wedges are manually carried, the safety coefficient is low, and potential safety hazards are large are solved.

Description

Technical Field

[0001] The invention relates to the field of bogie maintenance, and in particular to a freight car bogie pillow spring and wedge intelligent auxiliary transfer system. Background Art

[0002] During the bogie maintenance process, the bogie pillow spring and the wedge need to be disassembled from the bogie for maintenance.

[0003] The existing pillow springs and wedges are disassembled and disassembled by manipulators. The disassembled pillow springs and wedges need to be placed on the pillow spring conveyor line tray very accurately. In addition, the types and sizes of pillow springs in the same bogie are different, and the sizes of pillow springs and wedges in different bogies are more complicated. Such a large number of pillow springs and wedges need to be automatically placed in the pillow spring conveyor line tray, and the accuracy of the placement needs to be guaranteed. In the existing maintenance process, the pillow springs and wedges are manually placed in the conveyor line tray by manual transportation after being disassembled by the manipulator. This method relies solely on manual operation, requires a lot of manpower, has no technology, is old and inefficient, and has great safety hazards. In addition, the existing operation method has extremely high labor costs, the pillow springs and wedges are large in size and weight, and the risk factor of manual transportation is extremely high. It is one of the major sources of danger in workshop safety management and poses a great safety risk to workshop personnel and equipment.

[0004] Therefore, how to provide a system that can assist manual handling of pillow springs and wedges becomes an urgent problem to be solved. Summary of the invention

[0005] The present invention provides a freight car bogie pillow spring and wedge intelligent auxiliary transfer system, which is used to solve the problem that the movement of pillow spring and wedge in the prior art completely relies on manual labor, and the manual operation has a high risk factor and great safety risk.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention provides a mechanical arm and an auxiliary transfer device, including a first clamping part, a second clamping part, a blocking part, and a driving part. The driving arm extends into the fixing hole of the auxiliary transfer device to prepare for the transfer operation. When the transfer operation is performed, the driving part drives the blocking part to rotate so that the pillow spring to be transferred can be limited when it is clamped. The first clamping part and the second clamping part are driven by the driving part to move in the horizontal direction; when moving horizontally, the first clamping plate group of the first clamping part and the second clamping plate group of the second clamping part open / close on the same horizontal plane, and when the first clamping plate group and the second clamping plate group are tangent to the outer peripheral surface of the pillow spring to be transferred, the pillow spring to be transferred is centered. When the first clamping part and the second clamping part move, the inclined wedge clamping dovetail plate of the first clamping part and the clamping inclined wedge clamping dovetail plate of the second clamping part follow.

[0007] As a preferred embodiment of the above technical solution, preferably, the driving part includes: a clamping driving part composed of a first driving cylinder and a second driving cylinder, and a sliding blocking cylinder; the first driving cylinder and the second driving cylinder are used to respectively drive the first clamping part and the second clamping part to move in the horizontal direction, and are also used to drive the opening / closing action of the first clamping plate group and the second clamping plate group.

[0008] As a preferred embodiment of the above technical solution, preferably, the driving part drives the blocking part to rotate so that the pillow spring to be transferred can be limited when it is clamped, including: the sliding blocking cylinder is arranged at the front end of the auxiliary transfer device, and when the clamping operation is performed, the sliding blocking cylinder drives the blocking part to rotate, so that the blocking plate of the blocking part rotates to the front end of the clamping spring space; wherein, the clamping spring space is a space for placing the clamping spring to be transferred, which is formed by limiting the first clamping part and the second clamping part.

[0009] As a preferred embodiment of the above technical solution, preferably, the first clamping part and the second clamping part are driven by the driving part to move in the horizontal direction, including: a left-right rotating clamping screw is horizontally arranged in the inner cavity of the auxiliary transfer device, and the first clamping part and the second clamping part are screwed to the two ends of the left-right rotating clamping screw through a support assembly. One end of the left-right rotating clamping screw is connected to the first driving cylinder through a set of synchronous pulleys. When the first driving cylinder is actuated, its power is transmitted to the left-right rotating clamping screw through the synchronous pulley, and the left-right rotating clamping screw rotates and drives each of the supporting assemblies to move in the horizontal direction; wherein, the supporting assembly connected to the second clamping part moves with the rotation of the left-right rotating clamping screw. wherein, the second driving cylinder and the first driving cylinder act simultaneously; and the heights of each supporting assembly are the same.

[0010] As a preferred embodiment of the above technical solution, preferably, while moving horizontally, the first clamping plate group of the first clamping part and the second clamping plate group of the second clamping part open / close on the same horizontal plane, including: the first driving cylinder is connected to the lower clamping plate of the first clamping plate group, and symmetrically, the second driving cylinder is connected to the lower clamping plate of the second clamping plate group; wherein, the first clamping plate group and the second clamping plate group are each composed of two V-shaped clamping plates connected by axles. The two V-shaped clamping plates are rotatably connected to the rotating rod via a rotating bearing, and the two are linked. When the first driving cylinder and the second driving cylinder are in motion, the two V-shaped clamping plates in the first clamping plate group and the second clamping plate group open / close synchronously with the rotating rod as the axis; wherein, the two rotating rods are supported by the support assembly with the same height, and the two are located on the same horizontal plane.

[0011] As a preferred embodiment of the above technical solution, preferably, when the first clamping part and the second clamping part move, the oblique wedge clamping dovetail plate of the first clamping part and the oblique wedge clamping dovetail plate of the second clamping part follow, including: the movement trend of these two oblique wedge clamping dovetail plates is the same as the movement trend of their respective corresponding clamping parts.

[0012] As a preferred embodiment of the above technical solution, preferably, the inner surface of each of the inclined wedges that clamp the dovetail plate is provided with a boss, and when the first clamping plate group and the second clamping plate group move in a closing manner, the bosses of the inclined wedges that clamp the dovetail plates approach each other as they move and finally engage; wherein, the bosses match the middle holes of the inclined wedges to be clamped.

[0013] As a preferred embodiment of the above technical solution, preferably, the inner cavity of the transfer device is provided with a pair of connecting rods parallel to the left and right rotating clamping screws, and the connecting rods are connected to the rotating rods of the first clamping part and the second clamping part through the supporting assembly.

[0014] As a preferred embodiment of the above technical solution, preferably, the blocking plate is axially connected to the front end of the body of the transfer device, and its rotation axis is coaxially arranged with the axis of the clamp spring space.

[0015] As a preferred embodiment of the above technical solution, preferably, the angle between the first clamping plate group and the second clamping plate group is 0 degrees to 120 degrees, and the angle between the first clamping plate group and the second clamping plate group changes synchronously.

[0016] The advantages of the present invention are:

[0017] 1. The structural design problem of grabbing pillow springs of different sizes has been solved: The different sizes of bogie pillow springs mainly refer to the different diameters of the pillow springs. In order to adapt to different pillow springs and ensure that the manipulator can obtain pillow springs of all different sizes, the transfer manipulator adopts a V-shaped first and second clamping part design, which is divided into separate mechanisms on both sides. The two sides adopt independent V-shaped designs, and the V-shaped clamping plates on both sides are driven by a separate cylinder to open and close simultaneously. The pillow spring is put in when the clamping part is opened, and after the pillow spring is put in, the cylinder retracts the V-shaped mechanism to close and wrap the pillow spring.

[0018] 2. The positioning problem between pillow springs of different sizes and the pallet when they are grabbed and transferred: The transfer system adopts a V-shaped clamping mechanism design. When the pillow spring is put in, the V-shaped mechanism is retracted by the cylinder and closed to wrap the pillow spring. Due to the different diameters of the pillow springs, the movement of the clamping part is driven by the cylinder. The distance between the V-shaped plates on both sides is adjusted according to the different sizes of pillow springs that need to be transferred. The pillow springs of different diameters can be centered by clamping the V-shaped clamping plates on both sides. All pillow springs of different diameters are positioned at the same center, so that the pillow springs can be accurately placed in the pillow spring line pallet.

[0019] 3. Design issues of the structure for clamping the cam: During the inspection of the bogie, the bolster spring needs to be disassembled and the cam needs to be disassembled and transferred to the conveyor tray. The transfer system must be suitable for clamping the cam. Since the V-shaped plates on both sides are clamped by the servo motor driving the left and right screws, a dovetail structure clamp is designed at the end of the V-shaped plate using this mechanism. The clamp has a boss. The cam can be clamped by clamping on the left and right and the boss is hung on the middle hole of the cam to complete the clamping of the cam. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to 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 any creative work.

[0021] Figure 1 A schematic diagram of the overall structure of a freight car bogie pillow spring and wedge intelligent auxiliary transfer device provided by the present invention.

[0022] Figure 2 for Figure 1 Front view of .

[0023] Figure 3 for Figure 1 Right view of .

[0024] Figure 4 for Figure 1 Left view of .

[0025] Figure 5 for Figure 1 Top view of the .

[0026] Figure 6 for Figure 1 A top view of the structure shown with the V-shaped clamping mechanism removed.

[0027] Figure 7 for Figure 6 Cross-sectional view along the AA direction.

[0028] Figure 8 for Figure 6 Cross-sectional view along the BB direction.

[0029] Fig. 9 for Figure 1 A schematic diagram of the structure in which the first clamping part and the second clamping part are opened.

[0030] Fig.10A schematic diagram of the relative positions of a transfer mechanical arm, a bolster spring and an inclined wedge intelligent auxiliary transfer device during operation of a freight car bogie bolster spring and an inclined wedge intelligent auxiliary transfer device provided by the present invention.

[0031] Fig.11 A structural schematic diagram of the relative positions of the pillow spring to be transferred and the clamping plate after the pillow spring to be transferred is clamped during operation of a pillow spring and inclined wedge intelligent auxiliary transfer device for a freight car bogie provided by the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The invention provides a truck bogie pillow spring and wedge intelligent auxiliary transfer system, comprising a mechanical arm and an auxiliary transfer device. One side of the auxiliary transfer device has a gripping portion 21 for the driving arm to grip, and the center of the gripping portion 21 is preferably a gripping hole 22.

[0034] refer to Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6 , Figure 7 and Figure 8 In the structure shown, the auxiliary transfer device is composed of a body 20, a first clamping part, a second clamping part, a blocking part, and a driving part. The driving part includes a clamping driving part composed of a first driving cylinder 1 and a second driving cylinder 2, and a sliding blocking cylinder 3. The first clamping part is composed of: a first clamping plate group composed of two V-shaped clamping plates 4, a wedge clamping dovetail plate 5, a rotating rod 6 and a rotating bearing 7. The second clamping part is composed of a second clamping plate group composed of two V-shaped clamping plates 4, a wedge clamping dovetail plate 5, a rotating rod 6 and a rotating bearing 7. The blocking part includes a blocking plate 8 and a blocking sheet 9. Further, the auxiliary transfer device also includes: a left-right rotating clamping screw 10, a support assembly and a pair of connecting light rods 11. The support assembly includes: a support rod 12, a threaded base 13, and a smooth base 14. The first clamping part and the driving part are driven by a synchronous pulley 15. Further, it also includes a clamping spring space N and a transfer robot arm S.

[0035] First, the structure of the intelligent auxiliary transfer system of the truck bogie bolster spring and the wedge provided by the present invention is described:

[0036] like Figure 1As shown, the body 20 of the auxiliary transfer device is a three-dimensional rectangle formed by welding a steel structure, and a gripping portion 21 is provided on its side, and the two are fixed by bolts. A gripping hole 22 is provided at the axis of the gripping portion 21, and the gripping hole 22 matches the gripping end of the transfer robot S ( Fig.10 The space inside the body 20 of the auxiliary transfer device is provided with a first clamping part, a second clamping part, a left-right rotating clamping screw 10 and a pair of connecting polished rods 11.

[0037] like Figure 1 As shown, the lower part of the body 20 of the auxiliary transfer device has a boss, and the upper end surface of the boss is axially connected to the rotating end of the sliding blocking cylinder 3. Figure 1 and Figure 2 As shown, the driving end of the sliding blocking cylinder 3 is axially connected to one end of the blocking plate 8, the other end of the blocking plate 8 is fixedly connected to the blocking sheet 9, and the rotating shaft of the blocking plate 8 is axially connected to the front end of the transfer device body 20. Therefore, when the sliding blocking cylinder 3 is driven, the cylinder can drive the blocking plate 8 so that the blocking plate 8 blocks the front end of the clamp spring space N formed by the first clamping part and the second clamping part to prevent the clamp spring from falling. Among them, the clamp spring space N is a space limited by the upper and lower clamping plates 4 of the first clamping part and the second clamping part when clamping the clamp spring. The axis of the clamp spring space N is coaxial with the rotating shaft of the blocking plate 8 and is located in the same horizontal plane as the rotating shaft of the clamping plate 4, so that the axis of the clamp spring to be clamped can be located at the vertical focus of the above two rotating shafts.

[0038] like Figure 6 As shown, a pair of connecting rods 11 are axially symmetrically installed in the body 20 of the auxiliary transfer device, and the connecting rods 11 are connected to the supporting rods 12 via the supporting rods 12. Figure 1 and Figure 3 The rotating rod 6 of the first clamping part is connected to the second clamping part as shown, so as to support the first clamping part. The structure of the second clamping part is symmetrical with that of the first clamping part, and will not be described in detail here. Further, a through hole is provided at one end of the support rod 12, and the rotating rod 6 passes through the through hole and is rotatably connected to the support rod 12, so that when the first clamping part is in operation, the rotating rod 6 can rotate on the support rod 12. In particular, as shown in FIG. Figure 1 and Figure 5 As shown, in this embodiment, 6 support rods 12 are used, of which 2 support rods 12 are arranged on the left-handed and right-handed clamping screw 10, and the remaining 4 support rods 12 are arranged on the connecting rod 11. Specifically, the ends of the support rods 12 arranged on the left-handed and right-handed clamping screw 10 are fixedly connected to the threaded base 13, so that the support rods 12 can move on the left-handed and right-handed clamping screw 10 through the threads of the threaded base 13, wherein the upper part of the threaded base 13 has a useful groove ( Figure 8), the support rod 12 is arranged in the groove, and the two are preferably connected by bolts. The lower part of the threaded base 13 is a hollow cylindrical body, and its inner wall has a thread, and this thread is screwed with the left and right rotating clamping screw 10, so that the threaded base 13 can move along the thread on the left and right rotating clamping screw 10; Figure 1 and Figure 7 As shown, the end of the support rod 12 provided on the connecting rod 11 is fixedly connected to the protrusion of the smooth base 14, and the lower part of the smooth base 14 is a hollow cylinder with a smooth inner wall, so that the smooth base 14 can slide on the connecting rod 11. The support structure of the second clamping part is symmetrical with the support structure of the first clamping part described above, and will not be described in detail here. Furthermore, the threaded bases 13 of the first clamping part and the second clamping part can be synchronously moved closer or farther away when the left-right rotating clamping screw 10 rotates.

[0039] For the first clamping part: a synchronous pulley 15 (not shown) is provided on the bottom surface of the clamping plate 4 below, and the synchronous pulley 15 is connected to the driving connecting shaft on the upper part of the first driving cylinder 1. The clamping plate 4 is driven by the first driving cylinder 1 through the transmission of the synchronous pulley 15. Another synchronous pulley 15 is provided near the driving connecting shaft of the left-right rotating clamping screw of the first driving cylinder 1, referring to Figure 2 and Figure 3 As shown, this synchronous pulley is connected to ( Figure 3 The middle dotted line) is connected to the synchronous pulley 15 which is arranged on the left-right rotating clamping screw 10.

[0040] For the second clamping part: its clamping plate 4 is directly connected to the rotation axis of the second driving cylinder 2, and the other rotation axis of the second driving cylinder 2 is placed on the frame of the transfer device body 20.

[0041] The two clamping plates 4 of the first clamping part are symmetrically connected to the support plates on both sides of the rotating bearing 7, and the rotating bearing 7 is axially connected to the rotating rod 6. Accordingly, the transmission structure of the second clamping part is symmetrical with the above structure of the first clamping part, and will not be repeated here.

[0042] The tail ends of the first and second clamping parts are both provided with an inclined wedge clamping dovetail plate 5, and the two inclined wedge clamping dovetail plates 5 are respectively sleeved with the tail ends of their corresponding rotating rods 6. Each inclined wedge clamping dovetail plate 5 has a boss 51, which matches the middle hole of the inclined wedge to be clamped, and the bosses 51 on the two inclined wedge clamping dovetail plates 5 are symmetrically arranged. When the rotating rods 6 of the first and second clamping parts rotate synchronously, the first clamping part rotates counterclockwise and the second clamping part rotates clockwise, and the angle between the upper and lower clamping plates 4 is synchronously reduced (with the rotation rod 6 of the first and second clamping parts rotating synchronously), the angle between the upper and lower clamping plates 4 is reduced synchronously (with the rotation rod 6 of the first and second clamping parts rotating synchronously). Fig. 9 The two wedges clamp the dovetail plate 5 and also rotate inwards with the rotating rod 6 ( Figure 1 direction). Among them, Figure 2As shown, the included angle between the two clamping plates 4 in the clamping portion is 0 to 120 degrees, and the included angles of the first clamping plate group and the second clamping plate group change synchronously.

[0043] like Figure 4 As shown, in order to fix the first and second clamping parts, the ends of each connecting rod 11 and the ends of the left and right rotating clamping screws 10 are fixed to the side of the transfer device body 20 through connecting parts, and there are through holes for bolt fixing at the four corners of the connecting parts.

[0044] Furthermore, when there are only the first clamping part and the second clamping part in the auxiliary transfer device, the two clamping parts move synchronously. Furthermore, if the length of the body 20 of the auxiliary transfer device increases to twice the length of the clamping part, a third and a fourth clamping part can be added to the body 20 of the auxiliary transfer device, wherein the third and the fourth clamping parts near the blocking part are not configured with an inclined wedge to clamp the dovetail plate, so that the auxiliary transfer device can clamp a longer pillow spring.

[0045] The technical solution of the present invention is now described in detail:

[0046] Step 101: insert the robot arm into the grabbing hole 2 of the auxiliary device and fix it.

[0047] Step 102, the sliding blocking cylinder 3 is started, and the blocking part blocks the front end of the clamp spring space N.

[0048] Specifically, the sliding blocking cylinder 3 drives the blocking part to rotate, so that the blocking plate 8 of the blocking part rotates to the front end of the clamping spring space N, so that the pillow spring to be transferred can be limited in the space formed by the first clamping part and the second clamping part when being clamped, and is used to place the clamping spring to be transferred.

[0049] Step 103: The robot arm transfers the auxiliary transfer device to a position where it can easily receive the transfer clamp spring.

[0050] Step 104: the first clamping portion and the second clamping portion are opened.

[0051] like Fig. 9 As shown, the first driving cylinder 1 and the second driving cylinder 2 are started simultaneously, pushing the lower clamping plate 4 of the first clamping plate group and the second clamping plate group to move upward, and the corresponding upper clamping plate 4 also moves accordingly, the first clamping plate group rotates counterclockwise around the rotating rod 6 as the axis, and the second clamping plate group rotates clockwise around the rotating rod 6 as the axis, and during the rotation process, the angle of the clamping plate 4 opens, so that the angle between the first clamping part and the second clamping part opens to a maximum angle of 120°.

[0052] When the first driving cylinder 1 is started, the synchronous pulley 15 connected thereto drives the left-right rotation clamping screw 10 to rotate, so that the corresponding spiral base also rotates on the left-right rotation clamping screw 10. In this step, the distance between the first clamping part and the second clamping part increases. Further, the support rod 12 adjacent to the connecting rod 11 moves along with the support rod 12 connected to the left-right rotation clamping screw 10, and moves on the connecting rod 11 through the smooth base 14.

[0053] Step 105: Place the pillow spring to be transferred between the clamping parts.

[0054] With the help of the existing equipment in the workshop, the pillow spring to be transferred is placed between the first clamping plate group and the second clamping plate group.

[0055] Step 106: Fix the pillow spring to be transferred.

[0056] After the pillow spring to be transferred is placed in the clamp spring space N, the first driving cylinder 1 and the second driving cylinder 2 are driven again. At this time, the two driving cylinders drive the first clamping plate group and the second clamping plate group to move in opposite directions, so that the first driving cylinder 1 pulls the lower clamping plate 4 of the first clamping plate group to move counterclockwise with the rotating rod 6 as the axis, and the second driving cylinder 2 pulls the lower clamping plate 4 of the second clamping plate group to move clockwise with its corresponding rotating rod 6 as the axis, and the upper clamping plates 4 corresponding to the respective lower clamping plates 4 also move accordingly. During the movement, the angles of the first clamping part and the second clamping part begin to close synchronously. When the first clamping plate group and the second clamping plate group are tangent to the pillow spring to be transferred, the driving cylinders stop moving.

[0057] Simultaneously with the above-mentioned action, the first driving cylinder 1 drives the left-right rotating clamping screw 10 connected thereto to rotate via the synchronous pulley 15. Since the movement direction is opposite to step 104, in this step, the distance between the first clamping part and the second clamping part is reduced. When the reduced distance enables the first clamping plate group and the second clamping plate group to be tangent to the pillow spring to be transferred, the driving cylinder stops moving. At this time, the state is as follows: Fig.11 shown.

[0058] In summary, if the above spacing is the same as the diameter of the current pillow spring to be transferred, but the first clamping plate group and the second clamping plate group cannot be tangent to the pillow spring, the drive motor continues to work until the first clamping plate group and the second clamping plate group can center the pillow spring in the pillow spring space.

[0059] Step 107: The robotic arm drives the auxiliary transfer device to move to the target position.

[0060] Step 108: The auxiliary transfer device places a pillow spring at the target position.

[0061] Furthermore, when clamping the bevel wedge, the steps and moving directions are the same as those described above and will not be described in detail here. It should be noted that when the first clamping part and the second clamping part move, the bevel wedge clamping dovetail plate 5 and the second bevel wedge clamping dovetail plate move accordingly. Specifically, when executing step 106, after the first clamping part begins to tighten, its bevel wedge clamping dovetail plate 5 begins to move toward the central axis direction of the auxiliary transfer device, and symmetrically, the bevel wedge clamping dovetail plate 5 of the second clamping part also moves toward the central axis direction of the auxiliary transfer device, which is equivalent to the first and second bevel wedge clamping dovetail plates 5 cooperating to perform the clamping action. The inner surfaces of the first and second bevel wedge clamping dovetails both have bosses 51, and the bosses 51 can approach and finally engage with the movement. Among them, the bosses 51 match the middle hole of the bevel wedge to be clamped. Thereby, the bevel wedge can be hung on the auxiliary transfer system.

[0062] In summary, the pillow spring and wedge transfer device is mainly driven by the robot's transfer arm to transfer the pillow spring and wedge, and the pillow spring and wedge can be placed on the tray of the assembly line. The different sizes of the bogie pillow spring mainly refer to the different diameters of the pillow spring. In order to adapt to different pillow springs and ensure that the transfer device can take pillow springs of all different sizes, the first and second clamping parts of the transfer device adopt a V-type clamping mechanism design. The V-type clamping mechanism is divided into two separate mechanisms on both sides. The two sides adopt an independent V-type design. The V-type plates on both sides are driven by a separate cylinder to open and close simultaneously. When the V-type mechanism is opened, the pillow spring is put in. After the pillow spring is put in, the cylinder retracts the V-type mechanism to close and wrap the pillow spring. After the pillow spring is put in, the robot erects the device. At this time, the pillow spring is supported by the blocking cylinder. Due to the different diameters of the pillow springs, the spacing between the V-shaped plates on both sides needs to be adjusted according to the different pillow spring sizes. The spacing between the V-shaped plates on both sides when clamped is clamped by the servo motor driving the left and right screws. The pillow springs of different diameters can be centered by clamping the V-shaped plates on both sides. All pillow springs of different diameters are positioned by the same center, so that the pillow springs can be accurately placed in the pillow spring wire tray. Since the V-shaped plates on both sides are clamped by the servo motor driving the left and right screws, a dovetail structure clamp is designed at the end of the V-shaped plate using this mechanism. The clamp has a boss. The wedge can be clamped by left and right clamping and the boss is hung on the middle hole of the wedge to complete the wedge clamping.

[0063] 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. Intelligent auxiliary transfer system of bolster spring and wedge for freight car bogie, characterized in that: It includes: A mechanical arm and an auxiliary transfer device, wherein the auxiliary transfer device comprises a first clamping part, a second clamping part, a blocking part, and a driving part; The driving arm extends into the fixing hole of the auxiliary transfer device, ready to perform the transfer operation; When performing a transfer operation: The driving part drives the blocking part to rotate so that the pillow spring to be transferred can be limited when it is clamped; The first clamping part and the second clamping part are driven by the driving part to move in the horizontal direction; during the horizontal movement, the first clamping plate group of the first clamping part and the second clamping plate group of the second clamping part open / close on the same horizontal plane, and when the first clamping plate group and the second clamping plate group are both tangent to the outer peripheral surface of the pillow spring to be transferred, the pillow spring to be transferred is centered; When the first clamping part and the second clamping part move, the oblique wedge clamping dovetail plate of the first clamping part and the oblique wedge clamping dovetail plate of the second clamping part move with it.

2. The system according to claim 1, characterized in that The driving part includes: a clamping driving part composed of a first driving cylinder and a second driving cylinder and a sliding blocking cylinder; the first driving cylinder and the second driving cylinder are used to drive the first clamping part and the second clamping part to move in the horizontal direction respectively, and are also used to drive the opening / closing action of the first clamping plate group and the second clamping plate group.

3. The system according to claim 2, characterized in that The driving part drives the blocking part to rotate so that the pillow spring to be transferred can be limited when it is clamped, including: the sliding blocking cylinder is arranged at the front end of the auxiliary transfer device, and when the clamping operation is performed, the sliding blocking cylinder drives the blocking part to rotate, so that the blocking plate of the blocking part rotates to the front end of the clamping spring space; wherein, the clamping spring space is a space for placing the clamping spring to be transferred, which is formed by limiting the first clamping part and the second clamping part.

4. The system according to claim 2, characterized in that The first clamping part and the second clamping part are driven by the driving part to move in the horizontal direction, comprising: A left-right rotating clamping screw is transversely arranged in the inner cavity of the auxiliary transfer device, and the first clamping part and the second clamping part are respectively screwed to the two ends of the left-right rotating clamping screw through a supporting assembly; One end of the left-right rotating clamping screw is connected to the first driving cylinder via a set of synchronous pulleys; When the first driving cylinder is in motion, its power is transmitted to the left-right rotating clamping screw through the synchronous pulley, and the left-right rotating clamping screw rotates and drives each of the supporting components to move in the horizontal direction; wherein the supporting component connected to the second clamping part moves with the rotation of the left-right rotating clamping screw; Wherein, the second driving cylinder and the first driving cylinder act simultaneously; and the heights of the supporting components are the same.

5. The system according to claim 4, characterized in that The first clamping plate group of the first clamping part and the second clamping plate group of the second clamping part open / close on the same horizontal plane while moving horizontally, including: The first driving cylinder is connected to the lower clamping plate of the first clamping plate group, and the second driving cylinder is symmetrically connected to the lower clamping plate of the second clamping plate group; wherein the first clamping plate group and the second clamping plate group are each composed of two V-shaped clamping plates connected by shafts; The two V-shaped clamping plates are rotatably connected to the rotating rod via a rotating bearing, and the two are linked together; When the first driving cylinder and the second driving cylinder are in operation, the two V-shaped clamping plates in the first clamping plate group and the second clamping plate group open / close synchronously with the rotating rod as the axis; wherein the two rotating rods are supported by the support components of the same height, which are located on the same horizontal plane.

6. The system according to claim 1, characterized in that When the first clamping part and the second clamping part move, the oblique wedge clamping dovetail plate of the first clamping part and the oblique wedge clamping dovetail plate of the second clamping part follow, including: the movement trend of the two oblique wedge clamping dovetail plates is the same as the movement trend of their respective corresponding clamping parts.

7. The system according to claim 6, characterized in that The inner surface of each of the inclined wedges that clamp the dovetail plate is provided with a boss. When the first clamping plate group and the second clamping plate group move in a closing manner, the bosses of the inclined wedges that clamp the dovetail plates move closer together and finally engage; wherein the bosses match the middle holes of the inclined wedges to be clamped.

8. The system according to claim 4, characterized in that The inner cavity of the transfer device is provided with a pair of connecting rods parallel to the left-right rotating clamping screws, and the connecting rods are connected to the rotating rods of the first clamping part and the second clamping part through the supporting assembly.

9. The system according to claim 3, characterized in that The blocking plate is axially connected to the front end of the body of the transfer device, and its rotation axis is coaxially arranged with the axis center of the clamp spring space.

10. The system according to claim 1, characterized in that The included angle between the first clamping plate group and the second clamping plate group is 0 degrees to 120 degrees, and the included angle between the first clamping plate group and the second clamping plate group changes synchronously.

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