Automatic installation and positioning method for rail vehicle side windows

Abstract

The present invention discloses a method for automatic installation and positioning of rail vehicle side windows. The method divides the area by a laser rangefinder, so that the vehicle body is parked in the designated area. The laser rangefinder is used to measure the precise distance of the ends of the vehicle body in real time, and computer-assisted calculation is used to determine the precise position of the vehicle body. The robot carries a travel switch and a laser scanning device. The travel switch detects the surroundings of the vehicle body window frame to determine the precise size of the window frame and the inclination angle of the window frame. The laser scanning device scans the outer surface of the window frame to determine the edge size of the window frame. Computer-assisted calculation is used to achieve automatic installation and precise positioning of the side windows. The present invention effectively solves the problem of the influence of slight movement of the vehicle body position, vehicle body manufacturing errors, and window frame size errors on the robot installation and positioning during the production process, avoids installation failure, reduces the workload of manual adjustment after installation, achieves high-precision positioning, improves production efficiency, and improves product quality.

Description

Technical Field

[0001] The present invention belongs to the technical field of rail vehicle production and manufacturing, and more specifically, relates to an automatic installation and positioning method for rail vehicle side windows. Background Art

[0002] The installation of a single side window on a rail vehicle requires high post-installation gaps and the flatness between the side window and the vehicle's exterior surface. Rail vehicle side windows typically consist of multiple double-layer insulating glass panels bonded to the window frames on either side of the vehicle. After installation, the gap between the glass and the frame is only approximately 10mm, and the glass should be centered within the frame, with symmetrical gaps vertically and horizontally. The vehicle's side walls are tilted, and the flatness error between the glass and the vehicle's exterior surface should be less than 1mm. Furthermore, vehicles are large, have numerous side windows, and exhibit large manufacturing tolerances for both the vehicle body and the window frames. In actual production, even a slight failure of the brake system while the vehicle is parked on the track can cause the vehicle to shift position due to external vibrations. Using robots for automated side window installation can easily lead to inaccurate positioning, impacting product quality. Summary of the Invention

[0003] The purpose of the present invention is to address the above shortcomings and provide a method for automatic installation and positioning of rail vehicle side windows. The method uses laser to divide the area, determines the precise position of the vehicle body through laser ranging and computer-assisted calculation, and determines the precise size and inclination angle of the window frame through travel switches and laser scanning, thereby achieving automatic installation and precise positioning of the side windows, improving installation accuracy, and ensuring product quality.

[0004] To achieve the above object, the present invention is implemented through the following technical solutions:

[0005] A method for automatically installing and positioning a side window of a rail vehicle comprises the following steps:

[0006] (1) Using a laser rangefinder to specify an area, the laser touch method is used to perform initial positioning of the vehicle body;

[0007] (2) After the vehicle is in place, the initial precise distance of the vehicle end is measured, and compensation calculation is performed based on the origin set by the system to obtain the actual position of the vehicle parking position;

[0008] (3) The side window installation robot obtains the actual position of the vehicle body provided by the system, and moves to the corresponding side window position according to the system's preset side window position information to perform initial positioning of the window frame;

[0009] (4) Perform multi-point touch positioning on the window frame to determine the precise size and deflection angle of the window frame;

[0010] (5) Accurately measure the edge dimensions of the window frame through laser scanning for automatic installation of side windows.

[0011] Furthermore, the step (1) is to set a laser warning according to the measuring range of the laser rangefinder, and use the laser touch alarm to initially locate the vehicle body entering the workstation so that the end of the vehicle body is within the measuring range of the laser rangefinder.

[0012] Furthermore, in step (4), the precise size of the window frame is determined by selecting several points around the window frame, and the robot touches the edge of the window frame using a travel switch to feed back an electrical signal, and the position coordinates of each point are obtained by recording the distance moved by the robot arm.

[0013] Furthermore, in step (4), the window frame deflection angle is determined by the robot carrying a limit switch touching two points on the upper and lower outer surfaces near the vehicle body window frame. When the limit switch touches the vehicle body surface, an electrical signal is fed back. By recording the distance moved by the robot arm, the distance between the two points on the vehicle body surface in the vertical and horizontal directions is obtained, and the angle is calculated.

[0014] Furthermore, the step (5) is to use a laser to perform a fine scan on the outer surface of the vehicle body window frame, accurately measure the shape and size of the window frame edges, feed back to the computer for record, and compare and analyze with the preset glass size in the system, reserving the gap size in the left, right and bottom directions for the subsequent glass installation process.

[0015] Furthermore, the method also includes the robot repeatedly scanning and recording the vehicle body window frame according to the number and position information of the glass preset by the system.

[0016] Furthermore, during the automatic installation of the side windows, the laser rangefinder measures the precise distance of the vehicle end in real time and provides real-time feedback to the computer. When the deviation between the real-time distance and the initial precise distance is greater than 0.5 mm, the computer recalculates the vehicle position deviation based on the real-time distance and automatically corrects the position information of the window frame.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The positioning method described in the present invention uses laser to divide the area, determines the precise position of the vehicle body through laser ranging and computer-aided calculation, determines the precise size and tilt angle of the window frame through travel switches and laser scanning, and realizes the automatic installation and precise positioning of the side windows. It effectively solves the impact of slight movement of the vehicle body position, vehicle body manufacturing errors, and window frame size errors on robot installation and positioning during the production process, avoids installation failure, reduces the workload of manual adjustment after installation, realizes high-precision positioning, improves production efficiency, and improves product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flow chart of a method for automatically installing and positioning a side window of a rail vehicle provided by an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a method for positioning a vehicle body according to an embodiment;

[0021] Figure 3 Schematic diagram of the method for determining the precise size and deflection angle of a window frame according to an embodiment;

[0022] Figure 4 for Figure 3 AA surface view;

[0023] Figure 5 for Figure 4 A partial enlarged view of . DETAILED DESCRIPTION

[0024] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings and specific examples.

[0025] Example 1

[0026] This embodiment provides a method for automatically installing and positioning a side window of a rail vehicle, and the process is as follows: Figure 1 As shown, a laser rangefinder divides the area so the vehicle can park in the designated area. The laser rangefinder measures the precise distance between the vehicle ends in real time, and computer-assisted calculations determine the vehicle's precise position. The robot carries a limit switch and laser scanning equipment. The limit switch detects the perimeter of the vehicle window frame to determine its precise dimensions and tilt angle. The laser scanning equipment scans the exterior surface of the window frame to determine its edge dimensions. Computer-assisted calculations enable the automatic installation of the side windows with precise positioning.

[0027] The specific steps are as follows:

[0028] (1) Figure 2 As shown, the laser rangefinder is used to divide the laser measurement area, and the laser touch alarm is used to perform initial positioning of the vehicle body entering the workstation so that the end of the vehicle body is within the range of the laser rangefinder;

[0029] (2) After the vehicle is in place, the laser rangefinder is stimulated to automatically measure the initial precise distance a of the vehicle end, and the feedback is fed back to the computer, which is compared with the system origin and compensated to obtain the actual position size b of the vehicle parking position, such as Figure 2 ;

[0030] (3) The side window installation robot obtains the actual position of the vehicle body provided by the system, and moves to the corresponding side window position according to the system's preset side window position information to perform initial positioning of the window frame;

[0031] (4) The robot carries a travel switch and performs multi-point touch positioning on the vehicle window frame, such as Figure 3As shown in the figure, first, 2 points are selected around the window frame, for a total of 8 points. The travel switch is used to touch the edge of the window frame. When the travel switch touches the edge of the window frame, an electrical signal is fed back. The position coordinates of each point are obtained by recording the distance moved by the robot arm.

[0032] like Figure 4 and Figure 5 As shown, the robot carries a travel switch and touches two points on the upper and lower outer surfaces of the vehicle body near the window frame. When the travel switch touches the vehicle body surface, an electrical signal is fed back. By recording the distance moved by the robot arm, the vertical and horizontal distances c and d between the two points on the vehicle body surface are obtained, and the angle e is calculated. The angle e is the inclination angle of the vehicle body outer surface, which is also the deflection angle of the window frame.

[0033] (5) After determining the position, size and tilt angle of the window frame, use laser to scan the outer surface of the vehicle window frame, accurately measure the shape and size of the window frame edges, feed back to the computer for record, and compare and analyze with the preset glass size in the system, and reserve the gap size in the left, right and bottom directions for the subsequent glass installation process;

[0034] (6) The robot can repeatedly scan and record the vehicle window frame according to the number and position information of the glass preset by the system;

[0035] (7) During the installation process, the laser rangefinder at the end measures the precise distance of the vehicle end in real time and provides real-time feedback to the computer. When the deviation between the real-time distance and the initial precise distance a is greater than 0.5 mm, the computer recalculates the vehicle position deviation based on the real-time distance and automatically corrects the position information of the window frame (at this time, the inclination angle and edge shape and size of the window frame do not change) to ensure the accuracy of the installation position.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] While various embodiments of the present invention have been described above, the foregoing description is intended to be illustrative and non-exhaustive, and is not intended to be limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those skilled in the art without departing from the scope and technical principles of the described embodiments, and such modifications and variations should be considered within the scope of the present invention.

Claims

1. A method for automatically installing and positioning a side window of a railway vehicle, characterized in that: The following steps are involved: (1) Use the laser touch method to perform initial positioning of the vehicle body in the designated area using a laser rangefinder; (2) After the vehicle is in place, the initial precise distance of the vehicle end is measured, and compensation calculation is performed based on the origin set by the system to obtain the actual position of the vehicle parking position; (3) The side window installation robot obtains the actual position of the vehicle body provided by the system, and moves to the corresponding side window position according to the system's preset side window position information to perform initial positioning of the window frame; (4) Perform multi-point touch positioning on the window frame to determine the precise size and deflection angle of the window frame; To determine the precise size of the window frame, several points are selected around the window frame. The robot uses a travel switch to touch the edge of the window frame, which feeds back an electrical signal. The position coordinates of each point are obtained by recording the distance moved by the robot arm. To determine the window frame deflection angle, the robot carries a limit switch and touches two points on the upper and lower outer surfaces of the vehicle body window frame. When the limit switch touches the vehicle body surface, an electrical signal is fed back. By recording the distance moved by the robot arm, the vertical and horizontal distances between the two points on the vehicle body surface are obtained, and the angle is calculated. (5) Accurately measure the outer dimensions of the window frame through laser scanning for automatic installation of side windows; During the automatic installation process of the side windows, the laser rangefinder measures the precise distance of the vehicle end in real time and provides real-time feedback to the computer. When the real-time distance deviates from the initial precise distance by more than 0.5 mm, the computer recalculates the vehicle position deviation based on the real-time distance and automatically corrects the position information of the window frame.

2. The method for automatic installation and positioning of rail vehicle side windows according to claim 1, characterized in that: The step (1) is to set a laser warning according to the measuring range of the laser rangefinder, and use the laser touch alarm to initially locate the vehicle body entering the workstation so that the end of the vehicle body is within the measuring range of the laser rangefinder.

3. The method for automatically installing and positioning a side window of a rail vehicle according to claim 1, characterized in that: The step (5) is to use laser to scan the outer surface of the vehicle window frame in detail, accurately measure the shape and size of the window frame edges, feed back to the computer for record, and compare and analyze with the preset glass size in the system, and reserve the gap size in the left, right and bottom directions for the subsequent glass installation process.

4. The method for automatically installing and positioning a side window of a rail vehicle according to claim 3, characterized in that: The method further includes the robot repeatedly scanning and recording the vehicle body window frame according to the number and position information of the glass preset by the system.

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