Automatic feeding and discharging device for intelligent turning repair of railway wagon wheel set

Abstract

The invention discloses an automatic feeding and discharging device for intelligent turning repair of railway wagon wheel sets, and belongs to the technical field of train wheel set turning repair auxiliary equipment. The rail mechanism is provided with a feeding and discharging position used for receiving a to-be-turned wheel pair or sending out a turned rear wheel pair, and a wheel pair handover position used for sending the to-be-turned wheel pair to turning machining equipment or receiving the turned rear wheel pair machined by the turning machining equipment; the at least one pair of protective sleeve automatic loading and unloading mechanisms are respectively used for installing a matched protective sleeve on the axle neck part on the corresponding side of the wheel pair to be subjected to turning repair or unloading the matched protective sleeve from the axle neck part on the corresponding side of the rear wheel pair subjected to turning repair; and the wheel pair transferring device can forward transfer the wheel pair to be subjected to turning repair at the loading and unloading position to sequentially pass through the station of the automatic protective sleeve loading and unloading mechanism and the wheel pair handover position, and reversely transfer the rear wheel pair subjected to turning repair at the wheel pair handover position to sequentially pass through the station of the automatic protective sleeve loading and unloading mechanism and the loading and unloading position. The device realizes full-automatic circulation of the wheel set and full-automatic loading and unloading of the protective sleeve.

Description

Intelligent turning and automatic loading and unloading device for railway freight car wheelsets Technical Field

[0001] This invention relates to the field of auxiliary equipment for railway freight car wheelset turning and repair, specifically to an intelligent automatic loading and unloading device for railway freight car wheelset turning and repair. Background Technology

[0002] Wheelset turning is a crucial part of wheel and axle maintenance. The volume of wheelsets turned annually is enormous. Currently, the wheelsets to be turned are manually pushed onto the wheel lathe by operators, who manually install protective covers before turning. The wheel turning operation is performed manually on the wheel lathe. The dimensions for the wheelset tread and flange are measured manually, input into the lathe, and the turning depth is set. After machining, the finished wheelset is manually removed by operators.

[0003] The current wheelset turning and repair model, which relies entirely on manual operation, has at least the following drawbacks: In terms of safety, the wheelsets, which weigh several tons, are pushed and moved by manpower, which can easily lead to serious personal injury accidents such as crushing and crushing. At the same time, the workers also face long-term occupational health risks. In terms of efficiency and cost, the heavy physical labor results in slow loading and unloading speeds and long auxiliary times, which become the bottleneck of the entire production process. Not only does it cause long downtime and low utilization of wheel lathes, but it also increases operating costs due to the need to invest more manpower.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] Purpose of the invention: The technical problem to be solved by the present invention is to provide an intelligent automatic loading and unloading device for the intelligent turning and repair of railway freight car wheelsets, which eliminates the need for manual pushing and handling and has a higher utilization rate of wheel lathes.

[0006] To address the aforementioned technical problems, a first aspect of the present invention discloses an automatic loading and unloading device for intelligent turning and repair of railway freight car wheelsets, the device comprising:

[0007] The track mechanism is fixed on the workbench or the ground; the track mechanism has loading and unloading positions for receiving wheelsets to be repaired or sending out wheelsets after repair, and wheelset handover positions for sending wheelsets to be repaired into the repair processing equipment or receiving wheelsets after repair processed by the repair processing equipment.

[0008] At least one pair of automatic protective sleeve loading and unloading mechanisms are symmetrically arranged on both sides of the track mechanism, respectively used to install or remove the appropriate protective sleeve from the axle journal on the corresponding side of the wheelset to be repaired.

[0009] And a wheelset transfer device, which is configured to forward transfer the wheelset to be repaired at the loading and unloading position through the station of the automatic loading and unloading mechanism of the protective sleeve and the wheelset handover position, and to reverse transfer the repaired wheelset at the wheelset handover position through the station of the automatic loading and unloading mechanism of the protective sleeve and the loading and unloading position.

[0010] In some embodiments, the device further includes at least one pair of wheelset synchronous lifting and buffering mechanisms, symmetrically arranged on both sides of the track mechanism; each pair of wheelset synchronous lifting and buffering mechanisms is used to lift and temporarily store the wheelset to be repaired after the protective cover is installed, avoiding the reverse transfer of the repaired wheelset by the wheelset transfer device.

[0011] In some embodiments, the workstation of the wheelset synchronous lifting and buffering mechanism and the workstation of the protective sleeve automatic loading and unloading mechanism are located at the same position on the track mechanism.

[0012] In some embodiments, the wheelset transfer device includes:

[0013] Main framework;

[0014] The first forward and backward moving mechanism is mounted on the main frame;

[0015] The first left-right moving mechanism is disposed on the output part of the first front-back moving mechanism. The first front-back moving mechanism is used to drive the first left-right moving mechanism to move back and forth in the horizontal direction.

[0016] The first lifting and moving mechanism is installed on the output part of the first left and right moving mechanism. The first left and right moving mechanism is used to drive the first lifting and moving mechanism to move left and right in the horizontal direction.

[0017] Two main wheel-set support platforms are provided at the top of the output part of the first lifting and moving mechanism, and the two main wheel-set support platforms are horizontally opposite each other.

[0018] And a cantilevered floating tug platform, wherein a cantilevered floating tug platform is fixedly connected to the rear side of the main receiving platform of each wheelset;

[0019] The first lifting and moving mechanism is configured to drive all the main bearing platforms of the wheelsets and the cantilevered floating tug platform to move synchronously in the vertical direction;

[0020] Through the joint cooperation of the first lifting and moving mechanism and the first forward and backward moving mechanism, the wheelset to be repaired / repaired wheelset is transferred between the main wheelset receiving platform and the cantilevered floating tug platform.

[0021] In some embodiments, a fourth precision displacement sensor and a second precision displacement sensor are also included.

[0022] The fourth precision displacement sensor is used to detect the left and right offset of the wheelset to be repaired relative to the track mechanism when it is in the loading and unloading position; based on the left and right offset detected by the fourth precision displacement sensor, the first left and right moving mechanism in the wheelset transfer device drives the wheelset to be repaired to move left and right to perform centering correction on the wheelset to be repaired.

[0023] A second precision displacement sensor is used to detect the vertical distance between the cantilevered floating tug platform and the wheelset. Based on the distance detected by the second precision displacement sensor, the first lifting and moving mechanism of the wheelset transfer device drives the cantilevered floating tug platform to rise vertically until it just contacts the axle of the wheelset, and keeps the wheelset from disengaging from the track mechanism, so that the cantilevered floating tug platform can drag the wheelset along the track mechanism.

[0024] In some embodiments, the cantilevered floating tug platform includes a tug block, a guide rod, a mounting plate, a linear bearing, and a rectangular spring. The mounting plate is directly or indirectly fixedly connected to the main bearing platform of the wheelset to fix the entire cantilevered floating tug platform on the main bearing platform of the wheelset. The linear bearing is mounted on the mounting plate. The guide rod is slidably sleeved in the linear bearing. The tug block is fixed to the top of the guide rod. The rectangular spring presses against the linear bearing and the tug block.

[0025] In some embodiments, the automatic sleeve loading and unloading mechanism includes:

[0026] Main framework;

[0027] The second lifting and moving mechanism is installed on the main frame;

[0028] The second forward and backward moving mechanism is installed in the output part of the second lifting moving mechanism; the second lifting moving mechanism is used to drive the second forward and backward moving mechanism to move vertically relative to the main frame;

[0029] A protective sleeve retrieval and delivery telescopic mechanism is installed in the output part of the second forward and backward moving mechanism; the second forward and backward moving mechanism is used to drive the protective sleeve retrieval and delivery telescopic mechanism to move forward and backward in the horizontal direction.

[0030] A protective sleeve floating gripper is installed in the output part of the protective sleeve picking and sending telescopic mechanism; the protective sleeve picking and sending telescopic mechanism is used to drive the protective sleeve floating gripper to move left and right in the horizontal direction.

[0031] And a protective sleeve storage area, placed on the main frame, for storing protective sleeves.

[0032] In some embodiments, the protective sleeve floating gripper includes:

[0033] The mounting plate is fixedly connected to the output part of the protective sleeve delivery telescopic mechanism via an adapter;

[0034] A multi-directional floating mechanism includes a first floating plate, a second floating plate, a first roller guide pair, and a second roller guide pair. The first floating plate is connected to the mounting plate via the first roller guide pair, and the second floating plate is connected to the first floating plate via the second roller guide pair.

[0035] And a clamping assembly, including a multi-claw cylinder and a gripper connected to the output end of the multi-claw cylinder, the multi-claw cylinder being fixed to a second floating plate;

[0036] The first roller guide pair and the second roller guide pair are set at a 90-degree angle in their guiding directions.

[0037] In some embodiments, the wheel pair synchronous lifting and lowering buffer mechanism includes:

[0038] Bracket assembly for supporting wheelsets to be turned after the protective cover has been installed;

[0039] The third lifting and moving mechanism is installed on the main frame, and its output part is connected to the bracket assembly to drive the bracket assembly to move vertically up and down.

[0040] And a mechanical fall arrestor assembly, installed on the output portion of the third lifting and moving mechanism;

[0041] The mechanical fall arrestor includes a retractable pin, and the main frame has a locking hole that engages with the pin. When powered on, the pin remains retracted. When there is an abnormal power failure, the pin automatically pops out and inserts into the locking hole to mechanically lock the third lifting and moving mechanism and the bracket assembly.

[0042] In some embodiments, the device further includes:

[0043] A pair of automatic vision recognition systems are symmetrically arranged on the sides of the loading and unloading positions of the track mechanism to automatically identify and verify whether the specifications of the wheelset to be turned at the loading and unloading positions are consistent with the target specifications retrieved from the database.

[0044] An alarm notification device used to issue an alarm;

[0045] The system also includes a control system that connects the automatic visual recognition system to the automatic protective sleeve loading and unloading mechanism, the wheelset transfer device, the wheelset synchronous lifting and buffering mechanism, and the external CNC turning and machining equipment.

[0046] The control system is configured as follows:

[0047] Receive the comparison results from the automatic visual recognition system;

[0048] If the verification result shows that the wheelset specifications are inconsistent with the target specifications, then the automatic loading and unloading mechanism for the protective cover, the wheelset transfer device and the wheelset synchronous lifting and buffering mechanism are stopped, and the alarm prompting device is controlled to issue an alarm.

[0049] If the verification result shows that the wheelset specifications are consistent with the target specifications, then the automatic loading and unloading mechanism for the protective cover, the wheelset transfer device, the wheelset synchronous lifting and buffering mechanism, and the turning and repair equipment are controlled to work together to achieve continuous loading and unloading and wheelset turning and repair operations.

[0050] In one embodiment, the automatic visual recognition system includes:

[0051] The imaging acquisition unit is used to acquire images of the coded markings on the wheelset and the journal / bearing area.

[0052] The coding and identification unit is used to extract the wheelset ID of the wheelset to be repaired;

[0053] Geometric measurement unit, used to calculate the diameter of journals or bearings based on images;

[0054] The data comparison unit is used to retrieve the target specification from the database based on the wheelset ID of the wheelset to be repaired, and to perform a tolerance comparison with the measured diameter to obtain the verification result.

[0055] The alarm notification device includes:

[0056] Audible and visual alarms are used to issue audible and visual alarms.

[0057] And a touchscreen for providing alarm notifications.

[0058] Beneficial effects:

[0059] 1. The intelligent turning and automatic loading and unloading device for railway freight car wheelsets provided by this invention realizes automatic wheelset circulation and automatic loading and unloading of protective sleeves, eliminating the need for manual pushing and handling, thereby improving the automation level, operational efficiency and safety level of the production line.

[0060] 2. The intelligent automatic loading and unloading device for railway freight car wheelset turning provided by this invention, by setting up a wheelset synchronous lifting and buffering mechanism, provides buffer space for the continuous operation and material flow of preceding processes, including loading, transfer, and installation of protective sleeves, thereby improving the overall operating efficiency and continuity of the device. Specifically, the device can operate at a constant cycle time, allowing the turning equipment to immediately begin processing the next wheelset after completing the processing of one wheelset, thus achieving continuous wheelset turning production and maximizing the utilization rate of the turning equipment.

[0061] 3. The visual automatic recognition system of this invention brings reliable automated error prevention, highly flexible production capabilities, and significantly improved operational safety to the device. Specifically, the visual automatic recognition system adds a crucial automatic "verification" step before processing. The system can automatically confirm whether the wheelset to be turned is the one planned to be processed, which fundamentally eliminates the risk of processing errors due to human error or material confusion. The visual automatic recognition system can automatically identify the specific specifications of the current wheelset. This means that the control system can automatically call up the matching processing program based on the identification result and provide it to the turning equipment, as well as control the automatic protective sleeve loading and unloading mechanism to grab the protective sleeve that matches the specific specifications of the current wheelset. If the verification result is inconsistent, the control alarm prompt device will sound an alarm and stop the device operation, proactively preventing all possible collisions and damage risks, playing a dual role in protecting both the workpiece and the device.

[0062] 4. The wheelset transfer device of the present invention includes a main wheelset receiving platform fixed directly above the first lifting and moving mechanism and a cantilevered floating tug platform connected to the rear end of the main wheelset receiving platform and extendable into the turning and repair equipment. The cantilevered floating tug platform pushes the wheelset to be turned and repaired along the track mechanism to the turning and repair equipment and pulls the turned and repaired wheelset out of the turning and repair equipment, handing it over to the main wheelset receiving platform inside. The main wheelset receiving platform then lifts the wheelset for long-distance transfer. It can be seen that the main wheelset receiving platform is responsible for supporting the wheelset for large-scale, long-distance lifting and movement, while the cantilevered floating tug platform is responsible for docking with the confined and precise interior of the turning and repair equipment, realizing fully automatic handover between the automatic loading and unloading device and the turning and repair equipment.

[0063] 5. This invention integrates linear guides and springs into a cantilevered floating tug platform, providing flexible cushioning and actively adapting to and sensing the wheelset. When the wheelset is placed, the compression of the spring absorbs impact energy, achieving a "soft landing." This not only effectively protects the wheelset and the equipment itself, reducing wear and noise during long-term operation, but also greatly enhances the system's fault tolerance through its floating characteristics. It can actively adapt to and compensate for minor errors in the wheelset itself or the upstream positioning system, guiding the wheelset to land smoothly, making the entire automated process more "tolerant" and reliable.

[0064] 6. This invention achieves precise control of the lifting height of the cantilevered floating tug platform through closed-loop control of a second precision displacement sensor and a first lifting and moving mechanism, solving the technical problem of how to make the cantilevered floating tug platform smoothly slide the wheelset on the track mechanism. Specifically, this invention uses a second precision displacement sensor to detect the vertical distance between the cantilevered floating tug platform and the wheelset; based on the distance detected by the second precision displacement sensor, the first lifting and moving mechanism drives the cantilevered floating tug platform to rise vertically until it just contacts the axle of the wheelset, ensuring that the wheelset does not disengage from the track mechanism, so that the cantilevered floating tug platform, which moves back and forth under the drive of the first forward and backward moving mechanism, can drag the wheelset along the track mechanism.

[0065] 7. This invention achieves automatic detection and precise correction of the left-right position of the wheelset through closed-loop control of a fourth precision displacement sensor and the first left-right moving mechanism of the wheelset transfer device. This effectively solves the problem of secondary adjustments or subsequent process failures caused by initial position offset during truss loading, greatly reducing the stringent requirements for front-end loading operations and significantly improving the automation level of positioning and the efficiency of the overall loading and unloading process. Precise centering correction of the wheelset ensures the correctness of its position and posture when transferred to the automatic protective sleeve loading and unloading mechanism or turning equipment, avoiding mechanism interference, collisions, or processing errors that may occur due to position offset, thereby significantly improving the reliability and safety of the entire device.

[0066] 8. By installing a third precision displacement sensor in the output part of the third lifting and moving mechanism, when the deviation between the height values ​​detected by the two third precision displacement sensors for a pair of wheelset synchronous lifting and buffering mechanisms exceeds a preset value, or when the encoder detection value of the third lifting servo motor changes while the third precision displacement sensor detects that the height of the lifting slide plate remains unchanged, the device can immediately determine that a mechanical fault has occurred, stop operation in time, and avoid equipment damage and production accidents. Attached Figure Description

[0067] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0068] Figure 1 is a three-dimensional structural diagram of the intelligent automatic loading and unloading device for railway freight car wheelset repair provided in the first embodiment of the present invention when the wheelset to be repaired is in the loading and unloading position.

[0069] Figure 2 is a schematic diagram of the wheelset transfer device provided in the first embodiment of the present invention.

[0070] Figure 3 is a schematic diagram of the frame connection structure provided in the first embodiment of the present invention.

[0071] Figure 4 is a structural schematic diagram of one embodiment of a cantilevered floating tug platform.

[0072] Figure 5 is a three-dimensional structural diagram of an automatic protective sleeve loading and unloading mechanism provided in an embodiment of the present invention.

[0073] Figure 6 is a schematic diagram of the protective sleeve picking and delivering telescopic mechanism in the automatic protective sleeve loading and unloading mechanism shown in Figure 5.

[0074] Figure 7 is a front sectional view of the protective sleeve provided in an embodiment of the present invention.

[0075] Figure 8 is a three-dimensional structural diagram of the protective sleeve floating gripper provided in an embodiment of the present invention.

[0076] Figure 9 is a three-dimensional structural diagram of the wheelset synchronous lifting and lowering buffer mechanism provided in the first embodiment of the present invention.

[0077] Figure 10 is a three-dimensional structural diagram of the mechanical fall arrestor provided in the first embodiment of the present invention.

[0078] Figure 11 is a three-dimensional structural schematic diagram of an imaging acquisition unit provided in an embodiment of the present invention.

[0079] Figure 12 is a schematic diagram of the three-dimensional structure of the imaging acquisition unit shown in Figure 11.

[0080] Figure 13 is a physical image of the intelligent turning and automatic loading and unloading device for railway freight car wheelsets provided in the first embodiment of the present invention when the wheelset to be turned is in the loading and unloading position.

[0081] Figure 14 is a physical diagram of the automatic protective cover loading and unloading mechanism and the wheelset synchronous lifting and lowering buffer mechanism provided in an embodiment of the present invention.

[0082] The accompanying figure labels are explained as follows:

[0083] 100. Intelligent turning and automatic loading / unloading device for railway freight car wheelsets; 110. Ground; 120. Track mechanism; 121. Loading / unloading position; 122. Handover position; 123. Track; 124. Positioning block; 130. Automatic loading / unloading mechanism for protective sleeves; 131. Main frame; 132. Second lifting and moving mechanism; 133. Second forward and backward moving mechanism; 134. Protective sleeve picking and delivering telescopic mechanism; 135. Protective sleeve floating gripper; 136. Protective sleeve storage area; 140. Wheelset transfer device; 141. Main frame; 142. First forward and backward moving mechanism; 143. First left and right moving mechanism; 144. First lifting and moving mechanism; 145. Main receiving platform; 146. Cantilevered floating towing platform; 150. Synchronous lifting of wheelsets Buffer mechanism; 151. Bracket assembly; 152. Third lifting and moving mechanism; 153. Mechanical fall arrestor assembly; 160. Automatic vision recognition system; 161. Camera; 162. Light source; 163. Protective cover; 164. Mounting frame; 165. Mounting base; 166. Adjusting rod; 167. Camera mounting plate; 168. Transition plate; 169. Light source adjusting plate; 170. Light source mounting plate; 171. Crossbeam; 200. Wheelset; 300. Turning and machining equipment; 400. Protective sleeve; 410. Cylindrical shell; 420. Liner; 430. Clamping end cap; 1321. Lifting slide plate; 1322. Guide rail; 1323. Lifting servo drive motor; 1324. Ball screw pair; 1325. Second planetary reducer ; 1326, First diaphragm coupling; 1331, Lateral sliding plate; 1332, Guide rail; 1333, Cylinder; 1341, Moving plate; 1342, Second vertical guide rail; 1343, Second lifting servo drive motor; 1344, Adapter; 1351, First mounting plate; 1352, First floating plate; 1353, Second floating plate; 1354, First roller guide pair; 1355, Second roller guide pair; 1356, Multi-jaw cylinder; 1357, Gripper; 1412, First precision displacement sensor; 1416, Connecting plate; 1416, Connecting plate; 1421, Sliding plate; 1422, First front and rear guide rails; 1425, Spur gear; 1426, Drag wheel frame; 1426, First servo motor; 14 27. First planetary reducer; 1427. Third linear guide pair; 1428. Frame; 1431. Translation plate; 1432. First left-right guide rail; 1434. First ball screw pair; 1435. First left-right servo motor; 1436. Flexible coupling; 1441. Synchronous lifter; 1442. First reduction commutator; 1443. First lifting servo motor; 1461. Drag wheel block; 1462. Guide rod; 1463. Second mounting plate; 1464. Linear bearing; 1465. Rectangular spring; 1466. Second precision displacement sensor; 1511. Bracket; 1512. Support block; 1513. Non-metallic wear-resistant block; 1514. Photoelectric sensor; 1515. Third precision displacement sensor;1521. Lifting slide plate; 1522. Third vertical linear guide pair; 1523. Third lifting servo motor; 1524. Third planetary reducer; 1525. Second ball screw pair; 1526. Second diaphragm coupling; 1531. Pin; 1532. Lock hole; 1533. Third mounting plate; 1534. Anti-fall cylinder; 1535. Guide sleeve; 181. Fourth precision laser displacement sensor; 182. Bracket. Detailed Implementation

[0084] Example 1

[0085] In related technologies, the wheelset to be repaired is manually pushed onto the wheel lathe by operators, and a protective cover is manually installed before repair. Furthermore, the wheel repair operation is performed manually on the wheel lathe. The dimensions of the wheelset tread before and after repair are manually measured, input into the lathe, and the depth of cut is set. After processing, the finished wheelset is manually removed by operators.

[0086] The current wheelset turning and repair mode, which relies entirely on manual operation, has at least the following drawbacks: 1. In terms of safety, the wheelsets, which weigh several tons, are pushed and moved by manpower, which can easily lead to serious personal injury accidents such as crushing and crushing. At the same time, the workers also face long-term occupational health risks; 2. In terms of efficiency and cost, the heavy physical labor results in slow loading and unloading speeds and long auxiliary times, which become the bottleneck of the entire production process. Not only does it cause long downtime and low utilization of wheel lathes, but it also increases operating costs due to the need to invest more manpower.

[0087] Therefore, this embodiment provides an automatic loading and unloading device for intelligent turning and repair of railway freight car wheelsets to solve the above problems.

[0088] Referring to Figures 1 to 6, the intelligent automatic loading and unloading device 100 for railway freight car wheelset repair provided by the present invention includes: a track mechanism 120, fixed on a workbench or the ground 110; the track mechanism 120 has a loading and unloading position 121 for receiving wheelsets 200 to be repaired or sending out repaired wheelsets 200, and a wheelset handover position for feeding wheelsets 200 to be repaired into the repair processing equipment 300 or receiving repaired wheelsets 200 processed by the repair processing equipment 300, it can be understood that the wheelset handover position is located inside the repair processing equipment 300; at least one pair of protective sleeves... The automatic loading and unloading mechanism 130 is symmetrically arranged on both sides of the track mechanism 120, and is used to install or remove the appropriate protective sleeve 400 from the axle journal on the corresponding side of the wheelset 200 to be repaired; and the wheelset transfer device 140 is configured to be able to forward transfer the wheelset 200 to be repaired at the loading and unloading position 121 through the station of the automatic loading and unloading mechanism 130 and the wheelset handover position in sequence, and to reverse transfer the wheelset 200 after repair at the wheelset handover position through the station of the automatic loading and unloading mechanism 130 and the loading and unloading position 121 in sequence.

[0089] Since the processing time of the turning and repair equipment 300 is less than the rotation time of the wheelset, the turning and repair equipment 300 still has a downtime waiting time in the device of the above embodiment.

[0090] Therefore, in some embodiments, in order to further improve the utilization rate of the turning and repair equipment 300, the intelligent turning and repair automatic loading and unloading device 100 for railway freight car wheelsets also includes at least one pair of wheelset synchronous lifting and buffering mechanisms 150, which are symmetrically arranged on both sides of the track mechanism 120. Each pair of wheelset synchronous lifting and buffering mechanisms 150 is used to lift and temporarily store the wheelset 210 to be turned and repaired after the protective cover 400 is installed, so as to avoid the reverse transfer of the wheelset transfer device 140 to the wheelset 220 after turning and repairing.

[0091] This embodiment provides a buffer space for the continuous operation of the preceding processes and the flow of materials by setting up a wheelset synchronous lifting and buffering mechanism 150, thereby improving the operating efficiency and continuity of the entire device. The preceding processes include material loading, transfer, and installation of protective sleeves.

[0092] Preferably, referring to Figure 1, the work position of the wheelset synchronous lifting and buffering mechanism 150 and the work position of the protective sleeve automatic loading and unloading mechanism 130 are located at the same position on the track mechanism 120.

[0093] In this embodiment, after the protective sleeve 400 is installed at the station of the automatic sleeve loading and unloading mechanism 130, the wheelset 200 to be repaired remains stationary. The wheelset synchronous lifting and buffering mechanism 150 integrated at the bottom of the station is then activated, vertically lifting the wheelset 200 to be repaired to a preset height above the wheelset transfer device 140. This preset height is sufficient to avoid the reverse transfer of the repaired wheelset 200 by the wheelset transfer device 140.

[0094] In one embodiment, referring to FIG1, the track mechanism 120 includes two parallel tracks 123 and wheelset positioning blocks 124 disposed on the side of each track 123. The two wheelset positioning blocks 124 face each other, facilitating the positioning of the wheelset 200 at the loading / unloading position 121. The wheelset transfer device 140 is located between the two tracks 123.

[0095] When the wheelset is placed in the loading / unloading position 121, the rim of the wheelset 200 contacts the wheelset positioning block 124, and the tread of the wheelset 200 contacts the track 123.

[0096] In some embodiments, referring to FIG2, the wheelset transfer device 140 can accurately transfer and position the wheelset 200 to a target position in three-dimensional space and connect it to the turning and finishing equipment 300, including: a main frame 141; a first forward and backward moving mechanism 142, disposed on the main frame 141; a first left and right moving mechanism 143, disposed on the output part of the first forward and backward moving mechanism 142, the first forward and backward moving mechanism 142 being used to drive the first left and right moving mechanism 143 to move forward and backward in the horizontal direction; and a first lifting moving mechanism 144, mounted on the output part of the first left and right moving mechanism 143, the first left and right moving mechanism 143 being used to drive the first lifting moving mechanism 144 to move left and right in the horizontal direction. The mechanism includes a wheel set main support platform 145, two wheel set main support platforms 145 at the top of the output part of the first lifting and moving mechanism 144, the two wheel set main support platforms 145 being horizontally opposite each other; and a cantilevered floating tug platform 146, with a cantilevered floating tug platform 146 fixedly connected to the rear side of each wheel set main support platform 145; the first lifting and moving mechanism 144 is configured to drive all wheel set main support platforms 145 and cantilevered floating tug platforms 146 to move synchronously in the vertical direction; through the joint cooperation of the first lifting and moving mechanism 144 and the first front and rear moving mechanism 142, the handover of the wheel set 200 to be repaired / after repaired between the wheel set main support platform 145 and the cantilevered floating tug platform 146 is realized.

[0097] In this application, the front-back direction is parallel to the direction of track 123, and the left-right direction is perpendicular to the vertical direction and the front-back direction. In the front-back direction, the side closer to the turning and repair equipment 300 is the rear side, and the side farther away from the turning and repair equipment 300 is the front side.

[0098] The wheelset transfer device in this embodiment includes a main wheelset receiving platform 145 fixed directly above the first lifting and moving mechanism 144, and a cantilevered floating tug platform 146 connected to the rear end of the main wheelset receiving platform 145 and extending into the turning and repair equipment 300. The cantilevered floating tug platform 146 pushes the wheelset 200 to be turned and repaired along the track mechanism 120 to the turning and repair equipment 300 and pulls the turned and repaired wheelset 200 out of the turning and repair equipment 300, handing it over to the main wheelset receiving platform 145 inside. The main wheelset receiving platform 145 then lifts the wheelset 200 for long-distance transfer. It can be seen that the main wheelset receiving platform 145 is responsible for supporting the wheelset for large-scale, long-distance lifting and movement, while the cantilevered floating tug platform 146 is responsible for docking with the confined and precise interior of the turning and repair equipment 300, realizing fully automatic handover between the automatic loading and unloading device and the turning and repair equipment.

[0099] The internal handover process is as follows: Taking the handover of the wheelset 200 to be repaired from the main support platform 145 to the cantilevered floating tug platform 146 as an example, the first lifting and moving mechanism 144 is controlled to drive the main support platform 145 and the cantilevered floating tug platform 146 to move synchronously downwards in the vertical direction until the wheelset 200 to be repaired is fully supported on the track mechanism 120; further downwards until the cantilevered floating tug platform 146 is lower than the axle of the wheelset 200 to be repaired; the first forward and backward moving mechanism 142 drives the wheelset... The main receiving platform 145 and the cantilevered floating tug platform 146 move forward until the cantilevered floating tug platform 146 is directly below the axle of the wheelset 200 to be repaired. The first lifting and moving mechanism 144 controls the main receiving platform 145 and the cantilevered floating tug platform 146 to rise vertically synchronously until the axle of the wheelset 200 to be repaired is positioned on the cantilevered floating tug platform 146, allowing the cantilevered floating tug platform 146 to move and drag the wheelset 200 to be repaired on the track mechanism 120. At this time, the axle of the wheelset 200 to be repaired is in contact with the cantilevered floating tug platform 146 and has not disengaged from the track mechanism 120.

[0100] In some embodiments, referring to FIG2, the first forward and backward moving mechanism 142 includes: a slide plate 1421, which serves as the output portion of the first forward and backward moving mechanism 142; a first forward and backward driving mechanism, the output end of which is connected to the slide plate 1421, for driving the slide plate 1421 to move forward and backward in the horizontal direction; and a first forward and backward linear guide pair, which connects the slide plate 1421 and the main frame 141, for guiding the movement of the slide plate 1421.

[0101] Specifically, referring to Figure 2, the first front-rear linear guide pair includes a first front-rear guide rail 1422 and a slider slidably disposed on the first front-rear guide rail 1422. The first front-rear guide rail 1422 is fixedly connected to the main frame 141 and extends along the conveying direction. The slider on the first front-rear guide rail 1422 is fixedly connected to the slide plate 1421.

[0102] Specifically, referring to Figure 2, the first forward and backward drive mechanism includes a high-torque servo motor, a rack 1424, and a spur gear 1425. The high-torque servo motor is mounted on the bottom of the slide plate 1421. The rack 1424 is fixedly connected to the main frame 141 and extends horizontally in the forward and backward direction. The high-torque servo motor includes a first servo motor 1426 and a first planetary reducer 1427 connected to the first servo motor 1426 via keys and screws. The spur gear 1425 is connected to the output shaft of the first planetary reducer 1427 via keys and screws and meshes with the rack 1424. When the high-torque servo motor drives the rack 1424 to rotate, the rack 1424 remains stationary, while the spur gear 1425 rotates, driving the slide plate 1421 to move horizontally in the forward and backward direction.

[0103] Taking the direction shown in Figure 1 as an example, the first forward and backward drive mechanism drives the slide plate 1421 to move along the direction of movement, which means it moves in the horizontal forward and backward direction.

[0104] More specifically, the rack 1424 is fixedly connected to the main frame 141 by screws.

[0105] In some embodiments, referring to FIG2, the first left-right moving mechanism 143 includes: a translation plate 1431, which serves as the output portion of the first left-right moving mechanism 143; a first left-right driving mechanism, the output shaft of which is connected to the translation plate 1431 for driving the translation plate 1431 to move left and right in the horizontal direction; and a first left-right linear guide pair, which connects the translation plate 1431 to the output portion of the first forward-backward moving mechanism 142 for guiding the translation plate 1431 to move.

[0106] Specifically, referring to Figure 2, the first left-right linear guide pair includes a first left-right guide rail 1432 and a slider slidably disposed on the first left-right guide rail 1432. The first left-right guide rail 1432 is fixedly connected to the output part of the first forward and backward moving mechanism 142. The first left-right guide rail 1432 extends horizontally in the left-right direction. The slider on the first left-right guide rail 1432 is fixedly connected to the translation plate 1431.

[0107] Specifically, referring to Figure 2, the first left-right drive mechanism includes a first ball screw pair 1434 and a first left-right servo motor 1435. The first ball screw pair 1434 and the first left-right servo motor 1435 are respectively mounted on the slide plate 1421. The screw of the first ball screw pair 1434 is connected to the output shaft of the first left-right servo motor 1435 through a flexible coupling 1436. The nut of the first ball screw pair 1434 is fixedly connected to the translation plate 1431. When the output shaft of the first left-right servo motor 1435 rotates, the screw of the first ball screw pair 1434 rotates, driving the nut of the first ball screw pair 1434 to move along the screw. The translation plate 1431 moves synchronously with the nut of the first ball screw pair 1434. The screw of the first ball screw pair 1434 extends horizontally in the left-right direction to realize the left-right movement of the translation plate 1431 in the horizontal direction.

[0108] In some embodiments, referring to FIG2, the first lifting and moving mechanism 144 includes a synchronous lifter 1441, a first reducer commutator 1442, and a first lifting servo motor 1443. Two synchronous lifters 1441 are provided, and the two synchronous lifters 1441 and the first lifting servo motor 1443 are respectively fixedly mounted on the output portion of the first left-right moving mechanism 143. The output shaft of the first lifting servo motor 1443 is connected to the input shaft of the first reducer commutator 1442. The first reducer commutator 1442 is a T-type commutator, and its two horizontal output shafts are respectively connected to the input shafts of the corresponding synchronous lifters 1441; two wheel set main support platforms 145 are respectively fixed to the upper ends of the two synchronous lifters 1441.

[0109] In some embodiments, referring to FIG3, the cantilevered floating tug platform 146 is fixedly connected to the rear side of the wheelset main support platform 145 via a frame connection structure 147.

[0110] Specifically, referring to Figure 3, the frame connection structure 147 includes a frame 1471, a third linear guide pair 1472, a wheel frame 1473, and a connecting plate 1474. The frame 1471 is connected to the translation plate 1431 by screws. Simultaneously, the guide rail of the third linear guide pair 1472 is mounted on the frame 1471 by screws, and the wheel frame 1473 is connected to the slider of the third linear guide pair 1472 by screws. The wheelset main support platform 145 is connected to the wheel frame 1473 via the connecting plate 1474. In other words, the frame 1471, the translation plate 1431, and the guide rail of the third linear guide pair 1472 are fixed as one unit, and the wheelset main support platform 145, the slider of the third linear guide pair 1472, the wheel frame 1473, and the connecting plate 1474 are fixed as one unit. In this embodiment, the third linear guide pair 1472 guides the lifting and lowering of the wheelset main support platform 145.

[0111] In some embodiments, referring to FIG4, the cantilevered floating tow wheel platform 146 includes a tow wheel block 1461, a guide rod 1462, a second mounting plate 1463, a linear bearing 1464, and a rectangular spring 1465. The second mounting plate 1463 is connected to the tow wheel frame 1473 by screws to fix the entire cantilevered floating tow wheel platform 1461 onto the tow wheel frame 1473. The linear bearing 1464 is mounted on the tow wheel frame 1473, the guide rod 1462 is slidably sleeved in the linear bearing 1464, the tow wheel block 1461 is fixed to the top end of the guide rod 1462, and the rectangular spring 1465 presses against the linear bearing 1464 and the tow wheel block 1461.

[0112] In this embodiment, the linear bearing 1464 acts as a fixed and precise guide sleeve, limiting the movement of the guide rod 1462 and the roller block 1461 fixedly connected to the guide rod 1462 to be along the axis of the linear bearing 1464. When the roller block 1461 moves towards the linear bearing 1464 due to force, it compresses the rectangular spring 1465 to provide cushioning; when the external force is released, the rectangular spring 1465 pushes the roller block 1461 and the guide rod 1462 back to their original positions.

[0113] Compared to a traditional fixed wheel block that passively supports wheelsets, this cantilevered floating wheel platform, integrating linear guides and springs, provides flexible cushioning and actively adapts to and senses the wheelsets. When the wheelsets are placed, the compression of the springs absorbs impact energy, achieving a "soft landing." This not only effectively protects the wheelsets and the equipment itself, reducing wear and noise during long-term operation, but also greatly enhances the system's fault tolerance through its floating characteristics. It can actively adapt to and compensate for minor errors in the wheelsets themselves or the upstream positioning system, guiding the wheelsets to land smoothly, making the entire automated process more "tolerant" and reliable.

[0114] In some embodiments, referring to FIG1, the automatic protective sleeve loading and unloading mechanism 130 includes: a main frame 131; a second lifting and moving mechanism 132, mounted on the main frame 131; a second forward and backward moving mechanism 133, mounted on the output portion of the second lifting and moving mechanism 132; the second lifting and moving mechanism 132 is used to drive the second forward and backward moving mechanism 133 to move vertically relative to the main frame 131; a protective sleeve picking and delivering telescopic mechanism 134, mounted on the output portion of the second forward and backward moving mechanism 133; the second forward and backward moving mechanism 133 is used to drive the protective sleeve picking and delivering telescopic mechanism 134 to move forward and backward in the horizontal direction; a protective sleeve floating gripper 135, mounted on the output portion of the protective sleeve picking and delivering telescopic mechanism 134; the protective sleeve picking and delivering telescopic mechanism 134 is used to drive the protective sleeve floating gripper 135 to move left and right in the horizontal direction; and a protective sleeve storage area 136, disposed on the main frame 131, for storing protective sleeves 400.

[0115] The automatic sleeve loading and unloading mechanism 130 of this embodiment has three degrees of freedom. Referring to Figure 1, the bottom of the main frame 131 is provided with an opening for the passage of the protective sleeve floating gripper 135. After the protective sleeve floating gripper 135 grabs the protective sleeve 400 from the protective sleeve storage area 136, it passes through the bottom opening of the main frame 131 under the drive of the automatic sleeve loading and unloading mechanism 130 and places the protective sleeve 400 onto the wheel set 200 located at the working position of the automatic sleeve loading and unloading mechanism 130. Similarly, after the protective sleeve floating gripper 135 grabs the protective sleeve 400 from the wheel set 200, it moves through the bottom opening of the main frame 131 to the outside of the main frame 131 under the drive of the automatic sleeve loading and unloading mechanism 130, so as to further move and send the protective sleeve 400 back to the protective sleeve storage area 136.

[0116] In some embodiments, referring to FIG5, the second lifting and moving mechanism 132 includes: a lifting slide plate 1321, which serves as the output portion of the second lifting and moving mechanism 132; a second lifting drive mechanism, the output end of which is connected to the lifting slide plate 1321, for driving the lifting slide plate 1321 to move vertically relative to the main frame 131; and a second vertical linear guide pair, which connects the lifting slide plate 1321 and the main frame 131, for guiding the movement of the lifting slide plate 1321.

[0117] Specifically, referring to Figure 5, the second vertical linear guide pair includes a second vertical guide rail 1322 and a slider slidably connected to the second vertical guide rail 1322. The second vertical guide rail 1322 is connected to the main frame 131 by screws and extends vertically. The lifting slide plate 1321 is connected to the slider on the second vertical guide rail 1322 by screws.

[0118] Specifically, referring to Figure 5, the second lifting drive mechanism includes: a second lifting servo drive motor 1323, mounted on the main frame 131; and a second vertical ball screw assembly 1324 mounted on the main frame 131; the screw of the second vertical ball screw assembly 1324 is connected to the second lifting servo drive motor 1323 via a second planetary reducer 1325, and the nut of the second vertical ball screw assembly 1324 is fixedly connected to the lifting slide plate 1321; when the second lifting servo drive motor 1323 drives the screw of the second vertical ball screw assembly 1324 to rotate, the nut of the second vertical ball screw assembly 1324 moves along the screw of the second vertical ball screw assembly 1324, causing the lifting slide plate 1321 to move vertically relative to the main frame 131.

[0119] Specifically, referring to Figure 5, the second planetary reducer 1325 is mounted to the main frame 131 by screws. The screw of the second vertical ball screw pair 1324 is connected to the second planetary reducer 1325 through the first diaphragm coupling 1326.

[0120] In some embodiments, referring to FIG5, the second forward and backward moving mechanism 133 includes: a transverse sliding plate 1331, which serves as the output portion of the second forward and backward moving mechanism 133; a second forward and backward driving mechanism, the output end of which is connected to the transverse sliding plate 1331, for driving the transverse sliding plate 1331 to move forward and backward in the horizontal direction; and a second forward and backward linear guide pair, which connects the transverse sliding plate 1331 and the output portion of the second lifting moving mechanism 132, for guiding the movement of the transverse sliding plate 1331.

[0121] Specifically, referring to Figure 5, the second forward and backward linear guide pair includes a second forward and backward guide rail 1332 and a slider slidably connected to the second forward and backward guide rail 1332. The second forward and backward guide rail 1332 is connected to the output part of the second lifting and moving mechanism 132 by screws. The transverse sliding plate 1331 is connected to the slider on the second forward and backward guide rail 1332 by screws.

[0122] Specifically, referring to Figure 5, the second forward and backward drive mechanism includes a cylinder 1333. The cylinder seat of the cylinder 1333 is installed in the output part of the second lifting and moving mechanism 132. The cylinder rod of the cylinder 1333 is connected to the transverse sliding plate 1331 by a thread. The telescopic cylinder rod drives the transverse sliding plate 1331 to move.

[0123] In some embodiments, referring to FIG6, the protective sleeve delivery telescopic mechanism 134 includes: a movable plate 1341, which serves as the output portion of the protective sleeve delivery telescopic mechanism 134; a second left-right driving mechanism, the output end of which is connected to the movable plate 1341, for driving the movable plate 1341 to move left and right in the horizontal direction; and a second left-right linear guide pair, which connects the movable plate 1341 to the output portion of the second front-back moving mechanism 133, for guiding the movement of the movable plate 1341.

[0124] Specifically, referring to Figure 6, the second left-right linear guide pair includes a second left-right guide rail 1342 and a slider slidably disposed on the second left-right guide rail 1342. The second left-right guide rail 1342 is fixedly connected to the output part of the second forward and backward moving mechanism 133. The second left-right guide rail 1342 extends horizontally in the left-right direction. The slider on the second left-right guide rail 1342 is fixedly connected to the moving plate 1341.

[0125] Specifically, referring to Figure 6, the second left-right drive mechanism is a servo electric cylinder 1343, and the output end of the second left-right drive mechanism is the output end of the servo electric cylinder 1343.

[0126] Referring to Figure 7, the protective sleeve 400 mainly includes a cylindrical shell 410, a non-metallic POK liner 420, and a clamping end cap 430. The clamping end cap 430 is fixed to one end of the cylindrical shell 410, and the non-metallic POK liner 420 is sleeved on the inner side of the cylindrical shell 410 near the end of the clamping end cap 430.

[0127] In some embodiments, referring to FIG8, the protective sleeve floating gripper 135 includes: a first mounting plate 1351, which is fixedly connected to the output portion of the protective sleeve delivery telescopic mechanism 134 via an adapter 1344; a multi-directional floating mechanism, including a first floating plate 1352, a second floating plate 1353, a first roller guide pair 1354 and a second roller guide pair 1355, wherein the first floating plate 1352 is connected to the first mounting plate 1351 via the first roller guide pair 1354, and the second floating plate 1353 is connected to the first floating plate 1352 via the second roller guide pair 1355; and a clamping assembly, including a multi-jaw cylinder 1356 and a gripper 1357 connected to the output end of the multi-jaw cylinder 1356, wherein the multi-jaw cylinder 1356 is fixed on the second floating plate 1353. The first roller guide pair 1354 and the second roller guide pair 1355 are set at 90 degrees, so that the multi-claw cylinder 1356 can float in two directions, so as to realize the smooth installation and removal of the protective sleeve 400.

[0128] In some embodiments, referring to FIG7, the multi-claw cylinder 1356 is a four-claw cylinder.

[0129] In some embodiments, referring to FIG5, the protective sleeve storage area 136 is disposed on the outer side of the main frame 131. Multiple positioning posts are arrayed in the protective sleeve storage area 136. The shape of each positioning post perfectly matches the inner wall of the open end of the protective sleeve 400, ensuring that the protective sleeve 400 can be stably and slidably fitted onto the positioning post in a fixed posture. The protective sleeve storage area 136 is located within the working range of the automatic protective sleeve loading and unloading mechanism 130.

[0130] In some embodiments, referring to FIG9, the wheelset synchronous lifting and buffering mechanism 150 includes: a bracket assembly 151 for supporting the wheelset; a third lifting and moving mechanism 152, mounted on the main frame 131, the output portion of which is connected to the bracket assembly 151 for driving the bracket assembly 151 to move vertically; and a mechanical anti-fall assembly 153, mounted on the output portion of the third lifting and moving mechanism 152; wherein, the mechanical anti-fall assembly 153 includes a retractable pin 1531, and the main frame 131 is provided with a locking hole 1532 that cooperates with the pin 1531; in the energized state, the pin 1531 remains retracted; in the abnormal power failure state, the pin 1531 automatically pops out and inserts into the locking hole 1532 to mechanically lock the third lifting and moving mechanism 152 and the bracket assembly 151.

[0131] Further, referring to Figure 10, the mechanical fall arrestor assembly 153 also includes a third mounting plate 1533, a fall arrestor cylinder 1534, and a guide sleeve 1535. The third mounting plate 1533 is mounted on the output portion of the third lifting and moving mechanism 152. The fall arrestor cylinder 1534 is mounted on the third mounting plate 1533. The guide sleeve 1535 is mounted on the side of the third mounting plate 1533 opposite to the fall arrestor cylinder 1534. A pin 1531 is fitted inside the guide sleeve 1535 and slides in engagement with the guide sleeve 1535. The output end of the fall arrestor cylinder 1534 passes through the third mounting plate 1533 and is fixedly connected to the pin 15071. When the output end of the anti-fall cylinder 1534 extends, the pin 1531 is pushed into the lock hole 1532; when the output end of the anti-fall cylinder 1534 retracts, the pin 1531 is pulled back from the lock hole 1532, without affecting the lifting and lowering movement of the output part of the third lifting and moving mechanism 152 relative to the main frame 131.

[0132] Specifically, referring to Figure 9, the third lifting and moving mechanism 152 includes: a lifting slide plate 1521, which serves as the output part of the third lifting and moving mechanism 152; a third lifting drive mechanism, which is installed on the main frame 131 and whose output end is connected to the lifting slide plate 1521, for driving the lifting slide plate 1521 to move vertically relative to the main frame 131; and a third vertical linear guide pair 1522, which connects the lifting slide plate 1521 and the main frame 131, for guiding the movement of the lifting slide plate 1521.

[0133] Specifically, referring to Figure 9, the third lifting drive mechanism includes a third lifting servo motor 1523, a third planetary reducer 1524, and a second ball screw pair 1525. The second ball screw pair 1525 and the third planetary reducer 1524 are respectively mounted on the main frame 131 with screws. The lifting slide plate 1521 is connected to the nut of the second ball screw pair 1525 with screws. The lead screw of the second ball screw pair 1525 is connected to the output shaft of the third planetary reducer 1524 through a second diaphragm coupling 1526. The output shaft of the third lifting servo motor 1523 is connected to the input shaft of the third planetary reducer 1524. The third lifting servo motor 1523 is equipped with an encoder. The positioning position of the lifting slide plate 1521 is controlled by the encoder of the third lifting servo motor 1523.

[0134] Specifically, the bracket assembly 151 includes a bracket 1511 connected to the lifting slide plate 1521, a wheelset support block 1512 mounted on the bracket 1511, and a non-metallic wear-resistant block 1513 disposed on the wheelset support block 1512.

[0135] The non-metallic wear-resistant block 1513 contacts the bearing or journal of the wheelset, effectively preventing damage to the bearing or journal. The non-metallic wear-resistant block 1513 is preferably a POK wear-resistant block.

[0136] Furthermore, to enhance system safety and prevent serious accidents caused by mechanical failures, the bracket assembly 151 also includes a third precision displacement sensor 1515 for feedback on the height position of the lifting slide plate 1521. The third precision displacement sensor 1515 is mounted on the output part of the third lifting moving mechanism 152 by screws. The third precision displacement sensor 1515 is connected to the control system. When the deviation between the height values ​​detected by the two third precision displacement sensors 1515 for a pair of wheel set synchronous lifting buffer mechanisms 150 exceeds a preset value, i.e., the axle of the wheel set 200 is tilted, or when the encoder detection value of the third lifting servo motor 1523 changes while the third precision displacement sensor 1515 detects that the height of the lifting slide plate 1521 remains unchanged, the control system controls the automatic protective sleeve loading and unloading mechanism 130, the wheel set transfer device 140, the wheel set synchronous lifting buffer mechanism 150, and the turning and repair equipment 300 to stop operating in a timely manner.

[0137] Furthermore, the bracket assembly 151 also includes a photoelectric sensor 1514 for detecting the presence of the wheelset 200. The wheelset synchronous lifting and buffering mechanism 150 can only operate after the photoelectric sensor 1514 detects the presence of the wheelset.

[0138] In some embodiments, in order to enhance the overall structural strength, the device further includes a crossbeam 171, which is disposed between the two automatic sleeve loading and unloading mechanisms 130 and connects the main frame 131 of the two automatic sleeve loading and unloading mechanisms 130.

[0139] While the intelligent turning and automatic loading / unloading device for railway freight car wheelsets in the above embodiments eliminates the need for manual pushing and handling and offers higher wheel lathe utilization rate, it cannot perform continuous loading / unloading operations for wheelsets of different specifications. In this application, wheelsets of different specifications include 60-ton wheelsets and 70-ton wheelsets. 60-ton wheelsets can be further divided into two types based on the bearing configuration at both ends of their axles: those without bearings and those with bearings. Specifically, a 60-ton wheelset without bearings refers to a wheelset where no bearings are installed at either end of its axle; a 60-ton wheelset with bearings includes three specific states: bearings installed only at the left axle end, bearings installed only at the right axle end, and bearings installed at both axle ends. Similarly, 70-ton wheelsets are also divided into types without bearings (i.e., no bearings at either end of the axle) and types with bearings, the latter also including three specific states: bearings only on the left side, bearings only on the right side, and bearings on both sides.

[0140] Furthermore, to enable continuous operation on wheelsets of different specifications, referring to Figure 1, the device also includes: a visual automatic recognition system 160, located on the side of the loading / unloading position 121 of the track mechanism 120, for automatically identifying and verifying whether the specifications of the wheelset to be repaired at the loading / unloading position 121 are consistent with the target specifications retrieved from the database; an alarm device for issuing an alarm; and a control system that connects the visual automatic recognition system 160 to the protective sleeve automatic loading / unloading mechanism 130, the wheelset transfer device 140, the wheelset synchronous lifting and buffering mechanism 150, and the external CNC turning and repair equipment 30. 0 establishes a communication connection; wherein, the control system is configured to: receive the comparison results from the visual automatic recognition system 160; if the verification result is that the wheelset specifications are inconsistent with the target specifications, then control the automatic protective sleeve loading and unloading mechanism 130, the wheelset transfer device 140 and the wheelset synchronous lifting and buffering mechanism 150 to stop operating, and control the alarm prompting device to issue an alarm; if the verification result is that the wheelset specifications are consistent with the target specifications, then control the automatic protective sleeve loading and unloading mechanism 130, the wheelset transfer device 140, the wheelset synchronous lifting and buffering mechanism 150 and the turning and repair equipment 300 to work together to realize continuous loading and unloading and wheelset turning and repair operations.

[0141] In some embodiments, the CNC turning and repair equipment 300 is a CNC wheel lathe.

[0142] In some embodiments, the alarm notification device may provide an audible alarm or a visual alarm. These alarm notification devices may be mounted on the top of the main frame 131.

[0143] In some embodiments, the visual automatic recognition system 160 includes: an imaging acquisition unit for acquiring images of coded markings and journal / bearing areas on the wheelset; a coded marking recognition unit for extracting the wheelset ID of the wheelset 200 to be repaired; a geometric measurement unit for calculating the measured diameter of the journal or bearing based on the image; and a data comparison unit for retrieving the target specification from the database based on the wheelset ID of the wheelset 200 to be repaired, and performing a tolerance comparison with the measured diameter to obtain a verification result.

[0144] In some embodiments, the coded identifier may be a QR code or a barcode.

[0145] In some embodiments, referring to Figures 11 and 12, the imaging acquisition unit includes a camera 161, a light source 162, and a protective cover 163 for shielding natural light and protecting the camera 161 and the light source 162. The protective cover 163 is shown in Figure 1.

[0146] In some embodiments, to facilitate adjustment of the position of the camera 161, the imaging acquisition unit further includes a camera adjustment and mounting assembly. Specifically, referring to Figures 11 and 12, the camera adjustment and mounting assembly includes a mounting frame 164, a mounting base 165, an adjustment rod 166, and a camera mounting plate 167. The mounting base 165, connected to the mounting frame 164, is a half-frame structure used to hold the adjustment rod 166. The height and angle of the adjustment rod 166 can be easily adjusted by tightening or loosening the screws. The camera mounting plate 167 is connected to the adjustment rod 166. The camera 161 is mounted on the camera mounting plate 167.

[0147] In some embodiments, referring to Figures 11 and 12, the imaging acquisition unit further includes a light source mounting assembly, which includes a transition plate 168, a light source adjustment plate 169, and a light source mounting plate 170. One end of the transition plate 168 is connected to the camera mounting plate 167 by screws, the light source adjustment plate 169 is connected to the other end of the transition plate 168 by screws, and the light source mounting plate 170 is connected to the other end of the light source adjustment plate 169 by screws. The light source 162 is mounted on the light source mounting plate 170 by screws.

[0148] Furthermore, since the center height of the wheelset 200 after turning is not the same when it is placed on the track mechanism 120 waiting to be dragged by the cantilevered floating trolley platform 146, in order to ensure that the wheelset 200 can be dragged and that the tread of the wheelset 200 can contact the track, the height of the cantilevered floating trolley platform 146 is different each time. The specific lifting height needs to be measured by a precision displacement sensor.

[0149] Therefore, in some embodiments, referring to FIG3, the device further includes a second precision displacement sensor 1466, which is connected to the towing frame 1473 by screws. The second precision displacement sensor 1466 is used to detect the vertical distance between the cantilevered floating towing platform 146 and the wheelset 200. This distance reflects how much the first lifting and moving mechanism 144 of the wheelset transfer device 140 needs to raise the cantilevered floating towing platform 146 vertically so that it can just contact the axle of the wheelset 200 without lifting the wheelset 200 off the track mechanism 120.

[0150] The device controls the first lifting and moving mechanism 144 of the wheelset transfer device 140 based on the distance detected by the second precision displacement sensor 1466. This mechanism drives the detection cantilevered floating trolley platform 146 to rise vertically until it just contacts the axle of the wheelset 200, and prevents the wheelset 200 from being lifted off the track mechanism 120. This allows the cantilevered floating trolley platform 146, which moves back and forth under the drive of the first forward and backward moving mechanism 142, to drag the wheelset 200 along the track mechanism 120.

[0151] In the above embodiment, if the initial position of the wheelset 200 to be repaired at the loading / unloading position 121 of the track mechanism 120 is offset to the left or right during the loading / unloading of the truss, a second adjustment is required to center the wheelset 200. If no adjustment is made, it will cause collisions with other mechanisms during subsequent movement.

[0152] Therefore, in some embodiments, in order to automatically center and correct the wheelset 200 at the loading / unloading position 121, referring to FIG11, the device further includes: a fourth precision displacement sensor 181, which is mounted on the mounting frame 164, for detecting the left and right offset of the wheelset 200 to be repaired relative to the track mechanism 120 when it is at the loading / unloading position 121; the fourth precision displacement sensor 181 is connected to the control system, and the control system controls the first left and right moving mechanism 143 in the wheelset transfer device 140 to drive the wheelset 200 to be repaired to move left and right based on the lateral offset detected by the fourth precision displacement sensor 181, so as to center and correct the wheelset 200 to be repaired.

[0153] Specifically, referring to Figure 11, the fourth precision displacement sensor 181 is connected to the mounting frame 164 via a bracket 182.

[0154] Specifically, the control system is a PLC control system.

[0155] Specifically, the first precision displacement sensor 1412 and the second precision displacement sensor 1466 are both laser displacement sensors manufactured by Meiji, model MLD25-200PV; the third precision displacement sensor 1515 is a draw-wire displacement sensor manufactured by Yiheda, model ZKV42-1600-A; and the fourth precision displacement sensor 181 is a laser displacement sensor manufactured by Meiji, model MLD21-500A-485.

[0156] It is understood that all the fixed connections in this application can be screw-fixed connections.

[0157] Figure 13 is a physical image of the intelligent automatic loading and unloading device for railway freight car wheelset repair provided in this embodiment when the wheelset to be repaired is in the loading and unloading position. Figure 14 is a physical image of the automatic protective sleeve loading and unloading mechanism and the synchronous lifting and buffering mechanism for wheelsets provided in this embodiment.

[0158] The workflow of the intelligent wheelset repair production line of the present invention, as shown in Embodiment 1, will now be described with reference to Figures 1 to 6.

[0159] 1. Initial run and loop initialization;

[0160] The first pair of wheels to be repaired, 200, is placed at the loading / unloading position 121 of the track mechanism 120 using a fully automatic scaffolding robot.

[0161] The vision automatic recognition system 160 identifies and confirms whether the specific specifications of the first pair of wheels to be turned 200 at the loading / unloading position 121 are consistent with the target specifications retrieved from the database.

[0162] If the agreement is confirmed, the wheelset transfer device 140 will transfer the first wheelset 200 to be repaired from the loading and unloading position 121 to the station of the automatic protective sleeve loading and unloading mechanism 130;

[0163] The automatic protective cover loading and unloading mechanism 130 installs the appropriate protective cover 400 onto the axle journal of the first wheelset 200 to be repaired at its station.

[0164] After the protective sleeve 400 is installed, the wheelset transfer device 140 transfers the first wheelset 200 to be repaired from the working position of the automatic loading and unloading mechanism 130 to the wheelset handover position, and connects it to the CNC repair processing equipment 300 for repair.

[0165] 2. Parallel preparation and cyclical operation

[0166] While the CNC machine tool is undergoing lathe repair, this device simultaneously performs preparation work for the next wheelset 200 to be lathe repaired:

[0167] The fully automatic scaffolding robot places the next pair of wheels to be repaired 200 into the loading / unloading position 121 of the track mechanism 120;

[0168] The vision automatic recognition system 160 identifies and determines whether the 200 pairs of wheelsets to be turned at the current loading / unloading position 121 are consistent with the target specifications retrieved from the database.

[0169] If the agreement is confirmed, the wheelset transfer device 140 will transfer the wheelset 200 to be repaired from the loading / unloading position 121 to the station of the automatic protective sleeve loading / unloading mechanism 130.

[0170] The automatic protective cover loading and unloading mechanism 130 installs the appropriate protective cover 400 onto the axle journal of the wheelset 200 to be turned at its work station;

[0171] After the protective sleeve 400 is installed, the wheelset synchronous lifting and buffer mechanism 150 lifts the wheelset 200 to be repaired to the buffer station, waiting for the machine tool to be ready;

[0172] 3. Rotation and Continuous Cycle

[0173] After the wheelset is turned on the CNC machine tool, the wheelset transfer device 140 sends the turned wheelset 200 back from the wheelset handover position to the station of the automatic protective sleeve loading and unloading mechanism 130.

[0174] The automatic protective cover loading and unloading mechanism 130 removes the protective cover 400 from the refinished rear wheelset 200 at its work station;

[0175] The wheelset transfer device 140 sends the wrought wheelset 200 with the protective cover 400 removed from the station of the automatic loading and unloading mechanism 130 to the loading and unloading position 121 of the track mechanism 120, where it is picked up by the fully automatic frame robot.

[0176] The unloaded wheelset transfer device 140 moves back to the work position of the automatic loading and unloading mechanism 130 for protective sleeves, and the wheelset synchronous lifting and buffering mechanism 150 lowers the wheelset 200 to be repaired in the buffering work position to the wheelset transfer device 140.

[0177] The wheelset transfer device 140 transfers the wheelset 200 to be repaired to the wheelset handover position and connects it to the CNC repair processing equipment 300 to start a new round of repair.

[0178] This process repeats itself, with subsequent pairs repeating the above-mentioned "parallel preparation" and "rotation" steps to achieve continuous automated production.

[0179] The following is a detailed example of the specific process by which the wheelset transfer device 140 transfers the wheelset 200 to be repaired from the loading / unloading position 121 to the station of the automatic protective sleeve loading / unloading mechanism 130.

[0180] During loading, the wheelset transfer device 140 moves the main wheelset receiving platform 145 to directly below the axle of the wheelset 200 to be repaired, which is located at the loading / unloading position 121, via the first forward and backward moving mechanism 142. The wheelset transfer device 140 then moves all the main wheelset receiving platforms 145 and the cantilevered floating tug platform 146 to move synchronously upward in the vertical direction via the first lifting moving mechanism 144. The rising main wheelset receiving platforms 145 lift the wheelset 200 to be repaired to a first height separated from the track mechanism 120. Then, the wheelset transfer device 140 drives the wheelset main receiving platform 145 to move in the forward transfer direction, i.e., backward, through the first forward and backward moving mechanism 142, so that the wheelset 200 to be repaired supported on the wheelset main receiving platform 145 is moved to the work position of the automatic protective cover loading and unloading mechanism 130, so that the automatic protective cover loading and unloading mechanism 130 can install the protective cover 400 on the wheelset 200 to be repaired.

[0181] The following is a detailed example of the specific process by which the wheelset transfer device 140 sends the turned wheelset 200 from the wheelset handover position back to the station of the automatic protective sleeve loading and unloading mechanism 130 after the wheelset turning on the CNC machine tool is completed.

[0182] Step 1: The wheelset transfer device 140 drives the cantilevered floating tug wheel platform 146 to move in the forward transfer direction through the first forward and backward moving mechanism 142 to directly below the axle of the after-repaired wheelset 200, which extends into the inside of the turning and repair equipment and is located at the wheelset handover position.

[0183] Step 2: The wheelset transfer device 140 drives the cantilevered floating tug platform 146 to rise vertically through the first lifting and moving mechanism 144 until the repaired wheelset 200 is positioned on the cantilevered floating tug platform 146. At this time, the repaired wheelset 200 is at the second height and is fully supported on the track mechanism 120.

[0184] Step 3: The wheelset transfer device 140 drives the cantilevered floating towing platform 146 to move in the opposite transfer direction, i.e., forward, through the first forward and backward moving mechanism 142. The moving cantilevered floating towing platform 146 drags the repaired wheelset 200 to roll along the track mechanism 120 until the repaired wheelset 200 is directly below the work position of the automatic protective sleeve loading and unloading mechanism 130. During this process, the repaired wheelset 200 is always at the second height after being supported by the track mechanism 120.

[0185] Step 4: The wheelset transfer device 140 drives all the main support platforms 145 and the cantilevered floating tug platform 146 of the wheelset to move synchronously in the vertical direction through the first lifting and moving mechanism 144, so that the main support platforms 145 of the wheelset are lower than the axle of the wheelet 200 after repair and can extend under the wheelet 200 after repair.

[0186] Step 5: The wheelset transfer device 140, via the first forward and backward moving mechanism 142, drives the main wheelset receiving platform 145 to move in the forward transfer direction, i.e., backward, to directly below the reworked wheelset 200. Then, via the first lifting moving mechanism 144, all the main wheelset receiving platforms 145 and the cantilevered floating towing platform 146 move synchronously upward in the vertical direction, so that the main wheelset receiving platforms 145 lift the reworked wheelset 200 to the work position of the automatic protective sleeve loading and unloading mechanism 130. At this work position, the reworked wheelset 200 is at the first height and separated from the track mechanism 120.

[0187] Both of the above processes involve the internal handover of the wheelset between the main wheelset receiving platform 145 and the cantilevered floating tug platform 146 in the wheelset transfer device.

[0188] Example 2

[0189] In Example 1, the rising wheelset main receiving platform 145 lifts the wheelset 200 to be repaired to a first height separated from the track mechanism 120 each time. Then, the wheelset transfer device 140 drives the wheelset main receiving platform 145 to move in the forward transfer direction, i.e., backward, via the first forward and backward moving mechanism 142. The first height corresponds to the working height of the automatic protective sleeve loading and unloading mechanism 130. The above process in Example 1 suffers from a long cycle time.

[0190] The difference between this embodiment and Embodiment 1 is that, as shown in Figure 3, it includes a first precision displacement sensor 1412, which is mounted on the wheelset main support platform 145. This sensor is used to detect in real time the initial vertical distance between the wheelset main support platform 145 and a specific part of the wheelset 200 to be lifted (such as the axle bottom surface or wheel flange). Based on this initial vertical distance, the device controls the first lifting and moving mechanism 144 to raise the wheelset main support platform 145 to the minimum height required to lift the wheelset 200 to disengage from the track mechanism. This allows the first forward and backward moving mechanism 142 to move the main support platform and wheelset backward as quickly as possible. During this backward movement, the first lifting and moving mechanism 144 further raises the wheelset main support platform 145 to the working height of the automatic protective sleeve loading and unloading mechanism 130. In other words, the wheelset main support platform 145 and the wheelset 200 on it have a composite motion trajectory of backward and upward movement. Compared to Embodiment 1, this embodiment significantly shortens the operating cycle time.

[0191] This invention provides a concept and method for an intelligent automatic loading and unloading device for railway freight car wheelset turning. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment of the invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.

Claims

1. An intelligent automatic loading and unloading device for railway freight car wheelset turning and repair, characterized in that, include: A track mechanism (120) is fixed on a workbench or the ground (110); the track mechanism (120) has a loading / unloading position (121) for receiving wheelsets (200) to be repaired or sending out wheelsets (200) after repair, and a wheelset handover position for sending wheelsets (200) to be repaired into the repair processing equipment (300) or receiving wheelsets (200) after repair processed by the repair processing equipment (300); at least one pair of automatic protective sleeve loading / unloading mechanisms (130) are symmetrically arranged on both sides of the track mechanism (120), respectively for loading / unloading wheelsets (200) to be repaired. Install or remove a suitable protective sleeve (400) from the axle journal on the corresponding side of the wheel set (200) after turning; and a wheelset transfer device (140) configured to forward transfer the wheel set (200) to be turned at the loading / unloading position (121) through the station of the automatic protective sleeve loading / unloading mechanism (130) and the wheel set handover position, and to reverse transfer the wheel set (200) after turning at the wheel set handover position through the station of the automatic protective sleeve loading / unloading mechanism (130) and the loading / unloading position (121).

2. The intelligent turning and automatic loading / unloading device for railway freight car wheelsets according to claim 1, characterized in that, It also includes at least one pair of wheelset synchronous lifting and buffering mechanisms (150), symmetrically arranged on both sides of the track mechanism (120); each pair of wheelset synchronous lifting and buffering mechanisms (150) is used to lift and temporarily store the wheelset (210) to be repaired after the protective cover (400) is installed, avoiding the reverse transfer of the wheelset transfer device (140) to the repaired wheelset (220).

3. The intelligent turning and automatic loading / unloading device for railway freight car wheelsets according to claim 2, characterized in that, The work position of the wheelset synchronous lifting and buffering mechanism (150) and the work position of the protective sleeve automatic loading and unloading mechanism (130) are located at the same position on the track mechanism (120).

4. The intelligent turning and automatic loading / unloading device for railway freight car wheelsets according to claim 1, characterized in that, The wheelset transfer device (140) includes: a main frame (141); a first forward and backward moving mechanism (142) disposed on the main frame (141); a first left and right moving mechanism (143) disposed on the output part of the first forward and backward moving mechanism (142), the first forward and backward moving mechanism (142) being used to drive the first left and right moving mechanism (143) to move forward and backward in the horizontal direction; a first lifting moving mechanism (144) installed on the output part of the first left and right moving mechanism (143), the first left and right moving mechanism (143) being used to drive the first lifting moving mechanism (144) to move left and right in the horizontal direction; and a wheelset main receiving platform (145), the top of which is provided with two Two wheelset main support platforms (145) are horizontally opposite each other; and a cantilevered floating tug platform (146) is fixedly connected to the rear side of each wheelset main support platform (145); the first lifting and moving mechanism (144) is configured to drive all the wheelset main support platforms (145) and the cantilevered floating tug platform (146) to move synchronously in the vertical direction; through the joint cooperation of the first lifting and moving mechanism (144) and the first front and rear moving mechanism (142), the transfer of the wheelset to be repaired (200) / the wheelset after repair (200) between the wheelset main support platform (145), the track mechanism (120) and the cantilevered floating tug platform (146) is realized.

5. The intelligent turning and automatic loading / unloading device for railway freight car wheelsets according to claim 4, characterized in that, Also includes: A fourth precision displacement sensor (181) is used to detect the left-right offset of the wheelset to be repaired (200) relative to the track mechanism (120) when it is at the loading / unloading position (121); based on the left-right offset detected by the fourth precision displacement sensor (181), the first left-right moving mechanism (143) in the wheelset transfer device (140) drives the wheelset to be repaired (200) to move left and right to perform centering correction on the wheelset to be repaired (200); and a second precision displacement sensor (1466) is used to detect the cantilever type The vertical distance between the floating tug platform (146) and the wheelset (200); based on the distance detected by the second precision displacement sensor (1466), the first lifting and moving mechanism (144) of the wheelset transfer device (140) drives the cantilevered floating tug platform (146) to rise vertically to just contact the axle of the wheelset (200) and keep the wheelset (200) from leaving the track mechanism (120), so that the cantilevered floating tug platform (146) can drag the wheelset (200) along the track mechanism (120).

6. The intelligent turning and automatic loading / unloading device for railway freight car wheelsets according to claim 4, characterized in that, The cantilevered floating tug platform (146) includes a tug block (1461), a guide rod (1462), a second mounting plate (1463), a linear bearing (1464), and a rectangular spring (1465). The second mounting plate (1463) is directly or indirectly fixedly connected to the wheelset main support platform (145) to fix the entire cantilevered floating tug platform (146) on the wheelset main support platform (145). The linear bearing (1464) is mounted on the second mounting plate (1463). The guide rod (1462) is slidably sleeved in the linear bearing (1464). The tug block (1461) is fixed to the top of the guide rod (1462). The rectangular spring (1465) presses against the linear bearing (1464) and the tug block (1461).

7. The intelligent turning and automatic loading / unloading device for railway freight car wheelsets according to claim 1, characterized in that, The automatic protective sleeve loading and unloading mechanism (130) includes: a main frame (131); a second lifting and moving mechanism (132) installed on the main frame (131); a second forward and backward moving mechanism (133) installed on the output part of the second lifting and moving mechanism (132); the second lifting and moving mechanism (132) is used to drive the second forward and backward moving mechanism (133) to move vertically relative to the main frame (131); a protective sleeve picking and delivering telescopic mechanism (134) installed on the output part of the second forward and backward moving mechanism (133); the second forward and backward moving mechanism (133) is used to drive the protective sleeve picking and delivering telescopic mechanism (134) to move forward and backward in the horizontal direction; a protective sleeve floating gripper (135) installed on the output part of the protective sleeve picking and delivering telescopic mechanism (134); the protective sleeve picking and delivering telescopic mechanism (134) is used to drive the protective sleeve floating gripper (135) to move left and right in the horizontal direction; and a protective sleeve storage area (136) placed on the main frame (131) for storing protective sleeves (400).

8. The intelligent turning and automatic loading / unloading device for railway freight car wheelsets according to claim 7, characterized in that, The protective sleeve floating gripper (135) includes: a first mounting plate (1351), which is fixedly connected to the output part of the protective sleeve picking and delivering telescopic mechanism (134) via an adapter 1344; and a multi-directional floating mechanism, including a first floating plate (1352), a second floating plate (1353), a first roller guide pair (1354), and a second roller guide pair (1355), wherein the first floating plate (1352) is connected to the first mounting plate (1351) via the first roller guide pair (1354). The second floating plate (1353) is connected to the first floating plate (1352) via the second roller guide pair (1355); and a clamping assembly, including a multi-jaw cylinder (1356) and a gripper (1357) connected to the output end of the multi-jaw cylinder (1356), wherein the multi-jaw cylinder (1356) is fixed on the second floating plate (1353); wherein the first roller guide pair (1354) and the second roller guide pair (1355) are set at 90 degrees in the guiding direction.

9. The intelligent turning and automatic loading / unloading device for railway freight car wheelsets according to claim 7, characterized in that, The wheelset synchronous lifting and buffering mechanism (150) includes: a bracket assembly (151) for supporting the wheelset (210) to be repaired after the protective sleeve (400) is installed; a third lifting and moving mechanism (152) installed on the main frame (131), the output of which is connected to the bracket assembly (151) for driving the bracket assembly (151) to move vertically; and a mechanical anti-fall assembly (153) installed on the output of the third lifting and moving mechanism (152). Partially; wherein, the mechanical fall arrestor assembly (153) includes a retractable pin (1531), and the main frame (131) is provided with a locking hole (1532) that cooperates with the pin (1531); in the energized state, the pin (1531) remains retracted; in the abnormal power failure state, the pin (1531) automatically pops out and inserts into the locking hole (1532) to mechanically lock the third lifting and moving mechanism (152) and the bracket assembly (151).

10. The intelligent turning and automatic loading / unloading device for railway freight car wheelsets according to any one of claims 2 to 9, characterized in that, Also includes: A pair of automatic vision recognition systems (160) are symmetrically arranged on the side of the loading / unloading position (121) of the track mechanism (120) to automatically identify and verify whether the specifications of the wheelset (200) to be turned at the loading / unloading position (121) are consistent with the target specifications retrieved from the database; an alarm device is used to issue an alarm; and a control system is used to communicate with the automatic vision recognition system (160) to the automatic protective sleeve loading / unloading mechanism (130), the wheelset transfer device (140), the wheelset synchronous lifting and buffering mechanism (150), the external CNC turning and repair equipment (300), and the alarm device; wherein, the The control system is configured to: receive the comparison result of the visual automatic recognition system (500); if the verification result is that the wheelset specifications are inconsistent with the target specifications, control the automatic loading and unloading mechanism (130), the wheelset transfer device (140) and the wheelset synchronous lifting and buffering mechanism (150) to stop operating, and control the alarm prompting device to issue an alarm; if the verification result is that the wheelset specifications are consistent with the target specifications, control the automatic loading and unloading mechanism (130), the wheelset transfer device (140), the wheelset synchronous lifting and buffering mechanism (150) and the turning and repair equipment (300) to work together to realize continuous loading and unloading and wheelset turning and repair operations.

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