Bolt dismounting and mounting device and method for car coupler buffer device

Abstract

The invention discloses a bolt disassembly and assembly device and method for a coupler buffer device, and the device comprises a walking device which is provided with a bearing platform for placing a nut and a disassembly and assembly tool; the robot is arranged on the walking device, a manipulator is arranged at the execution tail end of the robot, and the manipulator is used for clamping a dismounting tool on the bearing platform, dismounting a nut on the coupler buffer device, clamping or releasing the nut on the bearing platform and mounting a standby nut on the coupler buffer device; a navigation system is arranged on the walking device, and a visual system is arranged at the execution tail end of the robot. The automatic nut dismounting and mounting device can complete automatic dismounting and mounting of the nut in the overhauling operation of the coupler buffer device, can reduce the working intensity of overhauling personnel, reduces safety accidents, and improves the working efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of bolt disassembly and assembly of a coupler buffer device, and in particular to a bolt disassembly and assembly device and a disassembly and assembly method for a coupler buffer device. Background Art

[0002] The coupler buffer is a device connected between two vehicles that can transmit traction and braking force and mitigate longitudinal impact. The coupler buffer is installed in the traction beam at the end of the vehicle chassis, and usually includes a coupler, a buffer, a coupler tail frame and a follower plate.

[0003] At present, when vehicle maintenance plants inspect and repair coupler buffer devices, they mainly rely on manual work to loosen the bolts and nuts in the coupler buffer devices. Since the bolts and nuts are mainly located at the bottom of the vehicle body, manual loosening of the nuts requires maintenance personnel to squat down at the bottom of the vehicle body, look up, and lift up tools such as pneumatic wrenches and sockets to loosen the nuts.

[0004] In the process of loosening nuts, maintenance personnel are basically blind due to poor lighting conditions, and it is difficult to quickly and accurately align the tool with the nut to be removed. In addition, since the pneumatic wrench is generally about 23cm long and weighs about 5kg, it is labor-intensive, time-consuming and laborious to lift the heavy tool for a long time, which is harmful to the health of employees, easily induces occupational diseases, and also poses certain personal safety risks. Summary of the invention

[0005] The invention provides a bolt disassembling and assembling device and a disassembling and assembling method for a coupler buffer device, which are used to automatically disassemble and install nuts during maintenance work of the coupler buffer device, thereby reducing the work intensity of maintenance personnel, reducing safety accidents and improving work efficiency.

[0006] In one aspect, the present invention provides a bolt disassembling device for a coupler buffer device, the bolt disassembling device for the coupler buffer device comprising:

[0007] A walking device, on which a bearing platform for placing nuts and disassembly tools is formed;

[0008] A robot is arranged on the walking device, and a manipulator is arranged at the execution end of the robot, and the manipulator is used to clamp the disassembly tool on the bearing platform and remove the nut on the coupler buffer device, and clamp or release the nut on the bearing platform and install a spare nut on the coupler buffer device;

[0009] A navigation system is provided on the walking device, and a visual system is provided on the execution end of the robot.

[0010] In one embodiment, a torque sensor is provided on the execution end of the robot for detecting the torque magnitude of the disassembly tool when disassembling the nut.

[0011] In one embodiment, an alarm is also included, and the torque sensor and the alarm are both electrically connected to the controller.

[0012] In one embodiment, a marking tool is also provided on the walking device for marking the connection position of the bolt and the nut on the coupler buffer device under the clamping of the manipulator.

[0013] In one embodiment, the marking tool is a sprayer, the nozzle of the sprayer can be moved under the clamping of the manipulator, and spray paint to the connection position of the bolt and nut on the coupler buffer device to achieve marking.

[0014] In one embodiment, a position sensor is provided on the execution end of the robot.

[0015] In one embodiment, a laser sensor is provided on the walking device.

[0016] In one embodiment, a camera is provided at the execution end of the robot for real-time photographing and monitoring the number, location and degree of rust of rusted nuts on the coupler buffer device.

[0017] In one embodiment, the camera is communicatively connected to a remote management system.

[0018] On the other hand, the present invention provides a method for disassembling and assembling a bolt for a coupler buffer device, which is applied to the bolt disassembling and assembling device in the aforementioned embodiment, and the disassembling and assembling method comprises the following steps:

[0019] Step S0: moving the coupler buffer device into the maintenance area;

[0020] Step S1: the traveling device moves to the bottom of the coupler buffer device under the guidance of the navigation system to perform preliminary positioning of the coupler buffer device;

[0021] Step S2: The visual system on the robot execution end automatically identifies and locates the spatial position of the bolt and nut on the hook buffer device, the robot adjusts the position of the manipulator, and uses the disassembly tool to disassemble the nut on the truck hook buffer device;

[0022] Step S3: The robot takes out the spare nuts that meet the specifications from the preparation tray, locates the bolt position through the machine vision system, and installs the nuts on the bolts.

[0023] Compared with the prior art, the advantages of the present invention are:

[0024] 1. The bolt disassembly and assembly device in the embodiment of the present invention is applied to the disassembly and assembly process of the coupler buffer device, and can complete the automatic disassembly and installation of the nut during the maintenance operation of the coupler buffer device, which can reduce the work intensity of the maintenance personnel, reduce safety accidents, and improve work efficiency.

[0025] 2. A torque sensor is set at the execution end of the robot to detect the torque applied by the socket head when removing the nut. During the process of removing the nut, the controller can judge whether the model of the socket head matches the nut to be removed according to the detected torque size, and whether the socket head is accurately inserted into the nut to be removed, thereby achieving precise positioning between the socket head and the nut to be removed, thereby ensuring that the two can be positioned and matched.

[0026] 3. When the torque detected by the torque sensor exceeds the preset value, the controller controls the robot to stop the disassembly operation to ensure that the torque of the nut does not exceed the preset range during disassembly to avoid damage to the bolt and the manipulator. At the same time, the controller can trigger the alarm, which outputs the alarm information and makes a note in the terminal management system to notify the maintenance personnel to perform the oxygen-ethane cutting operation.

[0027] 4. The robot's execution end is equipped with a visual system and position sensor. The visual system is used to identify and locate the spatial position of the bolts and nuts on the coupler buffer device, and to collect images of them. The image processing technology is used to process the on-site pictures to obtain and identify the position, quantity, and specifications of the nuts to be removed, thereby facilitating the determination of the required model of socket head and spare nuts, providing a basis for subsequent terminal operations.

[0028] The combined use of vision systems and position sensors can quickly and accurately locate, as well as selectively pick up spare nuts, disassembly tools and identification tools on the carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0030] Figure 1 It is a structural schematic diagram of a bolt disassembling and assembling device;

[0031] Figure 2 It is a block diagram of the electrical connections between the components on the bolt disassembly and assembly device;

[0032] Figure 3 The present invention is a flow chart of disassembling and assembling a coupler buffer device by using a bolt disassembling and assembling device.

[0033] Reference numerals:

[0034] 1. Traveling device; 11. Vehicle body; 12. Universal wheel; 13. Carrying platform;

[0035] 2. Robot; 21. Six-axis robotic arm; 22. Robotic hand;

[0036] 31. Tool rack; 32. Waste tray; 33. Preparation tray;

[0037] 41. Navigation system; 42. Laser sensor; 43. Vision system; 44. Position sensor;

[0038] 45. torque sensor; 46. alarm; 47. camera; 48. controller;

[0039] 100. Socket head; 200. Marking tool; 300. Spare nut. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings.

[0041] The embodiment of the present invention provides a bolt disassembling and assembling device for a coupler buffer device. The bolt disassembling and assembling device for a coupler buffer device comprises a traveling device 1 and a robot 2 mounted on the traveling device 1 .

[0042] The walking device 1 may be an AGV, including a body 11 and a universal wheel 12 disposed at the bottom of the body 11. A carrying platform 13 for placing a tool rack 31, a waste tray 32 and a preparation tray 33 is formed on the body 11. The tool rack 31 is used to place disassembly tools and marking tools 200; the waste tray 32 is used to place nuts removed from the coupler buffer device; and the preparation tray 33 is used to store new spare nuts 300 for replacement.

[0043] The robot 2 has a six-axis robotic arm 21, and the execution end of the six-axis robotic arm 21 is provided with a robotic arm 22 with clamping and releasing functions. The robot 2 is electrically connected to the controller 48. The robotic arm 22 can switchably clamp, pick up or place disassembly tools, identification tools 200 or nuts from the tool rack 31, waste tray 32 and preparation tray 33 under the control of the controller 48.

[0044] The bolt disassembly and assembly device in the embodiment of the present invention is applied to the disassembly and assembly process of the coupler buffer device, and can complete the automatic disassembly and installation of the nut during the maintenance operation of the coupler buffer device, which can reduce the work intensity of the maintenance personnel, reduce safety accidents, and improve work efficiency.

[0045] The robot 2 occupies an area of ​​about 1.5m×1.0m and weighs about 300KG. The end tooling load capacity of the six-axis robot arm 21 is 20kg. The robot 2 can control the loosening and replacement of a single bolt on the coupler buffer within 30S. The robot 2 can work in complex environments such as high temperature, low temperature or vibration to ensure the quality of bolt repair and reduce the workload of maintenance personnel.

[0046] Navigation and obstacle avoidance: A navigation system 41 is provided on the vehicle body 11 of the traveling device 1 . The navigation system 41 may be a GPS autonomous navigation system 41 or a remote control navigation system 41 .

[0047] The vehicle connected to the coupler buffer device is parked in the maintenance area of ​​the vehicle maintenance plant. The traveling device 1 travels to a preset position in the maintenance area along a preset trajectory or route under the control of the navigation system 41, thereby arriving under the coupler buffer device, thereby achieving rough positioning between the traveling device 1 and the coupler buffer device.

[0048] Laser sensors 42 are arranged at intervals on the circumference of the vehicle body 11 to identify and avoid obstacles to ensure safe arrival at the target location.

[0049] Positioning and disassembly: The spare nuts 300 in the preparation tray 33 have different specifications, and the spare nuts 300 are divided into M18, M20, M22 and M24. The disassembly and assembly tools on the tool rack 31 are socket heads 100 of different models, which can match nuts of different models.

[0050] A visual system 43 and a position sensor 44 are provided on the execution end of the robot 2. The visual system 43 is used to identify and locate the spatial positions of the bolts and nuts on the coupler buffer device, and to collect images thereof. The image processing technology is used to process the on-site pictures to obtain and identify the position, quantity, and specifications of the nuts to be removed, thereby facilitating the determination of the required models of the socket head 100 and the spare nut 300, providing a basis for subsequent terminal operations.

[0051] The spare nut 300, the disassembly tool and the marking tool 200 on the support platform can be quickly and accurately positioned and selectively picked up by comprehensively utilizing the visual system 43 and the position sensor 44. The visual system 43 includes a 3D camera.

[0052] The execution end of the robot 2 is provided with a torque sensor 45 for detecting the torque applied by the socket head 100 when removing the nut. During the process of removing the nut, the controller 48 can judge whether the model of the socket head 100 matches the nut to be removed, and whether the socket head 100 is accurately inserted into the nut to be removed according to the detected torque size, thereby achieving precise positioning between the socket head 100 and the nut to be removed, thereby ensuring that the two can be positioned and matched.

[0053] After the socket head 100 is put on the nut to be removed, the six-axis robot arm 21 drives the socket head 100 clamped by the robot arm 22 to rotate, so as to remove the nut, and the removed nut is placed on the waste tray 32 by the robot arm 22.

[0054] The vehicle body 11 is also provided with an alarm 46 , which may be a buzzer alarm 46 or a photoelectric alarm 46 .

[0055] The alarm 46 and the torque sensor 45 are both electrically connected to the controller 48. When the torque detected by the torque sensor 45 exceeds the preset value, the controller 48 controls the robot 2 to stop the disassembly operation to ensure that the torque of the nut does not exceed the preset range during disassembly to avoid damage to the bolt and the manipulator 22. At the same time, the controller 48 can trigger the alarm 46, which outputs an alarm message and makes a note in the terminal management system to notify the maintenance personnel to perform the oxygen-ethane cutting operation.

[0056] Replace the nut: After the disassembly and repair of the coupler buffer device is completed, the spare nut 300 needs to be replaced.

[0057] Driven by the six-axis robot arm 21, the manipulator 22 approaches the preparation tray 33, and the position sensor 44 and the visual system 43 locate, identify and select the spare nuts 300 of suitable types in the preparation tray 33. The manipulator 22 then clamps the nuts and replaces them on the bolts of the coupler buffer device.

[0058] During the nut replacement and installation process, the torque sensor 45 on the execution end of the robot 2 can detect the magnitude of the torque applied when screwing the nut. The torque range is controlled by the controller 48 to ensure that the torque meets industry standards and is controlled within a reasonable range. It can achieve precise control of the torque applied during the disassembly and assembly process, avoid damage or loosening of the bolts due to excessive or insufficient force, and improve the quality and efficiency of nut tightening and repair.

[0059] Nut anti-loosening mark: The marking tool 200 can be a sprayer. After the inspection is completed and the nut is replaced and installed, the controller 48 controls the manipulator 22 to clamp the nozzle of the sprayer to spray paint at the connection position of the bolt and nut on the coupler buffer device. When the nut is loose, the paint at the connection position of the bolt and the nut will be intermittent and discontinuous. Subsequent maintenance personnel can visually observe the loosening of the nut, so that the maintenance personnel can promptly discover and deal with the loose nut during the later inspection and maintenance, thereby improving the safety of the coupler buffer device.

[0060] The color of the paint is different from the color of the bolts and nuts. For example, when the color of the nuts is black, the color of the sprayed paint can be red, blue or yellow to make them more eye-catching.

[0061] Shooting: A camera 47 is installed at the end of the robot 2 and near the manipulator 22, which is used to shoot and monitor the number, location and degree of rust of the rusted nuts on the coupler buffer in real time, and can record the operation time and operation process of the nut disassembly and assembly, as well as the tightening torque when installing the nuts. Based on the above data, it is conducive to the subsequent optimization of the disassembly and assembly process, and improve the efficiency and quality of disassembly and assembly; at the same time, it is conducive to analyzing the rust condition of the nuts and providing a basis for solving the problem of rusted nuts on the coupler buffer. In addition, the camera 47 is connected to the remote management system for easy viewing on the remote management system.

[0062] The embodiment of the present invention further provides a disassembly method applied to the above-mentioned bolt disassembly device, comprising the following steps:

[0063] Step S0: moving the coupler buffer device to the maintenance area of ​​the vehicle maintenance plant;

[0064] Step S1: the traveling device 1 moves to the bottom of the coupler buffer device under the navigation of the navigation system 41 to preliminarily locate the coupler buffer device;

[0065] Step S2: The visual system 43 on the execution end of the robot 2 automatically identifies and locates the spatial position of the bolt and nut on the hook buffer device, and the robot 2 adjusts the position of the manipulator 22 so that the disassembly tool is facing the nut position on the truck hook buffer device. The torque sensor 45 on the execution end of the robot 2 detects whether the torque is greater than zero to ensure that the socket head 100 is completely inserted into the nut to be disassembled, so as to disassemble the nut. The disassembled nut is placed in the waste tray 32 by the robot 2.

[0066] Step S3: the robot 2 drives the manipulator 22 to automatically switch the end tool, takes out the nuts that meet the specifications from the preparation tray 33, locates the bolt position through the machine vision system 43, installs the nut on the bolt, and tightens it by switching the special tool.

[0067] Step S4: After the operation is completed, anti-loosening marking is sprayed to facilitate later inspection and maintenance.

[0068] 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 bolt disassembly and assembly device for a coupler buffer device, characterized in that: include: A walking device, on which a bearing platform for placing nuts and disassembly tools is formed; A robot is arranged on the walking device, and a manipulator is arranged at the execution end of the robot, and the manipulator is used to clamp the disassembly tool on the bearing platform and remove the nut on the coupler buffer device, and clamp or release the nut on the bearing platform and install a spare nut on the coupler buffer device; A navigation system is provided on the walking device, and a visual system is provided on the execution end of the robot.

2. The bolt disassembling device for a coupler buffer device according to claim 1, characterized in that: A torque sensor is arranged on the execution end of the robot to detect the torque size of the disassembly tool when disassembling and assembling the nut.

3. The bolt disassembling and assembling device for a coupler buffer device according to claim 2, characterized in that: It also includes an alarm, and the torque sensor and the alarm are both electrically connected to the controller.

4. The bolt disassembling and assembling device for a coupler buffer device according to any one of claims 1 to 3, characterized in that: The walking device is also provided with a marking tool for marking the connection position of the bolt and the nut on the coupler buffer device under the clamping of the manipulator.

5. The bolt disassembling and assembling device for a coupler buffer device according to claim 4, characterized in that: The marking tool is a sprayer, the nozzle of which can be moved under the clamping of a manipulator, and spray paint onto the connection position of the bolt and nut on the coupler buffer device to achieve marking.

6. The bolt disassembling and assembling device for a coupler buffer device according to claim 1, characterized in that: A position sensor is arranged on the execution end of the robot.

7. The bolt disassembling and assembling device for a coupler buffer device according to claim 1, characterized in that: The walking device is provided with a laser sensor.

8. The bolt disassembling and assembling device for a coupler buffer device according to any one of claims 1 to 3, characterized in that: The execution end of the robot is provided with a camera for real-time photographing and monitoring the number, position and degree of rust of the rusted nuts on the coupler buffer device.

9. The bolt disassembling and assembling device for a coupler buffer device according to claim 8, characterized in that: The camera is communicatively connected with the remote management system.

10. A method for disassembling and assembling a bolt disassembling and assembling device for a coupler buffer device according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step S0: moving the coupler buffer device into the maintenance area; Step S1: the traveling device moves to the bottom of the coupler buffer device under the guidance of the navigation system to perform preliminary positioning of the coupler buffer device; Step S2: The visual system on the robot execution end automatically identifies and locates the spatial position of the bolts and nuts on the hook buffer device, and the manipulator clamps the disassembly tool and removes the nuts on the truck hook buffer device; Step S3: The robot takes out the spare nuts that meet the specifications from the preparation tray, and after the machine vision system locates the bolt position, the nut is installed on the bolt.

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