Bogie intelligent completion system and process

Abstract

The application discloses a bogie intelligent assembly system and process, which comprises a bogie frame warehouse-out system, obtains a warehouse-out instruction, and sends the instruction to a grabbing device; the grabbing device grabs the frame and places the frame on an idle intelligent trolley; the intelligent trolley is used for placing the frame; the frame automatic grabbing system comprises a grabbing device body and an image acquisition device installed on the grabbing device body; the image acquisition device acquires position information of the frame; a wheel set automatic placing and adjusting system automatically drags the wheel set to a wheel set placing position and adjusts the wheel set placing position; an automatic assembly device controls the frame grabbed by the frame automatic grabbing system to align with the wheel set according to a set position, and completes assembly of the frame and the wheel set; and a control system controls the bogie frame warehouse-out system, the frame automatic grabbing system, the wheel set automatic placing and adjusting system, the intelligent assembly system and a bogie detection and adjustment system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bogies, in particular to a bogie intelligent completion system and process. BACKGROUND

[0002] At present, in the completion process of the bogie, many links need manual participation, for example, in the process of lifting and completing the frame, a crane is used to manually hoist the frame to be completed, after the frame is lifted, the completion operation is carried out, and 5 persons are needed to participate, one of which is responsible for crane operation, and the remaining four are responsible for the four corners of the bogie to confirm that the frame and the wheel set do not resist when the bogie is completed. The above completion method has the problems of many participants, slow completion efficiency, and the cooperation of personnel and the crane must be in place, otherwise operation risks are easy to occur. Although some bogie completion systems are disclosed in existing patents, for example, in the patent CN201911341878.0, a bogie assembly completion process and a bolster side frame assembly machine are disclosed, but how to adjust the position of the wheel set, how to take out the frame and grab it, and how to specifically realize the completion of the frame and the wheel set are not disclosed in the patent. Therefore, the overall intelligent level of the process is low, and a complete system and process have not been formed. SUMMARY

[0003] In view of the deficiencies in the prior art, the purpose of the present application is to provide a bogie intelligent completion system and process.

[0004] In order to achieve the above-mentioned purpose, the present application is realized by the following technical scheme:

[0005] In a first aspect, the embodiments of the present application provide a bogie intelligent completion system, comprising:

[0006] A bogie frame out-of-warehouse system automatically takes out the frame after obtaining an out-of-warehouse instruction;

[0007] A frame automatic grabbing system, comprising a first grabbing device and an image acquisition device and a pressure acquisition device installed on the first grabbing device; the image acquisition device acquires position information of the frame, and the pressure acquisition device acquires a pressure change value between the frame and the wheel set during the completion process;

[0008] A wheel set automatic placement adjustment system, comprising an automatic completion device and a traction device, the traction device automatically drags the wheel set to the automatic completion device, and the automatic completion device adjusts the placement position of the wheel set;

[0009] A control system controls the frame grabbed by the frame automatic grabbing system to align with the wheel set according to a set position, and completes the completion of the frame and the wheel set.

[0010] As a further technical solution, the control system comprises a primary control system and a secondary control system; the primary control system is used to generate a construction work order and issue it; the secondary control system receives the work order issued by the primary control system, and controls the bogie frame warehouse-out system, the frame automatic grabbing system, the wheel set automatic arrangement and adjustment system, and the bogie detection and adjustment system.

[0011] As a further technical solution, the bogie frame warehouse-out system comprises a three-dimensional warehouse control system which obtains a warehouse-out instruction and sends the instruction to a second grabbing device; the second grabbing device receives a grabbing instruction, grabs a frame and places it on an idle intelligent trolley; and the intelligent trolley is used to place the frame.

[0012] As a further technical solution, the control system is used to monitor the state of the intelligent trolley and confirm whether the intelligent trolley is in an idle state; if it is confirmed that the intelligent trolley is in an idle state, the frame three-dimensional warehouse stacker grabs a frame to be constructed and places it on the idle intelligent trolley.

[0013] As a further technical solution, the three-dimensional warehouse control system transmits the instruction to the control system after completing the instruction.

[0014] As a further technical solution, the frame is provided with an electronic tag, the electronic tag stores frame information, and the second grabbing device is provided with a corresponding first information reading device.

[0015] As a further technical solution, a tray is arranged on the intelligent trolley, the position of the tray can be automatically adjusted, and a positioning mark is arranged on the tray.

[0016] As a further technical solution, the three-dimensional warehouse control system transmits the instruction to the control system after completing the instruction.

[0017] As a further technical solution, the frame automatic grabbing system further comprises a second information reading device; the second information reading device reads the frame information stored in the electronic tag on the frame.

[0018] As a further technical solution, the first grabbing device and the intelligent trolley of the bogie frame warehouse-out system exchange information.

[0019] As a further technical solution, the wheel set automatic arrangement and adjustment system further comprises a wheel set positioning device, and the wheel set positioning device is arranged on the automatic construction equipment.

[0020] As a further technical solution, the bogie intelligent detection and adjustment device is further provided, which comprises a detection device and an adjustment device.

[0021] As a further technical solution, the detection device is a non-contact detection device.

[0022] As a further technical solution, the computer-aided assembly system is further provided for assisting in mounting accessories on the bogie.

[0023] In the second aspect, based on the bogie intelligent assembly system, a bogie assembly adjustment process is provided, which comprises the following steps:

[0024] In step 1, the bogie frame out-of-warehouse system obtains an out-of-warehouse instruction and automatically sends the bogie frame out of the warehouse.

[0025] In step 2, the bogie frame automatic grabbing system obtains a grabbing instruction and automatically grabs the bogie frame out of the warehouse.

[0026] In step 3, the bogie wheel assembly automatic placing adjustment system automatically pulls the bogie wheel assembly to the automatic assembly device, and the automatic assembly device adjusts the placing position of the bogie wheel assembly.

[0027] In step 4, the control system controls the bogie frame automatic grabbing system to complete the bogie assembly according to the set position of the bogie frame grabbed in step 2 and the bogie wheel assembly in step 3.

[0028] As a further technical solution, in step 1, after the three-dimensional warehouse control system receives the assembly instruction from the control system, the grabbing device automatically grabs the bogie frame to be assembled according to the assembly instruction.

[0029] As a further technical solution, in step 1, the control system monitors the state of the intelligent trolley in the production line to confirm whether the intelligent trolley is in an idle state, and after confirming that the intelligent trolley is in the idle state, the grabbing device of the bogie three-dimensional warehouse grabs the bogie frame to be assembled and places it on the idle intelligent trolley, and after the bogie three-dimensional warehouse is placed, the three-dimensional warehouse transmits a work completion instruction to the control system.

[0030] As a further technical solution, the control system receives the instruction and mobilizes the first grabbing device to act above the bogie frame.

[0031] As a further technical solution, in the grabbing process, the first information reading device on the grabbing device reads the information stored in the electronic tag on the bogie frame, and after confirming that the information is correct, the grabbing device grabs the bogie frame.

[0032] As a further technical solution, in step 2, the first grabbing device performs the grabbing of the to-be-finished frame, automatically adjusts the position of the frame tray through the positioning mark, ensures that the frame is not resisted when grabbing, and ensures that the position of the grabbed frame is correct. The first grabbing device reads the frame information through the information reading device thereon, compares and ensures the accuracy of the grabbed frame.

[0033] As a further technical solution, in the process of grabbing the frame by the first grabbing device in step 2, when the visual recognition system is adjusted, the appropriate position cannot be adjusted, the first grabbing device sends the related system to the intelligent trolley, the intelligent trolley adjusts the position of the frame tray, and the first grabbing device can grab the frame.

[0034] As a further technical solution, after the first grabbing device grabs the frame in step 2, the frame is lifted, the first grabbing device stops lifting after lifting a set distance, it is confirmed that the first grabbing device has completely grabbed the frame, and each locking structure of the first grabbing device has been locked in place, after confirmation, the first grabbing device grabs the frame to a set position, and the intelligent trolley is automatically operated to the upper side of the to-be-finished bogie wheel set through the control system.

[0035] As a further technical solution, the specific process of step 3 is as follows:

[0036] The to-be-finished wheel set axle body is balanced by the supporting device, and the wheel set axle body and the gear box are balanced, and the traction device receives the instruction and automatically pulls the wheel set to the wheel set placing position of the automatic finishing device;

[0037] After the wheel set is placed, the axle box spring is grabbed and placed on the wheel set axle body by the axle box spring intelligent lifting device arranged in front of the finishing platform;

[0038] The wheel set is positioned by the positioning device on the automatic finishing device, after positioning is completed, the automatic finishing device collects the image of the wheel set axle body through the image device, compares the collected image information with the preset standard image, automatically adjusts the height of the wheel set axle body, ensures the uniformity of the height of the wheel set axle body, and measures the relative position of the wheel set through the equipped laser range finder, and automatically records the position information of the wheel set.

[0039] As a further technical solution, the specific process of step 4 is as follows:

[0040] The automatic assembly device sends a completion signal to the control system, and the first grabbing device automatically lowers, and the position of the first grabbing device is adjusted by the visual recognition system during the lowering process; when the first grabbing device falls to the basic contact with the frame and the wheel set, the frame position is measured by the laser detection device of the automatic assembly device at this time, and is compared with the wheel set position information measured in the early stage, and whether the design size requirement is met is calculated, if the size is not within the required range, the device automatically adjusts, and after the size is adjusted to a reasonable range, the frame continues to be assembled.

[0041] As a further technical solution, in step 4, when assembled, the pressure acquisition device on the first grabbing device detects whether the frame and the wheel set composition resist by detecting the change of pressure, and after the frame and the wheel set composition are combined, the frame continues to fall, and the first grabbing device automatically judges that the frame and the wheel set composition have been combined by the change of the weight of the frame.

[0042] As a further technical solution, it further includes step 5, the bogie detection and adjustment system detects and adjusts the assembled bogie until it meets the installation requirements.

[0043] As a further technical solution, the specific process in step 5 is as follows:

[0044] The bogie automatic detection and adjustment device measures the distance between the wheel set composition of the bogie and the frame and the diagonal size of the bogie, iteratively calculates the collected data to achieve the optimal size of size adjustment, if the size meets the technical requirements, the size detection and adjustment work is completed, if the size does not meet the requirements, the bogie automatic detection and adjustment device automatically calculates the adjustment amount of the distance between the four wheel sets of the bogie and the frame, and automatically controls the adjustment device to adjust the distance between the wheel set composition and the frame; after adjustment, the bogie automatic detection and adjustment device measures the above size again, if it meets the requirements, the size detection and adjustment work is completed, if it does not meet the requirements, adjustment is performed again until the detected size meets the requirements, and the qualified size value is directly uploaded to the control system.

[0045] The beneficial effects of the above embodiments of the present application are as follows:

[0046] The application provides a complete bogie completion system, which comprises a bogie frame warehouse-out system, a frame automatic grabbing system, a wheel set assembly automatic placing and adjusting system and a control system; wherein the bogie frame warehouse-out system automatically obtains a warehouse-out instruction and then automatically warehouses out the frame; the frame automatic grabbing system comprises a first grabbing device and an image acquisition device and a pressure acquisition device installed on the first grabbing device; the image acquisition device acquires position information of the frame, and the pressure acquisition device acquires a pressure change value between the frame and the wheel set during the completion process; the wheel set assembly automatic placing and adjusting system comprises an automatic completion device and a traction device, the traction device automatically pulls the wheel set assembly to the automatic completion device, and the automatic completion device adjusts the placing position of the wheel set assembly; the control system controls the frame grabbed by the frame automatic grabbing system to align with the wheel set assembly according to a set position, and completes the completion of the frame and the wheel set assembly. During the whole process, the automatic warehouse-in and warehouse-out of the frame, the automatic hoisting of the frame, the automatic adjustment of the wheel set assembly and the automatic completion of the bogie are basically realized, the operation personnel only participate in the confirmation of the state during the completion process, the labor cost is saved, the operation risk is reduced, the operation efficiency is improved, the bogie completion, adjustment and assembly information full-process and full-flow (including assembly quality information, personnel operation information and assembly component information) digitization and intelligent acquisition are realized. And through the design of each system, the accuracy of the completion is ensured.

[0047] Further, the application also designs a bogie intelligent detection and adjustment device to detect and adjust the completed bogie.

[0048] Further, the application designs a two-level control system, wherein the first-level control system is a company-level control system (MRO), the second-level control system is a workshop-level control system (LCS), the two-level control systems can be interconnected with a computer-aided assembly system (CAA), the first-level control system issues a completion work order, and the second-level control system produces a work order to schedule and control the equipment in the production line, wherein the CAA system replaces manual operation to collect operation information at the front end, the information collected by the CAA system is fed back to the LCS system, and the LCS system feeds back the information to the MRO system, so that the accuracy of data collection is improved, and data misreading and missing reading are prevented. BRIEF DESCRIPTION OF DRAWINGS

[0049] The drawings accompanying the specification of the application form a part of the application and serve to provide further understanding of the application, and the illustrative embodiments of the application and their descriptions serve to explain the application, and do not constitute improper limitations on the application.

[0050] Figure 1 It is a schematic diagram of the bogie intelligent completion and adjustment system disclosed by the application. DETAILED DESCRIPTION

[0051] It should be noted that the following detailed description is illustrative only, and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0052] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0053] The embodiment discloses a bogie intelligent assembly system, as shown in the figure, mainly comprising: Figure 1

[0054] The bogie frame out-of-warehouse system acquires an out-of-warehouse instruction and completes automatic out-of-warehouse of the frame;

[0055] The frame automatic grabbing system automatically grabs the out-of-warehouse frame;

[0056] The wheel set automatic placement and adjustment system comprises an automatic assembly device and a traction device, the traction device automatically tractions the wheel set to the automatic assembly device, and the automatic assembly device adjusts the placement position of the wheel set;

[0057] The bogie detection and adjustment system detects and adjusts the assembled bogie.

[0058] The control system controls the bogie frame out-of-warehouse system, the frame automatic grabbing system, the wheel set automatic placement and adjustment system, the intelligent assembly system, and the bogie detection and adjustment system.

[0059] The control system comprises a primary control system and a secondary control system; the primary control system is used for generating an assembly work order and issuing the assembly work order; the secondary control system receives the instruction issued by the primary control system and controls the bogie frame out-of-warehouse system, the frame automatic grabbing system, the wheel set automatic placement and adjustment system, the intelligent assembly system, and the bogie detection and adjustment system. It should be noted that in the embodiment, the primary control system corresponds to a company-level control system (MRO), and the secondary control system corresponds to a workshop-level control system (LCS); the assembly work order is issued through the company-level control system (MRO), and the work order is arranged for production through the workshop-level control system (LCS).

[0060] ​The bogie frame out-of-warehouse system comprises a three-dimensional warehouse control system, a second grabbing device, an intelligent trolley, and a secondary control system. The three-dimensional warehouse control system obtains an out-of-warehouse instruction of the secondary control system and sends the instruction to the grabbing device. The second grabbing device receives the grabbing instruction, grabs the frame and places it on the idle intelligent trolley. The intelligent trolley is used for placing the frame. The secondary control system is used for monitoring the state of the intelligent trolley and confirming whether the intelligent trolley is in an idle state. If it is confirmed that the intelligent trolley is in the idle state, the frame three-dimensional warehouse stacker grabs the frame to be built and places it on the idle intelligent trolley. It should be noted that in the embodiment, the second grabbing device uses an existing stacker. The intelligent trolley can use an existing RGV trolley or AVG trolley. The frame tray is provided on the RGV trolley or AVG trolley, and the positioning guide column is provided on the frame tray. The position of the frame is positioned by the positioning guide column, so as to ensure the accurate position of the frame and facilitate the frame grabbing of the intelligent trolley. The build order is issued through the company-level control system (MRO) system, the order is arranged through the workshop-level control system (LCS), the workshop-level control system (LCS) sends the out-of-warehouse instruction to the three-dimensional warehouse control system, the three-dimensional warehouse control system receives the build instruction, and the stacker automatically grabs the frame to be built according to the build instruction. The workshop-level control system (LCS) monitors the state of the RGV trolley or AVG trolley in the production line and confirms whether the RGV trolley or AVG trolley is in an idle state. After it is confirmed that the RGV trolley or AVG trolley is in the idle state, the frame three-dimensional warehouse stacker grabs the frame to be built and places it on the idle RGV trolley or AVG trolley. The frame tray is provided on the RGV trolley or AVG trolley, and the positioning guide column is provided on the tray. The position of the frame is positioned by the positioning guide column, so as to ensure the accurate position of the frame and facilitate the frame grabbing of the intelligent trolley. After the frame is placed, the three-dimensional warehouse transmits the job completion instruction to the workshop-level control system (LCS), the workshop-level control system (LCS) receives the instruction, and the intelligent trolley is moved to above the RGV on which the frame is placed.

[0061] In the embodiment, an electronic tag is provided on each frame, and the frame information is stored in the electronic tag. The second grabbing device is provided with a corresponding first information reading device. Specifically, the electronic tag is an RFID card, the first information reading device can read the frame information on the RFID card, and the grabbing error is prevented.

[0062] The framework automatic grabbing system in the embodiment comprises a first grabbing device, the first grabbing device comprises a grabbing device body and an image acquisition device and a second information reading device installed on the first grabbing device body; the second information reading device reads framework information; specifically, in the embodiment, the first grabbing device can adopt an existing intelligent trolley, the image acquisition device adopts an existing visual recognition system, that is, the intelligent trolley is provided with the visual recognition system, the position of the intelligent trolley is automatically adjusted through the positioning guide column mark of the framework tray, so that the framework is not resisted when the framework is grabbed, and meanwhile, the position of the framework grabbed is correct, the second information reading device is configured on the intelligent trolley, the second information reading device reads the framework information on the framework RFID card and performs comparison, so as to ensure that the framework grabbed is accurate.

[0063] The intelligent trolley in the embodiment interacts with an RGV trolley or an AVG trolley of the bogie framework outbound system, in the process of grabbing the framework by the intelligent trolley, the appropriate position cannot be adjusted through the visual recognition system, the intelligent trolley sends the related system to the RGV trolley or the AVG trolley, the RGV trolley or the AVG trolley adjusts the position of the framework tray, so as to ensure that the intelligent trolley can grab the framework.

[0064] The second grabbing device in the embodiment is further provided with a pressure acquisition device, that is, the intelligent trolley in the embodiment is provided with the pressure acquisition device; specifically, when falling into place, the pressure acquisition device installed on the intelligent trolley detects whether the framework and the wheel set combination are resisted by the change of pressure, after the framework and the wheel set combination are combined, the framework continues to fall, the intelligent trolley automatically judges that the combination of the framework and the wheel set is completed through the change of the weight of the framework; specifically, in the embodiment, the pressure acquisition device can adopt an existing pressure sensor.

[0065] The wheel set combination automatic placing and adjusting system in the embodiment comprises an automatic falling into place device, a traction device and a supporting device; the wheel set combination in the embodiment comprises a wheel set axle box, a gear box and a wheel set; the supporting device is used for supporting the wheel set axle box, and the traction device is used for pulling the wheel set combination to the automatic falling into place device, and a positioning groove is arranged on the automatic falling into place device to position the wheel set; the supporting device is a supporting frame with a walking wheel.

[0066] The wheel set to be completed and the wheel set axle box body are supported by the supporting device, the wheel set axle box body and the gear box are supported, and the wheel set is kept balanced, and the wheel set is equipped with a traction device, and after receiving a command, the traction device automatically pulls the wheel set to the placement position of the automatic completion equipment; after the wheel set is placed, the axle box spring intelligent hoisting device arranged in front of the completion platform of the automatic completion equipment is used to place the axle box spring on the wheel set axle box body; the wheel set is positioned through the positioning groove, and after positioning is completed, the image equipment on the automatic completion equipment is raised to collect images of the wheel set axle box body, and the collected image information is compared with the preset standard image, the height of the wheel set axle box body is automatically adjusted, the heights of the four wheel set axle box bodies are ensured to be uniform, and the relative position of the wheel set is measured by the laser range finder arranged on the automatic completion equipment, and the position information of the wheel set is automatically recorded.

[0067] Further, the automatic completion equipment described above can adopt the automatic completion equipment for a high-speed rail locomotive bogie disclosed in the patent CN111348071A, and therefore, the specific structure of the automatic completion equipment is not discussed here.

[0068] The bogie intelligent detection and adjustment device in the embodiment comprises a detection device and an adjustment device, the detection device detects assembly information of the bogie, and the adjustment device adjusts the bogie according to the assembly information. The detection device is a non-contact detection device.

[0069] As a further technical solution, a computer-aided assembly system is further included, which is used to assist in installing accessories on the bogie, for example, the automatic traction device pulls the bogie to a sensor installation platform after completion, installs components of the bogie, tightens connection components such as lifting, positioning node bolts and gear box lifting rods of the wheel set assembly, and installs sensors of the bogie.

[0070] In the embodiment, the first control system sends work orders to the second control system, the second control system schedules and controls the devices in the production line, the device completion information is fed back to the second control system at any time, and the second control system grasps the device state in the production line in real time; meanwhile, the device data is fed back to the first control system; the devices in the production line include the automatic completion equipment, the intelligent trolley, the RGV trolley or the AVG trolley, the frame three-dimensional warehouse, the stacker, the intelligent detection and adjustment device and the like; the computer-aided assembly system collects assembly information at the front end, including personnel operation information, device measurement data, torque values, work starting time and the like; the computer-aided assembly system cooperates with the handheld terminal, the industrial computer, the wireless measurement device, the electric torque tool and the like to realize completion and adjustment of the bogie.

[0071] The system disclosed in the embodiment realizes intelligent control of intelligent trolleys, automatic assembly devices, RGV trolleys or AVG trolleys, framework stereoscopic storages and stackers in the production line, realizes automatic storage and retrieval of frameworks, automatic hoisting of frameworks, automatic adjustment of wheel sets, automatic assembly of bogies, automatic detection and adjustment of bogies and automatic tightening of bolts. At the same time, the moving distance of the framework and the wheel set during assembly and the size during size adjustment of the bogie are all preset in the system as an experience formula of workers, and the assembly and adjustment are performed through experience at the beginning, and the experience formula is corrected through the collected big data in the later period, so that the intelligent degree of assembly and adjustment is improved.

[0072] Further, based on the above system, the embodiment further proposes a bogie intelligent assembly and adjustment process, and the specific working process is as follows:

[0073] Step 1: Assembly instruction receiving and automatic retrieval of frameworks

[0074] a) The assembly work order is issued through the primary control system, the work order is arranged through the secondary control system, the secondary control system sends the retrieval instruction to the stereoscopic storage control system, and the stereoscopic storage control system controls the stacker to automatically grab the framework to be assembled according to the assembly instruction after receiving the assembly instruction;

[0075] b) The secondary control system monitors the state of the RGV trolley or the AVG trolley in the production line to confirm whether the RGV trolley or the AVG trolley is in an idle state, and after confirming that the RGV trolley or the AVG trolley is in the idle state, the stacker of the framework stereoscopic storage grabs the framework to be assembled (the framework to be assembled is installed with an RFID card storing framework information, and the stacker is provided with an information reading device) and places it on the idle RGV trolley or AVG trolley, the RGV trolley or AVG trolley is provided with a framework tray, and the framework tray is provided with positioning guide columns to position the framework position and ensure the accuracy of the framework position to facilitate the framework grabbing of the intelligent trolley. After the framework is placed, the stereoscopic storage transmits a work completion instruction to the secondary control system, and the secondary control system receives the instruction and mobilizes the intelligent trolley to act above the RGV trolley or AVG trolley where the framework is placed.

[0076] Step 2: Automatic grabbing of the framework to be assembled

[0077] a) The intelligent trolley grabs the framework to be assembled, the intelligent trolley is provided with a visual identification system, the position of the intelligent trolley is automatically adjusted through the positioning guide column mark of the framework tray to ensure that the framework is not resisted during grabbing and the position of the grabbed framework is correct, the RFID information reading device is configured on the intelligent trolley to read the framework information for comparison to ensure the accuracy of the grabbed framework.

[0078] b) In the process of intelligent trolley grabbing framework, the visual recognition system cannot adjust the appropriate position, and the intelligent trolley sends the related system to the RGV trolley or AVG trolley, and the RGV trolley or AVG trolley adjusts the position of the framework tray to ensure that the intelligent trolley can grab the framework.

[0079] c) After the intelligent trolley grabs the framework, the framework is lifted, and the intelligent trolley stops lifting after the set distance. It is confirmed that the intelligent trolley has completely grabbed the framework, and all locking structures of the intelligent trolley have been locked in place. After confirming that there is no error, the intelligent trolley grabs the framework to the set position, and the intelligent trolley automatically runs to the above bogie wheel set composition through the secondary control system.

[0080] Step 3, automatic placement and adjustment of wheel set composition

[0081] a) The wheel set axle body to be completed is supported by the supporting device, so that the wheel set axle body and the gear box are kept balanced, and the wheel set composition is equipped with a traction device. After receiving the command, the traction device automatically pulls the wheel set composition to the wheel set composition placement of the automatic completion equipment;

[0082] b) After the wheel set composition is in place, the axle box spring is grabbed and placed on the wheel set axle body by the axle box spring intelligent lifting device arranged in front of the automatic completion equipment;

[0083] c) The wheel set composition is positioned by the positioning V-shaped groove on the automatic completion equipment. After positioning is completed, the image equipment on the automatic completion equipment rises to collect images of the axle box body, and compares the collected image information with the preset standard image. The height of the axle box body is automatically adjusted to ensure that the heights of the four axle box bodies are uniform. At the same time, the relative position of the wheel set composition is measured by the equipped laser range finder, and the position information of the wheel set composition is automatically recorded;

[0084] Step 4, intelligent bogie completion

[0085] a) After the above work is completed, the automatic completion equipment sends a completion signal to the secondary control system. After the operator confirms, the intelligent trolley automatically descends. The intelligent trolley is equipped with a visual recognition system, which can adjust the position of the intelligent trolley during the descent process. Multiple stopping points are set during the descent process.

[0086] b) When the frame and wheel set assembly are in basic contact, the frame position is measured by the laser detection device through the automatic assembly device, and compared with the previously measured wheel set assembly position information, the distance between the outer surface of the frame positioning arm and the outside of the wheel set assembly positioning node is calculated, whether it meets the design size requirement, if the size is not within the required range, the device automatically adjusts (the intelligent trolley can adjust the position of the frame, the automatic assembly device can adjust the position of the wheel set assembly, and the automatic assembly device can also adjust the installation of the wheel set assembly), after the size is adjusted to a reasonable range, the frame continues to be assembled, when the frame is assembled, the pressure acquisition device installed on the intelligent trolley detects whether the frame and the wheel set assembly are in contact through the change of pressure, after the frame and the wheel set assembly are combined, the frame continues to fall, the intelligent trolley automatically judges that the frame and the wheel set assembly have been combined by the change of the weight of the frame, and then the intelligent trolley automatically removes the pin in contact with the frame, the intelligent trolley automatically rises and automatically reaches the relevant position. Realize the full-automatic and unmanned assembly of the frame.

[0087] 5. Intelligent detection and adjustment of bogie

[0088] a) After the assembly is completed, the automatic traction device pulls the bogie to the sensor installation platform to install the bogie components;

[0089] b) The computer-aided assembly system transmits the completion signal to the secondary control system, and transmits it to the secondary control system to control the automatic detection and adjustment of the bogie to automatically start the corresponding bogie detection and adjustment program.

[0090] c) Push the bogie assembly to the bogie automatic detection and adjustment platform, confirm that the bogie information is correct, start the automatic detection and adjustment device, the bogie automatic detection and adjustment device uses non-contact measurement technology to measure the distance between the wheel set assembly and the frame and the diagonal size of the bogie, iteratively calculates the collected data to achieve the optimal size of the size adjustment. If the size meets the technical requirements, the size detection and adjustment work is completed, if the size does not meet the requirements, the bogie automatic detection and adjustment device automatically calculates the adjustment amount of the distance between the four wheel sets of the bogie and the frame, and automatically controls the adjustment device to adjust the distance between the wheel set and the frame. After adjustment, the bogie automatic detection and adjustment device measures the above-mentioned size again, meets the requirements, the size detection and adjustment work is completed, does not meet, adjusts again until the detected size meets the requirements, the size value after passing is directly uploaded to the primary control system.

[0091] d) After the size is detected to be qualified, an electric torque tool tightening mechanical arm is arranged on the side of the size adjustment station, the mechanical arm automatically rises to tighten the positioning arm node bolt after receiving the qualified size detection result, the mechanical arm is equipped with a visual recognition system, the tightening position of the positioning bolt is automatically positioned, the tightening result is automatically judged after being tightened, the tightening information is automatically uploaded to the CAA system after being judged to be qualified.

[0092] Finally, it should be noted that the relationship terms such as first and second are only used to distinguish one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations.

[0093] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A bogie intelligent completion system, characterized in that, The application relates to a bogie frame out-of-warehouse system, a frame automatic grabbing system, a wheel set assembly automatic placing and adjusting system and a control system. The bogie frame out-of-warehouse system comprises a three-dimensional warehouse control system which obtains an out-of-warehouse instruction and sends the instruction to a second grabbing device. The second grabbing device receives a grabbing instruction, grabs the frame and places the frame on an idle intelligent trolley. The second control system is used for monitoring the state of the intelligent trolley and confirming whether the intelligent trolley is in an idle state. The intelligent trolley is used for placing the frame. The frame is provided with an electronic tag, and the electronic tag stores frame information. The second grabbing device is provided with a corresponding first information reading device. The frame automatic grabbing system further comprises a second information reading device. The second information reading device reads the frame information stored in the electronic tag on the frame.

2. The intelligent drop-in-place system for a bogie as claimed in claim 1, wherein, The state of the intelligent trolley is monitored by the control system.

3. The intelligent drop-in-place system for a bogie as claimed in claim 1, wherein A tray is arranged on the intelligent trolley, and the position of the tray can be automatically adjusted.

4. The intelligent drop-in-place system for a bogie as claimed in claim 3, wherein, Positioning marks are arranged on the tray.

5. The intelligent drop-in-place system for a bogie as claimed in claim 1, wherein, The three-dimensional warehouse control system transmits the instruction to the control system after completing the instruction.

6. The intelligent drop-in-place system for a bogie as claimed in claim 1, wherein, The intelligent trolley and the first grabbing device exchange information.

7. The intelligent drop-in-place system for a bogie as claimed in claim 1, wherein, The wheel set assembly automatic placing and adjusting system further comprises a wheel set positioning device arranged on the automatic assembly device.

8. The intelligent drop-in-place system for a bogie as claimed in any one of claims 1 or 7, wherein, The application further comprises a bogie intelligent detection and adjusting device.

9. The intelligent drop-in-place system for a bogie as claimed in claim 8, wherein, The bogie intelligent detection and adjusting device comprises a detection device and an adjusting device.

10. The intelligent drop-in-place system for a bogie as claimed in claim 9, wherein, The detection device detects the assembly information of the bogie, and the adjusting device adjusts the bogie according to the assembly information.

11. The intelligent drop-in-place system for a bogie as claimed in any one of claims 1 or 7, wherein, The detection device is a non-contact detection device.

12. The process for the bogie intelligent assembly system according to any one of claims 1-11, characterized in that, The application further comprises a computer-aided assembly system which exchanges information with the control system. The application comprises the following steps: Step 1: the bogie frame out-of-warehouse system obtains an out-of-warehouse instruction and automatically out-warehouse the frame; Step 2: the frame automatic grabbing system obtains a grabbing instruction and automatically grabs the out-warehouse frame; Step 3: the wheel set assembly automatic placing and adjusting system automatically places the wheel set assembly on the automatic assembly device, and the automatic assembly device adjusts the placing position of the wheel set assembly. The step 4 control system controls the framework automatic grabbing system to combine the framework grabbed in the step 2 and the wheel set in the step 3 according to the set position, and complete the bogie assembly.

13. The process for building a bogie intelligent system as claimed in claim 12, wherein, In the step 1, the three-dimensional warehouse control system receives the assembly instruction sent by the control system, and controls the second grabbing device to automatically grab the framework to be assembled according to the assembly instruction.

14. The process for building a bogie intelligent system as claimed in claim 12, wherein, In the step 1, the control system monitors the state of the intelligent trolley, and confirms whether the intelligent trolley is in an idle state. After confirming that the intelligent trolley is in the idle state, the second grabbing device grabs the framework to be assembled and places it on the idle intelligent trolley. After the three-dimensional warehouse is placed, the three-dimensional warehouse transmits the work completion instruction to the control system.

15. The process for building a bogie intelligent system as claimed in claim 14, wherein, In the step 2, during the grabbing process, the first information reading device on the first grabbing device reads the electronic tag information stored on the framework, and judges whether the information is correct. If the information is correct, the grabbing is performed.

16. The process for building a smart bogie system as claimed in claim 12, wherein, In the step 2, the first grabbing device grabs the framework to be assembled, automatically adjusts the position of the framework through the positioning mark, and reads the framework information through the information reading device on the first grabbing device to ensure that the grabbed framework is accurate.

17. The process for building a smart bogie system as claimed in claim 12, wherein, In the step 2, when the appropriate position cannot be adjusted through the visual recognition system during the process that the first grabbing device grabs the framework, the first grabbing device sends the related information to the intelligent trolley, the intelligent trolley adjusts the position of the tray of the framework, and the first grabbing device can grab the framework.

18. The process for building a bogie intelligent system as claimed in claim 12, wherein, In the step 2, after the first grabbing device grabs the framework, it is firstly ensured that the framework has been completely grabbed. After confirming that the framework has been completely grabbed, the control system controls the first grabbing device to automatically run above the wheel set to be assembled.

19. The process for building a smart bogie system as claimed in claim 12, wherein, In the step 3, the automatic assembly device collects the image of the wheel set axle box through the image device, compares the collected image information with the preset standard image, automatically adjusts the height of the wheel set axle box, and ensures that the heights of the four wheel set axle boxes are uniform. Meanwhile, the relative position of the wheel set is measured through the laser range finder, and the position information of the wheel set is automatically recorded.

20. The process for building a smart bogie system of claim 19, wherein, In the step 4, the automatic assembly device sends the completion signal to the control system, and the first grabbing device automatically descends. During the descending process of the first grabbing device, the position of the first grabbing device is adjusted through the image collection device. When the first grabbing device falls to the position where the framework and the wheel set basically contact, the position of the framework is measured through the laser detection device of the automatic assembly device, and is compared with the position information of the wheel set measured in the early stage. Whether the size meets the design requirement is calculated. If the size is not within the required range, the device automatically adjusts the size to be within the reasonable range. After the size is adjusted to be within the reasonable range, the framework continues to be assembled.

21. The process for building a smart bogie system as claimed in claim 12, wherein, In the step 4, during the assembly, the pressure collection device on the first grabbing device detects whether the framework and the wheel set resist each other by detecting the pressure change. After the framework and the wheel set are combined, the framework continues to fall. The first grabbing device automatically judges that the framework and the wheel set have been combined by the change of the weight of the framework.

22. The process for building a bogie intelligent system as claimed in claim 12, wherein, The step 5 further includes that a bogie detection and adjustment system detects and adjusts the assembled bogie until the assembled bogie meets the installation requirement.

23. The process for building a smart bogie system of claim 22, wherein, The specific process in the step 5 is as follows. The bogie automatic detection and adjustment device measures the distance between the wheel sets and the bogie frame and the diagonal size of the bogie, iteratively calculates the collected data, and realizes the optimal size of the size adjustment; if the size meets the technical requirements, the size detection and adjustment work is completed; if the size does not meet the requirements, the bogie automatic detection and adjustment device automatically calculates the adjustment amount of the distance between the four wheel sets and the bogie frame, automatically controls the adjustment device to adjust the distance between the wheel sets and the bogie frame; after the adjustment is completed, the bogie automatic detection and adjustment device measures the above-mentioned size again, and if the requirements are met, the size detection and adjustment work is completed; if not, the adjustment is performed again until the detected size meets the requirements.

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