Metro bogie frame positioning device and positioning method

Abstract

The application provides a subway bogie frame positioning device and a positioning method, which comprise a supporting platform, a four-corner leveling and alignment module, a side beam leveling and supporting module, a cross beam supporting module and a robot alignment mechanism, and a tooling bottom plate is connected to the top of the supporting platform; the four-corner leveling and alignment module is connected to the four-corner positions of the tooling bottom plate; the side beam leveling and supporting module is connected to the tooling; and the cross beam supporting module is arranged between the two side beam leveling and supporting modules. The subway bogie frame positioning device provided by the application can level and align the ends of the two side beams of the frame respectively, the side beam leveling and supporting module is used for supporting the lower middle part of the side beam, the cross beam supporting module supports the middle part of the cross beam, the position parameters of the two sides of the frame are monitored by using the two sets of robot alignment mechanisms during the leveling and alignment process, the position of the frame is adjusted, and finally the frame is accurately positioned, so that the subsequent machining precision is ensured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of bogie positioning, and more particularly to a metro bogie frame positioning device and method. BACKGROUND

[0002] As the most important component in the structure of the rail vehicle, the bogie can bear and transfer various loads and forces between the car body and the wheel or between the wheel and the track, and evenly distribute the axle load, so that the vehicle can run smoothly along the straight line and pass through the curve, and the vehicle has good damping characteristics to alleviate the interaction between the vehicle and the track, and improve the running stability and safety of the vehicle.

[0003] In the prior art, when the bogie frame is machined, only important parts are generally clamped and positioned, and the position of the clamping part needs to be changed to adapt to the size of the cross beam, side beam and other components of different specifications, which has low positioning efficiency and poor positioning accuracy. SUMMARY

[0004] The purpose of the present application is to provide a metro bogie frame positioning device and method, which can quickly align and level the metro bogie frame, improve the positioning efficiency and ensure the positioning accuracy.

[0005] To achieve the above purpose, the technical solution adopted by the present application is to provide a metro bogie frame positioning device, which comprises a supporting platform, four sets of four-corner leveling and alignment modules, two sets of side beam leveling and supporting modules, a cross beam supporting module and two sets of robot alignment mechanisms, the supporting platform extends along the X direction, and a tool base plate is connected to the top of the supporting platform; the four sets of four-corner leveling and alignment modules are respectively connected to the four corner positions of the tool base plate and are used to level and align the side beam end of the frame; the two sets of side beam leveling and supporting modules are respectively connected to the tool base plate and are respectively arranged near the two sides of the tool base plate for supporting and leveling the side beam; the cross beam supporting module is arranged between the two side beam leveling and supporting modules and is used to support the underside of the cross beam of the frame; the two sets of robot alignment mechanisms are respectively arranged on the two sides of the supporting platform and are used to monitor the position parameters of the frame.

[0006] In one possible implementation, the bottom of the four-corner leveling and alignment module is connected to the tool base plate through a translation adjustment module, the translation adjustment module comprises a first X-direction base plate and a first Y-direction base plate, the first X-direction base plate is slidingly connected to the tool base plate along the X direction, and the first X-direction base plate and the tool base plate are connected through an X-direction pushing piece; the first Y-direction base plate is slidingly connected to the first X-direction base plate along the Y direction, and the first Y-direction base plate and the first X-direction base plate are connected through a Y-direction pushing piece, and the four-corner leveling and alignment module is arranged on the first Y-direction base plate.

[0007] In some embodiments, the X-direction pushing member is connected to the outer side of the tool base plate in the X-direction, and the X-direction pushing member has a first driving end connected to the bottom surface of the first X-direction base plate to drive the first X-direction base plate to move horizontally;

[0008] The Y-direction pushing member is arranged above the first Y-direction base plate, and the Y-direction pushing member has a second driving end connected to the side edge of the first X-direction base plate to drive the first Y-direction base plate to move horizontally.

[0009] In a possible implementation, the four-corner leveling and alignment module includes an inner pushing block, an end top block, a jacking support base, and an inner side pressing member. The inner pushing block is arranged on the first Y-direction base plate and located on the side of the first Y-direction base plate away from the X-direction pushing member. The inner pushing block is used to abut against the inner side wall of the side beam to push the frame in the X-direction. The end top block is arranged on the first Y-direction base plate and used to abut against the end surface of the side beam to push the frame to move in the Y-direction. The jacking support base is arranged on the first Y-direction base plate and bears under the end of the side beam to drive the frame to move up and down. The inner side pressing member is arranged on the tool base plate. The inner side pressing member is slidingly connected with a pressing arm in the up-down direction, and the pressing arm is used to press against the top surface of the side beam.

[0010] In some embodiments, the inner side pressing member is arranged adjacent to the jacking support base. The pressing arm extends in the Y-direction to above the side beam. The inner side pressing member is slidingly connected to the tool base plate in the X-direction. The outer end of the pressing arm is rotationally connected with a pressing seat used to abut against the top surface of the side beam.

[0011] In a possible implementation, the side beam leveling and supporting module includes an X-direction sliding base plate and a jacking seat. The X-direction sliding base plate is slidingly connected to the tool base plate in the X-direction. The jacking seat is connected above the X-direction sliding base plate. The jacking seat has a jacking end capable of moving up and down to support under the side beam.

[0012] In some embodiments, the cross beam supporting module includes two second Y-direction base plates, two second X-direction base plates, and two cross beam lifting supporting seats. The two second Y-direction base plates are slidingly connected to the tool base plate in the Y-direction and are arranged in the Y-direction at intervals. The second Y-direction base plate and the tool base plate are connected through a Y-direction extending screw drive assembly. The two second X-direction base plates are slidingly connected to the two second Y-direction base plates in the X-direction one by one and are arranged in the Y-direction at intervals. The second X-direction base plate and the second Y-direction base plate are connected through an X-direction telescopic pushing member. The two cross beam lifting supporting seats are arranged on the second X-direction base plate one by one and are arranged close to the opposite corner positions of the second Y-direction base plate respectively. The cross beam lifting supporting seat has a supporting part capable of moving up and down and bearing under the cross beam.

[0013] In a possible implementation, the metro bogie frame positioning device further comprises two gear box mounting seat support modules arranged at opposite corners of the jig base plate and between the four four-corner leveling alignment modules, each gear box mounting seat support module comprising a jacking hydraulic cylinder, a pressure sensor and a supporting tray, the jacking hydraulic cylinder being connected to the jig base plate and corresponding to the inner side of the four-corner leveling alignment module, the jacking hydraulic cylinder having an upward driving end; the pressure sensor being arranged at the driving end of the jacking hydraulic cylinder; and the supporting tray being arranged above the sensor and used for supporting the gear box mounting seat.

[0014] The pressure sensor is configured to monitor a downward pressure parameter borne by the supporting tray and transmit the downward pressure parameter to the robot alignment mechanism.

[0015] In a possible implementation, the robot alignment mechanism comprises a moving trolley, a six-axis robot, a vision camera and a control system, the moving trolley being arranged at the side of the supporting platform; the six-axis robot being arranged on the moving trolley; the vision camera being connected to the operating end of the six-axis robot and configured to collect the position parameter of the frame; and the control system being electrically connected to the six-axis robot and configured to send an action instruction to the six-axis robot, and the control system being electrically connected to the vision camera and configured to receive the position parameter sent by the vision camera.

[0016] The application further provides a metro bogie frame positioning method, which comprises the following steps:

[0017] S100: presetting a standard center coordinate of the frame, a first standard coordinate of the cross beam and a second standard coordinate of the side beam;

[0018] S200: starting the robot alignment mechanism, horizontally pushing the frame in the X direction and the Y direction by using the four-corner leveling alignment module, and combining the circumferential rotation driving of the frame to realize horizontal alignment;

[0019] S300: realizing the lifting adjustment of the frame by using the up-down movement of the four-corner leveling alignment module, so that the actual center coordinate of the frame coincides with the standard center coordinate, the first actual coordinate of the cross beam coincides with the first standard coordinate, and the second actual coordinate of the cross beam coincides with the second standard coordinate;

[0020] S400: taking multi-angle photos of the frame by using the six-axis robot to drive the vision camera, and then performing secondary alignment of the frame by the control system;

[0021] S500: after the secondary alignment is completed, taking photos of the frame by using the six-axis robot to drive the vision camera, rechecking the frame, determining that the positioning of the frame is qualified when the error meets the preset interval, and then compressing and positioning the cross beam and the side beam of the frame to complete the positioning of the frame.

[0022] Compared with the prior art, the scheme shown in the embodiments of the present application provides a metro bogie frame positioning device, the tooling bottom plate on the supporting platform is used for installing the upper member, the four-corner leveling and aligning module can level and align the ends of the two side beams of the frame respectively, the side beam leveling and supporting module is used for supporting below the middle part of the side beam, the cross beam supporting module supports the middle part of the cross beam, the position parameters of the two sides of the frame are monitored by using two groups of robot aligning mechanisms during the leveling and aligning process, and then the position of the frame is adjusted, so that the position meets the preset requirements, and finally the frame is accurately positioned, so as to facilitate ensuring the subsequent processing precision and then ensuring the processing quality of the frame. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 The top view structural schematic diagram of the metro bogie frame positioning device provided in the embodiments of the present application is shown in the figure.

[0025] Figure 2 The top view structural schematic diagram of the metro bogie frame positioning device provided in the embodiments of the present application is shown in the figure. Figure 1 The structural schematic diagram of the metro bogie frame positioning device from another angle in the embodiments of the present application is shown in the figure.

[0026] Figure 3 The structural schematic diagram of the metro bogie frame positioning device from another angle in the embodiments of the present application is shown in the figure. Figure 1 The front view structural schematic diagram of the four-corner leveling and aligning module in the embodiments of the present application is shown in the figure.

[0027] Figure 4 The front view structural schematic diagram of the four-corner leveling and aligning module in the embodiments of the present application is shown in the figure. Figure 3 The exploded structural schematic diagram of the four-corner leveling and aligning module in the embodiments of the present application is shown in the figure.

[0028] Figure 5 The structural schematic diagram of the inner side pressing part in the embodiments of the present application is shown in the figure. Figure 3 The structural schematic diagram of the inner side pressing part in the embodiments of the present application is shown in the figure.

[0029] Figure 6 The structural schematic diagram of the cross beam supporting module in the embodiments of the present application is shown in the figure. Figure 1 The structural schematic diagram of the cross beam supporting module in the embodiments of the present application is shown in the figure.

[0030] Figure 7 The structural schematic diagram of the side beam leveling and supporting module in the embodiments of the present application is shown in the figure. Figure 1 The structural schematic diagram of the side beam leveling and supporting module in the embodiments of the present application is shown in the figure.

[0031] Figure 8 The structural schematic diagram of the positioning pin assembly in the embodiments of the present application is shown in the figure. Figure 1 The structural schematic diagram of the positioning pin assembly in the embodiments of the present application is shown in the figure.

[0032] Figure 9 An exploded structural schematic view of the positioning pin assembly in the embodiment of the present application Figure 8 An exploded structural schematic view of the positioning pin assembly in the embodiment of the present application

[0033] Figure 10 An exploded structural schematic view of the positioning pin assembly in the embodiment of the present application Figure 1 An exploded structural schematic view of the positioning pin assembly in the embodiment of the present application

[0034] Figure 11 An exploded structural schematic view of the positioning pin assembly in the embodiment of the present application Figure 1 An exploded structural schematic view of the positioning pin assembly in the embodiment of the present application

[0035] Figure 12 An exploded structural schematic view of the positioning pin assembly in the embodiment of the present application

[0036] In the drawings, various reference signs represent:

[0037] 1, support platform; 11, tooling bottom plate; 12, limit strip seat; 13, T-shaped groove; 2, four-corner leveling alignment module; 21, inner push block; 22, end top block; 23, jacking support base; 24, inner side pressing member; 25, downward pressing arm; 26, downward pressing seat; 3, side beam leveling support module; 31, X-direction sliding bottom plate; 32, jacking seat; 4, cross beam support module; 41, second Y-direction bottom plate; 42, second X-direction bottom plate; 43, cross beam lifting support base; 44, lead screw driving assembly; 45, X-direction telescopic pushing member; 46, support part; 5, robot alignment mechanism; 51, mobile trolley; 52, six-axis robot; 53, vision camera; 6, translation adjustment module; 61, first X-direction bottom plate; 62, first Y-direction bottom plate; 63, X-direction pushing member; 64, Y-direction pushing member; 7, positioning pin assembly; 71, mounting seat; 72, pin sleeve; 721, mounting hole; 722, expansion hole; 73, taper bolt; 731, tapered part; 74, sliding block; 8, gear box mounting seat support module; 81, jacking hydraulic cylinder; 82, pressure sensor; 83, support tray; 84, protective cover; 9, frame; 91, cross beam; 92, side beam. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0039] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or indirectly on the other element. It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "top", "bottom", "inner", "outer", and the like, specify relative positions or orientations of an apparatus or element shown in the drawings, and are used only for convenience in describing the present application and simplifying the description, and thus cannot be construed as indicating or implying that a specific orientation is required for the apparatus or element to be in a particular position, constructed and operated in a particular orientation, and thus cannot be construed as limiting the present application. The terms "first", "second", are used only for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or several features. In the description of the present application, the meaning of "several" is two or more, unless otherwise specifically limited.

[0040] Please refer to Figures 1 to 12 , the subway bogie frame positioning device and positioning method provided by the present application will be described. The subway bogie frame positioning device comprises a supporting platform 1, four sets of four-corner leveling and alignment module 2, two sets of side beam leveling and supporting module 3, cross beam supporting module 4 and two sets of robot alignment mechanism 5. The supporting platform 1 extends along the X direction, and the upper side of the supporting platform 1 is connected with a tool bottom plate 11. The four sets of four-corner leveling and alignment module 2 are respectively connected to the four corner positions of the tool bottom plate 11, and are used for leveling and aligning the end of the side beam 92 of the frame 9. The two sets of side beam leveling and supporting module 3 are respectively connected to the tool bottom plate 11, and are respectively arranged near the two sides of the tool bottom plate 11, and are used for supporting and leveling the side beam 92. The cross beam supporting module 4 is arranged between the two side beam leveling and supporting modules 3, and is used for supporting the lower side of the cross beam 91 of the frame 9. The two sets of robot alignment mechanism 5 are respectively arranged on the two sides of the supporting platform 1, and are used for monitoring the position parameters of the frame 9.

[0041] The subway bogie frame positioning device provided by the present embodiment compared with the prior art, the tool bottom plate 11 on the supporting platform 1 is used for installing the upper member, the four-corner leveling and alignment module 2 can respectively level and align the ends of the two side beams 92, the side beam leveling and supporting module 3 is used for supporting the lower side of the middle part of the side beam 92, the cross beam supporting module 4 supports the middle part of the cross beam 91, and the two sets of robot alignment mechanism 5 are used for monitoring the position parameters of the two sides of the frame 9 during the leveling and alignment process, and then adjusting the position of the frame 9 to meet the preset requirements, so that the frame 9 is accurately positioned, and the subsequent processing precision is ensured, and the processing quality of the frame 9 is ensured.

[0042] In the embodiment, the tool base plate 11 can slide along the X direction on the supporting platform 1, facilitating the adjustment of the position of the whole frame 9 by the tool base plate 11, and a plurality of tool base plates 11 can be arranged on the supporting platform 1 to simultaneously process multiple positions, which helps to improve the processing efficiency.

[0043] Please refer to Figure 12 When the frame 9 is installed on the metro bogie frame positioning device, the frame 9 is arranged above the metro bogie frame positioning device in the form of buckling, facilitating subsequent processing, and the two side beams 92 of the frame 9 are arranged in parallel, the cross beam 91 is connected between the two side beams 92, and is located at the middle part of the side beams 92.

[0044] In a possible implementation, please refer to Figures 1 to 10 The bottom of the four-corner leveling and alignment module 2 is connected to the tool base plate 11 through the translation adjustment module 6, the translation adjustment module 6 includes a first X-direction base plate 61 and a first Y-direction base plate 62, the first X-direction base plate 61 is slidingly connected to the tool base plate 11 along the X direction, and the first X-direction base plate 61 is connected to the tool base plate 11 through an X-direction pushing piece 63; the first Y-direction base plate 62 is slidingly connected to the first X-direction base plate 61 along the Y direction, and the first Y-direction base plate 62 is connected to the first X-direction base plate 61 through a Y-direction pushing piece 64, and the four-corner leveling and alignment module 2 is arranged on the first Y-direction base plate 62.

[0045] In the embodiment, the four-corner leveling and alignment module 2 is arranged at the four corners of the tool base plate 11 to realize the leveling and alignment of the four corners of the frame 9, and the four-corner leveling and alignment module 2 drives the frame 9 to adjust the position along the X direction and the Y direction and adjust the height of the four corners, so that the position adjustment along the horizontal direction and the leveling operation of the height of the four corners of the frame 9 can be realized.

[0046] In some embodiments, please refer to Figures 1 to 10 The X-direction pushing piece 63 is connected to the outer side of the tool base plate 11 along the X direction, the X-direction pushing piece 63 has a first driving end connected to the bottom surface of the first X-direction base plate 61 to drive the first X-direction base plate 61 to move horizontally; the Y-direction pushing piece 64 is arranged above the first Y-direction base plate 62, and the Y-direction pushing piece 64 has a second driving end connected to the side edge of the first X-direction base plate 61 to drive the first Y-direction base plate 62 to move horizontally.

[0047] In this embodiment, the first X-direction bottom plate 61 is driven to move horizontally by the X-direction pusher 63. The X-direction pusher 63 is fixedly connected to the side of the tool bottom plate 11 along the X-direction, that is, the side of the tool bottom plate 11 extending along the X-direction. The X-direction pusher 63 can form a structural clearance with the first X-direction bottom plate 61 and the first Y-direction bottom plate 62. The X-direction pusher 63 has a first driving end capable of driving the first X-direction bottom plate 61 to move horizontally. The first driving end is provided with a U-shaped seat opening outward. The first X-direction bottom plate 61 is provided with a connecting plate extending upward into the U-shaped seat. The U-shaped seat and the connecting plate are hingedly connected through a rotating shaft, so as to ensure the effective driving of the X-direction pusher 63 to the first X-direction bottom plate 61 and avoid the jamming caused by the misalignment, thereby realizing the effective adjustment of the frame 9 in the horizontal position along the X-direction.

[0048] The Y-direction pusher 64 is a telescopic member such as a hydraulic cylinder, which is arranged on the top of the first Y-direction bottom plate 62. The second driving end is also provided with a U-shaped seat, which can be hingedly connected with the connecting plate on the first X-direction bottom plate 61, so as to realize the Y-direction driving of the first Y-direction bottom plate 62 and ensure the accuracy of the position of the frame 9 along the X-direction and the Y-direction.

[0049] In a possible implementation, referring to Figures 1 to 10 The four-corner leveling and alignment module 2 includes an inner push block 21, an end top block 22, a jacking support base 23, and an inner side pressing member 24. The inner push block 21 is arranged on the first Y-direction bottom plate 62 and located on the side of the first Y-direction bottom plate 62 away from the X-direction pusher 63. The inner push block 21 is used to abut against the inner side wall of the side beam 92 to drive the frame 9 along the X-direction. The end top block 22 is arranged on the first Y-direction bottom plate 62 and used to abut against the end face of the side beam 92 to drive the frame 9 to move along the Y-direction. The jacking support base 23 is arranged on the first Y-direction bottom plate 62 and bears under the end of the side beam 92, and is used to drive the frame 9 to move up and down. The inner side pressing member 24 is arranged on the tool bottom plate 11. The inner side pressing member 24 is slidingly connected with a pressing arm 25 in the up-down direction, which is used to press against the top face of the side beam 92.

[0050] In this embodiment, the end top block 22 can limit the outer end of the side beam 92, so that the side beam 92 is limited in the Y-direction. The jacking support base 23 can bear under the end of the side beam 92 and drive the side beam 92 to move up and down to realize the positioning in the up-down direction, thereby ensuring the accuracy of the height of the frame 9.

[0051] The inner push block 21 can abut against and limit the inner side wall of the side beam 92, so that the side beam 92 is effectively positioned in the X-direction. The inner side pressing member 24 can press and limit the top face of the side beam 92 to avoid the position deviation in the processing. The above structure ensures the positioning accuracy of the frame 9 as a whole, facilitates the leveling and alignment of the four-corner position of the frame 9, improves the structural accuracy of the positioning of the frame 9, and ensures the good positioning accuracy.

[0052] When the frame 9 is installed on the tool base plate 11, the center position of the frame 9 and the standard positions of the cross beam 91 and the side beam 92 are preset. After the frame 9 is installed, the position thereof needs to be horizontally aligned and adjusted in height by using the four-corner alignment module 2, so that the frame 9 is preliminarily brought to the preset position. In this process, the position of the frame 9 is adjusted in X and Y directions by using the horizontal movement of the first X-direction base plate 61 and the first Y-direction base plate 62, the end portion of the side beam 92 is pushed by the end block 22 and the inner push block 21 to rotate the frame 9 around the center thereof to achieve angle adjustment. Then, the frame 9 is moved up and down to the target height by using the lifting of the lifting support base 23. Finally, the frame 9 is clamped and fixed by using the inner clamping member 24.

[0053] In some embodiments, referring to Figures 1 to 10 , the inner clamping member 24 is arranged adjacent to the lifting support base 23, the lower pressing arm 25 extends in the Y direction to above the side beam 92, the inner clamping member 24 is slidingly connected to the tool base plate 11 in the X direction, and the outer end of the lower pressing arm 25 is rotationally connected with the lower pressing seat 26 which abuts against the top surface of the side beam 92.

[0054] In this embodiment, the lower pressing arm 25 of the inner clamping member 24 can abut against the top surface of the side beam 92, and the lower pressing arm 25 is lowered to effectively clamp the top surface of the side beam 92, so as to stably clamp the frame 9 above the lifting support base 23 and ensure the stability of the position of the frame 9 in the height direction. The lower pressing seat 26 can be vertically swung to effectively contact the lower bottom surface with the top surface of the side beam 92, so as to increase the abutting area and ensure the stability of the clamping action.

[0055] In a possible implementation, referring to Figures 1 to 10 , the side beam alignment support module 3 includes an X-direction sliding base plate 31 and a lifting seat 32, the X-direction sliding base plate 31 is slidingly connected to the tool base plate 11 in the X direction, and the lifting seat 32 is connected above the X-direction sliding base plate 31 and has a lifting end which can be lifted to support below the side beam 92. The side beam alignment support module 3 drives the lifting seat 32 above to move horizontally by the horizontal movement of the X-direction sliding base plate 31, so that the lifting seat 32 can accurately correspond to the lower middle portion of the side beam 92 and ensure reliable support effect.

[0056] In some embodiments, referring to Figures 1 to 10The beam supporting module 4 comprises two second Y-direction bottom plates 41, two second X-direction bottom plates 42 and two beam lifting supporting seats 43. The two second Y-direction bottom plates 41 are respectively connected to the tool bottom plate 11 in the Y-direction sliding mode and are arranged in the Y-direction at intervals. The second Y-direction bottom plate 41 is connected to the tool bottom plate 11 through the Y-direction extending screw drive assembly 44. The two second X-direction bottom plates 42 are respectively and correspondingly connected to the second Y-direction bottom plate 41 in the X-direction sliding mode and are arranged in the Y-direction at intervals. The second X-direction bottom plate 42 is connected to the second Y-direction bottom plate 41 through the X-direction telescopic pusher 45. The two beam lifting supporting seats 43 are respectively and correspondingly arranged on the second X-direction bottom plate 42 and are arranged at the opposite corner positions close to the second Y-direction bottom plate 41. The beam lifting supporting seat 43 has a supporting part 46 which can move up and down and support the lower part of the beam 91.

[0057] In the embodiment, the second Y-direction bottom plate 41 arranged on the tool bottom plate 11 drives the upper component to slide in the Y-direction, and the second X-direction bottom plate 42 drives the upper component to slide in the X-direction. The two beam lifting supporting seats 43 above can be supported at two different positions below the beam 91, which is suitable for supporting beams 91 of different specifications, improves the stability of the beam 91 support, and ensures the positioning accuracy of the framework 9. The above structure is convenient to adjust and simple to use, and can effectively ensure the positioning accuracy of the framework 9.

[0058] The two beam lifting supporting seats 43 are respectively and correspondingly arranged on the two second X-direction bottom plates 42. A straight line arranged in the X-direction and passing through the center of the tool bottom plate 11 is defined as the central axis of the tool bottom plate 11. The two beam lifting supporting seats 43 are distributed on both sides of the central axis (that is, arranged at intervals in the direction of the beam 91). Since the middle part of the beam 91 is generally provided with a hole passing through the upper and lower parts, the two beam lifting supporting seats 43 are distributed on both sides of the hole (that is, arranged at intervals in the X-direction), which can reliably support different points of the beam 91 and improve the reliability of the support.

[0059] In a possible implementation, please refer to Figures 1 to 10 The metro bogie framework positioning device further comprises two gear box mounting seat supporting modules 8 arranged at the opposite corners close to the tool bottom plate 11 and located between the four four-corner leveling and alignment modules 2. The gear box mounting seat supporting module 8 comprises a jacking hydraulic cylinder 81, a pressure sensor 82 and a supporting tray 83. The jacking hydraulic cylinder 81 is connected to the tool bottom plate 11 and is located at the inner side of the four-corner leveling and alignment module 2. The jacking hydraulic cylinder 81 has an upward driving end. The pressure sensor 82 is arranged at the driving end of the jacking hydraulic cylinder 81. The supporting tray 83 is arranged above the sensor and is used to support the gear box mounting seat. The pressure sensor 82 is used to monitor the downward pressure parameter borne by the supporting tray 83 and transmit the downward pressure parameter to the robot alignment mechanism 5.

[0060] In this embodiment, the gear box mounting seat arranged on the metro bogie frame is also provided with a gear box mounting seat supporting module 8 on the tool base plate 11, which is used to support and jack up the gear box mounting seat. Through the lifting and falling of the supporting tray 83 of the jacking hydraulic cylinder 81, the gear box mounting seat is driven to adjust the position up and down, so as to ensure the positioning accuracy.

[0061] On this basis, the outer side of the jacking hydraulic cylinder 81 and the pressure sensor 82 is also provided with a protective cover 84, which avoids the influence of the external environment on the internal components and ensures the monitoring accuracy of the pressure sensor 82.

[0062] The pressure sensor is used to monitor the pressure received by the supporting tray 83, so as to ensure that sufficient supporting force is provided below the supporting tray 83, and reliable support is realized for the gear box mounting seat. The above pressure parameter will be sent to the robot alignment mechanism 5 to ensure stable supporting effect.

[0063] In one possible implementation, please refer to Figures 1 to 10 The two side edges of the supporting platform 1 are respectively provided with a limiting strip seat 12 extending upward to limit the tool base plate 11, and the top surface of the supporting platform 1 is provided with a T-shaped groove 13 extending along the X direction, and the T-shaped groove 13 is detachably installed with a positioning pin assembly 7. The positioning pin assembly 7 includes a mounting seat 71, a pin sleeve 72 and a taper bolt 73. The mounting seat 71 extends along the X direction, and the lower part of the mounting seat 71 is connected with a sliding block 74 which is slidingly connected in the T-shaped groove 13. The mounting seat 71 and the sliding block 74 are locked on the tool base plate 11 by a locking piece. The pin sleeve 72 has an installation hole 721 which penetrates upward and downward, and an expansion hole 722 which penetrates through the peripheral wall of the pin sleeve 72 and extends axially to the upper end of the pin sleeve 72. The taper bolt 73 is arranged in the installation hole 721, and the upper part of the taper bolt 73 is provided with a tapered part 731 which can abut against the inner wall of the pin sleeve 72 to expand the pin sleeve 72 and lock it on the bottom of the tool base plate 11.

[0064] In this embodiment, the limiting strip seat 12 is used to preliminarily limit the two side edges (edges extending along the X direction) of the tool base plate 11. When the tool base plate 11 is installed on the supporting platform 1, the limiting strip seat 12 can be used for preliminary positioning, and then the positioning pin assembly 7 can be used to realize accurate positioning between the tool base plate 11 and the supporting platform 1, so as to provide a stable positioning reference for the alignment of the upper frame 9.

[0065] When the positioning pin assembly 7 is installed, the slider 74 at the bottom of the mounting seat 71 can slide relative to the sliding groove, so as to position the positioning pin assembly 7 according to the preset position of the tool base plate 11. The positioning hole of the tool base plate 11 can be positioned and matched with the positioning pin, and the outer peripheral wall of the taper sleeve can be effectively abutted with the inner peripheral wall of the positioning hole by rotating the taper bolt 73 to outwardly support the peripheral wall of the taper sleeve by the taper portion 731, so that the expanded hole 722 is increased, thereby realizing the positioning and locking between the tool base plate 11 and the supporting platform 1. The connection mode improves the positioning accuracy and ensures the accuracy of the positioning between the tool base plate 11 and the supporting platform 1.

[0066] In a possible implementation, referring to Figures 1 to 10 , the robot alignment mechanism 5 comprises a moving trolley 51, a six-axis robot 52, a visual camera 53 and a control system, the moving trolley 51 is arranged on the side of the supporting platform 1; the six-axis robot 52 is arranged on the moving trolley 51; the visual camera 53 is connected to the operating end of the six-axis robot 52 and is used for collecting the position parameters of the frame 9; the control system is electrically connected with the six-axis robot 52 and is used for sending action instructions to the six-axis robot 52; the control system is electrically connected with the visual camera 53 and is used for receiving the image parameters sent by the visual camera 53.

[0067] In the embodiment, the moving trolley 51 can be provided with a walking track below, so as to drive the six-axis robot 52 above to change the position, the six-axis robot 52 has multiple degrees of freedom, can conveniently collect the images of each part and angle of the frame 9 by the visual camera 53, and send the image parameters to the control system, so that the control system judges whether the frame 9 is effectively positioned, and then realizes the precise positioning effect.

[0068] Based on the same inventive concept, the embodiment of the present application also provides a subway bogie frame positioning method, which comprises the following steps:

[0069] S100: presetting standard center coordinates of the frame, first standard coordinates of the cross beam and second standard coordinates of the side beam;

[0070] S200: starting the robot alignment mechanism, horizontally pushing the component in X direction and Y direction by the four-corner leveling alignment module, and combining the circumferential rotation driving of the frame to realize the horizontal alignment;

[0071] S300: realizing the lifting adjustment of the frame by the up-down movement of the four-corner leveling alignment module, so that the actual center coordinates of the frame coincide with the standard center coordinates, the first actual coordinates of the cross beam coincide with the first standard coordinates, and the second actual coordinates of the cross beam coincide with the second standard coordinates;

[0072] S400: The six-axis robot drives the visual camera to take multiple-angle photos of the framework, and after judgment by the control system, secondary alignment of the framework is performed;

[0073] S500: After the secondary alignment is completed, the six-axis robot drives the visual camera to take photos of the framework for re-inspection, and if the error meets the preset interval, it is determined that the positioning of the framework is qualified, the cross beam and the side beam of the framework are compressed and positioned, and the positioning of the framework is completed.

[0074] Installation process:

[0075] The standard center coordinates of the framework 9, the first standard coordinates of the cross beam 91 and the second standard coordinates of the side beam 92 are preset, so that the overall position of the component 9 is effectively limited. Taking the side beam 92 as an example, the first standard coordinates can be selected as the specific side edge or end of the longitudinal beam 92 as the reference for position calibration in X, Y and Z directions, to ensure the accuracy of the preset standard position of the longitudinal beam 92.

[0076] After the framework 9 is installed, the robot alignment mechanism is started, and the four-corner leveling alignment module 2 is used to horizontally align and adjust the position of the framework 9, so that the framework 9 preliminarily reaches the preset position. In this process, the horizontal movement of the first X-direction bottom plate 61 and the first Y-direction bottom plate 62 is used to adjust the position of the framework 9 in X and Y directions, and the end block 22 and the inner push block 21 are used to push the end of the side beam 92 to make the framework 9 rotate around the center to adjust the angle.

[0077] Then, the lifting of the lifting support base 23 drives the framework 9 to move up and down to the target height, so that the zero point of the framework 9 coincides with the preset zero point, and leveling and positioning are completed. After the first alignment is completed, the six-axis robot drives the visual camera 53 to take multiple-angle photos of the framework 9, and after judgment by the control system, secondary alignment of the framework 9 is performed. After the secondary alignment is completed, the six-axis robot 52 drives the visual camera 53 to take photos of the framework 9 for re-inspection, and if the error meets the preset interval, it is determined that the positioning of the framework 9 is qualified, the cross beam 91 and the side beam 92 of the framework 9 are compressed and positioned, and the positioning of the framework 9 is completed.

[0078] The above is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A metro bogie frame positioning device, characterized in that, The utility model provides a kind of four-corner leveling and alignment module for supporting platform (1), four groups, two groups of side beam leveling support module (2), beam support module (3) and two groups of robot alignment mechanism (5), supporting platform (1) extends along X direction, and the upper of the supporting platform (1) is connected with tooling bottom plate (11);Four groups of four-corner leveling and alignment module (2) are connected in the four-corner position of the tooling bottom plate (11) respectively, for leveling and aligning the side beam (92) end of framework (9);Two groups of side beam leveling support module (3) are connected on the tooling bottom plate (11) respectively, and are respectively close to the two sides of the tooling bottom plate (11), for supporting and leveling the side beam (92);Beam support module (4) is arranged between two side beam leveling support module (3), for supporting under the crossbeam (91) of framework (9);Two groups of robot alignment mechanism (5) are arranged on the two sides of the supporting platform (1) respectively, for monitoring the position parameter of the framework (9); The bottom of the four-corner leveling and alignment module (2) is connected on the tooling bottom plate (11) by translation adjustment module (6), and the translation adjustment module (6) includes first X direction bottom plate (61) and first Y direction bottom plate (62), the first X direction bottom plate (61) is slidably connected on the tooling bottom plate (11) along X direction, and the first X direction bottom plate (61) is connected with tooling bottom plate (11) by X direction pusher (63);First Y direction bottom plate (62) is slidably connected on the first X direction bottom plate (61) along Y direction, and the first Y direction bottom plate (62) is connected with the first X direction bottom plate (61) by Y direction pusher (64), and the four-corner leveling and alignment module (2) is arranged on the first Y direction bottom plate (62); The four-corner leveling and alignment module (2) includes inner push block (21), end top block (22), jacking support base (23) and inner side pressing element (24), the inner push block (21) is arranged on the first Y direction bottom plate (62), and is located on the side of the first Y direction bottom plate (62) away from the X direction pusher (63), and the inner push block (21) is used for abutting with the inner side wall of the side beam (92) to X direction push the framework (9);End top block (22) is arranged on the first Y direction bottom plate (62), for abutting with the end face of the side beam (92) to move the framework (9) in Y direction;Jacking support base (23) is arranged on the first Y direction bottom plate (62), and is supported under the end of the side beam (92), for driving the framework (9) to move up and down;Inner side pressing element (24) is arranged on tooling bottom plate (11), and the inner side pressing element (24) is slidably connected with lower pressing arm (25) for abutting on the top surface of the side beam (92) in up-down direction The side beam leveling support module (3) comprises an X-direction sliding bottom plate (31) and a jacking seat (32), the X-direction sliding bottom plate (31) is connected to the tooling bottom plate (11) in the X-direction sliding mode; the jacking seat (32) is connected above the X-direction sliding bottom plate (31), and the jacking seat (32) has a jacking end capable of lifting and moving to support below the side beam (92).

2. The metro truck frame positioning apparatus of claim 1 wherein, The X-direction pushing piece (63) is connected to the outer side of the tooling bottom plate (11) in the X-direction, and the X-direction pushing piece (63) has a first driving end connected to the bottom surface of the first X-direction bottom plate (61) to drive the first X-direction bottom plate (61) to move horizontally; The Y-direction pushing piece (64) is arranged above the first Y-direction bottom plate (62), and the Y-direction pushing piece (64) has a second driving end connected to the side edge of the first X-direction bottom plate (61) to drive the first Y-direction bottom plate (62) to move horizontally.

3. The metro truck frame positioning apparatus of claim 1 wherein, The inner side pressing piece (24) is arranged adjacent to the jacking support base (23), the lower pressing arm (25) extends above the side beam (92) in the Y-direction, the inner side pressing piece (24) is connected to the tooling bottom plate (11) in the X-direction sliding mode, and the outer extending end of the lower pressing arm (25) is rotationally connected with a lower pressing seat (26) abuttingly matched with the top surface of the side beam (92).

4. The metro truck frame positioning apparatus of any one of claims 1-3, wherein, The cross beam support module (4) comprises two second Y-direction bottom plates (41), two second X-direction bottom plates (42), and two cross beam lifting support seats (43), the two second Y-direction bottom plates (41) are respectively connected to the tooling bottom plate (11) in the Y-direction sliding mode and are arranged in the Y-direction interval, the second Y-direction bottom plate (41) and the tooling bottom plate (11) are connected through a Y-direction extending screw drive assembly (44); the two second X-direction bottom plates (42) are respectively and correspondingly connected to the two second Y-direction bottom plates (41) in the X-direction sliding mode and are arranged in the Y-direction interval, the second X-direction bottom plate (42) and the second Y-direction bottom plate (41) are connected through an X-direction telescopic pushing piece (45); the two cross beam lifting support seats (43) are respectively and correspondingly arranged on the second X-direction bottom plate (42) and are respectively arranged close to the opposite corner positions of the second Y-direction bottom plate (41), and the cross beam lifting support seat (43) has a support part (46) capable of moving up and down and supporting below the cross beam (91).

5. The metro truck frame positioning apparatus of any one of claims 1-3, wherein, The metro bogie frame positioning device further comprises two gear box mounting seat support modules (8) arranged diagonally close to the tooling bottom plate (11) and between the four corner leveling alignment modules (2), the gear box mounting seat support module (8) comprising a jacking hydraulic cylinder (81), a pressure sensor (82) and a supporting tray (83), the jacking hydraulic cylinder (81) being connected to the tooling bottom plate (11) and corresponding to the inner side of the four corner leveling alignment module (2), the jacking hydraulic cylinder (81) having an upward driving end; the pressure sensor (82) being arranged at the driving end of the jacking hydraulic cylinder (81); the supporting tray (83) being arranged above the sensor and used for supporting the gear box mounting seat (71); The pressure sensor (82) is used for monitoring the downward pressure parameter borne by the supporting tray (83) and transmitting the downward pressure parameter to the robot alignment mechanism (5).

6. The metro truck frame positioning apparatus of any one of claims 1-3, wherein, The robot alignment mechanism (5) comprises a moving trolley (51), a six-axis robot (52), a visual camera (53) and a control system, the moving trolley (51) being arranged at the side of the supporting platform (1); the six-axis robot (52) being arranged on the moving trolley (51); the visual camera (53) being connected to the operation end of the six-axis robot (52) and used for collecting the position parameter of the frame (9); the control system being electrically connected with the six-axis robot (52) and used for sending action instructions to the six-axis robot (52), the control system being electrically connected with the visual camera (53) and used for receiving the position parameter sent by the visual camera (53).

7. A method for positioning a bogie frame of a subway vehicle, using the bogie frame positioning apparatus according to any one of claims 1 to 6, characterized by, The metro bogie frame positioning method comprises the following steps: S100: presetting the standard center coordinates of the frame (9), the first standard coordinates of the cross beam (91) and the second standard coordinates of the side beam (92); S200: starting the robot alignment mechanism (5), horizontally pushing the component in X direction and Y direction by the four corner leveling alignment module (2) and combining the circumferential rotation driving of the frame (9) to realize horizontal alignment; S300: realizing the lifting adjustment of the frame (9) by the up-down movement of the four corner leveling alignment module (2), so that the actual center coordinates of the frame (9) coincide with the standard center coordinates, the first actual coordinates of the cross beam (91) coincide with the first standard coordinates, and the second actual coordinates of the cross beam (91) coincide with the second standard coordinates; S400: taking multi-angle photos of the frame (9) by the six-axis robot (52) driving the visual camera (53), and then performing secondary alignment of the frame (9) after judgment by the control system; S500: after the secondary alignment is completed, the six-axis robot (52) drives the visual camera (53) to take photos of the frame (9) for re-inspection, the error meets the preset interval, it is judged that the positioning of the frame (9) is qualified, the cross beam (91) and the side beam (92) of the frame (9) are pressed and positioned, and the positioning of the frame (9) is completed.

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