A bogie side beam web clamping state travel alignment device and method

Abstract

This invention belongs to the field of bogie side beam web assembly, specifically disclosing a bogie side beam web clamping and centering device and method. It mainly includes a web clamping and moving centering device, which comprises a base with a mounting mechanism installed on one side and a centering mechanism installed on the other side. The mounting mechanism includes a support stop plate, a moving stop plate, and a mounting drive device. The mounting drive device is fixed on the support stop plate and pulls the moving stop plate. The centering mechanism includes a centering drive device, a drive gear, a first rack, and a second rack. The drive gear meshes with the first and second racks, and the centering drive device drives the second rack to perform linear motion. The web is initially positioned by the mounting mechanism, and then centered by the centering mechanism. Through the cooperation of the mounting mechanism and the centering mechanism, the centering of the web is achieved.

Description

Technical Field

[0001] This invention belongs to the field of bogie side beam web assembly, specifically relating to a bogie side beam web clamping state travel alignment device and method. Background Technology

[0002] The statements herein provide only background information in relation to this invention and do not necessarily constitute prior art.

[0003] The inventors discovered that during the automatic assembly of the bogie side beam, the web plate is composed of a pre-pressed and welded workpiece. The web plate is 2000mm+ in length and generally about 10mm thick. Due to the excessive length of the web plate and the inability of its rigidity to fully support it, there are differences in its condition during the gripping and assembly process: differences in flatness and total length, which will lead to unqualified assembly dimensions.

[0004] During assembly, the existing bogie side beam web only has a coarse positioning function. For details, please refer to the web auxiliary positioning mechanism in the automatic bogie side beam assembly system and method disclosed in patent CN 117399878 A. The specific assembly process of the bogie side beam web in the existing technology is as follows: after the automated gripping equipment grips the web, it is placed at the assembly station, and manual assembly is performed. However, since the gripping path of the automated equipment is generally fixed, if the web is misplaced before assembly, and the automated equipment does not identify the web's position before gripping, installation deviations will occur during web assembly. To address this issue, some existing technologies use positioning sensors on the automated gripping equipment. The position of the robotic arm on the automated gripping equipment is adjusted based on the web's position collected by the positioning sensors before gripping. However, this method places high demands on the gripping equipment, resulting in high assembly costs for the bogie side beam. Furthermore, because the robotic arm position needs to be adjusted each time, this method also affects assembly efficiency to some extent. Another existing technology involves adding a laser measuring instrument to the web plate auxiliary positioning mechanism. The laser measuring instrument performs hole distance positioning, and after accurate measurement, the data is transmitted back to the loading robot, which performs precise position clamping and final loading. This method also requires adjusting the position of the robot arm each time, which to some extent affects the assembly efficiency. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention proposes a device and method for adjusting the alignment of the bogie side beam web in a clamped state. This device and method can pre-align and position the bogie side beam web before gripping it, replacing the bogie side beam web clamping device in the prior art.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0007] In a first aspect, embodiments of the present invention provide a bogie side beam web clamping state traveling alignment device, including a support platform, on which a web clamping and moving alignment device is provided, the web clamping and moving alignment device including a base, an alignment mechanism, and a mounting mechanism.

[0008] A mounting mechanism is installed on one side of the base, and an alignment mechanism is installed on the other side;

[0009] The mounting mechanism includes a support stop plate, a movable stop plate, and a mounting drive device. The support stop plate is connected to the base. The mounting drive device is fixed on the support stop plate. The mounting drive device can pull the movable stop plate to move linearly towards the support stop plate or away from the support stop plate. A clamping element is provided on the movable stop plate, and a support element is provided on the support stop plate.

[0010] The centering mechanism includes a centering drive device, a drive gear, a first rack, and a second rack. The drive gear is horizontally mounted on the base and meshes with the first and second racks. The centering drive device drives the second rack to move linearly. The first and second racks are each connected to a horizontally arranged triggering device, which drives the workpiece to move. The triggering devices are located on both sides of the support stop plate.

[0011] As a further technical solution, positioning guide columns are also provided on the support platform, and the positioning guide columns are located on both sides of the web clamping and moving centering device.

[0012] As a further technical solution, the positioning guide column includes an upright column and a horizontal support column. The horizontal support column is set on the upright column. The upright column positions the side of the web plate, and the horizontal support column positions the bottom of the web plate.

[0013] As a further technical solution, the base includes a base plate, a first upright plate and a second upright plate. The first upright plate is higher than the second upright plate. A rolling bearing and a slide rail are provided on the surface of the first upright plate near the web plate mounting mechanism. The rolling bearing is located on both sides of the support stop plate. A slide rail for supporting the first rack and the second rack is provided on the surface of the second upright plate near the centering mechanism.

[0014] As a further technical solution, the slide rail on the first upright plate is slidably connected to the supporting stop plate.

[0015] As a further technical solution, the first rack is connected to the first connecting arm, a first horizontal bar is provided on the first connecting arm, a first actuating device is provided at the end of the first horizontal bar, and the first actuating device cooperates with the first hole on the web plate; the second rack is connected to the second connecting arm, a second horizontal bar is provided on the second connecting arm, a second actuating device is provided at the end of the second horizontal bar, and the second actuating device cooperates with the second hole on the web plate.

[0016] As a further technical solution, the first and second triggering devices include bearings and contact switches mounted on the bearings, wherein the contact switches are linked with the centering drive device.

[0017] As a further technical solution, both the first horizontal bar and the second horizontal bar are located on both sides of the supporting stop plate.

[0018] As a further technical solution, the surface of the clamping element that contacts the web is made of rubber elastic material to prevent wear on the working surface of the clamping wheel.

[0019] Secondly, the present invention also provides a method for assembling the bogie web using the above-described device as follows:

[0020] Step 1. The mounting drive device drives the moving stop plate to move away from the supporting stop plate; the centering drive device drives the first rack and the second rack to move in opposite directions at the same time; the web plate is placed at an angle between the moving stop plate and the supporting stop plate.

[0021] Step 2. After the web plate is placed, the mounting drive device of the web plate mounting mechanism drives the moving stop plate to move towards the supporting stop plate, thus fixing the web plate between the supporting stop plate and the moving stop plate.

[0022] Step 3. The centering drive device drives the first rack and the second rack to move towards the center. When both triggers are in contact with the corresponding holes on the web, it indicates that the web is in the centering state and the centering drive device stops moving.

[0023] Step 4. The robotic arm grasps and clamps the object;

[0024] Step 5. The mounting drive device drives the moving stop plate to move away from the supporting stop plate again; the centering drive device drives the first rack and the second rack to move in opposite directions at the same time.

[0025] Step 6. The robotic arm picks up the material.

[0026] The beneficial effects of the above embodiments of the present invention are as follows:

[0027] This invention improves the entire assembly process. The web plate is first aligned by the bogie side beam web plate clamping and centering device of this invention before being gripped, which ensures the installation accuracy of the web plate. Specifically, the web plate is first initially positioned by the mounting mechanism, and then aligned by the centering mechanism. The alignment of the web plate is achieved through the cooperation of the mounting mechanism and the centering mechanism. Attached Figure Description

[0028] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0029] Figure 1 This is a schematic diagram of the overall device of the present invention;

[0030] Figure 2 This is a schematic diagram of the first or second positioning guide post of the present invention;

[0031] Figure 3 , Figure 4 , Figure 5 This is a schematic diagram of the overall structure of the web plate clamping and moving centering device of the present invention;

[0032] Figure 6 , Figure 7 This is a schematic diagram of the base in the web plate clamping and moving centering mechanism;

[0033] Figure 8 , Figure 9 This is a schematic diagram of the web plate alignment mechanism in the web plate clamping and moving alignment mechanism;

[0034] Figure 10 , Figure 11 This is a schematic diagram of the web plate mounting mechanism in the web plate clamping and moving centering mechanism;

[0035] Figure 12 This is a schematic diagram of the present invention in the clamped web state;

[0036] Figure 13 This is a schematic diagram of the present invention in the clamped web state;

[0037] The diagram exaggerates the spacing or dimensions between parts to show their positions; the diagram is for illustrative purposes only.

[0038] 1 Support platform, 2 First positioning guide post, 3 Second positioning guide post, 4 Web plate clamping and moving centering mechanism;

[0039] 41 Base, 411 Base plate, 412 First vertical plate, 413 Second vertical plate, 414 Rolling bearing, 415 Slide rail, 416 Slide rail;

[0040] 42 Web plate centering mechanism, 421 Centering cylinder, 422 Drive gear, 423 First rack, 424 Second rack; 425 First connecting arm, 426 First horizontal bar, 427 First bearing, 428 Second connecting arm, 429 Second horizontal bar, 430 Second bearing;

[0041] 43 Web plate mounting mechanism; 431 Support stop plate; 432 Moving stop plate; 433 Mounting cylinder; 434 Clamping wheel; 434 Positioning block; 435 Slider. Detailed Implementation

[0042] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0044] For ease of description, the words "up," "down," "left," and "right" appearing in this invention only indicate that they are consistent with the up, down, left, and right directions of the accompanying drawings themselves, and do not limit the structure. They are merely for the purpose of facilitating the description of this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] Terminology Explanation: The terms "installation," "connection," "linking," and "fixing" in this invention should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction relationship between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] As described in the background section, the automatic assembly process of the side beam by the robotic arm is problematic because the web plate components are large and have inconsistent dimensions after welding and forming processes. The gripping and assembly states are also inconsistent, leading to inaccurate inspection in the normal free state and difficulty in finding the intermediate reference point for the workpiece. This invention, through structural design, pre-fixes the web plate of the bogie side beam and performs physical reference alignment, forming an alignment method consistent with the assembly state, thus solving the assembly problems in the prior art.

[0047] In a typical embodiment of the present invention, such as Figure 1 As shown, the bogie side beam web clamping state traveling alignment device and method proposed in this invention includes a support platform 1, a first positioning guide post 2 at one end of the support platform 1, a second positioning guide post 3 at the other end, and a web clamping and moving alignment device 4 at the middle position of the support platform 1; wherein the first positioning guide post 2 and the second positioning guide post 3 are used to support the two ends of the bogie web, and the web clamping and moving alignment device is used for aligning the bogie web;

[0048] Furthermore, such as Figure 3 , Figure 4 , Figure 5 As shown, the above-mentioned web plate clamping and moving centering device 4 includes three parts: base 41, centering mechanism 42, and web plate mounting mechanism 43. The base 41 is used to connect with the support platform and to support the centering mechanism and the web plate mounting mechanism. Two rolling bearings are provided on the base 41 to support the web plate placed therein.

[0049] Specifically, such as Figure 6 , Figure 7 As shown, the base 41 in this embodiment includes a base plate 411 and an upright plate. The upright plate is fixed on the base plate 411. The upright plate 412 includes a first upright plate 412 and a second upright plate 413 fixed together. The first upright plate 412 is higher than the second upright plate 413. A rolling bearing 414 and a slide rail 415 are provided on the side of the first upright plate 412 facing away from the second upright plate 413 (the side near the web mounting mechanism). The rolling bearing 414 is located on both sides of the lower support stop plate 431. Both the slide rail 415 and the rolling bearing 414 are used to support the bogie web, reduce the resistance during the movement of the bogie web, and achieve centering. A slide rail 416 is provided on the side of the second upright plate 413 near the centering mechanism. The main function of the slide rail 416 is to support the first rack and the second rack in the lower centering mechanism.

[0050] Among them, such as Figure 10 , Figure 11As shown, the web plate mounting mechanism 43 in this embodiment includes a support stop plate 431, a movable stop plate 432, a mounting cylinder 433, and a slider 435. The slider 435 cooperates with the aforementioned slide rail 415, allowing the web plate mounting mechanism 43 to move the web plate horizontally relative to the base. The mounting cylinder 433 is a mounting drive device. The support stop plate 431 is connected to the slide rail on the first upright plate of the split base 41. The mounting cylinder 433 is fixed on the support stop plate. The mounting cylinder 433 pulls another movable stop plate 432 to move. Under the action of the mounting cylinder, the movable stop plate 432 can move towards the side where the support stop plate 431 is located, or move away from the support stop plate 431. A clamping wheel 434 is provided on the movable stop plate 432, which contacts the web plate and is used to clamp the web plate. At the same time, a positioning block 434 is provided on the support stop plate to position the web plate.

[0051] It should be further noted that the surface of the clamping wheel that contacts the web is made of rubber elastic material to prevent wear on the working surface of the clamping wheel.

[0052] The working process of the aforementioned web plate mounting mechanism has two states: 1. Open state: The increased distance between the support stop plate and the cylinder-pulled stop plate facilitates the placement of the web plate assembly. 2. After the workpiece is placed, the cylinder retracts, driving the cylinder to pull the stop plate to clamp and fix the workpiece.

[0053] Furthermore, among them, such as Figure 8 , Figure 9 As shown, the web alignment mechanism 42 includes an alignment cylinder 421, a drive gear 422, a first rack 423, and a second rack 424. The alignment cylinder 421 is an alignment drive device. The drive gear 422 is mounted on the second vertical plate and meshes with the first rack 423 and the second rack. The first rack 423 is located above the drive gear, and the second rack 424 is located below the drive gear 422. The alignment cylinder is fixed to the base plate of the base. The alignment cylinder drives the second rack 424 to move linearly, and the second rack 424 drives the drive gear 422 to rotate. The drive gear 422 drives the second rack 424 to move linearly. Under the drive of the alignment cylinder, the first rack 423 and the second rack 424 can move simultaneously in the same direction or in opposite directions.

[0054] The first rack is connected to the first connecting arm 425, the first connecting arm 425 is provided with a first horizontal bar 426, the first horizontal bar 426 is provided with a first actuating device 427 at the end, and the first actuating device 427 cooperates with the first hole on the web.

[0055] The second rack 424 is connected to the second connecting arm 428. A second horizontal bar 429 is provided on the second connecting arm. A second actuating device 430 is provided at the end of the second horizontal bar 429. The second actuating device 430 cooperates with the second hole on the web. The first horizontal bar and the second horizontal bar are both located on both sides of the supporting stop plate.

[0056] Furthermore, the first and second actuating devices mentioned above each include a bearing and a contact switch mounted on the bearing. The contact switch is linked with the centering cylinder 421. Specifically, when centering is required, the centering cylinder 421 outputs power to drive the first and second actuating devices to move to both sides simultaneously. When both contact switches are in contact with the web plate, the centering cylinder 421 stops moving.

[0057] It should be further noted that, in addition to the cylinder in this embodiment, the mounting drive device and centering drive device mentioned above can also be other linear drive devices, such as hydraulic cylinders, linear drive motors, etc., which will not be elaborated here.

[0058] Furthermore, such as Figure 2 As shown, the first positioning guide post 2 and the second positioning guide post 3 are used to ensure the flatness of the web structure in its placement state. They include a vertical column and a horizontal support column. The horizontal support column is installed on the vertical column. The vertical column positions the side of the web to ensure the web's offset in the thickness direction, while the horizontal support column positions the bottom of the web to ensure alignment in the length direction. The horizontal support column is a rotating support column.

[0059] like Figure 12 , Figure 13 As shown, the method for assembling the bogie web using the above-mentioned device is as follows:

[0060] Step 1. The centering mechanism and the web plate mounting mechanism are opened, and the robot arm is loaded; specifically, the mounting cylinder 433 extends, and the moving stop plate 432 moves away from the supporting stop plate 431; the centering cylinder 421 extends, driving the first rack 423 and the second rack 424 to move in opposite directions simultaneously; the web plate is placed at an angle between the moving stop plate 432 and the supporting stop plate 431;

[0061] Step 2. After the web plate is placed, the mounting cylinder 433 of the web plate mounting mechanism is retracted, completing the fixation of the web plate between the support stop plate 431 and the moving stop plate 432; and at this time, both ends of the web plate are placed on the first positioning guide post 2 and the second positioning guide post 3, realizing the initial positioning support of the web plate.

[0062] Step 3. The centering mechanism starts working and completes the symmetrical movement of the workpiece; specifically, the centering cylinder 421 drives the first rack 423 and the second rack 424 to move towards the center. Since the web plate is not necessarily in the centering state after being placed in step 2, during the process of the first rack 423 and the second rack 424 moving towards the center, the first bearing 427 or the second bearing 430 will first contact a hole on the web plate. Subsequently, under the action of the first bearing 427 after contact, the web plate is pushed to move accordingly. When both bearings are in contact with the corresponding holes on the web plate, it indicates that the web plate is in the centering state and the centering cylinder stops moving.

[0063] Step 4. The robotic arm grasps and clamps the object;

[0064] Step 5. Open the centering mechanism and the web mounting mechanism;

[0065] Step 6. The robotic arm picks up the materials and proceeds to assembly.

[0066] This embodiment improves the entire assembly process by first aligning the web plate using a traveling alignment device in the bogie side beam web plate clamping state before gripping it, thus ensuring the installation accuracy of the web plate. Specifically, the web plate is first initially positioned by a mounting mechanism, and then aligned by an alignment mechanism. The alignment of the web plate is achieved through the cooperation of the mounting mechanism and the alignment mechanism, improving work efficiency and reducing assembly costs. The fact that the gripping device cannot be equipped with a position recognition device can ensure the accuracy of the assembly process to a certain extent.

[0067] Finally, it should be noted that relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A bogie side beam web clamping and centering device, characterized in that: It includes a support platform, on which a web plate clamping and moving centering device is installed. The web plate clamping and moving centering device includes a base, on one side of which a mounting mechanism is installed and on the other side which a centering mechanism is installed. The mounting mechanism includes a support stop plate, a movable stop plate, and a mounting drive device. The support stop plate is connected to the base. The mounting drive device is fixed on the support stop plate. The mounting drive device pulls the movable stop plate. A clamping element is provided on the movable stop plate. A support element is provided on the support stop plate. The web plate is fixed between the support stop plate and the movable stop plate. The centering mechanism includes a centering drive device, a drive gear, a first rack, and a second rack; the drive gear is horizontally mounted on the base and meshes with the first rack and the second rack; the centering drive device drives the second rack to perform linear motion; the first rack and the second rack are each connected to a horizontally arranged trigger device, which is located on both sides of the support stop plate. The base includes a base plate, a first upright plate, and a second upright plate. A rolling bearing and a slide rail are provided on the surface of the first upright plate near the web mounting mechanism. The rolling bearing is located on both sides of the supporting stop plate. A slide rail supporting the first rack and the second rack is provided on the surface of the second upright plate near the centering mechanism. The slide rail on the first upright plate is slidably connected to the supporting stop plate.

2. The bogie side beam web clamping and centering device as described in claim 1, characterized in that: The support platform is also provided with positioning guide columns, which are located on both sides of the web plate clamping and moving centering device.

3. The bogie side beam web clamping and centering device as described in claim 2, characterized in that: The positioning guide column includes an upright column and a horizontal support column, with the horizontal support column installed on the upright column.

4. The bogie side beam web clamping and centering device as described in claim 1, characterized in that: The first rack is connected to the first connecting arm, a first horizontal bar is provided on the first connecting arm, and a first actuating device is provided at the end of the first horizontal bar; the second rack is connected to the second connecting arm, a second horizontal bar is provided on the second connecting arm, and a second actuating device is provided at the end of the second horizontal bar.

5. The bogie side beam web clamping and centering device as described in claim 4, characterized in that: The first and second actuating devices include bearings and contact switches mounted on the bearings, and the contact switches are linked to the centering drive device.

6. The bogie side beam web clamping and centering device as described in claim 4, characterized in that: The first and second horizontal bars are both located on both sides of the supporting stop plate.

7. The bogie side beam web clamping and centering device as described in claim 1, characterized in that: The surface of the clamping member that contacts the web is made of rubber elastic material.

8. A method for aligning the bogie web using the bogie side beam web clamping device as described in any one of claims 1-7, characterized in that, as follows: Step 1. The mounting drive device drives the moving stop plate to move away from the supporting stop plate; the centering drive device drives the first rack and the second rack to move in opposite directions simultaneously; the web plate is placed at an angle between the moving stop plate and the supporting stop plate. Step 2. After the web plate is placed, the mounting drive device of the web plate mounting mechanism drives the moving stop plate to move towards the supporting stop plate, thus fixing the web plate between the supporting stop plate and the moving stop plate. Step 3. The centering drive device drives the first rack and the second rack to move towards the center. When both triggers are in contact with the corresponding holes on the web, it indicates that the web is in the centering state and the centering drive device stops moving. Step 4. The robotic arm grasps and clamps the object; Step 5. The mounting drive device drives the moving stop plate to move away from the supporting stop plate again; the centering drive device drives the first rack and the second rack to move in opposite directions at the same time. Step 6. The robotic arm picks up the material.

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