A bogie loading and unloading system

Abstract

The application discloses a bogie feeding and discharging system, which comprises a master control module, a visual positioning module, an automatic navigation vehicle and a deviation correction module, the deviation correction module is used for taking and placing the bogie and adjusting the posture of the bogie, the deviation correction module is arranged on the automatic navigation vehicle, the automatic navigation vehicle travels to a taking and placing position of the bogie according to a planned path, the visual positioning module collects image information of the bogie at the taking and placing position and processes the image information to obtain a correction offset, and the master control module controls the deviation correction module to adjust the posture of the bogie according to the correction offset. The bogie feeding and discharging system realizes automatic transportation, automatic accurate feeding and discharging of the bogie, improves the automation degree of maintenance, ensures accurate placement of the bogie, and thus improves the accuracy and reliability of detection, does not need manual participation, reduces labor intensity, guarantees personnel safety, has high efficiency and high accuracy in transfer, feeding and discharging.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rail transit technology, and in particular to a bogie loading and unloading system. BACKGROUND

[0002] The bogie is a key component in the running gear of a rail vehicle and plays an important role in train operation and braking. The bogie directly determines the safety and comfort of the vehicle in operation. The bogie is complex in structure and is usually made by welding multiple components, and is provided with many bolted components, air pipes, motors, gearboxes and other components. The bogie needs to be detected in various ways to ensure that the bogie is in good condition without defects. The bogie is large in size and heavy in weight, and is usually loaded and unloaded by a forklift truck in cooperation with manual operation. The bogie is difficult to transfer and has low efficiency. The bogie is difficult to accurately calibrate in position, which affects the detection accuracy. SUMMARY

[0003] The present application aims to improve the prior art and provide a bogie loading and unloading system to solve the problems of difficulty in transferring the bogie, low efficiency, difficulty in accurately calibrating the bogie in position and affecting the detection accuracy in the prior art.

[0004] To solve the above technical problems, the technical solution of the present application is as follows:

[0005] A bogie loading and unloading system comprises a main control module, a visual positioning module, an automatic navigation vehicle and a deviation correction and adjustment module. The deviation correction and adjustment module is used to take and place the bogie and adjust the attitude of the bogie. The deviation correction and adjustment module is arranged on the automatic navigation vehicle. The automatic navigation vehicle travels to a taking and placing position of the bogie according to a planned path. The visual positioning module collects image information of the bogie at the taking and placing position and processes the image information to obtain a correction offset. The main control module controls the deviation correction and adjustment module to adjust the attitude of the bogie according to the correction offset. The bogie loading and unloading system of the present application realizes automatic and accurate loading and unloading of the bogie, improves the automation degree of the maintenance, ensures accurate placement of the bogie, and thus improves the accuracy and reliability of the detection. The automatic navigation vehicle plays a role in long-distance transfer and delivery of the bogie. However, the positioning accuracy of the automatic navigation vehicle cannot meet the requirement of accurate placement of the bogie. Therefore, the automatic navigation vehicle is only responsible for moving to a rough position. Then, the visual positioning module obtains the deviation of the current position of the bogie relative to the accurate position through image collection and processing. The deviation correction and adjustment module then performs accurate adjustment. Finally, the automatic and accurate loading and unloading of the bogie is realized without manual intervention, which reduces the labor intensity and improves the efficiency and accuracy of the transfer and loading and unloading.

[0006] Further, the visual positioning module compares the collected image information of the bogie with preset standard placement image information to obtain a correction offset, calculates the deviation of the placement position of the current bogie relative to the accurate placement position through comparison of the image information, including a position point deviation and a rotation angle deviation, and accurately corrects in a visual positioning manner to improve the placement accuracy of the bogie and ensure the detection accuracy.

[0007] Further, the visual positioning module includes an image acquisition device fixedly arranged at the bogie taking and placing position. The image acquisition device is fixedly arranged, thereby eliminating errors caused by deviation of the image acquisition device itself, avoiding influences of the photographing angle and distance on the accuracy of correction offset calculation, and ensuring the consistency of the image quality, thereby ensuring the positioning accuracy.

[0008] Further, the taking and placing position is provided with a positioning mark, and the automatic navigation vehicle adjusts the position after traveling to the taking and placing position of the bogie according to the planned path and recognizing the positioning mark. The positioning mark improves the accuracy of the parking position of the automatic navigation vehicle, the automatic navigation vehicle travels to a rough position close to the taking and placing position according to the planned path, and then adjusts the position through recognition of the positioning mark, thereby improving the accuracy of the parking position, making the parking position of the automatic navigation vehicle consistent each time, and being beneficial to accurate adjustment of the deviation adjustment module.

[0009] Further, the deviation adjustment module includes two straight line adjustment degrees of freedom in the horizontal direction and perpendicular to each other, and a rotation adjustment degree of freedom with a rotation axis perpendicular to the horizontal direction, and is flexible and high in degree of freedom, and can ensure accurate placement of the bogie, so that the actual placement position of the bogie has no offset in the horizontal direction and no deviation angle relative to the accurate position.

[0010] Further, the taking and placing position is provided with a display rack for positioning and placing the bogie, which can coarsely position the bogie by using the display rack to limit the placement error of the bogie within a limited range, and is beneficial to accurate adjustment of the deviation adjustment module.

[0011] Further, the main control module is in communication connection with the bogie detection system, the main control module processes instructions issued by the bogie detection system to control the automatic navigation vehicle and the deviation adjustment module to act, and feeds back the states of the automatic navigation vehicle and the deviation adjustment module to the bogie detection system. The bogie feeding and discharging system and the bogie detection system are organically connected as a whole, and the bogie feeding and discharging system can perform corresponding actions according to the specific detection condition of the bogie detection system, thereby improving the efficiency of feeding, discharging and detection.

[0012] Further, the detection platform of the bogie detection system is provided with a clamping mechanism, the automatic navigation vehicle loaded with the bogie travels to the detection platform, the deviation correction and adjustment module adjusts the posture of the bogie, and then the bogie is placed on the detection platform, and then the bogie detection system controls the clamping mechanism to clamp the bogie for detection, and after the detection is completed, the clamping mechanism releases the bogie, and the automatic navigation vehicle extracts the bogie through the deviation correction and adjustment module. The bogie is accurately placed on the detection platform of the bogie detection system through the bogie feeding and discharging system, and then the clamping mechanism fixes and maintains the current placement posture of the bogie, so that the bogie detection system can perform the detection process on the bogie, and the accuracy of the detection result is ensured.

[0013] Further, the taking and placing position comprises a detection area and a storage area, the detection area is used for placing the bogie to be detected, and the storage area is used for placing the bogie after detection. The detection area and the storage area serve as a material buffer area, can cooperate with the detection efficiency of the bogie detection system, so that the bogie can be smoothly and efficiently circulated from the detection area to the bogie detection system and then to the storage area, and the situation that the bogie is stored on the automatic navigation vehicle for a long time is avoided, and the automatic navigation vehicle is prevented from being in a heavy load state for a long time.

[0014] Further, the automatic navigation vehicle travels to the charging area for charging when the electric quantity is less than a preset value during the period of detecting the bogie by the bogie detection system. The charging of the automatic navigation vehicle does not affect the feeding and discharging process, guarantees the efficiency of the feeding, discharging and detection, and maintains the uninterrupted detection process and feeding and discharging process.

[0015] Compared with the prior art, the bogie feeding and discharging system has the following advantages:

[0016] The bogie feeding and discharging system of the application realizes automatic transportation and accurate feeding and discharging of the bogie, improves the automation degree of the maintenance, ensures accurate placement of the bogie, improves the accuracy and reliability of the detection, does not require manual participation, reduces labor intensity, guarantees personnel safety, has high efficiency and high accuracy in transfer and feeding and discharging. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is a schematic view of the bogie feeding and discharging system of the application;

[0018] Fig. 2 It is a layout schematic view of the bogie feeding and discharging system;

[0019] Fig. 3 It is a structure schematic view of the deviation correction and adjustment module provided on the automatic navigation vehicle.

[0020] In the figure:

[0021] 1 is an automatic navigation vehicle, and 2 is a deviation correction and adjustment module. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The bogie loading and unloading system disclosed in this invention can automatically load and unload bogies without manual intervention, effectively reducing labor intensity, improving efficiency, and reducing labor costs. It uses visual positioning to accurately place the bogies, ensuring the accuracy and reliability of the test results.

[0024] like Figs. 1 to 3 As shown, a bogie loading and unloading system mainly includes a main control module, a vision positioning module, an automated guided vehicle (AGV), and a correction adjustment module. The correction adjustment module is used to pick up and place bogies and adjust their attitude. The correction adjustment module 2 is mounted on the AGV 1, which travels along a planned path to the bogie's pick-up and place position. Specifically, the AGV uses underground magnetic strip navigation, which is convenient to implement, highly accurate, and saves space compared to laser guidance which requires several positioning markers. The vision positioning module collects image information of the bogie at the pick-up and place position and processes it to obtain the correction offset. The main control module controls the correction adjustment module to adjust the bogie's attitude based on the correction offset. The AGV mainly serves to transport bogies over long distances. The function of the automated guided vehicle (AGV) is to transport the bogie from one pick-up and place position to another. When the AGV moves to the pick-up and place position, the correction and adjustment module adjusts the bogie's placement posture precisely according to the correction offset obtained from the visual positioning module, so as to achieve precise positioning and placement of the bogie. The whole process is automated and does not require manual intervention, which improves the efficiency of bogie transportation and loading / unloading. The AGV itself has a positioning mechanism to ensure that it travels according to the planned path. However, the positioning accuracy of the AGV itself cannot meet the accuracy requirements of precise bogie placement. The AGV can only transport the bogie to a coarse accuracy range, and then use the correction and adjustment module to adjust the bogie with high precision so that the bogie is precisely placed in the pick-up and place position.

[0025] Specifically, the deviation rectification adjusting module 2 includes two straight adjusting degrees in the horizontal direction and perpendicular to each other, and a rotating adjusting degree whose rotating axis is perpendicular to the horizontal direction, that is, the deviation rectification adjusting module can drive the bogie to move in the horizontal direction to adjust, and can also rotate the bogie to adjust, so that the bogie is placed in a position without deviation in the horizontal direction or rotating angle deviation relative to the accurate position, ensuring that the bogie is accurately placed, and the deviation rectification adjusting module specifically adopts a servo motor control module, and has high adjusting precision; the deviation rectification adjusting module is also used for taking and placing the bogie, that is, the deviation rectification adjusting module is used for taking the bogie from the taking and placing position to the automatic navigation vehicle, and is also used for placing the bogie on the automatic navigation vehicle to the taking and placing position, and the bogie is carried by the deviation rectification adjusting module when the bogie is transported on the automatic navigation vehicle.

[0026] In the embodiment, the master control module is in communication connection with the bogie detection system, the master control module processes instructions issued by the bogie detection system to control the automatic navigation vehicle and the deviation rectification adjusting module to act, and feeds back the states of the automatic navigation vehicle and the deviation rectification adjusting module to the bogie detection system, the bogie feeding and discharging system and the bogie detection system are organically connected as a whole, so that the transportation, feeding and discharging and detection processes of the bogie are organically combined together, the bogie turnover transportation efficiency and the detection efficiency are improved, the bogie detection system is avoided from waiting for too long material transfer time, and the bogie detection system is also avoided from conveying new bogies to the bogie detection system when the bogies being detected in the bogie detection system. Specifically, the master control module is a PLC, which is a control center of the bogie feeding and discharging system, realizes logical control and state monitoring of the system, communicates with an upper computer of the bogie detection system, and completes seamless connection of the two systems, uses the existing bogie detection system IPC as a process starting and function configuration interface, combines the bogie feeding and discharging system into the original bogie detection system, provides a good man-machine interface for users, and uses the PLC as a lower device of the IPC to process commands issued by the IPC, control devices to realize corresponding actions, and feed back states to the IPC.

[0027] The taking and placing position includes a detection area and a storage area, the detection area is used for placing bogies to be detected, and the storage area is used for placing detected bogies, the bogies in the storage area will be used for assembly or returned to the factory later, the bogies are smoothly and efficiently circulated from the detection area to the bogie detection system and then to the storage area, the turnover efficiency and the detection efficiency are improved, the bogie detection system is avoided from waiting for too long time for the bogie feeding and discharging system to convey bogies, and the bogie is also avoided from being stored on the automatic navigation vehicle for a long time to wait for the bogie detection system to complete detection of a previous bogie.

[0028] The taking and placing position of the detection area and the storage area is provided with a display rack for positioning the bogie, the display rack is provided with a groove structure matched with the bogie, when the bogie is placed on the display rack, the bogie is positioned by the groove structure, so that the deviation of the bogie is within ±30mm, which is convenient for the deviation adjustment module to adjust with high precision; the deviation adjustment module has a lifting function, and the lifting function is used to realize the feeding and discharging of the bogie, when the automatic navigation vehicle travels to the taking and placing position of the bogie, the bogie is lifted upward from the display rack by the lifting function of the deviation adjustment module, so that the bogie is converted from the state of being placed on the display rack to being carried by the deviation adjustment module on the automatic navigation vehicle, then the deviation adjustment module can move or rotate the bogie in the horizontal direction to realize accurate adjustment of the bogie. Specifically, the automatic navigation vehicle travels to the taking and placing position where the bogie is placed, the deviation adjustment module lifts the bogie to a certain height, then moves at low speed to the to-be-transported position, then lowers the lifting height, the automatic navigation vehicle travels according to the planned path, when the automatic navigation vehicle moves to the lifting point of the taking and placing position of the bogie to be placed, the deviation adjustment module lifts the bogie to a certain height again, the automatic navigation vehicle travels at low speed to the placing point of the taking and placing position again, the deviation adjustment module lowers the lifting height, the bogie is placed to the taking and placing position, and the automatic navigation vehicle moves away from the taking and placing position to perform the next bogie feeding and discharging link.

[0029] In order to guarantee the efficiency of the automatic navigation vehicle during travel, the positioning accuracy cannot be too high, the planned path is set to enable the automatic navigation vehicle to efficiently transport the bogie, but at the same time, in order to facilitate accurate adjustment of the deviation adjustment module, the automatic navigation vehicle also needs to be accurately parked at the bogie taking and placing position, the taking and placing position is provided with a positioning mark, which can be a two-dimensional code, the automatic navigation vehicle travels to the bogie taking and placing position according to the planned path, then recognizes the positioning mark to adjust the position, that is, to perform secondary positioning of the automatic navigation vehicle, so that the position of the automatic navigation vehicle parked each time is basically consistent, and then the actual placement deviation of the bogie is not too large, which can improve the positioning accuracy to within ±5mm, and can reduce the adjustment amount of the deviation adjustment module, that is, the deviation adjustment module only needs to make a small adjustment to make the bogie reach the accurate placement state.

[0030] The visual positioning module is used in the embodiment to further improve the positioning accuracy, the visual positioning module comprises an image acquisition device fixedly arranged at the bogie taking and placing position, the image acquisition device is a 2D camera, the 2D camera is fixedly arranged at the display rack, adopts the installation mode of vertically arranging the bogie, acquires the image information of the bogie on the display rack, compares the acquired image information of the bogie with the preset standard placement image information to obtain a correction offset, specifically, the 2D camera takes a picture of the bogie from above, so that the acquired image information of the bogie has the coordinate positions of the X axis and the Y axis of the bogie in the horizontal direction and the rotation angle information, and then the image information is compared with the preset standard placement image information, so that the deviation of the current bogie placement posture relative to the accurate placement posture can be obtained, the deviation can be only the offset of the X axis and the Y axis, can be only the rotation angle deviation, or can include both the offset of the X axis and the Y axis and the rotation angle deviation, and all can be adjusted through the deviation correction module, the deviation correction module specifically adopts a servo motor control module, has high action accuracy, can accurately adjust according to the correction offset obtained by the visual positioning module, so that the positioning accuracy of the bogie is controlled within 1 mm, and the detection accuracy can be further improved.

[0031] The bogie detection system is arranged in a detection area, and is provided with a detection platform, that is, a bogie taking and placing position, the automatic navigation vehicle transports the bogie from the detection area to the detection platform for detection, and then transports the bogie on the detection platform to a storage area after the detection is completed, specifically, the detection platform is provided with a clamping mechanism, the clamping mechanism is driven by a stepping motor, a lead screw guide is used to realize accurate positioning and clamping, and a pressure sensor is arranged to realize real-time feedback of pressure to guide the work of the stepping motor, so as to form a closed loop control, the automatic navigation vehicle carrying the bogie travels to the detection platform, the bogie has a rough positional relationship relative to the detection platform, the image acquisition device of the visual positioning module is also arranged at the detection platform, the visual positioning module acquires the image information of the current bogie and processes the image information to obtain a correction offset, the deviation correction module adjusts the posture of the bogie according to the correction offset under the control of the main control module, and then accurately places the bogie on the detection platform, after the action is completed, the main control module feeds back information to the bogie detection system, the bogie detection system controls the clamping mechanism to position and clamp the bogie after detecting that the detection platform already has the bogie, so that the accurate placement posture of the bogie is effectively fixed, which is beneficial to subsequent accurate detection, after the bogie is positioned and clamped by the clamping mechanism, the bogie detection system starts to detect the bogie, releases the bogie after the detection is completed, issues an instruction to the main control module, and then the automatic navigation vehicle extracts the bogie after the detection from the detection platform through the deviation correction module, and finally the automatic navigation vehicle travels to the storage area to place the bogie in the storage area.

[0032] The bogie loading and unloading system is also provided with a charging area. During a non-working period, the automatic navigation vehicle automatically returns to the charging area to keep a high power state, ensuring long-time continuous work when turnover loading and unloading is needed. In addition, when the power is less than a preset value, the automatic navigation vehicle travels to the charging area for charging during a period of time for detecting the bogie by using the bogie detection system, thereby supplementing the power without affecting the turnover loading and unloading and detection, and ensuring continuous turnover loading and unloading and detection.

[0033] The working process of the above bogie loading and unloading system is as follows:

[0034] After the bogie to be detected is placed on the display rack in the detection area, the bogie loading and unloading system starts to work, and the automatic navigation vehicle runs to the display rack on which the bogie is placed in the detection area;

[0035] The visual positioning module collects image information of the current bogie, calculates a correction offset by comparing the image information of the current bogie with preset standard placement image information, and then the deviation adjusting module on the automatic navigation vehicle adjusts the position and posture of the bogie according to the correction offset, and then the deviation adjusting module lifts and takes out the bogie;

[0036] The automatic navigation vehicle travels to the position of the detection platform in the detection area according to the planned path;

[0037] Before the bogie is placed down, the visual positioning module collects image information of the current bogie, calculates a correction offset by comparing the image information of the current bogie with preset standard placement image information, and then the deviation adjusting module on the automatic navigation vehicle adjusts the position and posture of the bogie according to the correction offset, and then the bogie is placed on the detection platform;

[0038] Then, after the bogie detection system detects the existing bogie, the clamping mechanism is controlled to automatically clamp and lock the bogie, and then the flaw detection process is performed;

[0039] After the flaw detection is completed, the automatic navigation vehicle runs to the position of the detection platform again, the bogie detection system controls the clamping mechanism to release the bogie, and the deviation adjusting module lifts and carries the bogie after detection is completed;

[0040] The automatic navigation vehicle runs to the storage area again to place the bogie on the display rack;

[0041] After there is no bogie on the display rack in the detection area and the automatic navigation vehicle places the last bogie on the display rack in the storage area, the automatic navigation vehicle returns to the charging area for homing, and the process ends.

[0042] The above merely describes the preferred embodiments of the present application, and it should be pointed out that the above preferred embodiments should not be regarded as a limitation to the present application, and the protection scope of the present application should be defined by the scope of the claims. For those skilled in the art, several improvements and refinements can be made without departing from the spirit and scope of the present application, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A bogie loading and unloading system, characterized in that, It includes a main control module, a visual positioning module, an automated guided vehicle (AGV), and a bogie correction and adjustment module. The bogie correction and adjustment module is used to pick up and place bogies and adjust their attitude. The bogie correction and adjustment module is installed on the AGV. The AGV travels to the bogie pick-up and placement position according to the planned path. The visual positioning module collects image information of the bogie at the pick-up and placement position and processes it to obtain the correction offset. The main control module controls the bogie correction and adjustment module to adjust the bogie's attitude according to the correction offset. The visual positioning module includes an image acquisition device fixedly installed at the bogie pick-up and place position. The image acquisition device takes a top-down view of the bogie and the acquired image information of the bogie includes the coordinate position of the bogie on the X-axis and Y-axis in the horizontal direction and the rotation angle information. The visual positioning module compares the acquired image information of the bogie with the preset standard placement image information to obtain the correction offset. The correction adjustment module includes two linear adjustment degrees of freedom that are horizontal and perpendicular to each other, and also includes a rotational adjustment degree of freedom with the rotation axis perpendicular to the horizontal direction. The pick-up and place position is equipped with a positioning mark. The automatic navigation vehicle travels to the pick-up and place position of the bogie according to the planned path and then recognizes the positioning mark to adjust its position. The main control module is communicatively connected to the bogie testing system. The main control module processes the instructions issued by the bogie testing system to control the automatic navigation vehicle and the correction adjustment module to perform actions, and feeds back the status of the automatic navigation vehicle and the correction adjustment module to the bogie testing system.

2. The bogie loading and unloading system according to claim 1, characterized in that, The pick-and-place area is equipped with a display rack for positioning and placing the bogie.

3. The bogie loading and unloading system according to claim 1, characterized in that, The bogie testing system has a clamping mechanism on its testing platform. When an automated guided vehicle (AGV) carrying a bogie travels to the testing platform, the bogie adjustment module adjusts the bogie's attitude and places it on the testing platform. Then, the bogie testing system controls the clamping mechanism to position and clamp the bogie for testing. After the test is completed, the clamping mechanism releases the bogie, and the AGV then extracts the bogie through the adjustment module.

4. The bogie loading and unloading system according to claim 1, characterized in that, The pick-and-place area includes an inspection area and a storage area. The inspection area is used to place bogies to be inspected, and the storage area is used to place bogies that have completed inspection.

5. The bogie loading and unloading system according to claim 1, characterized in that, It also includes a charging area, during which the automatic navigation vehicle travels to the charging area to charge when the battery level is less than a preset value, using the bogie detection system to detect the bogie.

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