Auxiliary mechanical arm for assembling bogie damping device

Abstract

The utility model discloses an auxiliary mechanical arm for assembling a bogie damping device. Comprising a rack and further comprises an outer pillow spring clamping mechanism, a wedge clamping mechanism and an inner pillow spring clamping mechanism, and the rack comprises a top plate, a middle plate and a bottom plate; the outer pillow spring clamping mechanism comprises a first air cylinder provided with a plurality of radial air claws, the first air cylinder is arranged on the bottom face of the top plate, the air claws of the first air cylinder are connected with the outer pillow spring clamping claws through first connecting assemblies, and the bottom plate is provided with outer sliding grooves in sliding fit with the first connecting assemblies. The wedge clamping mechanism comprises a mounting plate, a sliding pair, a lifting air cylinder and a finger air cylinder, the mounting plate is connected with the rack, the finger air cylinder is connected with the outer plate face of the mounting plate through the sliding pair and driven by the lifting air cylinder, and a wedge clamping jaw is mounted on a finger plate of the finger air cylinder. The clamping operation requirements of the inner pillow spring, the outer pillow spring and the inclined wedge can be met at the same time, the operation efficiency and the automation level are improved, potential safety risks are reduced, and the overhaul quality is improved.

Description

Technical Field

[0001] The utility model relates to railway freight car maintenance equipment, in particular to an auxiliary manipulator for assembling a bogie vibration reduction device. Background Art

[0002] Railway freight car bogie is one of the key components of railway freight cars, with load-bearing, guiding, vibration reduction, traction and braking functions, ensuring the safety and stability of railway freight car operation. During the bogie maintenance process, its vibration reduction device needs to be moved to the designated location, where the bogie vibration reduction device includes inner bolster spring, outer bolster spring and inclined wedge. The outer dimensions of the inner bolster spring, outer bolster spring and inclined wedge vary slightly depending on the bogie model.

[0003] During the maintenance of railway freight car bogies, the transportation of pillow springs and wedges is done manually. The weight of an inner pillow spring, outer pillow spring or wedge is more than 10kg. The manual operation mode has problems such as high work intensity, narrow operating space, safety hazards and low efficiency. Automated and intelligent assembly equipment is urgently needed.

[0004] A Chinese utility model with authorization announcement number CN220744547U discloses a truck bogie bolster spring and wedge intelligent auxiliary transfer device, which has a complex structure. Utility Model Content

[0005] The utility model aims to solve the above technical problems, thereby providing an auxiliary manipulator for assembling a bogie vibration reduction device, which improves the clamping efficiency of pillow springs and inclined wedges.

[0006] The utility model solves the technical problem and adopts the following technical solution:

[0007] A bogie vibration damping device assembly auxiliary manipulator comprises a frame, an outer pillow spring clamping mechanism and an inclined wedge clamping mechanism, wherein the frame comprises a top plate, an intermediate plate and a bottom plate;

[0008] The outer pillow spring clamping mechanism comprises a first cylinder provided with a plurality of radial air claws, the first cylinder is placed on the bottom surface of the top plate, the air claws of the first cylinder are connected to the outer pillow spring clamping claws through a first connecting assembly, and the bottom plate is provided with an outer sliding groove that slidably cooperates with the first connecting assembly;

[0009] The inclined wedge clamping mechanism includes a mounting plate, a sliding pair, a lifting cylinder and a finger cylinder. The mounting plate is connected to the frame, the finger cylinder is connected to the outer plate surface of the mounting plate through the sliding pair, the finger cylinder is driven by the lifting cylinder, and the finger plate of the finger cylinder is equipped with an inclined wedge clamp.

[0010] Compared with the prior art, the utility model adopting the above technical solution has the following beneficial effects:

[0011] The clamping mechanisms of the inner pillow spring, outer pillow spring and inclined wedge are combined into one robot arm, making full use of visual servo technology to simultaneously meet the clamping operation requirements of the inner pillow spring, outer pillow spring and inclined wedge, thereby improving operation efficiency and automation level, reducing potential safety risks and improving maintenance quality.

[0012] Further, the optimization scheme of the utility model is:

[0013] The inner pillow spring clamping mechanism includes a second cylinder with multiple radial air claws, the second cylinder is placed on the bottom surface of the middle plate, the air claws of the second cylinder are connected to the inner pillow spring clamps through a second connecting component, the bottom plate is provided with an inner sliding groove that slides with the second connecting component, and the inner pillow spring clamps are located below the bottom plate.

[0014] It also includes a camera recognition component, which includes a connecting rod, a connecting plate and a camera. The lower end of the connecting rod is connected to the bottom plate, the inverted L-shaped connecting plate is installed on the upper end of the connecting rod, and the camera is installed on the outer plate surface of the connecting plate.

[0015] The first connecting component includes a first sleeve embedded connecting piece and an outer pillow spring clamp claw fixing piece. The first sleeve embedded connecting piece is a rectangular plate. A strip-shaped through hole is opened in the middle of the first sleeve embedded connecting piece, and the through hole is parallel to the plate surface of the first sleeve embedded connecting piece. A plug hole that passes through the through hole is opened at the bottom of the first sleeve embedded connecting piece. The upper part of the first sleeve embedded connecting piece is connected to the air claw of the first cylinder. The outer pillow spring clamp claw fixing piece is an inverted T-shape. The vertical part of the outer pillow spring clamp claw fixing piece is inserted into the plug hole of the first sleeve embedded connecting piece. The limit block is placed at the bottom of the through hole and at the top of the vertical part of the outer pillow spring clamp claw fixing piece. The limit block is connected to the vertical part by bolts. The horizontal part of the outer pillow spring clamp claw fixing piece is located below the bottom plate, and the vertical part of the outer pillow spring clamp claw fixing piece is slidably connected to the outer slide groove.

[0016] The width of the horizontal portion of the outer pillow spring clamping claw fixing piece is greater than the width of the outer sliding groove.

[0017] The second connecting assembly includes a second sleeve-embedded connecting piece and an inner pillow spring clamp claw fixing piece, the inner pillow spring clamp claw fixing piece is in an inverted T shape, and the vertical portion of the inner pillow spring clamp claw fixing piece is slidably matched with the inner sliding groove.

[0018] A hook portion is arranged at the lower end of the inclined wedge clamping jaw, and the outer pillow spring clamping jaw is located below the bottom plate.

[0019] The first cylinder and the second cylinder are both three-claw cylinders.

[0020] The top plate and the middle plate of the frame are connected via an upper positioning rod, the middle plate and the bottom plate are connected via a lower positioning rod, and the height of the upper positioning rod is greater than that of the lower positioning rod.

[0021] The middle plate is X-shaped, and the inner slide groove of the bottom plate is through and Y-shaped. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the utility model;

[0023] Figure 2 It is a schematic diagram of a frame of an embodiment of the utility model;

[0024] Figure 3 It is a schematic diagram of the outer pillow spring clamping mechanism of an embodiment of the utility model.

[0025] Figure 4 yes Figure 3 Figure A in the middle;

[0026] Figure 5 is a schematic diagram of a camera recognition component of an embodiment of the utility model;

[0027] Figure 6 This is a schematic diagram of the inner pillow spring clamping mechanism of an embodiment of the utility model;

[0028] Figure 7 It is a schematic diagram of the inclined wedge clamping mechanism of an embodiment of the utility model.

[0029] In the figure: frame 1; top plate 101; middle plate 102; bottom plate 103; outer slide groove 1031; inner slide groove 1032; lower fixed rod 104; upper fixed rod 105; outer pillow spring clamping mechanism 2; first cylinder 201; first set of embedded connecting parts 202; through hole 2021; outer pillow spring clamping claw fixing part 203; outer pillow spring clamping claw 204; limit block 205; camera recognition component 3; camera 301; connecting rod 302; connecting plate 303; inner pillow spring clamping mechanism 4; second cylinder 401; second set of embedded connecting parts 402; inner pillow spring clamping claw fixing part 403; inner pillow spring clamping claw 404; inclined wedge clamping mechanism 5; mounting plate 501; sliding pair 502; lifting cylinder 503; inclined wedge clamping claw 504; finger cylinder 505; finger cylinder mounting plate 506. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0031] See also Figure 1 This embodiment provides a bogie vibration reduction device assembly auxiliary manipulator, which is mainly composed of a frame 1, an outer pillow spring clamping mechanism 2, a camera recognition component 3, an inner pillow spring clamping mechanism 4 and an inclined wedge clamping mechanism 5. The frame 1 is mainly composed of a top plate 101, an intermediate plate 102, a bottom plate 103, a lower fixing rod 104 and an upper fixing rod 105 ( Figure 2As shown in the figure, the top plate 101, the middle plate 102 and the bottom plate 103 are arranged in sequence from top to bottom, the top plate 101 and the middle plate 102 are fixedly connected by four upper fixing rods 105, the middle plate 102 is X-shaped, the four upper fixing rods 105 are located at the edge of the top plate 101, the middle plate 102 and the bottom plate 103 are fixedly connected by four lower fixing rods 104, the height of the upper positioning rod 105 is greater than the height of the lower positioning rod 104, and the lower fixing rod 104 and the upper positioning rod 105 are both circular.

[0032] The bottom surface of the top plate 101 of the frame 1 is equipped with an outer pillow spring clamping mechanism 2, which is mainly composed of a first cylinder 201, a first connecting assembly, an outer pillow spring clamping claw 204 and a limit block 205 ( Figure 3 , Figure 4 As shown in FIG. 1 ), the first sleeve connector 202 and the outer pillow spring clamping claw fixing member 203 constitute a first connecting assembly. The first cylinder 201 is a three-claw cylinder, and the three claws of the first cylinder 201 are evenly arranged radially. The first cylinder 201 is a commercially available product, and the top of the cylinder body is connected to the top plate 101 by bolts.

[0033] The first sleeve connector 202 is a rectangular plate, which is arranged vertically. The upper end of the first sleeve connector 202 is T-shaped. A strip-shaped through hole 2021 is provided in the middle of the first sleeve connector 202. The through hole 2021 is parallel to the plate surface of the first sleeve connector 202. A plug hole is provided at the bottom of the first sleeve connector 202. The plug hole is connected with the through hole 2021. The horizontal part of the upper end of the first sleeve connector 202 is connected to the air claw of the first cylinder 201 by bolts. The outer pillow spring clamping claw fixing member 203 is an inverted T-shaped. The upper end of the vertical part of the outer pillow spring clamping claw fixing member 203 is inserted into the plug hole of the first sleeve connector 202. The long strip-shaped limit block 205 is placed at the bottom of the through hole 2021 and at the top of the vertical part of the outer pillow spring clamping claw fixing member 203. The limit block 205 is connected to the vertical part by bolts. The length of the limit block 205 is greater than the length of the plug hole. The horizontal part of the outer bolster spring clamping claw fixing part 203 is located below the bottom plate 103. The bottom plate 103 is provided with three rectangular outer slide grooves 1031. The outer ends of the outer slide grooves 1031 are open. The vertical part of the outer bolster spring clamping claw fixing part 203 is placed in the outer slide grooves 1031 and is slidably connected with the outer slide grooves 1031. The bottom surface of the horizontal part of the outer bolster spring clamping claw fixing part 203 is bolted with an outer bolster spring clamping claw 204. The inner side surface of the outer bolster spring clamping claw 204 is serrated to increase friction and facilitate more secure clamping of the outer bolster spring.

[0034] A camera recognition component 3 is disposed on the left side of the bottom plate 103 of the frame 1. The camera recognition component 3 is mainly composed of a camera 301, a connecting rod 302 and a connecting plate 303 ( Figure 5As shown), the lower ends of the two connecting rods 302 are fixedly connected to the edge of the bottom plate 103, the connecting plate 303 is an inverted L-shape, the horizontal portion of the connecting plate 303 is installed on the upper ends of the two connecting rods 302, and the camera 301 is installed on the outer plate surface of the vertical portion of the connecting plate 303, with the lens of the camera 301 facing downward.

[0035] An inner pillow spring clamping mechanism 4 is arranged between the middle plate 102 and the bottom plate 103 of the frame 1. The inner pillow spring clamping mechanism 4 is mainly composed of a second cylinder 401, a second sleeve connector 402, an inner pillow spring clamping claw fixing member 403 and an inner pillow spring clamping claw 404 ( Figure 6 As shown). The second cylinder 401 is a three-claw cylinder. The specification of the second cylinder 401 is smaller than that of the first cylinder 201. Its structure is the same as that of the first cylinder 201. The top of the second cylinder 401 is connected to the middle plate 102 by bolts. The second sleeve connector 402 and the inner pillow spring clamp claw fixing member 403 constitute a second connecting assembly. The structure of the second sleeve connector 402 is the same as that of the first sleeve connector 202. The upper end of the second sleeve connector 402 is connected to the air claw of the second cylinder 401 by bolts. The structure of the inner pillow spring clamp claw fixing member 403 is the same as that of the outer pillow spring clamp claw fixing member 203. The bottom plate 103 is provided with three rectangular inner slide grooves 1032. The inner ends of the three inner slide grooves 1032 are through and Y-shaped. The vertical portion of the inner pillow spring clamp claw fixing member 403 is slidably matched with the inner slide groove 1032. A vertical inner pillow spring clamp 404 is installed at the lower part of the inner pillow spring clamp fixing piece 403 , and the upper end of the inner pillow spring clamp 404 is connected to the inner pillow spring clamp fixing piece 403 by bolts. The inner pillow spring clamp 404 is located below the bottom plate 103 and on the inner side of the outer pillow spring clamp 204 .

[0036] The right side of the frame 1 is provided with an inclined wedge clamping mechanism 5, which is mainly composed of a mounting plate 501, a sliding pair 502, a lifting cylinder 503, an inclined wedge clamping claw 504, a finger cylinder 505 and a finger cylinder mounting plate 506 ( Figure 7 As shown). The upper and lower ends of the mounting plate 501 are connected to the top plate 101 and the bottom plate 103 by bolts respectively. A vertical sliding pair 502 is installed on the outer plate surface of the mounting plate 501. The two slide rails of the sliding pair 502 are connected to the mounting plate 501 by bolts. The slider of the sliding pair 502 is installed with a finger cylinder 505. The lifting cylinder 503 is located between the two slide rails. The lower end of the cylinder body of the lifting cylinder 503 is fixedly connected to the mounting plate 501. The upper end of the piston rod of the lifting cylinder 503 is connected to the finger cylinder 505 through the finger cylinder mounting plate 506. The two finger plates of the finger cylinder 505 are respectively installed with oblique wedge clamps 504. The lower end of the oblique wedge clamps 504 is provided with a hook. The lifting cylinder 503 drives the finger cylinder 505 to reciprocate up and down.

[0037] The working process of this embodiment is:

[0038] S1. The camera 301 of the camera recognition component 3 recognizes the positions of the inner pillow spring and the outer pillow spring.

[0039] S2. First, move the auxiliary manipulator to extend the inner pillow spring claw 404 in the inner pillow spring clamping mechanism 4 into the inner pillow spring. Then, the first cylinder 201 of the outer pillow spring clamping mechanism 2 drives the outer pillow spring claw 204 to retract and clamp the outer pillow spring. At the same time, the second cylinder 401 of the inner pillow spring clamping mechanism 4 drives the inner pillow spring claw 404 to expand and fix the inner pillow spring to ensure that the inner pillow spring will not fall off during the movement, thereby completing the clamping of the inner and outer pillow springs.

[0040] S3, the camera 301 of the camera recognition component 3 recognizes the position of the bevel wedge, moves the auxiliary manipulator, and makes the bevel wedge clamping mechanism 5 located a certain distance above the bevel wedge. The lifting cylinder 503 drives the finger cylinder 505 to move downward, and the bevel wedge clamp 504 moves to the grasping position. The finger cylinder 505 drives the bevel wedge clamp 504 to clamp the bevel wedge to ensure that the bevel wedge will not fall during the movement, thereby completing the clamping of the bevel wedge.

[0041] The clamping surfaces of the outer pillow spring clamping jaw 204 and the inner pillow spring clamping jaw 404 may also be designed with multiple grooves or provided with other materials to increase the friction between the clamping jaw and the pillow spring, which is beneficial to clamping the pillow spring.

[0042] As an embodiment of the utility model, when performing the clamping work, in order to prevent the end of the outer pillow spring clamp 204 from being subjected to force and damaging the first cylinder 201, a certain gap can be left between the top of the bolt and the end face of the through hole 2021 of the first sleeve-embedded connector 202, and the width of the horizontal portion of the outer pillow spring clamp fixing piece 203 is greater than the width of the gap of the outer slide groove 1031 of the base plate 103. When the end of the outer pillow spring clamp 204 is subjected to force, the horizontal portion of the outer pillow spring clamp fixing piece 203 clamps the base plate 103 to avoid damaging the first cylinder 201.

[0043] The utility model makes full use of visual servo technology, combines with specific bogie vibration damping device clamping application scenarios, and provides a bogie vibration damping device (bolster spring and inclined wedge) assembly auxiliary manipulator. By combining the clamping mechanism of the bolster spring and the inclined wedge into one manipulator, the clamping operation requirements of the bolster spring and the inclined wedge can be met at the same time, thereby improving the operation efficiency and automation level, reducing potential safety risks, and is of great significance in promoting the automation process of railway freight car bogie maintenance.

[0044] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A bogie vibration reduction device assembly auxiliary manipulator, comprising a frame, characterized in that : It also includes an outer pillow spring clamping mechanism, an inclined wedge clamping mechanism and an inner pillow spring clamping mechanism, and the frame includes a top plate, an intermediate plate and a bottom plate; The outer pillow spring clamping mechanism comprises a first cylinder provided with a plurality of radial air claws, the first cylinder being placed on the bottom surface of the top plate, The air claw of the cylinder is connected to the outer pillow spring clamp through the first connecting component, and the bottom plate is provided with an outer sliding groove; The wedge clamping mechanism comprises a mounting plate, a sliding pair, a lifting cylinder and a finger cylinder. The mounting plate is connected to the frame. The cylinder is connected to the outer plate surface of the mounting plate through a sliding pair. The finger cylinder is driven by the lifting cylinder. The finger plate of the finger cylinder is installed with Angled wedge gripper.

2. The bogie vibration damping device assembly auxiliary manipulator according to claim 1, characterized in that The inner pillow spring clamping mechanism includes a second cylinder with a plurality of radial air claws, the second cylinder is placed on the bottom surface of the middle plate, and the air claws of the second cylinder are The second connecting component is connected to the inner pillow spring clamping claw, and the bottom plate is provided with an inner sliding groove which is slidably matched with the second connecting component. The claws are located below the base plate.

3. The bogie vibration damping device assembly auxiliary manipulator according to claim 1, characterized in that : Also includes a camera recognition component, the camera recognition component includes a connecting rod, a connecting plate and a camera, the lower end of the connecting rod is connected to the bottom plate, and the inverted L-shaped connection The plate is installed on the upper end of the connecting rod, and the camera is installed on the outer surface of the connecting plate.

4. The bogie vibration damping device assembly auxiliary manipulator according to claim 1, characterized in that : The first connecting component includes a first sleeve embedded connecting piece and an outer pillow spring clamp claw fixing piece, the first sleeve embedded connecting piece is a rectangular plate, a strip-shaped through hole is opened in the middle of the first sleeve embedded connecting piece, the through hole is parallel to the plate surface of the first sleeve embedded connecting piece, a socket is opened at the bottom of the first sleeve embedded connecting piece and connected with the through hole, the upper part of the first sleeve embedded connecting piece is connected with the air claw of the first cylinder, the outer pillow spring clamp claw fixing piece is an inverted T-shape, the vertical part of the outer pillow spring clamp claw fixing piece is inserted into the socket of the first sleeve embedded connecting piece, the limit block is placed at the bottom of the through hole and at the top of the vertical part of the outer pillow spring clamp claw fixing piece, the limit block is connected to the vertical part by bolts, the horizontal part of the outer pillow spring clamp claw fixing piece is located below the bottom plate, and the vertical part of the outer pillow spring clamp claw fixing piece is slidably connected with the outer slide groove.

5. The bogie vibration damping device assembly auxiliary manipulator according to claim 4, characterized in that :The width of the horizontal portion of the outer pillow spring clamp fixing piece is greater than the width of the outer slide groove.

6. The bogie vibration damping device assembly auxiliary manipulator according to claim 2, characterized in that The second connecting component includes a second embedded connecting piece and an inner pillow spring clamp claw fixing piece, the inner pillow spring clamp claw fixing piece is an inverted T-shape, and the vertical part of the inner pillow spring clamp claw fixing piece is slidably matched with the inner slide groove.

7. The bogie vibration damping device assembly auxiliary manipulator according to claim 1, characterized in that : A hook is provided at the lower end of the inclined wedge clamp, and the outer pillow spring clamp is located below the base plate.

8. The bogie vibration damping device assembly auxiliary manipulator according to claim 1, characterized in that :The first cylinder and the second cylinder are both three-claw cylinders.

9. The bogie vibration damping device assembly auxiliary manipulator according to claim 1, characterized in that The top plate and the middle plate of the frame are connected by an upper positioning rod, and the middle plate and the bottom plate are connected by a lower positioning rod, and the height of the upper positioning rod is greater than the height of the lower positioning rod.

10. The bogie vibration damping device assembly auxiliary manipulator according to claim 1, characterized in that :The middle plate is X-shaped, and the inner slide groove of the bottom plate is through and Y-shaped.

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