CN102080348A - Fine tuning system and method of nonballast track slab - Google Patents
Fine tuning system and method of nonballast track slab Download PDFInfo
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- CN102080348A CN102080348A CN 201010564811 CN201010564811A CN102080348A CN 102080348 A CN102080348 A CN 102080348A CN 201010564811 CN201010564811 CN 201010564811 CN 201010564811 A CN201010564811 A CN 201010564811A CN 102080348 A CN102080348 A CN 102080348A
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Abstract
本发明公开了自动控制技术领域中的一种无砟轨道板精调系统及其精调方法。系统包括顺序相连的全站仪、工控机、可编程控制器、伺服电机驱动器和伺服电机精调器；方法是全站仪测量无砟轨道板的当前方位和偏移量，并发送给工控机；工控机辨识无砟轨道板的位姿，并计算无砟轨道板的调整量，然后发送给可编程控制器；可编程控制器产生脉冲信号，并发送给伺服电机驱动器；伺服电机驱动器产生控制信号并发送给伺服电机精调器；伺服电机精调器带动精调器螺母套筒旋转并控制旋转的转数。本发明提高了轨道板铺设的效率和精确度。
The invention discloses a ballastless track slab fine adjustment system and a fine adjustment method thereof in the technical field of automatic control. The system includes sequentially connected total station, industrial computer, programmable controller, servo motor driver and servo motor fine adjuster; the method is that the total station measures the current orientation and offset of the ballastless track slab and sends it to the industrial computer ; The industrial computer identifies the position and posture of the ballastless track slab, and calculates the adjustment amount of the ballastless track slab, and then sends it to the programmable controller; the programmable controller generates a pulse signal and sends it to the servo motor driver; the servo motor driver generates a control The signal is sent to the servo motor fine adjuster; the servo motor fine adjuster drives the nut sleeve of the fine adjuster to rotate and controls the number of rotations. The invention improves the efficiency and accuracy of track slab laying.
Description
Technical field
The invention belongs to the automatic control technology field, relate in particular to a kind of fragment-free track slab accurate adjustment system and fine adjusting method thereof.
Background technology
At present, for the accurate adjustment operation of high speed railway fragments-free track slab, all take apparatus measures to add the mode of manual setting both at home and abroad.Fig. 1 is a track plate schematic diagram, and the below of the track plate 1 among Fig. 1 always has three pairs of accurate adjustment pawls and supports, and two pairs of accurate adjustment pawls 2 at track plate 1 two ends are A type accurate adjustment pawl, and a pair of accurate adjustment pawl 3 in the middle of the track plate 1 is a Type B accurate adjustment pawl.Fig. 2 is an accurate adjustment pawl structure chart, wherein, (a) is A type accurate adjustment pawl structure chart, (b) is Type B accurate adjustment pawl structure chart.Among Fig. 2, for the accurate adjustment operation of fragment-free track slab, the upper-lower position and the position, the left and right sides of the adjustment nut 5 buffer rail guidance tapes by adjusting A type accurate adjustment pawl, and/or the upper-lower position of the adjustment nut 5 buffer rail guidance tapes by adjusting Type B accurate adjustment pawl is realized.Before regulating, need to use the coordinate of the prism 5 on the total station survey track plate prism holder 4, and by operating personnel according to the coordinate that records, regulate the accurate adjustment pawl, finish the accurate adjustment operation of track plate.This accurate adjustment mode labour intensity is big, lay experience and qualification that the low and laying quality of efficient depends on operating personnel fully, and construction precision is restricted.Design a kind of fragment-free track slab accurate adjustment system, to high speed railway fragments-free track slab carry out automatically, fine manipulation, help improving the fragment-free track slab pavement quality and lay efficient.
Summary of the invention
The objective of the invention is to, a kind of fragment-free track slab accurate adjustment system and fine adjusting method thereof are provided, be used to solve big, the laying problem that efficient is low, laying quality is difficult to meet the demands of present high speed railway fragments-free track slab laying operation labor intensity.
Technical scheme is, a kind of fragment-free track slab accurate adjustment system is characterized in that described system comprises total powerstation, Industrial Personal Computer (IPC), programmable logic controller, motor servo driver and servomotor micro-adjuster that order links to each other;
Described servomotor micro-adjuster comprises servomotor, first connector, reducer, second connector, micro-adjuster ut socket bar and the micro-adjuster ut socket that is linked in sequence;
Described total powerstation is used to measure the current orientation and the side-play amount of fragment-free track slab, and the current orientation and the side-play amount that will record send to Industrial Personal Computer (IPC);
Described Industrial Personal Computer (IPC) is used for the pose according to the current orientation of fragment-free track slab and side-play amount identification fragment-free track slab, and calculating the adjustment amount of fragment-free track slab according to the pose of fragment-free track slab, the adjustment amount that will calculate fragment-free track slab then sends to programmable logic controller;
Described programmable logic controller is used for producing pulse signal according to the adjustment amount of fragment-free track slab, and pulse signal is sent to motor servo driver;
Described motor servo driver is used for producing control signal and sending to the servomotor micro-adjuster according to the pulse signal that obtains and self setup parameter;
The servomotor micro-adjuster is used for driving according to control signal the revolution of rotation of micro-adjuster ut socket and control rotation.
Described reducer is accurate planetary reduction gear.
A kind of fragment-free track slab fine adjusting method is characterized in that described method comprises:
Step 101: the adjustment nut of the micro-adjuster ut socket of servomotor micro-adjuster being aimed at a pair of accurate adjustment pawl that is inserted in fragment-free track slab;
Step 102: utilize the current orientation and the side-play amount of total station survey fragment-free track slab, and the current orientation and the side-play amount that will record send to Industrial Personal Computer (IPC);
Step 103: Industrial Personal Computer (IPC) is according to the current orientation and the side-play amount of the fragment-free track slab that receives, the pose of identification fragment-free track slab, and calculating the adjustment amount of fragment-free track slab according to the pose of fragment-free track slab, the adjustment amount that will calculate fragment-free track slab then sends to programmable logic controller;
Step 104: programmable logic controller produces pulse signal according to the adjustment amount of fragment-free track slab, and pulse signal is sent to motor servo driver;
Step 105: motor servo driver is used for producing control signal and sending to the servomotor micro-adjuster according to the pulse signal that obtains and self setup parameter;
Step 106: the servomotor micro-adjuster is used for driving according to control signal the revolution of rotation of micro-adjuster ut socket and control rotation;
Step 107: the adjusted orientation that utilizes the total station survey fragment-free track slab;
Step 108: judge whether positioning accuracy meets the demands, if then following a pair of accurate adjustment pawl is adjusted; Otherwise, return step 102, repeating step 102～108.
Described self setup parameter comprises control model and electronic gear proportional numbers.
Describedly judge whether positioning accuracy meets the demands and specifically be, utilize total powerstation to calculate the flatness of fragment-free track slab,, judge that then positioning accuracy meets the demands when flatness during smaller or equal to setting value.
The present invention implements fragment-free track slab accurate adjustment operation by the accurate adjustment system, has improved the efficient and the accuracy of track slab pavement.
Description of drawings
Fig. 1 is a track plate schematic diagram;
Fig. 2 is an accurate adjustment pawl structure chart; Wherein, (a) be A type accurate adjustment pawl structure chart, (b) be Type B accurate adjustment pawl structure chart;
Fig. 3 is a fragment-free track slab accurate adjustment system construction drawing;
Fig. 4 is a servomotor micro-adjuster structure chart;
Fig. 5 is a fragment-free track slab fine adjusting method flow chart;
Fig. 6 is the side-play amount instrumentation plan of fragment-free track slab.
The specific embodiment
Below in conjunction with accompanying drawing, preferred embodiment is elaborated.Should be emphasized that following explanation only is exemplary, rather than in order to limit the scope of the invention and to use.
Fig. 3 is a fragment-free track slab accurate adjustment system construction drawing.Among Fig. 3, fragment-free track slab accurate adjustment system comprises total powerstation, Industrial Personal Computer (IPC), programmable logic controller, motor servo driver and the servomotor micro-adjuster that order links to each other.
Total powerstation is used to measure the current orientation and the side-play amount of fragment-free track slab, and the current orientation and the side-play amount that will record send to Industrial Personal Computer (IPC).
Industrial Personal Computer (IPC) is used for the pose according to the current orientation of fragment-free track slab and side-play amount identification fragment-free track slab, and calculates the adjustment amount of fragment-free track slab according to the pose of fragment-free track slab, and the adjustment amount that will calculate fragment-free track slab then sends to programmable logic controller.
Programmable logic controller is used for producing pulse signal according to the adjustment amount of fragment-free track slab, and pulse signal is sent to motor servo driver.
Motor servo driver is used for producing control signal and sending to the servomotor micro-adjuster according to the pulse signal that obtains and self setup parameter.
The servomotor micro-adjuster is used for driving according to control signal the revolution of rotation of micro-adjuster ut socket and control rotation.
Fig. 4 is a servomotor micro-adjuster structure chart, and among Fig. 4, the servomotor micro-adjuster comprises servomotor 7, first connector 8, reducer 9, second connector 10, micro-adjuster ut socket bar 11 and the micro-adjuster ut socket 12 that is linked in sequence.For the ease of hand-held, the servomotor micro-adjuster also comprises handle 13.
The reducer of servomotor micro-adjuster is preferably accurate planetary reduction gear.
Fig. 5 is a fragment-free track slab fine adjusting method flow chart.Among Fig. 5, the fragment-free track slab fine adjusting method comprises the following steps:
Step 101: the adjustment nut of the micro-adjuster ut socket of servomotor micro-adjuster being aimed at a pair of accurate adjustment pawl that is inserted in fragment-free track slab.
The micro-adjuster ut socket of servomotor micro-adjuster is used to be inserted in the adjustment nut of the accurate adjustment pawl of fragment-free track slab.In the implementation process, fragment-free track slab homonymy or middle a pair of accurate adjustment pawl are adjusted simultaneously.The micro-adjuster ut socket can rotate the number of turns of setting under the control of servomotor, and drives the adjustment nut rotation setting number of turns of accurate adjustment pawl.
Step 102: utilize the current orientation and the side-play amount of total station survey fragment-free track slab, and the current orientation and the side-play amount that will record send to Industrial Personal Computer (IPC).
Have 6 prisms on the fragment-free track slab, have a prism near each accurate adjustment pawl, be used to measure the orientation and the side-play amount of fragment-free track slab.Utilize the rectangular space coordinate of 6 prisms on the total station survey fragment-free track slab, and be converted into angle coordinate.
Fig. 6 is the side-play amount instrumentation plan of fragment-free track slab, among Fig. 6, behind the angle coordinate that obtains 6 prisms, utilize the side-play amount of total station survey fragment-free track slab, its process is as the reference point with 2 prisms on another good piece fragment-free track slab of adjusted, angle coordinate to 6 prisms on the fragment-free track slab that has obtained is checked, and obtains the side-play amount of fragment-free track slab.The aforementioned calculation process is all carried out in total powerstation.
Step 103: Industrial Personal Computer (IPC) is according to the current orientation and the side-play amount of the fragment-free track slab that receives, the pose of identification fragment-free track slab, and calculating the adjustment amount of fragment-free track slab according to the pose of fragment-free track slab, the adjustment amount that will calculate fragment-free track slab then sends to programmable logic controller.
Set up the disjunctor coordinate system with the center of fragment-free track slab, 4 prism angle coordinates at fragment-free track slab two ends can be expressed as
If the side-play amount that total powerstation records is Δ p
1, Δ p
2, Δ p
3, Δ p
4, then survey the prism coordinate and should be Δ p
1+ p
1, Δ p
2+ p
2, Δ p
3+ p
3, Δ p
4+ p
4
Following equation is arranged so:
Δp
1+p
1＝Tp
1
Δp
2+p
2＝Tp
2
Δp
3+p
3＝Tp
3
Δp
4+p
4＝Tp
4 (1)
T is a spin matrix in the formula, matrix T can be found the solution according to this equation to obtain, and has promptly obtained the pose of track plate.
Suppose that in the fragment-free track slab coordinate system the final coordinate of desire adjustment is q
1, q
2, q
3, q
4, establishing the side-play amount of adjusting point when fragment-free track slab is in ideal position is Δ q
1, Δ q
2, Δ q
3, Δ q
4, following equation is then arranged
Δq
1+q
1＝Tq
1
Δq
2+q
2＝Tq
2
Δq
3+q
3＝Tq
3
Δq
4+q
4＝Tq
4 (2)
Solving equation obtains Δ q
1, Δ q
2, Δ q
3, Δ q
4, each adjustment adjustment amount that needs is-Δ q so
1,-Δ q
2,-Δ q
3,-Δ q
4Because the influence of the error of coordinate of direction of advance is very little, and do not need to adjust, therefore only get y, the z component of adjustment amount and adjust and get final product.
Step 104: programmable logic controller produces pulse signal according to the adjustment amount of fragment-free track slab, and pulse signal is sent to motor servo driver.
Programmable logic controller produces pulse signal according to the adjustment amount (specifically being the component on y, the z direction) of fragment-free track slab.
Step 105: motor servo driver is used for producing control signal and sending to the servomotor micro-adjuster according to the pulse signal that obtains and self setup parameter.
In the present embodiment, use the motor servo driver of the SED series of Beijing meaning virtue development in science and technology Co., Ltd.This series of servo motor driver self setup parameter comprises control model and electronic gear proportional numbers.Control model is used to set the working method of motor servo driver, in the present embodiment, is set at " position " mode, and the setting value of its correspondence is ' 1 '.After setting like this, this motor servo driver can serve as that instruction is turned round with the input pulse signal.Electronic gear is than the control signal number of decision motor rotation number of turns correspondence, and its physical relationship formula is as follows:
Through above-mentioned setting, produce the control signal of control servomotor micro-adjuster.
Step 106: the servomotor micro-adjuster is used for driving according to control signal the revolution of rotation of micro-adjuster ut socket and control rotation.
The servomotor of servomotor micro-adjuster drives the rotation of micro-adjuster ut socket according to control signal, and drives the adjustment nut rotation setting number of turns of accurate adjustment pawl thus, thereby realizes the position accurate adjustment of fragment-free track slab.
Step 107: the adjusted orientation that utilizes the total station survey fragment-free track slab.
Step 108: judge whether positioning accuracy meets the demands, if then following a pair of accurate adjustment pawl is adjusted; Otherwise, return step 102, repeating step 102～108.
Judging whether positioning accuracy meets the demands specifically is, utilize total powerstation to calculate the flatness of fragment-free track slab, judge whether flatness satisfies the designing requirement of CRTS II track slab construction, be that spatial positioning accuracy is less than and equals 0.3 millimeter requirement, equal 0.3 millimeter if positioning accuracy is less than, judge that then positioning accuracy meets the demands.Otherwise, return step 102, repeating step 102～108.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (5)
1. a fragment-free track slab accurate adjustment system is characterized in that described system comprises total powerstation, Industrial Personal Computer (IPC), programmable logic controller, motor servo driver and servomotor micro-adjuster that order links to each other;
Described servomotor micro-adjuster comprises servomotor, first connector, reducer, second connector, micro-adjuster ut socket bar and the micro-adjuster ut socket that is linked in sequence;
Described total powerstation is used to measure the current orientation and the side-play amount of fragment-free track slab, and the current orientation and the side-play amount that will record send to Industrial Personal Computer (IPC);
Described Industrial Personal Computer (IPC) is used for the pose according to the current orientation of fragment-free track slab and side-play amount identification fragment-free track slab, and calculating the adjustment amount of fragment-free track slab according to the pose of fragment-free track slab, the adjustment amount that will calculate fragment-free track slab then sends to programmable logic controller;
Described programmable logic controller is used for producing pulse signal according to the adjustment amount of fragment-free track slab, and pulse signal is sent to motor servo driver;
Described motor servo driver is used for producing control signal and sending to the servomotor micro-adjuster according to the pulse signal that obtains and self setup parameter;
The servomotor micro-adjuster is used for driving according to control signal the revolution of rotation of micro-adjuster ut socket and control rotation.
2. a kind of fragment-free track slab accurate adjustment according to claim 1 system is characterized in that described reducer is accurate planetary reduction gear.
3. a fine adjusting method that uses a kind of fragment-free track slab accurate adjustment as claimed in claim 1 system is characterized in that, it is characterized in that described method comprises:
Step 101: the adjustment nut of the micro-adjuster ut socket of servomotor micro-adjuster being aimed at a pair of accurate adjustment pawl that is inserted in fragment-free track slab;
Step 102: utilize the current orientation and the side-play amount of total station survey fragment-free track slab, and the current orientation and the side-play amount that will record send to Industrial Personal Computer (IPC);
Step 103: Industrial Personal Computer (IPC) is according to the current orientation and the side-play amount of the fragment-free track slab that receives, the pose of identification fragment-free track slab, and calculating the adjustment amount of fragment-free track slab according to the pose of fragment-free track slab, the adjustment amount that will calculate fragment-free track slab then sends to programmable logic controller;
Step 104: programmable logic controller produces pulse signal according to the adjustment amount of fragment-free track slab, and pulse signal is sent to motor servo driver;
Step 105: motor servo driver is used for producing control signal and sending to the servomotor micro-adjuster according to the pulse signal that obtains and self setup parameter;
Step 106: the servomotor micro-adjuster is used for driving according to control signal the revolution of rotation of micro-adjuster ut socket and control rotation;
Step 107: the adjusted orientation that utilizes the total station survey fragment-free track slab;
Step 108: judge whether positioning accuracy meets the demands, if then following a pair of accurate adjustment pawl is adjusted; Otherwise, return step 102, repeating step 102～108.
4. a kind of fragment-free track slab accurate adjustment according to claim 3 system is characterized in that described self setup parameter comprises control model and electronic gear proportional numbers.
5. a kind of fragment-free track slab accurate adjustment according to claim 4 system, it is characterized in that describedly judging whether positioning accuracy meets the demands and specifically being, utilize total powerstation to calculate the flatness of fragment-free track slab,, judge that then positioning accuracy meets the demands when flatness during smaller or equal to setting value.
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| CN201010564811A CN102080348B (en) | 2010-11-24 | 2010-11-24 | Fine tuning system and method of nonballast track slab |
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Cited By (11)
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| CN105648860A (en) * | 2016-01-11 | 2016-06-08 | 北京城建设计发展集团股份有限公司 | Measurement and adjustment system and method for track board for urban track traffic |
| CN106436501A (en) * | 2016-08-11 | 2017-02-22 | 长沙铁信交通科技有限公司 | Simultaneous operation method for fine adjustment of two tracks of high-speed rail |
| CN109323652A (en) * | 2018-10-08 | 2019-02-12 | 中国铁建重工集团有限公司 | A kind of engineering machinery positioning system |
| CN109443326A (en) * | 2018-10-08 | 2019-03-08 | 中国铁建重工集团有限公司 | A kind of engineering machinery localization method and system |
| CN110904748A (en) * | 2019-12-17 | 2020-03-24 | 湖南天象建筑科技有限公司 | Numerical control intelligent high-speed rail track slab fine adjuster and track slab position adjusting method |
| CN111472217A (en) * | 2020-04-30 | 2020-07-31 | 中铁四局集团第五工程有限公司 | Rapid intelligent fine tuning system and fine tuning method for CRTS III type track slab |
| CN111576104A (en) * | 2020-04-09 | 2020-08-25 | 重庆工程职业技术学院 | Method for automatically adjusting installation position of track slab |
| CN111576103A (en) * | 2020-04-09 | 2020-08-25 | 重庆工程职业技术学院 | System for automatically adjusting installation position of track slab |
| CN111650971A (en) * | 2020-06-16 | 2020-09-11 | 安徽兴宇轨道装备有限公司 | Intelligent control system and method for precast slab fine tuning vehicle |
| CN114032717A (en) * | 2021-11-10 | 2022-02-11 | 中铁三局集团华东建设有限公司 | Intelligent fine-tuning wrench and device for ballastless track plate |
| CN114152198A (en) * | 2021-12-07 | 2022-03-08 | 中铁三局集团华东建设有限公司 | Intelligent fine adjustment method, system, equipment and storage medium for ballastless track plate |
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| CN105648860A (en) * | 2016-01-11 | 2016-06-08 | 北京城建设计发展集团股份有限公司 | Measurement and adjustment system and method for track board for urban track traffic |
| CN106436501A (en) * | 2016-08-11 | 2017-02-22 | 长沙铁信交通科技有限公司 | Simultaneous operation method for fine adjustment of two tracks of high-speed rail |
| CN106436501B (en) * | 2016-08-11 | 2018-05-22 | 长沙铁信交通科技有限公司 | High-speed railway accurate adjustment double track while operational method |
| CN109323652A (en) * | 2018-10-08 | 2019-02-12 | 中国铁建重工集团有限公司 | A kind of engineering machinery positioning system |
| CN109443326A (en) * | 2018-10-08 | 2019-03-08 | 中国铁建重工集团有限公司 | A kind of engineering machinery localization method and system |
| CN109443326B (en) * | 2018-10-08 | 2021-01-22 | 中国铁建重工集团股份有限公司 | Engineering machinery positioning method and system |
| CN110904748A (en) * | 2019-12-17 | 2020-03-24 | 湖南天象建筑科技有限公司 | Numerical control intelligent high-speed rail track slab fine adjuster and track slab position adjusting method |
| CN111576103A (en) * | 2020-04-09 | 2020-08-25 | 重庆工程职业技术学院 | System for automatically adjusting installation position of track slab |
| CN111576104A (en) * | 2020-04-09 | 2020-08-25 | 重庆工程职业技术学院 | Method for automatically adjusting installation position of track slab |
| CN111576104B (en) * | 2020-04-09 | 2021-07-27 | 重庆工程职业技术学院 | The method of automatically adjusting the installation position of the track plate |
| CN111472217A (en) * | 2020-04-30 | 2020-07-31 | 中铁四局集团第五工程有限公司 | Rapid intelligent fine tuning system and fine tuning method for CRTS III type track slab |
| CN111650971A (en) * | 2020-06-16 | 2020-09-11 | 安徽兴宇轨道装备有限公司 | Intelligent control system and method for precast slab fine tuning vehicle |
| CN114032717A (en) * | 2021-11-10 | 2022-02-11 | 中铁三局集团华东建设有限公司 | Intelligent fine-tuning wrench and device for ballastless track plate |
| CN114032717B (en) * | 2021-11-10 | 2024-05-28 | 中铁三局集团华东建设有限公司 | Intelligent fine-adjustment wrench and device for ballastless track plate |
| CN114152198A (en) * | 2021-12-07 | 2022-03-08 | 中铁三局集团华东建设有限公司 | Intelligent fine adjustment method, system, equipment and storage medium for ballastless track plate |
| CN114152198B (en) * | 2021-12-07 | 2024-05-28 | 中铁三局集团华东建设有限公司 | Intelligent fine adjustment method, system, equipment and storage medium for ballastless track plate |
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