Truss robot used for railway wheel pair and provided with double trolleys

Abstract

The invention discloses a truss robot with double trolleys for railway wheel sets, which is characterized in that a planar storage warehouse and a truss robot are arranged in a plant of a railway vehicle depot or a vehicle plant, and a track of the plant is consistent with the length direction of the wheel sets in the warehouse; the truss robot comprises a cart, a left trolley and a right trolley, the cart comprises a transverse rail, the left trolley comprises a left trolley body, the right trolley comprises a right trolley body, and the left trolley and the right trolley each comprise a lifting device and a clamping jaw device. The clamping jaw devices are installed on the lifting devices, and the two lifting devices are installed on the left trolley body and the right trolley body respectively. The left trolley and the right trolley independently run on the transverse track, and the cart runs on the workshop track; the truss robot can grab two staggered or same-row adjacent wheel pairs at the same time and place the two staggered or same-row adjacent wheel pairs on the same-row or staggered set positions after running. The device has the main advantages of being high in automation degree and high in operation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of maintenance and production of railway vehicles, and particularly to a truss robot with double trolleys for railway wheelsets. Background Art

[0002] At present, in vehicle depots and vehicle factories across the country, the truss robots in the planar storage repositories for railway wheelsets all have only one set of grippers, and a single operation of the truss robot can only grab one wheelset, so the operation efficiency is low. Summary of the Invention

[0003] Aiming at the problems existing in the prior art, the purpose of the present invention is to provide a truss robot with double trolleys for railway wheelsets to solve the problems mentioned in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: In the workshop 1 of a railway vehicle depot or vehicle factory, it includes wheelsets 1A, workshop tracks 1B, a planar storage repository 2 for wheelsets 1A, and a truss robot 3. The planar storage repository 2 includes a first-layer support 2A; the wheelsets 1A located on the first layer are placed on the first-layer support 2A, and the wheelsets 1A are arranged staggeredly and crosswise. The length direction of the workshop tracks 1B is the same as the length direction of the wheelsets 1A in the planar storage repository 2; The truss robot 3 includes a large trolley 3A, a left trolley 3B, and a right trolley 3C. The large trolley 3A includes a transverse track 3AY. The left trolley 3B includes a left vehicle body 3B1, and the right trolley 3C includes a right vehicle body 3C1. Both the left trolley 3B and the right trolley 3C include a lifting device 4 and a gripper device 5; the gripper device 5 is installed on the lifting device 4, and the two sets of lifting devices 4 are respectively installed on the left vehicle body 3B1 and the right vehicle body 3C1; the left trolley 3B and the right trolley 3C can independently run on the transverse track 3AY, and the large trolley 3A can run on the workshop tracks 1B; the truss robot 3 can simultaneously grab two adjacent wheelsets 1A that are staggered or in the same row, and place them at a set position in the same row or staggeredly after running.

[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 gripper device 5 is installed on the lifting terminal 4C, and the lifting terminal 4C moves up and down on the intermediate device 4B, and the intermediate device 4B moves up and down 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 grabbed 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.

[0007] As a further solution of the present invention: the left vehicle body 3B1 in the left trolley 3B includes a left beam 3B1A, and the fixed starting end 4A on the left trolley 3B is integrally connected with the left beam 3B1A.

[0008] As a further solution of the present invention: the lifting device 4 in the right trolley 3C includes a top trolley 4D, the fixed starting end 4A on the right trolley 3C is fixed to the top trolley 4D, the right vehicle body 3C1 includes a right beam 3C1A, and the top trolley 4D can run on the right beam 3C1A.

[0009] As a further solution of the present invention: the multi-stage lifting device 41 includes a profiled steel lifting device 6 and a lifting traction device 41A. The profiled steel lifting device 6 includes a profiled steel fixed starting end 6A, a profiled steel intermediate device 6B, a profiled steel lifting terminal 6C, and a linear guide rail 6D. The profiled steel intermediate device 6B includes one set or multiple sets of intermediate profiled steels 6B1; linear guide rails 6D are installed between the profiled steel fixed starting end 6A and the profiled steel intermediate device 6B, between the profiled steel intermediate device 6B and the profiled steel lifting terminal 6C, and between the intermediate profiled steels 6B1 in the profiled steel intermediate device 6B; the lifting of the profiled steel lifting terminal 6C is realized through the lifting traction device 41A.

[0010] As a further solution of the present invention: the jaw device 5 includes a horizontal telescopic device 5A, the telescopic device 5A includes a telescopic head 5A1, and the telescopic head 5A1 can extend into the top of the inner concave ring of the wheel flange of the wheel pair 1A.

[0011] As a further solution of the present invention: under specific conditions, the truss robot 3 can simultaneously grasp two staggered or adjacent wheel pairs 1A in the same row on the top layer and the next layer.

[0012] In summary, compared with the prior art, the main features of the present invention are: 1) The truss robot is provided with two sets of jaws, which can simultaneously grasp two wheel pairs; 2) Both the left trolley and the right trolley can run independently in the horizontal direction, that is, the jaws can simultaneously grasp two wheel pairs with different spacings; 3) The two sets of jaws can be independently lifted, that is, they can simultaneously grasp wheel pairs at different heights. Therefore, the main advantages of the present invention are: high degree of automation and high operation efficiency. Description of the Drawings

[0013] Figure 1 is a schematic structural diagram of the wheel pair 1A in the workshop 1, the workshop track 1B, the planar storage repository 2 of the wheel pair 1A, and the truss robot 3; Figure 2 is Figure 1 the view in the B direction of, and is also a schematic structural diagram of the multi-stage lifting device 41 in the lifting device 4, and is also a schematic structural diagram of the fixed starting end 4A, the intermediate device 4B, and the lifting terminal 4C in the lifting device 4; Figure 3 isFigure 2 Partial enlarged view of I, which is also a schematic structural view of the telescopic device 5A that makes up the claw device 5, and is also a schematic structural view of the telescopic head 5A1 that makes up the telescopic device 5A; Figure 4 is Figure 1 View A of, which is also a schematic structural view of the large vehicle 3A, the left trolley 3B, and the right trolley 3C that make up the truss robot 3, is also a schematic structural view of the transverse track 3AY that makes up the large vehicle 3A, is also a schematic structural view of the left vehicle body 3B1 that makes up the left trolley 3B, is also a schematic structural view of the right vehicle body 3C1 that makes up the right trolley 3C, is also a schematic structural view of the lifting device 4 and the claw device 5 that make up the left trolley 3B and the right trolley 3C, is also a schematic structural view of the left beam 3B1A that makes up the left vehicle body 3B1, is also a schematic structural view of the top trolley 4D that makes up the lifting device 4, is also a schematic structural view of the right beam 3C1A that makes up the right vehicle body 3C1, is also a schematic structural view of the first-layer bracket 2A and the second-layer bracket 2B that make up the planar storage repository 2, is also a schematic structural view of the profiled steel lifting device 6 and the lifting traction device 41A that make up the multi-stage lifting device 41, and is also a schematic view of the truss robot 3 grasping two adjacent and misaligned wheel sets 1A on the first and second layers under specific conditions; Figure 5 is Figure 4 View C-C of, which is also a schematic structural view of the profiled steel fixed starting end 6A, the profiled steel intermediate device 6B, the profiled steel lifting terminal 6C, and the linear guide 6D that make up the profiled steel lifting device 6, and is also a schematic structural view of the intermediate profiled steel 6B1 that makes up the profiled steel intermediate device 6B; Figure 6 is Figure 4 View M of; it is also a schematic structural view of the left trolley 3B and the right trolley 3C when the truss robot 3 grasps two adjacent and misaligned wheel sets 1A; Figure 7 Schematic structural view of the truss robot 3 when grasping two adjacent and misaligned wheel sets 1A on the second layer at the same time; Figure 8 is Figure 7 View D-D of; Figure 9 is Figure 7 View N of; Figure 10 Schematic structural view of the truss robot 3 when grasping two adjacent but non-misaligned wheel sets 1A on the second layer at the same time, Figure 11 is Figure 10 View E-E of; Figure 12 is Figure 10 View P of; Figure 13It is another schematic structural view of the truss robot 3; it is also the schematic structural view when the wheel set 1A is at the highest position and its lowest position is at the same height as the lowest position of the lifting device 4; it is also the schematic structural view of the planar storage repository 2 where the second-layer wheel sets are directly placed on the first-layer wheel sets.

[0014] In the attached drawings, 1 is the workshop, 1A is the wheel set, 1B is the workshop track, 2 is the planar storage repository, 2A is the first-layer support, 2B is the second-layer support, 3 is the truss robot, 3A is the gantry, 3AY is the lateral track, 3B is the left trolley, 3B1 is the left car body, 3B1A is the left beam, 3C is the right trolley, 3C1 is the right car body, 3C1A is the right beam, 4 is the lifting device, 4A is the fixed starting end, 4B is the intermediate device, 4C is the lifting terminal, 4D is the top trolley, 41 is the multi-stage lifting device, 41A is the lifting traction device, 5 is the jaw device, 5A is the telescopic device, 5A1 is the telescopic head, 6 is the profiled steel lifting device, 6A is the profiled steel fixed starting end, 6B is the profiled steel intermediate device, 6B1 is the intermediate profiled steel, 6C is the profiled steel lifting terminal, 6D is the linear guide rail. Specific embodiments

[0015] Next, the technical solutions in the embodiments of the present invention will be described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0016] Please refer to Figures 1 - 13 , in the embodiments of the present invention, a truss robot with double trolleys for railway wheel sets is characterized in that in the workshop 1 of a railway vehicle depot or vehicle factory, it includes a wheel set 1A, a workshop track 1B, a planar storage repository 2 for the wheel set 1A, and a truss robot 3. The planar storage repository 2 includes a first-layer support 2A; the wheel sets 1A located on the first layer are placed on the first-layer support 2A, and the wheel sets 1A are arranged in a staggered and crosswise manner. The length direction of the workshop track 1B is the same as the length direction of the wheel sets 1A in the planar storage repository 2; The truss robot 3 includes a gantry 3A, a left trolley 3B and a right trolley 3C. The gantry 3A includes a transverse track 3AY. The left trolley 3B includes a left body 3B1, and the right trolley 3C includes a right body 3C1. Both the left trolley 3B and the right trolley 3C include a lifting device 4 and a gripper device 5. The gripper device 5 is installed on the lifting device 4, and the two sets of lifting devices 4 are respectively installed on the left body 3B1 and the right body 3C1. The left trolley 3B and the right trolley 3C can run independently on the transverse track 3AY, and the gantry 3A can run on the factory building track 1B. The truss robot 3 can simultaneously grasp two adjacent wheel sets 1A that are staggered or in the same row, and place them at the set positions in the same row or staggered after running.

[0017] It should be noted that: the wheel sets located on the second floor can be placed on the wheel sets located on the first floor, or can be placed on the second floor brackets 2B. It should be further noted that: the planar storage repository 2 can be a multi-layer planar storage repository, or can be a buffer zone with only one layer.

[0018] The lifting device 4 includes a fixed starting end 4A, an intermediate device 4B and a lifting terminal 4C. The gripper device 5 is installed on the lifting terminal 4C. The lifting terminal 4C moves up and down on the intermediate device 4B, and the intermediate device 4B moves up and down on the fixed starting end 4A.

[0019] The lifting device 4 includes a multi-stage lifting device 41. When the wheel set 1A grasped by the truss robot 3 is at the highest position, the highest position of the wheel set 1A is higher than the lowest position of the multi-stage lifting device 41.

[0020] It should be noted that: when the wheel set 1A grasped by the truss robot 3 is at the highest position, the lowest position of the wheel set 1A can also be at the same height as the lowest position of the multi-stage lifting device 41.

[0021] The left body 3B1 in the left trolley 3B includes a left beam 3B1A, and the fixed starting end 4A on the left trolley 3B is integrally connected to the left beam 3B1A.

[0022] The lifting device 4 in the right trolley 3C includes a top trolley 4D. The fixed starting end 4A on the right trolley 3C is fixed to the top trolley 4D. The right body 3C1 includes a right beam 3C1A, and the top trolley 4D can run on the right beam 3C1A.

[0023] The multi-stage lifting device 41 includes a profiled steel lifting device 6 and a lifting traction device 41A. The profiled steel lifting device 6 includes a profiled steel fixed starting end 6A, a profiled steel intermediate device 6B, a profiled steel lifting terminal 6C, and a linear guide 6D. The profiled steel intermediate device 6B includes one or more sets of intermediate profiled steels 6B1. Linear guides 6D are installed between the profiled steel fixed starting end 6A and the profiled steel intermediate device 6B, between the profiled steel intermediate device 6B and the profiled steel lifting terminal 6C, and between the intermediate profiled steels 6B1 within the profiled steel intermediate device 6B. The lifting of the profiled steel lifting terminal 6C is achieved through the lifting traction device 41A.

[0024] It should be noted that the lifting traction device 41A can be a winch or a chain drive device.

[0025] The jaw device 5 includes a horizontal telescopic device 5A. The telescopic device 5A includes a telescopic head 5A1, and the telescopic head 5A1 can extend into the top of the inner concave ring of the wheel flange of the wheel set 1A.

[0026] Under specific conditions, the truss robot 3 can simultaneously grasp two adjacent wheel sets 1A that are staggered or in the same row on the top layer and the lower layer.

[0027] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to 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, or an integrally formed connection. It can also be a mechanical connection or an indirect connection through an intermediate medium. The specific meaning of the terms in the present invention can be understood according to specific circumstances.

[0028] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A truss robot with double trolleys for railway wheels, characterized in that A railway vehicle depot or vehicle factory building (1) includes a wheelset (1A), a building 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). The wheelset (1A) is staggered and cross-arranged. The length direction of the building track (1B) is consistent with the length direction of the wheelset (1A) in the planar storage (2). The truss robot (3) includes a trolley (3A), a left trolley (3B), and a right trolley (3C). The trolley (3A) includes a transverse track (3AY). The left trolley (3B) includes The left vehicle body (3B1), the right trolley (3C) includes a right vehicle body (3C1), and the left trolley (3B) and the right trolley (3C) both include a lifting device (4) and a gripping device (5); the gripping device (5) is installed on the lifting device (4), and the two sets of lifting devices (4) are installed on the left vehicle body (3B1) and the right vehicle body (3C1) respectively; the left trolley (3B) and the right trolley (3C) can respectively run independently on a transverse track (3AY), and the trolley (3A) can run on a factory track (1B); the truss robot (3) can simultaneously grasp two adjacent wheel pairs (1A) 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 with double trolleys for railway wheelsets 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 with double trolleys for railway wheelsets 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 with double trolleys for railway wheelsets according to claim 3, characterized in that The left vehicle body (3B1) in the left trolley (3B) comprises a left beam (3B1A), and a fixed starting end (4A) on the left trolley (3B) is connected to the left beam (3B1A) as a whole.

5. A truss robot with double trolleys for railway wheelsets according to claim 3, characterized in that The lifting device (4) in the right trolley (3C) comprises a top trolley (4D), a fixed start end (4A) on the right trolley (3C) is fixed to the top trolley (4D), the right vehicle body (3C1) comprises a right beam (3C1A), and the top trolley (4D) can run on the right beam (3C1A).

6. A truss robot with double trolleys for railway wheelsets 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 more sets of intermediate steel sections (6B1); 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 traction device (41A) is used to realize the lifting of the steel lifting terminal (6C).

7. A truss robot with double trolleys for railway wheelsets 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 with double trolleys for railway wheelsets according to claim 7, characterized in that Under certain conditions, the truss robot (3) can simultaneously grasp two adjacent wheel pairs (1A) on the top layer and the next layer that are staggered or in the same row.

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