Bogie clamping and pressing method, device, electronic equipment and storage medium

Abstract

This invention relates to the field of rail vehicle manufacturing technology and provides a method, device, electronic equipment, and storage medium for clamping and pressing bogies. The method includes: after positioning the bogie on a base platform, controlling multiple clamping mechanisms to simultaneously press down multiple times until the clamping force reaches a first preset threshold; the simultaneous pressing down means that the multiple clamping mechanisms press down on the bogie at the same pressing speed, and the pressing amount of the multiple clamping mechanisms in each simultaneous pressing is consistent. This invention can improve the clamping accuracy of rail vehicle bogies.

Description

Technical Field

[0001] This invention belongs to the field of rail vehicle manufacturing technology, and particularly relates to a method, device, electronic equipment and storage medium for clamping and pressing bogies. Background Technology

[0002] The bogie is one of the most important components in the structure of a rail vehicle. Sufficient machining accuracy must be ensured when assembling and machining the bogie.

[0003] The manufacturing of bogies is a flexible manufacturing process. Because bogies are welded steel plate structures, they have poor overall rigidity and a compact structure. There are many parts to be processed, and the processing accuracy requirements are high, making the processing difficult. Even a small clamping error can lead to the inability to meet the processing accuracy requirements.

[0004] Clamping is the final step in bogie mounting. By clamping the bogie, it is possible to prevent it from shifting during machining and ensure machining accuracy. However, in related technologies, when clamping the bogie, the movements of each clamping mechanism have a certain time deviation and cannot be completely synchronized. This causes the bogie to move laterally during the clamping process, thus affecting the mounting accuracy. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a method, apparatus, electronic device and storage medium for clamping and pressing bogies, so as to improve the clamping accuracy of railway vehicle bogies.

[0006] A first aspect of the present invention provides a method for clamping and pressing a bogie. The method is applied to a bogie clamping device, which includes a base platform for supporting the bogie and a plurality of clamping mechanisms for pressing the bogie on the base platform.

[0007] The method includes:

[0008] After positioning the bogie on the base platform, multiple clamping mechanisms are controlled to press down synchronously in multiple stages until the clamping force reaches the first preset threshold.

[0009] Among them, synchronous pressing means that multiple pressing mechanisms press down on the bogie at the same pressing speed, and the pressing amount of the multiple pressing mechanisms is the same each time.

[0010] In conjunction with the first aspect, in one possible implementation of the first aspect, before controlling the multiple pressing mechanisms to press down synchronously in multiple stages, it further includes:

[0011] Adjust multiple clamping mechanisms to their corresponding preset positions;

[0012] The height of each preset position is consistent.

[0013] In conjunction with the first aspect, one possible implementation of the first aspect involves controlling multiple pressing mechanisms to press down synchronously in multiple stages, including:

[0014] Each time multiple clamping mechanisms are controlled to press down synchronously, the clamping force of each clamping mechanism is made to reach the midpoint of the clamping force corresponding to that synchronous pressing down;

[0015] Among them, the intermediate value of the clamping force corresponding to each synchronous pressing is less than the first preset threshold, and the magnitude of the intermediate value of the clamping force is proportional to the number of synchronous pressing.

[0016] In conjunction with the first aspect, in one possible implementation of the first aspect, the base platform includes a crossbeam intermediate support mechanism for supporting the bogie crossbeam;

[0017] Multiple clamping mechanisms are controlled to press down synchronously in multiple stages, including:

[0018] After each time multiple clamping mechanisms are pressed down synchronously, check whether the current position of the crossbeam's middle support mechanism is consistent with its position before synchronous pressing.

[0019] If they are inconsistent, adjust the middle support mechanism of the crossbeam to the position before synchronous pressing down.

[0020] In conjunction with the first aspect, in one possible implementation of the first aspect, the base platform also includes a side beam support mechanism for supporting the bogie side beams;

[0021] After the clamping force reaches the first preset threshold, the following is also included:

[0022] The side beam support mechanism is raised until the support force of the side beam support mechanism on the bogie reaches the second preset threshold.

[0023] In conjunction with the first aspect, in one possible implementation of the first aspect, the number of clamping mechanisms is four, and the four clamping mechanisms are used to clamp the four corner positions of the bogie respectively.

[0024] In conjunction with the first aspect, in one possible implementation of the first aspect, the bogie clamping device further includes four leveling and alignment mechanisms, which respectively support the four corner positions of the bogie on the base platform.

[0025] Positioning the bogie on the base platform includes:

[0026] The four leveling and alignment mechanisms are controlled to perform initial positioning of the bogie;

[0027] The four leveling and alignment mechanisms are controlled to level and align the bogie.

[0028] The four leveling and alignment mechanisms are controlled to ensure that the zero point of the bogie is aligned in the horizontal plane.

[0029] A second aspect of the present invention provides a bogie clamping and pressing device, which is applied to a bogie clamping device, the bogie clamping device including a base platform for supporting the bogie and a plurality of pressing mechanisms for pressing the bogie on the base platform;

[0030] The device includes:

[0031] The positioning module is used to position the bogies on the base platform.

[0032] The clamping module is used to control multiple clamping mechanisms to press down synchronously in multiple stages until the clamping force reaches a first preset threshold. The synchronous pressing means that multiple clamping mechanisms press down on the bogie at the same pressing speed, and the pressing amount of the multiple clamping mechanisms is the same each time they press down synchronously.

[0033] A third aspect of the present invention provides a controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method as described in the first aspect or any implementation thereof.

[0034] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in the first aspect or any implementation thereof.

[0035] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0036] This invention achieves automatic bogie clamping through a bogie clamping device, avoiding human error. Simultaneously, after positioning the bogie on the base platform, multiple clamping mechanisms are controlled to press down synchronously in multiple stages until the clamping force reaches a first preset threshold. Synchronous pressing means that multiple clamping mechanisms press down on the bogie at the same speed, and the pressing amount of each synchronous pressing mechanism is consistent. By using segmented pressing, excessive pressing at once is avoided, thereby reducing the movement deviation of the clamping mechanisms, preventing lateral displacement of the bogie, and improving the clamping accuracy of the bogie. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1This is a schematic diagram of the planar structure of the bogie clamping device provided in an embodiment of the present invention;

[0039] Figure 2 This is a three-dimensional structural schematic diagram of the bogie clamping device provided in an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the leveling and alignment mechanism provided in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the clamping mechanism provided in an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the robot alignment mechanism provided in an embodiment of the present invention;

[0043] Figure 6 This is a schematic flowchart of the bogie clamping and pressing method provided in an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the bogie clamping and pressing device provided in an embodiment of the present invention;

[0045] Figure 8 This is a schematic diagram of the controller provided in an embodiment of the present invention. Detailed Implementation

[0046] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0047] To illustrate the technical solution described in this invention, specific embodiments are described below.

[0048] First, the bogie clamping device according to an embodiment of the present invention will be introduced.

[0049] See Figure 1 and Figure 2 As shown, the bogie clamping equipment includes a base platform 11, four leveling and alignment mechanisms 12, four clamping mechanisms 13, a robot alignment mechanism 14 (i.e., a camera mechanism), a crossbeam intermediate support mechanism 15, a measuring beam support structure 16, a platform control cabinet 17, and an under-platform control cabinet 18, etc. Its key feature is that it can achieve automatic leveling, automatic alignment, and automatic clamping of the railway train bogie. Figure 2 In the coordinate system, the X direction is the first horizontal direction in this invention, the Y direction is the second horizontal direction in this invention, and the Z direction is the vertical direction in this invention.

[0050] The basic platform 11 mainly includes a tooling base plate, lifting devices, positioning devices, and locking devices, which are used to support and carry each component unit module and fix the relative position of this flexible machining tooling system on the machine tool. The tooling base plate is made of high-quality steel and welded, possessing good strength and rigidity to ensure that the tooling does not deform or bend during lifting and use. The lifting devices are distributed at the intersections of the "well" shape on the tooling base plate, using high-strength rotatable lifting rings connected to the tooling base plate, and are used for loading, unloading, and lifting of the bogie automatic clamping equipment on each machine tool in a straight line. The positioning devices are also distributed at the intersections of the "well" shape on the tooling base plate, but their positions are staggered from the lifting devices and biased towards the positive and negative ends of the Y-axis of the tooling base plate. The positioning devices are installed using positioning sleeves, tapered screws, positioning pins, and positioning pins. The fixture consists of a base and a strip nut. The positioning sleeve is locked onto the fixture base plate with screws. The tapered screw, positioning pin, positioning pin mounting seat, and strip nut form an assembly installed in the T-slot of the machine tool platform. Its positioning device is used for the positioning connection between the fixture base plate and the machine tool platform. The locking device is also distributed on each intersection of the "well" shape of the fixture base plate. Its position is staggered from the lifting device and positioning device, and it is biased towards the positive and negative ends of the X direction of the fixture base plate. The locking device consists of a T-type high-strength bolt, a heavy-duty flat washer, a heavy-duty spring washer, and a high-strength flange nut. The T-type high-strength bolt passes through the waist-shaped through hole on the fixture base plate and is rotated and fixed in the T-slot of the machine tool platform. The heavy-duty flat washer, heavy-duty spring washer, and high-strength flange nut are connected to the T-type high-strength bolt in sequence. The locking device is used for the locking connection between the fixture base plate and the machine tool platform.

[0051] Four leveling and alignment mechanisms 12 are positioned at the four corners of the fixture base plate, their distribution symmetrical about the center of the fixture base plate. (See also...) Figure 3 As shown, the leveling and alignment mechanism 12 consists of an end block, an inner pull block, a fixed support base, a displacement detection device, a lifting support base, an X-axis pushing system, a Y-axis pushing system, and a slider assembly. The X-axis pushing system is installed on the outer side of the tooling base plate and connected to the X-axis base plate via a connecting block, used to achieve pushing in the positive and negative X directions; the Y-axis pushing system is installed on the Y-axis base plate and connected to the X-axis base plate via a connecting seat, used to achieve pushing in the positive and negative Y directions; the slider assembly is installed on the tooling base plate and the X-axis base plate, and the slider assembly can be divided into an X-axis slider assembly and a Y-axis slider assembly. The slide rail of the X-axis slider assembly is installed on the tooling base plate and runs through the X direction, enabling X-axis sliding of the four-corner leveling and alignment mechanism; the Y-axis slider assembly is installed between the X-axis base plate and the Y-axis base plate, enabling Y-axis sliding of the structure above the Y-axis slider assembly in the four-corner leveling and alignment mechanism; the end block is installed on the outer end of the Y-axis base plate; the inner pull block is installed on the Y-axis base plate, adjacent to the end block; the fixed support base, the lifting support base, and the displacement detection device are sequentially installed on the Y-axis base plate.

[0052] Four clamping mechanisms 13 are positioned adjacent to the inner sides of each corner leveling and alignment mechanism 12, and their distribution is symmetrical about the center of the tooling base plate. (See also...) Figure 4 As shown, its structure includes an auxiliary clamping sliding assembly and a clamping assembly. The auxiliary clamping sliding assembly comprises a base plate, a slider assembly, and a sliding plate. The base plate is fixedly mounted on the tooling base plate, with the slider assembly locked on top of it. A sliding plate is locked on top of the slider, allowing for sliding adjustment within a certain range along the X direction. The clamping assembly is locked and mounted above the auxiliary clamping sliding assembly.

[0053] The robot alignment mechanism 14 is installed on each side of the base platform in the X direction, independent of the base platform 11, and connected to the data transmission cable via a flexible cable. (See also...) Figure 5 As shown, its structure includes a vision camera, a positioning robot, a movable control console for the robot, and a fixed base plate. The positioning robot is mounted on the movable control console. The movable control console is fixed to the fixed base plate.

[0054] The control system of the bogie clamping equipment mainly consists of a platform control cabinet, an under-platform control cabinet, a vision system control cabinet, a touch screen, and a large display screen for animation display. The platform control cabinet is located at the midpoint of both ends of the tooling base plate along the Y direction. The under-platform control cabinet is located outside the base platform, independent of it, and connected to the data transmission cable via a flexible cable. The touch screen is located on the top panel of the under-platform control cabinet and includes power-on / off and emergency stop buttons. The vision system control cabinet is located inside the robot's movable control console. The large display screen is placed outside the equipment enclosure on the base platform and connected to the data transmission cable via a flexible cable to achieve real-time transmission of leveling and alignment data and animation display.

[0055] Figure 6 This is a flowchart illustrating the bogie clamping and pressing method provided in one embodiment of the present invention. See also... Figure 6 As shown, the method includes:

[0056] Step S601: Position the bogie on the base platform.

[0057] In this embodiment, bogie positioning includes equipment reset, initial positioning, leveling, alignment, and zero-point coincidence. The purpose is to align the bogie with the standard position to prepare for subsequent precision machining. After positioning, the bogie is clamped by a clamping mechanism to prevent it from shifting.

[0058] Step S602: Control multiple clamping mechanisms to press down synchronously multiple times until the clamping force reaches the first preset threshold; wherein, synchronous pressing means that multiple clamping mechanisms press down on the bogie at the same pressing speed, and the pressing amount of the multiple clamping mechanisms is the same each time.

[0059] In this embodiment, a multi-stage clamping method is used to prevent lateral movement of the frame. Since it is difficult for the clamping mechanisms to press down completely synchronously, there is a certain time difference. When clamping all at once, the time difference increases, causing lateral displacement of the frame. Therefore, this embodiment considers using multi-stage clamping.

[0060] Specifically, each time multiple clamping mechanisms are controlled to press down synchronously, the clamping force of each clamping mechanism is made to reach the midpoint of the clamping force corresponding to that synchronous pressing down.

[0061] Among them, the intermediate value of the clamping force corresponding to each synchronous pressing is less than the first preset threshold, and the magnitude of the intermediate value of the clamping force is proportional to the number of synchronous pressing.

[0062] For example, the pressing can be divided into three stages. In the first stage, a smaller force is applied to prevent the structure from shifting too much. The four pressing mechanisms press down simultaneously. When the pressing force reaches 100KG, the pressing stops. After the first stage of pressing is completed, the second stage of 500KG and the third stage of 1000KG pressing are performed. The pressing process is the same as the first stage.

[0063] This invention achieves automatic bogie clamping through a bogie clamping device, avoiding human error. Simultaneously, after positioning the bogie on the base platform, multiple clamping mechanisms are controlled to press down synchronously in multiple stages until the clamping force reaches a first preset threshold. Synchronous pressing means that multiple clamping mechanisms press down on the bogie at the same speed, and the pressing amount of each synchronous pressing mechanism is consistent. By using segmented pressing, excessive pressing at once is avoided, thereby reducing the movement deviation of the clamping mechanisms, preventing lateral displacement of the bogie, and improving the clamping accuracy of the bogie.

[0064] As one possible implementation, before controlling multiple pressing mechanisms to press down synchronously in step S602, the method further includes:

[0065] Adjust multiple clamping mechanisms to their corresponding preset positions;

[0066] The height of each preset position is consistent.

[0067] Adjusting multiple clamping mechanisms to a uniform height ensures that they contact the bogie simultaneously, achieving synchronized downward pressure and preventing deviation caused by different contact times between the clamping mechanisms and the bogie.

[0068] As one possible implementation, the base platform includes a crossbeam intermediate support mechanism for supporting the bogie crossbeam;

[0069] In step S602, multiple pressing mechanisms are controlled to press down synchronously in multiple stages, including:

[0070] After each time multiple clamping mechanisms are pressed down synchronously, check whether the current position of the crossbeam's middle support mechanism is consistent with its position before synchronous pressing.

[0071] If they are inconsistent, adjust the middle support mechanism of the crossbeam to the position before synchronous pressing down.

[0072] Each downward press may cause the bogie position to shift downward. Therefore, check whether the current position of the crossbeam intermediate support mechanism is consistent with the position before synchronous pressing. If they are inconsistent, adjust the crossbeam intermediate support mechanism to the position before synchronous pressing to ensure that the bogie is always at the zero point position in the Z direction.

[0073] As one possible implementation, the base platform also includes a side beam support mechanism for supporting the bogie side beams;

[0074] After the clamping force reaches the first preset threshold in step S602, the method further includes:

[0075] The side beam support mechanism is raised until the support force of the side beam support mechanism on the bogie reaches the second preset threshold.

[0076] In this embodiment, the side beam support mechanism is raised, the clamping force is set to 100KG, and no displacement compensation is performed.

[0077] As one possible implementation, the bogie clamping device also includes four leveling and alignment mechanisms, which respectively support the four corner positions of the bogie on the base platform;

[0078] Step S601 involves positioning the bogie on the base platform, including:

[0079] The four leveling and alignment mechanisms are controlled to perform initial positioning of the bogie;

[0080] The four leveling and alignment mechanisms are controlled to level and align the bogie.

[0081] The four leveling and alignment mechanisms are controlled to ensure that the zero point of the bogie is aligned in the horizontal plane.

[0082] Specifically, the bogie clamping equipment needs to be reset before operation.

[0083] The specific steps for resetting include:

[0084] (1) Connect the communication line and power line between the power distribution cabinet and the control cabinet. Power on the equipment and the operator selects the model of the clamping frame to be installed on the touch screen.

[0085] (2) Start the reset process; the equipment enters parameters according to the formula, and each mechanism moves to the waiting position; (each mechanism returns to the origin; the clamping mechanism moves to the avoidance position; the robot returns to the origin);

[0086] (3) Reset completes self-test; (each weighing sensor; laser displacement sensor; servo motor, etc.);

[0087] (4) If the self-test is abnormal, the equipment will alarm and the personnel will check and confirm the cause of the alarm; if the self-test is not abnormal, the touch screen will prompt the personnel to manually hoist the frame; the reset ends.

[0088] After resetting, the frame can be manually hoisted onto the equipment. The four corner leveling and alignment mechanisms in the X and Y directions, through the end top blocks and inner pull blocks, push the frame to the target position to achieve initial positioning.

[0089] The specific steps for initial positioning include: First, the four leveling and alignment mechanisms move inward in the X direction, pushing the frame to slide at the bullseye contact point through the outer vertical plate, thus positioning the frame; then, the four leveling and alignment mechanisms move outward in the Y direction, pushing the frame to slide at the bullseye contact point through the inner vertical plate, thus positioning the frame; after the frame is positioned, the four leveling and alignment mechanisms move backward, no longer in contact with the frame, leaving space for alignment and adjustment.

[0090] After initial positioning, the cameras on both sides are moved to the first leveling plane for photographing. This first leveling plane can be a horizontal plane (XOY plane) above the bogie. Based on the photographs, the vertical distances (Z-axis distances) between the four corners of the bogie and the first leveling plane can be precisely calculated, thus determining whether the bogie is level. It can be understood that the bogie is level when the four corners are equidistant from the vertical distance of the first leveling plane. This can be achieved by controlling the four leveling and alignment mechanisms to raise or lower the bogie vertically, ensuring that the vertical distances between the four corners and the first leveling plane are zero, guaranteeing the bogie is level and that the Z-axis zero point coincides. Furthermore, a two-corner leveling—third-corner leveling—fourth-corner contact method can be adopted. First, control the vertical distance of the leveling and alignment mechanism at one set of diagonal positions to rise vertically, bringing that set of diagonal positions to the first leveling plane. Then, control the vertical distance of the lower leveling and alignment mechanism at the other set of diagonal positions of the bogie to rise vertically. Finally, control the other leveling and alignment mechanism to rise vertically until it contacts the bottom of the bogie, completing the bogie leveling. Since the third and fourth corner leveling only raises and does not lower, the fourth corner is theoretically leveled after the third corner is leveled, thus avoiding the problem of "false legs" (uneven alignment). Leveling accuracy can be further improved by performing two leveling operations. During the second leveling, the second leveling plane is preferably higher than the first leveling plane. The second leveling only raises and does not lower, preventing false legs. For example, the second leveling plane is 2mm higher than the first leveling plane. After the second leveling is completed, a photo is taken for re-inspection; an error of less than 0.3mm is acceptable.

[0091] After leveling, the two camera mechanisms can be controlled to move to the preset first alignment line on the corresponding side respectively for taking pictures. According to the captured images, the four leveling and alignment mechanisms are controlled to align the bogie. The direction of the first alignment line is parallel to the first horizontal direction, that is, the first alignment line is a straight line in the X direction. By controlling the camera mechanisms on both sides to move to the first leveling plane for taking pictures, according to the photos, the differences between the four corner positions of the bogie and the Y-direction coordinates of the first alignment line can be calculated, so as to judge the offset value of the bogie. Exemplarily, assuming Figure 2 the upper left corner position in Figure 2 is K1, the upper right corner position is K2, the lower right corner position is K3, and the lower left corner position is K4. The offset value can be determined according to the difference between the Y-direction coordinates of K1 and K2, or the offset value can be determined according to the difference between the Y-direction coordinates of K3 and K4. Further, by controlling the four leveling and alignment mechanisms to perform circular motion with the common center as the center, the offset value of the bogie is adjusted to zero. Among them, lateral laser sensors are installed on the four pressing mechanisms, and they are separated from the four leveling and alignment mechanisms. Therefore, during the movement of the frame, their positions remain unchanged, and they can monitor the distance between the side of the frame and the sensors in real time. After the alignment process, the parallel relationship between K1 and K2, K3 and K4 and the alignment line is achieved, not coincidence. In addition, the alignment accuracy can be further improved through two alignments. After the secondary alignment is completed, a recheck is carried out by taking pictures. If the error is less than 0.2 mm, it is determined to be qualified.

[0092] After alignment, the deviation value of the zero position in the Y direction is calculated, and the four leveling and alignment mechanisms move synchronously to the zero position in the Y direction to achieve coincidence in the Y direction. The deviation value of the zero position in the X direction is calculated, and the four leveling and alignment mechanisms move synchronously to the zero position in the X direction to achieve coincidence in the X direction.

[0093] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0094] Figure 7 is a schematic structural diagram of a bogie clamping and pressing device provided by an embodiment of the present invention.

[0095] Referring to Figure 7 as shown, the device 70 includes:

[0096] A positioning module 71 for positioning the bogie on the base platform;

[0097] A pressing module 72 for controlling multiple pressing mechanisms to synchronously press down in multiple times until the pressing force reaches the first preset threshold; wherein, the synchronous pressing down means that multiple pressing mechanisms press down the bogie at the same pressing speed, and the pressing amounts of the multiple pressing mechanisms for each synchronous pressing down are the same.

[0098] As one possible implementation, before controlling multiple clamping mechanisms to press down synchronously in multiple stages, the clamping module 72 is also used for:

[0099] Adjust multiple clamping mechanisms to their corresponding preset positions;

[0100] The height of each preset position is consistent.

[0101] As one possible implementation, the clamping module 72 is specifically used for:

[0102] Each time multiple clamping mechanisms are controlled to press down synchronously, the clamping force of each clamping mechanism is made to reach the midpoint of the clamping force corresponding to that synchronous pressing down;

[0103] Among them, the intermediate value of the clamping force corresponding to each synchronous pressing is less than the first preset threshold, and the magnitude of the intermediate value of the clamping force is proportional to the number of synchronous pressing.

[0104] As one possible implementation, the base platform includes a crossbeam intermediate support mechanism for supporting the bogie crossbeam;

[0105] The clamping module 72 is specifically used for:

[0106] After each time multiple clamping mechanisms are pressed down synchronously, check whether the current position of the crossbeam's middle support mechanism is consistent with its position before synchronous pressing.

[0107] If they are inconsistent, adjust the middle support mechanism of the crossbeam to the position before synchronous pressing down.

[0108] As one possible implementation, the base platform also includes a side beam support mechanism for supporting the bogie side beams;

[0109] After the clamping force reaches the first preset threshold, the clamping module 72 is also used for:

[0110] The side beam support mechanism is raised until the support force of the side beam support mechanism on the bogie reaches the second preset threshold.

[0111] As one possible implementation, there are four clamping mechanisms, which are used to clamp the four corners of the bogie.

[0112] As one possible implementation, the bogie clamping device also includes four leveling and alignment mechanisms, which respectively support the four corner positions of the bogie on the base platform;

[0113] Positioning module 71 is specifically used for:

[0114] The four leveling and alignment mechanisms are controlled to perform initial positioning of the bogie;

[0115] The four leveling and alignment mechanisms are controlled to level and align the bogie.

[0116] The four leveling and alignment mechanisms are controlled to ensure that the zero point of the bogie is aligned in the horizontal plane.

[0117] Figure 8 This is a schematic diagram of a controller 80 provided in an embodiment of the present invention. Figure 8 As shown, the controller 80 in this embodiment includes a processor 81, a memory 82, and a computer program 83 stored in the memory 82 and executable on the processor 81, such as a bogie clamping and pressing program. When the processor 81 executes the computer program 83, it implements the steps in the various bogie clamping and pressing method embodiments described above, for example... Figure 6 Steps S601 to S602 are shown. Alternatively, when processor 81 executes computer program 83, it implements the functions of each module in the above-described device embodiments, for example... Figure 7 The functions of modules 71 to 72 are shown.

[0118] For example, computer program 83 may be divided into one or more modules / units, one or more of which are stored in memory 82 and executed by processor 81 to complete the present invention. One or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 83 in controller 80.

[0119] The controller 80 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The controller 80 may include, but is not limited to, a processor 81 and a memory 82. Those skilled in the art will understand that... Figure 8 This is merely an example of controller 80 and does not constitute a limitation on controller 80. It may include more or fewer components than shown, or combine certain components, or different components. For example, controller 80 may also include input / output devices, network access devices, buses, etc.

[0120] The processor 81 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0121] The memory 82 can be an internal storage unit of the controller 80, such as the hard disk or RAM of the controller 80. The memory 82 can also be an external storage device of the controller 80, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the controller 80. Furthermore, the memory 82 can include both internal storage units and external storage devices of the controller 80. The memory 82 is used to store computer programs and other programs and data required by the controller 80. The memory 82 can also be used to temporarily store data that has been output or will be output.

[0122] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0123] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0124] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0125] In the embodiments provided by this invention, it should be understood that the disclosed devices / controllers and methods can be implemented in other ways. For example, the device / controller embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0126] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0127] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0128] If integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0129] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for clamping and pressing a bogie, characterized in that, The method is applied to a bogie clamping device, which includes a base platform for supporting the bogie and a plurality of clamping mechanisms for clamping the bogie on the base platform. The method includes: After positioning the bogie on the base platform, the multiple clamping mechanisms are controlled to press down synchronously in multiple stages until the clamping force reaches the first preset threshold. The synchronous pressing refers to the multiple pressing mechanisms pressing down on the bogie at the same pressing speed, and the pressing amount of the multiple pressing mechanisms is the same each time they press down synchronously. The basic platform includes a crossbeam intermediate support mechanism for supporting the bogie crossbeam; The method of controlling the multiple pressing mechanisms to press down synchronously in multiple stages includes: After each synchronous pressing of the multiple pressing mechanisms, it is checked whether the current position of the crossbeam middle support mechanism is consistent with the position before synchronous pressing. If they are inconsistent, adjust the middle support mechanism of the crossbeam to the position before synchronous downward pressure; The basic platform also includes a side beam support mechanism for supporting the bogie side beams; After the clamping force reaches the first preset threshold, the method further includes: controlling the side beam support mechanism to rise until the support force of the side beam support mechanism on the bogie reaches the second preset threshold.

2. The bogie clamping and pressing method as described in claim 1, characterized in that, Before controlling the multiple pressing mechanisms to press down synchronously in multiple stages, the method also includes: Adjust the plurality of clamping mechanisms to their corresponding preset positions; The height of each preset position is consistent.

3. The bogie clamping and pressing method as described in claim 1, wherein the step of controlling the plurality of clamping mechanisms to press down synchronously in multiple stages includes: Each time the multiple pressing mechanisms are controlled to press down synchronously, the pressing force of each pressing mechanism is made to reach the intermediate value of the pressing force corresponding to that synchronous pressing. In this case, the intermediate value of the clamping force corresponding to each synchronous pressing is less than the first preset threshold, and the magnitude of the intermediate value of the clamping force is proportional to the number of synchronous pressing.

4. The bogie clamping and pressing method as described in claim 1, characterized in that, The number of clamping mechanisms is four, and the four clamping mechanisms are used to clamp the four corner positions of the bogie.

5. The clamping and pressing method for the bogie as described in any one of claims 1-4, characterized in that, The bogie clamping device also includes four leveling and alignment mechanisms, which respectively support the four corner positions of the bogie on the base platform; The positioning of the bogie on the base platform includes: The four leveling and alignment mechanisms are controlled to perform initial positioning of the bogie; The four leveling and alignment mechanisms are controlled to level and align the bogie. The four leveling and alignment mechanisms are controlled to make the zero point of the bogie coincide in the horizontal plane.

6. A clamping and pressing device for a bogie, characterized in that, The device is applied to a bogie clamping device, which includes a base platform for supporting the bogie and multiple clamping mechanisms for clamping the bogie on the base platform. The device includes: A positioning module is used to position the bogie on the base platform; The clamping module is used to control the multiple clamping mechanisms to press down synchronously in multiple stages until the clamping force reaches a first preset threshold; wherein, the synchronous pressing means that the multiple clamping mechanisms press down on the bogie at the same pressing speed, and the pressing amount of the multiple clamping mechanisms is the same each time they press down synchronously. The basic platform includes a crossbeam intermediate support mechanism for supporting the bogie crossbeam; The method of controlling the multiple pressing mechanisms to press down synchronously in multiple stages includes: After each synchronous pressing of the multiple pressing mechanisms, it is checked whether the current position of the crossbeam middle support mechanism is consistent with the position before synchronous pressing. If they are inconsistent, adjust the middle support mechanism of the crossbeam to the position before synchronous downward pressure; The basic platform also includes a side beam support mechanism for supporting the bogie side beams; After the clamping force reaches the first preset threshold, the method further includes: controlling the side beam support mechanism to rise until the support force of the side beam support mechanism on the bogie reaches the second preset threshold.

7. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 5.

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