Truss robot used for railway wheel pair and provided with middle vehicle
By designing a truss robot with CRRC and equipped with two independent lifting and clamping devices, the problem of inefficient grasping of truss robots in the prior art is solved, and efficient operation of grabbing multiple wheel pairs at the same time is achieved.
Patent Information
- Application Number
- CN202510167526.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-16
- Publication Date
- 2025-05-23
AI Technical Summary
The existing truss robots of railway wheel pairs only have one set of jaws, which leads to only grab one wheel pair at a time, which is inefficient.
A truss robot with CRRC is designed, equipped with two independent lifting and clamping devices, which can simultaneously grasp two staggered or adjacent wheel pairs on the top layer, and place them in the same row or staggered set positions after operation.
It greatly improves the degree of automation and efficiency of operations, and can handle multiple wheel pairs at the same time, significantly improving work efficiency.
Smart Images
Figure CN120023795A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of inspection and production of railway vehicles, in particular to a truss robot with a middle vehicle for railway wheelsets. Background Art
[0002] At present, in various railway vehicle sections across the country, the truss robots in the planar storage bins used for railway wheelsets have only one set of grippers. The truss robots can only grab one wheelset in one action, so the operating efficiency is low. Summary of the invention
[0003] In view of the problems existing in the prior art, the object of the present invention is to provide a truss robot for railway wheelsets with a middle car to solve the problems mentioned in the above background technology.
[0004] To achieve the above-mentioned object, the present invention provides the following technical solution: a factory building 1 of a railway vehicle depot or a vehicle factory includes a wheelset 1A, a factory building track 1B, a planar storage 2 for the wheelset 1A, and a truss robot 3, wherein the planar storage 2 includes a layer of brackets 2A; the wheelset 1A located on the first layer is placed on the first layer of brackets 2A, and the wheelset 1A is staggered and cross-arranged; assuming that the length direction of the factory building track 1B is the longitudinal direction, the length direction of the wheelset 1A in the planar storage 2 is the transverse direction; The truss robot 3 includes a large car 3A and a middle car 7. The large car 3A that can run on the factory track 1B includes a transverse track 3AY. The middle car 7 includes a middle car body 7A, a front car 7B and a rear car 7C. The middle car body 7A that can run on the transverse track 3AY includes a longitudinal track 7AX, the front car 7B includes a front car body 7B1, and the rear car 7C includes a rear car body 7C1. The front car body 7B1 and the rear car body 7C1 that can both run on the longitudinal track 7AX include a lifting device 4 and a clamping device 5; the clamping device 5 is installed on the lifting device 4, and the two sets of lifting devices 4 are respectively installed on the front car body 7B1 and the rear car body 7C1; the truss robot 3 can simultaneously grab two adjacent wheel pairs 1A on the top layer that are staggered or in the same row, and place them in the same row or staggered set positions after operation.
[0005] As a further solution of the present invention: the lifting device 4 includes a fixed starting end 4A, an intermediate device 4B and a lifting terminal 4C, the clamping device 5 is installed on the lifting terminal 4C, the lifting terminal 4C is lifted and lowered on the intermediate device 4B, and the intermediate device 4B is lifted and lowered on the fixed starting end 4A.
[0006] As a further solution of the present invention: the lifting device 4 includes a multi-stage lifting device 41; when the wheelset 1A grasped by the truss robot 3 is in the highest position, the highest position of the wheelset 1A is higher than the lowest position of the multi-stage lifting device 41.
[0007] As a further solution of the present invention: the middle car 7 comprises an integral car body 7D which is a combination of a middle car body 7A and a front car body 7B1, and the fixed starting end 4A on the front car 7B is connected to the integral car body 7D as a whole.
[0008] As a further solution of the present invention: the lifting device 4 in the rear trolley 7C includes a top trolley 4D, the fixed starting end 4A on the rear trolley 7C is fixed on the top trolley 4D, and the top trolley 4D can run horizontally on the rear car body 7C1.
[0009] As a further solution of the present invention: the multi-stage lifting device 41 includes a steel lifting device 6 and a lifting traction device 41A, the steel lifting device 6 includes a steel fixed start end 6A, a steel intermediate device 6B, a steel lifting terminal 6C and a linear guide rail 6D, the steel intermediate device 6B includes one or two sets of intermediate steel 6B1, and the clamping claw device 5 is installed on the steel lifting terminal 6C; linear guide rails 6D are installed between the steel fixed start end 6A and the steel intermediate device 6B, between the steel intermediate device 6B and the steel lifting terminal 6C, and between the intermediate steel 6B1 in the steel intermediate device 6B; the lifting and traction device 41A is used to realize the lifting of the steel lifting terminal 6C; As a further solution of the present invention: the clamping jaw device 5 includes a horizontal telescopic device 5A, and the telescopic device 5A includes a telescopic head 5A1. The telescopic head 5A1 can extend into the top of the inner concave ring of the wheel rim of the wheelset 1A.
[0010] As a further solution of the present invention: under certain conditions, the truss robot 3 can also simultaneously grasp two adjacent wheel pairs 1A in the top layer and the next layer that are staggered or in the same row.
[0011] In summary, compared with the prior art, the main features of the present invention are: 1) The truss robot is equipped with two sets of grippers, which can grab two wheel sets at the same time; 2) The front trolley and the right trolley can move horizontally and vertically relative to each other, which means that the grippers can grab two wheel sets with different spacings at the same time; 3) The two sets of grippers can be raised and lowered independently, which means that wheel sets at different heights can be grabbed at the same time. The main advantages of the present invention are: greatly improving the automation and efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 It is a schematic diagram of the structure of the wheel set 1A, the plant track 1B, the planar storage 2, and the truss robot 3 in the plant 1; Figure 2 yes Figure 1The A-direction view is also a schematic diagram of the structure of the large vehicle 3A and the middle vehicle 7 constituting the truss robot 3, a schematic diagram of the structure of the transverse track 3AY constituting the large vehicle 3A, a schematic diagram of the structure of the multi-stage lifting device 41 constituting the lifting device 4, and a schematic diagram of the structure of the first-layer support 2A and the second-layer support 2B constituting the planar storage 2; Figure 3 yes Figure 2 The partial enlarged view of I is also a schematic diagram of the structure of the telescopic device 5A constituting the clamping device 5, and is also a schematic diagram of the structure of the telescopic head 5A1 constituting the telescopic device 5A; Figure 4 yes Figure 2 The C-direction view is also a schematic diagram of the structure in which the wheelset on the second floor is placed on the second-floor support; Figure 5 yes Figure 1 The B-direction view is also a schematic diagram of the structure of the fixed starting end 4A, the intermediate device 4B and the lifting terminal 4C that constitute the lifting device 4, a schematic diagram of the structure of the lifting and traction device 41A that constitutes the multi-stage lifting device 41, a schematic diagram of the structure of the longitudinal track 7AX and the integral car body 7D that constitute the middle car 7, and a schematic diagram of the structure of the top trolley 4D that constitutes the lifting device 4; Figure 6 yes Figure 5 The CC view is also a schematic diagram of the structure of the steel fixed start end 6A, the steel intermediate device 6B, the steel lifting terminal 6C and the linear guide 6D in the steel lifting device 6, and is also a schematic diagram of the structure of the truss robot 3 simultaneously grasping two adjacent wheel pairs on the same layer without misalignment; Figure 7 yes Figure 5 M-direction view; Figure 8 is a structural schematic diagram of the truss robot 3 simultaneously grasping two adjacent wheel pairs at the same level and in a dislocated manner; Fig. 9 It is a structural schematic diagram of a situation in which the second-layer wheelset is directly placed on the first-layer wheelset and the truss robot 3 simultaneously grabs two adjacent wheelsets on the second and first layers in a specific state; Fig.10 yes Figure 8 and Fig. 9 DD view; Fig.11 yes Figure 8 and Fig. 9 N-way view of Fig.12 It is a structural schematic diagram of the second-layer wheelset being placed on the second-layer bracket 2B, and the truss robot 3 simultaneously grabs two adjacent wheelsets on the second layer and the first layer in a specific state; Fig.13 yes Fig.12 EE view; Fig.14 yes Fig.12 P-direction view; Fig.15 It is a structural schematic diagram of two adjacent dislocated wheelsets in which the second-layer wheelset is at a high position and the first-layer wheelset is at a low position when the second-layer wheelset is placed on the second-layer bracket 2B in a specific state and the truss robot 3 grasps the wheelset; Fig.16 It is a structural schematic diagram of a middle car body 7A, a front car 7B and a rear car 7C constituting the middle car 7, a structural schematic diagram of a front car body 7B1 constituting the front car 7B, and a structural schematic diagram of a rear car body 7C1 constituting the rear car 7C; Fig.17 is another structural schematic diagram of the truss robot 3; it is also a structural schematic diagram in which when the wheelset 1A grasped by the truss robot 3 is in the highest position, the lowest position of the wheelset 1A is at the same height as the lowest position of the lifting device 4; Fig.18 yes Fig.17 The F-direction view is also a schematic diagram of the structure of another planar storage library 2 in which the second-layer wheelset is directly placed on the first-layer wheelset.
[0013] In the attached figure, 1 is the factory building, 1A is the wheelset, and 1B is the factory track. 2 is a planar storage, 2A is a first-layer support, 2B is a second-layer support, 3 is the truss robot, 3A is the cart, 3AY is the horizontal track, 4 is a lifting device, 4A is a fixed start end, 4B is an intermediate device, 4C is a lifting end, 4D is a top trolley, 41 is a multi-stage lifting device, 41A is a lifting traction device, 5 is the clamping device, 5A is the telescopic device, 5A1 is the telescopic head, 6 is a steel lifting device, 6A is a steel fixed start, 6B is a steel intermediate device, 6B1 is an intermediate steel, 6C is a steel lifting terminal, 6D is a linear guide rail, 7 is the middle car, 7A is the middle car body, 7AX is the longitudinal track, 7B is the front trolley, 7B1 is the front car body, 7C is the rear trolley, 7C1 is the rear car body, and 7D is the entire car body. DETAILED DESCRIPTION
[0014] The technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
[0015] See also Figure 1-Figure 18 In the embodiment of the present invention, a factory building 1 of a railway vehicle depot or a vehicle factory includes a wheelset 1A, a factory track 1B, a planar storage 2 for the wheelset 1A, and a truss robot 3. The planar storage 2 includes a layer of brackets 2A. The wheelsets 1A located on the first layer are placed on the first layer of brackets 2A. The wheelsets 1A are staggered and cross-arranged. If the length direction of the factory track 1B is the longitudinal direction, the length direction of the wheelset 1A in the planar storage 2 is the transverse direction. The truss robot 3 includes a large car 3A and a middle car 7. The large car 3A that can run on the factory track 1B includes a transverse track 3AY. The middle car 7 includes a middle car body 7A, a front car 7B and a rear car 7C. The middle car body 7A that can run on the transverse track 3AY includes a longitudinal track 7AX, the front car 7B includes a front car body 7B1, and the rear car 7C includes a rear car body 7C1. The front car body 7B1 and the rear car body 7C1 that can both run on the longitudinal track 7AX include a lifting device 4 and a clamping device 5; the clamping device 5 is installed on the lifting device 4, and the two sets of lifting devices 4 are respectively installed on the front car body 7B1 and the rear car body 7C1; the truss robot 3 can simultaneously grab two adjacent wheel pairs 1A on the top layer that are staggered or in the same row, and place them in the same row or staggered set positions after operation.
[0016] It should be noted that the wheelset 1A on the second floor can be placed on the wheelset 1A on the first floor, or on the support 2B on the second floor; It should be further explained that the planar storage memory 2 can be a multi-layer planar storage memory or a cache area with only one layer.
[0017] The lifting device 4 comprises a fixed starting end 4A, an intermediate device 4B and a lifting terminal 4C, the clamping device 5 is installed on the lifting terminal 4C, the lifting terminal 4C is lifted and lowered on the intermediate device 4B, and the intermediate device 4B is lifted and lowered on the fixed starting end 4A.
[0018] The lifting device 4 includes a multi-stage lifting device 41 ; when the wheelset 1A grasped by the truss robot 3 is at the highest position, the highest position of the wheelset 1A is higher than the lowest position of the multi-stage lifting device 41 .
[0019] It should be noted that when the wheelset 1A grasped by the truss robot 3 is at the highest position, the lowest position of the wheelset 1A may also be at the same height as the lowest position of the multi-stage lifting device 41 .
[0020] The middle car 7 comprises an integral car body 7D which is a combination of a middle car body 7A and a front car body 7B1, and a fixed starting end 4A on the front car 7B is connected to the integral car body 7D as a whole.
[0021] The lifting device 4 in the rear trolley 7C includes a top trolley 4D, and the fixed start end 4A on the rear trolley 7C is fixed on the top trolley 4D. The top trolley 4D can run horizontally on the rear car body 7C1.
[0022] The multi-stage lifting device 41 includes a steel lifting device 6 and a lifting traction device 41A. The steel lifting device 6 includes a steel fixed start end 6A, a steel intermediate device 6B, a steel lifting terminal 6C and a linear guide rail 6D. The steel intermediate device 6B includes one or two sets of intermediate steels 6B1. The clamping device 5 is installed on the steel lifting terminal 6C. The linear guide rail 6D is installed between the steel fixed start end 6A and the steel intermediate device 6B, between the steel intermediate device 6B and the steel lifting terminal 6C, and between the intermediate steels 6B1 in the steel intermediate device 6B. The lifting and traction device 41A is used to realize the lifting of the steel lifting terminal 6C. It should be noted that the lifting and traction device 41A can be a winch or a chain transmission device.
[0023] The clamping jaw device 5 comprises a horizontal telescopic device 5A, and the telescopic device 5A comprises a telescopic head 5A1, and the telescopic head 5A1 can extend into the top of the concave ring on the inner side of the wheel rim of the wheelset 1A.
[0024] Under certain conditions, the truss robot 3 can also simultaneously grasp two adjacent wheel pairs 1A on the top layer and the next layer that are staggered or in the same row.
[0025] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In the present invention, it should also be noted that the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate medium, and the specific meaning of the terms in the present invention can be understood based on the specific circumstances.
[0026] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.
Claims
1. A truss robot for a railway wheel set having a middle car, characterized in that A factory building (1) of a railway vehicle depot or a vehicle factory includes a wheelset (1A), a factory track (1B), a planar storage (2) for the wheelset (1A), and a truss robot (3). The planar storage (2) includes a layer of brackets (2A). The wheelset (1A) located on the first layer is placed on the first layer of brackets (2A), and the wheelset (1A) is staggered and cross-arranged. If the length direction of the factory track (1B) is the longitudinal direction, then the length direction of the wheelset (1A) in the planar storage (2) is the transverse direction. The truss robot (3) includes a trolley (3A) and a middle car (7). The trolley (3A) that can run on the factory track (1B) includes a transverse track (3AY), and the middle car (7) includes a middle car body (7A), a front car (7A), and a rear car (7B). B) and a rear trolley (7C), the middle car body (7A) capable of running on a transverse track (3AY) includes a longitudinal track (7AX), the front trolley (7B) includes a front car body (7B1), and the rear trolley (7C) includes a rear car body (7C1), and the front car body (7B1) and the rear car body (7C1) both capable of running on the longitudinal track (7AX) include a lifting device (4) and a clamping device (5); the clamping device (5) is installed on the lifting device (4), and the two sets of lifting devices (4) are installed on the front car body (7B1) and the rear car body (7C1) respectively; the truss robot (3) can simultaneously grasp two adjacent wheel pairs (1A) on the top layer that are staggered or in the same row, and place them in the same row or staggered set positions after running.
2. A truss robot for a railway wheel set with a middle car according to claim 1, characterized in that The lifting device (4) comprises a fixed starting end (4A), an intermediate device (4B) and a lifting terminal (4C), the clamping claw device (5) is installed on the lifting terminal (4C), the lifting terminal (4C) is lifted and lowered on the intermediate device (4B), and the intermediate device (4B) is lifted and lowered on the fixed starting end (4A).
3. A truss robot for a railway wheel set with a middle car according to claim 2, characterized in that The lifting device (4) comprises a multi-stage lifting device (41); when the wheelset (1A) grasped by the truss robot (3) is at the highest position, the highest position of the wheelset (1A) is higher than the lowest position of the multi-stage lifting device (41).
4. A truss robot for a railway wheel set with a middle car according to claim 3, characterized in that The middle car (7) comprises an integral car body (7D) formed by combining a middle car body (7A) and a front car body (7B1), and a fixed starting end (4A) on the front car (7B) is connected to the integral car body (7D) as a whole.
5. A truss robot for a railway wheel set with a middle car according to claim 3, characterized in that The lifting device (4) in the rear trolley (7C) comprises a top trolley (4D), a fixed start end (4A) on the rear trolley (7C) is fixed on the top trolley (4D), and the top trolley (4D) can run horizontally on the rear trolley body (7C1).
6. A truss robot for a railway wheel set with a middle car according to claim 4 or 5, characterized in that The multi-stage lifting device (41) comprises a steel lifting device (6) and a lifting traction device (41A); the steel lifting device (6) comprises a steel fixed start end (6A), a steel intermediate device (6B), a steel lifting terminal (6C) and a linear guide rail (6D); the steel intermediate device (6B) comprises one or two sets of intermediate steel sections (6B1); the clamping claw device (5) is installed on the steel lifting terminal (6C); linear guide rails (6D) are installed between the steel fixed start end (6A) and the steel intermediate device (6B), between the steel intermediate device (6B) and the steel lifting terminal (6C), and between the intermediate steel sections (6B1) in the steel intermediate device (6B); and the lifting and traction device (41A) is used to realize the lifting of the steel lifting terminal (6C).
7. A truss robot for a railway wheel set with a middle car according to claim 6, characterized in that The clamping jaw device (5) comprises a horizontal telescopic device (5A), the telescopic device (5A) comprises a telescopic head (5A1), and the telescopic head (5A1) can extend into the top of the concave ring on the inner side of the wheel rim of the wheelset (1A).
8. A truss robot for a railway wheel set with a middle car according to claim 7, characterized in that Under certain conditions, the truss robot (3) can also simultaneously grasp two adjacent wheel pairs (1A) on the top layer and the next layer that are staggered or in the same row.