Laser projection positioning system for pre-embedding of bullet train assembly sliding block

Abstract

The utility model relates to a laser projection positioning system for embedding a bullet train assembly sliding block. At present, the problems of low efficiency and poor precision exist when sliding block positioning is carried out by means of manual scribing or sample plate line carrying. The system comprises a laser projector, a laser range finder, a multi-degree-of-freedom mechanical arm and a movable bracket, the multi-degree-of-freedom mechanical arm is mounted on the movable bracket; the laser projector is used for projecting a sliding block arrangement drawing to the inner wall of the carriage and located at the free end of the multi-degree-of-freedom mechanical arm. The laser range finder is used for measuring the laser size of a projection target, is located at the free end of the multi-degree-of-freedom mechanical arm and is located at the same horizontal height as the laser projector. According to the utility model, the laser projector and the laser range finder cooperate to rapidly position the embedded size of the slide block, an operator does not need to climb to operate, the positioning time is reduced, the positioning efficiency is improved, the error probability of manual secondary size conversion is reduced, and the positioning precision of the slide block and the assembling quality of a bullet train are effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of motor vehicle assembly, in particular to a laser projection positioning system for pre-embedding a sliding block for motor vehicle assembly. Background Art

[0002] The main assembly parts of the EMU assembly production need to be fixed in the corresponding installation position of the car body by sliders. A large number of sliders serve as important support and positioning parts for the electrical and mechanical parts of the locomotive assembly. Their layout process is directly related to the quality of the subsequent assembly. With the refinement of EMU assembly production requirements, the types and number of sliders are increasing, the difficulty of slider layout is gradually increasing, and the positioning requirements are also higher. Improving the efficiency and quality of slider layout has become a key improvement project in the EMU assembly process.

[0003] At present, the layout of sliders in the assembly and production of EMUs is mainly carried out by manual marking or sample striping. However, due to the diversity of EMU models and the intricate layout of sliders, whenever a new project roof slider is installed, the operator needs to measure the positioning dimensions one by one according to the requirements of the drawings and manually mark the lines. Due to the large number and variety of sliders, the layout efficiency is low, the accuracy is poor, and the operation is unsafe. When installing roof sliders in batches, the sample strips with positioning dimensions made in advance can be fixed on the roof slides, with one strip for each slide, and the installation efficiency is not high.

[0004] Therefore, it is necessary to propose new measures to overcome the above-mentioned defects. Summary of the invention

[0005] The utility model aims to provide a laser projection positioning system for pre-embedded sliders in motor vehicle assembly, so as to solve the problems of low efficiency and poor precision in the current positioning of sliders by manual marking or template stripping.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A laser projection positioning system for pre-embedding a slider for assembly of a motor vehicle, the system comprising a laser projector, a laser rangefinder, a multi-degree-of-freedom mechanical arm and a movable bracket;

[0008] The multi-degree-of-freedom mechanical arm is mounted on the movable support;

[0009] The laser projector is used to project the slider layout drawing onto the inner wall of the carriage and is located at the free end of the multi-degree-of-freedom mechanical arm;

[0010] The laser rangefinder is used to measure the laser size of the projected target, is located at the free end of the multi-degree-of-freedom mechanical arm, and is located at the same horizontal height as the laser projector.

[0011] Further, the multi-degree-of-freedom mechanical arm includes an oblique arm, a horizontal arm and a supporting column;

[0012] The support column is vertically fixed on the movable bracket, and the support column is connected to one end of the horizontal arm;

[0013] The other end of the horizontal arm is connected to one end of the oblique arm, and the other end of the oblique arm is the free end of the multi-degree-of-freedom mechanical arm.

[0014] Furthermore, the support column is connected to one end of the horizontal arm via a rotating joint, so that the horizontal arm can rotate around the connection point in a horizontal plane.

[0015] Furthermore, the other end of the horizontal arm is connected to one end of the oblique arm through a rotary joint, so that the oblique arm can rotate around the connection point in a vertical plane.

[0016] Further, the multi-degree-of-freedom robotic arm further comprises a tray, and the tray is fixed to the end of the oblique arm, that is, the free end of the multi-degree-of-freedom robotic arm;

[0017] The tray is arranged horizontally, and the laser projector and the laser rangefinder are carried on the tray.

[0018] Further, the movable bracket includes a base plate and a support frame;

[0019] The support frame is a door-type frame, and the bottom end of the door-type frame is fixed to the top surface of the bottom plate.

[0020] Furthermore, the top end of the support column is fixed to the bottom of the crossbeam of the portal frame, and the bottom end of the support column is fixed to the bottom plate.

[0021] Furthermore, there are two laser rangefinders, which are located on both sides of the laser projector and are symmetrically arranged.

[0022] Furthermore, the movable bracket also includes running wheels, and the running wheels are located at the bottom of the base plate.

[0023] Furthermore, the movable bracket also includes a push rod, and the push rod is fixed to the side of the portal frame.

[0024] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0025] The utility model provides a laser projection positioning system for pre-embedded sliders in EMU assembly, which combines a laser projector with a laser rangefinder to quickly position the slider, is not limited by the narrow operating space in the carriage, does not require operators to climb high to operate, effectively reduces positioning time, and improves positioning efficiency. In addition, the slider layout drawing is used to directly project the target with laser, which reduces the error probability of manual secondary size conversion, significantly improves the accuracy of slider positioning, and greatly improves the quality of EMU assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, drawings of other embodiments can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a structural diagram of the utility model.

[0028] Figure 2 It is another perspective structural diagram of the utility model.

[0029] Figure 3 The utility model is a schematic diagram of the use and operation of the positioning position of the slide block on the side of the projection carriage.

[0030] Figure 4 The utility model is a schematic diagram of the use and operation of the positioning position of the sliding block on the top of the projection carriage.

[0031] The symbols in the figure are:

[0032] 1-Laser projector, 2-Laser rangefinder, 3-Multi-DOF robotic arm, 4-Movable bracket, 5-Carriage;

[0033] 31- oblique arm, 32- horizontal arm, 33- supporting column, 34- tray;

[0034] 41-base plate, 42-travelling wheels, 43-support frame, 44-operating table, 45-push rod. DETAILED DESCRIPTION

[0035] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively with reference to the relevant drawings. The drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly and comprehensively understood.

[0036] In the description of the present invention, it should be understood that the terms "left", "right", "vertical", "horizontal", "top", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", "setting" and the like should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] It should also be noted that although the order of steps is mentioned in the method description, in some cases, they may be performed in an order different from that shown here, and this should not be construed as a limitation on the order of the steps.

[0039] The utility model provides a laser projection positioning system for pre-embedding sliders in EMU assembly. After being moved into the carriage 5, the slider layout drawing can be directly projected onto the inner wall of the carriage 5 to intuitively display the layout position of the slider. There is no need for manual marking or sample line drawing, and there is no need for operators to directly reach the roof of the vehicle. The system is easy to operate, highly efficient and has high positioning accuracy.

[0040] like Figure 1-4 The system includes a laser projector 1, a laser rangefinder 2, a multi-degree-of-freedom robotic arm 3 and a movable bracket 4.

[0041] The movable bracket 4 includes a bottom plate 41, running wheels 42, a support frame 43 and a push rod 45. The support frame 43 is a door-shaped frame, the bottom end of which is fixed to the top surface of the bottom plate 41, the running wheels 42 are located at the bottom of the bottom plate 41, and the push rod 45 is fixed to the side of the door-shaped frame. By pushing the movable bracket 4 through the push rod 45, the system can be moved to a designated position in the carriage 5. In addition, an operating table 44 is also provided on the side of the door-shaped frame for placing a mouse, a remote control, etc., for operating the internal system of the laser projector 1.

[0042] The multi-degree-of-freedom manipulator 3 includes an oblique arm 31, a horizontal arm 32 and a support column 33. The support column 33 is vertically fixed on the movable bracket 4. Specifically, the top end of the support column 33 is fixed to the bottom of the crossbeam of the portal frame, and the bottom end is fixed to the bottom plate 41. The support column 33 is connected to one end of the horizontal arm 32 through a first rotation joint. The first rotation joint includes a horizontal plane rotation axis, which is arranged vertically so that one end of the horizontal arm 32 can rotate in the horizontal plane with the first rotation joint as the rotation center, thereby changing the horizontal position of the other end of the horizontal arm 32. The other end of the horizontal arm 32 is connected to one end of the oblique arm 31 through a second rotation joint, and the other end of the oblique arm 31 is the free end of the multi-degree-of-freedom manipulator 3. The second rotation joint includes a horizontal connecting rod and two rotation axes, and the two rotation axes are a horizontal plane rotation axis and a vertical plane rotation axis, respectively. The horizontal plane rotation axis is arranged vertically, and the vertical plane rotation axis is arranged horizontally. One end of the horizontal link is connected to the other end of the horizontal arm 32 via a horizontal plane rotation axis, so that one end of the horizontal link can rotate in the horizontal plane with the horizontal plane rotation axis as the rotation center, thereby changing the horizontal position of the other end of the horizontal link. The other end of the horizontal link is connected to one end of the oblique arm 31 via a vertical plane rotation axis, so that one end of the oblique arm 31 can rotate in the vertical plane with the vertical plane rotation axis as the rotation center, thereby changing the inclination angle of the oblique arm 31 and thus changing the height of the other end of the oblique arm 31. Of course, all existing joint devices that can achieve the above-mentioned rotation function are suitable for this system.

[0043] In addition, an adjustment sleeve can be placed around the outer wall of the support column 33, and a radial fixing pin is arranged on the adjustment sleeve. After the fixing pin passes through the adjustment sleeve, it can contact the outer wall of the support column 33 for positioning. The first rotary joint is connected to the adjustment sleeve. After loosening the fixing pin, the adjustment sleeve can move vertically on the support column 33. After moving to a suitable position, the fixing pin is tightened for positioning ( Figure 1 and Figure 2 The fixing pin structure is not drawn in the figure), thereby changing the height of the horizontal arm 32.

[0044] The multi-freedom robot 3 further includes a tray 34, which is fixed to the end of the oblique arm 31, that is, the free end of the multi-freedom robot 3. The tray 34 is arranged horizontally, and the laser projector 1 and the laser rangefinder 2 are carried on the tray 34.

[0045] The laser projector 1 is used to project the slider layout drawing onto the inner wall of the carriage 5 and is located at the free end of the multi-DOF robotic arm 3. In this system, the laser projector 1 can be Optoma OSW880ST or the like. The laser projector 1 has its own operating system and can open the slider layout drawing for projection. The slider layout drawing can be directly a CAD drawing.

[0046] There are two laser rangefinders 2, which are located on both sides of the laser projector 1 and arranged symmetrically. In this system, the laser rangefinder 2 can be YHJ-100J or the like. The laser rangefinder 2 is used to measure the laser size of the projected target, is located at the free end of the multi-degree-of-freedom robotic arm 3, and is at the same level as the laser projector 1.

[0047] The following steps are included when using this system:

[0048] S1: Push the movable bracket 4 to the slider arrangement area in the carriage 5, control the multi-degree-of-freedom robotic arm 3, and move the free end of the multi-degree-of-freedom robotic arm 3 to a suitable position based on each rotation joint.

[0049] S2: Start the laser projector 1, open the slider layout CAD drawing, project the slider layout CAD drawing onto the inner wall of the carriage 5, and locate the outline of the carriage 5 based on the projected drawing to ensure that the projection screen size, gradient and focal length of the laser projector 1 are correct.

[0050] S3: The slider positioning position on the slider layout CAD drawing is now directly projected onto the inner wall of the carriage 5 .

[0051] S4: Start the laser rangefinder 2, determine the scale of the projection drawing, and correct the size and position of the projected drawing.

[0052] After the cross-horizontal line projected by the laser rangefinder 2 is adjusted to be consistent with the sample scale in the slider layout CAD drawing, the scale of the drawing projection can be determined. Ensure that the intersection of the cross-horizontal lines projected by the two laser rangefinders 2 is on the same horizontal line, and then start the distance measurement correction. The laser rangefinder 2 measures the laser size of the projected target surface and compares it with the actual size. If the difference is within the preset error range, no adjustment is required.

[0053] S5: After completing the positioning of one area, the movable bracket 4 is moved on the same straight line in the longitudinal direction of the carriage 5 to reach the next slider arrangement area.

[0054] S6: Adjust the slider layout CAD drawing, connect it with the size of the previous slider layout area, and calibrate the projection screen.

[0055] Continue the operation until all the sliders in the entire carriage 5 are positioned.

[0056] The above system can directly project the slider layout drawing onto the inner wall of the carriage 5, including the side and top surface, and can perform distance measurement verification on the projection accuracy, thereby improving the slider positioning accuracy. In particular, in the complex structure of the EMU, the CAD drawing is used to directly project the target with laser, which reduces the error probability of manual secondary dimension conversion and improves the quality of the slider layout. The slider positioning time is also significantly shortened, and the operator does not need to directly measure and mark, but only needs to directly operate the equipment of the system to complete the positioning, thereby shortening the production cycle of the EMU assembly and improving the circulation time of the entire EMU.

[0057] The above specific examples are used to illustrate the present invention, which are only used to help understand the present invention and are not intended to limit the present invention. For those skilled in the art of the present invention, some simple deductions, deformations or substitutions can be made based on the idea of ​​the present invention.

Claims

1. A laser projection positioning system for pre-embedded sliders in EMU assembly, Features: The system comprises a laser projector (1), a laser rangefinder (2), a multi-degree-of-freedom mechanical arm (3) and a movable bracket (4); The multi-degree-of-freedom mechanical arm (3) is mounted on the movable bracket (4); The laser projector (1) is used to project the slider layout drawing onto the inner wall of the carriage (5) and is located at the free end of the multi-degree-of-freedom mechanical arm (3); The laser rangefinder (2) is used to measure the laser size of the projected target and is located at the free end of the multi-degree-of-freedom mechanical arm (3) and at the same level as the laser projector (1).

2. According to claim 1, a laser projection positioning system for pre-embedding of sliders for assembly of motor vehicles, Features: The multi-degree-of-freedom mechanical arm (3) comprises an oblique arm (31), a horizontal arm (32) and a supporting column (33); The supporting column (33) is vertically fixed on the movable bracket (4), and the supporting column (33) is connected to one end of the horizontal arm (32); The other end of the horizontal arm (32) is connected to one end of the oblique arm (31), and the other end of the oblique arm (31) is the free end of the multi-degree-of-freedom mechanical arm (3).

3. According to claim 2, a laser projection positioning system for pre-embedding sliders for EMU assembly, Features: The supporting column (33) is connected to one end of the horizontal arm (32) via a rotating joint, so that the horizontal arm (32) can rotate around the connection point in a horizontal plane.

4. According to claim 3, a laser projection positioning system for pre-embedding sliders for EMU assembly, Features: The other end of the horizontal arm (32) is connected to one end of the oblique arm (31) via a rotary joint, so that the oblique arm (31) can rotate around the connection point in a vertical plane.

5. According to claim 4, a laser projection positioning system for pre-embedding sliders for EMU assembly, Features: The multi-degree-of-freedom mechanical arm (3) further comprises a tray (34), wherein the tray (34) is fixed to the end of the oblique arm (31), that is, the free end of the multi-degree-of-freedom mechanical arm (3); The tray (34) is arranged horizontally, and the laser projector (1) and the laser rangefinder (2) are carried on the tray (34).

6. A laser projection positioning system for pre-embedding sliders for assembly of motor vehicles according to claim 5, Features: The movable bracket (4) comprises a bottom plate (41) and a support frame (43); The support frame (43) is a door-shaped frame, and the bottom end of the door-shaped frame is fixed to the top surface of the bottom plate (41).

7. A laser projection positioning system for pre-embedding sliders for assembly of motor vehicles according to claim 6, Features: The top end of the support column (33) is fixed to the bottom of the crossbeam of the portal frame, and the bottom end of the support column (33) is fixed to the bottom plate (41).

8. A laser projection positioning system for pre-embedding sliders for assembly of a motor vehicle according to claim 7, Features: The number of the laser rangefinders (2) is two, which are respectively located on two sides of the laser projector (1) and are arranged symmetrically.

9. A laser projection positioning system for pre-embedding sliders for assembly of a motor vehicle according to claim 8, Features: The movable bracket (4) further comprises running wheels (42), and the running wheels (42) are located at the bottom of the base plate (41).

10. A laser projection positioning system for pre-embedding sliders in motor vehicle assembly according to claim 9, Features: The movable bracket (4) also includes a push rod (45), which is fixed to the side of the portal frame.

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