Railway vehicle chassis assembly welding automatic tool and welding method

Abstract

The invention relates to the field of welding equipment, and provides a railway vehicle chassis assembly welding automatic tool and a welding method. The railway vehicle chassis assembling and welding automatic tool comprises a basic frame, a clamping device and a welding device. The basic frame is suitable for pressing and fixing a chassis. The welding device is movably arranged on at least one side of the basic frame; the deflection prefabricating assembly is fixedly connected to the foundation frame and is suitable for prefabricating deflection of the underframe; the positioning fine adjustment device is arranged below the foundation frame and can avoid the position of the deflection prefabricated assembly; the positioning fine adjustment device is suitable for fine adjustment of local positions of the underframe in the length direction and the width direction. According to the automatic assembly welding tool for the railway vehicle chassis and the welding method, fine adjustment abutting of local positions of the chassis before welding is added through the positioning fine adjustment device, in the assembly welding operation process of the chassis, deflection prefabrication with higher precision can be achieved, the automation degree of welding operation is improved, deformation of the chassis after welding is reduced or even avoided, and the production efficiency is improved. And the chassis is free of adjustment and repair after being welded, and the assembling and welding operation quality and operation efficiency of the chassis are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of welding equipment, and provides a rail vehicle underframe assembly welding automation tool and a welding method. BACKGROUND

[0002] The underframe is one of the four core components of the rail vehicle body. The underframe of the rail vehicle is as long as 25 meters, and needs to be operated in an integrated manner during assembly and welding. The traditional assembly and welding are basically performed by manual operation, which has problems such as high labor intensity, low assembly precision, and difficulty in ensuring the consistency of the overall welding quality of the underframe. In the existing operation mode, the front and back welding of the underframe is mainly performed after the turning over of the hoist, and the existing underframe welding tool cannot realize 360-degree turning over and up-down lifting, which is not conducive to automatic welding operation. Moreover, in the underframe assembly and welding operation, the deflection of the underframe is preformed by relying on the manual hoisting of the underframe, and the adjustment of the length and width of the underframe needs to rely on the hoisting of the hoist, which is easy to cause large deformation of the welded underframe, and additional flame adjustment is needed to correct the deformation during the assembly and welding operation, otherwise the quality of the output underframe cannot meet the quality requirements of the vehicle body. SUMMARY

[0003] The present application provides a rail vehicle underframe assembly welding automation tool and a welding method, which can solve the problems of poor deflection preforming precision, insufficient welding operation automation, and excessive deformation of the welded underframe in the related art, and can realize post-welding adjustment-free of the underframe, and improve the assembly and welding quality and operation efficiency of the underframe.

[0004] The present application provides a rail vehicle underframe assembly welding automation tool, which comprises: a base frame adapted to press and fix the underframe; a welding device movably arranged on at least one side of the base frame; a deflection preforming assembly fixed to the base frame and adapted to preform the deflection of the underframe; and a positioning and fine adjustment device arranged below the base frame and capable of avoiding the position of the deflection preforming assembly, and adapted to fine adjust the length and width of the local position of the underframe.

[0005] According to the present application, the deflection preforming assembly comprises: a deflection preforming frame fixed to the bottom of the base frame, and at least one adjusting opening is reserved on the deflection preforming frame; the adjusting opening is adapted to install the positioning and fine adjustment device; and a plurality of deflection adjusting cylinders are distributed on the deflection preforming frame, and each deflection adjusting cylinder is adapted to point and press the underframe according to the preformed deflection.

[0006] The positioning fine adjustment device comprises a fine adjustment device base arranged below the base frame, a pushing platform adapted to avoid the deflection prefabricated assembly and connected to the bottom of the underframe, a lifting mechanism connected between the fine adjustment device base and the pushing platform for driving the pushing platform to lift, a length direction fine adjustment mechanism connected between the fine adjustment device base and the pushing platform for driving the pushing platform to move along the length direction of the underframe, and a width direction fine adjustment mechanism connected between the fine adjustment device base and the pushing platform for driving the pushing platform to move along the width direction of the underframe.

[0007] The lifting mechanism comprises a first lifting cylinder connected vertically between the fine adjustment device base and the length direction fine adjustment mechanism, and a second lifting cylinder connected vertically between the pushing platform and the width direction fine adjustment mechanism, wherein the length direction fine adjustment mechanism is connected to the second lifting cylinder through the width direction fine adjustment mechanism.

[0008] The length direction fine adjustment mechanism comprises a first moving seat connected to the top end of the first lifting cylinder, the fine adjustment device base being fixed to the bottom end of the first lifting cylinder, a length direction fine adjustment rotating lead screw connected to the first moving seat, the axial direction of the length direction fine adjustment rotating lead screw being arranged along the length direction of the underframe, and a second moving seat movably connected to the length direction fine adjustment rotating lead screw.

[0009] The width direction fine adjustment mechanism comprises a width direction fine adjustment rotating lead screw connected to the second moving seat, the axial direction of the width direction fine adjustment rotating lead screw being arranged along the width direction of the underframe, a third moving seat movably connected to the width direction fine adjustment rotating lead screw, and the third moving seat being connected to the second lifting cylinder.

[0010] The deflection prefabricated frame comprises a deflection prefabricated intermediate frame connected to the lower surface of the base frame and located at the middle of the base frame, and a pair of deflection prefabricated end frames connected to the lower surface of the base frame, the pair of deflection prefabricated end frames being arranged at the two ends of the deflection prefabricated intermediate frame respectively, and the adjustment opening being reserved between each deflection prefabricated end frame and the deflection prefabricated intermediate frame.

[0011] The rail vehicle underframe assembly welding automation tooling further comprises a pair of driving units symmetrically connected to the two ends of the base frame, and the pair of driving units are used to drive the base frame to perform translation, lifting and overturning movements.

[0012] According to the present application, the track vehicle chassis assembly welding automation device comprises: a support base arranged at the end of the base frame; a pair of lifting columns vertically fixedly arranged on the support base and spaced apart along the width direction of the chassis; an adjusting screw rod transversely connected between the pair of lifting columns; the adjusting screw rod is adapted to drive the base frame to move along the width direction; a pair of driving lifting cylinders arranged at the two ends of the adjusting screw rod; each driving lifting cylinder is connected between the adjusting screw rod and the support base along the vertical direction; a rotary motor movably connected to the adjusting screw rod through a bearing seat; the output shaft of the rotary motor is connected to the rotary shaft of the base frame through a rotary gear; the rotary shaft of the base frame is connected to the end face of the base frame, and is arranged along the length direction of the chassis and located at the center of the width direction of the base frame.

[0013] According to the present application, the track vehicle chassis assembly welding automation device further comprises: a control cabinet arranged on either side of the base frame; the control cabinet is electrically connected with the welding device, the deflection prefabrication assembly, the driving unit and the positioning fine adjustment device respectively.

[0014] According to the present application, the track vehicle chassis assembly welding automation device, the base frame comprises: a pair of side beam bodies arranged in parallel at intervals; the pair of side beam bodies are adapted to be arranged in parallel on the outside of the side beams of the chassis; a pair of end beam bodies connected to the two ends of the pair of side beam bodies; the pair of end beam bodies are adapted to be arranged in parallel on the outside of the end beams of the chassis; a plurality of pressing cylinders are distributed on the pair of side beam bodies at intervals; each pressing cylinder is used for fixed-point pressing and fixing the chassis.

[0015] According to the present application, the track vehicle chassis assembly welding automation device further comprises: a pair of rails arranged on the two sides of the width direction of the base frame, and the pair of rails are adapted to be arranged in parallel with the side beams of the chassis; a pair of welding devices movably arranged on the pair of rails respectively.

[0016] The present application also provides a track vehicle chassis assembly welding automation welding method, which is executed by using the above track vehicle chassis assembly welding automation device; the track vehicle chassis assembly welding automation welding method comprises the following steps.

[0017] The deflection prefabrication assembly drives the whole prefabrication deflection of the chassis arranged on the base frame.

[0018] The positioning fine adjustment device drives the local position of the chassis to be fine adjusted and closely contacted.

[0019] The chassis is pressed and fixed on the base frame, and a welding device is driven to weld.

[0020] According to the present application, the step of driving the deflection preassembly component to preassemble the overall deflection amount of the chassis on the base frame further comprises the following steps.

[0021] The deflection preassembly component is driven to preassemble the deflection amount at the positions spaced apart from the center of the side beam of the chassis to the two ends along the length.

[0022] The preassembly of the deflection amount at the positions of each chassis is respectively to drive the deflection preassembly component to push the side beam upward at the corresponding position.

[0023] The preassembly of the deflection amount at the positions is respectively 5mm, 4mm, 3mm and 2mm from the center to the end of the chassis.

[0024] According to the present application, the step of pressing and fixing the chassis on the base frame and driving the welding device to weld further comprises the following steps.

[0025] A pair of welding devices are driven to synchronously weld the chassis.

[0026] During the welding process, a pair of welding devices are driven to weld in a diagonal angle symmetrical sequence along the length direction of the chassis, and a pair of welding devices are driven to weld in a reverse cross sequence along the width direction of the chassis.

[0027] According to the present application, the step of pressing and fixing the chassis on the base frame and driving the welding device to weld further comprises the following steps.

[0028] During the welding process, the position of the base frame along the width direction and the height are adjusted by the driving unit.

[0029] After a group of welding is completed, the base frame is turned over by the driving unit, and the overall preassembly of the deflection amount, the fine adjustment of the local position and the next group of welding are re-executed on the turned over chassis.

[0030] The rail vehicle underframe assembly welding automation tool (the invention is referred to as "tool" for short) comprises a base frame, a welding device, a deflection prefabrication assembly and a positioning fine adjustment device. The base frame is suitable for pressing and fixing the underframe; the welding device is movably arranged on at least one side of the base frame; the deflection prefabrication assembly is fixed to the base frame and is suitable for prefabricating the deflection amount of the underframe; the positioning fine adjustment device is arranged below the base frame and can avoid the position of the deflection prefabrication assembly; and the positioning fine adjustment device is suitable for fine adjusting the length direction and width direction of the local position of the underframe. The tool fine adjusts the local position of the underframe before welding through the added positioning fine adjustment device, so that the deflection prefabrication has higher precision, the welding automation degree is improved, the deformation of the underframe after welding is reduced or even avoided, the underframe after welding is exempted from adjustment and repair, and the assembly welding operation quality and operation efficiency of the underframe are improved.

[0031] The rail vehicle underframe assembly welding automation welding method (the invention is referred to as "welding method" for short) is executed by using the above-mentioned rail vehicle underframe assembly welding automation tool. The welding method divides the prefabrication deflection step into two parts of the whole prefabrication deflection amount and the fine adjustment of the local position, so that the welding method has all the advantages of the above-mentioned tool, and details are not described here. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0033] Figure 1 It is a structural schematic view of the rail vehicle underframe assembly welding automation tool provided by the present application.

[0034] Figure 2 It is a front view of the rail vehicle underframe assembly welding automation tool provided by the present application.

[0035] Figure 3 It is a top view of the rail vehicle underframe assembly welding automation tool provided by the present application.

[0036] Figure 4 It is a front view of the positioning fine adjustment device provided by the present application.

[0037] Figure 5 It is a structural schematic view of the positioning fine adjustment device provided by the present application.

[0038] Figure 6 It is a welding sequence schematic view of the rail vehicle underframe assembly welding automation welding method provided by the present application.

[0039] Figure label: 1. Track; 2. Adjusting screw; 3. Support base; 4. Rotary motor; 5. Drive lifting cylinder; 6. Lifting column; 7. Rotary gear; 8. Pressing cylinder; 9. Basic frame; 10. Deflection adjusting cylinder; 11. Positioning fine-tuning device; 12. Control cabinet; 13. Welding device; 131. First welding robot; 132. Second welding robot; 14. Fine-tuning device base; 15. First lifting cylinder; 16. Length direction fine-tuning rotary screw; 17. Width direction fine-tuning rotary screw; 18. Second lifting cylinder; 19. Ball bearing; 20. Base frame; 21. Deflection prefabrication intermediate frame; 22. Deflection prefabrication end frame; 23. First moving seat; 24. Second moving seat; 25. Third moving seat; 26. Pushing platform; 27. Wire; a1, a2, a3, a4, Width welding direction; b1, b2, Length welding direction. Detailed Implementation

[0040] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0041] like Figures 1 to 6 As shown, the tooling described in this embodiment of the invention includes a base frame 9, a welding device 13, a deflection prefabrication assembly, and a positioning fine-tuning device 11. The base frame 9 is adapted to clamp and fix the base frame 20. The welding device 13 is movably disposed on at least one side of the base frame 9. The welding device 13 is capable of welding the base frame 20 after deflection prefabrication and clamping and fixing. The deflection prefabrication assembly is fixed to the base frame 9. The deflection prefabrication assembly is adapted to prefabricate the deflection of the base frame 20. Preferably, the deflection prefabrication assembly can cooperate with the base frame 9 to prefabricate the deflection of the base frame 20 placed and fixed in the base frame 9. The specific deflection prefabrication method is described in detail below and will not be repeated here. The positioning fine-tuning device 11 is disposed below the base frame 9, and the positioning fine-tuning device 11 is disposed at a position that can avoid the deflection prefabrication assembly. The positioning fine-tuning device 11 is suitable for fine-tuning the local position of the base frame 20 in the length and width directions, facilitating fine-tuning of the position and the deflection in the height direction of the pre-deformed base frame 20, thereby improving the accuracy of deflection prefabrication. This fixture, through the added positioning fine-tuning device 11, finely adjusts and tightens the local position of the base frame 20 before welding, thereby achieving higher precision deflection prefabrication during the assembly and welding process of the base frame 20, improving the automation level of the welding operation, reducing or even avoiding deformation of the base frame 20 after welding, and eliminating the need for post-weld adjustments to the base frame 20, thus improving the quality and efficiency of the base frame 20 assembly and welding operation.

[0042] It should be noted that the chassis 20 of the embodiment of the present application is a rail vehicle chassis. The chassis 20 is about 25 meters long, and is assembled and welded by long and large profile side beams, end chassis 20, 30 or more size cross beams, and bottom plates and other components.

[0043] It should be noted that the length direction of the present application is the left-right direction shown in the figure, that is, the length direction of the chassis 20 or the support frame body. The width direction of the present application is the up-down direction shown in the figure, that is, the width direction of the chassis 20 or the support frame body. The height direction or vertical direction of the present application is the up-down direction shown in the figure, that is, the height direction or vertical direction of the chassis 20 or the support frame body. Figure 3 Figure 3 It should be noted that the length direction of the present application is the left-right direction shown in the figure, that is, the length direction of the chassis 20 or the support frame body. The width direction of the present application is the up-down direction shown in the figure, that is, the width direction of the chassis 20 or the support frame body. The height direction or vertical direction of the present application is the up-down direction shown in the figure, that is, the height direction or vertical direction of the chassis 20 or the support frame body. Figure 2

[0044] In some embodiments, as shown in the figure, the base frame 9 includes a pair of side beam bodies, a pair of end beam bodies, and a plurality of pressing cylinders 8. The pair of side beam bodies are arranged in parallel at intervals, and the pair of end beam bodies are connected to the two ends of the pair of side beam bodies to form a closed truss structure. The pair of side beam bodies are adapted to be arranged in parallel outside the side beams of the chassis 20 to position and fix the side beams of the chassis 20. The pair of end beam bodies are adapted to be arranged in parallel outside the end beams of the chassis 20 to position and fix the end beams of the chassis 20. The plurality of pressing cylinders 8 are distributed at intervals on the pair of side beam bodies, and each pressing cylinder 8 is used to fix and press the chassis 20 at a point. Since the base frame 9 can position and fix the chassis 20 through the closed structure, the plurality of pressing cylinders 8 distributed along the side beam bodies can not only realize overall pressing and fixing of the chassis 20, but also realize local state adjustment of the chassis 20 through the pressing force of a single pressing cylinder 8. In addition, the pressing cylinder 8 at a local position can exert a vertical downward force on the chassis 20, so as to cooperate with the nearby deflection adjusting cylinder 10 to realize local range deflection preforming, improve deflection preforming accuracy, and realize overall pressing of the chassis 20 and overall deflection preforming of the chassis 20 through cooperation with the deflection preforming assembly, thereby improving the efficiency and accuracy of deflection preforming and pressing operation. Figures 1 to 3 It should be noted that the tooling of the present embodiment realizes reliable pressing of the chassis 20 at multiple positions through the plurality of pressing cylinders 8 of the base frame 9, so that the rail vehicle chassis 20 can be accurately and rigidly fixed during assembly and welding, and the overall size of the 25-meter-long chassis 20 after welding can be controlled within 2 mm.

[0045]

[0046] In some embodiments, as shown in the figure, the base frame 9 includes a pair of side beam bodies, a pair of end beam bodies, and a plurality of pressing cylinders 8. The pair of side beam bodies are arranged in parallel at intervals, and the pair of end beam bodies are connected to the two ends of the pair of side beam bodies to form a closed truss structure. The pair of side beam bodies are adapted to be arranged in parallel outside the side beams of the chassis 20 to position and fix the side beams of the chassis 20. The pair of end beam bodies are adapted to be arranged in parallel outside the end beams of the chassis 20 to position and fix the end beams of the chassis 20. The plurality of pressing cylinders 8 are distributed at intervals on the pair of side beam bodies, and each pressing cylinder 8 is used to fix and press the chassis 20 at a point. Since the base frame 9 can position and fix the chassis 20 through the closed structure, the plurality of pressing cylinders 8 distributed along the side beam bodies can not only realize overall pressing and fixing of the chassis 20, but also realize local state adjustment of the chassis 20 through the pressing force of a single pressing cylinder 8. In addition, the pressing cylinder 8 at a local position can exert a vertical downward force on the chassis 20, so as to cooperate with the nearby deflection adjusting cylinder 10 to realize local range deflection preforming, improve deflection preforming accuracy, and realize overall pressing of the chassis 20 and overall deflection preforming of the chassis 20 through cooperation with the deflection preforming assembly, thereby improving the efficiency and accuracy of deflection preforming and pressing operation. Figure 1 Figure 3 ​​​​As shown, in order to improve the welding efficiency and welding precision, the tooling preferably further comprises a pair of rails 1 and a pair of welding devices 13. The pair of rails 1 are laid on both sides of the width direction of the base frame 9, and are adapted to be arranged in parallel with the side beams of the underframe 20. The pair of welding devices 13 are movably arranged on the pair of rails 1 respectively. The specific welding sequence of the pair of welding devices 13 is described in detail in the description of the welding method below, and will not be described here. The tooling effectively expands the welding range of the welding device 13 and improves the welding flexibility by arranging the pair of rails 1 with the pair of welding devices 13.

[0047] In some embodiments, as shown in Figure 1 As shown, the welding device 13 preferably comprises a mobile vehicle, a multi-axis robot, and a welding gun. The mobile vehicle is movably arranged on the rail 1 and can move along the rail 1, so as to drive the welding gun arranged on the multi-axis robot to move to any position in the length direction of the underframe 20. During the welding process, the multi-axis robot drives the welding gun to weld the underframe 20 within the movable range of any position of the rail 1 by virtue of its multi-axis flexibility. The structure arrangement can improve the welding range, welding flexibility, and welding precision.

[0048] In some embodiments, as shown in Figures 1 to 3 As shown, the deflection pre-assembly comprises a deflection pre-frame and a plurality of deflection adjusting cylinders 10. The deflection pre-frame is fixedly connected to the bottom of the base frame 9 and can move with the base frame 9. The plurality of deflection adjusting cylinders 10 are distributed on the deflection pre-frame at intervals. Each deflection adjusting cylinder 10 is adapted to point and press the underframe 20 according to the pre-assembly deflection amount. The deflection pre-frame can serve as the bottom frame of the base frame 9, and can also provide reliable mounting support for the plurality of deflection adjusting cylinders 10, and provide reliable support and pressing reaction support for the underframe 20 loaded in the base frame 9. At least one adjusting opening is reserved on the deflection pre-frame, and the adjusting opening is adapted to mount the positioning fine adjustment device 11. The adjusting opening can reliably avoid the positioning fine adjustment device 11 from the deflection pre-frame, and improve the fine adjustment reliability of the underframe 20.

[0049] In some embodiments, as shown in Figure 2As shown, the deflection pre-assembly frame comprises a deflection pre-assembly middle frame 21 and a pair of deflection pre-assembly end frames 22. The deflection pre-assembly middle frame 21 is connected to the lower surface of the base frame 9 and is located in the middle of the base frame 9, capable of achieving overall support of the middle part of the chassis 20 and providing high-precision and large-range overall deflection pre-assembly of the chassis 20 by means of the plurality of deflection adjustment cylinders 10 distributed on the deflection pre-assembly middle frame 21. The pair of deflection pre-assembly end frames 22 are respectively connected to the lower surface of the base frame 9 and are respectively arranged at the two ends of the deflection pre-assembly middle frame 21. The deflection pre-assembly end frames 22 are used for reliably supporting the end beam position of the chassis 20 and pre-assembling the deflection of the end beam position of the chassis 20. Among them, an adjustment opening is respectively reserved between each deflection pre-assembly end frame 22 and the deflection pre-assembly middle frame 21. By using the segmented deflection pre-assembly middle frame 21 and the pair of deflection pre-assembly end frames 22, the positioning fine adjustment device 11 located below the adjustment opening can be reliably avoided, thereby increasing the safety and reliability of the deflection pre-assembly process.

[0050] In some embodiments, as shown in Figure 3 As shown, preferably, 14 deflection adjustment cylinders 10 are arranged on the deflection pre-assembly frame and are symmetrically distributed along the two sides of the middle part of the side beam of the chassis 20, that is, there are 7 pairs of deflection adjustment cylinders 10 symmetrically distributed below the side beam of the chassis 20. Preferably, the deflection adjustment cylinders 10 are arranged from the middle part of the side beam of the chassis 20 to both ends according to the pre-assembly deflection amounts of 5mm, 4mm, 3mm and 2mm, thereby ensuring that the deflection of 4mm can be accurately pre-assembled after the chassis 20 of the 25-meter-long rail vehicle is assembled, thereby filling the blank of the deflection precision range of the chassis 20 of the rail vehicle in the prior art.

[0051] In some embodiments, as shown in Figure 4 and Figure 5 As shown, the positioning fine adjustment device 11 can achieve fine adjustment of the chassis 20 in the width and length directions, thereby ensuring the reference adjustment of the chassis reference. That is, when the chassis 20 is placed on the tooling described in the embodiments of the present application, the positioning fine adjustment device 11 is used to finely adjust the position of the chassis 20, thereby eliminating the error of the reference position of the chassis 20 and ensuring that the positioning accuracy of the chassis 20 on the tooling is high and can meet the processing requirements.

[0052] In some embodiments, the positioning and fine-tuning device 11 comprises a fine-tuning device base 14, a jacking platform 26, a lifting mechanism, a lengthwise fine-tuning mechanism, and a widthwise fine-tuning mechanism. The fine-tuning device base 14 is arranged below the base frame 9. The jacking platform 26 is adapted to avoid the deflection prefabricated assembly and connect the bottom of the chassis 20. The lifting mechanism is connected between the fine-tuning device base 14 and the jacking platform 26 for driving the jacking platform 26 to lift. The lengthwise fine-tuning mechanism is connected between the fine-tuning device base 14 and the jacking platform 26 for driving the jacking platform 26 to move along the length direction of the chassis 20. The widthwise fine-tuning mechanism is connected between the fine-tuning device base 14 and the jacking platform 26 for driving the jacking platform 26 to move along the width direction of the chassis 20. In this way, the positioning and fine-tuning device 11 can reliably avoid the deflection prefabricated assembly and connect the bottom of the chassis 20, and realize fine-tuning of the length direction, width direction, and height direction of the chassis 20. Among them, the positioning and fine-tuning device 11 can use the lengthwise fine-tuning mechanism and the widthwise fine-tuning mechanism to fine-tune the length position and the width position of the chassis 20 in the support frame during the deflection prefabrication process and the welding process; it can also fine-tune the height of the local position of the chassis 20 (i.e., jacking the chassis 20 from bottom to top) during the deflection prefabrication process, thereby providing a fine-tuning close driving force for the local position of the chassis 20, and then implementing deflection fine-tuning of the local position of the chassis 20. The above-mentioned positioning and fine-tuning device 11 can reliably cooperate with the deflection prefabricated assembly, thereby increasing the accuracy of the position adjustment and deflection prefabrication of the chassis 20.

[0053] In some specific embodiments, as shown in Figure 4 and Figure 5 The lifting mechanism comprises a first lifting cylinder 15 and a second lifting cylinder 18. The first lifting cylinder 15 is vertically connected between the fine-tuning device base 14 and the lengthwise fine-tuning mechanism. The lengthwise fine-tuning mechanism is connected to the second lifting cylinder 18 through the widthwise fine-tuning mechanism, and then connected to the jacking platform 26. The first lifting cylinder 15 is used to drive the height of the lengthwise fine-tuning mechanism and all components connected above it to lift, realizing overall large-scale lifting adjustment of the positioning and fine-tuning device 11. The second lifting cylinder 18 is vertically connected between the jacking platform 26 and the widthwise fine-tuning mechanism, and is used to further position and drive the jacking platform 26 to lift after the lengthwise and widthwise fine-tuning is completed, so as to more accurately and in a smaller range fine-tune the height of the current local position of the chassis 20, thereby further improving the accuracy of the position adjustment and deflection prefabrication of the chassis 20.

[0054] In some specific embodiments, as shown in Figure 4 and Figure 5As shown, the lengthwise fine adjustment mechanism comprises a first moving seat 23, a lengthwise fine adjustment rotating screw 16 and a second moving seat 24. The fine adjustment device base 14 is fixed to the bottom end of the first lifting cylinder 15. The first moving seat 23 is connected to the top end of the first lifting cylinder 15. The lengthwise fine adjustment rotating screw 16 is connected to the first moving seat 23. The second moving seat 24 is movably connected to the lengthwise fine adjustment rotating screw 16. This structure can drive the first moving seat 23 to ascend and descend by the first lifting cylinder 15, and then can drive the lengthwise fine adjustment rotating screw 16 and the second moving seat 24 installed on the first moving seat 23 to ascend and descend synchronously. The axial direction of the lengthwise fine adjustment rotating screw 16 is arranged along the length direction of the chassis 20. By rotating the lengthwise fine adjustment rotating screw 16, the second moving seat 24 can move along the axial direction of the lengthwise fine adjustment rotating screw 16, so as to drive the widthwise fine adjustment mechanism, the second lifting cylinder 18 and the push platform 26 above the second moving seat 24 to move along the axial direction of the lengthwise fine adjustment rotating screw 16, and then fine adjust the length direction of the chassis 20, and improve the adjustment accuracy.

[0055] In some embodiments, as shown in Figure 4 As shown, the widthwise fine adjustment mechanism comprises a widthwise fine adjustment rotating screw 17 and a third moving seat 25. The widthwise fine adjustment rotating screw 17 is connected to the second moving seat 24. The third moving seat 25 is movably connected to the widthwise fine adjustment rotating screw 17. The third moving seat 25 is connected to the second lifting cylinder 18. Thus, the second moving seat 24 can drive the widthwise fine adjustment rotating screw 17 and the third moving seat 25 to ascend and descend synchronously, and then can drive the second lifting cylinder 18 and the push platform 26 installed on the third moving seat 25 to ascend and descend synchronously. The axial direction of the widthwise fine adjustment rotating screw 17 is arranged along the width direction of the chassis 20. By rotating the widthwise fine adjustment rotating screw 17, the third moving seat 25 can move along the axial direction of the widthwise fine adjustment rotating screw 17, so as to drive the second lifting cylinder 18 and the push platform 26 above the third moving seat 25 to move along the axial direction of the widthwise fine adjustment rotating screw 17, and then fine adjust the width direction of the chassis 20, and improve the adjustment accuracy.

[0056] In some embodiments, as shown in Figure 4 As shown, preferably, a plurality of balls 19 are distributed on the push platform 26. The balls 19 can reduce the friction between the push platform 26 and the chassis 20, and prevent the chassis 20 from being scratched during the position fine adjustment, so that the adjustment is more flexible and accurate. In addition, since one set of positioning fine adjustment devices 11 is arranged at the bottom of each of the one end and the two end of the chassis 20, when the two sets of positioning fine adjustment devices 11 work simultaneously or synchronously, the balls 19 can improve the fine adjustment synchronism and accuracy of the two sets of positioning fine adjustment devices 11, and better protect the chassis 20.

[0057] In some embodiments, such as Figures 1 to 3 As shown, the tooling also includes a drive unit, which is used at least to drive the base frame 9 to perform translational, lifting, and tilting movements, thereby enabling the base frame 20 to perform translational, lifting, and tilting movements. Preferably, the tooling includes a pair of drive units, which are symmetrically connected to both ends of the base frame 9, so as to drive the base frame 20 to move synchronously or separately from both ends, improving drive efficiency and safety. The pair of drive units are used at least to drive the base frame 9 to perform translational, lifting, and tilting movements, and are further used to drive the two ends of the base frame 9 to perform translational, lifting, and tilting movements synchronously or separately. This configuration increases the driving flexibility and range of motion of the base frame 9, thereby enabling precise control of the base frame 20 in four directions (up, down, left, and right), ensuring the flexibility of the base frame 20 in assembly, welding, parts installation, grinding, and other operations. Furthermore, the tooling can also achieve 360-degree rotation and free adjustment of lifting, which eliminates the need for overhead cranes to tilt and tilt the base frame 20, significantly reducing labor intensity and improving production efficiency.

[0058] In some specific embodiments, such as Figure 1As shown, the drive unit includes a support base 3, a pair of lifting columns 6, an adjusting screw 2, a pair of drive lifting cylinders 5, and a rotary motor 4. The support base 3 is located at the end of the base frame 9, providing grounding fixation and reliable support for the entire drive unit. The pair of lifting columns 6 are vertically fixed to the support base 3 and are spaced apart along the width direction of the base frame 20, thus limiting the range of width adjustment of the base frame 9 and providing guidance for height adjustment, thereby increasing the safety and reliability of the drive unit. The adjusting screw 2 is laterally connected between the pair of lifting columns 6. The adjusting screw 2 is adapted to drive the base frame 9 to move along the width direction, thereby achieving end adjustment of the width position of the base frame 20. The pair of drive lifting cylinders 5 are located at both ends of the adjusting screw 2, and each drive lifting cylinder 5 is vertically connected between the adjusting screw 2 and the support base 3. The drive lifting cylinders 5 reliably drive the adjusting screw 2 to raise and lower, thereby controlling the height position of the base frame 9 and thus precisely controlling the height position of the base frame 20. The rotary motor 4 is movably connected to the adjusting screw 2 via a bearing housing. Preferably, the output shaft of the rotary motor 4 passes through the bearing housing, which is engaged with the adjusting screw 2 as a nut. Rotating the adjusting screw 2 drives the bearing housing to move axially along the adjusting screw 2, thereby driving the rotary motor 4 to move. To improve adjustment accuracy, it is preferable that the axial direction of the adjusting screw 2 is along the width direction of the base frame 9, and the output shaft of the rotary motor 4 is connected to the base frame 9 along an axial direction perpendicular to the adjusting screw 2, that is, the output shaft of the rotary motor 4 is along the length direction of the base frame 9. Preferably, the output shaft of the rotary motor 4 is connected to the rotation axis of the base frame 9 via a rotary gear 7, thereby increasing the torque by using the rotary gear 7 to ensure a safer and more reliable drive for the base frame 9 to rotate around the rotation axis, thereby achieving reliable tilting of the base frame 20.

[0059] It should be noted that, preferably, the rotation axis of the base frame 9 is connected to the end face of the base frame 9, and the rotation axis of the base frame 9 is set along the length direction of the base frame 20 and located at the center of the width direction of the base frame 9. This setting can ensure that the rotation of the base frame 9 is more stable and reliable, improve the accuracy and efficiency of the base frame 20 flipping, reduce welding deviation, and improve welding accuracy.

[0060] In some embodiments, such as Figures 1 to 3 As shown, the tooling also includes a control cabinet 12. The control cabinet 12 is located on either side of the base frame 9. Preferably, the control cabinet 12 is electrically connected to the welding device 13, the deflection prefabrication component, the drive unit, and the positioning fine-tuning device 11, respectively, so as to monitor the operation and working conditions of the welding device 13, the deflection prefabrication component, the drive unit, and the positioning fine-tuning device 11, ensuring the safety of the overall operation of the tooling and effectively improving the degree of automation.

[0061] It should be noted that the positioning fine adjustment device 11 is connected with a driving mechanism through an electric wire, so that the positioning fine adjustment device 11 can be driven independently relative to other components of the tooling, thereby forming an independent driving control loop from the driving mechanism, and increasing driving precision and control efficiency.

[0062] It should be noted that the deflection adjustment cylinder 10, the pressing cylinder 8, the first lifting cylinder 15, the second lifting cylinder 18, and the driving lifting cylinder 5 described in the embodiments of the present application are all hydraulic cylinders, and in order to realize vertical control of the height positions of the corresponding components, the axes of the cylinder bodies and the telescopic rods of all the hydraulic cylinders are arranged along the vertical direction. The hydraulic cylinders described above can also be replaced by pneumatic cylinders or other driving mechanisms, as long as they can drive the corresponding connected components to realize vertical movement.

[0063] The welding method provided by the present application will be described below, and the welding method described below can be correspondingly referred to the tooling described above.

[0064] The welding method of the present application is performed by using the rail vehicle underframe 20 group welding automatic tooling described above. The welding method comprises the following steps: a prefabricated deflection step and a welding step. The prefabricated deflection step further comprises a whole prefabricated deflection sub-step and a local position fine adjustment sub-step.

[0065] The whole prefabricated deflection sub-step: driving the deflection prefabricated assembly to prefabricate the deflection amount of the underframe 20 assembled on the base frame 9 as a whole.

[0066] The local position fine adjustment sub-step: driving the positioning fine adjustment device 11 to fine adjust the local position of the underframe 20.

[0067] The welding step: pressing and fixing the underframe 20 on the base frame 9, and driving the welding device 13 to perform welding.

[0068] In some embodiments, the whole prefabricated deflection sub-step further comprises the following steps: driving the deflection prefabricated assembly to perform point deflection amount prefabrication from the center of the side beam of the underframe 20 to the ends in a lengthwise and spaced manner. In which, each point deflection amount prefabrication action of the underframe 20 is to drive the deflection prefabricated assembly to push the side beam upward at the corresponding position, thereby forming a counteracting force with the pressing cylinder 8 of the base frame 9, to provide the underframe 20 with a vertical prefabricated deflection, effectively avoiding large welding deformation of the underframe 20 during group welding. In which, the point deflection amount prefabrication is to prefabricate deflection amounts of 5mm, 4mm, 3mm, 2mm, and 0 from the center to the end of the underframe 20, thereby ensuring that the 25-meter-long rail vehicle underframe 20 can be precisely prefabricated with a deflection of 4mm after assembly, and greatly improving the prefabrication precision.

[0069] It should be noted that after the pre-bending step is completed, the positioning fine adjustment device 11 needs to be lowered to the lowest position, so as to avoid collision during the rotation of the base frame 9 and improve safety.

[0070] In some embodiments, the welding step further comprises the following steps: driving a pair of welding devices 13 to synchronously weld the chassis 20; and during the welding, driving the pair of welding devices 13 to weld in a diagonal angle symmetrical sequence along the length direction of the chassis 20, and driving the pair of welding devices 13 to weld in a reverse cross sequence along the width direction of the chassis 20.

[0071] In some specific embodiments, as shown in Figure 6 The pair of welding devices 13 comprises a first welding robot 131 and a second welding robot 132. The first welding robot 131 and the second welding robot 132 move on the length direction laid track 1 and weld the chassis 20 in directions shown as length welding directions b1 and b2, respectively; correspondingly, the first welding robot 131 and the second welding robot 132 weld the chassis 20 in directions shown as length welding directions a1, a2, a3 and a4, respectively. Thus, the welding method described in the present application can coordinate two movable welding devices 13 to simultaneously / synchronously weld, adopt diagonal angle symmetrical welding operation for the length direction weld of the chassis 20, and adopt reverse cross welding operation for the width direction weld, so as to effectively reduce heat input and welding deformation, and realize the free adjustment of the chassis 20.

[0072] In some embodiments, after the welding step is completed, the welding method further comprises the following steps: a position adjustment step and a turning step. The position adjustment step is to adjust the position of the base frame 9 along the width direction and the height by using the driving unit during the welding. The turning step is to drive the base frame 9 to turn by using the driving unit after a group of welding is completed, and to re-perform the overall pre-bending amount, the local position fine adjustment and the next group of welding for the turned chassis 20. The position adjustment step and the turning step can realize 360-degree rotation, automatic lifting and precise up-down and left-right adjustment of the chassis 20, and cooperate with the automatic pre-bending, the robot welding and the precise length and width adjustment of the chassis 20, so as to greatly improve the assembly and welding efficiency and precision.

[0073] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An automated tooling for welding the underframe of a rail vehicle, characterized in that, include: The basic frame is suitable for clamping and fixing the base frame; A welding device is movably disposed on at least one side of the base frame; A pre-fabricated deflection assembly is fixed to the base frame and is suitable for pre-fabricating the deflection of the underframe. A positioning fine-tuning device is located below the base frame and can avoid the position of the deflection prefabricated component; the positioning fine-tuning device is suitable for fine-tuning the local position of the base frame in the length and width directions.

2. The automated tooling for welding the underframe of a rail vehicle according to claim 1, characterized in that, The deflection prefabricated components include: A precast deflection frame is fixed to the bottom of the base frame, and at least one adjustment opening is provided on the precast deflection frame; the adjustment opening is suitable for installing the positioning fine-tuning device. Several deflection adjustment cylinders are spaced apart on the prefabricated deflection frame, and each deflection adjustment cylinder is adapted to press against the base frame at a fixed point according to the prefabricated deflection.

3. The automated tooling for welding the underframe of a rail vehicle according to claim 2, characterized in that, The positioning fine-tuning device includes: The base of the fine-tuning device is located below the basic frame; A jacking platform adapted to avoid the deflection prefabricated component and connect to the bottom of the base frame; A lifting mechanism is connected between the base of the fine-tuning device and the jacking platform, and is used to drive the jacking platform to lift. A length-direction fine-tuning mechanism is connected between the fine-tuning device base and the jacking platform, and is used to drive the jacking platform to move along the length direction of the base frame; A width-direction fine-tuning mechanism is connected between the fine-tuning device base and the jacking platform, and is used to drive the jacking platform to move along the width direction of the base frame.

4. The automated tooling for welding the underframe of a rail vehicle according to claim 3, characterized in that, The lifting mechanism includes: The first lifting cylinder is vertically connected between the base of the fine-tuning device and the length-direction fine-tuning mechanism; The second lifting cylinder is vertically connected between the pushing platform and the width-direction fine-tuning mechanism; The length-direction fine-tuning mechanism is connected to the second lifting cylinder through the width-direction fine-tuning mechanism.

5. The automated tooling for welding the underframe of a rail vehicle according to claim 4, characterized in that, The length-direction fine-tuning mechanism includes: The first movable seat is connected to the top of the first lifting cylinder, and the base of the fine-tuning device is fixed to the bottom of the first lifting cylinder. A length-direction fine-tuning rotary screw is connected to the first movable seat, and the axial direction of the length-direction fine-tuning rotary screw is set along the length direction of the base frame; The second movable seat is movably connected to the length-direction fine-tuning rotary screw.

6. The automated tooling for welding the underframe of a rail vehicle according to claim 5, characterized in that, The width-direction fine-tuning mechanism includes: A width-direction fine-tuning rotary screw is connected to the second movable seat, and the axial direction of the width-direction fine-tuning rotary screw is set along the width direction of the base frame; The third movable seat is movably connected to the width-direction fine-tuning rotary screw; the third movable seat is connected to the second lifting cylinder.

7. The automated tooling for welding the underframe of a rail vehicle according to claim 2, characterized in that, The deflection prefabricated frame includes: A prefabricated deflection intermediate frame is connected to the lower surface of the base frame and located in the middle of the base frame; A pair of precast deflection end frames are connected to the lower surface of the base frame, and the pair of precast deflection end frames are respectively located at both ends of the precast deflection intermediate frame; each precast deflection end frame and the precast deflection intermediate frame have an adjustment opening reserved between them.

8. The automated tooling for welding the underframe of a rail vehicle according to any one of claims 1-7, characterized in that, Also includes: A pair of drive units are symmetrically connected to both ends of the base frame; At least one of the drive units is used to drive the base frame to perform translation, lifting, and tilting movements.

9. The automated tooling for welding the underframe of a rail vehicle according to claim 8, characterized in that, The drive unit includes: A support base is located at the end of the base frame; A pair of lifting columns are vertically fixed on the support base, and the pair of lifting columns are spaced apart along the width direction of the base frame; An adjusting screw is laterally connected between a pair of the lifting columns; the adjusting screw is adapted to drive the base frame to move along the width direction. A pair of drive lifting cylinders are disposed at both ends of the adjusting screw; each drive lifting cylinder is vertically connected between the adjusting screw and the support base; A rotary motor is movably connected to the adjusting screw via a bearing housing; the output shaft of the rotary motor is connected to the rotation shaft of the base frame via a rotary gear; the rotation shaft of the base frame is connected to the end face of the base frame, and the rotation shaft of the base frame is arranged along the length direction of the base frame and located at the center of the width direction of the base frame.

10. The automated tooling for welding the underframe of a rail vehicle according to claim 8, characterized in that, Also includes: The control cabinet is located on either side of the basic frame; The control cabinet is electrically connected to the welding device, the deflection prefabrication assembly, the drive unit, and the positioning fine-tuning device, respectively.

11. The automated tooling for welding the underframe of a rail vehicle according to any one of claims 1-7, characterized in that, The basic framework includes: A pair of side beams are arranged side by side at intervals; the pair of side beams are adapted to be arranged parallel to the outside of the side beams of the base frame; A pair of end beams are connected to the two ends of a pair of side beams; the pair of end beams are adapted to be arranged parallel to the outside of the end beams of the base frame; Several clamping cylinders are spaced apart on a pair of side beams; each clamping cylinder is used to clamp and fix the base frame at a fixed point.

12. The automated tooling for welding the underframe of a rail vehicle according to any one of claims 1-7, characterized in that, Also includes: A pair of tracks are laid on both sides of the width direction of the base frame, and the pair of tracks are adapted to be set parallel to the side beams of the base frame; A pair of welding devices are movably mounted on a pair of tracks.

13. An automated welding method for assembling and welding the underframe of a rail vehicle, characterized in that, The assembly and welding of the rail vehicle underframe is performed using the automated tooling described in any one of claims 1-12; The automated welding method for assembling and welding the rail vehicle underframe includes the following steps: The drive deflection prefabrication component prefabricates the overall deflection of the underframe mounted on the foundation frame; The drive positioning fine-tuning device finely adjusts the local position of the base frame to bring it closer together; The base frame is pressed and fixed onto the foundation frame, and the welding device is driven to perform welding.

14. The automated welding method for assembling and welding the underframe of a rail vehicle according to claim 13, characterized in that, The step of prefabricating the deflection measurement of the entire underframe mounted on the foundation frame using the drive deflection prefabrication assembly further includes the following steps: The deflection prefabrication components are driven to be distributed at intervals from the center of the side beam of the base frame to both ends for fixed-point deflection prefabrication; Among them, the fixed-point deflection prefabrication action of each of the base frames is to drive the deflection prefabrication component to push the side beam upward at the corresponding position; The fixed-point deflection measurement is prefabricated from the center of the base frame to the end with deflection measurements of 5 mm, 4 mm, 3 mm and 2 mm respectively.

15. The automated welding method for assembling and welding the underframe of a rail vehicle according to claim 13, characterized in that, The step of pressing and fixing the base frame to the foundation frame and driving the welding device to perform welding further includes the following steps: Drive a pair of welding devices to simultaneously weld the base frame; During the welding process, a pair of welding devices are driven to weld in an obliquely symmetrical sequence along the length of the base frame, and a pair of welding devices are driven to weld in a reverse crisscross sequence along the width of the base frame.

16. The automated welding method for assembling and welding the underframe of a rail vehicle according to claim 13, characterized in that, After the steps of pressing and fixing the base frame to the foundation frame and driving the welding device to perform welding, the method further includes the following steps: During the welding process, the position and height of the base frame along the width direction are adjusted using a drive unit; After a set of welding is completed, the drive unit drives the base frame to flip, and the flipped base frame is re-performed with overall pre-fabricated deflection, local fine-tuning and tightening, and the next set of welding.

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