Truss robot used for railway wheel pair and provided with double trolleys
By designing a dual-carriage gantry robot equipped with two independent gripper devices, the problem of low operating efficiency of single-gripper robots in existing technologies has been solved, enabling the simultaneous gripping and placement of two railway wheelsets, thus improving operating efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-16
- Publication Date
- 2026-04-07
AI Technical Summary
The existing gantry robots in railway wheelset storage facilities only have one set of grippers, resulting in low operational efficiency.
Design a dual-carriage gantry robot for railway wheelsets, equipped with two independent gripper devices, respectively installed on the left and right carriages, capable of operating independently on the transverse track, and simultaneously gripping and placing two wheelsets through a multi-stage lifting device.
It improves automation and operational efficiency, enabling the simultaneous grabbing and placement of two wheelsets, thus enhancing operational efficiency.
Smart Images
Figure CN224089018U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of railway vehicle maintenance and production technology, specifically a gantry robot with two trolleys for railway wheelsets. Background Technology
[0002] Currently, in all railway depots and rolling stock factories across the country, the gantry robots in the planar storage bins for railway wheelsets each have only one set of grippers, and can only grab one wheelset per action, resulting in low operational efficiency. Utility Model Content
[0003] In view of the problems existing in the prior art, the purpose of this utility model is to provide a gantry robot with two trolleys for railway wheelsets, so as to solve the problems mentioned in the background art.
[0004] To achieve the above objectives, the present invention provides the following technical solution: The workshop 1 of a railway vehicle depot or vehicle factory includes wheelsets 1A, workshop tracks 1B, a planar storage 2 for wheelsets 1A, and a gantry robot 3. The planar storage 2 includes a first-layer support 2A. The wheelsets 1A located on the first-layer support 2A are placed on the first-layer support 2A. The wheelsets 1A are staggered and arranged in a crisscross pattern. The length direction of the workshop tracks 1B is consistent with the length direction of the wheelsets 1A in the planar storage 2.
[0005] The gantry robot 3 includes a large trolley 3A, a left trolley 3B, and a right trolley 3C. The large trolley 3A includes a transverse track 3AY, the left trolley 3B includes a left body 3B1, and the right trolley 3C includes a right body 3C1. Both the left trolley 3B and the right trolley 3C include a lifting device 4 and a gripper device 5. The gripper device 5 is mounted on the lifting device 4, and the two lifting devices 4 are respectively mounted on the left body 3B1 and the right body 3C1. The left trolley 3B and the right trolley 3C can run independently on the transverse track 3AY, while the large trolley 3A can run on the factory track 1B. The gantry robot 3 can simultaneously grab two adjacent wheelsets 1A that are staggered or in the same row, and place them in the same row or staggered set positions after operation.
[0006] As a further embodiment of this utility model: 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.
[0007] As a further embodiment of this utility model: 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.
[0008] As a further embodiment of this utility model: the left body 3B1 of the left trolley 3B includes a left beam 3B1A, and the fixed starting end 4A on the left trolley 3B is connected to the left beam 3B1A as a whole.
[0009] As a further embodiment of this utility model: the lifting device 4 in the right trolley 3C includes a top trolley 4D, the fixed starting end 4A on the right trolley 3C is fixed to the top trolley 4D, the right body 3C1 includes a right beam 3C1A, and the top trolley 4D can run on the right beam 3C1A.
[0010] As a further embodiment of this utility model: 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 more sets of intermediate steel sections 6B1. 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.
[0011] As a further embodiment of this utility model: the gripper device 5 includes a horizontal telescopic device 5A, the telescopic device 5A includes a telescopic head 5A1, the telescopic head 5A1 can extend into the top of the inner concave ring of the wheel rim of the wheelset 1A.
[0012] As a further embodiment of this utility model: under specific conditions, the gantry robot 3 can simultaneously grasp two staggered or adjacent wheel pairs 1A on the top and bottom layers.
[0013] In summary, compared with the prior art, the main features of this utility model are: 1) the gantry robot is equipped with two sets of grippers, which can simultaneously grasp two wheelsets; 2) both the left and right trolleys can move independently laterally, meaning the grippers can simultaneously grasp two wheelsets with different spacing; 3) the two sets of grippers can be raised and lowered independently, meaning they can simultaneously grasp wheelsets at different heights. Therefore, the main advantages of this utility model are: high degree of automation and high operating efficiency. Attached Figure Description
[0014] Figure 1 This is a structural diagram of wheelset 1A, factory track 1B, planar storage unit 2 of wheelset 1A, and gantry robot 3 within factory building 1;
[0015] Figure 2 yes Figure 1 The B-direction view is also a structural schematic diagram of the multi-stage lifting device 41 that makes up the lifting device 4, as well as a structural schematic diagram of the fixed starting end 4A, intermediate device 4B and lifting terminal 4C that make up the lifting device 4.
[0016] Figure 3 yes Figure 2 The enlarged view of part I is also a structural schematic diagram of the telescopic device 5A that makes up the claw device 5, and a structural schematic diagram of the telescopic head 5A1 that makes up the telescopic device 5A.
[0017] Figure 4 yes Figure 1 The A-direction view is also a structural schematic diagram of the large trolley 3A, left trolley 3B, and right trolley 3C that make up the gantry robot 3; a structural schematic diagram of the transverse track 3AY that makes up the large trolley 3A; a structural schematic diagram of the left body 3B1 that makes up the left trolley 3B; a structural schematic diagram of the right body 3C1 that makes up the right trolley 3C; a structural schematic diagram of the lifting device 4 and gripper device 5 that make up the left trolley 3B and right trolley 3C; a structural schematic diagram of the left beam 3B1A that makes up the left body 3B1; a structural schematic diagram of the top trolley 4D that makes up the lifting device 4; a structural schematic diagram of the right beam 3C1A that makes up the right body 3C1; a structural schematic diagram of the first-layer support 2A and the second-layer support 2B that make up the planar storage 2; a structural schematic diagram of the steel lifting device 6 and the lifting traction device 41A that make up the multi-stage lifting device 41; and a structural schematic diagram of the gantry robot 3 gripping two adjacent and misaligned wheelsets 1A on the first and second layers under specific conditions.
[0018] Figure 5 yes Figure 4 The CC view is also a structural schematic diagram of the steel section fixed starting end 6A, steel section intermediate device 6B, steel section lifting terminal 6C and linear guide rail 6D in the steel section lifting device 6, and is also a structural schematic diagram of the intermediate steel section 6B1 in the steel section intermediate device 6B.
[0019] Figure 6 yes Figure 4 The M-direction view; also a structural schematic diagram of the left cart 3B and the right cart 3C when the gantry robot 3 grasps the two adjacent misaligned wheelsets 1A on the first and second floors;
[0020] Figure 7 This is a schematic diagram of the structure when the gantry robot 3 simultaneously grasps two adjacent and misaligned wheelsets 1A located on the second floor;
[0021] Figure 8 yes Figure 7 DD view;
[0022] Figure 9 yes Figure 7 N-direction view;
[0023] Figure 10This is a schematic diagram of the gantry robot 3 simultaneously grasping two adjacent but misaligned wheelsets 1A located on the second floor.
[0024] Figure 11 yes Figure 10 EE view;
[0025] Figure 12 yes Figure 10 The P-direction view;
[0026] Figure 13 This is another structural schematic diagram of the gantry robot 3; it is also a structural schematic diagram of the lowest position of wheel pair 1A when it is at its highest position and the lowest position of the lifting device 4 is at the same height; it is also a structural schematic diagram of the planar storage warehouse 2 on which the two-layer wheel pair is directly placed on the first-layer wheel pair.
[0027] In the attached diagram, 1 represents the factory building, 1A represents the wheelset, and 1B represents the factory track.
[0028] 2 is a flat storage unit; 2A is a single-layer support structure; 2B is a double-layer support structure.
[0029] 3 represents the gantry robot, 3A represents the main trolley, 3AY represents the transverse track, 3B represents the left trolley, 3B1 represents the left body, 3B1A represents the left beam, 3C represents the right trolley, 3C1 represents the right body, and 3C1A represents the right beam.
[0030] 4 represents the lifting device; 4A is the fixed starting point; 4B is the intermediate device; 4C is the lifting terminal; 4D is the top trolley; 41 is the multi-stage lifting device; and 41A is the lifting traction device.
[0031] 5 represents the gripper mechanism, 5A represents the telescopic mechanism, and 5A1 represents the telescopic head.
[0032] 6 is the steel section lifting device, 6A is the steel section fixing start end, 6B is the steel section intermediate device, 6B1 is the intermediate steel section, 6C is the steel section lifting end, and 6D is the linear guide rail. Detailed Implementation
[0033] The technical solutions of the present utility model will be described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.
[0034] Please see Figures 1-13In this embodiment of the utility model, a gantry robot for railway wheelsets with dual trolleys is characterized in that the workshop 1 of the railway vehicle depot or vehicle factory includes wheelsets 1A, workshop track 1B, a planar storage 2 for wheelsets 1A, and a gantry robot 3. The planar storage 2 includes a support layer 2A. The wheelsets 1A located on the first layer are placed on the first layer support layer 2A. The wheelsets 1A are staggered and cross-arranged. The length direction of the workshop track 1B is consistent with the length direction of the wheelsets 1A in the planar storage 2.
[0035] The gantry robot 3 includes a large trolley 3A, a left trolley 3B, and a right trolley 3C. The large trolley 3A includes a transverse track 3AY, the left trolley 3B includes a left body 3B1, and the right trolley 3C includes a right body 3C1. Both the left trolley 3B and the right trolley 3C include a lifting device 4 and a gripper device 5. The gripper device 5 is mounted on the lifting device 4, and the two lifting devices 4 are respectively mounted on the left body 3B1 and the right body 3C1. The left trolley 3B and the right trolley 3C can run independently on the transverse track 3AY, while the large trolley 3A can run on the factory track 1B. The gantry robot 3 can simultaneously grab two adjacent wheelsets 1A that are staggered or in the same row, and place them in the same row or staggered set positions after operation.
[0036] It should be noted that the wheelset located on the second layer can be placed on the wheelset located on the first layer, or on the second layer bracket 2B;
[0037] It should be further noted that: the planar repository 2 can be a multi-level planar repository or a single-level cache area.
[0038] 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.
[0039] 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.
[0040] 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.
[0041] The left body 3B1 of the left trolley 3B includes a left beam 3B1A, and the fixed starting end 4A on the left trolley 3B is connected to the left beam 3B1A as a whole.
[0042] The lifting device 4 in the right trolley 3C includes a top trolley 4D. The fixed starting end 4A on the right trolley 3C is fixed to the top trolley 4D. The right body 3C1 includes a right beam 3C1A. The top trolley 4D can run on the right beam 3C1A.
[0043] 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 more sets of intermediate steel sections 6B1. 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.
[0044] It should be noted that the lifting traction device 41A can be a winch or a chain drive device.
[0045] 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.
[0046] Under specific conditions, the gantry robot 3 can simultaneously grasp two staggered or adjacent wheel pairs 1A on the top and bottom layers.
[0047] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In this utility model, it should also be noted that the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to fixed connection, detachable connection, integral molding connection, mechanical connection, or indirect connection through an intermediate medium. The specific meaning of the terms in this utility model can be understood according to the specific circumstances.
[0048] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A gantry robot with two trolleys for railway wheelsets, characterized in that: The workshop (1) of a railway vehicle depot or rolling stock factory includes wheelsets (1A), workshop tracks (1B), a planar storage unit (2) for wheelsets (1A), and a gantry robot (3). The planar storage unit (2) includes a first-floor support (2A). The wheelsets (1A) on the first floor are placed on the first-floor support (2A). The wheelsets (1A) are staggered and crisscrossed. The length direction of the workshop tracks (1B) is consistent with the length direction of the wheelsets (1A) in the planar storage unit (2). The gantry robot (3) includes a main carriage (3A), a left trolley (3B), and a right trolley (3C). The main carriage (3A) includes a transverse track (3AY), and the left trolley (3B) includes... The left vehicle body (3B1) and the right trolley (3C) include the right vehicle body (3C1), the left trolley (3B) and the right trolley (3C) both include a lifting device (4) and a gripper device (5); the gripper device (5) is installed on the lifting device (4), and the two lifting devices (4) are installed on the left vehicle body (3B1) and the right vehicle body (3C1) respectively; the left trolley (3B) and the right trolley (3C) can run independently on the transverse track (3AY), and the trolley (3A) can run on the factory track (1B); the gantry robot (3) can simultaneously grab two adjacent wheelsets (1A) that are staggered or in the same row, and place them in the same row or staggered set positions after operation.
2. A gantry robot with two trolleys for railway wheelsets according to claim 1, characterized in that: 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).
3. A gantry robot with two trolleys for railway wheelsets according to claim 2, characterized in that: The lifting device (4) includes a multi-stage lifting device (41); when the wheel pair (1A) grasped by the gantry robot (3) is at the highest position, the highest position of the wheel pair (1A) is higher than the lowest position of the multi-stage lifting device (41).
4. A gantry robot with two trolleys for railway wheelsets according to claim 3, characterized in that: The left body (3B1) of the left trolley (3B) includes a left beam (3B1A), and the fixed starting end (4A) on the left trolley (3B) is connected to the left beam (3B1A) as a whole.
5. A gantry robot with two trolleys for railway wheelsets according to claim 3, characterized in that: The lifting device (4) in the right trolley (3C) includes a top trolley (4D), the fixed starting end (4A) on the right trolley (3C) is fixed to the top trolley (4D), the right body (3C1) includes a right beam (3C1A), and the top trolley (4D) can run on the right beam (3C1A).
6. A gantry robot with dual trolleys for railway wheelsets according to claim 4 or 5, characterized in that: 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 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 more sets of intermediate steel sections (6B1). Linear guide rails (6D) are installed between the 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) in the steel section intermediate device (6B). The lifting of the steel section lifting terminal (6C) is achieved through the lifting traction device (41A).
7. A gantry robot with two trolleys for railway wheelsets according to claim 6, characterized in that: 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).
8. A gantry robot with two trolleys for railway wheelsets according to claim 7, characterized in that: Under specific conditions, the gantry robot (3) can simultaneously grab two staggered or adjacent wheel pairs (1A) on the top floor and the next floor.