CN203610916U - Mounting device for front windshield of bullet train - Google Patents

Mounting device for front windshield of bullet train Download PDF

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Publication number
CN203610916U
CN203610916U CN201320609396.0U CN201320609396U CN203610916U CN 203610916 U CN203610916 U CN 203610916U CN 201320609396 U CN201320609396 U CN 201320609396U CN 203610916 U CN203610916 U CN 203610916U
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CN
China
Prior art keywords
robot
glue
screen
positioning
speed motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
Application number
CN201320609396.0U
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Chinese (zh)
Inventor
孙笃玲
敬俊娥
安春雷
魏京利
赵成刚
徐会庆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CSR Qingdao Sifang Locomotive and Rolling Stock Co Ltd
Original Assignee
CSR Qingdao Sifang Locomotive and Rolling Stock Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CSR Qingdao Sifang Locomotive and Rolling Stock Co Ltd filed Critical CSR Qingdao Sifang Locomotive and Rolling Stock Co Ltd
Priority to CN201320609396.0U priority Critical patent/CN203610916U/en
Application granted granted Critical
Publication of CN203610916U publication Critical patent/CN203610916U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to a mounting device for a front windshield of a bullet train. The mounting device comprises a robot body, a robot control device, a glass loading platform and a running gear, wherein the robot body is arranged on the running gear. The mounting device also comprises a measuring and positioning device for acquiring space position information of a train body window, a grinding device for grinding the train body window, a gripping device for gripping the front windshield, an adhesive applying device for applying a sealing adhesive, and a central control system, wherein the robot control device, the measuring and positioning device, the grinding device, the gripping device, the adhesive applying device and the running gear are connected with the central control system, and the robot body is selectively connected with the measuring and positioning device, the grinding device, the gripping device and the adhesive applying device. The mounting device provided by the utility model has the advantages of reasonable layout and high degree of mechanization; all mounting operations from positioning, grinding to adhesive applying of the front windshield of the bullet train can be quickly and accurately achieved, the mounting quality is ensured, and is not restricted by human factors, the productivity is greatly improved, and the labor intensity is reduced; meanwhile, an ideal matching state of the front windshield and the train body window can be achieved, and stress generated by mounting of the windshield is avoided.

Description

A kind of high speed motor car front screen erecting device
Technical field
The utility model relates to a kind of erecting device that utilizes robot to install, particularly a kind of erecting device of installing for the front screen on EMU.
Background technology
Auto industry generally adopts pipelining at present, and glass is installed and gluing process all has corresponding automated arm.But high speed motor car front screen and car body window frame are all three-dimensional modelings, and the goodness of fit is poor, need to repeatedly grind dress polishing, front screen could be seated.
The assembling performance of EMUs front screen is one of important indicator of weighing motor-car vehicle mass, and glass installation process is the very important link of motor-car assembling.Polishing, installation and gluings etc. when EMUs front screen is installed both at home and abroad are at present all artificial realizations, as Japan adopts simple vacuum sucker, adopt the mode of a dead lift to carry out glass installation, and gluing is by personnel's technical ability quality assurance; Some Domestic company adopts vacuum machine device to carry out glass installation, and polishing, gluing are ensured the quality of products by operating personnel's technical ability; Equipment is installed by Siemens, Bang Ba base of a fruit company also glass of automation useless.
By the installation exercise that manually completes front screen, there is length consuming time, efficiency is low, problems such as labour intensity is large, and can not realize the unstressed installation of glass completely, particularly along with the fast development of high ferro cause, more larger to the demand of vehicle, the problem of manual work is more and more outstanding.It is the strong guarantee that improves competitive power of product and quality assurance that robot automation installs.
There is following some deficiency in existing mode: the one, and, gluing quality guarantees by personnel's technical ability, has the not full phenomenon of gluing; The 2nd,, car frame polishing amount guarantees by personnel's technical ability, exists glass unbalance stress, part to have the concentrated phenomenon of stress.
Utility model content
The utility model main purpose is to address the above problem and is not enough, provides a kind of easy-to-operate, the high speed motor car front screen erecting device that can significantly enhance productivity.
For achieving the above object, the technical solution of the utility model is:
A kind of high speed motor car front screen erecting device, comprise robot body, robot controller, glass material loading platform and running gear, described robot body is arranged on running gear, also comprise the measurement and positioning device that gathers car body window space positional information, for the sanding apparatus of car body window polishing, for capturing the grabbing device of front screen, for being coated with glue spreading apparatus and the central control system of breaking fluid sealant, described robot controller, measurement and positioning device, sanding apparatus, grabbing device, glue spreading apparatus and running gear are all connected with described central control system, described robot body selectively with described measurement and positioning device, sanding apparatus, grabbing device, glue spreading apparatus connects.
Further, described running gear comprises a point slideway that is located at described headstock both sides, between the described slideway of both sides, connects a crossbeam, slides along described slideway in the two ends of described crossbeam, one traveling dolly is set on described crossbeam, and described robot body is arranged on described traveling dolly.
Further, described measurement and positioning device, sanding apparatus, grabbing device and glue spreading apparatus are fixedly mounted on running gear by assigned address.
Further, described robot body is six degree of freedom articulated robot.
Further, described measurement and positioning device is laser three-dimensional scanning device.
Further, described sanding apparatus comprises main shaft, pneumatic grinding head, power set, frequency-variable controller, described pneumatic grinding head is arranged on the end of described main shaft, and the output of described power set connects described main shaft, and described power set are connected with described frequency-variable controller.
Further, described glue spreading apparatus comprises glue feeder, glue amount control device, supplies sebific duct road and glue rifle, and described glue feeder is connected with described glue rifle for sebific duct road by described, and described glue rifle connects described glue amount control device.
Further, described central control system comprises man-machine interface, polishing machining control unit, detection and material loading control module and gluing control module, between each control module and described robot controller and described man-machine interface, is connected by PLC control bus.
Further, be respectively provided with safety device in the both sides of described erecting device and car body.
To sum up content, a kind of high speed motor car front screen erecting device described in the utility model, compared with prior art, tool has the following advantages:
(1) rationally distributed, mechanization degree is high, can realize rapidly and accurately motor-car front screen from locating, polishing to whole installation exercises of gluing, by the accurate operation of robot operating system, guarantee front screen installation quality, make it not limited by human factor, significantly enhance productivity, reduce labour intensity.
(2) by using the method, can realize front screen and car body window reaches desirable mated condition, avoid glass to install and produce stress, and then there is Decrepitation Phenomena in glass while avoiding motor-car to run.
(3) use security protection system that work centre is isolated from the outside, protect the safety of equipment and personnel.
(4) applied widely, can adsorb the glass of all size, except being suitable for the front screen handling installation of EMUs, be equally also applicable to the installation of glass in other industries such as automobile.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the block diagram of the utility model central control system.
As shown in Figure 1 to Figure 3, headstock 1, front screen 2, robot body 3, robot controller 4, glass material loading platform 5, running gear 6, measurement and positioning device 7, sanding apparatus 8, grabbing device 9, glue spreading apparatus 10, central control system 11, slideway 12, crossbeam 13, traveling dolly 14, car body window 15, safety device 16, man-machine interface 17, gluing control module 18, polishing machining control unit 19, detects and material loading control module 20.
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment, the utility model is described in further detail:
As depicted in figs. 1 and 2, a kind of high speed motor car front screen erecting device, is positioned at the front screen 2 on headstock 1 for realizing Auto-mounting.
This erecting device comprises robot body 3, robot controller 4, glass material loading platform 5, running gear 6, measurement and positioning device 7, sanding apparatus 8, grabbing device 9, glue spreading apparatus 10 and central control system 11.Whole erecting device can all be fixed in an operation platform (not shown), also can directly be fixed on the floor in workshop.
Wherein, robot body 3 adopts the robot in six degree of freedom joint, robot body 3 is connected with robot controller 4, robot controller 4 is connected with central control system 11, is moved according to the instruction control body 3 of central control system 11 by robot controller 4 under the position of setting and track.Robot controller 4 preferably adopts ABB the 5th generation robot controller, and its movement control technology is the important guarantee of robot performance's indexs such as precision, speed, cycle time, programmability and external equipment synchronism.
Glass material loading platform 5 is provided with the front of headstock 1, and for placing front screen to be installed 2, glass material loading platform 5 is arranged on operation platform.The operation of glass material loading manually completes, and the mode of operating personnel by handling is by front screen 2 handlings and be placed in the assigned address of glass material loading platform 5, so that robot body 3 can accurately capture.Material loading position on glass material loading platform 5 also can be arranged on beyond robot work region, after material loading finishes, by artificial or automatic connecting gear, front screen 2 is transported to the assigned address in robot work region.
Running gear 6 comprises two slideways 12, crossbeam 13 and a traveling dolly 14,12 points, two slideways are located at the both sides of headstock 1, slideway 12 is fixed on operation platform, slideway 12 is parallel with car body, between the slideway 12 of both sides, connect a crossbeam 13, crossbeam 13 is across on two slideways 12, between crossbeam 13 two ends and slideway 12, be slidably connected, crossbeam 13 slides along slideway 12, traveling dolly 14 is arranged on crossbeam 13, traveling dolly 14 is along crossbeam 13 transverse shiftings, and robot body 3 is arranged on traveling dolly 14.Crossbeam 13 is connected with the travel mechanism moving along slideway 12 for automatic traction crossbeam 13, and travel mechanism can adopt the mechanisms such as motor-driven.Travel mechanism, traveling dolly 14 are all connected with central control system 11, by central control system 11 control crossbeam 13 and traveling dolly 14 moving direction and distance, and then select running orbit according to the desired location of robot body 3, make whole working region be robot body 3 coverages, guarantee that robot body 3 accurately completes the operations such as location, crawl, polishing, gluing.
In the time that needs carry out measurement and positioning, the head automatic capturing measurement and positioning device 7 of robot body 3, and then complete the measurement to car frame and vehicle window position.In the present embodiment, measurement and positioning device 7 adopts laser three-dimensional scanning device, before installation front screen 2, by this measurement and positioning device 7, car body window 15 and front screen 2 are scanned to detection, obtain three-dimensional data points cloud by the geometric properties face of measuring measured object, determine its three-dimensional space data, and by the transfer of data detecting to central control system 11, by central control system 11, the data that detect and the master pattern prestoring are contrasted, computational analysis goes out the position difference of current workpiece and standard workpiece, for further work provides technical support, as calculate polishing amount and the glass installation site etc. at car body window 15 places.
After having determined polishing amount, the head of robot body 3 is replaced by sanding apparatus 8 automatically, sanding apparatus 8 comprises main shaft, pneumatic grinding head, power set and frequency-variable controller, grinding head is arranged on the end of main shaft, can select according to different polishing demands the grinding head of different size, power set can adopt motor to drive, frequency-variable controller control motor rotation.Sanding apparatus 8 can pass through the torque of axle and the thickness of grinding head, accurately controls polishing precision, in the present embodiment, adopts the rotating speed of frequency-variable controller control main shaft, is conducive to adjust arbitrarily the rotating speed that is applicable to operating mode.And grinding head employing pneumatic buffer mode, compensator or trimmer pressure can be according to realizing applying working condition adjustment, and compensator or trimmer pressure fluctuation range is very little, can guarantee that cutting force approximately constant is constant.
After car body window 15 is accurately polished, the head of robot body 3 is replaced by grabbing device 9 automatically, and grabbing device 9 comprises multiple vacuum cups, and vacuum cup is connected with vavuum pump with vacuum control valve by gas circuit.Vacuum control valve adopts single-way vacuum valve door, has pressure holding function, and short time internal cutting off source of the gas still can clamping glass sheet, plays cover glass effect.
After front screen 2 is installed, the head of robot body 3 is replaced by glue spreading apparatus 10 automatically, realizes glass the gluing work after front and installation is installed.Glue spreading apparatus 10 comprises glue feeder, glue amount control device, supplies sebific duct road and glue rifle, glue feeder can be for containing the bucket of glue, by being connected with glue rifle for sebific duct road, connecting a gumming pump on sebific duct road, glue rifle connects glue amount control device, and fluid sealant extrudes to be coated with from the port of glue rifle the surrounding gap of beating at front screen 2.
The coordinated control mode of glue spreading apparatus 10 employing speed/glue amounts, according to different technological requirements and glue type, calculate the functional relation of robot movement velocity and glue-spread, and this functional relation is input in robot controller 4, robot controller 4 is converted into analog quantity by gluing speed and is transferred to glue amount control device, realizes automatically regulating in real time of plastic squeeze amount, make glue shape even, stable, product quality is ensured conscientiously, guarantees that glass is stressed evenly simultaneously, reduces stress and concentrates.
Above-mentioned measurement and positioning device 7, sanding apparatus 8, grabbing device 9 and glue spreading apparatus 10 can independently be installed on the running gear 6 that is positioned at robot body 3 one sides separately, can be accurate in order to be more conducive to robot body 3, change rapidly each device, can also be by measurement and positioning device 7, sanding apparatus 8, grabbing device 9 and glue spreading apparatus 10 unifications are placed on a shelf or cabinet, robot body 3 is at needs more when changing device, move to by robot controller 4 control bodies 3 position that each device is specified, its head releases the device of a upper operation to original position, capture again the required device of subsequent processing.
Between the head of robot body 3 and measurement and positioning device 7, sanding apparatus 8, grabbing device 9 and glue spreading apparatus 10, be provided with the mutual joint mating, guarantee that robot body 3 captures firmly, and then guarantee the precision of installation exercise.
Central control system 11 comprises a personal-machine interface 17, also comprise polishing machining control unit 19, detection and material loading control module 20 and gluing control module 18, robot controller 4 can arrange separately, also can be integrated in central control system 11, between each control module and man-machine interface 17, be connected by PLC control bus, to complete the signal transmission work of each control module.
Man-machine interface 17 adopts touch-screen, man-machine interface 17 can display device human body 3 in the action of each station and the duty of robot body 3; Show output, the input status of whole device; The abnormal content of the whole device showing, and can point out trouble point, and the abnormal content of whole device is carried out to record.
In order to improve the security of this erecting device, in the both sides of erecting device, one safety device 16 is respectively set, this installation protector 16 is guard rail, guarantees in the time of this erecting device work isolation people and work centre, protection equipment and personnel's safety.
The installation method of describing this high speed motor car front screen below in detail, specifically comprises the steps:
1, utilize handling appliance by front screen to be installed 2 handlings and be placed in the assigned address of glass material loading platform 5.
2, operating personnel operate man-machine interface 17, start installation procedure, robot control unit 18 in central control system 11 sends instruction to robot controller 4, robot controller 4 control bodies 3 move to measurement and positioning device 7 positions, the head grabs measurement and positioning device 7 of robot body 3, then move to the required assigned address of measurement.
3, detection in central control system 11 and material loading control module 20 control survey positioners 7 carry out 3-D scanning to car body window 15 sizes, form the graphics of car body window 15, determine its three-dimensional space data, and by the transfer of data detecting to central control system 11, by central control system 11, the data that detect and the master pattern prestoring are contrasted, computational analysis goes out the position difference of current workpiece and standard workpiece, and and then calculate polishing amount and the glass installation site at car body window 15 places, central control system 11 is set polishing program automatically according to the polishing amount of calculating again.
4, after measurement finishes, robot control unit 18 in central control system 11 sends instruction to robot controller 4, robot controller 4 control bodies 3 move to the placement location place of measurement and positioning device 7, measurement and positioning device 7 is returned to assigned address, robot body 3 moves to the placement location of sanding apparatus 8 again, captures sanding apparatus 8.
5, according to the polishing program of automatically setting, sanding apparatus 8 is controlled in polishing machining control unit 19 in central control system 11, by the rotating speed of frequency-variable controller control main shaft, simultaneously first-class by controlling the torque of main shaft and choosing the polishing of different size, accurately control polishing amount, meet required precision until be polished to.
6, after polishing finishes, robot control unit 18 in central control system 11 sends instruction to robot controller 4, robot controller 4 control bodies 3 move to the placement location place of sanding apparatus 8, sanding apparatus 8 is returned to assigned address, robot body 3 moves to the placement location of grabbing device 9 again, captures grabbing device 9.
7, the detection in central control system 11 and material loading control module 20 are controlled grabbing device 9 to the assigned address on glass material loading platform 5, adsorb front screen to be installed 2 by vacuum cup, and front screen 2 is transported to car body window 15 places after polishing, according to car body window 15 three-dimensional datas of above-mentioned measurement, front screen 2 is placed to the tram of car body window 15, confirm that front screen 2 and the every fabrication data of car body window 15 meet the requirements, and then utilize grabbing device 9 that front screen 2 is transported back to the assigned address of glass material loading platform 5.
8, the robot control unit 18 in central control system 11 sends instruction to robot controller 4, robot controller 4 control bodies 3 move to the placement location place of grabbing device 9, grabbing device 9 is returned to assigned address, robot body 3 moves to the placement location of glue spreading apparatus 10 again, captures glue spreading apparatus 10.
9, manually carry out the preparation before gluing, the gluing control module 18 in central control system 11 is controlled glue spreading apparatus 10, and the surrounding of the car body window 15 after polishing is sealed to gluing.
Operating personnel input to central control system 11 by technological requirement and glue type by man-machine interface 17, central control system 11 calculates the functional relation of robot movement velocity and glue-spread, and this functional relation is input in robot controller 4, robot controller 4 is converted into analog quantity by gluing speed and is transferred to glue amount control device, realizes automatically regulating in real time of plastic squeeze amount.Robot controller 4 control bodies 3 move by speed and the position set, and then drive glue spreading apparatus 10 to be coated with and to break fluid sealant along the surrounding of car body window 15.
10,, after gluing, robot controller 4 control bodies 3 capture grabbing device 9 more again, and front screen 2 is correctly in place.
11, after front screen 2 is in place, robot controller 4 control bodies 3 capture glue spreading apparatus 10 more again, by above-mentioned steps, the gap between front screen 2 and car body window 15 are coated with and break fluid sealant.
By the method, can realize front screen 2 and car body window 15 and reach desirable mated condition, while avoiding front screen 2 to install, produce stress, and then there is Decrepitation Phenomena in glass while avoiding motor-car operation.
As mentioned above, given scheme content, can derive similar technical scheme by reference to the accompanying drawings.In every case be the content that does not depart from technical solutions of the utility model, any simple modification, equivalent variations and the modification above embodiment done according to technical spirit of the present utility model, all still belong in the scope of technical solutions of the utility model.

Claims (9)

1. a high speed motor car front screen erecting device, comprise robot body, robot controller, glass material loading platform and running gear, described robot body is arranged on running gear, it is characterized in that: also comprise the measurement and positioning device that gathers car body window space positional information, for the sanding apparatus of car body window polishing, for capturing the grabbing device of front screen, for being coated with glue spreading apparatus and the central control system of breaking fluid sealant, described robot controller, measurement and positioning device, sanding apparatus, grabbing device, glue spreading apparatus and running gear are all connected with described central control system, described robot body selectively with described measurement and positioning device, sanding apparatus, grabbing device, glue spreading apparatus connects.
2. high speed motor car front screen erecting device according to claim 1, it is characterized in that: described running gear comprises a point slideway that is located at headstock both sides, between the described slideway of both sides, connect a crossbeam, slide along described slideway in the two ends of described crossbeam, one traveling dolly is set on described crossbeam, and described robot body is arranged on described traveling dolly.
3. high speed motor car front screen erecting device according to claim 1, is characterized in that: described measurement and positioning device, sanding apparatus, grabbing device and glue spreading apparatus are fixedly mounted on running gear by assigned address.
4. high speed motor car front screen erecting device according to claim 1, is characterized in that: described robot body is six degree of freedom articulated robot.
5. high speed motor car front screen erecting device according to claim 1, is characterized in that: described measurement and positioning device is laser three-dimensional scanning device.
6. high speed motor car front screen erecting device according to claim 1, it is characterized in that: described sanding apparatus comprises main shaft, pneumatic grinding head, power set, frequency-variable controller, described pneumatic grinding head is arranged on the end of described main shaft, the output of described power set connects described main shaft, and described power set are connected with described frequency-variable controller.
7. high speed motor car front screen erecting device according to claim 1, it is characterized in that: described glue spreading apparatus comprises glue feeder, glue amount control device, supplies sebific duct road and glue rifle, described glue feeder is connected with described glue rifle for sebific duct road by described, and described glue rifle connects described glue amount control device.
8. high speed motor car front screen erecting device according to claim 1, it is characterized in that: described central control system comprises man-machine interface, polishing machining control unit, detection and material loading control module and gluing control module, between each control module and described robot controller and described man-machine interface, is connected by PLC control bus.
9. high speed motor car front screen erecting device according to claim 1, is characterized in that: the both sides at described erecting device and car body are respectively provided with safety device.
CN201320609396.0U 2013-09-29 2013-09-29 Mounting device for front windshield of bullet train Withdrawn - After Issue CN203610916U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320609396.0U CN203610916U (en) 2013-09-29 2013-09-29 Mounting device for front windshield of bullet train

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320609396.0U CN203610916U (en) 2013-09-29 2013-09-29 Mounting device for front windshield of bullet train

Publications (1)

Publication Number Publication Date
CN203610916U true CN203610916U (en) 2014-05-28

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Application Number Title Priority Date Filing Date
CN201320609396.0U Withdrawn - After Issue CN203610916U (en) 2013-09-29 2013-09-29 Mounting device for front windshield of bullet train

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103624514A (en) * 2013-09-29 2014-03-12 南车青岛四方机车车辆股份有限公司 High-speed train front window glass installation device and method
CN104128796A (en) * 2014-07-04 2014-11-05 上海卫星装备研究所 Six-freedom-degree satellite-borne instrument mounting device capable of being fine-tuned

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103624514A (en) * 2013-09-29 2014-03-12 南车青岛四方机车车辆股份有限公司 High-speed train front window glass installation device and method
CN103624514B (en) * 2013-09-29 2015-09-02 南车青岛四方机车车辆股份有限公司 A kind of high speed motor car front screen erecting device and installation method
CN104128796A (en) * 2014-07-04 2014-11-05 上海卫星装备研究所 Six-freedom-degree satellite-borne instrument mounting device capable of being fine-tuned
CN104128796B (en) * 2014-07-04 2017-01-18 上海卫星装备研究所 Six-freedom-degree satellite-borne instrument mounting device capable of being fine-tuned

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RGAV Abandon patent right to avoid regrant
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Granted publication date: 20140528

Effective date of abandoning: 20150902