CN111790969A - Plasma automatic cutting method and system for side plates and end plates of railway scrapped wagon carriage - Google Patents
Plasma automatic cutting method and system for side plates and end plates of railway scrapped wagon carriage Download PDFInfo
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Abstract
The invention provides a plasma automatic cutting method and a system for side plates and end plates of a railway scrapped wagon carriage, wherein the system comprises a walking platform, a cutting robot track, a cutting robot and a carrying robot; the cutting robot is provided with a plasma cutting device; the cutting robot track comprises a longitudinal track and a transverse track, the longitudinal track is parallel to the walking direction of the walking platform and is arranged on the inner side of the portal frame, the transverse track is positioned below the longitudinal track and is perpendicular to the longitudinal track, and the cutting robot is movably arranged below the transverse track along the transverse track; the transfer robot is arranged on a transfer robot guide rail, and the transfer robot guide rail is arranged on one side of the walking platform. The automatic cutting technology for the platform floor of the discarded railway wagon is designed, so that the normative, environmental protection, safety and the like of the disassembly process of the discarded railway wagon are stably improved, and the automatic cutting technology has the advantages of high efficiency, safety, environmental protection and the like.
Description
Technical Field
The invention relates to the field of rail transit equipment manufacturing, in particular to a method and a system for plasma automatic cutting of side plates and end plates of a railway scrapped wagon carriage.
Background
Freight transportation is an important component of rail transportation, and vehicles for carrying freight on rails are collectively called rail wagons. It can be divided into general purpose trucks and special trucks according to their usage. The main types are boxcars, gondola cars, tank cars, flat cars and the like. Annual cargo delivery volume of China railway is the first in the world and reaches 30 hundred million tons. Can be used for conveying coal, grains, liquid, domestic animals, weapons and ammunition, cement, various large goods, various materials and the like. It can be seen that the transportation of goods is a very important part of rail transportation.
The disassembly construction of the scrapped boxcar of the railway is an important work for recycling scrapped goods and materials of the railway. In general, the flame cutting method is adopted in the railway scrapped wagon carriage, the cost of the flame cutting equipment is low, the flame cutting equipment is the only economic and effective means for cutting thick metal plates (more than 40 mm), and the flame cutting equipment has the defects in the aspect of thin plate cutting. Compared with plasma and the like, the heat affected zone of flame cutting is much larger, and the thermal deformation is larger. In order to achieve accurate and effective cutting, operators need to have advanced technology to avoid deformation of the metal plate in time in the cutting process, and in order to solve the problems and enable the scrapped railway wagon carriage to be disassembled safely and efficiently, the invention provides an automatic cutting technology of a plasma cutting robot for side plates and end plates of the scrapped railway wagon carriage, which solves the problems in manual flame cutting in the traditional disassembling method and improves the disassembling efficiency and the automatic degree of the railway wagon carriage.
Disclosure of Invention
The invention aims to provide a plasma automatic cutting method and a plasma automatic cutting system for side plates and end plates of a railway scrapped wagon carriage, which aim to solve the problems in the background technology.
In order to solve the problems, the invention adopts the following technical scheme:
a plasma automatic cutting method for side plates and end plates of a railway scrapped wagon carriage comprises the following steps:
step 1: cutting the end plate;
step 101: dividing an end plate area: uniformly dividing a truck end plate to be cut into four areas from top to bottom, wherein the four areas are respectively subjected to plasma cutting by two cutting robots in sequence;
step 102: end plate cutting path: a rectangular coordinate system is established by taking a cutting initial point as an origin, and the cutting robot cuts according to the following coordinate sequence:
(0,0)→(x1,0)→(x1,y1)→(x2,y1)→(x2,0)→(x3,0)→(x3,y1)→(x4,y1)→(x4,0)→(x3,0)→(x3,y1)→(x2,y1)→(x2,0)→(x1,0)→(x1,y1)→(0,y1)→(0,0)；
wherein (x)3,0)→(x3,y1)、(x2,y1)→(x2,0)、(x1,0)→(x1,y1) Is an idle stroke;
x1＝x2-x1＝x3-x2＝x4-x3＝L/4，y1＝h；
l is the length of the cutting area, and h is the height of the cutting area;
step 2: cutting the side plates:
step 201: side plate area division: the truck side plates to be cut are respectively and uniformly divided into three cutting areas from left to right, and each truck side plate is subjected to plasma cutting according to the cutting areas by a cutting robot;
step 202: side plate cutting path: a rectangular coordinate system is established by taking a cutting initial point as an origin, and the cutting robot cuts according to the following coordinate sequence:
(0,0)→(x1,0)→(x1,y1)→(x2,y1)→(x2,y2)→(x1,y2)→(x1,y3)→(x2,y3)→(x2,y2)→(x3,y2)→(x3,y3)→(x2,y3)→(x2,y1)→(x3,y1)→(x3,y3)；
wherein (x)1,y2)→(x1,y3)、(x2,y3)→(x2,y2)、(x2,y3)→(x2,y1) Is an idle stroke;
wherein x is2-x1＝x3-x2。
Preferably, in step 202, y is2-y3＝y2-y1。
Preferably, in the step 101, the cut wagon end plate is uniformly divided into four regions from top to bottom, wherein the four regions are a region one, a region two, a region three and a region four, a cutting path of the region is longer than cutting paths of other regions, and the cutting lengths of the region two, the region three and the region four are the same.
Preferably, the cutting path of the first area is as follows: selecting a cutting initial point in the cutting area, establishing a rectangular coordinate system by taking the cutting initial point as an original point, and cutting by the cutting robot according to the following coordinate sequence:
(0,0)→(x1,0)→(x1,y1)→(x2,y1)→(x2,0)→(x3,0)→(x3,y1)→(x4,y1)→(x4,0)→(x3,0)→(x3,y1)→(x2,y1)→(x2,0)→(x1,0)→(x1,y1)→(0,y1)→(0,0)；
wherein (x)3,0)→(x3,y1)、(x2,y1)→(x2,0)、(x1,0)→(x1,y1) Is an idle stroke;
x1＝x2-x1＝x3-x2＝x4-x3＝L/4，y1＝h；
l is the length of the first cutting area, and h is the height of the first cutting area.
Preferably, the cutting paths of the second region, the third region and the fourth region are as follows: selecting a cutting initial point in the cutting area, establishing a rectangular coordinate system by taking the cutting initial point as an original point, and cutting by the cutting robot according to the following coordinate sequence:
(0,0)→(x11,0)→(x11,y11)→(x21,y11)→(x21,0)→(x31,0)→(x31,y11)→(x41,y11)→(x41,0)→(x31,0)→(x31,y11)→(x21,y11)→(x21,0)→(x11,0)→(x11,y11)→(0,y11)→(0,0)；
wherein (x)3,0)→(x3,y1)、(x2,y1)→(x2,0)、(x1,0)→(x1,y1) Is an idle stroke;
x11＝x21-x11＝x31-x21＝x41-x31＝L’/4，y11＝h’；
l ' is the length of the cutting zone, h ' is the height of the cutting zone and h ' < h.
A plasma automatic cutting system for side plates and end plates of a railway scrapped wagon carriage comprises a walking platform, a cutting robot track, a cutting robot and a carrying robot; the cutting robot is provided with a plasma cutting device; the cutting robot track comprises a longitudinal track and a transverse track, the longitudinal track is parallel to the walking direction of the walking platform and is arranged on the inner side of the portal frame, the transverse track can be longitudinally and slidably arranged on the longitudinal track along the longitudinal track, the transverse track is positioned below the longitudinal track and is perpendicular to the longitudinal track, and the cutting robot is movably arranged below the transverse track along the transverse track so as to realize longitudinal and transverse walking of the cutting robot; the carrying robot is arranged on a carrying robot guide rail, the carrying robot guide rail is arranged on one side of the walking platform, the cutting robot cuts the end plate according to the cutting path, and the cutting robot cuts the side plate according to the cutting path.
Preferably, the number of the longitudinal rails, the number of the transverse rails and the number of the cutting robots are two, and the two longitudinal rails are arranged on two sides of the walking platform respectively.
Preferably, the number of the transfer robot rails is two, and one transfer robot is mounted on each of the two transfer robot rails.
Preferably, the steel plate cutting device further comprises a material frame, wherein the material frame is arranged on one side of the conveying robot guide rail and used for receiving the cut steel plates conveyed by the conveying robot.
Preferably, the transverse rail is mounted on a sliding base, the sliding base is coaxially connected with a ball screw, the ball screw is arranged in the longitudinal rail, and the ball screw is connected with an output shaft of the motor.
Compared with the prior art, the invention has the beneficial effects that:
through reasonable design, the plasma automatic cutting technology for the side plates and the end plates of the railway scrapped wagon carriage is designed, so that a series of problems of normativity, environmental friendliness, safety and the like in the disassembly process of the scrapped wagon are solved, and the automatic cutting technology for the side plates and the end plates of the railway scrapped wagon carriage has the advantages of high efficiency, feasibility, automatic controllability, safety, environmental friendliness and the like.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is an isometric view of a railway scrapped wagon box side and end plate plasma automated cutting system;
FIG. 2 is a front view of a plasma automated cutting system for side and end plates of a railway scrapped wagon box;
FIG. 3 is a block diagram of the cutting area division of the end plate of the truck;
FIG. 4 is a cutting path diagram of the end plate of the wagon;
FIG. 5 is a structural diagram of a cutting area division of a side plate of the truck;
fig. 6 is a side panel cutting path view of the wagon.
In the figure, 1 is a walking platform, 2 is a cutting robot, 3 is a carrying robot, 4 is a longitudinal rail, 5 is a transverse rail, 6 is a carrying robot guide rail, 7 is a plate block of a truck to be cut, and 8 is a portal frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The invention will now be further described with reference to the accompanying drawings.
Example 1: plasma automatic cutting method for side plates and end plates of railway scrapped wagon carriage
A plasma automatic cutting method for side plates and end plates of a railway scrapped wagon carriage comprises the following steps:
step 1: cutting the end plate;
step 101: dividing an end plate area: uniformly dividing a truck end plate to be cut into four areas from top to bottom, wherein the four areas are respectively subjected to plasma cutting by two cutting robots in sequence;
step 102: end plate cutting path: a rectangular coordinate system is established by taking a cutting initial point as an origin, and the cutting robot cuts according to the following coordinate sequence:
(0,0)→(x1,0)→(x1,y1)→(x2,y1)→(x2,0)→(x3,0)→(x3,y1)→(x4,y1)→(x4,0)→(x3,0)→(x3,y1)→(x2,y1)→(x2,0)→(x1,0)→(x1,y1)→(0,y1)→(0,0)；
wherein (x)3,0)→(x3,y1)、(x2,y1)→(x2,0)、(x1,0)→(x1,y1) Is an idle stroke;
x1＝x2-x1＝x3-x2＝x4-x3＝L/4，y1＝h；
l is the length of the cutting area, and h is the height of the cutting area;
step 2: cutting the side plates:
step 201: side plate area division: the truck side plates to be cut are respectively and uniformly divided into three cutting areas from left to right, and each truck side plate is subjected to plasma cutting according to the cutting areas by a cutting robot;
step 202: side plate cutting path: a rectangular coordinate system is established by taking a cutting initial point as an origin, and the cutting robot cuts according to the following coordinate sequence:
(0,0)→(x1,0)→(x1,y1)→(x2,y1)→(x2,y2)→(x1,y2)→(x1,y3)→(x2,y3)→(x2,y2)→(x3,y2)→(x3,y3)→(x2,y3)→(x2,y1)→(x3,y1)→(x3,y3)；
wherein (x)1,y2)→(x1,y3)、(x2,y3)→(x2,y2)、(x2,y3)→(x2,y1) Is an idle stroke;
wherein x is2-x1＝x3-x2。
Generally, a boxcar is composed of two side plates and two end plates which are assembled above a bottom plate to form a rectangular opening box body, the two side plates and the two end plates are sequentially separated and perpendicular to the bottom plate, after the boxcar enters a splitting station, two cutting robots perform cutting work, and the two carrying robots carry cut steel plates in a matched mode.
Referring to fig. 3, the wagon end plate is composed of a reinforcing section bar, a first area, a second area, a third area and a fourth area, wherein the first area, the second area, the third area and the fourth area are respectively cut by different cutting robots in sequence; the cutting path of the area one is longer than that of the other area, and the cutting lengths of the area two, the area three and the area four are the same.
Referring to the first path shown in fig. 4, which is an automated cutting path of the first wagon end plate region, ABCDEFGHI-I 'F' G 'D' E 'B' C 'J' a ', the cutting start point and the termination point are both a (a'); wherein F 'G', D 'E' and B 'C' are all idle strokes.
Referring to the second path shown in fig. 4, the second, third and fourth automatic cutting paths of the truck end plate are ABCDEFGHI-I 'F' G 'D' E 'B' C 'J' a ', and the cutting start point and the termination point are both a (a'); wherein F 'G', D 'E' and B 'C' are all idle strokes.
The difference between the first cutting area and the second cutting area is that the height of the first cutting area is higher than that of the other cutting areas.
Referring to fig. 5, the truck side panel is composed of a reinforcing section bar and three regions, wherein the cutting paths and the cutting lengths of the first region, the second region and the third region are respectively identical to those of the sixth region, the fifth region and the fourth region; and the areas corresponding to the two side plates are simultaneously cut by two cutting robots respectively, and each area is cut sequentially.
Referring to fig. 6, the automatic cutting path of the truck side panel is ABCDEFGH-H 'D' IJH 'KLJ', where FG, H 'D', H 'K' are idle strokes. Wherein, the first path and the second path respectively represent cutting paths of two side plates, and two cutting robots simultaneously cut the cutting paths.
Example 2: plasma automatic cutting system for side plates and end plates of railway scrapped wagon carriage
Referring to fig. 1 and fig. 2, an embodiment of the invention is a plasma automatic cutting system for a side plate and an end plate of a railway scrapped wagon carriage, which includes a walking platform 1, a cutting robot track, a cutting robot 2, and a handling robot 3; the cutting robot 2 is provided with a plasma cutting device; the cutting robot track comprises a longitudinal track 4 and a transverse track 5, the longitudinal track 4 is parallel to the walking direction of the walking platform 1 and is installed inside a portal frame 8, the transverse track 5 is installed on the longitudinal track 4 in a longitudinally sliding mode along the longitudinal track 4, the transverse track 5 is located below the longitudinal track 4 and is perpendicular to the longitudinal track 4, and the cutting robot 2 is movably installed below the transverse track 5 along the transverse track 5 so as to realize longitudinal and transverse walking of the cutting robot 2; the transfer robot 3 is arranged on a transfer robot guide rail 6, and the transfer robot 3 guide rail is arranged on one side of the walking platform 1.
In the specific implementation of the present invention, the cutting robot 2 is a cutting robot 2 having an ion cutting device, and can realize plasma cutting. The cutting robot is installed on the transverse rail 5 and can move transversely on the transverse rail 5, and meanwhile, the transverse rail 5 can move longitudinally on the longitudinal rail 4, so that the longitudinal and transverse walking of the cutting robot is realized, and the cutting robot can cut according to the designed cutting path.
The transverse track 5 is installed on a sliding seat, the sliding seat is coaxially connected with a ball screw, the ball screw is arranged in the longitudinal track, and the ball screw is connected with an output shaft of a motor. The motor is electrified to drive the ball screw to rotate, so that the sliding seat moves back and forth linearly, and the transverse rail 5 moves on the longitudinal rail 4.
In an embodiment of the invention, the system cuts the side panels and end panels of the wagon according to the cutting method as described in embodiment 1.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. A plasma automatic cutting method for side plates and end plates of a railway scrapped wagon carriage is characterized by comprising the following steps:
step 1: cutting the end plate;
step 101: dividing an end plate area: uniformly dividing a truck end plate to be cut into four areas from top to bottom, wherein the four areas are respectively subjected to plasma cutting by two cutting robots in sequence;
step 102: end plate cutting path: a rectangular coordinate system is established by taking a cutting initial point as an origin, and the cutting robot cuts according to the following coordinate sequence:
(0,0)→(x1,0)→(x1,y1)→(x2,y1)→(x2,0)→(x3,0)→(x3,y1)→(x4,y1)→(x4,0)→(x3,0)→(x3,y1)→(x2,y1)→(x2,0)→(x1,0)→(x1,y1)→(0,y1)→(0,0)；
wherein (x)3,0)→(x3,y1)、(x2,y1)→(x2,0)、(x1,0)→(x1,y1) Is an idle stroke;
x1＝x2-x1＝x3-x2＝x4-x3＝L/4，y1＝h；
l is the length of the cutting area, and h is the height of the cutting area;
step 2: cutting the side plates:
step 201: side plate area division: the truck side plates to be cut are respectively and uniformly divided into three cutting areas from left to right, and each truck side plate is subjected to plasma cutting according to the cutting areas by a cutting robot;
step 202: side plate cutting path: a rectangular coordinate system is established by taking a cutting initial point as an origin, and the cutting robot cuts according to the following coordinate sequence:
(0,0)→(x1,0)→(x1,y1)→(x2,y1)→(x2,y2)→(x1,y2)→(x1,y3)→(x2,y3)→(x2,y2)→(x3,y2)→(x3,y3)→(x2,y3)→(x2,y1)→(x3,y1)→(x3,y3)；
wherein (x)1,y2)→(x1,y3)、(x2,y3)→(x2,y2)、(x2,y3)→(x2,y1) Is an idle stroke;
wherein x is2-x1＝x3-x2。
2. The method of claim 1, wherein in step 202, y is the step of plasma cutting the end and side plates of the end wagon of the railway wagon2-y3＝y2-y1。
3. The method as claimed in claim 1, wherein in step 101, the cut wagon box end plate is divided into four regions from top to bottom, wherein the four regions are region one, region two, region three and region four, the cutting path of the region is longer than that of the other region, and the cutting lengths of the region two, the region three and the region four are the same.
4. The method for plasma automated cutting of railway end and side rails of a scrapped wagon according to claim 3, wherein the cutting path of the first area is as follows: selecting a cutting initial point in the cutting area, establishing a rectangular coordinate system by taking the cutting initial point as an original point, and cutting by the cutting robot according to the following coordinate sequence:
(0,0)→(x1,0)→(x1,y1)→(x2,y1)→(x2,0)→(x3,0)→(x3,y1)→(x4,y1)→(x4,0)→(x3,0)→(x3,y1)→(x2,y1)→(x2,0)→(x1,0)→(x1,y1)→(0,y1)→(0,0)；
wherein (x)3,0)→(x3,y1)、(x2,y1)→(x2,0)、(x1,0)→(x1,y1) Is an idle stroke;
x1＝x2-x1＝x3-x2＝x4-x3＝L/4，y1＝h；
l is the length of the first cutting area, and h is the height of the first cutting area.
5. The automatic plasma cutting method for the side plates and the end plates of the railway scrapped wagon carriages as claimed in claim 4, wherein the cutting paths of the second area, the third area and the fourth area are as follows: selecting a cutting initial point in the cutting area, establishing a rectangular coordinate system by taking the cutting initial point as an original point, and cutting by the cutting robot according to the following coordinate sequence:
(0,0)→(x11,0)→(x11,y11)→(x21,y11)→(x21,0)→(x31,0)→(x31,y11)→(x41,y11)→(x41,0)→(x31,0)→(x31,y11)→(x21,y11)→(x21,0)→(x11,0)→(x11,y11)→(0,y11)→(0,0)；
wherein (x)3,0)→(x3,y1)、(x2,y1)→(x2,0)、(x1,0)→(x1,y1) Is an idle stroke;
x11＝x21-x11＝x31-x21＝x41-x31＝L’/4，y11＝h’；
l ' is the length of the cutting zone, h ' is the height of the cutting zone and h ' < h.
6. A plasma automatic cutting system for side plates and end plates of a railway scrapped wagon carriage is characterized by comprising a walking platform, a cutting robot track, a cutting robot and a carrying robot; the cutting robot is provided with a plasma cutting device; the cutting robot track comprises a longitudinal track and a transverse track, the longitudinal track is parallel to the walking direction of the walking platform and is arranged on the inner side of the portal frame, the transverse track can be longitudinally and slidably arranged on the longitudinal track along the longitudinal track, the transverse track is positioned below the longitudinal track and is perpendicular to the longitudinal track, and the cutting robot is movably arranged below the transverse track along the transverse track so as to realize longitudinal and transverse walking of the cutting robot; the transfer robot is mounted on a transfer robot rail provided at one side of the traveling platform, the cutting robot cuts the end plate according to the cutting path as set forth in claim 1, 4 or 5, and the cutting robot cuts the side plate according to the cutting path as set forth in claim 1.
7. The plasma automatic cutting system for the side plates and the end plates of the railway scrapped wagon carriages as claimed in claim 6, wherein the longitudinal rails, the transverse rails and the cutting robot are respectively arranged in two numbers, and the two longitudinal rails are respectively arranged on two sides of the walking platform.
8. The plasma automatic cutting system for the side plates and the end plates of the railway scrapped wagon carriages as claimed in claim 6, wherein the number of the transfer robot guide rails is two, and one transfer robot is respectively installed on the two transfer robot guide rails.
9. The plasma automatic cutting system for the side plates and the end plates of the railway scrapped wagon bodies according to claim 6, further comprising a material frame, wherein the material frame is arranged on one side of the transfer robot guide rail and used for receiving the cut steel plates transferred by the transfer robot.
10. The plasma automatic cutting system for the side plates and the end plates of the railway scraped wagon of claim 9, wherein the transverse rails are mounted on a sliding seat which is coaxially connected with a ball screw, the ball screw is arranged in the longitudinal rails, and the ball screw is connected with an output shaft of a motor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114273765A (en) * | 2022-01-27 | 2022-04-05 | 中车沈阳机车车辆有限公司设备分公司 | Railway wagon side plate plasma automatic cutting device and method |
| CN114700598A (en) * | 2022-04-13 | 2022-07-05 | 中铁物总资源科技有限公司 | Method for cutting side plates and end plates of railway scrapped wagon carriage |
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| CN110711958A (en) * | 2019-11-15 | 2020-01-21 | 安徽同兴科技发展有限责任公司 | Anti-interference high-precision laser cutting machine driven by linear motor and control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114273765A (en) * | 2022-01-27 | 2022-04-05 | 中车沈阳机车车辆有限公司设备分公司 | Railway wagon side plate plasma automatic cutting device and method |
| CN114273765B (en) * | 2022-01-27 | 2024-05-07 | 中车沈阳机车车辆有限公司设备分公司 | Railway wagon side plate plasma automatic cutting device and method |
| CN114700598A (en) * | 2022-04-13 | 2022-07-05 | 中铁物总资源科技有限公司 | Method for cutting side plates and end plates of railway scrapped wagon carriage |
| US11717906B1 (en) | 2022-04-13 | 2023-08-08 | China Railway General Resources Technology Co., Ltd. | Method for cutting side plates and end plates of scrapped railway boxcar |
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