CN109797611A - Non-fragment orbit switches tracks robot - Google Patents
Non-fragment orbit switches tracks robot Download PDFInfo
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- CN109797611A CN109797611A CN201910055163.2A CN201910055163A CN109797611A CN 109797611 A CN109797611 A CN 109797611A CN 201910055163 A CN201910055163 A CN 201910055163A CN 109797611 A CN109797611 A CN 109797611A
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- rail
- switches tracks
- platform trailer
- operating device
- mechanical arm
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Abstract
It switches tracks robot, including platform trailer, the mechanism that switches tracks, intelligence control system the invention discloses a kind of non-fragment orbit；The mechanism that switches tracks includes being set to moveable mechanical arm on platform trailer, the operating device for controlling mechanical arm movement and clamping track, the two new rail Longkous and two rail Longkous, Geju City being installed on platform trailer；What the mechanical arm can be controlled be moved to, and old rail position slings old rail end to import old rail Longkou and sling new rail end imports new rail Longkou.The robot the beneficial effects of the present invention are: non-fragment orbit disclosed by the invention switches tracks, it is able to solve high-speed railway rail replacement problem, with switching tracks in engineering in non-fragment orbit, percent of automatization is high, manually bears small feature, and the precision that switches tracks is accurate, the duty cycle is short, adapts to Multiple Sections switches tracks requirement.
Description
Technical field
The present invention relates to railway engineering machinery fields, and in particular to a kind of non-fragment orbit switches tracks robot.
Background technique
High-speed railway is the common recognition of modern railways developing direction, and China Railway High-speed rapid development, high-speed rail, which will be built, to be become
National planning and the vital ring in engineer application field.
Railway is broadly divided into two major classes, Ballast track and non-fragment orbit, and Ballast track refers to uses rock ballast on roadbed
As railway roadbed, rock ballast is exactly small stone, it is required that being that construction is uniform, hard, weather resistance, impact flexibility is good, high resilience, favorably
In draining the features such as.Non-fragment orbit refers to does not have stone on roadbed, and uses monoblock type road bed board, and road bed board is at rear
Prefabrication is good.It is usually 3 meters wide 5 meters long.Reinforced concrete structure.It can be pre-buried wherein by the fastener of rail when prefabricated.
Non-fragment orbit is generally used for Line for Passenger Transportation in China.Namely high-speed railway.Feature is that construction speed per hour is high, and laying speed is fast.
Train operation is more stable.But cost is high simultaneously, is the Main way for telling railway development, tells the same of development in non-fragment orbit
When, the development that railway switches tracks but fails always to keep up with development speed.For a long time, switching tracks for rail mainly relies on mechanical rail
Road rail relayer and manpower go to realize, this not only needs a large amount of manpower, but also because this long rail is too heavy, straitly
The manpower of Fang Wufa offer demand.It is expected that following be ready to be engaged in this work for less someone, thus the design without the tiny fragments of stone, coal, etc.
The track robot that intelligently switches tracks comes into being.
High-speed railway uses non-fragment orbit, and non-fragment orbit is poured using concrete, pitch etc., thus without tiny fragments of stone, coal, etc. rail
Road has many advantages, such as that stability is high, repair less, track inside is open and flat, the service life is long.The intelligence robot that switches tracks is used on railway line
In the machine for replacing old rail, which has the mechanical arm of oneself to promote new, old rail, finally fixed instead of the effect of new, old hoist
The new rail stiff neck in position, instead of the effect of new Longkou, the robot that switches tracks is high compared to mechanical rail relayer intelligence degree, structure is simple,
Advantage small in size, appearance is beautiful.
High-speed rail rail relayer needs a large amount of manpowers to lift new, old rail rail head again when pulling out new, old rail and entering new, old rail Longkou at present
It is put into new, old rail Longkou, rail relayer needs a large amount of human assistances in the course of work that switches tracks, and of the invention switches tracks robot not
Manpower is needed to pull out rail, mechanical arm, which can not only pull out rail, can also serve as the effect of new Longkou.
The patent of invention that publication No. is 105525545 A of CN discloses a kind of automatic control of Ballast track and switches tracks robot
Solve the problems, such as switching tracks on Ballast track, but since Ballast track is laid with gradual change, train speed per hour is slow, so track laying is more
Simply, this automatic control suitable for the Ballast track robot that switches tracks is unable to satisfy the requirement that switches tracks of non-fragment orbit, no tiny fragments of stone, coal, etc. rail
The track that road switches tracks is longer, and the requirement of track installation in-placing precision is higher, and stability requirement is higher.
Therefore, in order to solve the above problem, a kind of non-fragment orbit is needed to switch tracks robot, can intelligentized replacement rail,
It reduces to artificial dependence, safe and reliable is mechanically fixed, and shortens the duty cycle, adapts to Multiple Sections replacement rail requirement.
Summary of the invention
In view of this, the purpose of the present invention is overcoming defect in the prior art, non-fragment orbit is provided and is switched tracks robot, energy
It enough solves the problems, such as that high-speed railway rail replacement low efficiency, artificial demand are big, intelligent low, there is the machine that switches tracks on non-fragment orbit
People's mechanical arm clamps new, old rail and places the effect of new, old Longkou, finally serves as the effect of new rail positioning Longkou, in addition replaces
Rail percent of automatization is high, it is small manually to take on, is mechanically fixed the characteristics of more secure and reliable, separately there is that the duty cycle is short, adapts to Multiple Sections
The advantages of replacement rail requires, the whole audience is not required to human assistance.
Non-fragment orbit of the invention switches tracks robot, including platform trailer, the mechanism that switches tracks, intelligence control system；It is described to change
Rail mechanism includes being set to moveable mechanical arm on platform trailer, the operation dress for controlling mechanical arm movement and clamping track
The two new rail Longkous and two rail Longkous, Geju City set, being installed on platform trailer；What the mechanical arm can be controlled is moved to old
Rail position, which slings old rail end to import old rail Longkou and sling new rail end, imports new rail Longkou, platform trailer mainly as
The workbench of operating device；The mechanism that switches tracks mainly completes to clamp and pull new rail and old rail, carries out old rail group and pacifies from new rail
It is attached to position, the new rail Longkou of two be installed on platform trailer follows the movement of platform trailer and move ahead for clamping new rail, old
Rail Longkou is mainly that the installation of new rail is stepped down to push old rail aside.
Further, the old rail Longkou is installed on the cantilever beam end that platform trailer end is arranged in, for clamping old rail
It dials to off normal with the old rail of positioning and set, the cantilever beam extends along platform trailer tailstock direction, and old rail Longkou is mainly used for dialling from old rail
Vacate installation site for new rail, switch tracks start when, the old rail end needed replacing is picked up by mechanical arm and is put into old rail
In Longkou, it is followed by moving ahead for platform trailer, old rail is realized dials from script position, the old rail of the setting principal security of the cantilever beam
A distance between Longkou and new rail Longkou, it is ensured that just pull new rail to installation site after old rail glass, guarantee to change
Rail, which has, normally allows bit space to switch tracks more efficient so that switching tracks orderly to carry out, and the precision that switches tracks is higher, and the workmanship period is short,
It is more adaptable.
Further, the new rail Longkou is installed on platform trailer rear wheel two sides, fixed for clamping new rail and new rail
Position, the rear wheel width of platform trailer and the required track width to switch tracks are adapted, and the end of new rail is folded up by machinery and is set
It is clamped in new rail Longkou, completes to switch tracks as the new rail of the advance of platform trailer is moved to position to be installed, it is very convenient fast
Small, the precision that switches tracks height is manually born in victory.
Further, the mechanical arm include revolving bed, long-armed and mechanical elbow, long-armed be articulated be mounted on the operation
Revolving bed on device make it is long-armed can go up and down and horizontal hunting, the mechanical elbow be articulated with it is described it is long-armed can relative to it is long-armed
Vertical direction rotation, mechanical elbow ensure that the pitching motion of mechanical arm relative to long-armed rotation, can rise to track end
It lifts, reduces lifting travel requirement of the mechanical arm to revolving bed, revolving bed provides the lifting on vertical direction for mechanical arm and hangs down
Directly in the rotation of vertical direction, guarantee freedom degree and the flexible rotating of mechanical arm to clamp new old track, and then complete mechanical arm
Orbit-changing maneuver.
Further, the mechanical folder for clamping and placing rail, the unlatching of the mechanical folder are provided on the mechanical elbow
It is controlled by the operating device being set on platform trailer with closure, the closure and opening of machinery folder are to clamp and pull track
End completes the replacement and positioning of new and old track end with this.
Further, the operating device is set to the operation on the platform trailer on moving guide rail disposed in parallel
Device can be moved back and forth along the moving guide rail, and operating device is from the guide rail car of driving, according to intelligence on guide rail
The instruction of control system moves back and forth, and the clamping and release of cooperative mechanical folder position new old track, finally complete
The disposable replacement of new old track.
Further, the operating device is the guide rail car of driving certainly, and its guide wheel is located on the moving guide rail.
Further, it is provided with the operating room for operator's work in the operating device, facilitates the operation of operator
And observation.
Further, the intelligence control system includes the identification positioning system for being installed on mechanical arm, upper manipulator motion
Controller, lower motor controller, laser sensor, pressure sensor and CCD vision camera；The identification positioning system packet
Include the viewing angle control system of locking rail and the positioning control system for new, old Longkou position positioning；；Platform trailer is by drawing
Vehicle provides traction power, leads between upper mechanical arm motion controller and the dynamical system and lower motor controller of tractor
Transfer bus connection is crossed, lower motor controller is connected to the working condition that operating device is used to control operating device, described to swash
Optical sensor is multiple and is uniformly distributed in platform trailer surrounding for detecting around platform trailer whether have barrier in preset range
Hinder object, the CCD vision camera is installed on the Longkou that switches tracks for detecting whether the paving location of new rail meets the requirements；It is described
Pressure sensor is installed on operating device for detecting operating device by long-armed reaction force, the laser sensor, CCD
Vision camera, which connects pressure sensor and is connected to the signal input part of upper mechanical arm motion controller, keeps platform trailer surrounding pre-
Determine to occur in range barrier, new rail paving location is undesirable or operating device by long-armed reaction force is more than pre-
Think that the dynamical system of tractor and lower motor controller issue stopping signal and then control tractor parking while grasping when definite value
Make device stop motion.
The robot the beneficial effects of the present invention are: non-fragment orbit disclosed by the invention switches tracks, is able to solve high-speed railway rail more
Change problem, have and switch tracks in engineering that percent of automatization is high in non-fragment orbit, manually bear small feature, and the precision that switches tracks it is accurate,
Duty cycle is short, adapts to Multiple Sections switches tracks requirement.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is overall structure front view of the invention；
Fig. 2 is overall structure top view；
Fig. 3 is mechanical arm partial schematic diagram.
Specific embodiment
Fig. 1 is overall structure front view of the invention；Fig. 2 is overall structure top view；Fig. 3 is that mechanical arm is partially schematic
Figure, the robot as shown in Figure 1, non-fragment orbit in the present embodiment switches tracks, including platform trailer 1, the mechanism that switches tracks, intelligent control system
System；The mechanism that switches tracks includes being set on platform trailer 1 moveable mechanical arm 2, for controlling the movement of mechanical arm 2 and folder
Take the new rail Longkou 4 of the operating device 3 of track, two be installed on platform trailer 1 and two rail Longkous, Geju City 5；The mechanical arm 2
The old rail Longkou 5 of importing is sling into old rail end and the new rail dragon of importing is sling into new rail end in the old rail position that is moved to that can be controlled
Mouth 4, workbench of the platform trailer 1 mainly as operating device 3；The mechanism that switches tracks mainly completes to clamp and pull new rail and old
Rail carries out old rail and dials to be installed in place from new rail, the new rail Longkou 4 of two be installed on platform trailer 1 for clamp new rail with
It moves ahead with the movement of platform trailer 1, old rail Longkou 5 is mainly that the installation of new rail is stepped down to push old rail aside.
In the present embodiment, the old rail Longkou 5 is installed on 6 end of cantilever beam that 1 end of platform trailer is arranged in, for pressing from both sides
Firmly old rail and the old rail of positioning are dialled to off normal and be set, and the cantilever beam 6 extends along 1 tailstock direction of platform trailer, and old rail Longkou 5 is mainly used for
Dial from old rail be new rail vacate installation site, switch tracks start when, the old rail end needed replacing is picked up by mechanical arm 2
It is put into old rail Longkou 5, is followed by moving ahead for platform trailer 1, old rail, which is realized, to be dialled from script position, the setting of the cantilever beam 6
Distance between the old rail Longkou 5 of principal security and new rail Longkou 4, it is ensured that old rail is dialled from just pulling new rail later extremely
Installation site, guarantee, which switches tracks, normally allows bit space to switch tracks more efficient so that switching tracks orderly to carry out, and switch tracks precision
Higher, the workmanship period is short, more adaptable.
In the present embodiment, the new rail Longkou 4 is installed on the 1 rear wheel two sides of platform trailer, for clamp new rail and
New rail positioning, the rear wheel width of platform trailer 1 and the required track width to switch tracks are adapted, and the end of new rail is passed through machinery
It is clamped in 10 placement to new rail Longkou 4 of folder, completes to switch tracks as the new rail of the advance of platform trailer 1 is moved to position to be installed, it is non-
Normal is convenient and efficient, manually bears small, the precision that switches tracks height.
In the present embodiment, the mechanical arm 2 includes revolving bed 7, long-armed 8 and mechanical elbow 9, and described long-armed 8 are articulated with installation
Revolving bed 7 in the operating device 3 enables long-armed 8 to go up and down and horizontal hunting, the mechanical elbow 9 are articulated with the length
Arm 8 can be rotated relative to long-armed 8 in vertical direction, and mechanical elbow 9 ensure that the pitching motion of mechanical arm 2 relative to long-armed 8 rotation,
A liter act can be carried out to track end, reduces lifting travel requirement of the mechanical arm 2 to revolving bed 7, and revolving bed 7 is mechanical arm 2
The lifting on vertical direction and the rotation perpendicular to vertical direction are provided, the freedom degree for guaranteeing mechanical arm 2 and flexible rotating are to press from both sides
New old track is taken, and then completes the orbit-changing maneuver of mechanical arm 2.
In the present embodiment, the mechanical folder 10 for clamping and placing rail, the mechanical folder are provided on the mechanical elbow 9
10 unlatching and closure are controlled by the operating device 3 being set on platform trailer 1, and the closure and opening of machinery folder 10 are to press from both sides
Firmly and track end is pulled, the replacement and positioning of new and old track end are completed with this.
In the present embodiment, the operating device 3 is set on the platform trailer 1 on moving guide rail disposed in parallel, institute
Stating operating device 3 can move back and forth along the moving guide rail, and operating device 3 is from the guide rail car of driving, on guide rail
It is moved back and forth according to the instruction of intelligence control system, and cooperative mechanical presss from both sides 10 clamping and release to position new and old rail
Road finally completes the disposable replacement of new old track.
In the present embodiment, the operating device 3 is the guide rail car of driving certainly, and its guide wheel is located on the moving guide rail.
In the present embodiment, it is provided with the operating room for operator's work in the operating device 3, facilitates operator's
Operation and observation.
In the present embodiment, the intelligence control system includes the identification positioning system for being installed on mechanical arm 2, upper mechanical arm
Motion controller, lower motor controller, laser sensor, pressure sensor and CCD vision camera；Identification positioning system
System includes the viewing angle control system of locking rail and the positioning control system for new, old Longkou position positioning；Platform trailer 1 by
Tractor provides traction power；The laser sensor is multiple and is evenly distributed in around robot for detecting robot
Whether there is barrier in surrounding preset range；The CCD vision camera is installed on two sides machinery folder 10 for detecting machinery
Folder 10 picks up, places rail position；The pressure sensor is installed on wheel-rail mechanism for contact pressure of the detection wheel pair with ground
Power controls pressure with this and slightly adjusts come vibration when working mechanical arm；Upper mechanical arm motion controller and tractor
It is connected between dynamical system and lower motor controller by transfer bus, lower motor controller is connected to operating device 3
For controlling the working condition of operating device 3, the laser sensor is multiple and is uniformly distributed in 1 surrounding of platform trailer and is used for
Whether barrier is had in detection 1 surrounding preset range of platform trailer, and the CCD vision camera is installed on the Longkou that switches tracks for examining
Whether the paving location for surveying new rail meets the requirements；The pressure sensor be installed on operating device 3 for detect operating device 3 by
To long-armed 8 reaction force, the laser sensor, CCD vision camera connect pressure sensor and are connected to the upper fortune of mechanical arm 2
The signal input part of movement controller makes barrier occur in 1 surrounding preset range of platform trailer, the paving location of new rail is not met
It is required that or operating device 3 think the dynamical system and lower motor control of tractor when being more than predetermined value by long-armed 8 reaction force
Device processed issues stopping signal and then controls tractor parking 3 stop motion of operating device simultaneously, improves safety, plays emergency feelings
Condition emergency stop protection.
The robot the beneficial effects of the present invention are: non-fragment orbit disclosed by the invention switches tracks, is able to solve high-speed railway rail more
Change problem, have and switch tracks in engineering that percent of automatization is high in non-fragment orbit, manually bear small feature, and the precision that switches tracks it is accurate,
Duty cycle is short, adapts to Multiple Sections switches tracks requirement.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (9)
- The robot 1. a kind of non-fragment orbit intelligently switches tracks, it is characterised in that: including platform trailer, the mechanism that switches tracks, intelligent control system System；The mechanism that switches tracks includes being set on platform trailer moveable mechanical arm, for controlling mechanical arm movement and clamping rail The operating device in road, the new rail Longkou of two be installed on platform trailer and two rail Longkous, Geju City；The mechanical arm can be controlled The old rail position that is moved to old rail end sling to import old rail Longkou and sling new rail end import new rail Longkou.
- The robot 2. non-fragment orbit according to claim 1 switches tracks, it is characterised in that: the old rail Longkou is installed on setting In the cantilever beam end of platform trailer end, set for clamping old rail and positioning old rail to dial to off normal, the cantilever beam is along flat panel mop Vehicle tailstock direction extends.
- The robot 3. non-fragment orbit according to claim 2 switches tracks, it is characterised in that: the new rail Longkou is installed on described Platform trailer rear wheel two sides, for clamping new rail and the positioning of new rail.
- The robot 4. non-fragment orbit according to claim 3 switches tracks, it is characterised in that: the mechanical arm include revolving bed, Long-armed and mechanical elbow, the long-armed revolving bed being mounted in the operating device that is articulated with make long-armed can go up and down and horizontal pendulum Dynamic, the mechanical elbow is articulated with described long-armed can rotate relative to long-armed in vertical direction.
- The robot 5. non-fragment orbit according to claim 4 switches tracks, it is characterised in that: be provided with and be used on the mechanical elbow Clamping and the mechanical folder for placing rail, the unlatching of the mechanical folder and closure are controlled by the operation dress being set on platform trailer It sets.
- The robot 6. non-fragment orbit according to claim 5 switches tracks, it is characterised in that: the operating device is set to described On platform trailer on moving guide rail disposed in parallel, the operating device can be moved back and forth along the moving guide rail.
- The robot 7. non-fragment orbit according to claim 6 switches tracks, it is characterised in that: the operating device is from driving Guide rail car, and its guide wheel is located on the moving guide rail.
- The robot 8. non-fragment orbit according to claim 7 switches tracks, it is characterised in that: be provided with confession in the operating device The operating room of operator's work.
- The robot 9. non-fragment orbit according to claim 8 switches tracks, it is characterised in that: the intelligence control system includes peace Identification positioning system, upper mechanical arm motion controller loaded on mechanical arm, lower motor controller, laser sensor, pressure Sensor and CCD vision camera；The identification positioning system includes locking the viewing angle control system of rail and for new, old dragon The positioning control system of mouth position positioning；Platform trailer provides traction power by tractor, upper mechanical arm motion controller with It is connected between the dynamical system and lower motor controller of tractor by transfer bus, lower motor controller is connected to behaviour Make device and is multiple and is uniformly distributed in platform trailer surrounding for controlling the working condition of operating device, the laser sensor For detecting whether have barrier around platform trailer in preset range, the CCD vision camera is installed on the Longkou use that switches tracks Whether meet the requirements in the paving location for detecting new rail；The pressure sensor is installed on operating device for detecting operating device By long-armed reaction force, the laser sensor, CCD vision camera connect pressure sensor and are connected to upper mechanical arm fortune The signal input part of movement controller makes barrier occur in platform trailer surrounding preset range, the paving location of new rail does not meet and wants It asks or when operating device is more than predetermined value by long-armed reaction force thinks the dynamical system and lower motor controller of tractor It issues stopping signal and then controls tractor parking operating device stop motion simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055163.2A CN109797611A (en) | 2019-01-22 | 2019-01-22 | Non-fragment orbit switches tracks robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055163.2A CN109797611A (en) | 2019-01-22 | 2019-01-22 | Non-fragment orbit switches tracks robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109797611A true CN109797611A (en) | 2019-05-24 |
Family
ID=66559729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910055163.2A Withdrawn CN109797611A (en) | 2019-01-22 | 2019-01-22 | Non-fragment orbit switches tracks robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109797611A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111523822A (en) * | 2020-05-06 | 2020-08-11 | 重庆文理学院 | Unified quantification method for driving risk by comprehensively considering various human-vehicle-road factors |
| CN111716319A (en) * | 2020-05-14 | 2020-09-29 | 江苏建筑职业技术学院 | Stable track structure for track robot |
| CN112012057A (en) * | 2020-08-12 | 2020-12-01 | 湖南长院悦诚装备有限公司 | Intelligent control method for ballastless track steel rail laying process |
| WO2021031769A1 (en) * | 2019-08-16 | 2021-02-25 | 米建军 | Track laying method and device for rail transit |
| CN112643687A (en) * | 2020-11-19 | 2021-04-13 | 国网浙江省电力有限公司绍兴供电公司 | Transformer substation GIS equipment inspection robot walking device |
| CN113341866A (en) * | 2021-06-15 | 2021-09-03 | 天津天一轨道交通设备有限公司 | Intelligent capturing and storing system of torque data platform |
-
2019
- 2019-01-22 CN CN201910055163.2A patent/CN109797611A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021031769A1 (en) * | 2019-08-16 | 2021-02-25 | 米建军 | Track laying method and device for rail transit |
| CN111523822A (en) * | 2020-05-06 | 2020-08-11 | 重庆文理学院 | Unified quantification method for driving risk by comprehensively considering various human-vehicle-road factors |
| CN111523822B (en) * | 2020-05-06 | 2023-07-28 | 重庆文理学院 | Driving risk unified quantification method comprehensively considering all factors of person-vehicle-road |
| CN111716319A (en) * | 2020-05-14 | 2020-09-29 | 江苏建筑职业技术学院 | Stable track structure for track robot |
| CN111716319B (en) * | 2020-05-14 | 2023-08-25 | 江苏建筑职业技术学院 | Stable track structure for track robot |
| CN112012057A (en) * | 2020-08-12 | 2020-12-01 | 湖南长院悦诚装备有限公司 | Intelligent control method for ballastless track steel rail laying process |
| CN112643687A (en) * | 2020-11-19 | 2021-04-13 | 国网浙江省电力有限公司绍兴供电公司 | Transformer substation GIS equipment inspection robot walking device |
| CN113341866A (en) * | 2021-06-15 | 2021-09-03 | 天津天一轨道交通设备有限公司 | Intelligent capturing and storing system of torque data platform |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190524 |
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| WW01 | Invention patent application withdrawn after publication |