A four-layer structure of a truck bogie spring dismounting and assembling device and process

Abstract

The present application relates to railway freight car repair equipment technical field, provide a four-layer architecture's freight car bogie pillow spring dismounting and assembling device and process, solve the problem of single function, poor adaptability, low degree of automation, process fragmentation and data management loss in the prior art. The present application comprises a rack, and further comprises: a lifting component installed on the upper part of the rack; a dismounting component located below the lifting component; a supporting and transferring component located below the dismounting component; a central control module in communication connection with the lifting component, the dismounting component and the supporting and transferring component, for coordinating the collaborative work of each component; the present application first creates a four-layer architecture combining the three-layer mechanical structure of upper (lifting), middle (dismounting) and lower (supporting and transferring) with the central control module, physically integrates the functions of dismounting, transferring and assembling, realizes seamless connection of processes, greatly compresses the repair rhythm, and solves the problems of process fragmentation and low efficiency in the traditional mode.

Description

A four-layer structure freight car bogie bolster spring disassembly and assembly device and process Technical Field

[0001] This invention relates to the field of railway freight car maintenance equipment technology, specifically to a four-layer structure freight car bogie sleeper spring disassembly and assembly device and process. Background Technology

[0002] In the maintenance of railway freight car bogies, the disassembly, inspection, and reassembly of the bolster springs and wedges are the core and most labor-intensive steps. Traditional methods rely entirely on manual operation, requiring workers to use tools such as crowbars and sledgehammers in confined spaces, resulting in extremely low efficiency (taking tens of minutes to several hours for a single bogie) and posing serious safety hazards and occupational health risks. The poor accuracy and consistency of manual measurements lead to unstable performance of the reassembled bogies.

[0003] To address the aforementioned issues, some automated or semi-automated devices have emerged in the prior art. For example, Chinese Patent No. CN202211285224.2 discloses an intelligent disassembly device for railway freight car bogie bolster springs. This device achieves automated disassembly of the bolster springs through the coordination of a bolster spring rotation mechanism, a prying mechanism, and a support mechanism, and possesses a certain degree of model adaptability. However, this device still has significant shortcomings: First, its function is limited, only capable of disassembly, and cannot achieve automatic assembly of the bolster springs and wedges, resulting in an incomplete process; second, it employs a fixed mechanical prying and support structure, lacking visual guidance, and has limited adaptability and grasping accuracy in complex working conditions (such as workpiece position deviations and dirt obstruction); finally, its support mechanism lacks independent transfer capability, relying on external robots for overall handling, and cannot achieve precise material distribution and process coordination between disassembly, transfer, and assembly stations. Summary of the Invention

[0004] Therefore, in order to address the above problems, the present invention provides a four-layer structure freight car bogie pillow spring disassembly and assembly device and process, which solves the problems of single equipment function, poor adaptability, low degree of automation, fragmented processes and lack of data management in the prior art.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] A four-layer structure freight car bogie bolster spring disassembly and assembly device, including a frame, and further comprising:

[0007] A lifting component, installed on the upper part of the frame, is used to lift the bogie, and includes a first three-axis moving platform and a fork mounted on the platform;

[0008] The disassembly component, located below the lifting component and mounted on the frame, is used to perform the gripping and disassembly of the bolster spring. It includes a second three-axis moving platform and a vision claw assembly mounted on the platform. The vision claw assembly is used to acquire visual images of the bolster spring and to identify and calculate the spatial pose and gripping point of the bolster spring based on the visual images.

[0009] The support and transfer component, located below the disassembly component, is used to receive, temporarily store and transfer the disassembled pillow spring. It includes a support plate, an opening and closing plate and an adaptive opening and closing receiving plate assembly mounted on the support plate, and a dual-axis moving assembly that drives the support plate to move in a vertical plane.

[0010] The central control module is communicatively connected to the lifting component, disassembly component, and support and transfer component, and is used to coordinate the collaborative operation of each component.

[0011] Furthermore, the adaptive opening and closing receiving plate assembly includes:

[0012] One or more parallel receiving plates are used to directly receive the pillow spring, and a longitudinal rail is provided below the receiving plate;

[0013] The limiting component is slidably disposed on the longitudinal rail;

[0014] Connector, used to connect the limiting member and the receiving plate;

[0015] At least one transverse rail is provided in a direction perpendicular to the longitudinal rail, and each longitudinal rail is slidably connected to the transverse rail;

[0016] A drive crossbar is set perpendicular to the longitudinal rail. A long groove is opened on the drive crossbar. A guide groove is opened at the location of the opening and closing plate corresponding to the receiving plate. The top of each of the limiting members passes through the long groove and the corresponding guide groove and then protrudes from the top of the opening and closing plate.

[0017] An opening and closing drive component is used to drive the drive crossbar to move along the longitudinal rail length direction.

[0018] Furthermore, the opening and closing drive component includes lead screws passing through both ends of the drive crossbar and at least one opening and closing motor for driving the lead screws to rotate.

[0019] Furthermore, the connector includes a connecting piece connected to the limiting member, and a flipping component disposed on the connecting piece. One end of the receiving plate is rotatably connected to the connecting piece, and the flipping component is used to drive the receiving plate to flip along the connection.

[0020] Furthermore, the flipping assembly includes flipping teeth connected to the bottom of the receiving plate and a flipping drive for driving the flipping teeth to rotate.

[0021] Furthermore, the vision gripper assembly includes:

[0022] Industrial cameras are used to capture visual images of the springs.

[0023] An image processing unit, electrically connected to the industrial camera, is used to process the visual image and identify and calculate the spatial pose and gripping point of the bolster spring;

[0024] One or more driveable claws, whose movements are controlled by the central control module, and whose motion paths are adjusted according to the output instructions of the image processing unit.

[0025] Furthermore, the vision gripper assembly also includes a force sensor, which is located at the drive end or execution end of the gripper to monitor the gripping force in real time and feed the force signal back to the central control module to form a force control closed loop.

[0026] A process for disassembling and assembling the bolster spring of a four-layer freight car bogie, using the aforementioned device, includes the following steps:

[0027] A. Pillow spring disassembly and wedge removal:

[0028] A1. After positioning the bogie at the disassembly station, the position of the bolster spring is detected by the vision claw assembly, and coordinate data is output.

[0029] A2. Control the claw of the vision claw assembly to move to the target rocker spring according to the coordinates and perform the hooking and knocking action;

[0030] A3. Synchronously control the receiving plate of the supporting and transferring component to move to the corresponding position, receive the overturned bolster spring, and transfer it to the handling fixture, and reset the vision claw assembly;

[0031] A4. After the lifting component supports the wedge, repeat steps A2-A3 to disassemble the shock-absorbing spring and the center spring of the bolster.

[0032] A5. Adjust the size of the wedge that matches the receiving plate of the supporting and transferring components, and control the lifting components to slowly retract so that the wedge slides down the receiving plate to the handling fixture.

[0033] B. Assembly of the pillow spring and the wedge:

[0034] B1. The central control module retrieves the appropriate rocker spring and wedge according to the assembly instructions and delivers them to the assembly station.

[0035] B2. The pillow spring is lifted in a folded state by the supporting and transporting components, and guided by the vision hook assembly during the movement, so that the concave point on the top of the pillow spring is accurately aligned with the round navel of the pillow, thus completing the assembly.

[0036] B3. The wedge is transported to the assembly position and supported by the lifting component through the coordinated action of the supporting and transporting component and the lifting component, thereby completing the stable assembly of the wedge.

[0037] B4. Repeat step B2 to complete the assembly of the shock-absorbing spring and the outer spring at the center of the bolster.

[0038] Furthermore, in steps A5 and B3, the retraction or lifting speed of the moving parts involved in the installation and removal of the wedge is controlled within the range of 0.06 m / s to 0.08 m / s to ensure smooth operation.

[0039] Furthermore, it also includes the following steps:

[0040] C. Component measurement and intelligent sorting and warehousing:

[0041] C1. Transport the handling fixture carrying the components to the measurement station, and measure the height of the pillow spring and the three-dimensional wear of the wedge respectively;

[0042] C2. The central control module groups the pillow springs according to the height difference and the wedges according to the wear amount based on the measurement results;

[0043] C3. Store the grouped parts in the corresponding shelves according to their categories and groups, and record their location and parameter information.

[0044] Compared with the prior art, the beneficial effects of the present invention are:

[0045] 1. This application is the first to create a four-layer architecture that combines the upper (lifting), middle (disassembly), and lower (support and transfer) mechanical structures with a central control module. This physically integrates the functions of disassembly, transfer, and assembly, achieving seamless connection of processes, greatly reducing maintenance cycle time, and solving the problems of fragmented processes and low efficiency in the traditional mode.

[0046] 2. The vision-based claw assembly used in this application enables real-time identification, pose calculation, and compliant grasping of bolster springs in unstructured environments, significantly improving operational accuracy and success rate. The adaptive opening and closing receiving plate assembly, combined with dual-axis movement, forms a flexible "moving receiver" capable of accurately docking workpieces of different positions and sizes. Instead of directly using a three-axis moving platform, the dual-axis movement assembly and opening / closing drive mechanism achieve three-axis movement of the receiving plate. This allows for adjusting the receiving plate spacing while simultaneously driving the receiving plate closer to the freight car bogie, resulting in a more compact overall structure. Furthermore, this application adds a flipping function to the receiving plate opening and closing mechanism. This allows the receiving plate to not only receive horizontally but also tilt or transfer the bolster spring to a specific angle via flipping, facilitating subsequent measurement, warehousing, or assembly positioning. The opening, closing, and flipping of the receiving plate can be achieved through the adaptive opening and closing receiving plate assembly, making it easy to integrate with the central control module.

[0047] 3. The process provided in this application can be seamlessly integrated into the automatic measurement and intelligent sorting and warehousing process, forming a complete data closed loop of "disassembly-inspection-warehousing-distribution-assembly". All key parameters (dimensions, force, position) are recorded and bound to the workpiece, laying the foundation for quality traceability, predictive maintenance and process optimization. Attached Figure Description

[0048] Figure 1 is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0049] Figure 2 is a schematic diagram of the lifting component structure according to Embodiment 1 of the present invention;

[0050] Figure 3 is a schematic diagram of the disassembly component structure according to Embodiment 1 of the present invention;

[0051] Figure 4 is a schematic diagram of the support and transfer component structure of Embodiment 1 of the present invention;

[0052] Figure 5 is a schematic diagram of the guide groove arrangement structure according to Embodiment 1 of the present invention;

[0053] Figure 6 is a schematic diagram of the adaptive opening and closing receiving plate assembly structure according to Embodiment 1 of the present invention;

[0054] Figure 7 is a schematic diagram of the flipping component structure according to Embodiment 1 of the present invention.

[0055] Explanation of icon numbers:

[0056] Rack 1;

[0057] Lifting component 2; First three-axis moving platform 21; Lifting fork 22;

[0058] Disassembly component 3; Second and third-axis moving platform 31; Vision gripper assembly 32; Industrial camera 321; Gripper 322; Force sensor 323;

[0059] Support and transfer component 4; dual-axis moving assembly 41; Z-axis linear module 411; Y-axis linear module 412; support plate 42; opening and closing plate 43; guide groove 431; adaptive opening and closing receiving plate assembly 44; receiving plate 441; longitudinal rail 442; limiting component 443; connecting component 444; transverse rail 445; drive crossbar 446; opening and closing drive component 447; connecting piece 448; flipping assembly 449. Detailed Implementation

[0060] The following will describe in detail the implementation of the present invention with reference to specific embodiments, so that the process of how the present invention uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0061] Example 1: As shown in Figures 1 to 7, this example provides a four-layer structure bogie spring disassembly and assembly device, which mainly consists of a frame 1, a lifting component 2, a disassembly component 3, a support and transfer component 4, and a central control module (not shown in the figure), to realize the flexible disassembly of bogie springs and wedges, and adapt to the operation requirements of different bogie models.

[0062] The frame 1 is the supporting structure of the whole device. The upper part of the frame 1 is equipped with a lifting component 2. The core of this component is a first three-axis moving platform 21. In this embodiment, the platform adopts the form of a Cartesian coordinate robot composed of three mutually orthogonal linear modules connected in series, which belongs to the mature existing technology in this field. The first three-axis moving platform 21 is equipped with a lifting fork 22. Through the precise positioning of the first three-axis moving platform 21 in the X, Y and Z directions, the lifting fork 22 can be driven to the underside of the wedge and perform stable lifting or lowering actions.

[0063] Below the lifting component 2, a disassembly component 3 is fixedly installed in the middle layer of the frame 1. The disassembly component 3 also includes a second three-axis moving platform 31, whose structure is similar to that of the first three-axis moving platform 21. It is also a Cartesian coordinate robot composed of three linear modules. A vision claw assembly 32 is fixed on the second three-axis moving platform 31. The vision claw assembly 32 integrates an industrial camera 321, an image processing unit (not shown in the figure), three cylinder-driven claws 322, and a force sensor 323 set at the driving end of the claws. The industrial camera 321 is used to acquire images of the target area in real time. The image processing unit (an industrial computer with an integrated GPU or a processor built into a smart camera) runs a vision algorithm to process the image, thereby identifying the precise spatial pose and optimal gripping point of the bolster spring. The claws 322 then perform specific gripping and knocking actions according to the control commands.

[0064] Below the disassembly component 3, a support and transfer component 4 is arranged. This component is used for the dynamic reception and internal transfer of workpieces. Its foundation is a dual-axis moving assembly 41. In this embodiment, the dual-axis moving assembly 41 consists of a set of mutually perpendicular Z-axis linear modules 411 and Y-axis linear modules 412, which drive the entire component to move in the vertical plane. A support plate 42 is installed on the slide of the dual-axis moving assembly 41. The support plate 42 is provided with an opening and closing plate 43 and an adaptive opening and closing receiving plate assembly 44. The adaptive opening and closing receiving plate assembly 44 is the direct carrier for receiving workpieces. It has opening and closing and spacing adjustment functions to adapt to different sizes of pillow springs and wedges.

[0065] The entire system is controlled by a central control module, which employs an industrial programmable logic controller (PLC) or an industrial personal computer (IPC). The central control module communicates with the lifting component 2, disassembly component 3, and support and transfer component 4 via industrial Ethernet or fieldbus. The central control module is responsible for receiving feedback signals from all sensors, running the overall control program, and precisely coordinating the action logic and spatiotemporal coordination of the lifting component 2, disassembly component 3, and support and transfer component 4 to achieve fully automated operation.

[0066] In this embodiment, the adaptive opening and closing receiving plate assembly 44 includes:

[0067] Receiving plate 441: Three parallel inverted trapezoidal support plates are used to directly receive the pillow spring. The opening and closing plate 43 has a guide groove 431 corresponding to the position of each receiving plate 441.

[0068] Longitudinal rail 442: A longitudinal rail 442 is fixed below each receiving plate 441;

[0069] Limiting element 443: Slidingly mounted on each longitudinal rail 442;

[0070] Connector 444: Used for rigidly connecting the limiting member 443 and the upper receiving plate 441;

[0071] Transverse rails 445: Two rails are fixed on the support plate 42 in a direction perpendicular to the longitudinal rails 442. Each longitudinal rail 442 is slidably connected to the transverse rails 445, so that the receiving plate 441 can move in the opening and closing direction while the overall structure can slide on the transverse rails 445. The transverse direction corresponds to the X direction, the longitudinal direction corresponds to the Y direction, and the vertical direction corresponds to the Z direction.

[0072] Drive crossbar 446: A rigid bar parallel to the transverse rail 445, with a long groove machined on it;

[0073] Opening and closing drive component 447: In this embodiment, a servo motor drives a precision ball screw. The nut of the screw is connected to the drive crossbar. When the servo motor rotates, the drive crossbar 446 is driven to move precisely along its axis (i.e., the extension direction of the longitudinal rail 442) through the screw drive.

[0074] Linkage mechanism: Each limiting member 443 has a guide post at its top. The guide post passes through the elongated groove on the drive crossbar 446 and the guide groove 431 on the opening and closing plate 43 in sequence. When the drive crossbar 446 moves longitudinally under the action of the opening and closing drive member 447, the side of the elongated groove pushes the guide post of the limiting member 443, forcing the limiting member 443 to slide along the longitudinal rail 442 with the receiving plate 441. Since the elongated groove of the drive crossbar 446 simultaneously constrains the three guide posts, the three receiving plates 441 can move synchronously along the longitudinal direction. The guide groove 431 provides lateral limiting to ensure equidistant opening and closing movements.

[0075] In this embodiment, the connector 444 includes a connecting piece 448 connected to the limiting member and a flipping component 449 disposed on the connecting piece. One end of the receiving plate 441 is rotatably connected to the connecting piece 448. The flipping component 449 is used to drive the receiving plate 441 to flip along the connection point. The flipping component 449 includes flipping teeth connected to the bottom of the receiving plate 441 and a flipping cylinder for driving the flipping teeth to rotate.

[0076] Example 2: This example is based on the device described in Example 1 and provides a process for disassembling and assembling the bogie springs of a four-layer structure freight car.

[0077] A. Pillow spring disassembly and wedge removal:

[0078] A1. After positioning the bogie at the disassembly station, the position and orientation of the bolster spring are detected by the vision claw assembly 32, and coordinate data is output.

[0079] A2. The industrial camera 321 of the vision hook assembly 32 acquires images of the bottom of the bogie. The image processing unit identifies the precise window position and top concave phase of each bolster spring and outputs the three-dimensional coordinates to the central control module. The central control module plans the path and controls the second three-axis moving platform 31 to drive the hook 322 to move above the target bolster spring. The hook 322 descends, and at the moment of contact, the force sensor 323 provides feedback. The hook 322 hooks the top of the bolster spring and then pushes it backward.

[0080] A3. At the same time, the central control module commands the support and transfer component 4 to move, and the dual-axis moving component 41 drives the support plate 42, so that the opening of the receiving plate 441 of the adaptive opening and closing receiving plate component 44 moves to directly below the landing point of the rocker spring, receiving the rocker spring. Then, the receiving plate 441 flips, and the rocker spring slides into the corresponding fixed groove of the handling fixture, and the vision hook component 32 resets.

[0081] A4. The vision hook assembly 32 repositions the shock-absorbing spring, the bolster center spring, and the wedge. The first three-axis moving platform 21 of the lifting component 2 drives the fork 22 to move directly below the wedge and lift it up. When the force sensor integrated in the fork 22 detects a value of 70N, it stops to ensure that the wedge is stably supported. While the wedge is being supported, the disassembly component 3 repeats steps A2-A3 to disassemble and transport the shock-absorbing spring and the bolster center spring one by one.

[0082] A5. Adjust the spacing of the receiving plate 441 of the adaptive opening and closing receiving plate assembly 44 to match the bottom size of the wedge. The lifting component 2 controls the fork to slowly retract at a speed of 0.08 m / s. Under the action of gravity, the wedge slides smoothly down the inner wall of the receiving plate 441 into the receiving plate 441, so that the wedge slides down the receiving plate 441 into the handling fixture.

[0083] B. Assembly of the pillow spring and the wedge:

[0084] B1. Based on the model of the bogie to be assembled, the central control module selects the most suitable combination of bolster spring and wedge from the intelligent warehousing database and instructs the automated system to deliver it to the assembly station's material waiting area.

[0085] B2. The support and transfer component 4 picks up a bolster spring that is in a laid-down state and whose concave direction has been pre-positioned from the material waiting area. The bolster spring is moved to below the bogie assembly point. During this process, the industrial camera 321 of the vision claw assembly 32 continuously identifies the position of the round navel on the bolster and feeds back the coordinates to the central control module in real time. The central control module controls the dual-axis moving component 41 and the adaptive opening and closing receiving plate assembly 44 to slowly lift the spring at a speed of 0.06 m / s. Under visual guidance, the concave point on the top of the bolster spring is accurately fitted into the round navel of the bolster, completing the press-fitting.

[0086] B3. The supporting and transporting component 4 transports the adapted wedge to the installation position directly below the side frame guide frame. The lifting component 2's fork 22 moves synchronously to the position below and rises, gently supporting the bottom of the wedge. The receiving plate 441 opens, the supporting and transporting component 4 moves away, and the lifting component 2 continues to control the fork to rise smoothly, pushing the wedge into the design position.

[0087] B4. Repeat step B2 to complete the assembly of the shock-absorbing spring and the outer spring at the center of the bolster.

[0088] C. Component measurement and intelligent sorting and warehousing:

[0089] C1. Transport the handling fixture carrying the components to the measurement station, and measure the height of the pillow spring and the three-dimensional wear of the wedge.

[0090] C2. The central control module groups the pillow springs according to the height difference and the wedges according to the wear amount based on the measurement results.

[0091] C3. Store the grouped parts in the corresponding shelves according to their categories and groups, and record their location and parameter information.

[0092] In the disassembly and assembly steps (A2, B2), the industrial camera 321 of the vision claw assembly 32 and the optional laser displacement sensor constitute a multi-source sensing system to acquire workpiece images and distance information in real time. The image processing unit obtains the real-time accurate pose of the bolster spring through algorithm fusion processing. The central control module compares the pose with the target value. If the deviation exceeds the limit, it immediately drives the second three-axis moving platform 31 or the dual-axis moving assembly 41 to perform micron-level correction, forming a vision servo closed loop.

[0093] During the gripping (A2) and lifting (A3) process, the force sensor integrated into the hook 322 and the fork 22 collects pressure and torque signals in real time. The system calculates the real-time gripping / lifting force and distribution uniformity, and compares it with the preset safety threshold. Once the force is found to be insufficient, excessive or uneven, the central control module immediately adjusts the output torque of the lifting component 2 or the vision hook assembly 32 to achieve closed-loop force control adjustment and prevent the workpiece from being damaged or falling.

[0094] All sensor data, control commands, process parameters, and workpiece identification information are stored synchronously in real time by the central control module and associated with a unique job number, achieving traceability of quality data throughout the entire process and providing a solid data foundation for fault analysis, process optimization, and predictive maintenance.

[0095] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A four-layer structure freight car bogie bolster spring disassembly and assembly device, comprising a frame, characterized in that, Also includes: A lifting component, installed on the upper part of the frame, is used to lift the bogie, and includes a first three-axis moving platform and a fork mounted on the platform; The disassembly component, located below the lifting component and mounted on the frame, is used to perform the gripping and disassembly of the bolster spring. It includes a second three-axis moving platform and a vision claw assembly mounted on the platform. The vision claw assembly is used to acquire visual images of the bolster spring and to identify and calculate the spatial pose and gripping point of the bolster spring based on the visual images. The support and transfer component, located below the disassembly component, is used to receive, temporarily store, and transfer the disassembled bolster spring. It includes a support plate, an opening and closing plate and an adaptive opening and closing receiving plate assembly mounted on the support plate, and a dual-axis moving assembly that drives the support plate to move in the vertical plane. The central control module is communicatively connected to the lifting component, the disassembly component, and the support and transfer component to coordinate the collaborative operation of each component. The adaptive opening and closing receiving plate assembly includes: one or more parallel receiving plates for directly receiving the pillow spring, with a longitudinal rail below each receiving plate; a limiting member slidably disposed on the longitudinal rail; a connecting member for connecting the limiting member and the receiving plate; at least one transverse rail arranged perpendicular to the longitudinal rail, with each longitudinal rail slidably connected to the transverse rail; a drive crossbar arranged perpendicular to the longitudinal rail, with an elongated groove on the drive crossbar; a guide groove on the opening and closing plate corresponding to the receiving plate; and the top of each limiting member passing through the elongated groove and the corresponding guide groove before protruding from the top of the opening and closing plate; and an opening and closing drive member for driving the drive crossbar to move along the length of the longitudinal rail.

2. The four-layer structure freight car bogie pillow spring disassembly and assembly device according to claim 1, characterized in that: The opening and closing drive component includes lead screws passing through both ends of the drive crossbar and at least one opening and closing motor that drives the lead screws to rotate.

3. The four-layer structure freight car bogie pillow spring disassembly and assembly device according to claim 1, characterized in that, The connector includes a connecting piece connected to the limiting member and a flipping component disposed on the connecting piece. One end of the receiving plate is rotatably connected to the connecting piece, and the flipping component is used to drive the receiving plate to flip along the connection.

4. The four-layer structure freight car bogie pillow spring disassembly and assembly device according to claim 3, characterized in that, The flipping assembly includes flipping teeth connected to the bottom of the receiving plate and a flipping drive component for driving the flipping teeth to rotate.

5. The four-layer structure freight car bogie pillow spring disassembly and assembly device according to claim 1, characterized in that, The vision claw assembly includes: an industrial camera for acquiring visual images of the bolster spring; an image processing unit electrically connected to the industrial camera for processing the visual images and identifying and calculating the spatial pose and gripping point of the bolster spring; and one or more driveable claws whose movements are controlled by the central control module and whose motion paths are adjusted according to the output instructions of the image processing unit.

6. The four-layer structure freight car bogie bolster spring disassembly and assembly device according to claim 5, characterized in that: The vision-based claw assembly also includes a force sensor, which is located at the drive end or execution end of the claw. The force sensor is used to monitor the grasping force in real time and feed the force signal back to the central control module to form a force control closed loop.

7. A process for disassembling and assembling the bogie bolster springs of a four-layer structure freight car, employing the device described in any one of claims 1-6, characterized in that, The steps include: A. Pillow spring removal and wedge removal: A1. After positioning the bogie at the disassembly station, the position of the bolster spring is detected by the vision hook assembly, and coordinate data is output; A2. The hook of the vision hook assembly is controlled to move to the target bolster spring according to the coordinates, and the hooking and knocking action is performed. A3. Synchronously control the receiving plate of the supporting and transferring component to move to the corresponding position, receive the overturned bolster spring, and transfer it to the handling fixture. The vision claw assembly is reset. A4. After the lifting component supports the wedge, repeat steps A2-A3 to disassemble the shock-absorbing spring and the bolster center spring. A5. Adjust the receiving plate of the supporting and transferring component to match the wedge size, and control the lifting component to slowly retract, so that the wedge slides down the receiving plate to the handling fixture. B. Assembly of bolster spring and wedge: B1. The central control module retrieves the matching bolster spring and wedge according to the assembly command and delivers them to the assembly station. B2. The supporting and transferring component lifts the bolster spring in a folded state, and guides it during the movement using the vision claw assembly, so that the concave point on the top of the bolster spring is accurately aligned with the round navel of the bolster, completing the assembly. B3. Through the coordinated action of the supporting and transporting components and the lifting components, the wedge is transported to the assembly position and supported by the lifting components to complete the stable assembly of the wedge; B4. Repeat step B2 to complete the assembly of the shock-absorbing spring and the outer spring at the center of the bolster.

8. The process for disassembling and assembling the bogie springs of a four-layer structure freight car according to claim 7, characterized in that: In steps A5 and B3, the retraction or lifting speed of the moving parts involved in the installation and removal of the wedge is controlled within the range of 0.06 m / s to 0.08 m / s to ensure smooth operation.

9. The process for disassembling and assembling the bolster spring of a four-layer freight car bogie according to claim 7, characterized in that, The process also includes the following steps: C. Component measurement and intelligent sorting and warehousing: C1. The handling fixture carrying the components is transported to the measurement station to measure the height of the pillow spring and the three-dimensional wear of the wedge; C2. The central control module groups the pillow springs according to the height difference and the wedges according to the wear amount based on the measurement results; C3. The grouped components are stored in the corresponding shelves according to their categories and groups, and the location and parameter information are recorded.

Images