Truss robot with clamping jaws capable of being automatically replaced for passenger car bogie production

Abstract

The invention discloses a truss robot with a clamping jaw capable of being automatically replaced for passenger car bogie production, which is characterized in that the truss robot comprises a clamping jaw device, a cart, a trolley and a lifting device, the clamping jaw device is mounted at the bottom of the lifting device, the lifting device is mounted on the trolley, the trolley can transversely run on the cart, and the lifting device is mounted on the trolley. The cart can longitudinally run on the side longitudinal rails; the clamping jaw device comprises a fixed seat, a movable seat and a framework clamping jaw, the fixed seat comprises a connecting device, the movable seat comprises a connecting interface, the fixed seat and the movable seat can be connected into a whole through the connection of the connecting device and the connecting interface, and the framework clamping jaw is mounted on the movable seat; the truss robot grabs the clamping jaw interface through the framework clamping jaw to realize framework operation; according to the truss robot, the first-type clamping jaw can be replaced by the second-type clamping jaw through separation and connection of the connecting device and the connecting interface, so that the same overhaul assembly line or assembly line can adapt to overhaul or assembly of passenger car bogies of different types. The lifting device adopts a multi-stage lifting structure, so that the lowest point of the framework is equal to the lowest point of the truss robot in height when the framework is located at the highest position, and an aerial steel platform can be locally added to serve as a buffer area of the framework or an original travelling crane can be reserved to serve as an emergency plan in the transformation of an existing old factory building. The device has the main advantages of low labor intensity and high operation efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of railway vehicle maintenance and production equipment, specifically a gantry robot for the production of passenger car bogies with automatically replaceable grippers. Background Technology

[0002] Currently, due to personnel movement and the operation of vehicles transporting parts on the workshop floor, the frame maintenance production lines in all passenger car sections of the entire railway system operate overhead. There are currently only two overhead operation methods: 1. Assembly line structure: Each workstation is connected by several carriers running on tracks (such as self-propelled trolleys and other conveyors). Its main disadvantages are: 1) Workstations can only be set within the coverage area of ​​the conveyors, resulting in significant waste of factory space; 2) When a carrier malfunctions, neither the affected carrier nor its carrier can move, causing obstruction. 2. Overhead crane structure: Because the winches use flexible steel wire ropes, they sway during operation, hindering rapid operation and posing safety hazards. Furthermore, due to the various models of bogies and the inconsistent lifting lugs on the frame, automation is difficult. The main disadvantages are: large factory area, low efficiency, or high labor intensity and safety risks. Summary of the Invention

[0003] In view of the problems existing in the prior art, the purpose of the present invention is to provide a gantry robot for the production of bus bogies with automatically replaceable grippers, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A passenger car bogie 1 includes a component 1A and a frame 1B, the frame 1B including a gripper interface 2; a maintenance or assembly production line for passenger car bogies in a railway passenger car depot or rolling stock plant includes a gantry robot 4, the gantry robot 4 including a gripper device 5, a main carriage 4B, a trolley 4C, and a lifting device 4D, the gripper device 5 being installed at the bottom of the lifting device 4D, the lifting device 4D being installed on the trolley 4C, the trolley 4C being able to move laterally on the main carriage 4B, and the main carriage 4B being able to move longitudinally on the side longitudinal track; the gripper device 5 includes a fixed seat 5A, a movable seat 5B, and a frame gripper 5C, the fixed seat 5A installed at the bottom of the lifting device 4D including a connecting device 5A1, the movable seat 5B including a connecting interface 5B1, the connection between the connecting device 5A1 and the connecting interface 5B1 enabling the fixed seat 5A and the movable seat 5C to move longitudinally; B is connected as a whole, and the frame gripper 5C is installed on the movable seat 5B; the gantry robot 4 can grasp the gripper interface 2 through the frame gripper 5C, so that the frame 1B can carry the parts 1A for operation; the bus bogie 1 includes a type 1 bogie 11 and a type 2 bogie 12, the gripper interface 2 includes a type 1 interface 21 in the frame of the type 1 bogie 11 and a type 2 interface 22 in the frame of the type 2 bogie 12, the frame gripper 5C includes a type 1 gripper 5C1 that can grasp the type 1 interface 21 and a type 2 gripper 5C2 that can grasp the type 2 interface 22, the gantry robot 4 can replace the type 1 gripper 5C1 with the type 2 gripper 5C2 or replace the type 2 gripper 5C2 with the type 1 gripper 5C1 through the separation and connection of the connecting device 5A1 and the connecting interface 5B1, so as to meet the requirement that the same maintenance line or assembly line can adapt to the maintenance or assembly of different models of bus bogie 1; When the gripper 5C is in its highest position, the highest position of the gripper 1B can be higher than the lowest position of the gantry robot.

[0005] As a further aspect of the present invention: the fixed seat 5A includes a groove frame 5A2, the connecting device 5A1 includes a connecting pin 5A1A, and the movable seat 5B includes a movable frame 5B2 and a boss frame 5B2A located on the upper part of the movable frame 5B2. The boss frame 5B2A, which is a component of the connecting interface 5B1, includes a connecting pin hole 5B2A1. When the boss frame 5B2A extends into the groove of the groove frame 5A2, and the connecting pin 5A1A is inserted into the connecting pin hole 5B2A1, the fixed seat 5A and the movable seat 5B can be connected as one unit; conversely, the fixed seat 5A and the movable seat 5B, which are connected as one unit, can also be separated.

[0006] As a further embodiment of the present invention: the bottom seat 4D1 includes a crossbeam 4D1A, the fixed seat 5A includes a rotating device 6, the rotating device 6 includes a power supply device 6A, a slewing bearing 6B, and a rotating spindle 6C, the power supply device 6A is mounted on the fixed ring of the slewing bearing 6B or on the crossbeam 4D1A, the fixed ring of the slewing bearing 6B is mounted on the crossbeam 4D1A, and the rotating spindle 6C mounted on the slewing ring of the slewing bearing 6B includes a center hole 6C1 and a pin 6C2, the pin 6C2 being a component of the connecting device 5A1; The movable seat 5B includes a rotating ring 7, which includes a power receiving device 7A, a pin hole 7B, and a top cone 7C. The power receiving device 7A is mounted on the top cone 7C. The pin hole 7B is a component of the connecting interface 5B1. When the top cone 7C is inserted into the center hole 6C1, the power supply device 6A supplies power to the rotating ring 7 through the power receiving device 7A. Then, the pin 6C2 is inserted into the pin hole 7B, which connects the fixed ring and the rotating ring 7 in the slewing bearing 6B into one unit. Conversely, it can also separate the fixed ring and the rotating ring 7 in the slewing bearing 6B that are connected into one unit.

[0007] As a further aspect of the present invention: the first type of interface 21 includes a first type of horizontal hole 21A, and the second type of interface 22 includes a second type of vertical hole 22A.

[0008] As a further aspect of the present invention: the first type of gripper 5C1 includes a telescopic pin 5C1A, and the second type of gripper 5C2 includes a rotating hook 5C2A; the first type of gripper 5C1 can lift the frame in the first type of bogie 11 by inserting the telescopic pin 5C1A into the horizontal hole 21A; the second type of gripper 5C2 can lift the frame in the second type of bogie 12 by inserting the rotating hook 5C2A into the vertical hole 22A.

[0009] As a further aspect of the present invention: the bus bogie maintenance line or assembly line includes a storage platform for storing type I gripper 5C1 and type II gripper 5C2.

[0010] As a further aspect of the present invention: the replacement between the type 1 gripper 5C1 and the type 2 gripper 5C2 on the storage platform is automatically achieved by the gantry robot 4.

[0011] As a further aspect of the present invention: the lifting device 4D includes a multi-stage lifting device 4D2.

[0012] As a further aspect of the present invention: when the frame gripper 5C is in its highest position, the lowest position of the frame 1B held by it can be higher than or equal to the lowest position of the gantry robot.

[0013] In summary, compared with existing technologies, this invention replaces traditional overhead conveyor lines with gantry robots and flexible steel wire ropes with rigid lifting devices. Moreover, the rigid lifting structure not only avoids swaying of the structure in the air but also greatly improves the operating speed. Furthermore, it creatively designs a gripper device with replaceable grippers, which can automatically change grippers to grasp different types of structures. The main advantages are: small footprint, low labor intensity, and high operating efficiency. Attached Figure Description

[0014] Figure 1 This is a structural diagram of component 1A and frame 1B that make up the bus bogie 1, and also a structural diagram of type I bogie 11 and type II bogie 12 that make up the bus bogie 1. Figure 2 yes Figure 1 View AA is a structural schematic diagram of the gripper device 5, the large trolley 4B, the small trolley 4C, and the lifting device 4D that make up the gantry robot 4. Figure 3 yes Figure 2 The K-direction view is a structural schematic diagram of the frame 1B including the gripper interface 2, and a structural schematic diagram of the movable seat 5B and the frame gripper 5C that make up the gripper device 5. Figure 4 This is a structural diagram of the multi-stage lifting device 4D2 that makes up the lifting device 4D. Figure 5 This is a structural schematic diagram of a telescopic pin 5C1A that makes up a type of gripper 5C1, and a structural schematic diagram of a horizontal hole 21A that makes up a type of interface 21. Figure 6 This is a schematic diagram of the structure of the type II vertical hole 22A that makes up the type II interface 22. Figure 7 yes Figure 6 The BB view is a structural schematic diagram of the fixing base 5A that makes up the gripper device 5, and a structural schematic diagram of the connecting device 5A1 and the groove frame 5A2 that make up the fixing base 5A. This is a structural schematic diagram of the connecting pin 5A1A that makes up the connecting device 5A1; a structural schematic diagram of the connecting interface 5B1 that makes up the movable seat 5B; a structural schematic diagram of the movable frame 5B2 that makes up the movable seat 5B; and a structural schematic diagram of the boss frame 5B2A that makes up the movable frame 5B2. This is a schematic diagram of the structure of the type II rotating hook 5C2A that makes up the type II gripper 5C2. Figure 8This is a structural schematic diagram of the rotating device 6 that makes up the fixed seat 5A, and also a structural schematic diagram of the power supply device 6A, the slewing bearing 6B and the rotating spindle 6C that make up the rotating device 6. It is also a structural schematic diagram of the rotating spindle 6C, which includes a center hole 6C1 and a pin 6C2. It is a structural schematic diagram of the rotating ring 7 that makes up the movable seat 5B, and also a structural schematic diagram of the power receiving device 7A, the pin hole 7B and the top cone 7C that make up the rotating ring 7.

[0015] Bus bogie 1, component 1A, frame 1B, Type I bogie 11, Type II bogie 12 Gripper interface 2, Type I interface 21, Type I horizontal hole 21A, Type II interface 22, Type II vertical hole 22A, gantry robot 4, large trolley 4B, small trolley 4C, lifting device 4D, bottom seat 4D1, crossbeam 4D1A, multi-stage lifting device 4D2, gripper device 5, fixed seat 5A, connecting device 5A1, connecting pin 5A1A, groove frame 5A2, movable seat 5B, connecting interface 5B1, movable frame 5B2, boss frame 5B2A, connecting pin hole 5B2A1, frame gripper 5C, Type I gripper 5C1, Type I telescopic pin 5C1A, Type II gripper 5C2, Type II rotating hook 5C2A; rotating device 6, power supply device 6A, slewing bearing 6B, rotating spindle 6C, center hole 6C1, hole pin 6C2, rotating ring 7, power receiving device 7A, pin hole 7B, top cone 7C. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0017] Please see Figures 1-8In this embodiment of the invention, the passenger car bogie 1 includes component 1A and frame 1B, and frame 1B includes gripper interface 2; the maintenance or assembly production line of the passenger car bogie in the railway passenger car depot or rolling stock factory includes a gantry robot 4, the gantry robot 4 includes gripper device 5, a main trolley 4B, a trolley 4C and a lifting device 4D, the gripper device 5 is installed at the bottom of the lifting device 4D, the lifting device 4D is installed on the trolley 4C, the trolley 4C can move laterally on the main trolley 4B, and the main trolley 4B can move on the lateral longitudinal track. The longitudinal movement is achieved by the gripper device 5, which includes a fixed base 5A, a movable base 5B, and a frame gripper 5C. The fixed base 5A, installed at the bottom of the lifting device 4D, includes a connecting device 5A1, and the movable base 5B includes a connecting interface 5B1. The connection between the connecting device 5A1 and the connecting interface 5B1 enables the fixed base 5A and the movable base 5B to be connected as one unit. The frame gripper 5C is installed on the movable base 5B. The gantry robot 4 can grasp the gripper interface 2 through the frame gripper 5C, enabling the frame 1B to carry the component 1A for operation. The bus bogie 1 includes a type 1 bogie 11 and a type 2 bogie 12. The gripper interface 2 includes a type 1 interface 21 in the frame of the type 1 bogie 11 and a type 2 interface 22 in the frame of the type 2 bogie 12. The frame gripper 5C includes a type 1 gripper 5C1 capable of gripping the type 1 interface 21 and a type 2 gripper 5C2 capable of gripping the type 2 interface 22. The gantry robot 4 can replace the type 1 gripper 5C1 with the type 2 gripper 5C2 or the type 2 gripper 5C2 with the type 1 gripper 5C1 through the separation and connection of the connecting device 5A1 and the connecting interface 5B1, so as to meet the requirement that the same maintenance line or assembly line can adapt to the maintenance or assembly of different models of bus bogies 1. When the gripper 5C is in its highest position, the highest position of the gripper 1B can be higher than the lowest position of the gantry robot.

[0018] It should be noted that there are several models of bus bogie 1.

[0019] It should be noted that the maintenance or assembly line can have several workstations, and the transport between the workstations via the gantry robot 4 is achieved.

[0020] The fixed seat 5A includes a groove frame 5A2, the connecting device 5A1 includes a connecting pin 5A1A, and the movable seat 5B includes a movable frame 5B2 and a boss frame 5B2A located on the upper part of the movable frame 5B2. The boss frame 5B2A, which is a component of the connecting interface 5B1, includes a connecting pin hole 5B2A1. When the boss frame 5B2A extends into the groove of the groove frame 5A2, and the connecting pin 5A1A is inserted into the connecting pin hole 5B2A1, the fixed seat 5A and the movable seat 5B can be connected into one unit; conversely, the fixed seat 5A and the movable seat 5B, which are connected into one unit, can also be separated.

[0021] It should be noted that the connecting pin 5A1A can be the electric cylinder pin.

[0022] The bottom seat 4D1 includes a crossbeam 4D1A, and the fixed seat 5A includes a rotating device 6. The rotating device 6 includes a power supply device 6A, a slewing bearing 6B, and a rotating spindle 6C. The power supply device 6A is mounted on the fixed ring of the slewing bearing 6B or on the crossbeam 4D1A. The fixed ring of the slewing bearing 6B is mounted on the crossbeam 4D1A. The rotating spindle 6C mounted on the slewing ring of the slewing bearing 6B includes a center hole 6C1 and a pin 6C2. The pin 6C2 is a component of the connecting device 5A1. The movable seat 5B... The rotating ring 7 includes a power receiving device 7A, a pin hole 7B, and a top cone 7C. The power receiving device 7A is mounted on the top cone 7C. The pin hole 7B is a component of the connecting interface 5B1. When the top cone 7C is inserted into the center hole 6C1, the power supply device 6A supplies power to the rotating ring 7 through the power receiving device 7A. Then, the pin 6C2 is inserted into the pin hole 7B, which connects the fixed ring and the rotating ring 7 in the slewing bearing 6B into one unit. Conversely, it can also separate the fixed ring and the rotating ring 7 in the slewing bearing 6B that are connected into one unit.

[0023] It should be noted that the 6C2 pin can be an electric cylinder pin.

[0024] It should also be noted that the power supply device 6A can be a copper ring or a carbon brush.

[0025] It should also be noted that the fixed ring can be the inner circle or the outer circle, and the rotating ring can be the outer circle or the inner circle.

[0026] The feature is that the type 1 interface 21 includes a type 1 horizontal hole 21A, and the type 2 interface 22 includes a type 2 vertical hole 22A.

[0027] The first type of gripper 5C1 includes a telescopic pin 5C1A, and the second type of gripper 5C2 includes a rotating hook 5C2A; A type of gripper 5C1 can lift the frame of a type of bogie 11 by inserting a type of telescopic pin 5C1A into a type of horizontal hole 21A; The type II gripper 5C2 can lift the frame of the type II bogie 12 by inserting the type II rotating hook 5C2A into the type II vertical hole 22A.

[0028] It should be noted that: Type I telescopic pin 5C1A can be an electric cylinder pin, and Type II rotating hook 5C2A can be driven by an electric cylinder.

[0029] The aforementioned bus bogie maintenance or assembly line includes a storage platform for storing type I grippers 5C1 and type II grippers 5C2.

[0030] It should be noted that the storage platform can be on the ground or fixed on the 4B truck.

[0031] The replacement between the type 1 gripper 5C1 and the type 2 gripper 5C2 on the storage platform is automatically achieved by the gantry robot 4.

[0032] The lifting device 4D includes a multi-stage lifting device 4D2.

[0033] It should be noted that the multi-stage lifting device 4D2 can be a three-stage lifting device.

[0034] When the gripper 5C is in its highest position, the lowest position of the gripper 1B can be higher than or equal to the lowest position of the gantry robot.

[0035] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In this invention, it should also be noted that the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate medium. The specific meaning of the terms in this invention can be understood according to the specific circumstances.

[0036] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider 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 gantry robot for automatically changing grippers in the production of bus bogies, characterized in that: The passenger car bogie (1) includes components (1A) and a frame (1B), the frame (1B) including a gripper interface (2); the maintenance or assembly line of the passenger car bogie in the railway passenger car depot or rolling stock plant includes a gantry robot (4), the gantry robot (4) including a gripper device (5), a trolley (4B), a carriage (4C) and a lifting device (4D), the gripper device (5) is installed at the bottom of the lifting device (4D), the lifting device (4D) is installed on the carriage (4C), and the carriage (4C) It can move laterally on the trolley (4B), and the trolley (4B) can move longitudinally on the side longitudinal track; the gripper device (5) includes a fixed seat (5A), a movable seat (5B) and a frame gripper (5C). The fixed seat (5A) installed at the bottom of the lifting device (4D) includes a connecting device (5A1), and the movable seat (5B) includes a connecting interface (5B1). The connection between the connecting device (5A1) and the connecting interface (5B1) enables the fixed seat (5A) and the movable seat (5B) to be connected as one unit. The frame gripper (5C) is mounted on the movable seat (5B); the gantry robot (4) can grasp the gripper interface (2) through the frame gripper (5C), enabling the frame (1B) to carry parts (1A) for operation; the bus bogie (1) includes a type I bogie (11) and a type II bogie (12), the gripper interface (2) includes a type I interface (21) in the frame of the type I bogie (11) and a type II interface (22) in the frame of the type II bogie (12), and the frame gripper (5C) includes The gantry robot (4) has a type 1 gripper (5C1) capable of gripping a type 1 interface (21) and a type 2 gripper (5C2) capable of gripping a type 2 interface (22). By separating and connecting the gantry robot (5A1) and the gantry robot (5B1), the type 1 gripper (5C1) can be replaced with the type 2 gripper (5C2) or the type 2 gripper (5C2) can be replaced with the type 1 gripper (5C1) to meet the requirements of the same maintenance production line or assembly production line to adapt to the maintenance or assembly of different models of bus bogies (1). When the frame gripper (5C) is in the highest position, the highest position of the frame (1B) held by it can be higher than the lowest position of the gantry robot.

2. A gantry robot for automatically changing grippers in the production of bus bogies according to claim 1, characterized in that: The fixed seat (5A) includes a groove frame (5A2), the connecting device (5A1) includes a connecting pin (5A1A), and the movable seat (5B) includes a movable frame (5B2) and a boss frame (5B2A) located on the upper part of the movable frame (5B2). The boss frame (5B2A), which is a component of the connecting interface (5B1), includes a connecting pin hole (5B2A1). When the boss frame (5B2A) extends into the groove of the groove frame (5A2), and the connecting pin (5A1A) is inserted into the connecting pin hole (5B2A1), the fixed seat (5A) and the movable seat (5B) can be connected as one unit; conversely, the fixed seat (5A) and the movable seat (5B) connected as one unit can also be separated.

3. A gantry robot for automatically changing grippers in the production of bus bogies according to claim 1, characterized in that: The bottom seat (4D1) includes a crossbeam (4D1A), and the fixed seat (5A) includes a rotating device (6). The rotating device (6) includes a power supply device (6A), a slewing bearing (6B), and a rotating spindle (6C). The power supply device (6A) is mounted on the fixed ring of the slewing bearing (6B) or the crossbeam (4D1A). The fixed ring of the slewing bearing (6B) is mounted on the crossbeam (4D1A). The rotating spindle (6C) mounted on the slewing ring of the slewing bearing (6B) includes a center hole (6C1) and a pin (6C2). The pin (6C2) is a component of the connecting device (5A1). The movable seat (5B) The rotating ring (7) includes a power receiving device (7A), a pin hole (7B), and a top cone (7C). The power receiving device (7A) is installed on the top cone (7C). The pin hole (7B) is a component of the connection interface (5B1). When the top cone (7C) is inserted into the center hole (6C1), the power supply device (6A) supplies power to the rotating ring (7) through the power receiving device (7A). Then, the pin (6C2) is inserted into the pin hole (7B) to connect the fixed ring and the rotating ring (7) in the slewing bearing (6B) into one piece. Conversely, the fixed ring and the rotating ring (7) in the slewing bearing (6B) that are connected into one piece can also be separated.

4. A gantry robot for automatically changing grippers in the production of bus bogies according to claim 1, characterized in that: The features are that the type I interface (21) includes a type I horizontal hole (21A) and the type II interface (22) includes a type II vertical hole (22A).

5. A gantry robot for automatically changing grippers in the production of bus bogies according to claim 2, 3, or 4, characterized in that: The first type of gripper (5C1) includes a telescopic pin (5C1A), and the second type of gripper (5C2) includes a rotating hook (5C2A). The first type of gripper (5C1) can lift the frame in the first type of bogie (11) by inserting the telescopic pin (5C1A) into the horizontal hole (21A). The second type of gripper (5C2) can lift the frame in the second type of bogie (12) by inserting the rotating hook (5C2A) into the vertical hole (22A).

6. A gantry robot for automatically changing grippers in the production of bus bogies according to claim 5, characterized in that: The aforementioned bus bogie maintenance or assembly line includes a storage platform for storing type I grippers (5C1) and type II grippers (5C2).

7. A gantry robot for automatically changing grippers in the production of bus bogies according to claim 6, characterized in that: The replacement between the type 1 gripper (5C1) and type 2 gripper (5C2) on the storage platform is automatically achieved by the gantry robot (4).

8. A gantry robot for automatically changing grippers in the production of bus bogies according to claim 6, characterized in that: The lifting device (4D) includes a multi-stage lifting device (4D2).

9. A gantry robot for automatically changing grippers in the production of bus bogies according to claim 8, characterized in that: When the frame gripper (5C) is in its highest position, the lowest position of the frame (1B) held by it can be higher than or equal to the lowest position of the gantry robot.

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