Retaining key dismounting system of wheel set

Abstract

The utility model relates to a stop key dismounting system of a wheel set, and relates to the technical field of wheel set maintenance. The stopping key dismounting system of the wheel set comprises a track and a dismounting robot. The track is configured for parking a wheelset connected to a bogie. A positioning assembly is arranged on the track and can limit the wheel sets parked on the track. The dismounting robots are arranged on the two sides of the track. The dismounting robots are arranged on the two sides of the track in the extending direction of the track and comprise executing mechanisms, and the executing mechanisms can dismount the blocking keys of the wheel sets so that limiting of the blocking keys to the wheel sets can be relieved. According to the wheel set stop key disassembling system, in the operation process, the positioning assembly arranged on the track can limit the wheel set connected with the bogie on the track, the wheel set does not need to be manually fixed, and meanwhile the executing mechanism of the disassembling robot can disassemble the stop key; and manual bowing and manual dismounting of the stop key nut are not needed, unmanned and automatic maintenance of the high rail wagon is achieved, and the maintenance efficiency of the rail wagon is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of wheel set maintenance, and particularly to a retaining key disassembly system for a wheel set. Background Art

[0002] The retaining key of a railway freight car is a small component between the side frame bottom of the railway freight car bogie and the wheel set. The retaining key is installed in the guide frame of the bogie side frame through a retaining key bolt. When the bogie is subjected to tensile force, the side frame and the wheel set can be connected together by means of the retaining key to prevent the wheel set from falling off.

[0003] When the wheel set needs to be maintained, the retaining key bolt needs to be loosened and the retaining key needs to be retracted. For a long time, in actual operations in railway vehicle maintenance plants, the wheel set connected to the bogie to be maintained is moved to a fixed position on the track, and then the retaining key is manually disassembled. During the operation, since the position of the retaining key is relatively low, workers need to squat down and bend over to use a manual wrench and a socket to loosen the nut, and then push the retaining key back to separate the wheel set from the side frame. At the same time, to prevent the wheel set from moving during the disassembly of the retaining key, the wheel set is manually pushed and fixed, resulting in high labor intensity, low production efficiency, and certain potential safety hazards to the personnel, reducing the maintenance efficiency of the bogie wheel set. Summary of the Utility Model

[0004] The utility model provides a retaining key disassembly system for a wheel set, which can replace manual pushing and fixing of the wheel set and manual loosening and disassembly of the retaining key of a railway freight car, avoid the harm to health caused by workers bending over for a long time, save labor costs, improve the unmanned, automation and automation of railway freight car maintenance, and improve the maintenance efficiency of railway freight cars.

[0005] An embodiment of the utility model provides a retaining key disassembly system for a wheel set, including: a track, on which a positioning component is arranged, and the positioning component is used for limiting the wheel set connected to the bogie on the track; a disassembly robot, arranged on both sides of the track along the track extension direction, and the disassembly robot includes an execution mechanism, and the execution mechanism can disassemble the retaining key of the wheel set to release the limit of the wheel set by the retaining key.

[0006] According to the foregoing embodiment of the utility model, the positioning component includes a first stop component and a second stop component. The first stop component and the second stop component are symmetrically arranged on both sides of the track along the track extension direction. The first stop component includes a first driving device and a first stop portion connected to the first driving device, and the first driving device can move the first stop portion to abut against the corresponding wheel of the wheel set. The second stop component includes a second driving device and a second stop portion connected to the second driving device, and the second driving device can move the second stop portion to abut against the corresponding wheel of the wheel set.

[0007] According to any of the foregoing embodiments of the present utility model, the positioning assembly further includes a clamping assembly. The clamping assembly is disposed on one side of the first stop assembly or the second stop assembly, and the clamping assembly is configured to jointly clamp the corresponding wheels of the wheel set with the first stop assembly.

[0008] According to any of the foregoing embodiments of the present utility model, the stop assembly further includes a third stop assembly and a fourth stop assembly. The third stop assembly, the first stop assembly, and the fourth stop assembly are sequentially disposed on the same side of the track, and the distance between the fourth stop assembly and the first stop assembly is greater than the length of the bogie.

[0009] According to any of the foregoing embodiments of the present utility model, it further includes a first sensor. The first sensor is disposed on one side of the track. The disassembly robot includes a controller, and the controller is electrically connected to the first sensor and the clamping assembly. When the first sensor detects that the wheel set moves to the first stop assembly or the second stop assembly, the controller controls the clamping assembly to jointly clamp the wheel set with the first stop assembly or the second stop assembly.

[0010] According to any of the foregoing embodiments of the present utility model, it further includes a plurality of signal detection devices. The signal detection devices are disposed outside the track to define an electronic fence area with boundaries. At least a part of the track along the length direction and the disassembly robot are surrounded within the electronic fence. The controller is electrically connected to the signal detection devices and the actuating mechanism, and the controller is configured to control the actuating mechanism to stop working or give an alarm according to the signals detected by the signal detection devices.

[0011] According to any of the foregoing embodiments of the present utility model, it includes a plurality of columns. Each column is disposed around the electronic fence, and the signal detection devices are disposed on the columns.

[0012] According to any of the foregoing embodiments of the present utility model, the signal detection device includes a lidar sensor and / or an infrared sensor.

[0013] According to any of the foregoing embodiments of the present utility model, a second sensor is further disposed on the disassembly robot. The second sensor is electrically connected to the controller, and the controller is configured to control the disassembly robot to stop working or control the actuating mechanism to give an alarm according to the detection signal of the second sensor.

[0014] According to any of the foregoing embodiments of the present utility model, it further includes a charging device. The charging device is disposed on both sides of the track, and the charging device is electrically connected to the controller to control the connection between the disassembly robot and the charging device.

[0015] During the operation of the wheel set retaining key disassembly system according to the embodiments of the present application, the positioning components provided on the track can limit the wheel set connected to the bogie on the track, eliminating the need for manual fixation of the wheel set. Meanwhile, the actuating mechanism of the disassembly robot can disassemble the retaining key, eliminating the need for manual bending and manual removal of the retaining key nut, realizing unmanned and automated maintenance of high-speed railway freight cars and improving the maintenance efficiency of railway freight cars. Brief Description of the Drawings

[0016] The present utility model will be described in more detail below based on embodiments with reference to the drawings.

[0017] Figure 1 is a schematic structural diagram of a wheel set retaining key disassembly system in an embodiment of the present utility model;

[0018] Figure 2 is a schematic structural diagram of a disassembly robot in the wheel set retaining key disassembly system in an embodiment of the present utility model;

[0019] Figure 3 is a schematic structural diagram of a bogie, a wheel set, and a retaining key in an embodiment of the present utility model.

[0020] Reference Signs:

[0021] 1000 - Wheel set retaining key disassembly system;

[0022] 100 - Disassembly robot; 110 - Actuating mechanism; 111 - Multi-axis robotic arm; 112 - Pushing component; 1121 - First driving member; 1122 - Pushing member; 1123 - Second driving member; 113 - Loosening component; 1131 - Screwing shaft; 1133 - Sleeve; 120 - Base; D - Retaining key; M - Fastening member;

[0023] 200 - Track; 211 - First stop component; 212 - Second stop component; 213 - Third stop component; 214 - Fourth stop component; 220 - Clamping component;

[0024] 300 - Electronic fence; 310 - Signal detection device;

[0025] 400 - Charging device;

[0026] 500 - Wheel set;

[0027] 600 - Bogie. Detailed Description of the Embodiments

[0028] The present utility model will be further described below in conjunction with the drawings.

[0029] The present utility model provides a retaining key disassembly system for a wheel set, which can replace manual pushing to fix the wheel set and manual loosening and disassembly of the retaining key bolts of a railway freight car, avoid the damage to health caused by workers bending over for a long time, save labor costs, improve the unmanned, automated and automatic maintenance of railway freight cars, and improve the maintenance efficiency of railway freight cars.

[0030] Figure 1 It is a schematic structural diagram of the retaining key disassembly system for a wheel set in an embodiment of the present utility model. As Figure 1 shown, the embodiment of the present utility model provides a retaining key disassembly system 1000 for a wheel set. The retaining key disassembly system 1000 for a wheel set includes a track 200 and a disassembly robot 100. The track 200 is configured to park the wheel set 500 connected to the bogie 600. A positioning assembly is provided on the track 200, and the positioning assembly can limit the wheel set 500 parked on the track 200. The disassembly robot 100 is arranged on both sides of the track 200. The disassembly robot 100 is arranged on both sides of the track 200 along the extending direction of the track. The disassembly robot 100 includes an execution mechanism 110, and the execution mechanism 110 can disassemble the retaining key D of the wheel set 500 to release the limit of the retaining key D on the wheel set 500. During the operation of the wheel set 500 retaining key D disassembly system according to the embodiment of the present application, the positioning assembly provided on the track 200 can limit the wheel set 500 connected to the bogie 600 on the track 200, eliminating the need for manual fixing of the wheel set 500. At the same time, the execution mechanism 110 of the disassembly robot 100 can disassemble the retaining key D, eliminating the need for manual bending over and manually removing the nut of the retaining key D, realizing the unmanned and automated maintenance of high-speed railway freight cars and improving the maintenance efficiency of railway freight cars.

[0031] As Figure 1 shown, in some embodiments, the positioning assembly includes a first stop assembly 211 and a second stop assembly 212. The first stop assembly 211 and the second stop assembly 212 are symmetrically arranged on both sides of the track 200 along the extending direction. The first stop assembly 211 and the second stop assembly 212 are configured such that when the distance between the wheel set 500 moving to the first stop assembly 211 or the second stop assembly 212 is less than a preset distance, the first stop assembly 211 and the second stop assembly 212 respectively abut against the corresponding wheels in the wheel set 500.

[0032] It should be noted that the preset distance can be set according to the size of the wheel diameter in the specific wheel set 500, and the specific preset distance can be set between 0.5 m and 1.5 m.

[0033] In this embodiment, the first stop assembly 211 and the second stop assembly 212 are respectively used to intercept two coaxial wheel sets 500 on both sides of the track 200, so that the bogie 600 connected to the wheel set 500 is under balanced force, and a more stable blocking effect on the two coaxial wheel sets 500 is achieved.

[0034] In some alternative embodiments, the first stop assembly 211 includes a first driving device and a first stop portion. The first driving device is connected to the first stop portion. The first driving device can drive the first stop portion to move away from or close to the first driving device along a first direction. The first direction intersects with the extending direction of the track. In this embodiment, the first direction is preferably perpendicular to the extending direction of the track. When the first driving device drives the first stop portion to move away from the first driving device along the first direction, the first stop portion abuts against the wheel moving onto the first stop portion on the track and stops the moving wheel set. Similarly, the second stop assembly 212 includes a second driving device and a second stop portion. The second driving device can drive the second stop portion to move away from or close to the second driving device along a second direction. The second direction intersects with the extending direction of the track. In this embodiment, the second direction is preferably perpendicular to the extending direction of the track. When the second driving device drives the second stop portion to move away from the second driving device along the second direction, the second stop portion abuts against the wheel moving onto the second stop portion on the track and stops the moving wheel set.

[0035] It should be noted that when it is necessary to disassemble the wheel set on the bogie for maintenance, the wheel set needs to be pushed to the fixed working position of the maintenance track, and then the retaining key of the wheel set is disassembled. The speed of the wheel set moving on the maintenance track is relatively low. When the first stop portion and the second stop portion move to the track and intercept the side wall of the wheel set, the side wall of the wheel set abuts against the first stop portion and the second stop portion to stop the moving wheel set. Specifically, the first stop portion and the second stop portion can be a blocking block, a blocking rod, etc., as long as they can abut against the side wall of the wheel and stop the wheel in the moving direction of the wheel. The specific structures of the first stop portion and the second stop portion are not limited.

[0036] As Figure 1 shown, in some embodiments, the positioning assembly further includes a third stop assembly 213 and a fourth stop assembly 214. The third stop assembly 213, the first stop assembly 211, and the fourth stop assembly 214 are sequentially arranged on the same side of the track 200. The distance between the fourth stop assembly 214 and the first stop assembly 211 is greater than the length of the bogie 600.

[0037] It should be noted that the third stop component 213 and the fourth stop component 214 have the same structure as the first stop component 211 and the second stop component 212. The third stop component 213 also includes a third driving device and a third connecting portion connected to the third driving device. The third driving device can drive the third stop portion away from or close to the third driving device, so that the third stop portion abuts against or separates from the side wall of the wheel close to the third stop portion. The fourth stop portion also includes a fourth driving device and a fourth connecting portion connected to the fourth driving device. The fourth driving device can drive the fourth stop portion away from or close to the fourth driving device, so that the fourth stop portion abuts against or separates from the side wall of the wheel close to the fourth stop portion.

[0038] In this embodiment, the third stop component 213 and the fourth stop component 214 are used to block the accidental sliding of the wheel set 500. Therefore, only one third stop component 213 and one fourth stop component 214 need to be provided at the front and rear ends of the first stop component 211 on one side of the track 200 respectively.

[0039] It should be noted that in this embodiment, the third stop component 213 and the fourth stop component 214 are arranged on the same side of the track as the first stop component 211. Of course, in some other optional embodiments, the third stop component 213 and the fourth stop component 214 can also be arranged on different sides of the track.

[0040] As Figure 1 shown, in some embodiments, the positioning component further includes a clamping component 220. The clamping component 220 is arranged on one side of the first stop component 211 or the second stop component 212. The clamping component 220 is configured to jointly clamp the corresponding wheel of the wheel set with the first stop component.

[0041] It should be noted that in this embodiment, the first stop component 211 or the second stop component 212 and the clamping component 220 clamp the corresponding wheels of the wheel set 500 on the front and rear sides in the moving direction of the wheel set along the track. It can be understood that the clamping component 220 can jointly clamp the same wheel with the first stop component 211 or the second stop component 212, or the clamping component 220 and the first stop component 211 or the second stop component 212 can jointly clamp different wheels.

[0042] In this embodiment, when the wheel set 500 moves to a fixed position on the track 200, the first stop assembly 211 and the second stop assembly 212 stop the wheel set 500. During the stopping process, the wheel set 500 may bounce and slide backward after hitting the first stop assembly 211 and the second stop assembly 212. The clamping assembly 220 disposed on one side of the first stop assembly 211 or the second stop assembly 212 facing the fourth stop assembly 214 can cooperate with the first stop assembly 211 or the second stop assembly 212 to clamp the wheel set 500 from the front and back sides, so that the wheel set 500 cannot move back and forth on the track 200, ensuring that the position of the wheel set 500 remains unchanged.

[0043] As Figure 1 shown, in some embodiments, the key removal system 1000 for the wheel set further includes a first sensor. The first sensor is disposed on one side of the track 200. The disassembly robot 100 includes a controller. The controller is electrically connected to the first sensor and the clamping assembly 220. When the first sensor detects that the wheel set 500 moves near the first stop assembly 211 or the second stop assembly 212, the controller controls the clamping assembly 220 and the first stop assembly 211 or the second stop assembly 212 to jointly clamp the wheel set 500.

[0044] In this embodiment, when the sensor detects that the wheel set 500 moves close to the first stop assembly 211 or the second stop assembly 212, the controller controls the clamping assembly 220 and the first stop assembly 211 or the second stop assembly 212 to clamp the wheel set 500. After the wheel set 500 is clamped, the controller controls the disassembly robot 100 to remove the key D of the wheel set 500.

[0045] As Figure 1 shown, in some embodiments, the key removal system 1000 for the wheel set further includes a plurality of signal detection devices 310. The signal detection devices 310 are disposed outside the track 200 to define an electronic fence area with boundaries. At least a part of the track 200 in the length direction and the disassembly robot 100 are surrounded within the electronic fence 300. The controller is electrically connected to the signal detection devices 310 and the actuator 110. The controller is configured to control the actuator 110 to stop working or alarm according to the detection signal of the signal detection devices 310.

[0046] In this embodiment, the detection range of each signal detection device 310 is a vertical plane, and the detection surfaces of multiple signal detection devices 310 form a closed area. The signal detection device 310 is connected to the controller. When a worker passes through the area enclosed by the electronic fence 300, the signal detection device 310 can obtain a detection signal and transmit the detection signal to the controller. The controller controls the disassembly robot 100 to stop working or issues an alarm prompt to avoid the disassembly robot from causing harm to the staff.

[0047] It should be noted that the number of signal detection devices 310 is not less than three. When there are three signal detection devices 310, a triangular closed area can be formed. When there are five signal detection devices 310, a pentagonal closed area can be formed. The working range of the disassembly robot 100 is always within the closed area to prevent the signal detection device 310 from generating false signals when the disassembly robot 100 enters and exits the closed area.

[0048] As Figure 1 shown, in some embodiments, the wheel set key disassembly system 1000 further includes a plurality of columns. Each column is arranged around the electronic fence 300, and the signal detection device 310 is arranged on the column.

[0049] In this embodiment, the signal detection device 310 is arranged around the track 200, and the signal detection device 310 is installed on the column. Of course, in some other alternative embodiments, the signal detection device 310 can also be installed on the wall or other places as long as a closed detection area can be formed.

[0050] In some embodiments, the signal detection device 310 includes a lidar sensor and / or an infrared sensor.

[0051] In this embodiment, the signal detection device 310 can be at least one of a lidar sensor or an infrared sensor. The lidar sensor or the infrared sensor has high precision, a long measurement distance, a fast response speed, and high anti-interference ability.

[0052] In some embodiments, a second sensor is further arranged on the disassembly robot 100. The second sensor is electrically connected to the controller, and the controller is configured to control the disassembly robot 100 to stop working or control the actuator to give an alarm according to the detection signal of the second sensor.

[0053] In this embodiment, the disassembly robot 100 is also provided with a second sensor, and the second sensor is electrically connected to the controller. When a worker approaches during the operation of the disassembly robot 100, the second sensor assembly can detect a signal and transmit the signal to the controller, and the controller controls the disassembly robot 100 to stop working or controls the actuator 110 to give an alarm prompt to avoid the disassembly robot 100 from causing harm to the staff.

[0054] It can be understood that the second sensor can also be a lidar sensor or an infrared sensor.

[0055] As Figure 1 shown, in some embodiments, the wheel set retaining key disassembly system 1000 further includes a charging device 400. The charging device 400 is arranged on both sides of the track 200, and the charging device 400 is electrically connected to the controller to control the connection between the disassembly robot 100 and the charging device 400.

[0056] In this embodiment, the charging device 400 arranged on both sides of the track 200 is electrically connected to the controller. When the controller detects that the battery power of the disassembly robot 100 is too low, the controller controls the disassembly robot 100 to move to the charging device 400 and connect to the charging device 400 to charge the disassembly robot 100, improving the intelligence of the wheel set retaining key disassembly system 1000.

[0057] As Figures 2-3 shown, in some alternative embodiments, the actuator 110 includes a multi-axis robotic arm 111 and a pushing component 112. The pushing component 112 is connected to the multi-axis robotic arm 111. The pushing component 112 is configured to be driven by the multi-axis robotic arm 111 to push the loosened retaining key D away from the limiting position, so that the retaining key D is separated from the wheel set 500 to release the limitation on the wheel set 500. The pushing component 112 includes a first driving member 1121 and a pushing member 1122. The pushing member 1122 is connected to the first driving member 1121. The first driving member 1121 expands and contracts to drive the pushing member 1122 to abut against the retaining key D and push the retaining key D away from the limiting position.

[0058] In this embodiment, the first driving member 1121 can drive the pushing member 1122 to expand and contract, so that the pushing member 1122 approaches and abuts against the retaining key D or moves away from the retaining key D. When the disassembly robot is in a non-working state, the first telescopic member is in a retracted state. When it is necessary to disassemble the loosened retaining key D, the multi-axis robotic arm 111 drives the pushing component 112 to make the pushing component 112 approach the loosened retaining key D. The first driving member 1121 extends so that the pushing member 1122 abuts against the retaining key D, and then continues to extend until the pushing member 1122 pushes the retaining key D away from the limiting position, so that the retaining key D releases the limitation on the wheel set 500.

[0059] It should be noted that the first driving member 1121 can be any one of an electric telescopic rod, an electric push rod, or other structural members that can achieve a telescopic function, as long as it can be telescoped to drive the pushing member 1122 to push the retaining key D away from the limiting position. In this embodiment, an electric telescopic rod is preferably used because the electric telescopic rod has a simple structure and does not require a separate air pump.

[0060] According to the disassembly robot of the embodiment of the present application, when in use, the multi-axis robotic arm 111 can drive the pushing-off assembly 112 to penetrate deep into the bottom of the bogie 600 near the retaining key D, and then the first driving member 1121 of the pushing-off assembly 112 drives the pushing member 1122, so that the pushing member 1122 abuts against the retaining key D and pushes the retaining key D away from the limiting position, thereby causing the retaining key D and the wheel set 500 to move away from each other, and further causing the retaining key D to release the limit on the wheel set 500. During the disassembly of the retaining key, there is no need for manual bending over to disassemble the retaining key, which improves the automation of railway wagon maintenance and the maintenance efficiency of railway wagons.

[0061] As Figures 2-3 shown, in some embodiments, the loosening assembly 113 includes a screwing shaft 1131, an electric wrench, and a sleeve 1133. The electric wrench is disposed on the screwing shaft 1131. The sleeve 1133 is drivingly connected to the electric wrench, and the electric wrench can drive the sleeve 1133 to rotate along its own axis. The sleeve 1133 is configured to be cooperatively connected with the fastener M of the retaining key D. The axis of the screwing shaft 1131 intersects the axis of the sleeve 1133.

[0062] In this embodiment, when the multi-axis robotic arm 111 drives the loosening assembly 113 to loosen the fastener M of the retaining key D, the sleeve 1133 is first cooperatively connected with the fastener M of the retaining key D, and the electric wrench disposed on the screwing shaft 1131 drives the sleeve 1133 to rotate forward or backward to loosen the fastener M.

[0063] In some alternative embodiments, along the axial direction, the diameter size of the sleeve 1133 gradually decreases from the end far from the driving assembly to the end close to the driving assembly. Optionally, the included angle between the inner wall of the sleeve 1133 and the central axis of the sleeve 1133 is 1° - 3°, so that the sleeve 1133 has a certain tolerance capacity and is adaptable to the common types, sizes, and wear degrees of the fasteners M of the retaining key D.

[0064] In some alternative embodiments, the disassembly robot further includes a base 120, a first positioning assembly, and a second positioning assembly. The base 120 is provided with a plurality of traveling wheels, the controller is disposed on the base, and the multi-axis robotic arm 111 is connected to the base 120. The first positioning assembly is mounted on the base 120, and the second positioning assembly is mounted on the mounting frame. The controller is electrically connected to the first positioning assembly, the second positioning assembly, the pushing-off assembly 112, and the loosening assembly 113 respectively.

[0065] It should be noted that the multi-axis robotic arm 111 preferably uses a 6-axis mechanical rotating arm. The 6-axis mechanical rotating arm can satisfy all degrees of freedom of rotation and also enable the second positioning component, the loosening component 113, and the pushing component 112 to work at a lower position.

[0066] In this embodiment, the first positioning component disposed on the base 120 can locate the position information of the bearing end cover of the bogie 600 and feed back the located position information to the controller of the base 120, so that the controller can control the base 120 to move close to the retaining key D of the wheel set 500 during movement, enabling the disassembly robot to perform preliminary positioning. The second positioning component can collect the specific position of the retaining key D and feed back the collected position information to the controller. The controller controls the multi-axis robotic arm 111 to drive the sleeve 1133 of the loosening component 113 to cooperate with the fastener M of the retaining key D and loosen the fastener M of the retaining key D, eliminating the need for manual bending over and manually removing the nut of the retaining key D. After the loosening component 113 loosens the nut of the retaining key D, the pushing component 112 pushes the loosened retaining key D away from the limiting position, releasing the limit of the retaining key D on the wheel set 500. Throughout the process, the unmanned, automated, and intelligent maintenance of high-speed railway freight cars is achieved, improving the maintenance efficiency of railway freight cars.

[0067] In some alternative embodiments, the first positioning component includes a lidar and a vision system, and the second positioning component includes a vision camera.

[0068] As Figures 2-3 shown, in some embodiments, the actuator 110 further includes a mounting bracket, and the mounting bracket is connected to the multi-axis robotic arm 111. The pushing component 112 further includes a slider and a slide rail. The slider is fixedly connected to the mounting bracket, and the slide rail is slidably connected to the slider. The second driving member 1123 is fixedly connected to the slide rail, and the first driving member 1121 is rotatably connected to the slide rail.

[0069] In this embodiment, the second driving member 1123 is connected to the multi-axis robotic arm 111 through the sliding cooperation of the slide rail and the slider. The second driving member 1123 drives the slide rail to slide along the slider disposed on the mounting bracket by telescoping, thereby driving the first driving member 1121 rotatably connected to the slide rail to slide relative to the slider, making the direction of movement of the first driving member 1121 driven by the second driving member 1123 more stable.

[0070] It can be understood that in some other alternative implementations, the slide rail can also be fixedly connected to the mounting bracket, the second driving member 1123 is connected to the slider, and the second driving member 1123 drives the slider to slide along the slide rail by telescoping. The first telescopic member is rotatably connected to the slider. When the second driving member 1123 drives the slider to slide relative to the slide rail, the slider drives the first telescopic member to slide relative to the slide rail disposed on the mounting bracket.

[0071] In some embodiments, the actuator 110 further includes a first mounting seat, a connecting member, and a connecting plate. The first mounting seat is fixedly connected to the slide rail. The connecting plate is provided with a mounting through hole, and the connecting member is disposed in the mounting through hole. The connecting plate is rotatably connected to the first mounting seat through the connecting member.

[0072] It can be understood that the connecting member is disposed in the mounting through hole of the connecting plate, and the connecting plate is rotatably connected to the first mounting seat through the connecting member. The connecting member can be a hinge shaft or a connecting bolt installed on the first mounting seat through the mounting through hole of the connecting plate, etc.

[0073] In this embodiment, the first driving member 1121 is rotatably mounted on the first mounting seat through the connecting plate and the connecting member, and then fixedly connected to the slide rail through the first mounting seat, so that the first driving member 1121 is indirectly rotatably connected to the slide rail.

[0074] In some embodiments, the first mounting seat is provided with a limiting shaft, and the connecting plate is provided with an arc-shaped limiting through hole, and the limiting shaft is slidably connected to the arc-shaped limiting through hole.

[0075] In this embodiment, the limiting shaft provided on the first mounting seat is slidably connected to the arc-shaped limiting hole provided on the connecting plate. When the connecting plate rotates with the connecting member engaged with the mounting through hole as a fulcrum, the arc-shaped limiting hole provided on the connecting plate can slide relative to the limiting shaft, thereby limiting the rotation angle of the connecting plate and preventing the first driving member 1121 mounted on the connecting plate from driving the pushing member 1122 to push away the retaining key D and causing an accidental rotation of the first driving member 1121 relative to the second driving member 1123, improving the working efficiency of disassembling the retaining key D.

[0076] As Figure 2 shown, in some embodiments, the actuator 110 further includes a loosening assembly 113. The loosening assembly 113 is connected to the multi-axis robotic arm 111, and the loosening assembly 113 is configured to loosen the fastener M provided on the retaining key D. The pushing and separating assemblies 112 are arranged in pairs, and the paired retaining key retracting assemblies are respectively disposed on both sides of the loosening assembly 113.

[0077] It should be noted that the paired loosening assemblies 113 can be symmetrically arranged on both sides of the loosening assembly 113 or asymmetrically arranged, and are specifically arranged according to the actual working needs, and are not limited herein.

[0078] In this embodiment, when it is necessary to disassemble the retaining key D of the wheel set 500, the multi-axis robotic arm 111 drives the loosening assembly 113 to loosen the fastener M provided on the retaining key D, and then the pushing assembly 112 pushes the loosened retaining key D away from the limiting position, so that the retaining key D releases the limitation on the wheel set 500. The pushing assemblies 112 are arranged in pairs, and the paired pushing assemblies 112 are respectively arranged on both sides of the loosening assembly 113. The paired loosening assemblies 113 can simultaneously push away the two loosened retaining keys D on the wheel set 500, improving the efficiency of disassembling the retaining key D.

[0079] As Figure 2 shown, in some embodiments, the pushing assembly 112 further includes a second driving member 1123. The first driving member 1121 is connected to the second driving member 1123, and the telescopic movement of the second driving member 1123 drives the first driving member 1121 to approach or move away from the retaining key D.

[0080] In this embodiment, when other mechanisms of the disassembly robot need to loosen the retaining key D, the second driving member 1123 can drive the first driving member 1121 to move away from the retaining key D to avoid interference with other mechanisms, preventing the first driving member 1121 from being too close to the retaining key D and affecting the operation of other mechanisms or causing damage to the first driving member 1121 when other mechanisms are working. When the first driving member 1121 needs to push the loosened retaining key D away from the limiting position, the second driving member 1123 can drive the first driving member 1121 to approach the retaining key D, so that the first driving member 1121 only needs to make fine adjustments to drive the pushing member 1122 to push away the loosened retaining key D.

[0081] It should be noted that when the disassembly robot is only provided with the first driving member 1121 and the pushing member 1122, the first driving member 1121 can be directly connected to the multi-axis robotic arm 111. In this embodiment, the first driving member 1121 is connected to the multi-axis robotic arm 111 through the second driving member 1123.

[0082] As Figure 2 shown, in some embodiments, the telescopic direction of the first driving member 1121 intersects with the telescopic direction of the second driving member 1123, and the second driving member 1123 is rotatably connected to the first driving member 1121.

[0083] In this embodiment, the telescopic direction of the first driving member 1121 intersects with the telescopic direction of the second driving member 1123, and the telescopic direction of the first driving member 1121 and the telescopic direction of the second driving member 1123 form an angle with each other. Preferably, the telescopic direction of the first driving member 1121 and the telescopic direction of the second driving member 1123 are perpendicular to each other. When the multi-axis robotic arm 111 drives the pushing-away assembly 112 to move near the retaining key D, the first driving member 1121 and the second driving member 1123 can adjust the pushing member 1122 from two different directions. Since the second driving member 1123 is rotatably connected to the first driving member 1121, the second driving member 1123 can adjust the position of the pushing member 1122 when pushing the retaining key D by rotating relative to the second driving member 1123.

[0084] In some embodiments, the pushing member 1122 includes a first connecting plate and a second connecting plate, and the first connecting plate and the second connecting plate form an angle with each other.

[0085] In this embodiment, the pushing member 1122 includes a first connecting plate and a second connecting plate, and the first connecting plate and the second connecting plate form an angle with each other. During the process that the first driving member 1121 drives the pushing member 1122 to push away the released retaining key D, the retaining key D first abuts against the first connecting plate, and then the first driving member 1121 continues to push the pushing member 1122, so that the retaining key D abuts against the second connecting plate and the retaining key D is pushed away from the limiting position.

[0086] In some alternative embodiments, the first connecting plate and the second connecting plate are perpendicular to each other to form an L shape, which is used to prevent the retaining key D from sliding relative to the pushing member 1122 when the pushing member 1122 pushes the retaining key D. It can be understood that the first connecting plate and the second connecting plate can also be an integrally formed arc-shaped structure.

[0087] Although the present invention has been described with reference to the preferred embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A wheel set stop key disassembly system, characterized in that: include: A track, wherein a positioning assembly is provided on the track, and the positioning assembly is used to limit the position of a wheelset connected to the bogie on the track; The disassembly robot is arranged on both sides of the track along the extension direction of the track. The disassembly robot includes an actuator, which can disassemble the stop key of the wheelset so that the stop key releases the limit on the wheelset.

2. The wheel set stop key disassembly system according to claim 1, characterized in that: The positioning assembly includes a first stop assembly and a second stop assembly, and the first stop assembly and the second stop assembly are symmetrically arranged on both sides of the track along the extension direction of the track. The first stop assembly includes a first driving device and a first stop portion connected to the first driving device, and the first driving device can move the first stop portion to abut against the corresponding wheel in the wheelset. The second stop assembly includes a second driving device and a second stop portion connected to the second driving device, and the second driving device can move the second stop portion to abut against the corresponding wheel in the wheelset.

3. The wheel set stop key disassembly system according to claim 2, characterized in that: The positioning assembly also includes a clamping assembly, which is arranged on one side of the first stop assembly or the second stop assembly, and the clamping assembly is configured to clamp the corresponding wheel of the wheelset together with the first stop assembly.

4. The wheel set stop key disassembly system according to claim 3, characterized in that: The stop assembly also includes a third stop assembly and a fourth stop assembly. The third stop assembly, the first stop assembly, and the fourth stop assembly are sequentially arranged on the same side of the track, and the distance between the fourth stop assembly and the first stop assembly is greater than the length of the bogie.

5. The wheel set stop key disassembly system according to claim 4, characterized in that: The system further comprises a first sensor, wherein the first sensor is disposed on one side of the track. The disassembly robot includes a controller, which is electrically connected to the first sensor and the clamping assembly. The first sensor detects that the wheelset moves to the first stop assembly or the second stop assembly, and the controller controls the clamping assembly and the first stop assembly or the second stop assembly to clamp the wheelset together.

6. The wheel set stop key disassembly system according to claim 5, characterized in that: It also includes multiple signal detection devices, which are arranged on the outside of the track to define an electronic fence area with a boundary. At least part of the track along the length direction and the disassembly robot are enclosed in the electronic fence. The controller is electrically connected to the signal detection device and the actuator. The controller is constructed to control the actuator to stop working or alarm according to the signal detected by the signal detection device.

7. The wheel set stop key removal system according to claim 6, characterized in that: It comprises a plurality of posts, each of which is arranged around the electronic fence, and the signal detection device is arranged on the post.

8. The wheel set stop key disassembly system according to claim 6 or 7, characterized in that: The signal detection device includes a laser radar sensor and / or an infrared sensor.

9. The wheel set stop key disassembly system according to claim 5, characterized in that: The disassembly robot is also provided with a second sensor, which is electrically connected to the controller. The controller is configured to control the disassembly robot to stop working or control the actuator to sound an alarm according to a detection signal of the second sensor.

10. The wheel set stop key removal system according to claim 5, characterized in that: It also includes a charging device, which is arranged on both sides of the track. The charging device is electrically connected to the controller to control the disassembly robot to be connected to the charging device.

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