An operating system for repairing gondola carriages

Abstract

The present application discloses an operating system for repairing an open wagon carriage, which includes at least two linear array cameras, at least two laser illuminators, a guide rail extending in a straight line, a moving platform slidably connected to the guide rail, a gantry-shaped bracket erected on the moving platform, and an industrial robot, a welding machine power supply, a cutting machine power supply and a control cabinet arranged on the moving platform. The vertical plane where the bracket is located satisfies the parallel condition with the extending direction of the guide rail. The welding machine power supply, the cutting machine power supply and the control cabinet are located at the rear side of the bracket, and the industrial robot is located at the front side of the bracket and corresponds to the middle area of the bracket. The linear array cameras are arranged on two opposite columns of the bracket, and the laser illuminators are arranged in the middle of the top beam of the bracket and on the robot base of the industrial robot. The operating system provided by the present application has a high integration degree and can implement more refined construction, which is beneficial to improving the repair quality of the open wagon carriage.

Description

Technical Field

[0001] This application relates to the technical field of equipment maintenance, and particularly to an operating system for repairing open-top freight car compartments. Background Art

[0002] An open-top freight car is one of the types of railway freight cars, characterized by having no cover and four side plates. The main use of this type of car is to transport bulk items such as coal and ore. The repair work of open-top freight car compartments was traditionally done manually, which was labor-intensive and inefficient for workers. With the development of technology, the manual mode has gradually been replaced by the mechanical automation mode. However, the current mechanical equipment for repairing open-top freight car compartments is overall cumbersome and has poor operation accuracy, affecting the repair quality of open-top freight car compartments. Summary of the Invention

[0003] In view of this, this application provides an operating system for repairing open-top freight car compartments. This operating system has a high degree of integration and can implement more refined construction, which is conducive to improving the repair quality of open-top freight car compartments.

[0004] To achieve the above object, this application provides the following technical solutions:

[0005] An operating system for repairing open-top freight car compartments, comprising:

[0006] A guide rail, which extends linearly;

[0007] A mobile platform, which is slidably connected to the guide rail;

[0008] A gantry-shaped bracket erected on the mobile platform, and the vertical plane where the bracket is located satisfies the parallel condition with the extension direction of the guide rail;

[0009] An industrial robot provided on the mobile platform, and the industrial robot is located in front of the bracket and corresponds to the middle area of the bracket;

[0010] At least two linear array cameras, which are respectively arranged on two opposite columns of the bracket;

[0011] At least two laser illuminators, which are respectively arranged in the middle of the top beam of the bracket and on the robot base of the industrial robot; and

[0012] A welding power source, a cutting power source and a control cabinet provided on the mobile platform and located behind the bracket. The control cabinet is electrically connected to the industrial robot. The welding power source is electrically connected to a welding gun detachably mounted on the industrial robot. The cutting power source is electrically connected to a cutting gun detachably mounted on the industrial robot.

[0013] Optionally, in the above operating system, the linear array camera is slidably connected to the column where it is located.

[0014] Optionally, in the above-mentioned operating system, there are four linear array cameras, two of which are respectively located at the upper and lower parts of one of the columns, and the other two linear array cameras are respectively located at the upper and lower parts of the other column.

[0015] Optionally, in the above-mentioned operating system, the top beam of the bracket is magnetically connected to the laser illuminator, and / or the robot base is magnetically connected to the laser illuminator.

[0016] Optionally, in the above-mentioned operating system, two laser illuminators are arranged on the robot base, one of the laser illuminators irradiates upward at a first inclination angle relative to the horizontal plane, and the other laser illuminator irradiates upward at a second inclination angle relative to the horizontal plane, and the second inclination angle is not equal to the first inclination angle.

[0017] Optionally, in the above-mentioned operating system, it includes a first mounting plate standing on the mobile platform and located at the rear side of the bracket, and a weld tracker and an arc voltage regulator are arranged on the first mounting plate.

[0018] Optionally, in the above-mentioned operating system, the mobile platform includes a platform bottom plate, the lower surface of the platform bottom plate is connected to the guide rail through sliders, four mutually parallel reinforcing channel steels are welded on the upper surface of the platform bottom plate, the control cabinet is fixedly connected to two of the reinforcing channel steels, a horizontally arranged second mounting plate is fixedly connected to the other two reinforcing channel steels, and the welding machine power supply and the cutting machine power supply are both fixed on the second mounting plate.

[0019] Optionally, in the above-mentioned operating system, the bracket includes two mutually parallel diagonal braces, which are respectively fixedly connected to the two columns, and both ends of a horizontally arranged reinforcing cross beam are respectively fixedly connected to the two diagonal braces, and the reinforcing cross beam and the extending direction of the guide rail meet the parallel condition.

[0020] Optionally, in the above-mentioned operating system, the lower end of the diagonal brace is fixedly connected to the lower end of the column through a horizontally arranged first bottom bar, and a second bottom bar perpendicular to the first bottom bar is arranged on one side of the middle of the first bottom bar close to the industrial robot.

[0021] According to the above technical solution, the present application provides an operating system for repairing the gondola car body. A gantry-shaped support, an industrial robot, a welding machine power supply, a cutting machine power supply, and a control cabinet are arranged on a moving platform that is slidably connected to a guide rail. Among them, the industrial robot is located on the front side of the support and corresponds to the middle area of the support, while the welding machine power supply, the cutting machine power supply, and the control cabinet are located on the rear side of the support. In this way, the main equipment of the operating system can be centrally configured in a more compact layout on the same moving platform, reducing the overall complexity of the operating system. At the same time, at least two linear array cameras are respectively arranged on two opposite columns of the support, and at least two laser illuminators are respectively arranged in the middle of the top beam of the support and on the robot base of the industrial robot. In this way, by using the linear array cameras to take pictures simultaneously from the left and right sides of the industrial robot, and using the laser illuminators to illuminate simultaneously from the high and low positions, the accuracy of photo recognition can be effectively improved, making the positioning of the operating point of the industrial robot more accurate, thereby improving the repair quality of the gondola car body. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0023] Figure 1 It is a schematic diagram of the first state of the operating system for repairing the gondola car body provided by the embodiment of the present application;

[0024] Figure 2 It is a schematic diagram of the second state of the operating system for repairing the gondola car body provided by the embodiment of the present application;

[0025] Figure 3 It is a front view of the operating system for repairing the gondola car body provided by the embodiment of the present application;

[0026] Figure 4 It is a schematic diagram of the support in the operating system for repairing the gondola car body provided by the embodiment of the present application.

[0027] The labels in the figure are:

[0028] 1. Platform bottom plate; 2. Second mounting plate; 3. Welder power supply; 4. Cutting machine power supply; 5. Weld seam tracker; 6. Arc voltage regulator; 7. First mounting plate; 8. Control cabinet; 9. Illuminator bracket I; 10. Laser illuminator I; 11. Cutting torch; 12. Industrial robot; 13. Laser illuminator II; 14. Illuminator bracket II; 15. Laser illuminator III; 16. Illuminator bracket III; 17. Robot base; 18. Welding torch; 19. Reinforcing channel steel I; 20. Reinforcing channel steel II; 21. Reinforcing channel steel III; 22. Reinforcing channel steel IV; 23. Camera fixing plate I; 24. Linear array camera I; 25. Camera fixing plate II; 26. Linear array camera II; 27. Linear array camera III; 28. Camera fixing plate III; 29. Linear array camera IV; 30. Camera fixing plate IV; 31. First bottom rod I; 32. Second bottom rod I; 33. Diagonal brace rod I; 34. Reinforcing cross beam; 35. Column I; 36. Top beam; 37. Column II; 38. Diagonal brace rod II; 39. Reinforcing diagonal brace; 40. First bottom rod II; 41. Second bottom rod II; 42. Third bottom rod. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0030] Refer to Figures 1 to 4 , the embodiment of the present application provides an operation system for repairing an open wagon carriage, including at least two linear array cameras, at least two laser illuminators, a guide rail (not shown in the figure) extending in a straight line, a moving table slidably connected to the guide rail, a gantry-shaped bracket erected on the moving table, and an industrial robot 12, a welder power supply 3, a cutting machine power supply 4, and a control cabinet 8 arranged on the moving table. The vertical plane where the bracket is located satisfies the parallel condition with the extension direction of the guide rail. The welder power supply 3, the cutting machine power supply 4, and the control cabinet 8 are located at the rear side of the bracket, and the industrial robot 12 is located at the front side of the bracket and corresponds to the middle area of the bracket. The control cabinet 8 is electrically connected to the industrial robot 12. The welder power supply 3 is electrically connected to the welding torch 18 detachably installed on the industrial robot 12, and the cutting machine power supply 4 is electrically connected to the cutting torch 11 detachably installed on the industrial robot 12.

[0031] The vertical plane where the support is located can be understood as the vertical plane passing through the top beam 36 of the support. In this embodiment, the top beam 36 is horizontally arranged, so the top beam 36 is parallel to the extending direction of the guide rail. The linear array cameras are arranged on two opposite columns of the support, that is, linear array cameras are arranged on both column I 35 and column II 37. Therefore, it can take pictures simultaneously from the left and right sides, effectively improving the accuracy of picture recognition, so as to accurately locate the working point of the industrial robot 12. The laser illuminator is arranged at the middle of the top beam 36 of the support and on the robot base 17 of the industrial robot 12, that is, laser illuminators are arranged on both the top beam 36 and the robot base 17. Therefore, it can illuminate from a high position (that is, the position of the laser illuminator on the top beam 36 is higher than that of the industrial robot 12) and a low position simultaneously, effectively solving the problem of light occlusion caused by protrusions on the outer surface of the carriage during picture taking.

[0032] The operation process of repairing the open-top freight car carriage is mainly divided into two stages: cutting work and welding work. When carrying out the cutting work, the industrial robot 12 is connected with the cutting torch 11 (as Figure 1 shown). During the process of the mobile platform translating along the guide rail, under the illumination condition of the laser illuminator, the side profile of the open-top freight car is obtained by scanning the side of the open-top freight car with the linear array camera. The controller in the control cabinet 8 calculates the area to be cut according to the marking points on the side of the open-top freight car, generates the cutting path through operation, and transmits the cutting path to the industrial robot 12. The industrial robot 12 can automatically select appropriate parameters and then follow the mobile platform to translate and carry out the cutting operation. When carrying out the welding work, the cutting torch 11 is removed from the industrial robot 12, and the welding torch 18 is installed on the industrial robot 12 (as Figure 2 shown). The way for the industrial robot 12 to obtain the welding path is basically the same as the way to obtain the cutting path described above. The welding process parameters need to be automatically selected according to the welding position, steel plate thickness, etc., and then the welding operation is started. It should be noted that the action of the driving device for driving the mobile platform to translate is controlled by the controller in the control cabinet 8, and the driving device can adopt a traditional structural form, so this article will not introduce the driving device in too much detail.

[0033] In a preferred embodiment, the linear array camera is slidably connected to the column where it is located, that is, the position of the linear array camera on the column can be adjusted up and down. In order to be able to more easily cover the entire height of the carriage, multiple linear array cameras can be arranged on the column. In this embodiment, there are four linear array cameras, two of which are respectively located at the upper and lower parts of one column, and the other two linear array cameras are respectively located at the upper and lower parts of the other column. As Figure 3 and Figure 4As shown in the figure, a camera fixing plate I 23 and a camera fixing plate II 25 are slidably arranged on a column II 37. A linear array camera I 24 is installed on the camera fixing plate I 23, and a linear array camera II 26 is installed on the camera fixing plate II 25. Photographs are taken from the right side of the industrial robot 12, that is, the lenses of the linear array camera I 24 and the linear array camera II 26 both face towards the industrial robot 12. A camera fixing plate III 28 and a camera fixing plate IV 30 are slidably arranged on a column I 35. A linear array camera III 27 is installed on the camera fixing plate III 28, and a linear array camera IV 29 is installed on the camera fixing plate IV 30. Photographs are taken from the left side of the industrial robot 12, that is, the lenses of the linear array camera III 27 and the linear array camera IV 29 both face towards the industrial robot 12. The linear array cameras are preferably arranged to be rotatable in a horizontal plane relative to the camera fixing plates so as to quickly adjust the lens angles of the linear array cameras.

[0034] In order to better illuminate the entire height of the carriage, three laser illuminators are configured in this embodiment. One is arranged on the top beam 36 of the bracket, and the other two are arranged on the robot base 17, as Figures 2 to 4 shown. A lighting bracket I 9 is arranged in the middle of the top beam 36, and a laser illuminator I 10 is installed on the lighting bracket I 9. Lighting brackets II 14 and III 16 are arranged on the robot base 17. A laser illuminator II 13 is installed on the lighting bracket II 14, and a laser illuminator III 15 is installed on the lighting bracket III 16. The three laser illuminators respectively illuminate the upper, middle and lower parts of the carriage in the height direction. Among them, the laser illuminator I 10 is responsible for illuminating the upper part of the carriage, and one of the laser illuminator II 13 and the laser illuminator III 15 is responsible for illuminating the middle part of the carriage, and the other is responsible for illuminating the lower part of the carriage. Therefore, the laser illuminator II 13 irradiates upwards at a first inclination angle relative to the horizontal plane, and the laser illuminator III 15 irradiates upwards at a second inclination angle relative to the horizontal plane, and the second inclination angle is not equal to the first inclination angle. In order to be able to adjust the position of the laser illuminator in a small range, the laser illuminator can be connected to the top beam 36 and / or the robot base 17 by a magnetic attraction method.

[0035] As Figure 4As shown, in order to improve the stability of the bracket, in this embodiment, the bracket includes two mutually parallel diagonal braces, which are respectively fixedly connected to the two columns, that is, the diagonal brace I33 is fixedly connected to the column I35, and the diagonal brace II38 is fixedly connected to the column II37. The diagonal brace I33 is parallel to the diagonal brace II38 and fixedly connected through a horizontally arranged reinforcing cross beam 34. The reinforcing cross beam 34 and the extending direction of the guide rail meet the parallel condition. On this basis, the lower ends of the diagonal braces can be fixedly connected to the lower ends of the columns through a horizontally arranged first bottom bar, and at the same time, a second bottom bar perpendicular to the first bottom bar is arranged on one side of the middle of the first bottom bar close to the industrial robot 12. That is, the first bottom bar I31 connects the lower ends of the diagonal brace I33 and the column I35, and the second bottom bar I32 is in the same horizontal plane as the first bottom bar I31 and perpendicular to each other; the first bottom bar II40 connects the lower ends of the diagonal brace II38 and the column II37, and the second bottom bar II41 is in the same horizontal plane as the first bottom bar II40 and perpendicular to each other. Further, a reinforcing diagonal brace 39 fixedly connected to the column can also be provided. As Figure 4 shown, the reinforcing diagonal brace 39 is fixedly connected to the column II37, and the third bottom bar 42 is parallel to the second bottom bar II41 and connects the lower ends of the reinforcing diagonal brace 39 and the column II37.

[0036] In a preferred embodiment, the cutting torch 11 is set as a plasma cutting torch, that is, the metal material is processed by plasma cutting technology. Plasma cutting uses the heat of a high-temperature plasma arc to locally melt the metal at the workpiece cutting edge, and discharges the molten metal by the momentum of the high-speed plasma to form a cutting edge. As Figure 1 and Figure 2 shown, in order to better control the cutting quality and welding quality, the operation system of this embodiment is configured with an arc voltage regulator 6 and a weld tracker 5. Specifically, the operation system includes a first mounting plate 7 erected on the mobile platform and located at the rear side of the bracket. The weld tracker 5 and the arc voltage regulator 6 are arranged on the first mounting plate 7.

[0037] As Figure 2 and Figure 3 shown, in this embodiment, the mobile platform includes a platform bottom plate 1. The lower surface of the platform bottom plate 1 is connected to the guide rail through sliders (not shown in the figure). Four mutually parallel reinforcing channel steels are welded on the upper surface of the platform bottom plate 1, that is, the reinforcing channel steel I19, the reinforcing channel steel II20, the reinforcing channel steel III21, and the reinforcing channel steel IV22. The control cabinet 8 is fixedly connected to the reinforcing channel steel III21 and the reinforcing channel steel IV22. The horizontally arranged second mounting plate 2 is fixedly connected to the reinforcing channel steel I19 and the reinforcing channel steel II20. The welding machine power supply 3 and the cutting machine power supply 4 are both fixed on the second mounting plate 2. The first mounting plate 7 is located between the cutting machine power supply 4 and the control cabinet 8 and is fixedly connected to the upper surface of the platform bottom plate 1.

[0038] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An operating system for repairing gondola carriages, characterized in that, Comprising: A guide rail that extends linearly; A moving table that is slidably connected to the guide rail; A gantry-shaped bracket erected on the moving table, where the vertical plane where the bracket is located satisfies the parallel condition with the extending direction of the guide rail; An industrial robot disposed on the moving table, where the industrial robot is located on the front side of the bracket and corresponds to the middle area of the bracket; At least two linear array cameras, which are respectively disposed on two opposite columns of the bracket; there are four linear array cameras, where two of the linear array cameras are respectively located at the upper and lower parts of one column, and the remaining two linear array cameras are respectively located at the upper and lower parts of the other column; At least two laser illuminators, which are respectively disposed in the middle of the top beam of the bracket and on the robot base of the industrial robot; the top beam of the bracket is magnetically connected to the laser illuminator, and / or, the robot base is magnetically connected to the laser illuminator; two laser illuminators are disposed on the robot base, where one laser illuminator irradiates upward at a first inclination angle relative to the horizontal plane, and the other laser illuminator irradiates upward at a second inclination angle relative to the horizontal plane, and the second inclination angle is not equal to the first inclination angle; And A welding power source, a cutting power source and a control cabinet disposed on the moving table and located at the rear side of the bracket, the control cabinet is electrically connected to the industrial robot, the welding power source is electrically connected to a welding torch detachably mounted on the industrial robot, and the cutting power source is electrically connected to a cutting torch detachably mounted on the industrial robot.

2. The operating system according to claim 1, characterized in that, The linear array camera is slidably connected to the column where it is located.

3. The operating system according to any one of claims 1 to 2, characterized in that, It includes a first mounting plate erected on the moving table and located at the rear side of the bracket, and a weld tracker and an arc voltage regulator are disposed on the first mounting plate.

4. The operating system according to claim 3, characterized in that, The moving table includes a platform bottom plate, the lower surface of the platform bottom plate is connected to the guide rail through sliders, four mutually parallel reinforcing channel steels are welded on the upper surface of the platform bottom plate, the control cabinet is fixedly connected to two of the reinforcing channel steels, a horizontally arranged second mounting plate is fixedly connected to the remaining two reinforcing channel steels, and the welding power source and the cutting power source are both fixed on the second mounting plate.

5. The operating system according to claim 4, characterized in that, The bracket includes two mutually parallel diagonal braces, which are respectively fixedly connected to the two columns, and two ends of a horizontally arranged reinforcing cross beam are respectively fixedly connected to the two diagonal braces, and the reinforcing cross beam satisfies the parallel condition with the extending direction of the guide rail.

6. The operating system according to claim 5, characterized in that, The lower end of the diagonal brace is fixedly connected to the lower end of the column through a horizontally arranged first bottom bar, and a second bottom bar perpendicular to the first bottom bar is disposed on one side of the middle of the first bottom bar close to the industrial robot.

Images