CN106078773B

CN106078773B - A kind of underground railway track intelligence polishing cleaning manipulator

Info

Publication number: CN106078773B
Application number: CN201610500233.7A
Authority: CN
Inventors: 张伟
Original assignee: Anhui Gangtai Machinery Manufacturing Co Ltd
Current assignee: Anhui Gangtai Machinery Manufacturing Group Co ltd
Priority date: 2016-06-28
Filing date: 2016-06-28
Publication date: 2018-01-16
Anticipated expiration: 2036-06-28
Also published as: CN107813331A; CN108000538A; CN106078773A

Abstract

The present invention relates to a kind of underground railway track intelligence polishing cleaning manipulator,Including from steady mobile device,Can be according to the stable self-control polishing direction of rail curved shape from steady mobile device,It is described that variable high pressure cleaning device is installed from steady mobile device lower surface,Variable high pressure cleaning device can adjust high-pressure wash direction,Utilize the residual polishing iron filings adhered on high-pressure water jet operation principle Rapid Cleaning rail and the dust do not removed,High-pressure wash effect is good,The lower end of variable high pressure cleaning device is symmetrically installed with four No. four hydraulic cylinders,The lower end of four No. four hydraulic cylinders is provided with adjustable sanding apparatus,Four No. four hydraulic cylinders can adjust the polishing height of the present invention,So that the present invention is applied to the polishing cleaning of rail under different terrain height,Adjustable sanding apparatus can be close to rail surface completely and polish back and forth,Scope of polishing is big.The present invention can realize the full-automatic sanding cleaning function of rail, high without manual operation, automaticity.

Description

A kind of underground railway track intelligence polishing cleaning manipulator

Technical field

The present invention relates to rail processing technique field, specifically a kind of underground railway track intelligence polishing cleaning manipulator.

Background technology

With the continuous development of high ferro technology, to the quality requirement of rail also more and more higher, due to high ferro, motor-car, subway Speed be far above common train, it is therefore very high to the smoothness requirements of rail, it is following to influence mainly having for rail smoothness Several aspects：First, surface has many burrs after the main body production shaping of rail, and the smoothness of rail is poor；2nd, will Need to carry out secondary welding between 100 meters of superlong steel rail, but the pad left after the completion of welding is extremely uneven in orbit It is whole, influence the smoothness of rail；3rd, the rail in use is also possible to produce rust staining for a long time by corrosion, reduces rail Smoothness；4th, rail due to being exposed to outside for a long time, and rail surface adheres to many dust, so as to reduce the smooth of rail Degree.

The smoothness of rail directly affects high ferro, motor-car, train, the travel speed and security performance of subway, therefore in iron Rail completion of processing is needed to be polished and cleaned afterwards using a period of time, and cardinal principle is manually operated by operator Rail grinding apparatus is polished, and then operator's cleaning equipment auxiliary is cooled and is attached to above after rinsing polishing Iron filings, the mode of this human assistance rail polishing cleaning has the following disadvantages：1st, need human assistance to operate, automate journey Spend it is low, polishing cleaning speed it is slow, operating efficiency is low；2nd, it is not necessarily all straight trip because the rail having is bending arc track Rail, existing the grinding apparatus different polishing of regulation in time directions, direction self-control of polishing when bending the polishing of circular arc rail Poor performance, the artificial auxiliary adjustment polishing direction of demand, but regulation error unavoidably be present during manual adjustment polishing direction, and beating Stability is poor during grinding the manual regulation in direction, and so as to greatly reduce the smoothness of rail polishing, polishing effect is poor；3rd, it is existing Some rails are substantially I-shaped structure, and existing grinding apparatus is difficult to be close to rail surface completely, and causing can not be to rail Polished comprehensively, polishing scope is small, and polishing effect is poor, and the scope of application is small；4th, existing rail is after polishing above rail This some polishing iron filings is often remained, because existing rail cleaning equipment is not high-pressure wash, is still had after cleaning Some polishing iron filings remain in above, and cleaning performance is poor, causes the smoothness for reducing rail surface.

The content of the invention

In order to solve the above problems, the invention provides a kind of underground railway track intelligence polishing cleaning manipulator, can solve Manual operation, automaticity are low, polish by being needed existing for human assistance mode of operation for existing rail polishing cleaning equipment Cleaning speed is slow, polishing effect is poor, polishing direction self-adaptability is poor, equipment is difficult to be close to rail surface, polishing completely The problems such as scope is small, the scope of application is small, residual polishing iron filings cleaning performance difference and operating efficiency are low, it is possible to achieve rail it is complete Automatically grinding cleaning function, without manual operation, automaticity is high, and with polishing cleaning speed is fast, polishing effect is good, beats Mill direction Self homeostasis adjustment performance is good, equipment can be close to rail surface completely, polishing scope is big, the scope of application is big, residual polishing Iron filings high-pressure wash effect is good and the advantages that operating efficiency is high.

To achieve these goals, the present invention is realized using following technical scheme：Intelligently polishing is clear for a kind of underground railway track Manipulator is washed, including from steady mobile device, can be polished from steady mobile device according to the stable self-control of rail curved shape Direction so that the polishing that the present invention is applied to different tracks shape rail is cleaned, and the scope of application is big, described under steady mobile device End face is provided with variable high pressure cleaning device, and variable high pressure cleaning device can adjust high-pressure wash direction so that the present invention exists It is unaffected in bruting process, high-pressure wash direction is adjusted after polishing and is operated, utilizes high-pressure water jet operation principle The residual polishing iron filings adhered on Rapid Cleaning rail and the dust do not removed, high-pressure wash effect is good, variable high pressure cleaning dress The lower end put is symmetrically installed with four No. four hydraulic cylinders, and the lower ends of four No. four hydraulic cylinders is provided with adjustable sanding apparatus, four No. four hydraulic cylinders can adjust the polishing height of the present invention so that the polishing that the present invention is applied to rail under different terrain height is clear Work is washed, adjustable sanding apparatus can be close to rail surface completely and polish back and forth, and polishing scope is big, and polishing effect is good, work Efficiency high.

It is described to include from steady mobile device from steady support plate and Self homeostasis adjustment block, the lower surface front and rear sides from steady support plate Two are symmetrically welded with from steady hanger, mobile electricity is provided with by motor cabinet from steady hanger inwall positioned at from steady branch front edge of board Machine, the output shaft of mobile motor are connected by shaft coupling with mobile leading screw, and the rear end of mobile leading screw is mounted on by bearing From steady support plate rear end from steady hanger, movable block is provided with by thread fiting mode on the middle part of mobile leading screw, passes through shifting Dynamic motor driven movement leading screw rotates, and mobile leading screw drives movable block motion, the both ends of movable block be symmetrically arranged with two it is spacing Block, the lower surface of each limited block are installed in a fixed concave block by sliding matching mode, are connected with two limited blocks Two fixed concave block upper ends be respectively welded at from the both sides of steady support plate, pass through two limited blocks and the both sides of two fixed concave blocks Spaced motion cause movable block on mobile leading screw can with carry out move back and forth；It is symmetrically welded at left and right sides of the movable block There are two L-type connection support plates；A Self homeostasis adjustment mechanism is mounted on the upper surface of the Self homeostasis adjustment block, left and right end face, Liang Ge Self homeostasis adjustments mechanism top on the face of Self homeostasis adjustment block left and right ends is separately mounted to two L-type connection support plate inwalls On, the Self homeostasis adjustment mechanism top on Self homeostasis adjustment block upper surface is arranged on the lower surface of movable block, Self homeostasis adjustment mechanism With good Self homeostasis adjustment performance, three Self homeostasis adjustment mechanisms are from three upper end, left end, right-hand member directions to Self homeostasis adjustment block Self homeostasis adjustment is carried out, when running into the polishing of curved shape rail, three Self homeostasis adjustment mechanisms can be fast according to rail bending direction The self-control polishing direction that speed is stablized so that the polishing that the present invention is applied to different tracks shape rail is cleaned, and is applicable Scope is big, and the lower surface of Self homeostasis adjustment block is welded with from steady fulcrum, is welded with from the lower surface of steady fulcrum from steady round platform, from steady branch Axle plays a part of fixed support from steady round platform；The Self homeostasis adjustment mechanism is included from steady platform and lower from steady platform, positioned at from steady It is installed on L-type connection support plate from steady platform in the Mian Shangliangge Self homeostasis adjustments mechanism of regulating block left and right ends, is adjusted positioned at from steady On locking nub upper surface Self homeostasis adjustment mechanism on be arranged on from steady platform on movable block, it is upper from steady platform and down between steady platform along it is upper oneself Steady platform axis direction is uniformly provided with four from steady side chain, under the corresponding end face of Self homeostasis adjustment block is arranged on from the lower surface of steady platform On；It is described to be welded on from steady side chain including No. three hydraulic cylinders and upper end from No. two ear mounts on steady platform lower surface, No. three hydraulic pressure The bottom of cylinder is arranged in No. two ear mounts by bearing pin, and the top of No. three hydraulic cylinders is arranged in No. three ear mounts by bearing pin, and three Number ear mount is welded on down from the upper surface of steady platform, and No. three hydraulic cylinder bottoms form revolute pair R, three in No. two ear mounts in the present invention Number hydraulic cylinder forms prismatic pair P, No. three hydraulic cylinder tops and forms revolute pair R in No. three ear mounts at work, and on from steady platform, Four RPR types form 4-RPR parallel institutions from steady side chain, down from steady platform, 4-RPR parallel institutions have dynamic response it is good, Rigidity height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, and the present invention makes by the advantages of 4-RPR parallel institutions Obtain the self-control polishing direction of the invention that runs into and can quickly be stablized during the polishing of curved shape rail so that the present invention is suitable Polishing for different tracks shape rail is cleaned, and the scope of application is big.During work, if run into the polishing of curved shape rail, The self-control that three Self homeostasis adjustment mechanisms are quickly stablized by the advantages of 4-RPR parallel institutions according to rail bending direction Polishing direction so that the polishing that the present invention is applied to different tracks shape rail is cleaned, and the scope of application is big, when the iron at this position After rail section is polished, now mobile motor is started working, and mobile motor drives mobile leading screw to rotate, and mobile leading screw, which drives, to be moved Motion block moves, and causes movable block to drive the present invention to enter under two limited blocks and the both sides spaced motion of two fixed concave blocks Next polishing position.

The variable high pressure cleaning device is welded on the cleaning support plate from steady round platform lower end including upper surface, cleans support plate Lower surface both sides are symmetrically installed with two cleaning regulation side chains and two high-pressure wash side chains, each cleaning regulation side chain with it is right High-pressure wash side chain is answered to be connected, two cleaning regulation side chains can be with the high-pressure wash angle of two high-pressure wash side chains of accurate adjustment Degree, when the present invention is polished, two cleaning regulation side chains adjust two high-pressure wash side chains and up moved so that this Invention is unaffected in bruting process, and polishing finishes latter two cleaning regulation side chain two high-pressure wash side chain of regulation and down transported It is dynamic, utilize the residual polishing iron filings adhered on high-pressure water jet operation principle Rapid Cleaning rail and the dust do not removed, high pressure Cleaning performance is good；The cleaning regulation side chain includes two cleaning hangers for being welded on cleaning support plate lower surface, cleaning hanger it Between adjustment axis is installed, the middle part of adjustment axis is provided with adjustment gear by key, and the rear end of adjustment axis is provided with by shaft coupling Regulation motor, regulation motor are arranged on the lower surface of cleaning support plate by motor cabinet, drive adjustment axis to rotate by regulation motor, Adjustment axis drives adjustment gear to rotate, and adjustment gear drives corresponding high-pressure wash side chain regulation cleaning angle；The high-pressure wash Side chain includes two cleaning risers for being symmetrically welded at cleaning support plate rear and front end, passes through axle between the lower end of two cleaning risers Hold and cleaning rotating shaft be installed, clean in the middle part of rotating shaft and be welded with Y type release handles, arc gear ring is provided with the top of Y type release handles, Arc gear ring is meshed with adjustment gear, and the gearratio of adjustment gear and arc gear ring is 3:1, adjustment gear drives arc gear ring Rotate, pass through 3:1 low gearratio drives the velocity of rotation for reducing arc gear ring, improves the stationary performance of transmission, arc-shaped gear Circle drives Y types release handle to be rotated in cleaning rotating shaft, and arc gear ring is provided at both ends with two and blocks block, and two block block restriction Positive and negative slewing area of the arc gear ring in adjustment gear, it is exactly arc gear ring both forward and reverse directions that two, which block block position, Two extreme rotational positions, the positive and negative slewing area of arc gear ring is exactly slewing area of the Y types release handle in cleaning rotating shaft, together When two arc gear rings on two block block Y type release handles upper end effectively limited, the lower end of the Y types release handle is consolidated Dingan County is equipped with limit shaft, and the both ends of limit shaft are separately mounted on two arc-shaped limit rings by sliding matching mode, and each Three connecting poles are welded between arc-shaped limit ring upper end and corresponding cleaning riser lower end, three connecting poles play connection and consolidated Surely support the effect of arc spacing ring, the scope of arc-shaped limit ring is just the positive and negative rotation scope of limit shaft, limit shaft it is positive and negative Positive and negative slewing area of the slewing area with arc gear ring in adjustment gear is corresponding, while limit shaft is on arc-shaped limit ring Spaced motion is effectively limited Y type release handles lower end so that and Y type release handles upper end, lower end uniformly limit, so that The accurate slewing area that Y type release handles are determined of the invention, finally accurately it is determined that the high-pressure wash angle of the present invention is adjusted Adjusting range, the cleaning rotating shaft, limit shaft, the central axis of arc-shaped limit ring and arc gear ring be combined with each other, using same Axis principle causes the driving arc gear ring of adjustment gear in the present invention being cleaned in the slewing areas of Y type release handles, Y types release handle The slewing area three of slewing area, limit shaft on arc-shaped limit ring in rotating shaft is equal, so that the present invention can essence The true high-pressure wash angle of regulation up and down；The lower end of the Y types release handle is welded with regulation support plate, and the lower end for adjusting support plate is uniform Three regulation pillars are welded with, the end of three regulation pillars is welded with cleaning fixed plate, and three regulation pillars play uniform branch The effect of support cleaning fixed plate, cleaning fixed plate lower end are evenly arranged with three cleaning fixed blocks, and three are cleaned on fixed blocks A giant is fixed with, three giants after cleaning is regulated and utilizes Cleaning by High Pressure Water Jet principle Rapid Cleaning The residual polishing iron filings and the dust do not removed, high-pressure wash effect adhered on rail are good.During work, when present invention polishing finishes The residual polishing iron filings adhered on timely high-pressure wash rail and the dust do not removed are needed afterwards, are first adjusted according to rail position Abridged edition invention high-pressure wash angle, two regulation motors that two cleanings are adjusted on side chains start simultaneously at work, regulation motor band Dynamic adjustment axis rotates, and adjustment axis drives adjustment gear to rotate, and adjustment gear drives arc gear ring to rotate, and arc gear ring drives Y types Release handle upper end rotates in cleaning rotating shaft and rotated with the limit shaft on Y type release handles lower end on arc-shaped limit ring, due to this Effective restriction is carried out to Y type release handles upper end, lower end in invention so that the present invention reaches leads to when specifying high-pressure wash position Present invention work can immediately be stopped by crossing stopping regulation motor, so as to accurately have adjusted three water under high pressures below cleaning fixed plate The high-pressure wash angle of rifle, regulate three giants after cleaning and utilize Cleaning by High Pressure Water Jet principle Rapid Cleaning iron The residual polishing iron filings and the dust do not removed, high-pressure wash effect adhered on rail are good.

The adjustable sanding apparatus includes the polishing support plate for being arranged on four No. four hydraulic cylinder lower ends, the lower end for support plate of polishing The left and right sides is symmetrically installed with Liang Ge travel mechanisms, and a polishing side chain is mounted on the inside of Liang Ge travel mechanisms, with two shiftings It is connected between two polishing side chains that motivation structure is connected using welding manner, is used to lay required polishing between two polishing side chains Rail, the upper end of two polishing side chains are welded with a mobile traveller, and every mobile traveller upper end passes through sliding matching mode Be mounted on a mobile chute, mobile chute upper end is welded on the lower surface of polishing support plate, by two mobile travellers and The spacing auxiliary Xia Liangge travel mechanisms of two mobile chutes drive the polishing campaign back and forth that two polishing side chains are stablized；Institute Stating travel mechanism includes being symmetrically welded at two polishing hangers of polishing support plate lower end, the polishing hanger positioned at polishing support plate rear end Polishing motor is provided with by motor cabinet on inwall, polishing leading screw is provided with by shaft coupling on the output shaft for motor of polishing, beaten Mode being connected through a screw thread in the middle part of mill leading screw polishing motion block being installed, motion block is polished in polishing leading screw by motor driven of polishing Upper stable movement；The polishing side chain includes two reinforcement blocks being welded in corresponding polishing motion block side wall, two reinforcements The end of block is welded on the back of bow-shaped support, and reinforcement block plays a part of being fixedly connected with bow-shaped support and polishing motion block, bow Two No. five hydraulic cylinders are symmetrically installed with the middle inside of shape support, the top of two No. five hydraulic cylinders is provided with main abrading block, By the motion of two No. five hydraulic cylinders enable winner's abrading block be close to needed in the middle part of polishing rail side wall, up and down the two of main abrading block End is mounted on a No.1 by No.1 limit spring and aids in abrading block, passes through No. two limits on the outer wall of each No.1 auxiliary abrading block Position spring is mounted on a No. two auxiliary abrading blocks, is made by the spacing connection function of No.1 limit spring and No. two limit springs Obtaining No.1 auxiliary abrading block can be synchronized with the movement with main abrading block, No. two auxiliary abrading blocks, pacify on the outer wall of each No. two auxiliary abrading block Equipped with No. six hydraulic cylinders, can be close to by No. two auxiliary abrading blocks of motion two of two No. six hydraulic cylinders required Polishing rail side wall upper and lower ends, the bottom of No. six hydraulic cylinders are arranged on the medial surface of bow-shaped support；Described two polishing branch I-shaped polishing structure is formed between main abrading block, No.1 auxiliary abrading block, No. two auxiliary abrading blocks on chain, it is relative with the shape of rail Should.During work, it is close in the present invention by four No. five hydraulic cylinder activity adjustments, two main abrading blocks on two polishing side chains In the middle part of required polishing rail side wall, pass through No. two auxiliary mills of four No. six hydraulic cylinder activity adjustments four on two polishing side chains Block is close to required polishing rail side wall upper and lower ends, and four No.1s auxiliary abrading block on two polishing side chains is limited due to No.1 Position spring, the connection position-limiting action of No. two limit springs follow corresponding main abrading block, No. two auxiliary abrading blocks to be close to required polishing iron Transition recess above and below trackside wall, so as to constitute the I-shaped polishing structure for being close to rail surface so that the present invention can be complete Rail surface is close to, now two in Liang Ge travel mechanisms polishing motor starts simultaneously at motion, two polishing motor drivens Two polishing motion blocks are stable on two polishing leading screws to be moved, and two polishing motion blocks drive two polishing side chains in two mobile cunnings Post moves back and forth with what is stablized under the spacing auxiliary of two mobile chutes, the I-shaped polishing formed between two polishing side chains The polishing campaign back and forth that structure is stablized to rail, polishing scope is big, and polishing effect is good, and operating efficiency is high.

In use, the present invention is arranged on existing mobile device first, it is by existing mobile device that the present invention is mobile To required polishing rail section, after position determines, if the present invention runs into the polishing of curved shape rail, moved from steady Dynamic device is started working, and three Self homeostasis adjustment mechanisms are quickly entered by the advantages of 4-RPR parallel institutions according to rail bending direction The stable self-control polishing direction of row so that the polishing that the present invention is applied to different tracks shape rail is cleaned, the scope of application Greatly；Then the polishing height of adjustable sanding apparatus is adjusted by four No. four hydraulic cylinders, until two on adjustable sanding apparatus No. four hydraulic cylinders are stopped when polishing side chain is positioned at required polishing rail section both sides so that the present invention is applied to different terrain The polishing cleaning of rail under height, now adjustable sanding apparatus start-up operation, first passes through four on two polishing side chains Two main abrading blocks of No. five hydraulic cylinder activity adjustments are close in the middle part of required polishing rail side wall, then by two polishing side chains No. two auxiliary abrading blocks of four No. six hydraulic cylinder activity adjustments four are close to required polishing rail side wall upper and lower ends, and two are beaten Four No.1s on mill side chain aid in abrading block to be followed correspondingly due to the connection position-limiting action of No.1 limit spring, No. two limit springs Main abrading block, No. two auxiliary abrading blocks are close to required polishing rail side wall transition recess up and down, and rail table is close to so as to constitute The I-shaped polishing structure in face so that the present invention can be close to rail surface completely, and now two in Liang Ge travel mechanisms beat Electric mill machine starts simultaneously at motion, and two polishing motor drivens, two polishing motion blocks are stable on two polishing leading screws to be moved, two It is next that polishing motion block drives two polishing side chains to be stablized under the spacing auxiliary of two mobile travellers and two mobile chutes Backhaul the polishing campaign back and forth dynamic, the I-shaped polishing structure formed between two polishing side chains is stablized to rail, model of polishing Enclose greatly, polishing effect is good, and operating efficiency is high；Needed after this position polishing of the invention attached on timely high-pressure wash rail The residual polishing iron filings and the dust do not removed, now variable high pressure cleaning device start-up operation are first in place according to rail institute Regulation high-pressure wash angle of the present invention is put, two regulation motors that two cleanings are adjusted on side chains start simultaneously at work, regulation electricity Machine drives adjustment axis to rotate, and adjustment axis drives adjustment gear to rotate, and adjustment gear drives arc gear ring to rotate, and arc gear ring drives Y type release handle upper ends rotate in cleaning rotating shaft and rotated with the limit shaft on Y type release handles lower end on arc-shaped limit ring, due to Effective restriction is carried out to Y type release handles upper end, lower end in the present invention so that when the present invention reaches specified high-pressure wash position Present invention work can immediately be stopped by stopping regulation motor, so as to accurately have adjusted three high pressures below cleaning fixed plate The high-pressure wash angle of hydraulic giant, regulate three giants after cleaning and utilize Cleaning by High Pressure Water Jet principle Rapid Cleaning The residual polishing iron filings and the dust do not removed, high-pressure wash effect adhered on rail are good；When the rail section at this position is beaten After mill cleaning, now mobile motor is started working, and mobile motor drives mobile leading screw to rotate, and mobile leading screw drives movable block Motion, it is next to cause that movable block drives the present invention to enter under two limited blocks and the both sides spaced motion of two fixed concave blocks Individual polishing position, can quickly polish cleaning rail in the manner described above, and the full-automatic sanding for realizing the present invention to rail is clear Function is washed, without manual operation, automaticity is high, and polishing cleaning speed is fast, and operating efficiency is high.

The beneficial effects of the invention are as follows：

1st, in the present invention on from steady platform, four RPR types from steady side chain, down form 4-RPR parallel institutions from steady platform, when Run into curved shape rail polishing when, three Self homeostasis adjustment mechanisms by the advantages of 4-RPR parallel institutions according to rail bending side To the self-control polishing direction stablized from three upper end, left end, right-hand member directions to Self homeostasis adjustment block so that the present invention Polishing suitable for different tracks shape rail is cleaned, and the scope of application is big；

2nd, block is blocked to Y type release handle upper ends and by limit shaft both ends by two in two arc gear rings in the present invention Effective restriction is carried out to Y type release handles lower end in arc-shaped limit ring spaced motion so that the present invention, which reaches, specifies high pressure clear Can immediately it be stopped when washing position by stopping regulation motor, so as to accurately have adjusted three height below cleaning fixed plate The high-pressure wash angle of hydraulic giant is pressed, three giants regulated after cleaning are quickly clear using Cleaning by High Pressure Water Jet principle The residual polishing iron filings and the dust do not removed, high-pressure wash effect adhered on washed metal rail are good；

3rd, the present invention is close in required polishing rail side wall by four No. five hydraulic cylinder activity adjustments, two main abrading blocks Portion and by No. two auxiliary abrading blocks of four No. six hydraulic cylinder activity adjustments four be close to needed for polishing rail side wall upper and lower ends, And four No.1s auxiliary abrading blocks because the connection position-limiting action of No.1 limit spring, No. two limit springs follows corresponding main abrading block, No. two auxiliary abrading blocks are close to required polishing rail side wall transition recess up and down, so as to constitute the I-shaped for being close to rail surface Polish structure so that the present invention can be close to rail surface completely, final Liang Ge travel mechanisms drive two polishing side chains it Between the polishing campaign back and forth stablize to rail of I-shaped polishing structure that is formed, polishing scope is big, and polishing effect is good, works and imitates Rate is high；

4th, it is artificial by being needed existing for human assistance mode of operation to solve existing rail polishing cleaning equipment by the present invention Operation, automaticity is low, polishing cleaning speed is slow, polishing effect is poor, polishing direction self-adaptability is poor, equipment has been difficult to It is complete be close to rail surface, polishing scope is small, the scope of application is small, residual polishing iron filings cleaning performance difference and operating efficiency are low etc. Problem, full-automatic sanding cleaning function of the present invention to rail is realized, without manual operation, automaticity is high, and has Polishing cleaning speed is fast, polishing direction Self homeostasis adjustment performance is good, equipment can be close to rail surface completely, polishing scope is big, suitable With the advantages that scope is big, residual polishing iron filings high-pressure wash effect is good and operating efficiency is high.

Brief description of the drawings

The present invention is further described with reference to the accompanying drawings and examples.

Fig. 1 is the structural representation of the present invention；

Fig. 2 is structural representation of the present invention from steady mobile device；

Fig. 3 is full sectional view of the present invention from steady mobile device；

Fig. 4 is Fig. 3 of the present invention A-A to sectional view；

Fig. 5 is the structural representation of variable high pressure cleaning device of the present invention；

Fig. 6 is the full sectional view of variable high pressure cleaning device of the present invention；

Fig. 7 is Fig. 6 of the present invention B-B direction sectional view；

Fig. 8 is the structural representation between present invention cleaning rotating shaft, Y types release handle, arc gear ring and limit shaft；

Fig. 9 is the structural representation of the adjustable sanding apparatus of the present invention；

Figure 10 is Fig. 9 of the present invention II to partial enlarged drawing；

Figure 11 is the full sectional view of the adjustable sanding apparatus of the present invention；

Figure 12 is Figure 11 of the present invention C-C to sectional view.

Specific embodiment

In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below Conjunction is specifically illustrating, and the present invention is expanded on further.

As shown in Figures 1 to 12, a kind of underground railway track intelligently polishing cleaning manipulator, including from steady mobile device 7, from surely Mobile device 7 can be according to the stable self-control polishing direction of rail curved shape so that the present invention is applied to different tracks The polishing cleaning of shape rail, the scope of application is big, described to be provided with variable high pressure cleaning device 8 from the steady lower surface of mobile device 7, Variable high pressure cleaning device 8 can adjust high-pressure wash direction so that the present invention is unaffected in bruting process, and polishing finishes High-pressure wash direction is adjusted afterwards to be operated, and is polished using the residual adhered on high-pressure water jet operation principle Rapid Cleaning rail Iron filings and the dust do not removed, high-pressure wash effect is good, and the lower end of variable high pressure cleaning device 8 is symmetrically installed with four No. four liquid Cylinder pressure 10, the lower end of four No. four hydraulic cylinders 10 are provided with adjustable sanding apparatus 9, and four No. four hydraulic cylinders 10 can adjust this hair Bright polishing height so that the present invention is applied to the polishing cleaning of rail under different terrain height, and adjustable sanding apparatus 9 can Polished back and forth with being close to rail surface completely, polishing scope is big, and polishing effect is good, and operating efficiency is high.

It is described to include from steady mobile device 7 from steady support plate 71 and Self homeostasis adjustment block 70, it is described from the lower surface of steady support plate 71 Front and rear sides are symmetrically welded with two from steady hanger 71a, pass through electricity from steady hanger 71a inwalls positioned at from the steady front end of support plate 71 Support is provided with mobile motor 72, and the output shaft of mobile motor 72 is connected by shaft coupling with mobile leading screw 73, mobile leading screw 73 Rear end be mounted on by bearing from the steady rear end of support plate 71 from steady hanger 71a, pass through on the middle part of mobile leading screw 73 Thread fiting mode is provided with movable block 74, drives mobile leading screw 73 to rotate by mobile motor 72, and mobile leading screw 73, which drives, to be moved Motion block 74 moves, and the both ends of movable block 74 are symmetrically arranged with two limited block 74a, and each limited block 74a lower surface passes through cunning Dynamic fit system is installed in a fixed concave block 75, two fixed upper ends of concave block 75 being connected with two limited block 74a point It is not welded on from the both sides of steady support plate 71, passes through two limited block 74a and the both sides spaced motion of two fixed concave blocks 75 Movable block 74 on mobile leading screw 73 can with carry out move back and forth；The left and right sides of the movable block 74 is symmetrically welded with two L-type connects support plate 76；A Self homeostasis adjustment mechanism 77 is mounted on the upper surface of the Self homeostasis adjustment block 70, left and right end face, The top of Liang Ge Self homeostasis adjustments mechanism 77 on the left and right ends face of Self homeostasis adjustment block 70 is separately mounted to two L-type connection support plates On 76 inwalls, the top of Self homeostasis adjustment mechanism 77 on the upper surface of Self homeostasis adjustment block 70 is arranged on the lower surface of movable block 74, Self homeostasis adjustment mechanism 77 has a good Self homeostasis adjustment performance, and three Self homeostasis adjustment mechanisms 77 are from three upper end, left end, right-hand member sides Self homeostasis adjustment is carried out to Self homeostasis adjustment block 70 upwards, when running into the polishing of curved shape rail, three Self homeostasis adjustment mechanisms 77 can With the self-control polishing direction quickly stablized according to rail bending direction so that the present invention is applied to different tracks shape The polishing cleaning of rail, the scope of application is big, and the lower surface of Self homeostasis adjustment block 70 is welded with from steady fulcrum 78, under steady fulcrum 78 End face is welded with from steady round platform 79, plays a part of fixed support from steady round platform 79 from steady fulcrum 78；The Self homeostasis adjustment mechanism 77 are included from steady platform 771 and lower from steady platform 773, positioned at the left and right ends Mian Shangliangge Self homeostasis adjustments mechanism 77 of Self homeostasis adjustment block 70 On from steady platform 771 be installed in L-type connection support plate 76 on, the Self homeostasis adjustment mechanism 77 on the upper surface of Self homeostasis adjustment block 70 On be arranged on from steady platform 771 on movable block 74, on from steady platform 771 and down between steady platform 773 on it is equal from steady platform axis direction It is even to be provided with four from steady side chain 772, under be arranged on from the lower surface of steady platform 773 on the corresponding end face of Self homeostasis adjustment block 70；Institute State from steady side chain 772 and be welded on including No. three hydraulic cylinders 7722 and upper end from No. two ear mounts 7721 on the steady lower surface of platform 771, The bottom of No. three hydraulic cylinders 7722 is arranged in No. two ear mounts 7721 by bearing pin, and the top of No. three hydraulic cylinders 7722 passes through bearing pin In No. three ear mounts 7723, No. three ear mounts 7723 are welded on down from the upper surface of steady platform 773, No. three hydraulic pressure in the present invention The bottom of cylinder 7722 forms prismatic pair P, No. three liquid at work in No. two the formation revolute pair of ear mounts 7721 R, No. three hydraulic cylinders 7722 The top of cylinder pressure 7722 forms revolute pair R in No. three ear mounts 7723, and on from steady 771, four RPR types of platform from steady side chain 772, Form 4-RPR parallel institutions from steady platform 773 down, 4-RPR parallel institutions have dynamic response is good, rigidity is high, large carrying capacity, Stability is good and the advantages that kinematic accuracy is high, and the present invention causes the present invention to run into Curved by the advantages of 4-RPR parallel institutions The self-control polishing direction that shape rail can quickly be stablized when polishing so that the present invention is applied to different tracks shape iron The polishing cleaning of rail, the scope of application are big.During work, if run into the polishing of curved shape rail, three Self homeostasis adjustment mechanisms 77 By the self-control polishing direction quickly stablized according to rail bending direction the advantages of 4-RPR parallel institutions so that this Invention is cleaned suitable for the polishing of different tracks shape rail, and the scope of application is big, when the rail section polishing at this position finishes Afterwards, now mobile motor 72 is started working, and mobile motor 72 drives mobile leading screw 73 to rotate, and mobile leading screw 73 drives movable block 74 Motion, movable block 74 is caused to drive the present invention to enter under two limited block 74a and the both sides spaced motion of two fixed concave blocks 75 Enter to next polishing position.

The variable high pressure cleaning device 8 is welded on the cleaning support plate 81 from the steady lower end of round platform 79, cleaning including upper surface The lower surface both sides of support plate 81 are symmetrically installed with two cleaning regulation side chains 82 and two high-pressure wash side chains 83, and each cleaning is adjusted Save side chain 82 with corresponding high-pressure wash side chain 83 to be connected, two cleaning regulation side chains 82 can be with two high-pressure wash of accurate adjustment The high-pressure wash angle of side chain 83, when the present invention is polished, two cleaning regulation side chains 82 adjust two high-pressure wash Side chain 83 up moves so that the present invention is unaffected in bruting process, and polishing finishes latter two cleaning regulation side chain 82 and adjusted Two high-pressure wash side chains 83 of section down move, and are beaten using the residual adhered on high-pressure water jet operation principle Rapid Cleaning rail Mill iron filings and the dust do not removed, high-pressure wash effect are good；The cleaning regulation side chain 82 is welded on cleaning support plate including two The cleaning hanger 821 of 81 lower surfaces, clean hanger 821 between adjustment axis 822 is installed, the middle part of adjustment axis 822 is pacified by key Equipped with adjustment gear 823, the rear end of adjustment axis 822 is provided with regulation motor 824 by shaft coupling, and regulation motor 824 passes through electricity Support is arranged on the lower surface of cleaning support plate 81, drives adjustment axis 822 to rotate by regulation motor 824, and adjustment axis 822, which drives, to be adjusted Section gear 823 rotates, and adjustment gear 823 drives corresponding high-pressure wash side chain 83 to adjust cleaning angle；The high-pressure wash side chain 83 include being symmetrically welded at two cleaning risers 831 of cleaning support plate 81 rear and front end, and two are cleaned between the lower end of riser 831 Cleaning rotating shaft 832 is provided with by bearing, the middle part of cleaning rotating shaft 832 is welded with Y types release handle 833, Y types release handle 833 Top is provided with arc gear ring 834, and arc gear ring 834 is meshed with adjustment gear 823, adjustment gear 823 and arc gear ring 834 Gearratio be 3:1, adjustment gear 823 drives arc gear ring 834 to rotate, and passes through 3:1 low gearratio, which drives, reduces arc-shaped gear The velocity of rotation of circle 834, improves the stationary performance of transmission, and arc gear ring 834 drives Y types release handle 833 in cleaning rotating shaft 832 Upper rotation, arc gear ring 834 are provided at both ends with two and block block 834a, and two block block 834a and define arc gear ring 834 Positive and negative slewing area in adjustment gear 823, it is exactly the both forward and reverse directions of arc gear ring 834 that two, which block block 834a positions, Two extreme rotational positions, the positive and negative slewing area of arc gear ring 834 is exactly that Y types release handle 833 turns in cleaning rotating shaft 832 Dynamic scope, while two in two arc gear rings 834 block block 834a and the upper end of Y types release handle 833 are effectively limited, institute The lower end for stating Y types release handle 833 is installed with limit shaft 835, and the both ends of limit shaft 835 are pacified respectively by sliding matching mode On two arc-shaped limit rings 836, and welded between each upper end of arc-shaped limit ring 836 and corresponding cleaning riser 831 lower end Three connecting pole 836a are connected to, three connecting pole 836a play a part of connecting and fixed support arc spacing ring 836, arc limit The scope of position ring 836 is just the positive and negative rotation scope of limit shaft 835, positive and negative rotation scope and the arc gear ring 834 of limit shaft 835 Positive and negative slewing area in adjustment gear 823 is corresponding, while spaced motion of the limit shaft 835 on arc-shaped limit ring 836 The lower end of Y types release handle 833 is effectively limited so that the upper end of Y types release handle 833, lower end uniformly limit, so that this The accurate slewing area that Y types release handle 833 is determined of invention, finally accurately it is determined that the high-pressure wash angle of the present invention is adjusted Adjusting range, the cleaning rotating shaft 832, limit shaft 835, the central axis of arc-shaped limit ring 836 and arc gear ring 834 4 are mutual With reference to causing adjustment gear 823 in the present invention to drive rotation of the arc gear ring 834 in Y types release handle 833 using coaxial line principle Rotation model of the slewing area, limit shaft 835 of scope, Y types release handle 833 in cleaning rotating shaft 832 on arc-shaped limit ring 836 It is equal to enclose three, so that the present invention can accurately adjust high-pressure wash angle up and down；Under the Y types release handle 833 End is welded with regulation support plate 837, and the lower end uniform welding of regulation support plate 837 has three regulation pillar 837a, three regulation pillars 837a end is welded with cleaning fixed plate 838, and three regulation pillar 837a play the work of even support cleaning fixed plate 838 With cleaning fixed plate 838 lower end is evenly arranged with three cleaning fixed blocks 838a, three cleaning fixed block 838a and is respectively and fixedly provided with One giant 839, regulate three giants 839 after cleaning and utilize Cleaning by High Pressure Water Jet principle Rapid Cleaning The residual polishing iron filings and the dust do not removed, high-pressure wash effect adhered on rail are good.During work, when present invention polishing finishes The residual polishing iron filings adhered on timely high-pressure wash rail and the dust do not removed are needed afterwards, are first adjusted according to rail position Abridged edition invention high-pressure wash angle, two regulation motors 824 that two cleanings are adjusted on side chains 82 start simultaneously at work, regulation electricity Machine 824 drives adjustment axis 822 to rotate, and adjustment axis 822 drives adjustment gear 823 to rotate, and adjustment gear 823 drives arc gear ring 834 rotate, and arc gear ring 834 drives the upper end of Y types release handle 833 to be rotated and the lower end of Y types release handle 833 in cleaning rotating shaft 832 On limit shaft 835 rotated on arc-shaped limit ring 836, due to being carried out to the upper end of Y types release handle 833, lower end in the present invention Effective restriction so that the present invention reaches can immediately stop this when specifying high-pressure wash position by stopping regulation motor 824 Invention work, so as to accurately have adjusted the high-pressure wash angle of three giants 839 in lower section of cleaning fixed plate 838, regulation Three giants 839 after good cleaning are polished using the residual adhered on Cleaning by High Pressure Water Jet principle Rapid Cleaning rail Iron filings and the dust do not removed, high-pressure wash effect are good.

The adjustable sanding apparatus 9 includes the polishing support plate 91 for being arranged on four No. four lower ends of hydraulic cylinder 10, support plate of polishing Liang Ge travel mechanisms 92 are symmetrically installed with left and right sides of 91 lower end, the inner side of Liang Ge travel mechanisms 92 is mounted on a polishing branch Chain 93, it is connected using welding manner between be connected with Liang Ge travel mechanisms 92 two polishing side chains 93, two polishing side chains 93 Between be used for lay needed for polishing rail, two polishing side chains 93 upper end be welded with a mobile traveller 94, every movement The upper end of traveller 94 is mounted on a mobile chute 95 by sliding matching mode, and the upper end of mobile chute 95 is welded on polishing support plate On 91 lower surface, driven by two mobile travellers 94 and the spacing auxiliary Xia Liangge travel mechanisms 92 of two mobile chutes 95 The polishing campaign back and forth that two polishing side chains 93 are stablized；The travel mechanism 92 includes being symmetrically welded under polishing support plate 91 Two polishing hangers 921 at end, polishing is provided with the inwall of polishing hanger 921 of polishing support plate 91 rear end by motor cabinet Motor 922, polish motor 922 output shaft on by shaft coupling be provided with polishing leading screw 923, polishing leading screw 923 middle part lead to Cross thread connecting mode and polishing motion block 924 is installed, polishing motion block 924 is driven on polishing leading screw 923 by motor 922 of polishing Stable movement；The polishing side chain 93 corresponds to the two reinforcement blocks 931 polished in the side wall of motion block 924 including being welded on, two The end of reinforcement block 931 is welded on the back of bow-shaped support 932, and reinforcement block 931, which plays, is fixedly connected with the He of bow-shaped support 932 Polish the effect of motion block 924, be symmetrically installed with two No. five hydraulic cylinders 933 in the middle inside of bow-shaped support 932, two No. five The top of hydraulic cylinder 933 is provided with main abrading block 934, winner's abrading block 934 is close to by the motion of two No. five hydraulic cylinders 933 In the middle part of required polishing rail side wall, the upper and lower ends of main abrading block 934 are mounted on a No.1 by No.1 limit spring 935 Aid in abrading block 936, on the outer wall of each No.1 auxiliary abrading block 936 by No. two limit springs 937 be mounted on one No. two it is auxiliary Grinding aid block 938, abrading block is aided in by the spacing connection function No.1 of No.1 limit spring 935 and No. two limit springs 937 936 can be synchronized with the movement with main 934, No. two auxiliary abrading blocks 938 of abrading block, be respectively mounted on the outer wall of each No. two auxiliary abrading block 938 There are No. six hydraulic cylinders 939, can be tight by No. two auxiliary abrading blocks 938 of motion two of two No. six hydraulic cylinders 939 Polishing rail side wall upper and lower ends needed for being attached to, the bottom of No. six hydraulic cylinders 939 are arranged on the medial surface of bow-shaped support 932； I-shaped is formed between 936, No. two main abrading block 934, No.1 auxiliary abrading block auxiliary abrading blocks 938 on described two polishing side chains 93 to beat Structure is ground, it is corresponding with the shape of rail.During work, pass through four No. five hydraulic cylinders on two polishing side chains 93 in the present invention The 933 main abrading blocks 934 of activity adjustment two are close in the middle part of required polishing rail side wall, pass through four on two polishing side chains 93 Four No. two auxiliary abrading blocks 938 of No. six 939 activity adjustments of hydraulic cylinder be close to needed for polishing rail side wall upper and lower ends, and two The four No.1s auxiliary abrading block 936 polished on side chain 93 is limited due to the connection of 935, No. two limit springs 937 of No.1 limit spring Position effect follows corresponding 934, No. two auxiliary abrading blocks 938 of main abrading block to be close to required polishing rail side wall transition recess up and down, from And constituting the I-shaped polishing structure for being close to rail surface so that the present invention can be close to rail surface completely, and now two Two polishing motors 922 in individual travel mechanism 92 start simultaneously at motion, and two polishing motors 922 drive two polishing motion blocks The 924 stabilization movements on two polishing leading screws 923, two polishing motion blocks 924 drive two polishing side chains 93 to be slided in two movements Post 94 moves back and forth with what is stablized under the spacing auxiliary of two mobile chutes 95, the work formed between two polishing side chains 93 The polishing campaign back and forth that word polishing structure is stablized to rail, polishing scope is big, and polishing effect is good, and operating efficiency is high.

In use, the present invention is arranged on existing mobile device first, it is by existing mobile device that the present invention is mobile To required polishing rail section, after position determines, if the present invention runs into the polishing of curved shape rail, moved from steady Dynamic device 7 is started working, and three Self homeostasis adjustment mechanisms 77 are by quick according to rail bending direction the advantages of 4-RPR parallel institutions The self-control polishing direction stablized so that the polishing that the present invention is applied to different tracks shape rail is cleaned, and is applicable model Enclose big；Then the polishing height of adjustable sanding apparatus 9 is adjusted by four No. four hydraulic cylinders 10, until on adjustable sanding apparatus 9 Two polishing side chains 93 positioned at required polishing rail section both sides when No. four hydraulic cylinders 10 be stopped so that the present invention is applicable The polishing cleaning of rail under different terrain height, now adjustable sanding apparatus 9 start working, first pass through two polishing branch Four 933 activity adjustments of No. five hydraulic cylinders, two main abrading blocks 934 on chain 93 are close in the middle part of required polishing rail side wall, then are led to Four No. six hydraulic cylinders, 939 activity adjustment crossed on two polishing side chains 93, four No. two auxiliary abrading blocks 938 are beaten needed for being close to Rail side wall upper and lower ends are ground, and four No.1s on two polishing side chains 93 aid in abrading block 936 due to No.1 limit spring 935th, the connection position-limiting action of No. two limit springs 937 follows corresponding 934, No. two auxiliary abrading blocks 938 of main abrading block to be close to required Transition recess above and below rail side wall of polishing, so as to constitute the I-shaped polishing structure for being close to rail surface so that the present invention can To be close to rail surface completely, now two polishing motors 922 in Liang Ge travel mechanisms 92 start simultaneously at motion, and two are beaten Electric mill machine 922 drives the stable movement on two polishing leading screws 923 of two polishing motion blocks 924, and two polishing motion blocks 924 drive two What individual polishing side chain 93 was stablized under spacing auxiliary of two mobile travellers 94 with two mobile chutes 95 moves back and forth, and two The polishing campaign back and forth that the I-shaped polishing structure formed between individual polishing side chain 93 is stablized to rail, polishing scope is big, beats It is good to grind effect, operating efficiency is high；Need to adhere on timely high-pressure wash rail after this position polishing of the invention residual Polishing iron filings and the dust do not removed are stayed, now variable high pressure cleaning device 8 is started working, and is first adjusted according to rail position High-pressure wash angle of the present invention, two regulation motors 824 that two cleanings are adjusted on side chains 82 start simultaneously at work, regulation motor 824 drive adjustment axis 822 rotate, and adjustment axis 822 drives adjustment gear 823 to rotate, and adjustment gear 823 drives arc gear ring 834 Rotate, arc gear ring 834 drives the upper end of Y types release handle 833 in cleaning rotating shaft 832 in rotation and the lower end of Y types release handle 833 Limit shaft 835 rotates on arc-shaped limit ring 836, due to being had to the upper end of Y types release handle 833, lower end in the present invention Effect limits so that the present invention reaches can immediately stop the present invention when specifying high-pressure wash position by stopping regulation motor 824 Work, so as to accurately have adjusted the high-pressure wash angle of three giants 839 in lower section of cleaning fixed plate 838, regulate clear Three giants 839 after washing utilize the residual polishing iron filings adhered on Cleaning by High Pressure Water Jet principle Rapid Cleaning rail The dust do not removed, high-pressure wash effect are good；After the rail section polishing cleaning at this position, now mobile motor 72 start working, and mobile motor 72 drives mobile leading screw 73 to rotate, and mobile leading screw 73 drives movable block 74 to move, spacing at two Movable block 74 is caused to drive the present invention to enter next polishing portion under block 74a and the both sides spaced motion of two fixed concave blocks 75 Position, can quickly polish cleaning rail in the manner described above, realize full-automatic sanding cleaning function of the present invention to rail, nothing Manual operation is needed, automaticity is high, and polishing cleaning speed is fast, and operating efficiency is high, solves existing rail polishing cleaning equipment By being needed existing for human assistance mode of operation, manual operation, automaticity are low, polishing cleaning speed is slow, polishing effect Difference, direction self-adaptability is poor for polishing, equipment is difficult to be close to rail surface completely, scope of polishing is small, the scope of application is small, residual The problems such as polishing iron filings cleaning performance is poor and operating efficiency is low are stayed, have reached purpose.

The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent Define.

Claims

The cleaning manipulator 1. a kind of underground railway track is intelligently polished, it is characterised in that：It is described from steady including from steady mobile device (7) Mobile device (7) lower surface is provided with variable high pressure cleaning device (8), and the lower end of variable high pressure cleaning device (8) is symmetrically installed There are four No. four hydraulic cylinders (10), the lower end of four No. four hydraulic cylinders (10) is provided with adjustable sanding apparatus (9)；

It is described to include from steady mobile device (7) under steady support plate (71) and Self homeostasis adjustment block (70), (71) from steady support plate End face front and rear sides are symmetrically welded with two from steady hanger (71a), positioned at interior from steady support plate (71) front end from steady hanger (71a) Mobile motor (72) is provided with by motor cabinet on wall, the output shaft of mobile motor (72) passes through shaft coupling and mobile leading screw (73) It is connected, the rear end of mobile leading screw (73) is mounted on from steady support plate (71) rear end from steady hanger (71a) by bearing, is moved Movable block (74) is provided with by thread fiting mode on the middle part of dynamic leading screw (73), the both ends of movable block (74) are symmetrically arranged with Two limited blocks (74a), the lower surface of each limited block (74a) are installed in a fixed concave block by sliding matching mode (75) on, two fixed concave block (75) upper ends being connected with two limited blocks (74a) are respectively welded at two from steady support plate (71) Side；Two L-type connection support plates (76) are symmetrically welded with left and right sides of the movable block (74)；The Self homeostasis adjustment block (70) A Self homeostasis adjustment mechanism (77) is mounted on upper surface, left and right end face, on Self homeostasis adjustment block (70) left and right ends face Liang Ge Self homeostasis adjustments mechanism (77) top be separately mounted on two L-types connection support plate (76) inwalls, positioned at Self homeostasis adjustment block (70) Self homeostasis adjustment mechanism (77) top on upper surface is under the lower surface of movable block (74), Self homeostasis adjustment block (70) End face is welded with from steady fulcrum (78), is welded with from the lower surface of steady fulcrum (78) from steady round platform (79)；The Self homeostasis adjustment machine Structure (77) is included from steady platform (771) and lower from steady platform (773), on Self homeostasis adjustment block (70) left and right ends face two from surely It is installed on governor motion (77) from steady platform (771) on L-type connection support plate (76), positioned at Self homeostasis adjustment block (70) upper surface It is arranged on upper Self homeostasis adjustment mechanism (77) from steady platform (771) on movable block (74), it is upper from steady platform (771) and lower from steady platform (773) four are uniformly provided with from steady side chain (772) from steady platform axis direction between, under from the lower surface of steady platform (773) On the corresponding end face of Self homeostasis adjustment block (70)；

The variable high pressure cleaning device (8) is welded on the cleaning support plate (81) from steady round platform (79) lower end including upper surface, clearly The lower surface both sides for washing support plate (81) are symmetrically installed with two cleaning regulation side chains (82) and two high-pressure wash side chains (83), often Individual cleaning regulation side chain (82) is connected with corresponding high-pressure wash side chain (83)；The cleaning regulation side chain (82) includes two welderings The cleaning hanger (821) of cleaning support plate (81) lower surface is connected on, adjustment axis (822) is installed between cleaning hanger (821), is adjusted The middle part of axle (822) is provided with adjustment gear (823) by key, and the rear end of adjustment axis (822) is provided with regulation by shaft coupling Motor (824), regulation motor (824) are arranged on the lower surface of cleaning support plate (81) by motor cabinet；The high-pressure wash side chain (83) two cleaning risers (831) for being symmetrically welded at cleaning support plate (81) rear and front end are included, two are cleaned riser (831) Cleaning rotating shaft (832) is provided with by bearing between lower end, Y types release handle (833), Y are welded with the middle part of cleaning rotating shaft (832) Arc gear ring (834) is provided with the top of type release handle (833), arc gear ring (834) is meshed with adjustment gear (823), arc Shaped ring gear (834) is provided at both ends with two and blocks block (834a), and the lower end of the Y types release handle (833) is fixedly mounted limited Position axle (835), the both ends of limit shaft (835) are separately mounted on two arc-shaped limit rings (836) by sliding matching mode, and Three connecting poles (836a), institute are welded between each arc-shaped limit ring (836) upper end and corresponding cleaning riser (831) lower end The lower end for stating Y types release handle (833) is welded with regulation support plate (837), and the lower end uniform welding of regulation support plate (837) has three tune Pillar (837a) is saved, the end of three regulation pillars (837a) is welded with cleaning fixed plate (838), cleaned under fixed plate (838) End is evenly arranged with three cleaning fixed blocks (838a), and a giant is respectively and fixedly provided with three cleaning fixed blocks (838a) (839)；

The adjustable sanding apparatus (9) includes being arranged on the polishing support plate (91) of four No. four hydraulic cylinder (10) lower ends, polishing branch Liang Ge travel mechanisms (92) are symmetrically installed with left and right sides of the lower end of plate (91), one is mounted on the inside of Liang Ge travel mechanisms (92) Individual polishing side chain (93), it is connected using welding manner between be connected with Liang Ge travel mechanisms (92) two side chains (93) of polishing, The upper end of two polishing side chains (93) is welded with a mobile traveller (94), and every mobile traveller (94) upper end is matched somebody with somebody by sliding Conjunction mode is mounted on a mobile chute (95), and mobile chute (95) upper end is welded on the lower surface of polishing support plate (91)； The travel mechanism (92) includes two polishing hangers (921) for being symmetrically welded at polishing support plate (91) lower end, positioned at polishing branch Polishing motor (922) is provided with by motor cabinet on polishing hanger (921) inwall of plate (91) rear end, polishing motor (922) Polishing leading screw (923) is provided with by shaft coupling on output shaft, being connected through a screw thread mode in the middle part of polishing leading screw (923) installs There is polishing motion block (924)；The polishing side chain (93) includes two reinforcements being welded in corresponding polishing motion block (924) side wall Block (931), the end of two reinforcement blocks (931) are welded on the back of bow-shaped support (932), the inner side of bow-shaped support (932) Two No. five hydraulic cylinders (933) are symmetrically installed with middle part, the top of two No. five hydraulic cylinders (933) is provided with main abrading block (934), the upper and lower ends of main abrading block (934) are mounted on a No.1 by No.1 limit spring (935) and aid in abrading block (936) No. two auxiliary, are mounted on by No. two limit springs (937) on the outer wall of each No.1 auxiliary abrading block (936) Abrading block (938), each No. two aid in being mounted on No. six hydraulic cylinders (939), No. six hydraulic cylinders on the outer wall of abrading block (938) (939) bottom is arranged on the medial surface of bow-shaped support (932).
The cleaning manipulator 2. a kind of underground railway track according to claim 1 is intelligently polished, it is characterised in that：It is described to be propped up from steady Chain (772) includes No. three hydraulic cylinders (7722) and upper end is welded on from No. two ear mounts (7721) on steady platform (771) lower surface, The bottom of No. three hydraulic cylinders (7722) is arranged on No. two ear mounts (7721) by bearing pin, and the top of No. three hydraulic cylinders (7722) leads to Bearing pin is crossed on No. three ear mounts (7723), No. three ear mounts (7723) are welded on down from the upper surface of steady platform (773).
The cleaning manipulator 3. a kind of underground railway track according to claim 1 is intelligently polished, it is characterised in that：The regulation tooth The gearratio for taking turns (823) and arc gear ring (834) is 3:1.
The cleaning manipulator 4. a kind of underground railway track according to claim 1 is intelligently polished, it is characterised in that：It is described two to beat Grind and form I-shaped polishing between the main abrading block (934) on side chain (93), No.1 auxiliary abrading block (936), No. two auxiliary abrading blocks (938) Structure.