Bogie clamping method and device, electronic equipment and storage medium

Abstract

The present application is suitable for the field of rail vehicle manufacturing technology, and provides a bogie clamping method and device, electronic equipment and storage medium. The method comprises the following steps: controlling four leveling and aligning mechanisms to preliminarily position the bogie on a base platform; controlling two camera mechanisms to move to a preset first leveling plane on the corresponding side to take pictures, and controlling the four leveling and aligning mechanisms to level the bogie according to the first images; controlling the two camera mechanisms to move to a preset first alignment line on the corresponding side to take pictures, and controlling the four leveling and aligning mechanisms to align the bogie according to the second images; the direction of the first alignment line is parallel to the first horizontal direction; controlling the four leveling and aligning mechanisms to synchronously move to the corresponding zero point position in the horizontal plane; and controlling a pressing mechanism to press the bogie downward to complete clamping. The present application can improve the clamping precision of the bogie of the rail vehicle.

Description

Technical Field

[0001] This invention belongs to the field of rail vehicle manufacturing technology, and particularly relates to a bogie clamping method, device, electronic equipment and storage medium. 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] In related technologies, bogies are typically clamped manually, which is not only inefficient but also prone to human error, making it even more difficult to guarantee the machining accuracy of the bogies. Summary of the Invention

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

[0006] A first aspect of the present invention provides a bogie clamping method, which is applied to a bogie clamping device. The bogie clamping device includes a base platform, four leveling and alignment mechanisms, a clamping mechanism, and two camera mechanisms. The four leveling and alignment mechanisms are used to support the four corner positions of the bogie on the base platform. The two camera mechanisms are respectively located on a set of opposite sides in a first horizontal direction of the base platform.

[0007] The method includes:

[0008] Control the four leveling and alignment mechanisms to perform initial positioning of the bogie on the base platform;

[0009] Control two camera mechanisms to move to the preset first leveling plane on the corresponding side to take pictures. Based on the captured first image, control four leveling and alignment mechanisms to level the bogie. The first leveling plane is a horizontal plane.

[0010] Control two camera mechanisms to move to the preset first alignment line on the corresponding side to take pictures. Based on the captured second image, control four leveling and alignment mechanisms to align the bogie. The direction of the first alignment line is parallel to the first horizontal direction.

[0011] Control the four leveling and alignment mechanisms to move synchronously to the corresponding zero point position in the horizontal plane;

[0012] Control the clamping mechanism to press the bogie downwards, completing the clamping process.

[0013] In conjunction with the first aspect, in one possible implementation of the first aspect, based on the captured first image, four leveling and alignment mechanisms are controlled to level the bogie, including:

[0014] Based on the captured first image, the vertical distances between the four corner positions of the bogie and the first leveling plane are obtained respectively;

[0015] Based on the vertical distance, control the four leveling and alignment mechanisms to move vertically, so that the vertical distance between the four corners of the bogie and the first leveling plane is zero.

[0016] In conjunction with the first aspect, in one possible implementation of the first aspect, based on the captured second image, four leveling and alignment mechanisms are controlled to align the bogie, including:

[0017] The bogie offset value is obtained based on the captured second image;

[0018] Based on the offset value, control the four leveling and alignment mechanisms to make circular arc movements with the common center as the center, so that the offset value of the bogie is zero.

[0019] In conjunction with the first aspect, in one possible implementation of the first aspect, obtaining the bogie offset value based on the captured second image includes:

[0020] Calculate the distance between the two corner positions of the bogie on any side of the second horizontal direction of the base platform and the second horizontal direction of the first alignment line; wherein, the second horizontal direction is perpendicular to the first horizontal direction;

[0021] The bogie offset value is determined based on the distance in the second horizontal direction.

[0022] In conjunction with the first aspect, in one possible implementation of the first aspect, after controlling four leveling and alignment mechanisms to level the bogie based on the captured first image, the method further includes:

[0023] Control two camera mechanisms to move to the preset second leveling plane on the corresponding side to take pictures. Based on the captured third image, control four leveling and alignment mechanisms to perform secondary leveling of the bogie. The second leveling plane is a horizontal plane and does not coincide with the first leveling plane.

[0024] Furthermore, after the second leveling is completed, the two camera mechanisms are moved to the second leveling plane to take pictures, and the leveling accuracy is checked based on the fourth image taken.

[0025] In conjunction with the first aspect, in one possible implementation of the first aspect, after controlling four leveling and alignment mechanisms to align the bogie based on the captured second image, the method further includes:

[0026] Two camera mechanisms are controlled to move to the preset second alignment line on the corresponding side to take pictures. Based on the captured fifth image, four leveling and alignment mechanisms are controlled to perform secondary alignment of the bogie. The direction of the second alignment line is parallel to the first horizontal direction and does not coincide with the first alignment line.

[0027] Furthermore, after the second alignment is completed, the two camera mechanisms are moved to the second alignment line to take pictures, and the alignment accuracy is checked based on the sixth image taken.

[0028] In conjunction with the first aspect, in one possible implementation of the first aspect, controlling the four leveling and alignment mechanisms to move synchronously to the corresponding zero-point positions in the horizontal plane includes:

[0029] Calculate the first deviation of the four leveling and alignment mechanisms from their corresponding zero-point positions in the first horizontal direction and the second deviation in the second horizontal direction.

[0030] Based on the first deviation, control the four leveling and alignment mechanisms to move synchronously in the first horizontal direction to make the first deviation zero; and based on the second deviation, control the four leveling and alignment mechanisms to move synchronously in the second horizontal direction to make the second deviation zero.

[0031] A second aspect of the present invention provides a bogie clamping device, which is applied to a bogie clamping equipment. The bogie clamping equipment includes a base platform, four leveling and alignment mechanisms, a clamping mechanism, and two camera mechanisms. The four leveling and alignment mechanisms are used to support the four corner positions of the bogie on the base platform. The two camera mechanisms are respectively located on a set of opposite sides in a first horizontal direction of the base platform.

[0032] The device includes:

[0033] The initial positioning module is used to control four leveling and alignment mechanisms to perform initial positioning of the bogie on the base platform;

[0034] The leveling module is used to control two camera mechanisms to move to the preset first leveling plane on the corresponding side to take pictures. Based on the captured first image, it controls four leveling and alignment mechanisms to level the bogie. The first leveling plane is a horizontal plane.

[0035] The alignment module is used to control two camera mechanisms to move to the preset first alignment line on the corresponding side to take pictures. Based on the captured second image, it controls four leveling and alignment mechanisms to align the bogie. The direction of the first alignment line is parallel to the first horizontal direction.

[0036] The zero-point module is used to control the four leveling and alignment mechanisms to move synchronously to the corresponding zero-point position in the horizontal plane.

[0037] The clamping module is used to control the clamping mechanism to press the bogie downwards and complete the clamping.

[0038] 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.

[0039] 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.

[0040] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0041] The bogie clamping device of this invention includes four leveling and alignment mechanisms and two camera mechanisms. The four leveling and alignment mechanisms support the four corners of the bogie on the base platform, thus allowing for position adjustment of the bogie. The two camera mechanisms detect the position of the bogie. In the process, firstly, the two camera mechanisms are controlled to move to a preset first leveling plane on corresponding sides to take pictures. Based on the captured first images, the four leveling and alignment mechanisms are controlled to level the bogie. Secondly, the two camera mechanisms are controlled to move to a preset first alignment line on corresponding sides to take pictures. Based on the captured second images, the four leveling and alignment mechanisms are controlled to align the bogie. Finally, the four leveling and alignment mechanisms are controlled to move synchronously to the corresponding zero-point position in the horizontal plane, and the clamping mechanism is controlled to press the bogie downwards, completing the clamping. This invention enables automatic leveling, alignment, and zero-point coincidence of the bogie, eliminating the need for manual alignment and solving the problem of human error caused by manual clamping of railway train bogies, thereby improving the production efficiency of clamping railway train bogies. Attached Figure Description

[0042] 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.

[0043] Figure 1This is a schematic diagram of the planar structure of the bogie clamping device provided in an embodiment of the present invention;

[0044] Figure 2 This is a three-dimensional structural schematic diagram of the bogie clamping device provided in an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the leveling and alignment mechanism provided in an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the clamping mechanism provided in an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the robot alignment mechanism provided in an embodiment of the present invention;

[0048] Figure 6 This is a flowchart illustrating the bogie clamping method provided in an embodiment of the present invention;

[0049] Figure 7 This is a schematic diagram of the bogie clamping device provided in an embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of the controller provided in an embodiment of the present invention. Detailed Implementation

[0051] 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.

[0052] To illustrate the technical solution described in this invention, specific embodiments are described below.

[0053] First, the bogie clamping device according to an embodiment of the present invention will be introduced.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] Based on the aforementioned bogie clamping device, an embodiment of the present invention provides a bogie clamping method, see [link to relevant documentation]. Figure 6 As shown, the method includes:

[0061] Step S601: Control the four leveling and alignment mechanisms to perform initial positioning of the bogie on the base platform.

[0062] In this embodiment, the bogie clamping equipment needs to be reset before operation.

[0063] The specific steps for resetting include:

[0064] (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.

[0065] (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)

[0066] (3) Reset completes self-test; (each weighing sensor; laser displacement sensor; servo motor, etc.)

[0067] (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.

[0068] 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.

[0069] 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.

[0070] Step S602: Control the two camera mechanisms to move to the preset first leveling plane on the corresponding side to take pictures. Based on the captured first image, control the four leveling and alignment mechanisms to level the bogie. The first leveling plane is a horizontal plane.

[0071] In this embodiment, the first leveling plane can be a horizontal plane (i.e., the XOY plane) located above the base platform. By controlling the cameras on both sides to move to the first leveling plane and take pictures, the vertical distance (i.e., the Z-axis distance) between the four corners of the bogie and the first leveling plane can be accurately calculated based on the pictures, thereby determining whether the bogie is level. It can be understood that when the four corners of the bogie are equidistant from the vertical distance of the first leveling plane, the bogie is level. This can be achieved by controlling the four leveling and alignment mechanisms to raise or lower the bogie vertically, making the vertical distance between the four corners of the bogie and the first leveling plane zero, thus ensuring that the bogie is level and the Z-axis zero point coincides.

[0072] Step S603: Control the two camera mechanisms to move to the preset first alignment line on the corresponding side to take pictures. Based on the captured second image, control the four leveling and alignment mechanisms to align the bogie. The direction of the first alignment line is parallel to the first horizontal direction.

[0073] In this embodiment, the first alignment line is a straight line in the X direction. By controlling the cameras on both sides to move to the first leveling plane to take pictures, the difference between the four corner positions of the bogie and the Y-coordinate of the first alignment line can be calculated based on the pictures, thereby determining the bogie's offset value. For example, suppose... Figure 2The top left corner is K1, the top right corner is K2, the bottom right corner is K3, and the bottom left corner is K4. The offset value can be determined based on the difference between the Y-coordinates of K1 and K2, or based on the difference between the Y-coordinates of K3 and K4. Furthermore, by controlling the four leveling and alignment mechanisms to make circular arc movements with the common center as the center, the offset value of the bogie is adjusted to zero.

[0074] Among them, lateral laser sensors are installed on the four clamping mechanisms and are detached from the four leveling and alignment mechanisms. Therefore, their positions remain unchanged during the movement of the frame and can monitor the distance between the side of the frame and the sensor in real time. The alignment process completes the parallel relationship between K1 and K2, K3 and K4 and the alignment line, which is not coincident.

[0075] Step S604: Control the four leveling and alignment mechanisms to move synchronously to the corresponding zero point position in the horizontal plane.

[0076] In this embodiment, the zero points in the Z direction have coincided after leveling. The zero point position deviation value is calculated in the Y direction, and the four leveling and alignment mechanisms move synchronously to the Y direction zero point position to achieve Y direction coincidence. The zero point position deviation value is calculated in the X direction, and the four leveling and alignment mechanisms move synchronously to the X direction zero point position to achieve X direction coincidence.

[0077] Step S605: Control the clamping mechanism to press the bogie downwards, completing the clamping.

[0078] In this embodiment, the four clamping mechanisms move to the preparatory position and press down synchronously to clamp and fix the bogie, preventing it from shifting during subsequent processing.

[0079] The bogie clamping device of this invention includes four leveling and alignment mechanisms and two camera mechanisms. The four leveling and alignment mechanisms support the four corners of the bogie on the base platform, thus allowing for position adjustment of the bogie. The two camera mechanisms detect the position of the bogie. In the process, firstly, the two camera mechanisms are controlled to move to a preset first leveling plane on corresponding sides to take pictures. Based on the captured first images, the four leveling and alignment mechanisms are controlled to level the bogie. Secondly, the two camera mechanisms are controlled to move to a preset first alignment line on corresponding sides to take pictures. Based on the captured second images, the four leveling and alignment mechanisms are controlled to align the bogie. Finally, the four leveling and alignment mechanisms are controlled to move synchronously to the corresponding zero-point position in the horizontal plane, and the clamping mechanism is controlled to press the bogie downwards, completing the clamping. This invention enables automatic leveling, alignment, and zero-point coincidence of the bogie, eliminating the need for manual alignment and solving the problem of human error caused by manual clamping of railway train bogies, thereby improving the production efficiency of clamping railway train bogies.

[0080] As a possible implementation, after step S602 controls the four leveling and alignment mechanisms to level the bogie according to the captured first image, it further includes:

[0081] Controlling the two camera mechanisms to move to the preset second leveling plane on the corresponding side respectively for taking pictures, and controlling the four leveling and alignment mechanisms to perform secondary leveling on the bogie according to the captured third image. The second leveling plane is a horizontal plane and does not coincide with the first leveling plane;

[0082] And, after the secondary leveling is completed, controlling the two camera mechanisms to move to the second leveling plane respectively for taking pictures, and checking whether the leveling accuracy is qualified according to the captured fourth image.

[0083] In this embodiment, the leveling accuracy is further improved through two-leveling. During the second leveling, the second leveling plane is preferably higher than the first leveling plane, and the secondary leveling only raises and does not lower to prevent the generation of virtual legs (the support points of the bogie are suspended), which affects the subsequent processing accuracy. Exemplarily, the second leveling plane is 2 mm higher than the first leveling plane. After the secondary leveling is completed, a recheck is performed by taking pictures, and if the error is less than 0.3 mm, it is qualified.

[0084] As a possible implementation, after step S603 controls the four leveling and alignment mechanisms to align the bogie according to the captured second image, it further includes:

[0085] Controlling the two camera mechanisms to move to the preset second alignment line on the corresponding side respectively for taking pictures, and controlling the four leveling and alignment mechanisms to perform secondary alignment on the bogie according to the captured fifth image. The direction of the second alignment line is parallel to the first horizontal direction and does not coincide with the first alignment line;

[0086] And, after the secondary alignment is completed, controlling the two camera mechanisms to move to the second alignment line respectively for taking pictures, and checking whether the alignment accuracy is qualified according to the captured sixth image.

[0087] In this embodiment, the alignment accuracy is further improved through two alignments. After the secondary alignment is completed, a recheck is performed by taking pictures, and if the error is less than 0.2 mm, it is determined to be qualified.

[0088] In some embodiments, for the leveling in step S602, the method of two-angle leveling - third-angle leveling - fourth-angle contact can be adopted.

[0089] The inventors of the present application found that directly adjusting the four corner positions of the bogie is likely to cause the problem of virtual legs, that is, the support points of the bogie are suspended, which affects the subsequent processing accuracy.

[0090] In this embodiment, after the bogie is initially positioned, the vertical distance of the leveling and alignment mechanism at one set of diagonal positions is controlled to rise vertically, so that the diagonal positions reach the first leveling plane. Then, the vertical distance of the lower leveling and alignment mechanism at the other set of diagonal positions is controlled to rise vertically, and then the other leveling and alignment mechanism is controlled to rise vertically until it contacts the bottom of the bogie, completing the bogie leveling. Since the leveling of the third and fourth corners only raises and does not lower, the fourth corner is theoretically leveled after the three corners are leveled, thus avoiding the problem of "empty legs".

[0091] In some embodiments, the clamping in step S605 can be performed in a multi-stage clamping manner to prevent lateral movement of the frame. Since there is a time difference between the contact of each clamping mechanism with the frame, it will cause lateral translation of the frame. The first stage uses a smaller force to press down, and the smaller force will not cause a large translation of the frame. This ensures that the four clamping mechanisms can press down with a larger force at the same time. Multi-stage clamping can effectively avoid pressing down the frame too much at once.

[0092] For example, four clamping mechanisms press down simultaneously. When the clamping force reaches 100KG, the pressing stops, and the middle support mechanism of the crossbeam of the bogie clamping equipment lifts the frame back to its pre-pressing state. After the first stage of clamping is completed, the second stage of 500KG and the third stage of 1000KG clamping are performed, with the clamping process being the same as the first stage. After clamping is completed, the auxiliary supports such as the side crossbeams are raised, and the clamping force is set to 100KG without any displacement.

[0093] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0094] Figure 7 This is a schematic diagram of the bogie clamping device provided in an embodiment of the present invention.

[0095] See Figure 7 As shown, the device 70 includes:

[0096] The initial positioning module 71 is used to control four leveling and alignment mechanisms to perform initial positioning of the bogie on the base platform;

[0097] The leveling module 72 is used to control two camera mechanisms to move to the preset first leveling plane on the corresponding side to take pictures. Based on the captured first image, it controls four leveling and alignment mechanisms to level the bogie. The first leveling plane is a horizontal plane.

[0098] The alignment module 73 is used to control two camera mechanisms to move to the preset first alignment line on the corresponding side to take pictures. Based on the captured second image, it controls four leveling and alignment mechanisms to align the bogie. The direction of the first alignment line is parallel to the first horizontal direction.

[0099] Zero module 74 is used to control the four leveling and alignment mechanisms to move synchronously to the corresponding zero point position in the horizontal plane;

[0100] The clamping module 75 is used to control the clamping mechanism to press the bogie downwards to complete the clamping.

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

[0102] Based on the captured first image, the vertical distances between the four corner positions of the bogie and the first leveling plane are obtained respectively;

[0103] Based on the vertical distance, control the four leveling and alignment mechanisms to move vertically, so that the vertical distance between the four corners of the bogie and the first leveling plane is zero.

[0104] As one possible implementation, the alignment module 73 is used for:

[0105] The bogie offset value is obtained based on the captured second image;

[0106] Based on the offset value, control the four leveling and alignment mechanisms to make circular arc movements with the common center as the center, so that the offset value of the bogie is zero.

[0107] As one possible implementation, the alignment module 73 is specifically used for:

[0108] Calculate the distance between the two corner positions of the bogie on any side of the second horizontal direction of the base platform and the second horizontal direction of the first alignment line; wherein, the second horizontal direction is perpendicular to the first horizontal direction;

[0109] The bogie offset value is determined based on the distance in the second horizontal direction.

[0110] As one possible implementation, the leveling module 72 is also used for:

[0111] Control two camera mechanisms to move to the preset second leveling plane on the corresponding side to take pictures. Based on the captured third image, control four leveling and alignment mechanisms to perform secondary leveling of the bogie. The second leveling plane is a horizontal plane and does not coincide with the first leveling plane.

[0112] Furthermore, after the second leveling is completed, the two camera mechanisms are moved to the second leveling plane to take pictures, and the leveling accuracy is checked based on the fourth image taken.

[0113] As one possible implementation, the alignment module 73 is also used for:

[0114] Two camera mechanisms are controlled to move to the preset second alignment line on the corresponding side to take pictures. Based on the captured fifth image, four leveling and alignment mechanisms are controlled to perform secondary alignment of the bogie. The direction of the second alignment line is parallel to the first horizontal direction and does not coincide with the first alignment line.

[0115] Furthermore, after the second alignment is completed, the two camera mechanisms are moved to the second alignment line to take pictures, and the alignment accuracy is checked based on the sixth image taken.

[0116] As one possible implementation, module 74 is used for:

[0117] Calculate the first deviation of the four leveling and alignment mechanisms from their corresponding zero-point positions in the first horizontal direction and the second deviation in the second horizontal direction.

[0118] Based on the first deviation, control the four leveling and alignment mechanisms to move synchronously in the first horizontal direction to make the first deviation zero; and based on the second deviation, control the four leveling and alignment mechanisms to move synchronously in the second horizontal direction to make the second deviation zero.

[0119] 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 program. When the processor 81 executes the computer program 83, it implements the steps in the various bogie clamping method embodiments described above, for example... Figure 6 Steps S601 to S605 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 75 are shown.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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 bogie clamping method, characterized in that, The method is applied to a bogie clamping device, which includes a base platform, four leveling and alignment mechanisms, a clamping mechanism, and two camera mechanisms. The four leveling and alignment mechanisms are used to support the four corner positions of the bogie on the base platform. The two camera mechanisms are respectively located on a pair of opposite sides in the first horizontal direction of the base platform. The method includes: Control the four leveling and alignment mechanisms to perform initial positioning of the bogie on the base platform; The two camera mechanisms are controlled to move to the preset first leveling plane on the corresponding side to take pictures. Based on the captured first image, the four leveling and alignment mechanisms are controlled to level the bogie. The first leveling plane is a horizontal plane. The two camera mechanisms are controlled to move to the preset first alignment line on the corresponding side to take pictures. Based on the captured second image, 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. Control the four leveling and alignment mechanisms to move synchronously to the corresponding zero point position in the horizontal plane; The clamping mechanism is controlled to press the bogie downwards, completing the clamping process; The step of controlling the four leveling and alignment mechanisms to level the bogie based on the captured first image includes: Based on the captured first image, the vertical distances between the four corner positions of the bogie and the first leveling plane are obtained respectively. Based on the vertical distance, control the four leveling and alignment mechanisms to move vertically, so that the vertical distance between the four corners of the bogie and the first leveling plane is zero; The step of controlling the four leveling and alignment mechanisms to align the bogie based on the captured second image includes: The offset value of the bogie is obtained based on the captured second image; Based on the offset value, the four leveling and alignment mechanisms are controlled to move in an arc around a common center, so that the offset value of the bogie is zero. The control of the four leveling and alignment mechanisms to move synchronously to the corresponding zero point position in the horizontal plane includes: Calculate the first deviation of the four leveling and alignment mechanisms from their corresponding zero-point positions in the first horizontal direction and the second deviation in the second horizontal direction; Based on the first deviation, the four leveling and alignment mechanisms are controlled to move synchronously in the first horizontal direction to make the first deviation zero; and based on the second deviation, the four leveling and alignment mechanisms are controlled to move synchronously in the second horizontal direction to make the second deviation zero.

2. The bogie clamping method as described in claim 1, characterized in that, The step of obtaining the bogie offset value based on the captured second image includes: Calculate the distance between the two corner positions of the bogie on any side of the second horizontal direction of the base platform and the second horizontal direction of the first alignment line; wherein, the second horizontal direction is perpendicular to the first horizontal direction; The offset value of the bogie is determined based on the second horizontal distance.

3. The bogie clamping method as described in claim 1, characterized in that, Based on the captured first image, after controlling the four leveling and alignment mechanisms to level the bogie, the system further includes: The two camera mechanisms are controlled to move to the preset second leveling plane on the corresponding side to take pictures. Based on the captured third image, the four leveling and alignment mechanisms are controlled to perform secondary leveling of the bogie. The second leveling plane is a horizontal plane and does not coincide with the first leveling plane. Furthermore, after the secondary leveling is completed, the two camera mechanisms are controlled to move to the second leveling plane to take pictures, and the leveling accuracy is checked based on the captured fourth image.

4. The bogie clamping method as described in claim 1, characterized in that, After aligning the bogie using the four leveling and alignment mechanisms based on the captured second image, the method further includes: The two camera mechanisms are controlled to move to the preset second alignment line on the corresponding side to take pictures. Based on the captured fifth image, the four leveling and alignment mechanisms are controlled to perform secondary alignment of the bogie. The direction of the second alignment line is parallel to the first horizontal direction and does not coincide with the first alignment line. Furthermore, after the second alignment is completed, the two camera mechanisms are controlled to move to the second alignment line to take pictures, and the alignment accuracy is checked based on the sixth image taken.

5. A bogie clamping device, characterized in that, The device is applied to a bogie clamping device, which includes a base platform, four leveling and alignment mechanisms, a clamping mechanism, and two camera mechanisms. The four leveling and alignment mechanisms are used to support the four corner positions of the bogie on the base platform. The two camera mechanisms are respectively located on a pair of opposite sides in the first horizontal direction of the base platform. The device includes: The initial positioning module is used to control the four leveling and alignment mechanisms to perform initial positioning of the bogie on the base platform; The leveling module is used to control the two camera mechanisms to move to the preset first leveling plane on the corresponding side to take pictures, and to control the four leveling and alignment mechanisms to level the bogie based on the captured first image. The first leveling plane is a horizontal plane. The alignment module is used to control the two camera mechanisms to move to the preset first alignment line on the corresponding side to take pictures, and to control the four leveling and alignment mechanisms to align the bogie according to the captured second image. The direction of the first alignment line is parallel to the first horizontal direction. The zero module is used to control the four leveling and alignment mechanisms to move synchronously to the corresponding zero point position in the horizontal plane; The clamping module is used to control the clamping mechanism to press the bogie downwards to complete the clamping; The step of controlling the four leveling and alignment mechanisms to level the bogie based on the captured first image includes: Based on the captured first image, the vertical distances between the four corner positions of the bogie and the first leveling plane are obtained respectively. Based on the vertical distance, control the four leveling and alignment mechanisms to move vertically, so that the vertical distance between the four corners of the bogie and the first leveling plane is zero; The step of controlling the four leveling and alignment mechanisms to align the bogie based on the captured second image includes: The offset value of the bogie is obtained based on the captured second image; Based on the offset value, the four leveling and alignment mechanisms are controlled to move in an arc around a common center, so that the offset value of the bogie is zero. The control of the four leveling and alignment mechanisms to move synchronously to the corresponding zero point position in the horizontal plane includes: Calculate the first deviation of the four leveling and alignment mechanisms from their corresponding zero-point positions in the first horizontal direction and the second deviation in the second horizontal direction; Based on the first deviation, the four leveling and alignment mechanisms are controlled to move synchronously in the first horizontal direction to make the first deviation zero; and based on the second deviation, the four leveling and alignment mechanisms are controlled to move synchronously in the second horizontal direction to make the second deviation zero.

6. 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 4.

7. 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 4.

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