A method for correcting the positioning of a train side frame sand core and a special core positioning component thereof

Abstract

A method for positioning and correcting a sand core of a train side frame and a core positioning component thereof. The method can utilize an existing core-setting robot and its existing solidified software for the existing side frame of a freight train bogie, and directly perform a core-setting and molding process operation on an improved side frame of a freight train bogie without replacing a manipulator. The method uses a train side frame sand core core positioning component composed of a special sand core scanning and positioning block and a special sand mold scanning and positioning block, wherein the special sand core scanning and positioning block comprises a sand core positioning body, a sand core scanning body and a sand core positioning column, and can realize three-dimensional parameter correction; the special sand mold scanning and positioning block comprises a sand mold positioning body, a sand mold scanning body and a sand mold positioning column, and can realize two-dimensional data correction. In production, the problem of high expenditure cost caused by developing special software for each model of the improved freight train side frame and reduced production efficiency caused by frequent adjustment and replacement of manipulators can be solved, thereby saving production cost and improving production efficiency.

Description

Technical Field

[0001] The invention relates to a core setting method for a train side frame sand core, in particular to a core setting positioning and correction method for a train side frame sand core and a special core setting positioning component thereof. Background Art

[0002] The side frame is one of the core components of the running mechanism of freight trains. It plays a bearing and supporting role for the freight car body. During the running of the train, it continuously bears and transmits various forces and loads. The casting quality of the side frame is an important factor that determines the safety and reliability of freight train operation. In order to improve the casting quality of the bolsters and side frames of railway freight train bogies, the China Railway Corporation (formerly the Ministry of Railways) standard TB / T3012-2016 clearly stipulates that the production of bolsters and side frames of bogies of 25t and above must adopt the integral core automatic core setting process. At present, the traditional K6 model freight train bogie side frames have promoted and applied the integral core setting process method. The core setting robot and its solidification software are used to scan the scanning and positioning blocks placed on the sand core and sand mold respectively to obtain the spatial position of the sand core and sand mold, and then control the manipulator to complete the core setting operation according to the preset target parameter value to realize the core-mold casting combination. At present, the general scanning and positioning blocks used in production, such as Figure 1 and Figure 2 As shown, the top annular surface is the scanning surface, and the reference height of the scanning surface is h j , the center of the scanning surface is the positioning point, taking the K6 side frame as an example, Figure 3 and Figure 4As shown, two universal scanning and positioning blocks are placed on the casting sand core and the sand mold respectively. The placement position on the sand core is the raised edge above the triangular hole, and on the sand mold it is placed at the lower edge. The preset target parameter values ​​in the curing software include: the distance L0 between the positioning points of the universal scanning and positioning blocks on the sand core, the distance M0 between the positioning points of the universal scanning and positioning blocks on the sand core and the center line of the manipulator claw of the lower core robot in the standard clamping state, the distance W0 between the positioning points of the universal scanning and positioning blocks on the sand mold, the distance D0 between the connection line of the positioning points of the universal scanning and positioning blocks on the sand core and the connection line of the positioning points of the universal scanning and positioning blocks on the sand mold in the standard mold assembly state, the height difference H0 between the scanning surface of the universal scanning and positioning blocks on the sand core and the scanning surface of the universal scanning and positioning blocks on the sand mold in the standard mold assembly state, the height difference h0 between the scanning surface of the universal scanning and positioning blocks on the sand core and the lower end surface of the manipulator claw of the lower core robot in the standard clamping state, etc. However, with the continuous increase in the load capacity of freight trains, the bogies and their components are constantly upgraded. Although the overall basic shape of the side frame remains unchanged, the design structure and specifications are constantly changing. Therefore, the preset target parameter values ​​in the existing core-setting robot curing software are no longer applicable to the process requirements of new models of products, and the core-setting robot cannot be directly applied to the core-setting operations of new models of products. If special application software is redeveloped one by one for each model of product and special manipulator clamping devices are re-equipped respectively, it will inevitably lead to a significant increase in production costs due to high software development costs, and frequent adjustments and replacements of manipulator clamping devices will significantly reduce production efficiency. Therefore, designing and developing a core-setting positioning correction method for new products so that the existing core-setting robot can be directly applied to the core-setting process of new models of products is a realistic issue to ensure that the mold assembly production line can achieve rapid and flexible conversion of different models of products, save production costs, and improve production efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a core positioning correction method for the sand core of the side frame of a train bogie and a core positioning component thereof, and to utilize the original core setting robot and its existing solidified software for the existing model side frame of the freight train bogie, so as to directly perform the core setting and molding process operation on the improved model side frame product of the freight train bogie without replacing the manipulator gripper, thereby reducing production costs and improving production efficiency.

[0004] A method for correcting the positioning of a sand core of a train side frame is used to correct the actual structural parameter values ​​of the sand core and the sand mold in the core assembly process of the improved model side frame of a freight train bogie, so that a core-setting robot can directly perform core-setting operation control on the improved model side frame product according to the preset target parameter value of the existing model side frame product, and the actual structural parameter value is the actual control parameter value when the improved model side frame is subjected to the overall core-setting operation without any numerical correction, including: the distance L between the setting points of the scanning positioning block set on the sand core n , the distance M between the setting point of the scanning positioning block set on the sand core in the standard clamping state and the center line of the core setting robot manipulator claw n , the distance D between the connection line of the scanning positioning block setting points set on the sand core and the connection line of the scanning positioning block setting points set on the sand mold in the standard mold assembly state n , in the standard mold assembly state, it is set on the sand core with a reference height h j The scanning surface of the scanning positioning block is set on the sand mold with a reference height h j The height difference H between the scanning positioning block and the scanning surface n , set on the sand core with a reference height h in the standard clamping state j The height difference h between the scanning surface of the scanning positioning block and the lower end surface of the core setting robot manipulator claw n The specific correction method includes the following steps:

[0005] Step 1: Use the lower core positioning component to correct the actual structural parameter values ​​of the improved side frame sand core and sand mold

[0006] The lower core positioning component is composed of a special sand core scanning positioning block and a special sand mold scanning positioning block. The special sand core scanning positioning block has a three-dimensional correction function, that is, the correction amount in the X direction is △L, in the Y direction is △M, and in the Z direction is △h. The special sand mold scanning positioning block has a two-dimensional correction function, that is, △D in the Y direction and △H in the Z direction. The two special sand core scanning positioning blocks are symmetrically placed on both sides of the center line of the improved side frame sand core at the raised edge above the triangular hole of the sand core, and the distance between the setting points of the two special sand core scanning positioning blocks is set to L n , affected by the improved side frame structure, usually the distance L nIt is impossible to be equal to the preset target parameter value L0 in the core setting robot curing software, and the two special sand mold scanning and positioning blocks are symmetrically placed on the lower edge of the sand mold on both sides of the center line of the improved side frame sand mold, and the distance between the setting points of the two special sand mold scanning and positioning blocks is set to W0, which is the same as the preset target parameter value in the core setting robot curing software; the correction amounts of the special sand core scanning and positioning block and the special sand mold scanning and positioning block respectively satisfy the following relationship:

[0007] △L=(L n -L0) / 2;

[0008] △M=M n -M0;

[0009] △D=D n -D0-△M;

[0010] △h=h n -h0;

[0011] △H=H n -H0+△h.

[0012] Step 2: Start the core setting robot to scan the special sand core scanning positioning block and the special sand mold scanning positioning block

[0013] The core setting robot scans the special sand core scanning and positioning block and the special sand mold scanning and positioning block respectively to obtain the spatial position parameters of each scanning point, that is, to determine the spatial position of the improved side frame sand core and the improved side frame sand mold. At this time, after the correction in step 1, the actual distance between the scanning points of the two special sand core scanning and positioning blocks in the X direction is adjusted to (L n -2△L)=L0, when the core setting robot detects that the distance between the two scanning points of the special sand core scanning and positioning blocks is L0, and also detects that the distance between the two scanning points of the special sand mold scanning and positioning blocks is W0, which are both the same as the preset parameter values ​​in the curing software, it is determined that the improved model side frame sand core and the improved model side frame sand mold are the core setting work objects, and the core setting robot manipulator is started to start the core setting operation.

[0014] Step 3: The core setting robot manipulator performs a clamping operation on the improved side frame sand core

[0015] The curing software controls the two groups of the manipulator claws to clamp on the separation beam between the center process hole of the sand core and the two triangular holes at a distance M0 below the line connecting the scanning points of the two special sand core scanning positioning blocks according to the preset target parameter value and the spatial position of the improved side frame sand core obtained in step 2. The clamping depth is the distance between the lower end surface of the manipulator claw and the reference height h.j The height difference h between the scanning surfaces of the special sand core scanning positioning block n Control, the preset target parameter value of the height difference is h0; at this time, after the correction in step 1, in the Y direction, the distance between the connection line of the center points of the two special sand core scanning positioning blocks and the connection line of the center points of the manipulator claws is (△M+M0)=M n , which is the actual structural parameter value. In the Z direction, the actual structural parameter value of the clamping depth is (△h+h0)=h n Therefore, under the control of the firmware, the manipulator can directly and accurately clamp and grasp the improved side frame sand core.

[0016] Step 4: The core setting robot manipulator performs the core setting operation on the improved side frame sand core

[0017] The curing software transfers the sand core gripped in step 3 from the sand core transfer station to the core assembly station according to the preset target parameter value and the sand mold spatial position obtained in step 2, and then transfers it to the assembly position in the sand mold, and controls the distance between the connection line of the two scanning points of the special sand core scanning positioning blocks and the connection line of the two scanning points of the special sand mold scanning positioning blocks to be D0, and the core depth is determined by the reference height h j The scanning surface of the special sand core scanning positioning block is connected to a reference height h j The height difference H between the scanning surfaces of the special sand mold scanning positioning block n Specifically, the preset target parameter value of the height difference is H0. When the manipulator moves down to the position, it releases the clamping of the sand core, and the sand core is stably retained in the sand mold to complete the core-mold combination. At this time, after the correction in step 1, in the Y direction, the distance between the connection line of the center points of the two special sand core scanning positioning blocks and the connection line of the two special sand mold scanning positioning blocks is (D0+△D+△M)=D n , which is the actual structural parameter value. In the Z direction, the actual structural parameter value of the lower core depth is (H0-△h+△H)=H n Therefore, under the control of the firmware, the robot can directly realize accurate core assembly of the improved side frame sand core.

[0018] Step 5: The core setting robot controls the manipulator to automatically reset

[0019] After completing the core setting operation of the sand core, the core setting robot controls the manipulator to automatically reset, removes the special sand core scanning and positioning block and the special sand mold scanning and positioning block from the sand core and the sand mold respectively, completes the core setting and mold assembly process, and the core setting robot enters a standby pause state, waiting for the next start instruction to start the next cycle of core setting operation.

[0020] The method for positioning and correcting the lower core of the train side frame sand core, in step 3, each of the manipulator claws includes two clamping plates, namely an inner clamping plate and an outer clamping plate. When clamping the sand core, the inner clamping plate cooperates and contacts with the inner side surface of the central process hole, and the outer clamping plate cooperates and contacts with the inner side surface of the triangular hole, wherein: the inner side surface of the central process hole of the side frame sand core of the freight train bogie of different models that cooperates and contacts with the outer clamping plate is a vertical plane, and the inner side surface of the triangular hole that cooperates and contacts with the outer clamping plate is an inclined plane with a certain inclination. Due to the differences in the structures and specifications of the sand cores of different models, the inclinations of the inclined planes of the sand cores of different models may be different. In order to improve the stability of the manipulator clamping the improved side frame sand core and avoid the damage to the improved side frame sand core caused by the clamping operation, it is preferred that before the lower core robot manipulator in step 3 performs the clamping operation on the improved side frame sand core, the inner side surface of the triangular hole of the improved side frame sand core The inclination is corrected so that the inclination of the inclined plane on the inner side of the triangular hole of the improved side frame sand core is the same as the engaging surface of the outer clamping plate, so as to ensure the high fit between the two; since the inner side surface of the triangular hole belongs to the non-use structural area of ​​the side frame product, and also because the inclination of the inclined plane on the inner side of the triangular hole of different types of side frame sand cores is slightly different, the correction amount of the inclined plane is also very small, so the correction of the inclined plane will neither affect the performance of the side frame casting nor reduce the self-strength of the side frame sand core, and has process feasibility and performance reliability; for the correction of the inclination of the inclined plane on the inner side of the triangular hole of the improved side frame sand core, it is preferred to adopt the method of adjusting the design structure of the improved side frame sand core, and the correction is directly completed in the core making process. The method of adjusting the design structure of the improved side frame sand core has the advantages of low correction difficulty, high efficiency, and is suitable for industrial production, and can ensure that the operating efficiency of the core assembly production line of the side frame sand core of the freight train bogie is not affected.

[0021] A train side frame sand core lower core positioning component is used as a special tool for a train side frame sand core lower core positioning correction method, and is composed of a special sand core scanning positioning block and a special sand mold scanning positioning block.

[0022] The special sand core scanning and positioning block has a three-dimensional correction function, including a sand core positioning body, a sand core scanning body arranged on the upper part of the sand core positioning body, and a sand core positioning column arranged on the lower part of the sand core positioning body, the sand core scanning body is a circular cylinder, the upper end face is a scanning face, the center of the circular ring is a positioning point, the sand core positioning column is a circular cone, the circular cone corresponds to the sand core positioning hole structure opened at the setting point of the special sand core scanning and positioning block on the improved side frame sand core, and is embedded in the sand core positioning hole when in use, so that the special sand core scanning and positioning block is fixedly placed on the sand core, wherein: in the X direction, the distance between the positioning point of the sand core scanning body and the axis of the sand core positioning column, that is, the setting point of the special sand core scanning and positioning block, is △L, in the Y direction, the distance between the positioning point on the sand core scanning body and the axis of the sand core positioning column is △M, in the Z direction, relative to the existing general scanning and positioning block reference height h j Increase or decrease △h (increase takes positive value, decrease takes negative value), the effective height of the special sand core scanning positioning block is h j +△h.

[0023] The special sand mold scanning and positioning block has a two-dimensional correction function, including a sand mold positioning body, a sand mold scanning body arranged on the upper part of the sand mold positioning body, and a sand mold positioning column arranged on the lower part of the sand mold positioning body. The sand mold scanning body is a circular cylinder, the upper end face is a scanning surface, and the center of the circular ring is a positioning point. The sand mold positioning column is a circular cone, and the circular cone corresponds to the sand mold positioning hole structure opened at the setting point of the special sand mold scanning and positioning block on the improved side frame sand mold. When in use, it is embedded in the sand mold positioning hole, so that the special sand mold scanning and positioning block is fixedly placed on the sand mold, wherein: in the Y direction, the distance between the positioning point of the sand mold scanning body and the axis of the sand mold positioning column, that is, the setting point of the special sand mold scanning and positioning block is △D, and in the Z direction, relative to the existing general scanning and positioning block reference height h j Increase or decrease △H (increase takes positive value, decrease takes negative value), the effective height of the special sand core scanning positioning block is h j +△H.

[0024] Furthermore, in order to limit the circumferential rotation of the special sand core scanning and positioning block and the special sand mold scanning and positioning block respectively placed on the sand core and the sand mold, thereby improving the positioning accuracy of the sand core and the sand mold, it is preferred that a thickened side wall is provided on one side of the sand core positioning body on the special sand core scanning and positioning block. When in use, the thickened side wall can be abutted against the inner side surface of the raised edge above the triangular hole of the sand core to limit the rotational movement of the special sand core scanning and positioning block, or it is preferred that a vertical flat surface is provided on the sand core positioning column, and a corresponding raised flat surface is provided in the sand core positioning hole on the improved side frame sand core, and the sand core positioning column and the sand core positioning hole cooperate with each other to limit the rotational movement of the special sand core scanning and positioning block. Similarly, it is preferred that a vertical flat surface is provided on the sand mold positioning column, and a corresponding raised flat surface is provided in the sand mold positioning hole on the improved side frame sand mold, and the sand mold positioning column and the sand mold positioning hole cooperate with each other to limit the rotational movement of the special sand mold scanning and positioning block.

[0025] The beneficial effect of the present invention is that a method for positioning and correcting the lower core of the sand core of a train side frame and a lower core positioning component thereof are provided. The sand core and sand mold scanning points of the improved model side frame are corrected by using the lower core positioning component of the sand core of the freight train side frame composed of a special sand core positioning body and a special sand mold positioning body. The integral core lowering robot produced using the traditional model side frame can be directly applied to the production of the lower core assembly mold of the improved model freight train side frame. This can solve the problems of high cost expenditure caused by developing special application software for each model of the improved model freight train side frame one by one, and reduced production efficiency caused by frequent adjustment and replacement of manipulators, thereby saving production costs and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 , stereogram of universal scanning positioning block.

[0027] Figure 2 , main view of the universal scanning positioning block.

[0028] Figure 3 , top view of the sand core and sand mold assembly status of the K6 type bogie side frame.

[0029] Figure 4 , Figure 3 Cross-sectional view of section AA.

[0030] Figure 5 , top view of the sand core and sand mold assembly status of the DZ1 bogie side frame.

[0031] Figure 6 , Figure 5 Cross-sectional view of section BB.

[0032] Figure 7, Top view of the special sand core scanning and positioning block for the lower core of the DZ1 bogie side frame.

[0033] Figure 8 , Figure 7 Cross-sectional view of the middle CC section.

[0034] Fig. 9 , Top view of the special sand mold scanning positioning block for the lower core of the DZ1 bogie side frame.

[0035] Fig.10 , Fig. 9 Sectional view of section EE. DETAILED DESCRIPTION

[0036] The following takes the use of a K6 freight train bogie side frame integral sand core core setting robot to perform core setting operations on a DZ1 freight train bogie side frame as an example, and combines the accompanying drawings to further describe the technical solution sought to be protected by the present invention. The operation of this embodiment specifically uses a KUKA KR150-2 core setting robot produced by Changsha Changtai Machinery Co., Ltd., and the visual scanning system of the core setting robot adopts the "Pal Plate Edge" visual algorithm.

[0037] The K6 type freight train bogie is a traditional product currently widely used in my country, with an axle weight of 25t and a maximum operating speed of 120km / h. The K6 type bogie side frame sand core 21 and the mold assembly structure with the K6 type bogie side frame sand mold 22 are as shown in FIG. Figure 3 and Figure 4 As shown, two universal scanning positioning blocks 30 are respectively placed on the K6 type bogie side frame sand core 21 and the K6 type bogie side frame sand mold 22. The placement position on the K6 type bogie side frame sand core 21 is the raised edge above the triangular hole, and the placement position on the K6 type bogie side frame sand mold 22 is the lower edge. The effective height h of the universal scanning positioning block 30 is j is 21 mm, the effective height h j That is, it is the reference height for correcting the height parameters of the improved model side frame. When the manipulator claw 25 is in the standard clamping state of the K6 type bogie side frame sand core 21, and the K6 type bogie side frame sand core 21 and the K6 type bogie side frame sand mold 22 are in the standard state of complete assembly, the preset target parameter values ​​in the curing software include: L0 is 857.00 mm, D0 is 585.82 mm, W0 is 1400.00 mm, M0 is 109.60 mm, h0 is 141.25 mm, and H0 is 81.50 mm.

[0038] The DZ1 type freight train bogie is a large axle weight product developed and applied in recent years to meet the development needs of railway freight. The axle weight is 27t and the maximum operating speed is 100km / h. The DZ1 type bogie side frame sand core 23 and the mold assembly structure with the DZ1 type bogie side frame sand mold 24 are as shown in FIG. Figure 5 and Figure 6 As shown, two special sand core scanning and positioning blocks 10 are placed at the raised edge above the triangular hole on the DZ1 type bogie side frame sand core 23, and two special sand mold scanning and positioning blocks 20 are placed at the edge of the lower part of the DZ1 type bogie side frame sand mold 24. Under the standard clamping state of the manipulator claw 25 on the DZ1 type bogie side frame sand core 23, and the standard state of the DZ1 type bogie side frame sand core 23 and the DZ1 type bogie side frame sand mold 24 completing the mold assembly, the actual structural parameter values ​​of the DZ1 type bogie side frame sand core 23 and the DZ1 type bogie side frame sand mold 24 include: L n 955.74 mm, D n is 613.82 mm, W0 is 1400.00 mm, M n 130.95 mm, h n 152.00 mm, H n It is 92.00 mm.

[0039] Aiming at the situation that the actual structural parameter values ​​of the sand core lowering mold of the DZ1 bogie side frame are different from the preset target parameter values ​​of the sand core lowering mold of the K6 bogie side frame due to the difference in structural dimensions between the DZ1 bogie side frame and the K6 bogie side frame, in order to utilize the core lowering robot and its existing curing software for the K6 bogie side frame to directly perform the core lowering mold process operation on the DZ1 bogie side frame product, a DZ1 bogie side frame sand core lowering core positioning component is adopted to correct the actual structural parameter values ​​of the sand core lowering mold of the DZ1 bogie side frame. The DZ1 bogie side frame sand core lowering core positioning component is composed of a special sand core scanning positioning block 10 and a special sand mold scanning positioning block 20, which are used in combination; the special sand core scanning positioning block 10, such as Figure 7 and Figure 8 As shown, it includes a sand core positioning body 1, a sand core scanning body 2 and a sand core positioning column 3. A thickened side wall 4 is provided on one side of the sand core positioning body 1. When in use, the special sand core scanning positioning block 10 is fixed and limited. On this basis, relevant correction parameters are set, wherein: △L is set to 49.37 mm, △M is set to 21.35 mm, △h is set to -10.75 mm, that is, the effective height of the special sand core scanning positioning block 10 is (h j +△h) = 9.25 mm; the special sand mold scanning positioning block 20, such as Fig. 9 and Fig.10As shown, it includes a sand mold positioning body 5, a sand mold scanning body 6 and a sand mold positioning column 7. The sand mold positioning column 7 is provided with a vertical flat surface 8, which is used to fix the special sand mold scanning positioning block 20 when in use. On this basis, relevant correction parameters are set, wherein: △D is set to 6.48 mm, △H is set to -0.25 mm, that is, the effective height of the special sand mold scanning positioning block 20 is (h j +△h+△H)=20.75mm.

[0040] The core positioning correction method for directly performing the core setting and die assembly process operation on the DZ1 bogie side frame product using the core setting robot and its existing solidification software for the K6 bogie side frame is as follows:

[0041] ① During the core preparation process, the local inclination of the inner side surface of the triangular hole of the DZ1 type bogie side frame sand core 23 is corrected, such as Figure 6 As shown, the local inclination r of the inner side surface of the triangular hole is corrected from 85° to 83°, so that it is the same as the inclination of the engaging surface of the outer clamping plate 11 of the manipulator clamping claw 25;

[0042] ② Place the two special sand core scanning and positioning blocks 10 on the DZ1 type bogie side frame sand core 23, and place the two special sand mold scanning and positioning blocks 20 on the DZ1 type bogie side frame sand mold 24, as shown in FIG. Figure 5 and Figure 6 As shown, the actual structural parameter values ​​of the lower core assembly mold of the sand core of the DZ1 bogie side frame are corrected;

[0043] ③ Start the core setting robot to scan the special sand core scanning and positioning blocks 10 and the special sand mold scanning and positioning blocks 20, obtain the spatial position parameters of each scanning point, determine the spatial position of the DZ1 type bogie side frame sand core 23 and the DZ1 type bogie side frame sand mold 24, and detect that the distance between the two scanning points of the special sand core scanning and positioning blocks 10 after correction is (L n -2△L) = L0, i.e. 857.00 mm, and the distance between the scanning points of the two special sand mold scanning and positioning blocks 20 is W0, i.e. 1400.00 mm, the core setting robot manipulator is started;

[0044] ④ The curing software controls the two sets of the manipulator claws 25 to be at a distance M0 below the line connecting the scanning points of the two special sand core scanning positioning blocks 10, that is, below the line connecting the setting points of the two special sand core scanning positioning blocks 10 (M0+△M)=M according to the preset target parameter value and the spatial position of the DZ1 type bogie side frame sand core 23 obtained by scanning. nThe distance is 130.95 mm, which is the actual structural parameter value of the DZ1 bogie side frame sand core clamping. The DZ1 bogie side frame sand core 23 is accurately clamped and grasped, and the clamping depth is (△h+h0)=h n , the holding depth is the designed clamping depth of 152.00 mm;

[0045] ⑤ The solidifying software sends the DZ1 bogie side frame sand core 23 gripped by the manipulator down to the mold assembly position in the DZ1 bogie side frame sand mold 24 according to the preset target parameter value and the spatial position of the DZ1 bogie side frame sand mold 24 obtained in step 2, so that the distance between the connection line of the scanning points of the two special sand core scanning positioning blocks 10 and the connection line of the scanning points of the two special sand mold scanning positioning blocks 20 is maintained at D0, that is, the distance between the connection line of the setting points of the two special sand core scanning positioning blocks 10 and the connection line of the setting points of the two special sand mold scanning positioning blocks 20 is (D0+△D+△M)=D n , which is the actual structural parameter value of the DZ1 bogie side frame sand core lower core 564.65 mm, the lower core depth is the height difference between the scanning surface of the special sand core scanning positioning block 10 and the special sand mold scanning positioning block 20, that is: (H0+△h+△H)=H n , which is also the actual structural parameter value of the DZ1 bogie side frame sand core lower core of 92.00 mm, so the manipulator can directly realize accurate core lowering and die assembly for the DZ1 bogie side frame sand core 23;

[0046] ⑥ The core setting robot controls the manipulator to automatically reset, and the core setting robot enters a standby pause state.

[0047] The basic idea of ​​the core positioning correction method for the train bogie side frame sand core of the present invention can also be extended to the core setting operation process of the train bogie bolster sand core. When the K6 freight train bogie bolster integral sand core core setting robot is used to perform the core setting operation on the DZ1 freight train bogie bolster integral sand core, the positioning points of the sand core and the sand mold are corrected respectively.

Claims

1. A method for positioning and correcting a lower core of a train side frame sand core, characterized in that: The following steps are involved: Step 1: Use the lower core positioning component to correct the actual structural parameter values ​​of the improved side frame sand core and sand mold The lower core positioning component is composed of a special sand core scanning positioning block (10) and a special sand mold scanning positioning block (20). The two special sand core scanning positioning blocks (10) are symmetrically placed on the raised edge above the sand core triangular hole on both sides of the center line of the improved side frame sand core. The distance between the setting points of the two special sand core scanning positioning blocks (10) is set to L. n , two of the special sand mold scanning and positioning blocks (20) are symmetrically placed on the lower edge of the sand mold on both sides of the center line of the improved side frame sand mold, and the distance between the setting points of the two special sand mold scanning and positioning blocks (20) is set to W0, which is the same as the preset target parameter value in the core setting robot curing software; the respective correction amounts of the special sand core scanning and positioning blocks and the special sand mold scanning and positioning blocks respectively satisfy the following relationship: △L=(L n -L0) / 2; △M=M n -M0; △D=D n -D0-△M; △h=h n -h0; △H=H n -H0+△h; Where: △L is the correction amount of the special sand core scanning positioning block in the X direction, L n is the distance between the setting points of the scanning positioning block set on the sand core, L0 is the preset target parameter value of the distance between the setting points of the scanning positioning block on the sand core in the curing software of the core setting robot, △M is the correction amount of the special sand core scanning positioning block in the Y direction, M n is the distance between the setting point of the scanning positioning block set on the sand core in the standard clamping state and the center line of the manipulator claw of the core lowering robot, M0 is the distance between the positioning point of the universal scanning positioning block on the sand core and the center line of the manipulator claw of the core lowering robot in the standard clamping state, △D is the correction amount of the special sand mold scanning positioning block in the Y direction, D n is the distance between the connection line of the scanning positioning block setting points set on the sand core and the connection line of the scanning positioning block setting points set on the sand mold in the standard mold assembly state, D0 is the distance between the connection line of the positioning points of the universal scanning positioning block on the sand core and the connection line of the positioning points of the universal scanning positioning block on the sand mold in the standard mold assembly state, △h is the correction amount of the special sand core scanning positioning block in the Z direction, h n It is set on the sand core with a reference height h in the standard clamping state. j The height difference between the scanning surface of the scanning positioning block and the lower end surface of the core setting robot manipulator claw, h0 is the height difference between the scanning surface of the universal scanning positioning block on the sand core in the standard clamping state and the lower end surface of the core setting robot manipulator claw, △H is the correction amount of the special sand mold scanning positioning block in the Z direction, H n It is set on the sand core with a reference height h in the standard mold assembly state. j The scanning surface of the scanning positioning block is set on the sand mold with a reference height h j H0 is the height difference between the scanning surfaces of the universal scanning and positioning blocks on the sand core and the scanning surfaces of the universal scanning and positioning blocks on the sand mold in the standard mold assembly state; Step 2: Start the core setting robot to scan the special sand core scanning positioning block and the special sand mold scanning positioning block The core setting robot scans the dedicated sand core scanning and positioning block (10) and the dedicated sand mold scanning and positioning block (20) respectively to obtain the spatial position parameters of each scanning point. After the correction in step 1, the actual distance between the scanning points of the two dedicated sand core scanning and positioning blocks (10) in the X direction is adjusted to (L n -2△L)=L0, when the core setting robot detects that the distance between the scanning points of the two special sand core scanning and positioning blocks (10) is L0, and also detects that the distance between the scanning points of the two special sand mold scanning and positioning blocks (20) is W0, it is determined that the improved model side frame sand core and the improved model side frame sand mold are core setting work objects, and the core setting robot manipulator is started; Step 3: The core setting robot manipulator performs a clamping operation on the improved side frame sand core The fixed software controls two sets of manipulator claws (25) to clamp the improved side frame sand core center process hole and the separation beam between the two triangular holes at a distance M0 below the scanning point connection line of the two special sand core scanning positioning blocks (10) according to the preset target parameter value and the spatial position of the improved side frame sand core obtained in step 2, and the clamping depth is determined by the distance between the lower end surface of the manipulator claws (25) and the reference height h. j The height difference h between the scanning surfaces of the special sand core scanning positioning block (10) is n The preset target parameter value of the height difference is h0. After the correction in step 1, in the Y direction, the distance between the connection line of the center points of the two special sand core scanning positioning blocks (10) and the connection line of the center points of the manipulator claws (25) is (△M+M0)=M n , which is the actual structural parameter value. In the Z direction, the actual structural parameter value of the clamping depth is (△h+h0)=h n , the manipulator can directly and accurately clamp and grasp the improved side frame sand core; Step 4: The core setting robot manipulator performs the core setting operation on the improved side frame sand core The firmware software sends the improved model side frame sand core grasped and gripped in step 3 to the mold assembly position in the improved model side frame sand mold according to the preset target parameter value and the spatial position of the improved model side frame sand mold obtained in step 2, and controls the distance between the scanning point connection line of the two special sand core scanning positioning blocks (10) and the scanning point connection line of the two special sand mold scanning positioning blocks (20) to be D0, and the core lowering depth is determined by the reference height h j The scanning surface of the special sand core scanning positioning block (10) has a reference height h j The height difference H between the scanning surfaces of the special sand mold scanning positioning block (20) is n Specifically, the preset target parameter value of the height difference is H0. When the manipulator moves down to the position, the clamping of the improved side frame sand core is released to complete the core-mold combination. After the correction in step 1, in the Y direction, the distance between the connection line of the center points of the two special sand core scanning positioning blocks (10) and the connection line of the setting points of the two special sand mold scanning positioning blocks (20) is (D0+△D+△M)=D n , which is the actual structural parameter value. In the Z direction, the actual structural parameter value of the lower core depth is (H0-△h+△H)=H n , the manipulator can directly realize accurate core setting and mold assembly for the improved side frame sand core; Step 5: The core setting robot controls the manipulator to automatically reset After completing the core setting operation of the sand core, the core setting robot controls the manipulator to automatically reset, completing the core setting and mold assembly process, and the core setting robot enters a standby pause state.

2. A method for positioning and correcting a lower core of a train side frame sand core as claimed in claim 1, characterized in that: Before the core lowering robot manipulator performs the clamping operation on the improved side frame sand core in step 3, the inclination of the inner side surface of the triangular hole of the improved side frame sand core is corrected so that the inclination of the inner side inclined plane of the triangular hole of the sand core is the same as the clamping surface of the outer clamping plate (11) of the manipulator clamping claw.

3. A method for positioning and correcting a lower core of a train side frame sand core as claimed in claim 2, characterized in that: The inclination of the inner side surface of the triangular hole of the improved side frame sand core is corrected by adopting a design structure adjustment method, and the correction is directly completed during the core making process.

4. A train side frame sand core lower core positioning component dedicated to the train side frame sand core lower core positioning correction method according to any one of claims 1 to 3, characterized in that: It consists of a special sand core scanning and positioning block (10) and a special sand mold scanning and positioning block (20); The special sand core scanning and positioning block (10) comprises a sand core positioning body (1), a sand core scanning body (2) arranged on the upper part of the sand core positioning body (1), and a sand core positioning column (3) arranged on the lower part of the sand core positioning body (1), wherein the sand core scanning body (2) is a circular cylindrical body, the upper end surface of which is a scanning surface, and the center of the circular ring is a positioning point, and the sand core positioning column (3) is a circular cone, wherein: in the X direction, the distance between the positioning point of the sand core scanning body (2) and the axis of the sand core positioning column (3) is △L, in the Y direction, the distance between the positioning point on the sand core scanning body (2) and the axis of the sand core positioning column (3) is △M, and in the Z direction, the reference height h relative to the existing general scanning and positioning block (30) is △M. j Increase or decrease △h, the effective height of the special sand core scanning positioning block (10) is h j +△h; The special sand mold scanning and positioning block (20) comprises a sand mold positioning body (5), a sand mold scanning body (6) arranged on the upper part of the sand mold positioning body (5), and a sand mold positioning column (7) arranged on the lower part of the sand mold positioning body (5), wherein the sand mold scanning body (6) is a circular cylindrical body, the upper end surface of which is a scanning surface, and the center of the circular ring is a positioning point, and the sand mold positioning column (7) is a circular cone, wherein: in the Y direction, the distance between the positioning point of the sand mold scanning body (6) and the axis of the sand mold positioning column (7) is △D, and in the Z direction, the reference height h relative to the existing general scanning and positioning block (30) is △D. j Increase or decrease △H, the effective height of the special sand mold scanning positioning block (20) is h j +△H.

5. A train side frame sand core lower core positioning component as claimed in claim 4, characterized in that: On the dedicated sand core scanning positioning block (10), a thickened side wall (4) is provided on one side of the sand core positioning body (1).

6. A train side frame sand core lower core positioning component as claimed in claim 4, characterized in that: On the dedicated sand core scanning positioning block (10), a vertical flat surface is provided on the sand core positioning column (3).

7. A train side frame sand core lower core positioning component as claimed in claim 4, characterized in that: On the special sand mold scanning positioning block (20), a vertical flat surface is provided on the sand mold positioning column (7).

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