Truss robot used for railway wheel pair and provided with middle vehicle
By designing two sets of grippers and a multi-stage lifting device on the gantry robot for railway wheelsets, the problem of low operating efficiency in existing technologies has been solved, and efficient wheelset gripping and placement has been achieved.
Patent Information
- Application Number
- CN202520240589.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-16
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2035-02-16
AI Technical Summary
The existing gantry robots for railway wheelsets only have one set of grippers, resulting in low operating efficiency.
Design a gantry robot equipped with two sets of grippers that can simultaneously grasp two wheelsets and achieve multi-stage lifting and lateral and longitudinal movement through lifting and gripper devices to improve work efficiency.
It significantly improves the automation and efficiency of railway wheelset operations, enabling the simultaneous handling of wheelsets with different spacing and heights.
Smart Images
Figure CN223849241U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of overhauling and production of railway vehicles, in particular to a truss robot with a middle vehicle for railway wheel sets. BACKGROUND
[0002] Currently, in each vehicle depot of the national railway, the truss robot in the planar storage of the railway wheel set only has one set of clamping jaw, and the truss robot can only grab one wheel set at a time, thus the operation efficiency is low. UTILITY MODEL CONTENTS
[0003] In view of the problems in the prior art, the utility model aims to provide a truss robot with a middle vehicle for railway wheel sets to solve the problems mentioned in the background.
[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a factory building 1 of a railway vehicle depot or a vehicle factory comprises a wheel set 1A, a factory building track 1B, a planar storage 2 of the wheel set 1A and a truss robot 3, the planar storage 2 comprises a layer of support 2A; the wheel set 1A located in the layer is placed on the layer of support 2A, and the wheel sets 1A are staggered and cross arranged; the length direction of the factory building track 1B is the longitudinal direction, and the length direction of the wheel set 1A in the planar storage 2 is the transverse direction.
[0005] The truss robot 3 comprises a cart 3A and a middle vehicle 7, the cart 3A capable of running on the factory building track 1B comprises a transverse track 3AY, the middle vehicle 7 comprises a middle vehicle body 7A, a front trolley 7B and a rear trolley 7C, the middle vehicle body 7A capable of running on the transverse track 3AY comprises a longitudinal track 7AX, the front trolley 7B comprises a front vehicle body 7B1, the rear trolley 7C comprises a rear vehicle body 7C1, the front vehicle body 7B1 and the rear vehicle body 7C1 both capable of running on the longitudinal track 7AX comprise lifting devices 4 and clamping jaw devices 5; the clamping jaw device 5 is installed on the lifting device 4, two sets of lifting devices 4 are respectively installed on the front vehicle body 7B1 and the rear vehicle body 7C1; the truss robot 3 can simultaneously grab two adjacent wheel sets 1A staggered or in the same row on the top layer, and place them on the same row or staggered set positions after running.
[0006] As a further scheme of the utility model: the lifting device 4 comprises a fixed initial end 4A, an intermediate device 4B and a lifting terminal 4C, the clamping jaw device 5 is installed on the lifting terminal 4C, the lifting terminal 4C is lifted on the intermediate device 4B, and the intermediate device 4B is lifted on the fixed initial end 4A.
[0007] As a further scheme of the utility model: the lifting device 4 comprises a multi-stage lifting device 41; when the wheel set 1A grabbed by the truss robot 3 is located at the highest position, the highest position of the wheel set 1A is higher than the lowest position of the multi-stage lifting device 41.
[0008] As a further scheme of the present application: the middle vehicle 7 comprises a whole vehicle body 7D combined by the middle vehicle body 7A and the front vehicle body 7B1, and the fixed starting end 4A on the front trolley 7B is connected to the whole vehicle body 7D as a whole.
[0009] As a further scheme of the present application: the lifting device 4 in the rear trolley 7C comprises a top trolley 4D, the fixed starting end 4A on the rear trolley 7C is fixed on the top trolley 4D, and the top trolley 4D can run horizontally on the rear vehicle body 7C1.
[0010] As a further scheme of the present application: the multi-stage lifting device 41 comprises a profile steel lifting device 6 and a lifting traction device 41A, the profile steel lifting device 6 comprises a profile steel fixed starting end 6A, a profile steel intermediate device 6B, a profile steel lifting terminal 6C and a linear guide rail 6D, the profile steel intermediate device 6B comprises one or two intermediate profile steels 6B1, and the clamping jaw device 5 is installed on the profile steel lifting terminal 6C; the linear guide rail 6D is installed between the profile steel fixed starting end 6A and the profile steel intermediate device 6B, between the profile steel intermediate device 6B and the profile steel lifting terminal 6C, and between the intermediate profile steels 6B1 in the profile steel intermediate device 6B; and the lifting of the profile steel lifting terminal 6C is realized through the lifting traction device 41A.
[0011] As a further scheme of the present application: the clamping jaw device 5 comprises a horizontal telescopic device 5A, the telescopic device 5A comprises a telescopic head 5A1, and the telescopic head 5A1 can extend into the top of the inner side concave ring of the wheel rim of the wheel pair 1A.
[0012] As a further scheme of the present application: the truss robot 3 can also simultaneously grab two staggered or adjacent wheel pairs 1A of the top layer and the next layer under certain conditions.
[0013] In summary, compared with the prior art, the main features of the present application are: 1) the truss robot is provided with two sets of clamping jaws, i.e. two wheel pairs can be simultaneously grabbed; 2) the front trolley and the right trolley can relatively horizontally and vertically run, i.e. two wheel pairs with different distances can be simultaneously grabbed by the clamping jaws; 3) the two sets of clamping jaws can be independently lifted, i.e. wheel pairs with different heights can be simultaneously grabbed. The main advantages of the present application are: the automation degree and efficiency of the operation are greatly improved. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 is the structural schematic view of the wheel pair 1A, the factory track 1B, the planar storage 2 and the truss robot 3 in the factory 1;
[0015] Figure 2 is Figure 1is a view of A of figure 1, is a structural schematic view of the gantry 3A and the middle car 7 constituting the truss robot 3, is a structural schematic view of the transverse rail 3AY constituting the gantry 3A, is a structural schematic view of the multi-stage lifting device 41 constituting the lifting device 4, and is a structural schematic view of the first layer support 2A and the second layer support 2B constituting the planar storage 2;
[0016] Figure 3 is a view of B of figure 1, is a structural schematic view of the lifting device 4 constituting the truss robot 3, is a structural schematic view of the fixed start end 4A, the intermediate device 4B and the lifting end 4C constituting the lifting device 4, is a structural schematic view of the lifting traction device 41A constituting the multi-stage lifting device 41, is a structural schematic view of the longitudinal rail 7AX and the whole car body 7D constituting the middle car 7, and is a structural schematic view of the top trolley 4D constituting the lifting device 4; Figure 2 is a view of C of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the truss robot 3 simultaneously grabbing two adjacent wheelsets of the same layer without misalignment;
[0017] Figure 4 is a view of D of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the truss robot 3 simultaneously grabbing two adjacent wheelsets of the same layer with misalignment; Figure 2 is a view of E of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the truss robot 3 simultaneously grabbing two adjacent wheelsets of the same layer with misalignment;
[0018] Figure 5 is a view of F of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the truss robot 3 simultaneously grabbing two adjacent wheelsets of the same layer with misalignment; Figure 1 is a view of G of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the truss robot 3 simultaneously grabbing two adjacent wheelsets of the same layer with misalignment;
[0019] Figure 6 is a view of H of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the truss robot 3 simultaneously grabbing two adjacent wheelsets of the same layer with misalignment; Figure 5 is a view of I of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the telescopic device 5A constituting the gripper device 5;
[0020] Figure 7 is a view of J of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the telescopic device 5A constituting the gripper device 5; Figure 6 is a view of K of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the telescopic device 5A constituting the gripper device 5;
[0021] Figure 8 is a view of L of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the telescopic device 5A constituting the gripper device 5;
[0022] Figure 9 is a view of M of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the telescopic device 5A constituting the gripper device 5;
[0023] Figure 10 is a view of N of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the telescopic device 5A constituting the gripper device 5; Figure 8 and Figure 9 is a view of O of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the telescopic device 5A constituting the gripper device 5;
[0024] Figure 11 is a view of P of figure 1, is a structural schematic view of the profile steel lifting device 6 constituting the truss robot 3, is a structural schematic view of the profile steel fixed start end 6A, the profile steel intermediate device 6B, the profile steel lifting end 6C and the linear guide rail 6D constituting the profile steel lifting device 6, and is a structural schematic view of the telescopic device 5A constituting the gripper device 5; Figure 8 and Figure 9N view of
[0025] Figure 12 is a structural diagram of the truss robot 3 grabbing two misaligned wheelsets of the second layer and the first layer when the wheelsets of the second layer are placed on the second layer support 2B;
[0026] Figure 13 is Figure 12 E-E view of
[0027] Figure 14 is Figure 12 P view of
[0028] Figure 15 is a structural diagram of the truss robot 3 grabbing two misaligned wheelsets of the second layer and the first layer when the wheelsets of the second layer are placed on the second layer support 2B;
[0029] Figure 16 is a structural diagram of the truss robot 3 grabbing two misaligned wheelsets of the second layer and the first layer when the wheelsets of the second layer are placed on the second layer support 2B;
[0030] Figure 17 is a structural diagram of the truss robot 3 grabbing two misaligned wheelsets of the second layer and the first layer when the wheelsets of the second layer are placed on the second layer support 2B;
[0031] Figure 18 is Figure 17 F view of
[0032] 1 is a factory building, 1A is a wheelset, 1B is a factory building track,
[0033] 2 is a planar storage, 2A is a first layer support, 2B is a second layer support,
[0034] 3 is a truss robot, 3A is a trolley, 3AY is a transverse track,
[0035] 4 is a lifting device, 4A is a fixed starting end, 4B is an intermediate device, 4C is a lifting terminal, 4D is a top trolley, 41 is a multi-stage lifting device, 41A is a lifting traction device,
[0036] 5 is a gripper device, 5A is an extension device, 5A1 is an extension head,
[0037] 6 is a profile steel lifting device, 6A is a profile steel fixed initial end, 6B is a profile steel intermediate device, 6B1 is an intermediate profile steel, 6C is a profile steel lifting terminal end, 6D is a linear guide rail,
[0038] 7 is a middle vehicle, 7A is a middle vehicle body, 7AX is a longitudinal track, 7B is a front vehicle, 7B1 is a front vehicle body, 7C is a rear vehicle, 7C1 is a rear vehicle body, and 7D is an integral vehicle body. DETAILED DESCRIPTION
[0039] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0040] Please refer to Figures 1-18 In the embodiments of the present application, the factory building 1 of the railway vehicle depot or vehicle factory includes wheel sets 1A, factory building tracks 1B, a planar storage library 2 of the wheel sets 1A, and a truss robot 3. The planar storage library 2 includes a layer of supports 2A. The wheel sets 1A located on the layer are placed on the layer of supports 2A, and the wheel sets 1A are staggered and cross arranged. The length direction of the factory building tracks 1B is the longitudinal direction, and the length direction of the wheel sets 1A in the planar storage library 2 is the transverse direction.
[0041] The truss robot 3 includes a cart 3A and a middle vehicle 7. The cart 3A capable of running on the factory building tracks 1B includes a transverse track 3AY. The middle vehicle 7 includes a middle vehicle body 7A, a front vehicle 7B, and a rear vehicle 7C. The middle vehicle body 7A capable of running on the transverse track 3AY includes a longitudinal track 7AX. The front vehicle 7B includes a front vehicle body 7B1, and the rear vehicle 7C includes a rear vehicle body 7C1. The front vehicle body 7B1 and the rear vehicle body 7C1 both capable of running on the longitudinal track 7AX include lifting devices 4 and clamping jaw devices 5. The clamping jaw devices 5 are installed on the lifting devices 4. Two sets of lifting devices 4 are respectively installed on the front vehicle body 7B1 and the rear vehicle body 7C1. The truss robot 3 can simultaneously grab two adjacent wheel sets 1A that are staggered or in the same row on the top layer, and place them on the same row or staggered set positions after running.
[0042] It should be noted that the wheel sets 1A located on the second layer can be placed on the wheel sets 1A located on the first layer or on the second layer of supports 2B.
[0043] It should be further noted that the planar storage library 2 can be a multi-layer planar storage library or a buffer area with only one layer.
[0044] The lifting device 4 includes a fixed starting end 4A, an intermediate device 4B, and a lifting terminal 4C. The gripper device 5 is installed on the lifting terminal 4C. The lifting terminal 4C moves up and down on the intermediate device 4B, and the intermediate device 4B moves up and down on the fixed starting end 4A.
[0045] The lifting device 4 includes a multi-stage lifting device 41; when the wheelset 1A grasped by the gantry robot 3 is at its highest position, the highest position of the wheelset 1A is higher than the lowest position of the multi-stage lifting device 41.
[0046] It should be noted that when the wheel pair 1A grasped by the gantry robot 3 is at its highest position, the lowest position of the wheel pair 1A can also be at the same height as the lowest position of the multi-stage lifting device 41.
[0047] The trolley 7 includes an integral trolley body 7D consisting of a central trolley body 7A and a front trolley body 7B1, with a fixed starting end 4A on the front trolley 7B connected to the integral trolley body 7D.
[0048] The lifting device 4 in the rear trolley 7C includes a top trolley 4D. The fixed starting end 4A on the rear trolley 7C is fixed to the top trolley 4D, and the top trolley 4D can move laterally on the rear body 7C1.
[0049] The multi-stage lifting device 41 includes a steel section lifting device 6 and a lifting traction device 41A. The steel section lifting device 6 includes a steel section fixed starting end 6A, a steel section intermediate device 6B, a steel section lifting terminal 6C, and a linear guide rail 6D. The steel section intermediate device 6B includes one or two sets of intermediate steel sections 6B1. The gripper device 5 is installed on the steel section lifting terminal 6C. Linear guide rails 6D are installed between the steel section fixed starting end 6A and the steel section intermediate device 6B, between the steel section intermediate device 6B and the steel section lifting terminal 6C, and between the intermediate steel sections 6B1 within the steel section intermediate device 6B. The lifting and lowering of the steel section lifting terminal 6C is achieved through the lifting traction device 41A.
[0050] It should be noted that the lifting traction device 41A can be a winch or a chain drive device.
[0051] The gripper device 5 includes a horizontal telescopic device 5A, which includes a telescopic head 5A1 that can extend into the top of the inner concave ring of the wheel rim of the wheelset 1A.
[0052] Under specific conditions, the gantry robot 3 can also simultaneously grasp two staggered or adjacent wheel pairs 1A on the top and bottom layers.
[0053] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "front", "back" and so on indicate the orientation or position relation is based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and is not indicate or imply the device or element indicated must have a particular orientation, construct and operate in a particular orientation, therefore cannot be understood as the limitation to the utility model, in the utility model, it also needs to explain, the term "installation", "connection" should be understood broadly, for example, can fixed connection, also can be detachable connection, or integral connection, also can be mechanical connection, also can be indirectly connected through intermediate medium, can understand the specific meaning of the term in the utility model through specific circumstances.
[0054] In addition, it should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, the description of the specification is only for clarity, the skilled person should consider the specification as a whole, the technical solutions in each example can also be combined appropriately to form other embodiments that the skilled person can understand.
Claims
1. A truss robot for a railway wheelset having a center sill, characterized by The plant (1) of a railway vehicle depot or vehicle factory comprises wheelsets (1A), plant tracks (1B), a planar storage (2) of the wheelsets (1A) and a truss robot (3), the planar storage (2) comprises a layer of supports (2A), the wheelsets (1A) on the layer are placed on the supports (2A) and are staggered and cross arranged, the length direction of the plant tracks (1B) is longitudinal, and the length direction of the wheelsets (1A) in the planar storage (2) is transverse, the truss robot (3) comprises a large vehicle (3A) and a middle vehicle (7), the large vehicle (3A) capable of running on the plant tracks (1B) comprises a transverse track (3AY), the middle vehicle (7) comprises a middle vehicle body (7A), a front trolley (7B) and a rear trolley (7C), the middle vehicle body (7A) capable of running on the transverse track (3AY) comprises a longitudinal track (7AX), the front trolley (7B) comprises a front vehicle body (7B1), the rear trolley (7C) comprises a rear vehicle body (7C1), the front vehicle body (7B1) and the rear vehicle body (7C1) both capable of running on the longitudinal track (7AX) comprise lifting devices (4) and clamping jaw devices (5), the clamping jaw devices (5) are installed on the lifting devices (4), and two sets of the lifting devices (4) are respectively installed on the front vehicle body (7B1) and the rear vehicle body (7C1); the truss robot (3) can simultaneously grab two adjacent wheelsets (1A) on the top layer which are staggered or in the same row and place the wheelsets (1A) on the same row or staggered set positions after running.
2. A truss robot for railway wheelsets with center car according to claim 1, characterized in that The lifting device (4) comprises a fixed starting end (4A), an intermediate device (4B) and a lifting terminal end (4C), the clamping jaw device (5) is installed on the lifting terminal end (4C), the lifting terminal end (4C) is lifted on the intermediate device (4B), and the intermediate device (4B) is lifted on the fixed starting end (4A).
3. A truss robot for railway wheelsets with center car according to claim 2, characterized in that The lifting device (4) comprises a multi-stage lifting device (41); when the wheelset (1A) grabbed by the truss robot (3) is located at the highest position, the highest position of the wheelset (1A) is higher than the lowest position of the multi-stage lifting device (41).
4. A truss robot for railway wheelsets with center car according to claim 3, characterized in that The middle vehicle (7) comprises an integral vehicle body (7D) formed by combining the middle vehicle body (7A) and the front vehicle body (7B1) into one, and the fixed starting end (4A) on the front trolley (7B) is connected to the integral vehicle body (7D) in one piece.
5. A truss robot for a railway wheelset having a center sill as defined in claim 3, wherein The lifting device (4) in the rear trolley (7C) comprises a top trolley (4D), the fixed starting end (4A) on the rear trolley (7C) is fixed on the top trolley (4D), and the top trolley (4D) can run transversely on the rear vehicle body (7C1).
6. A truss robot for railway wheelsets with a central vehicle according to claim 4 or 5, characterized in that The multi-stage lifting device (41) comprises a profile steel lifting device (6) and a lifting traction device (41A), the profile steel lifting device (6) comprises a profile steel fixed starting end (6A), a profile steel intermediate device (6B), a profile steel lifting terminal (6C) and a linear guide rail (6D), the profile steel intermediate device (6B) comprises one or two sets of intermediate profile steels (6B1), and the clamping jaw device (5) is installed on the profile steel lifting terminal (6C); the linear guide rail (6D) is installed between the profile steel fixed starting end (6A) and the profile steel intermediate device (6B), between the profile steel intermediate device (6B) and the profile steel lifting terminal (6C) and between the intermediate profile steels (6B1) in the profile steel intermediate device (6B); and the lifting of the profile steel lifting terminal (6C) is realized through the lifting traction device (41A).
7. A truss robot for railway wheelsets with center car according to claim 6, characterized in that The clamping jaw device (5) comprises a horizontal telescopic device (5A), the telescopic device (5A) comprises a telescopic head (5A1), and the telescopic head (5A1) can be inserted into the top of the inside concave ring of the rim of the wheel set (1A).
8. A truss robot for railway wheelsets with center car according to claim 7, characterized in that The truss robot (3) can also simultaneously grasp two adjacent wheel sets (1A) staggered or in the same row of the top layer and the next layer under certain conditions.