Railway wagon lower center plate bolt automatic disassembly system and method

Abstract

The application discloses a railway freight car lower center plate bolt automatic disassembly system, which comprises an I-shaped track, an operation table, a first tool end, a second tool end, a detection switch, a positioning limiting device, a truss mechanical hand and a visual module in communication connection with the operation table; the side surface of the I-shaped track of the working position is provided with the detection switch and the positioning limiting device, and the positioning limiting device stops and limits the wheel set of the bogie; the truss mechanical hand is suspended above the I-shaped track of the working position and comprises a supporting column, an X-axis mechanical arm, a Y-axis mechanical arm and a plurality of Z-axis mechanical arms, the tail end of the Z-axis mechanical arm is independently connected with the first tool end and the second tool end, and the lower center plate bolt is automatically disassembled; and the visual module scans the bogie to obtain coordinates. The application further discloses a center plate bolt automatic disassembly method using the system.

Description

Technical Field

[0001] This invention belongs to the field of intelligent operation and maintenance technology for rail transit, and relates to an automatic disassembly system and method for the lower center plate bolts of railway freight cars. Background Technology

[0002] Currently, the disassembly of the center bolts on railway freight cars largely relies on manual labor, or a combination of manual and semi-automatic tools. The disassembly is primarily manual, with workers manually installing the bolt clips, securing the nuts on both sides with specialized plates, and then using a pneumatic wrench to assist in bolt disassembly. This method presents the following problems: (1) High labor intensity: Due to the use of manual labor, the reverse impact force of the tools is large, and the manual construction is carried out for a long time, resulting in high labor intensity; (2) Significant safety hazards: Due to the large reverse force generated when manually holding the tool, it is easy to injure people, posing a serious safety hazard; (3) The automation promotion is difficult and inefficient: Since the bogie is an old frame that has just entered the maintenance workshop and is waiting for maintenance, the overall consistency is very poor. The existing vehicle depot mostly uses manual labor with auxiliary tools, which is a relatively primitive operation method and has low efficiency, which brings inconvenience to the automation upgrade of the entire production line.

[0003] (4) Occupational disease situation: When the old frame is dismantled, the vibration of the pneumatic hammer will cause the rust and other fine particles of the bogie to be suspended in the air, which will cause lung damage to workers if they inhale them for a long time. Summary of the Invention

[0004] In view of the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide an automatic disassembly system for the lower center plate bolts of railway freight cars.

[0005] Another object of the present invention is to provide an automatic disassembly method for the automatic disassembly system for the lower center plate bolts of railway freight cars.

[0006] The technical solution of the present invention is as follows: An automatic disassembly system for the lower center plate bolts of railway freight cars includes an I-beam rail, an operating platform, and a first tool end, a second tool end, a detection switch, a positioning and limiting device, a truss manipulator, and a vision module that are communicatively connected to the operating platform. The side of the I-beam track at the work station is equipped with a detection switch and a positioning limit device, which stops and limits the bogie wheelset. The vision module scans the bogie to obtain the center plate coordinates; A truss robot arm is suspended above the I-beam track of the work station. The truss robot arm includes a support column, an X-axis robot arm, a Y-axis robot arm, and multiple Z-axis robot arms. The ends of the Z-axis robot arms are independently connected to the first tool end and the second tool end, which automatically disassembles the lower center plate bolts.

[0007] Furthermore, the positioning and limiting device includes two cylinders, a fixed plate, a buffer stop leg, a fixed base, a pin, an elastic wedge, and a spring. The operating table is electrically connected to the two cylinders respectively. The fixed base is fixed to the outside of the track. A fixed plate is provided on the outside of the fixed base, and a buffer stop leg, an elastic wedge, and a cylinder are provided between the fixed base and the fixed plate. The inner end hole of the buffer stop leg is fixed to the fixed plate and the fixed base by a pin, and the outer end of the buffer stop leg is placed above the elastic wedge. The two cylinders are arranged opposite each other, and the fixed end of the cylinder is fixed to the fixed plate. The telescopic end of the cylinder is fixed to the elastic wedge. The two ends of the spring are pressed against the two buffer stops in opposite directions, and the center of the spring is fixed to the fixed plate.

[0008] Furthermore, a spring clip is fixed on the spring clip, and the spring clip, spring clip, and fixing plate are fixed together by screws; the spring clip is set as two symmetrical ram's horn-shaped structures, which are snapped in opposite directions above the two buffer legs, and the middle of the spring clip is pressed by the spring clip and fixed with screws; the positioning and limiting device adopts a thin design and protrudes 40~60mm from the side of the track.

[0009] Furthermore, the first tool end and / or the second tool end include a floating mechanism, a base plate, a wrench device, a control mechanism, and a tightening shaft, a positioning device, a positioning mechanism, a material ejection mechanism, and a lifting device, all of which are communicatively connected to the control mechanism. The positioning mechanism, four pairs of cooperating tightening shafts and positioning devices, and a material ejection mechanism between two positioning devices pass downwards through the base plate. The wrench device is connected to the end of the positioning device, and the wrench device limits the nut of the mandrel. The material ejection mechanism absorbs or drops the nut after it has been limited. A sleeve is connected to the end of the tightening shaft, nesting the mandrel bolt. The lifting device is fixedly connected to the outside of the tightening shaft for lifting the sleeve. A mounting frame for the floating mechanism is provided above the base plate, and the upper parts of the tightening shaft, the positioning device, and the material ejection mechanism pass through the mounting frame of the floating mechanism.

[0010] Furthermore, the lifting device includes a lifting cylinder, a proximity switch, and a support plate. The fixed end of the lifting cylinder is fixed on the fixed box of the tightening shaft. The support plate is fixed on the slide of the lifting cylinder. The support plate is connected to the telescopic bushing of the tightening shaft, which drives the telescopic bushing to move up and down, thereby lifting the sleeve. Proximity switches are fixed at both ends of the lifting cylinder, and the proximity switches detect the position of the slide of the lifting cylinder.

[0011] Furthermore, the ejection mechanism includes an ejection cylinder with a guide rod connected to its end. The guide rod is fixed in a splined linear bearing to prevent rotation. A connecting plate is mounted on the end of the guide rod, and an electromagnet is installed at each end of the connecting plate. The electromagnets are electrically connected to the control mechanism. The two electromagnets are located directly above the two nuts. By extending and retracting the ejection cylinder, the electromagnets are brought closer to the nuts or avoid the wrench device. The electromagnets are controlled to attract or drop the nuts.

[0012] Furthermore, a vision support is vertically mounted on the X-axis robotic arm of the truss robot. The vision support moves along the X-axis direction on the X-axis robotic arm, and a vision module is connected to the vision support.

[0013] An automatic disassembly method for an automatic disassembly system for the lower center plate bolts of railway freight cars, as described in any one of the above claims, is characterized in that the method includes: (1) Push the bogie to the working position until the detection switch is triggered, and the positioning limit device positions and limits the wheelset tread of the bogie; (2) The vision module on the gantry robot moves and begins scanning the bogie, acquiring the center plate coordinates and transmitting them to the control panel; (3) The control panel controls the first tool end and / or the second tool end to move horizontally synchronously, and controls the corresponding tool end to move to the top of the bogie according to the provided bogie model. Then, one of the Z axes of the gantry manipulator moves downward, driving the corresponding tool end to descend to the designated position. After that, the tool end begins to disassemble the center plate bolt. (4) After the disassembly of the center plate bolt is completed, the truss robot arm drives the tool end to reset; (5) The positioning and limiting device releases the limit on the bogie and pushes the bogie away from the working position.

[0014] Further, in step (1): the telescopic shaft of the cylinder of the positioning and limiting device extends, driving the elastic wedge to extend, pushing the outer end of the buffer stop leg to lift upward, and the bogie approaches the raised buffer stop leg. Under the buffering effect of the elastic material and structure of the buffer stop leg, the kinetic energy and elastic potential energy are converted; at the same time, under the angular guidance of the buffer stop leg, the kinetic energy and gravitational potential energy of the bogie are converted, realizing secondary kinetic energy consumption and realizing the stopping operation of the bogie; simultaneously, another buffer stop leg is raised, forming a V-shaped positioning mechanism with the above buffer stop leg, realizing the positioning and limiting of the bogie.

[0015] Furthermore, the tool end begins the disassembly process of the mandrel bolt: a) The sleeves on the four tightening shafts are simultaneously nested in the heads of the four bolts. The displacement device automatically rises and rotates to drive the wrench device. The wrench slot of the wrench device is aligned with and locks the nut. b) The servo reduction motor of the tightening shaft drives the four sleeves to rotate counterclockwise. The nut falls into the wrench slot of the wrench device and cannot rotate with the bolt, thus completing the disassembly of the four bolts. c) The displacement device moves the wrench device downward and automatically rotates the wrench device 90 degrees to make way for the bogie space; d) The lifting device first raises the sleeve, and then the tool end is raised as a whole; at the same time, the detection switch mechanism checks whether there are any abnormal bolts following the tool end as it rises. If there are no abnormalities, the tool end is transferred to the remaining four sets of bolts and nuts on the bogie center plate. e) The displacement device rises and resets, the unloading mechanism extends the unloading cylinder, and the electromagnet at the end of the unloading cylinder attracts the nut in the wrench slot; The tightening shaft and wrench device repeat the operation according to steps a) to c) above. After the wrench device locks the nut, the wrench device on the displacement device rotates 90°. At this time, the electromagnet demagnetizes and the nut falls off. When the second operation is completed, the wrench device resets and rises above the bogie. The wrench device rotates 90° to avoid the nut, and the magnet on the unloading mechanism demagnetizes and the nut falls off.

[0016] The beneficial effects of this invention are as follows: (1) Reduce labor intensity: This invention solves the problems of visual fatigue, high physical intensity and high concentration required for manual labor by replacing most of the work with equipment, thereby reducing the overall labor intensity.

[0017] (2) Improve safety: It avoids manual tool operation by staff, greatly reducing the production safety hazards of personnel.

[0018] (3) Avoid occupational disease risks: Using equipment instead of manual labor can solve the occupational disease problem caused by rust dust from the root.

[0019] (4) Facilitates automation upgrade: Fully automated operation is conducive to the construction of intelligent factories and digital production.

[0020] (5) The positioning and limiting device in the system of the present invention adopts a fixed position for limiting, which is not as large as the deviation of manual placement, and has relatively high accuracy; moreover, the positioning and limiting device adopts a thin design, protruding about 50mm from the side of the track, and does not take up vertical space, and has a compact structure; there is no need to make a separate civil engineering pit, and the device can be used directly by installing it on both sides of the track, which has little impact on the surrounding facilities, and is very suitable for scenarios where there is space requirement near the wheelset; it can be installed simply by placing it on both sides of the track and can be fixed with bolts, making the installation very simple.

[0021] (6) In the gantry robot of the present invention, since the movement trajectory of each robot arm of the gantry robot arm is a straight line, the range of motion is limited by the guide rail, and the running speed is not easy to change suddenly. There are no safety problems caused by robot stall or excessive freedom. Moreover, the load capacity is greatly increased by the gantry to meet the conditions of heavy-duty tools, thereby increasing the number of tool end shafts and further increasing work efficiency.

[0022] (7) The tool end of the system of the present invention is set as an integrated mandrel bolt disassembly structure, which integrates the functions of tightening bolts, lifting sleeve, finding cap, abnormal self-check, secondary positioning and other functions into one structure, simplifying the structure and making it convenient to use: This integrated, modular design completes the assembly of eight bolts and nuts in two separate steps, satisfying both efficiency requirements and economic considerations while controlling implementation complexity.

[0023] This integrated disassembly structure uses a reverse rotation of the tightening shaft to flexibly control bolt disassembly, achieving the objectives of quiet operation and controllable torque. Furthermore, considering the significant differences and poor consistency in the bogie's condition during bolt disassembly, and to prevent difficulties in fitting the sleeve onto the bolts and the sleeve from becoming stuck on the bolt head after operation, an additional lifting device (including a cylinder) is added to the tightening shaft to automatically raise and lower the sleeve.

[0024] The integrated disassembly structure employs an automatic displacement device for the lower nut. The end of the automatic displacement device is connected to a wrench device. After the bolt is disassembled, the cylinder of the automatic displacement device drives the wrench device to move down and automatically rotate the wrench device 90 degrees to avoid the bogie space.

[0025] In addition, the integrated disassembly structure is equipped with a material ejection mechanism to adsorb and eject the nut. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the automatic disassembly system for the lower center plate bolts of railway freight cars according to the present invention; Figure 2 A three-dimensional view of the positioning and limiting device installed on an I-shaped track; Figure 3 This is an exploded view of the positioning and limiting device installed on the I-shaped track; Figure 4 yes Figure 3 Side view; Figure 5 This is an exploded view of the assembly at the first tool end; Figure 6 This is an overall schematic diagram of the first tool end (with side connecting plate, cover, etc. removed); Figure 7 This is an exploded view of the assembly of the tightening shaft and the lifting device; Figure 8This is a schematic diagram of the assembled tightening shaft and lifting device; Figure 9 This is an exploded view of the floating mechanism assembly; Figure 10 This is a schematic diagram of the floating plate of the floating mechanism; Figure 11 This is a schematic diagram of the limit block of the floating mechanism; Among them, 1-operation box, 2-first tool end, 3-second tool end, 4-detection switch, 5-positioning limit device, 6-I-beam track, 7-operation table, 8-bogie, 9-gantry robot, 10-vision module, 11-vision bracket, 12-gate; 21-Tightening shaft, 22-Floating mechanism, 23-Positioning device, 24-Connecting seat, 25-Side connecting plate, 26-Wrench device, 27-Positioning bracket, 28-Positioning mechanism, 29-Detection switch mechanism, 211-Lifting device, 236-Base plate, 238-Unloading mechanism; 216-Drive shaft, 217-Fixed box, 218-Lock, 220-Linear bearing, 221-Telescopic bushing, 227-Sleeve, 228-Lifting cylinder, 229-Switch fixing part, 230-Proximity switch, 231-Panel, 232-Intermediate speed regulating valve, 233-Quick connector; 239-Connecting flange, 240-Floating plate, 241-Fixed plate, 242-Cylinder connecting seat, 243-Positioning pin, 244-Floating cylinder, 245-Straight connector, 246-Intermediate speed control valve, 247-Steel ball, 248-First limit block, 249-Second limit block, 250-Third limit block, 251-Center positioning block; 56-Fixed plate, 58-Buffer stop leg, 59-Fixed base, 510-Cylinder, 511-Pin, 512-Shaft retaining ring, 513-Elastic wedge, 514-Sealing plate, 515-Protective cover plate, 516-Spring pressure plate, 517-Spring, 518-Locking plate. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments. Example 1

[0028] Reference Figure 1 As shown, the automatic disassembly system for the lower center plate bolts of railway freight cars in this embodiment includes a first tool end 2, a second tool end 3, a detection switch 4, a positioning and limiting device 5, an I-beam rail 6, an operating platform 7, a truss robot arm 9, a vision module 10, a vision support 11, and a gate 12, all mounted on a work station. The operating platform 7 is communicatively connected to the first tool end 2, the second tool end 3, the detection switch 4, the positioning and limiting device 5, the truss robot arm 9, and the vision module 10.

[0029] The entrance to the work station is equipped with a gate 12 and an operation box 1 electrically connected to the gate 12. The operation box 1 controls the gate 12 to raise or lower the barrier.

[0030] The working position has a detection switch 4 (existing technology product) on the side of the I-beam track 6. When the bogie 8 is in position, the detection switch 4 is triggered. The detection switch 4 then controls the positioning limit device 5 to start through the operating panel 7 to position and limit the bogie 8.

[0031] like Figures 2 to 4 As shown, the positioning and limiting device 5 includes a fixed plate 56, a buffer stop leg 58, a fixed base 59, two cylinders 510, a pin 511, a shaft retaining ring 512, an elastic wedge 513, a sealing plate 514, a protective cover 515, a spring plate 516, a spring 517, and a locking plate 518. The operating table 7 is electrically connected to the two cylinders 510 respectively. The outer side of the I-beam track 6 ( Figure 3 The left side shown) is fixedly equipped with a fixed base 59, and the inner side of the I-beam track 6 ( Figure 3 (As shown on the right) A locking plate 518 is fixedly installed relative to the base 59 (specifically: the fixing base 59 and the locking plate 518 are held by screws on both sides of the I-beam track 6. Preferably, the protective cover 515 is fixed to the outside of the locking plate 518). Figure 3 (as shown on the right side). The outer side of the fixed base 59 (as shown on the right side). Figure 3 As shown on the left side, a fixed plate 56 is provided, and a buffer leg 58 and a cylinder 510 are provided between the fixed base 59 and the fixed plate 56. Two sealing plates 514 are fixed to the fixed plate 56 with screws to prevent the upper pipeline of the cylinder 510 from being exposed and easily accumulating dust or other small debris from above, thus providing a certain degree of protection. The inner end hole of the buffer leg 58 is fixed to the fixed plate 56 and the fixed base 59 by a pin 511, which is fixed by a shaft retaining ring 512. The outer end of the buffer leg 58 can be raised or lowered. Preferably, the buffer leg 58 in this embodiment is made of 65Mn steel. A cylinder 510 is fixed to the fixed plate 56 at each end, and an elastic wedge 513 is fixed to the telescopic end of the cylinder 510. The elastic wedge 513 is similar to a spring, made of 65Mn, and can withstand compression deformation. The outer end of the buffer leg 58 is placed on top of the elastic wedge 513, as shown above. Figure 4 As shown, the elastic wedge 513 is shaped like a triangle and serves to be inserted below the outer end of the buffer stop 58. The spring plate 516 is fixed to the fixed plate 56, and the spring plate 517 is fixed to the spring piece 517; all three are secured with screws. Figure 4As shown, the spring piece 517 resembles two symmetrical ram's horn-shaped mechanisms, which are reversed and fastened above the buffer stop leg 58. The middle of the spring piece 517 is pressed down by the spring piece pressure plate 516 and fixed with screws. Because the ram's horn-shaped spring piece 517 presses on the buffer stop leg 58, it applies elastic pressure downward to the buffer stop leg 58. When the cylinder 510 retracts, it can assist the buffer stop leg 58 in retraction. The positioning and limiting device 5 in this embodiment adopts a thin design, protruding 40~60mm from the side of the track. The positioning and limiting device 5 in this embodiment adopts a double-wheel blocking and limiting method (positioning and limiting devices 5 are set on the outer sides of the two opposing I-beam tracks 6), so that the bogie 8 is subjected to balanced force and the force on individual devices is reduced, thus reducing the frontal impact force of the devices.

[0032] The workstation is equipped with a truss robot 9 above the I-beam track 6. The truss robot 9 includes a support column, an X-axis robot arm, a Y-axis robot arm, and multiple Z-axis robot arms. The bottom of the Z-axis robot arm is connected to the first tool end 2 and the second tool end 3 for disassembling the lower center plate bolts. The X-axis robot arm, the Y-axis robot arm, and the multiple Z-axis robot arms are respectively connected to the operating platform 1. The support column is erected on the ground, and the X-axis robot arm is horizontally mounted on the support column. The Y-axis robot arm is vertically mounted on the X-axis robot arm and can move in the X-axis direction on the X-axis robot arm. The Z-axis robot arm is erected on the Y-axis robot arm and can move in the Y-axis direction on the Y-axis robot arm. The Z-axis robot arm includes a Z1-axis robot arm and a Z2-axis robot arm, which are respectively located on both sides of the Y-axis robot arm. The Z1-axis robot arm and the Z2-axis robot arm can be raised and lowered independently. In addition, the overall structure of the truss manipulator 9 can be referred to Chinese Patent CN2023201494501, a special truss mechanism for assembling and disassembling the lower center plate of a freight car bogie, which will not be described in detail here.

[0033] The lower ends of the Z1-axis robotic arm and the Z2-axis robotic arm are connected to the first tool end 2 and the second tool end 3, respectively. The first tool end 2 and the second tool end 3 have the same structure. The following explanation uses the first tool end 2 as an example: like Figures 5 to 11 As shown, the first tool end 2 includes a PLC control mechanism, a tightening shaft 21, a floating mechanism 22, a positioning device 23, a connecting seat 24, a wrench device 26, a positioning bracket 27, a positioning mechanism 28, a detection switch 29, a lifting device 211, a material ejection mechanism 238, and a base plate 236; the PLC control mechanism is communicatively connected to the tightening shaft 21, the positioning device 23, the positioning mechanism 28, the detection switch mechanism 29, the material ejection mechanism 238, and the lifting device 211.

[0034] The bottom of the first tool end 2 is equipped with a positioning bracket 27, which provides a secondary positioning function for the bogie. A base plate 236 is fixedly installed above the positioning bracket 27. The base plate 236 has a central hole and four symmetrical holes on both sides. The central hole is used for the vertical fixing of the positioning mechanism 28. The four symmetrical holes on both sides pass through four pairs of cooperating displacement devices 23 and tightening shafts 21, respectively. The positioning mechanism 28 in this embodiment is a simple pin positioning, which is prior art and will not be described in detail here. A detection switch mechanism 29 is also provided below the base plate 236 to detect whether there are abnormal bolts (such as bolts that are rusted in the pad and the core plate hole, deformed, or non-standard bolts that have been modified and processed) that rise with the tightening shaft 21.

[0035] A floating mechanism 22 is provided above the base plate 236. The floating mechanism 22 is a connection and clearance mechanism between the robotic arm and the entire first tool end 2. Figures 9 to 11 As shown, the mounting base (fixed plate 241) of the floating mechanism 22 has a similar structure to the base plate 36, and also has four corresponding holes. The floating mechanism 22 is mainly fixed to the end of the robotic arm at one end by a connecting flange 239, and the other end is connected to the floating plate 240. Figure 10 As shown, the floating plate 240 has six stepped holes. Grooves are provided on the stepped surfaces of these holes, and ball bearings 247 are installed within these grooves. The diameter of the ball bearings 247 is slightly larger than the depth of the grooves. Figure 11 As shown, the first limiting block 248, the second limiting block 249, and the third limiting block 250 are stepped frustums, including a large upper platform and a small lower platform. The small platform is slightly smaller than the original stepped hole of the floating plate 240, allowing it to pass through and be fixed to the fixed plate 241. At this time, the large platforms of the three limiting blocks press against the surface of the ball 247 in the groove. After the bottom of the small platform is fixedly connected to the fixed plate 241, there is still a slight gap between the end face of the large platform and the surface of the ball 247, allowing the ball 247 to move freely. At this time, the floating plate 240 and the connecting flange 239 are connected together as a whole, and the three limiting blocks and the fixed plate 241 are a whole. When the connecting flange 239 is lifted vertically, the end faces of the three limiting blocks slide on the ball 247. The fixed plate 241 connected to the limiting blocks and the matching structure connected to the fixed plate 241 slide on the ball 247 along with the three limiting blocks. Therefore, the fixed plate 241 and its matching structure can be translated in all directions to a certain extent in the horizontal direction, but cannot move up and down. Meanwhile, the floating mechanism 22 is equipped with a cylinder mounting base 242, which contains a positioning pin 243. The positioning pin 243 is fixed to the end of the floating cylinder 244. The floating cylinder 244 can drive the pin to move through the telescopic rod. A tapered hole (with the same angle as the end of the positioning pin 243) is provided on the fixed plate 241. The pin can be retracted when the floating mechanism 22 needs to move freely. When positioning is required, the cylinder can push the pin into the tapered hole.

[0036] A connecting seat 24 is vertically fixed between the fixed plate 241 and the base plate 236 of the floating mechanism 22. The connecting seat 24 mainly connects the fixed plate 241 and the base plate 236 to ensure that the entire first tool end 2 is connected to form a whole and is the load-bearing mechanism of the entire tool end.

[0037] Each pair of tightening shafts 21 and positioning devices 23 are vertically arranged and parallel to each other. The tightening shaft 21 is located inside the positioning device 23, and the end of the tightening shaft 21 is directly opposite the wrench slot of the wrench device 26. The positioning device 23 adopts a straight up-down form, which solves the problem of limited space in automatic disassembly operations and the inability of the wrench device 26 to directly reach the working position. The avoidance action is simple, which greatly improves the working efficiency of the wrench device 26. The structure of the positioning device 23 in this embodiment can refer to Chinese Patent CN2023201494588, "An Automatic Wrench Positioning Device for Assembling Lower Mandrel Bolts on Trucks," which will not be described in detail here. The end of the positioning device 23 is connected to the wrench device 26. The wrench device 26 can not only limit the nut to facilitate bolt disassembly, but also facilitate the detachment of the nut from the wrench device after the bolt is disassembled. The wrench device 26 in this embodiment can refer to Chinese Patent CN2023225701857, "A Pressure Wrench Device Suitable for Assembling Mandrel Bolts," which will not be described in detail here. Figure 7 As shown, the output shaft of the servo geared motor of the tightening shaft 21 is connected downward to the drive shaft 216. The drive shaft 216 and the telescopic sleeve 221 are nested and connected by a spring. The spring is sleeved on the outside of the drive shaft 216, and the drive shaft 216 slides relative to the telescopic sleeve 221. The spring provides buffering and ensures that the torque of the servo geared motor is transmitted to the sleeve 227 during the sliding process. A linear bearing 220 is sleeved on the outside of the telescopic sleeve 221. The linear bearing 220 is fixedly installed in the hole of the base plate 236 (the fixing box 217 is fixed to the hole of the base plate 236 below). The telescopic sleeve 221 slides and rotates axially in the linear bearing 220. The end of the telescopic sleeve 221 is connected to the sleeve 227, and the sleeve 227 is connected to the mandrel bolt. The latch 218 limits the telescopic sleeve 221 that passes through the linear bearing 220, preventing the telescopic sleeve 221 from coming out of the linear bearing 220. The structure of the tightening shaft 21 in this embodiment can be referenced from Chinese Patent CN2023201494569, "A Tightening Device for Assembling Lower Plate Bolts of Trucks".

[0038] like Figures 7 to 8As shown, a lifting device 211 is installed on the fixed box 217 of the tightening shaft 21. The lifting device 211 includes a lifting cylinder 228, a switch fixing component 229, a proximity switch 230, a support plate 231, an intermediate speed regulating valve 232, and a quick-connect connector 233. The fixed end of the lifting cylinder 228 is fixed to the fixed box 217. The support plate 231 is fixed on the slide of the lifting cylinder 228. The support plate 231 drags the locking buckle 218 to drive the entire telescopic bushing 221 to move up and down, thereby controlling the lifting. Switch fixing components 229 are fixed at both ends of the lifting cylinder 228. The proximity switch 230 is installed on the switch fixing component 229. The proximity switch 230 detects whether the slide of the lifting cylinder 228 is close, and can further determine the position of the slide, and give a positioning signal to the PLC control mechanism for judgment and the next action. The lifting cylinder 228 has an air inlet and outlet port, and quick-connect fittings 233 are installed on the air inlet and outlet ports respectively. The quick-connect fittings 233 are connected to the air inlet and outlet pipes, and an intermediate speed control valve 232 is installed on the air pipes.

[0039] like Figure 5 and Figure 6 As shown, the ejection mechanism 238 is located between the two positioners 23, and is vertically arranged parallel to the positioners 23. The ejection mechanism 238 includes an ejection cylinder, with a guide rod connected to the end of the cylinder. The guide rod is fixed in a splined linear bearing (to prevent rotation). A connecting plate is mounted on the end of the guide rod; the connecting plate is a single thin sheet, with an electromagnet mounted at each end. The electromagnets are electrically connected to the aforementioned PLC control mechanism. The two electromagnets are positioned directly above the two nuts when the positioners 23 are withdrawn, allowing them to attract the nuts from the wrench slots of the positioners 23. Furthermore, the PLC control mechanism controls the current to the electromagnets, switching their magnetic force on and off, thereby dropping the attracted nuts. In other words, the extension and retraction of the ejection cylinder causes the electromagnets to approach or avoid the wrench device 26, thus controlling the electromagnets to attract or drop the nuts.

[0040] In addition, the first tool end 2 and the second tool end 3 can also adopt the structure of the tool end in the special truss mechanism for assembling and disassembling the lower center plate of a freight car bogie, as described in Chinese patent CN2023201494501.

[0041] Among them, the X-axis robotic arm of the truss robot 9 is vertically mounted with a vision support 11, and the vision support 11 can move in the X-axis direction on the X-axis robotic arm, that is, the vision support 11 is set parallel to the Y-axis robotic arm.

[0042] A vision module 10 is connected to the vision support 11. The vision module 10 moves synchronously with the vision support 11 on the X-axis robotic arm to scan the bogie 8 and obtain the coordinates of the center plate (including the coordinates of the center plate bolts). The vision module 10 is a 3D vision positioning system, a 3D vision positioning guidance system, or laser 3D vision, etc., which are existing conventional technologies. Example 2

[0043] The process of automatically disassembling the mandrel bolts using the automatic disassembly system for railway freight car lower mandrel bolts in Example 1 is as follows: (1) When there is no bogie 8 at the work position, the operator presses the control box 1 to raise the guardrail of the control gate 12; the operator pushes the bogie 8 into position, triggering the detection switch 4, and the positioning limit device 5 positions the wheel tread of the bogie 8: When the buffer stop 58 needs to be raised, the telescopic shaft of cylinder 510 extends, driving the elastic wedge 513 to extend and pushing the outer end of the buffer stop 58 upward. When the buffer stop 58 needs to be lowered, the telescopic shaft of cylinder 510 retracts, driving the elastic wedge 513 to retract. At this time, under the elastic pressure of the spring plate 517 and the gravity of the buffer stop 58, the outer end of the buffer stop 58 lowers. When a buffer stop 58 needs to be raised or lowered, the corresponding cylinder 510 can perform telescopic movement. When the bogie 8 approaches the raised buffer stop 58, the kinetic energy and elastic potential energy are converted under the buffering effect of the elastic material and structure of the buffer stop 58; at the same time, under the angular guidance of the buffer stop 58, the kinetic energy and gravitational potential energy of the bogie 8 are converted, realizing secondary kinetic energy consumption and achieving the stopping operation of the bogie 8. Simultaneously, another buffer stop 58 is raised, forming a V-shaped positioning mechanism with the above buffer stop 58, realizing the positioning and limiting function of the bogie 8.

[0044] (2) When the worker leaves the work station outside the guardrail, the worker presses the switch of the control box 1 and the guardrail of the gate 12 is lowered; the vision module 10 on the truss robot 9 moves and begins to scan the bogie 8, obtains its coordinates and transmits them to the control panel 7. (3) The control panel 7 controls the first tool end 2 and the second tool end 3 to move horizontally synchronously, and controls the corresponding tool end to move directly above the bogie 8 according to the provided bogie model. Then, one of the Z axes of the gantry manipulator 9 moves downward, driving the corresponding tool end to descend. After reaching the designated position, the tool end begins to disassemble the mandrel bolts: a) The sleeves 227 on the four tightening shafts 21 are simultaneously nested in the heads of the four bolts. The displacement device 23 automatically rises and rotates to drive the wrench device 26. The wrench slot of the wrench device 26 is aligned and locks the nut. b) When the servo reduction motor 212 of the tightening shaft 21 drives the four sleeves 227 to rotate counterclockwise (viewed from top to bottom), when the sleeves 227 drive the bolt to rotate at a certain angle, the nut falls into the wrench groove of the wrench device 26 and cannot rotate with the bolt; the sleeves 227 drive the bolt to continue to rotate, completing the bolt disassembly work; c) After the four sets of bolts are disassembled, the displacement device 23 drives the wrench device 26 to move down and automatically rotates the wrench device 26 90 degrees to avoid the bogie space.

[0045] d) The lifting cylinder 228 of the lifting device 211 first raises the sleeve 227. When the sleeve 227 is fully raised, the tool end is then raised as a whole. At the same time, the detection switch mechanism 29 checks whether there are any abnormal bolts (such as bolts that are rusted in the pad and the mandrel, deformed, or non-standard bolts that have been modified and processed) that rise with the tool end. If there are no abnormalities, the Z-axis of the gantry robot 9 transfers the tool end to the remaining four sets of bolts and nuts on the bogie mandrel. e) When the displacement device 23 is raised and reset, the unloading mechanism 238 extends the unloading cylinder, and the electromagnet at the end of the unloading cylinder will pull up the nut in the wrench slot of the displacement device 23 when the unloading cylinder retracts.

[0046] The tightening shaft 21 and the wrench device 26 repeat the above steps. After the wrench device 26 locks the nut, the wrench device 26 on the positioning device 23 rotates 90°. At this time, the electromagnet on the unloading mechanism 238 demagnetizes, causing the nut to fall off. When the second operation is completed, the wrench device 26 returns to its original position and rises above the bogie. The wrench device 26 on the positioning device 23 rotates 90° to avoid the nut, and the magnet on the unloading mechanism 238 demagnetizes, causing the nut to fall off.

[0047] (4) After the entire disassembly of the center plate bolt is completed, the Z-axis of the truss robot 9 rises, driving the tool end to rise, and then the tool end moves horizontally back to the initial position; (5) The positioning limit device 5 is released, the gate 12 guardrail is raised, and the manual entry pushes the bogie 8 away from the work position, and then pushes the next bogie 8 to carry out the next cycle of production operation.

[0048] The present invention has been disclosed above with reference to preferred embodiments, but these are not intended to limit the present invention. Anyone skilled in the art can make various changes or modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be defined by the scope of the claims in this application.

Claims

1. An automatic disassembly system for the lower center plate bolts of railway freight cars, characterized in that, The system includes an I-beam track, an operating platform, and a first tool end, a second tool end, a detection switch, a positioning and limiting device, a gantry robot, and a vision module that are communicatively connected to the operating platform. The side of the I-beam track at the work station is equipped with a detection switch and a positioning limit device, which stops and limits the bogie wheelset. The vision module scans the bogie to obtain the center plate coordinates; A truss robot arm is suspended above the I-beam track of the work station. The truss robot arm includes a support column, an X-axis robot arm, a Y-axis robot arm, and multiple Z-axis robot arms. The ends of the Z-axis robot arms are independently connected to the first tool end and the second tool end, which automatically disassembles the lower center plate bolts.

2. The automatic disassembly system for the lower center plate bolts of railway freight cars as described in claim 1, characterized in that, The positioning and limiting device includes two cylinders, a fixed plate, a buffer stop leg, a fixed base, a pin, an elastic wedge, and a spring. The operating table is electrically connected to the two cylinders. The fixed base is fixed to the outside of the track. A fixed plate is set on the outside of the fixed base, and a buffer stop leg, an elastic wedge, and a cylinder are provided between the fixed base and the fixed plate. The inner end hole of the buffer stop leg is fixed to the fixed plate and the fixed base by a pin, and the outer end of the buffer stop leg is placed above the elastic wedge. The two cylinders are arranged opposite each other, and the fixed end of the cylinder is fixed to the fixed plate. The telescopic end of the cylinder is fixed to the elastic wedge. The two ends of the spring are pressed against the two buffer stops in opposite directions, and the center of the spring is fixed to the fixed plate.

3. The automatic disassembly system for the lower center plate bolts of railway freight cars as described in claim 2, characterized in that, The spring sheet is fixed with a spring sheet pressure plate, and the spring sheet, spring sheet pressure plate and fixing plate are fixed together by screws; the spring sheet is set as two symmetrical ram's horn-shaped structures, which are snapped in opposite directions above the two buffer legs, and the middle of the spring sheet is pressed by the spring sheet pressure plate and fixed with screws; the positioning and limiting device adopts a thin design and protrudes 40~60mm from the side of the track.

4. An automatic disassembly system for the lower center plate bolts of railway freight cars as described in any one of claims 1-3, characterized in that, The first tool end and / or the second tool end: It includes a floating mechanism, a base plate, a wrench device, a control mechanism, and a tightening shaft, a displacement device, a positioning mechanism, a material ejection mechanism, and a lifting device that are respectively communicatively connected to the control mechanism. The positioning mechanism, four pairs of cooperating tightening shafts and displacement devices, and the material ejection mechanism between two displacement devices pass downward through the base plate. The end of the displacement device is connected to the wrench device, which limits the nut of the mandrel. The material ejection mechanism absorbs or drops the nut after it has been limited. The end of the tightening shaft is connected to a sleeve that nests the bolt of the mandrel. The outside of the tightening shaft is fixedly connected to the lifting device for lifting the sleeve. A mounting frame for a floating mechanism is provided above the base plate. The upper part of the tightening shaft, displacement device and material ejection mechanism pass through the mounting frame for the floating mechanism.

5. The automatic disassembly system for the lower center plate bolts of railway freight cars as described in claim 4, characterized in that, The lifting device includes a lifting cylinder, a proximity switch, and a support plate. The fixed end of the lifting cylinder is fixed on the fixed box of the tightening shaft. The support plate is fixed on the slide of the lifting cylinder. The support plate is connected to the telescopic sleeve of the tightening shaft, which drives the telescopic sleeve to move up and down, thereby lifting the sleeve. Proximity switches are fixed at both ends of the lifting cylinder, and the proximity switches detect the position of the slide of the lifting cylinder.

6. The automatic disassembly system for the lower center plate bolts of railway freight cars as described in claim 4, characterized in that, The ejection mechanism includes an ejection cylinder with a guide rod connected to its end. The guide rod is fixed in a splined linear bearing to prevent rotation. A connecting plate is mounted on the end of the guide rod, and an electromagnet is installed at each end of the connecting plate. The electromagnets are electrically connected to the control mechanism. The two electromagnets are located directly above the two nuts. By extending and retracting the ejection cylinder, the electromagnets are brought closer to the nuts or avoid the wrench device. The electromagnets are controlled to attract or drop the nuts.

7. An automatic disassembly system for the lower center plate bolts of railway freight cars as described in any one of claims 1-3, characterized in that, A vision support is vertically mounted on the X-axis robotic arm of the truss robot. The vision support moves along the X-axis direction on the X-axis robotic arm, and a vision module is connected to the vision support.

8. An automatic disassembly method for an automatic disassembly system for railway freight car underplate bolts according to any one of claims 1-7, characterized in that, The method includes: (1) Push the bogie to the working position until the detection switch is triggered, and the positioning limit device positions and limits the wheelset tread of the bogie; (2) The vision module on the gantry robot moves and begins scanning the bogie, acquiring the center plate coordinates and transmitting them to the control panel; (3) The control panel controls the first tool end and / or the second tool end to move horizontally synchronously, and controls the corresponding tool end to move to the top of the bogie according to the provided bogie model. Then, one of the Z axes of the gantry manipulator moves downward, driving the corresponding tool end to descend to the designated position. After that, the tool end begins to disassemble the center plate bolt. (4) After the disassembly of the center plate bolt is completed, the truss robot arm drives the tool end to reset; (5) The positioning and limiting device releases the limit on the bogie and pushes the bogie away from the working position.

9. The method as described in claim 8, characterized in that, Step (1): The telescopic shaft of the cylinder of the positioning and limiting device extends, driving the elastic wedge to extend, pushing the outer end of the buffer stop leg to lift upward, and the bogie approaches the raised buffer stop leg. Under the buffering effect of the elastic material and structure of the buffer stop leg, the kinetic energy and elastic potential energy are converted. At the same time, under the angular guidance of the buffer stop leg, the kinetic energy and gravitational potential energy of the bogie are converted, realizing secondary kinetic energy consumption and realizing the bogie's stopping operation. Simultaneously, another buffer stop leg is raised, forming a V-shaped positioning mechanism with the above buffer stop leg to realize the positioning and limiting of the bogie.

10. The method as described in claim 8 or 9, characterized in that, The tool end begins the disassembly operation of the mandrel bolt: a) The sleeves on the four tightening shafts are simultaneously nested in the heads of the four bolts. The displacement device automatically rises and rotates to drive the wrench device. The wrench slot of the wrench device is aligned with and locks the nut. b) The servo reduction motor of the tightening shaft drives the four sleeves to rotate counterclockwise. The nut falls into the wrench slot of the wrench device and cannot rotate with the bolt, thus completing the disassembly of the four bolts. c) The displacement device moves the wrench device downward and automatically rotates the wrench device 90 degrees to make way for the bogie space; d) The lifting device first raises the sleeve, and then the tool end is raised as a whole; at the same time, the detection switch mechanism checks whether there are any abnormal bolts following the tool end as it rises. If there are no abnormalities, the tool end is transferred to the remaining four sets of bolts and nuts on the bogie center plate. e) The displacement device rises and resets, the unloading mechanism extends the unloading cylinder, and the electromagnet at the end of the unloading cylinder attracts the nut in the wrench slot; The tightening shaft and wrench device repeat the operation according to steps a) to c) above. After the wrench device locks the nut, the wrench device on the displacement device rotates 90°. At this time, the electromagnet demagnetizes and the nut falls off. When the second operation is completed, the wrench device resets and rises above the bogie. The wrench device rotates 90° to avoid the nut, and the magnet on the unloading mechanism demagnetizes and the nut falls off.

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