Automatic disassembling and sorting system for bearing end covers
By designing an automatic disassembly and sorting system for bearing end covers, the automatic identification, decomposition and sorting of bearing end covers is realized, which solves the problem of low manual identification and sorting efficiency in the prior art, and realizes unmanned operation and efficient maintenance.
Patent Information
- Application Number
- CN202311731790.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-15
- Publication Date
- 2025-06-24
AI Technical Summary
During the maintenance of the axle of the railway vehicle, the prior art requires manual identification and sorting of bearing end caps and related parts, resulting in excessive consumption of manpower, material resources and time, and low detection efficiency and accuracy.
An automatic dismantling and sorting system for bearing end covers is designed, including a push-shift wheel device, a bearing end cover identification device, a bearing end cover decomposition device and a sorting six-axis robot to realize automatic identification, decomposition and sorting of bearing end covers.
Unmanned operation of unloading and sorting of end covers of railway vehicles, improving maintenance quality and efficiency, and reducing manpower, material resources and time consumption.
Smart Images
Figure CN120190186A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of railway vehicle maintenance, and particularly relates to an automatic disassembly and sorting system for bearing end covers of railway vehicle axles. Background Art
[0002] During the maintenance process of railway vehicle axles, for the identification of scrapped bearing identification plates, lock washers and bolts, it is often necessary to manually copy and check information, which not only increases the labor cost, but also is prone to human errors, resulting in a decrease in identification accuracy. And after the check is completed, the disassembly and sorting of bearing end covers, bearing identification plates, lock washers and bolts are also completed manually. Obviously, this manual identification, disassembly and sorting process not only requires a large amount of manpower, material resources and time, but also has very low detection efficiency and accuracy.
[0003] Although the existing bearing end cover disassembly process already has a certain degree of automation, manual participation is still required in some links, such as in the identification and sorting process.
[0004] To solve these problems, it is necessary to further improve the accuracy of information identification and sorting efficiency to achieve a more efficient and accurate bearing end cover disassembly and sorting process. Summary of the Invention
[0005] The purpose of the invention is to provide an automatic disassembly and sorting system for bearing end covers, so as to solve the problems existing in the above-mentioned prior art, not only reducing the manpower, material resources and time, but also realizing the unmanned operation of the removal and sorting of railway vehicle bearing end covers, and improving the maintenance quality and maintenance efficiency of the disassembly and sorting of railway vehicle bearing end covers.
[0006] To achieve the above purpose, the invention provides the following solution:
[0007] An automatic disassembly and sorting system for bearing end covers includes a base fixed in a foundation pit. A wheel pair centering mechanism and a wheel pair positioning and supporting mechanism are arranged at the middle position of the base. Support rails are arranged on both sides of the wheel pair centering mechanism. A push and block wheel device is arranged on the support rails. Bearing end cover decomposition devices capable of moving longitudinally are arranged at both ends of the base. A bearing end cover identification device capable of moving transversely is arranged between the push and block wheel device and the bearing end cover decomposition device. Part storage boxes are symmetrically arranged on one side of the bearing end cover decomposition device. A sorting six-axis robot is arranged between the part storage boxes and the bearing end cover decomposition device.
[0008] In a technical solution of the invention, the push and block wheel device includes a spoke-type flipping arm installed on the support rail. A push plate is arranged on the lower side of the spoke-type flipping arm. The push plate is connected with a push and block wheel cylinder head. The push and block wheel cylinder head is connected with the end of the piston rod of a flipping drive cylinder. The flipping drive cylinder is fixed on the base through a push wheel cylinder seat.
[0009] In a technical solution of the present invention, the wheel set centering mechanism includes a connecting plate disposed on the base adjacent to the support rail. One end of the connecting plate is connected to a swing link. The swing link is provided with a pendulum block protruding towards the support rail. The other end of the swing link is connected to one end of a blocking link. The other end of the blocking link is connected to the piston rod of the inner support oil cylinder. The inner support oil cylinder is fixed on the side wall of the base at the position between the two support rails through an inner support oil cylinder seat.
[0010] In a technical solution of the present invention, the wheel set positioning and supporting mechanism includes a wheel lifting oil cylinder seat fixed at the middle position of the upper surface of the base. A lifting oil cylinder is installed at the middle of the lower surface of the wheel lifting oil cylinder seat. The end of the lifting oil cylinder rod in the lifting oil cylinder passes through a through hole in the wheel lifting oil cylinder seat and is connected to the center of the drag wheel rod. Guide columns for limiting the stroke of the lifting oil cylinder are provided on both sides of the lifting oil cylinder rod. Drag wheel brackets are respectively installed at both ends of the upper surface of the drag wheel rod.
[0011] In a technical solution of the present invention, lifting limit devices are installed at the longitudinal two ends of the lower surface of the wheel lifting oil cylinder seat. The lifting limit devices include a lifting limit air cylinder horizontally installed on the wheel lifting oil cylinder seat and a displacement partition plate connected to the end of the piston rod of the lifting limit air cylinder.
[0012] In a technical solution of the present invention, the bearing end cover identification device includes an identification device bracket. A light-shielding cover is installed on the identification device bracket. The light-shielding cover includes a fixed light-shielding cover and a movable light-shielding cover. The movable light-shielding cover is located inside the fixed light-shielding cover. A video identification camera device and a light-shielding cover air cylinder are provided inside the fixed light-shielding cover. A light source lamp bracket installed on the bottom plate of the fixed light-shielding cover is provided inside the movable light-shielding cover. A light source body is installed on the light source lamp bracket. A circular opening is provided on the side surface of the movable light-shielding cover facing the support rail. A movable bracket is installed on the side surface of the movable light-shielding cover corresponding to the circular opening. The bottom of the movable bracket is connected to the piston rod and the guide rod of the light-shielding cover air cylinder. The movable light-shielding cover realizes a reciprocating motion of extending and retracting through the light-shielding cover air cylinder.
[0013] In a technical solution of the present invention, the bearing end cover disassembling device includes a slide fixing seat installed on a base. The slide fixing seat is slidably connected to a horizontal moving slide. One end of the slide fixing seat is provided with a transverse moving cylinder. The end of the piston rod of the transverse moving cylinder is connected to the horizontal moving slide. A trigger support frame is rotatably installed on the horizontal moving slide. A trigger main body is fixed inside the trigger support frame. Near one end of the support track of the trigger main body, there is a single trigger head with an electromagnetic adsorption function. The single trigger head is connected to the trigger main body through a disassembling shaft. The end of the trigger support frame located at one end of the base is connected to a rotating motor arranged on the horizontal moving slide through a synchronous pulley. The rotating motor drives the trigger main body inside the trigger support frame to rotate on the horizontal moving slide through the synchronous pulley, so as to achieve the circumferential alignment of the single trigger head and the end cover bolt.
[0014] In a technical solution of the present invention, the mounting seat where the disassembling shaft is installed is connected to a trigger head diameter-changing cylinder. The trigger head diameter-changing cylinder is installed on the trigger support frame. The piston end of the trigger head diameter-changing cylinder is connected to the mounting seat. There is a gap between the mounting seats. The radial position adjustment of the single trigger head is realized by driving the mounting seat to move radially inward through the trigger head diameter-changing cylinder.
[0015] In a technical solution of the present invention, the sorting six-axis robot includes a robot base. A six-axis robotic arm is installed on the upper surface of the robot base. A sorting special fixture mechanism is connected to the end of the sixth-axis arm of the six-axis robotic arm.
[0016] In a technical solution of the present invention, the sorting special fixture mechanism includes a fixing plate whose end is connected to the six-axis robotic arm. A connecting plate is slidably installed on one side of the fixing plate. A bearing end cover fixture is installed on one side of the connecting plate. The bearing end cover fixture includes an end cover fixture cylinder and a bearing end cover clamping arm. A end cover fixture moving cylinder is installed on the other side of the connecting plate. The end of the piston rod of the end cover fixture moving cylinder is connected to the fixing plate. The other side of the fixing plate is connected to a jaw fixing plate with a through hole in the middle. A vacuum chuck is installed in the through hole of the jaw fixing plate. On one side of the jaw fixing plate, a end cover bolt fixture and a knocking bolt device located outside the end cover bolt fixture are evenly installed at intervals of 120° circumferentially. The end cover bolt fixture includes a bolt fixture cylinder and a set of jaws. The knocking bolt device includes a knocking cylinder and a knocking rod. A hook device is installed on the other side of the jaw fixing plate. The hook device includes a hook cylinder and a hook. The suction port of the vacuum chuck and the hook of the hook device passing through the through hole of the jaw fixing plate are both located on the side of the jaw fixing plate where the end cover bolt fixture is installed.
[0017] The present invention has achieved the following beneficial technical effects compared with the prior art:
[0018] An automatic disassembling and sorting system for bearing end covers provided by the present invention realizes unmanned operation for the removal and sorting of bearing end covers of railway vehicles. The system can automatically identify the wheel set marking plates and the information of end cover bolts of railway vehicles, automatically disassemble the bearing end covers and automatically sort the components, realizing an intelligent wheel set maintenance mode with manned presence and unmanned operation, reducing the labor intensity of operating workers, and greatly improving the quality and efficiency of railway vehicle wheel set maintenance. Specifically, it reduces manpower, material resources and time: through automation and intelligence, it reduces manual participation and consumption of manpower, material resources and time. It improves the detection efficiency and accuracy: by automatically identifying and sorting the bearing end covers, it avoids human errors and improves the detection efficiency and accuracy. It realizes unmanned operation for the removal and sorting of bearing end covers of railway vehicles: the automatic disassembling and sorting system for bearing end covers provided by the present invention can automatically complete the removal, identification and sorting of bearing end covers, realizing unmanned operation. Through a completely automated method, it can complete the disassembly and sorting work faster and more accurately, improving the efficiency of disassembly and sorting. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.
[0020] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;
[0021] Figure 2 It is a schematic diagram of the positional relationship structure of the push-block wheel device, the wheel set centering mechanism and the wheel set positioning and supporting mechanism in an embodiment of the present invention;
[0022] Figure 3 It is a three-dimensional structure schematic diagram of the push-block wheel device in an embodiment of the present invention;
[0023] Figure 4 It is a three-dimensional structure schematic diagram of the wheel set positioning and supporting mechanism in an embodiment of the present invention;
[0024] Figure 5 It is a schematic diagram of the structure of the bearing end cover identification device in an embodiment of the present invention;
[0025] Figure 6 It is a schematic diagram of the internal structure of the bearing end cover identification device in an embodiment of the present invention;
[0026] Figure 7 It is a schematic diagram of the structure of the bearing end cover disassembling device in an embodiment of the present invention;
[0027] Figure 8Side view of the bearing end cover disassembling device according to an embodiment of the present invention;
[0028] Figure 9 Schematic diagram of the overall structure of the sorting six-axis robot according to an embodiment of the present invention;
[0029] Figure 10 Schematic diagram of the structure of the sorting special fixture mechanism according to an embodiment of the present invention;
[0030] Figure 11 is Figure 10 Front view of the sorting special fixture mechanism in
[0031] Figure 12 is Figure 10 Rear view of the sorting special fixture mechanism in
[0032] Markings in the figure: 1 - base, 2 - push and block wheel device, 3 - wheel pair centering mechanism, 4 - wheel pair positioning and supporting mechanism, 5 - bearing end cover identification device, 6 - bearing end cover disassembling device, 7 - sorting six-axis robot, 8 - part storage box, 9 - support track, 10 - bearing end cover, 201 - spoke-type flipping arm, 202 - push plate, 203 - push and block wheel oil cylinder head, 204 - rotation drive oil cylinder, 205 - push wheel oil cylinder seat, 301 - connecting plate, 302 - swing link, 303 - swing block, 304 - blocking link, 305 - inner support oil cylinder, 306 - inner support oil cylinder seat, 401 - lift wheel oil cylinder seat, 402 - lift oil cylinder, 403 - lift oil cylinder rod, 404 - guide post, 405 - drag wheel rod, 406 - drag wheel frame, 407 - lift limit device, 501 - identification device support bracket, 502 - light shield, 503 - video identification camera device, 504 - light shield cylinder, 505 - light source lamp holder, 506 - moving bracket, 507 - light source body, 601 - slide table fixing seat, 602 - horizontal moving slide table, 603 - crosswise cylinder, 604 - trigger support frame, 605 - single trigger head, 606 - rotation motor, 607 - trigger head diameter-changing cylinder, 701 - robot base, 702 - six-axis robotic arm, 703 - sorting special fixture mechanism, 7031 - fixing plate, 7032 - connecting plate, 7033 - bearing end cover fixture, 7034 - jaw fixing plate, 7035 - end cover bolt fixture, 7036 - bolt knocking device, 7037 - vacuum chuck, 7038 - hook device, 7039 - end cover fixture moving cylinder. Detailed implementation manners
[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are only illustrative and explanatory of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention. The scope of protection of the present invention is not limited to the following specific embodiments.
[0034] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "formed", "installed", "provided with", "set", "connected", etc. should be understood in a broad sense. For example, the connection can be a direct connection, or an indirect connection through an intermediate medium, which can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate connector, which can be the communication inside two components or the interaction relationship between two components.
[0035] In the present invention, without corresponding explanation, the orientation terms "upper", "lower", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. The contact is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation to the present invention; for the orientation terms of the present invention, they should be understood in combination with the actual installation state.
[0036] An embodiment of an automatic disassembling and sorting system for bearing end covers is disclosed in the present invention. As Figure 1 shown, it includes a base 1 fixed in a foundation pit. In the middle position of the base 1, there is a wheel set centering mechanism 3 and a wheel set positioning and supporting mechanism 4. On both sides of the wheel set centering mechanism 3, there are support rails 9. The support rails 9 are provided with push and block wheel devices 2. At both ends of the base 1, there are bearing end cover disassembling devices 6 that can move longitudinally. Between the push and block wheel devices 2 and the bearing end cover disassembling devices 6, there is a bearing end cover identification device 5 that can move transversely. On one side of the bearing end cover disassembling device 6, there are symmetrically arranged part storage boxes 8. Between the part storage boxes 8 and the bearing end cover disassembling devices 6, there is a sorting six-axis robot 7. The part storage boxes 8 are used to place bearing end covers 10, nameplates, anti-loosening pads, and end cover bolts.
[0037] As Figure 2 、 Figure 3As shown in the figure, the pushing and blocking wheel device 2 includes a spoke-type turning arm 201. The spoke-type turning arm 201 is installed on the support track 9 through a connecting shaft. A pushing plate 202 is provided on the lower side of the spoke-type turning arm 201. The pushing plate 202 is connected with a pushing and blocking wheel oil cylinder head 203. The pushing and blocking wheel oil cylinder head 203 is connected to the end of the piston rod of the turning drive oil cylinder 204. The turning drive oil cylinder 204 is fixed on the base 1 through a pushing wheel oil cylinder seat 205.
[0038] The pushing and blocking wheel device 2 can realize the functions of pushing and blocking the wheel set. When the wheel set enters the automatic disassembly and sorting system of the bearing end cover, and the wheel disc of the wheel set is located in the limit notch of the support track 9, the piston rod of the turning drive oil cylinder 204 extends. Through the pushing and blocking wheel oil cylinder head 203 and the pushing plate 202, it drives the spoke-type turning arm 201 to swing inward. The spoke-type turning arm 201 will be in circumferential contact with the wheel disc, realizing the blocking function of the wheel set. On the contrary, when the piston rod of the turning drive oil cylinder 204 retracts, it drives the spoke-type turning arm 201 to swing outward, realizing the pushing function of the wheel set.
[0039] As Figure 2 shown in the figure, the wheel set centering mechanism 3 includes two connecting plates 301 arranged on the base 1 adjacent to the support track. One end of each connecting plate 301 is connected with a swing link 302. A groove is opened in the middle position of the swing link 302 towards the support track 9, and a swing block 303 protruding towards the support track 9 is installed in the groove. The other end of the swing link 302 is connected to one end of a blocking link 304. The other ends of the two blocking links 304 are fixedly connected to the piston rod of the inner support oil cylinder 305 through a connecting seat. The inner support oil cylinder 305 is fixed on the side wall of the base 1 at the position between the two support tracks 9 through an inner support oil cylinder seat 306. When the wheel set falls on the support track 9 and is limited by the pushing and blocking wheel device 2, the piston rod of the inner support oil cylinder 305 extends, which will drive the blocking link 304, and then drive the swing link 302 and the swing block 303. The side of the swing block 303 will act on the inner side wall of the wheel disc, thereby realizing the function of centering the wheel set. After centering, the piston rod of the inner support oil cylinder 305 retracts, driving each mechanism back to the initial position, waiting for the next centering work.
[0040] As Figure 4As shown in the figure, the axle - wheel pair positioning and supporting mechanism 4 includes a wheel - lifting oil cylinder seat 401 fixed at the middle position of the upper surface of the base 1. An elevating oil cylinder 402 is installed in the middle of the lower surface of the wheel - lifting oil cylinder seat 401. The end of the elevating oil cylinder rod 403 in the elevating oil cylinder 402 passes through the through - hole on the wheel - lifting oil cylinder seat 401 and is connected to the center of the towing wheel rod 405. Guide columns 404 for limiting the stroke of the elevating oil cylinder 402 are arranged on both sides of the elevating oil cylinder rod 403. Towing wheel brackets 406 are respectively installed at both ends of the upper surface of the towing wheel rod 405, which play a role in limiting the axle - wheel pair. After the axle - wheel pair is centered, the elevating oil cylinder rod 403 in the elevating oil cylinder 402 extends, driving the towing wheel rod 405 to rise to a specified height, thus lifting the axle - wheel pair located on the towing wheel brackets 406, playing a role in lifting and supporting the axle - wheel pair.
[0041] Since the heights of the bearing end - cover recognition device 5 and the bearing end - cover disassembling device 6 are relatively fixed, and the heights of the center lines of the axle shafts after different models of axle - wheel pairs are lifted cannot be kept consistent. In order to accurately recognize and disassemble the position of the bearing end - cover 10 during operation, lifting - limit devices 407 are installed at the longitudinal two ends of the lower surface of the wheel - lifting oil cylinder seat 401. The lifting - limit device 407 includes a lifting - limit air cylinder horizontally installed on the wheel - lifting oil cylinder seat 401 and a displacement partition plate connected to the end of the piston rod of the lifting - limit air cylinder. The lifting - limit air cylinder can control the extension and retraction of the displacement partition plate. After the displacement partition plate extends, it pads between the end of the guide column 404 and the lower surface of the wheel - lifting oil cylinder seat 401 to change the lifting stroke. In this way, it is ensured that the height positions of the center lines of the axle shafts of different models and sizes of axle - wheel pairs are the same after being lifted, so as to accurately recognize and disassemble the position of the bearing end - cover 10. In this embodiment, the lifting - limit device 407 with two U - shaped displacement partition plates of different thicknesses is adopted, which are respectively located on both sides of each guide column 404, and suitable U - shaped displacement partition plates can be selected according to different height requirements.
[0042] As Figure 5 、 Figure 6As shown in the figure, the bearing end cover identification device 5 includes an identification device support 501. The identification device support 501 is installed on the upper side of the square tube located on the base 1 through sliders and guide rails, and realizes lateral movement through a cylinder linked to the side wall of the square tube. An optical shield 502 is installed on the identification device support 501. The optical shield 502 includes a fixed optical shield and a movable optical shield. The movable optical shield is located inside the fixed optical shield. A video identification camera device 503 and an optical shield cylinder 504 are provided inside the fixed optical shield. A light source lamp holder 505 installed on the bottom plate of the fixed optical shield is provided inside the movable optical shield. A light source body 507 is installed on the light source lamp holder 505. A circular opening is provided on the side of the movable optical shield facing the support track 9. A movable bracket 506 is installed on the side of the movable optical shield corresponding to the circular opening. The bottom of the movable bracket 506 is connected to the end of the piston rod of the optical shield cylinder 504 and the guide rod. The piston rod of the optical shield cylinder 504 is located in the middle, and the guide rods are located on both sides. The movable optical shield realizes reciprocating movement of protruding from and resetting to the fixed optical shield through the optical shield cylinder 504. After the wheel set is lifted, the bearing end cover identification device 5 makes a transverse movement. When the video identification camera device 503 located at the center of the circular opening on the movable optical shield identifies that it is relatively coincident with the center of the wheel set bearing section, the bearing end cover identification device 5 stops moving. Subsequently, the piston rod of the optical shield cylinder 504 extends to drive the movable optical shield to move outwards from the inside of the fixed optical shield until the movable optical shield covers the bearing end cover 10 of the wheel set. Immediately afterwards, the light source body 507 is turned on, and then the video identification camera device 503 identifies the bearing end cover 10. After the identification is completed, the piston rod of the optical shield cylinder 504 retracts, the movable optical shield retracts back into the fixed optical shield, and the bearing end cover identification device 5 returns to the initial position, waiting to identify the next bearing end cover 10.
[0043] As Figure 7 、 Figure 8As shown, the bearing end cover disassembly device 6 includes a slide fixing seat 601 installed on the base 1, and the slide fixing seat 601 is slidably connected to the horizontal movable slide 602 through a guide rail and a slider. A transverse cylinder 603 is provided at one end of the slide fixing seat 601, and the end of the piston rod of the transverse cylinder 603 is connected to the horizontal movable slide 602. A trigger support frame 604 is rotatably installed on the horizontal movable slide 602 through rollers and bearings, and a trigger body is fixedly installed in the trigger support frame 604. Three single trigger heads 605 are provided near the end of the supporting rail of the trigger body. An electromagnetic adsorption device is provided in the single trigger head 605, and each single trigger head 605 is connected to the trigger body through a disassembly shaft. The end of the trigger support frame 604 located at one end of the base 1 is connected to a rotating motor 606 arranged on the horizontal movable slide 602 through a synchronous pulley. After the video recognition of the wheelset is completed, with the cooperation of the sorting six-axis robot 7, the bearing end cover disassembly device 6 links the horizontal moving slide 602 through the lateral cylinder 603 to make the three single wrenches 605 close to the bearing end cover 10. According to the feedback of the bearing end cover recognition device 5, the trigger support frame 604 is driven by the rotary motor to rotate, so that the three single wrenches 605 on the trigger body are aligned with the bolt position on the bearing end cover 10. The horizontal moving slide 602 continues to move, so that the notch of the single wrenches 605 is electromagnetically adsorbed on the bolt cap of the end cover bolt, and then the single wrenches 605 rotate under the drive of the motor inside the trigger body. While the single wrenches 605 rotate, the horizontal moving slide 602 drives the trigger body back. At this time, the end cover bolt is electromagnetically adsorbed in the notch of the single wrenches 605, and the mark plate and the anti-loosening pad are also adsorbed by the electromagnetic device set inside the single wrenches 605.
[0044] In order to cope with the bolt positions of the bearing end caps 10 of different types of wheelsets, the mounting seat of the decomposition shaft is connected with a wrench reducer cylinder 607, which is mounted on the trigger support frame 604. There is a gap between the three mounting seats, and two wrench reducers 607 are installed radially outside each mounting seat. The mounting seat is connected to the piston end of the wrench reducer cylinder 607, so that the three mounting seats have the function of radial movement toward the axial center of the trigger support frame 604, which is used to adjust the radial distance of the three single wrench heads 605 to ensure that the radial distance of the centering of the bolts of the same end cap is consistent. The decomposition shaft and the motor inside the trigger body are driven by a gear set, and the micro-movement of the radial distance of the single plate head 605 will not affect the transmission effect.
[0045] like Figure 9 As shown, the sorting six-axis robot 7 includes a robot base 701, on which a six-axis robotic arm 702 is mounted, and a special clamp mechanism 703 for sorting is connected to the end of the sixth axis of the six-axis robotic arm 702.
[0046] like Figures 10 - 12As shown in the figure, the special sorting fixture mechanism 703 includes a fixing plate 7031 with one end connected to the six-axis robotic arm 702. A connecting plate 7032 is slidably installed on one side of the fixing plate 7031. A bearing end cover fixture 7033 is installed on the connecting plate 7032. The bearing end cover fixture 7033 includes an end cover fixture cylinder and a bearing end cover clamping arm. The fixing plate 7031 is connected to the end of the piston rod of the end cover fixture moving cylinder 7039 installed on the connecting plate 7032 to achieve the lateral movement of the bearing end cover fixture 7033. On the other side of the fixing plate 7031, there is a jaw fixing plate 7034 with a through hole in the middle. A vacuum suction cup 7037 is installed in the through hole of the jaw fixing plate 7034. The jaw fixing plate 7034 adopts an isosceles triangle-like structure. At three corner positions on one side, there are respectively installed an end cover bolt fixture 7035 and a tapping bolt device 7036. The end cover bolt fixture 7035 includes a bolt fixture cylinder and a set of jaws. The tapping bolt device 7036 includes a tapping cylinder and a tapping rod. On the other side of the jaw fixing plate 7034, there is a hook device 7038 installed. The hook device 7038 includes a hook cylinder and a hook. The hook of the hook device 7038 passes through the through hole of the jaw fixing plate 7034 and is located on the side of the end cover bolt fixture device 7035 of the jaw fixing plate 7034. The suction port of the vacuum suction cup 7037 is also located on the side of the jaw fixing plate 7034 where the end cover bolt fixture device 7035 is installed. After the video recognition of the wheel set is completed, driven by the six-axis robotic arm 702, the bearing end cover fixture 7033 of the special sorting fixture mechanism 703 clamps the bearing end cover 10. When the end cover bolt is electromagnetically adsorbed in the slot of the single wrench head 605, the special sorting fixture 703 approaches the end cover bolt driven by the six-axis robotic arm 702. First, the three groups of jaws evenly distributed on the end cover bolt fixture 7035 clamp the end cover bolt rod. The tapping cylinder of the tapping bolt device 7036 drives the tapping rod to tap the outer wall of the single wrench head 605, aiming to better separate the end cover bolt from the single wrench head 605. At the same time, the six-axis robotic arm 702 moves backward, and the vacuum suction cup 7037 is turned on to adsorb the marking plate, and the lock washer is clamped by the hook of the hook device 7038 at the hook position.
[0047] As Figure 1 shown, the part storage box 8 is a square box structure welded by steel plates. The whole part storage box 8 is located on one side of the front end of the base 1 and within the moving radius of the sorting six-axis robot 7. Among them, on the inner bottom plate of the bearing end cover storage box, there are 4 trapezoidal vertical placement slots for the bearing end covers 10 welded by steel bars. The bearing marking plate, lock washer and bolt storage boxes are arranged side by side outside the bearing end cover storage box.
[0048] The sorting six-axis robot 7 respectively places the bearing end covers 10, end cover bolts, marking plates, and lock washers clamped by the special sorting fixture mechanism 703 into the corresponding part storage boxes 8. The bearing end covers 10 will be vertically placed in the slots of the part storage box 8.
[0049] An automatic disassembly and sorting system for bearing end covers disclosed in the present invention further includes an electrical control system. The automation control electrical system adopts the existing technology, can be obtained by purchase, and is applied in the present invention. This embodiment will not elaborate on this part in detail.
[0050] The working process of an embodiment of an automatic disassembly and sorting system for bearing end covers disclosed in the present invention is as follows:
[0051] The number and specification model information of each wheel set are entered into the system before entering the automatic disassembly and sorting tooling for bearing end covers, and the system executes the actions of each disassembly link according to the entered information of the wheel set.
[0052] First, the wheel set to be disassembled enters the support track 9 of the automatic disassembly and sorting system for bearing end covers. When the wheel disc of the wheel set is located in the limit notch of the support track 9, when the piston rod of the flip drive oil cylinder 204 extends, it will drive the spoke flip arm 201 to swing inward through the push block wheel oil cylinder head 203 and the push plate 202. The spoke flip arm 201 will contact the circumference of the wheel disc to achieve the blocking and limiting effect on the wheel set.
[0053] When the wheel set falls on the support track 9 and is limited by the push block wheel device 2, the piston rod of the inner support oil cylinder 305 extends, which will drive the connecting blocking link 304, and then drive the swing link 302 and the swing block 303. The side of the swing block 303 will act on the inner side wall of the wheel disc, so as to achieve the function of centering the wheel set. After centering, the piston rod of the inner support oil cylinder 305 retracts, driving each mechanism back to the initial position, waiting for the next centering work.
[0054] When the wheel set is centered, the system determines whether to activate the lifting limit device 407 according to the entered model information of the wheel set. If it is activated, the lifting limit device 407 installed with the deformation partition plate of the corresponding thickness specification is selected according to the model information of the wheel set. After the corresponding U-shaped deformation partition plate extends to the designated position, the lifting oil cylinder rod 403 in the lifting oil cylinder 402 extends, which will drive the drag wheel rod 405 to rise and lift the wheel set located on the drag wheel frame 406 to the designated height, playing a role in lifting and supporting the wheel set.
[0055] After the lifting action of the wheel set is completed, the bearing end cover recognition device 5 performs a transverse movement. When the video recognition camera device 503 located at the center of the circular opening on the moving light shield recognizes that it is relatively coincident with the center of the bearing section of the wheel set, the bearing end cover recognition device 5 stops moving. Subsequently, the piston rod of the light shield cylinder 504 extends to drive the moving light shield to move outward from the inside of the fixed light shield until the moving light shield covers the bearing end cover 10 of the wheel set. Immediately afterwards, the light source body 507 is turned on, and then the video recognition camera device 503 recognizes the bearing end cover 10 and enters the recognition information into the system under the corresponding serial number. After the recognition is completed, the piston rod of the light shield cylinder 504 retracts, the moving light shield retracts inside the fixed light shield, and the bearing end cover recognition device 5 returns to the initial position, waiting to recognize the next bearing end cover 10.
[0056] After the video recognition of the wheel set is completed, the bearing end cover clamp 7033 of the sorting special fixture mechanism 703 driven by the six-axis robotic arm 702 clamps the bearing end cover 10. The wrench variable-diameter cylinder 607 of the bearing end cover disassembling device 6 adjusts the centering distance of the single wrench 605 according to the specification model of the wheel set, which is kept consistent with the centering distance of the bolts on the bearing end cover 10. The bearing end cover disassembling device 6 drives the horizontal moving slide 602 through the transverse cylinder 603 to make the three single wrenches 605 approach the bearing end cover 10. According to the feedback of the bearing end cover recognition device 5, the trigger body is rotated by the rotating motor to align the positions of the three single wrenches 605 with the bolts on the bearing end cover 10. The horizontal moving slide 602 continues to move so that the notch of the single wrench 605 is sleeved on the bolt head of the end cover bolt. The electromagnetic device arranged inside the single wrench 605 turns on the adsorption function. Subsequently, the single wrench 605 rotates driven by the motor inside the trigger body. While the single wrench 605 rotates, the horizontal moving slide 602 drives the trigger body to return. The end cover bolt is electromagnetically adsorbed in the notch of the single wrench 605, and the sign plate and the lock washer are also electromagnetically adsorbed by the single wrench 605.
[0057] The end cover bolt is electromagnetically adsorbed in the notch of the single wrench 605. The sorting special fixture 703 driven by the six-axis robotic arm 702 approaches the end cover bolt. First, the three groups of jaws evenly distributed on the end cover bolt clamp 7035 clamp on the end cover bolt rod. At this time, the single wrench 605 turns off the electromagnetic adsorption function. At the same time, the knocking cylinder of the knocking bolt device 7036 drives the knocking rod to knock on the outer wall of the single wrench 605, aiming to better separate the end cover bolt from the single wrench 605. Then, the vacuum chuck 7037 turns on the adsorption function to adsorb the sign plate, and the lock washer is clamped by the hook position of the hook device 7038 to recover it.
[0058] The sorting six-axis robot 7 respectively places the bearing end covers 10, end cover bolts, marking plates, and lock washers held by the sorting special fixture mechanism 703 into the corresponding part storage boxes 8, and the bearing end covers 10 are vertically placed in the slots of the part storage boxes 8.
[0059] The wheel set with the bearing end cover 10 removed is lowered onto the support track 9 by the wheel set positioning and supporting mechanism 4; the pushing wheel device 2 resets. When the piston rod of the flipping drive oil cylinder 204 retracts, it drives the spoke-type flipping arm 201 to swing outward, realizing the pushing effect on the wheel set, and pushing the wheel set with the bearing end cover 10 removed out of the support track 9 of the bearing end cover automatic disassembly and sorting system, completing the automated disassembly and sorting process of the wheel set bearing end cover.
[0060] The above has described the present invention in detail through embodiments, but the content described is only an exemplary embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. The protection scope of the present invention is defined by the claims. Those who use the technical solutions described in the present invention, or those skilled in the art inspired by the technical solutions of the present invention, within the essence and protection scope of the present invention, design similar technical solutions to achieve the above technical effects, or make equivalent changes and improvements to the application scope, etc., should still fall within the patent coverage protection scope of the present invention.
Claims
1. An automatic disassembly and sorting system for bearing end covers, characterized in that, It includes a base (1) fixed in a foundation pit. In the middle position of the base (1), there are a wheel set centering mechanism (3) and a wheel set positioning and supporting mechanism (4). On both sides of the wheel set centering mechanism (3), there are support rails (9). The support rails are provided with push wheel devices (2). At both ends of the base (1), there are bearing end cover disassembling devices (6) that can move longitudinally. Between the push wheel devices (2) and the bearing end cover disassembling devices (6), there is a bearing end cover identification device (5) that can move transversely. On one side of the bearing end cover disassembling device (6), there are symmetrically arranged part storage boxes (8). Between the part storage boxes (8) and the bearing end cover disassembling device (6), there is a sorting six-axis robot (7).
2. The automatic disassembly and sorting system for bearing end covers according to claim 1, wherein, The push wheel device (2) includes a spoke-type flipping arm (201) installed on the support rail (9). On the lower side of the spoke-type flipping arm (201), there is a push plate (202). The push plate (202) is connected with a push wheel oil cylinder head (203). The push wheel oil cylinder head (203) is connected to the end of the piston rod of a flipping drive oil cylinder (204). The flipping drive oil cylinder (204) is fixed on the base (1) through a push wheel oil cylinder seat (205).
3. The automatic disassembling and sorting system for bearing end covers according to claim 1, wherein The wheel set centering mechanism (3) includes a connecting plate (301) arranged on the base (1) adjacent to the support rail. One end of the connecting plate (301) is connected with a swinging connecting rod (302). The swinging connecting rod (302) is provided with a swinging block (303) protruding towards the support rail (9). The other end of the swinging connecting rod (302) is connected to one end of a blocking connecting rod (304). The other end of the blocking connecting rod (304) is connected to the piston rod of an inner support oil cylinder (305). The inner support oil cylinder (305) is fixed on the side wall of the base (1) at the position between the two support rails (9) through an inner support oil cylinder seat (306).
4. The automatic disassembling and sorting system for bearing end covers according to claim 1, wherein The wheel set positioning and supporting mechanism (4) includes a wheel lifting oil cylinder seat (401) fixed in the middle position on the upper surface of the base (1). In the middle of the lower surface of the wheel lifting oil cylinder seat (401), a lifting oil cylinder (402) is installed. The end of the lifting oil cylinder rod (403) in the lifting oil cylinder (402) passes through a through hole on the wheel lifting oil cylinder seat (401) and is connected to the center of a towing wheel rod (405). On both sides of the lifting oil cylinder rod (403), there are guide columns (404) for limiting the stroke of the lifting oil cylinder (402). On the upper surface of the towing wheel rod (405), towing wheel brackets (406) are respectively installed at both ends.
5. The automatic disassembly and sorting system for bearing end covers according to claim 4, wherein, At the longitudinal two ends of the lower surface of the wheel lifting oil cylinder seat (401), there are lifting limit devices (407). The lifting limit devices (407) include a lifting limit air cylinder horizontally installed on the wheel lifting oil cylinder seat (401) and a displacement partition plate connected to the end of the piston rod of the lifting limit air cylinder.
6. The automatic disassembling and sorting system for bearing end covers according to claim 1, wherein The bearing end cover identification device (5) includes an identification device bracket (501). A light shield (502) is installed on the identification device bracket (501). The light shield (502) includes a fixed light shield and a movable light shield. The movable light shield is located inside the fixed light shield. A video identification camera device (503) and a light shield cylinder (504) are provided inside the fixed light shield. A light source lamp holder (505) installed on the bottom plate of the fixed light shield is provided inside the movable light shield. A light source body (507) is installed on the light source lamp holder (505). A circular opening is provided on the side of the movable light shield facing the support rail (9). A movable bracket (506) is installed on the side of the movable light shield corresponding to the circular opening. The bottom of the movable bracket (506) is connected to the piston rod and the guide rod of the light shield cylinder (504). The movable light shield realizes the reciprocating motion of extending and retracting through the light shield cylinder (504).
7. The automatic disassembly and sorting system for bearing end caps according to claim 1, characterized in that, The bearing end cover disassembling device (6) includes a slide table fixed seat (601) installed on the base (1). The slide table fixed seat (601) is slidably connected to a horizontal moving slide table (602). A transverse movement cylinder (603) is provided at one end of the slide table fixed seat (601). The end of the piston rod of the transverse movement cylinder (603) is connected to the horizontal moving slide table (602). A trigger support frame (604) is rotatably installed on the horizontal moving slide table (602). A trigger main body is fixed inside the trigger support frame (604). A single trigger head (605) with an electromagnetic adsorption function is provided at one end of the trigger main body close to the support rail (9). The single trigger head (605) is connected to the trigger main body through a disassembling shaft. The end of the trigger support frame (604) at one end of the base (1) is connected to a rotary motor (606) provided on the horizontal moving slide table (602) through a synchronous pulley.
8. The automatic disassembly and sorting system for bearing end covers according to claim 7, wherein The mounting seat of the disassembling shaft is connected to a trigger head diameter-changing cylinder (607). The trigger head diameter-changing cylinder (607) is installed on the trigger support frame (604).
9. The automatic disassembling and sorting system for bearing end covers according to claim 1, wherein The sorting six-axis robot (7) includes a robot base (701). A six-axis robotic arm (702) is installed on the robot base (701). A sorting special fixture mechanism (703) is connected to the end of the sixth-axis arm of the six-axis robotic arm (702).
10. The automatic disassembly and sorting system for bearing end covers according to claim 9, characterized in that, The special sorting fixture mechanism (703) includes a fixing plate (7031) with an end connected to the six-axis robotic arm (702). A connecting plate (7032) is slidably installed on one side of the fixing plate (7031). A bearing end cover fixture (7033) is installed on one side of the connecting plate (7032). A cylinder for moving the end cover fixture (7039) is installed on the other side of the connecting plate (7032). The end of the piston rod of the cylinder for moving the end cover fixture (7039) is connected to the fixing plate (7031). A jaw fixing plate (7034) with a through hole in the middle is connected to the other side of the fixing plate (7031). A vacuum suction cup (7037) is installed in the through hole of the jaw fixing plate (7034). A end cover bolt fixture (7035) and a bolt knocking device (7036) located outside the end cover bolt fixture (7035) are evenly installed on one side of the jaw fixing plate (7034) at an interval of 120° circumferentially. A hook device (7038) is installed on the other side of the jaw fixing plate (7034). The suction port of the vacuum suction cup (7037) and the hook of the hook device (7038) passing through the through hole of the jaw fixing plate (7034) are both located on the side of the jaw fixing plate (7034) where the end cover bolt fixture (7035) is installed.