CN107988859B - A kind of automatic maintaining robot of rail integration - Google Patents

Abstract

The present invention relates to a kind of automatic maintaining robots of rail integration, including track mobile foundation, what track mobile foundation may be implemented rail automatically moves detection function, track tree trimming device is installed on the left of the upper surface of track mobile foundation, the automatic clipping function of rail protection trees may be implemented in track tree trimming device, track stone squeeze device is installed, automatic squeeze that track vibration-reducing stone may be implemented in track stone squeeze device pushes away function on the right side of the upper surface of track mobile foundation；Track tree trimming device includes the trimming bottom plate being welded on the left of substrate upper surface, trimming supporting plate is welded on trimming bottom plate, clamping rotary-cut branch is installed in the middle part of the side on trimming supporting plate, clamping rotary-cut branch may be implemented rail protection trees clamping rotary cutting function, trim supporting plate side on both sides be symmetrically installed there are two sawing pat branch.The road conditions detection of rail may be implemented in the present invention, pruning trees, stone squeeze and push away the automatic maintenance function of integration.

Description

A kind of automatic maintaining robot of rail integration

The present invention be the applying date be submit on August 30th, 2016 application No. is 2016107676175, entitled one Divisional application of the kind for the Chinese patent application of the maintenance all-in-one machine of track for a train.

Technical field

The present invention relates to rail technology fields, the specifically a kind of automatic maintaining robot of rail integration.

Background technique

With the continuous development of Chinese rail technology, rail be broadly divided into high-speed rail rail, motor-car rail, rail, Iron rail, due to being increasing for rail quantity, the quantity of rail maintenance staff is also more and more, existing rail maintenance It is broadly divided into and checks device for rail, trimming rail on both sides protection trees, squeezes among the vibration damping stone and rail that push away rail both sides and remove It is miscellaneous etc., but existing rail maintenance mode has the following deficiencies: 1, artificial walking is needed to check rail conditions, due to checking rail Operator needs a large amount of distances of walking daily, large labor intensity, effect inefficiency, and the degree of automation is low；2, rail two Side needs that trees is protected to need artificial periodically trimming, and the trimming time is long, and trimming speed is slow, and trimming effect is poor, after trimming finishes It needs manually to shred the branch trimmed, in order to avoid influence rail proper motion；3, since high-speed rail, motor-car, train, subway exist Very big vibration force can be generated when moving on rail, in order to reduce vibration force, is usually laid with a large amount of stones in rail both sides to reach To the purpose of vibration damping, but with the growth of time, the stone of rail both sides can slowly slide to both sides, vibration damping effect with vibration force Fruit is deteriorated, it is therefore desirable to stone is periodically manually pushed into rail on both sides again, but exist need it is artificial push stone, squeeze when pushing away Between it is long, squeeze that push away speed slow, squeeze and push away that effect is poor, and working efficiency is low.

Summary of the invention

To solve the above-mentioned problems, it the present invention provides a kind of automatic maintaining robot of rail integration, can solve existing With the presence of rail maintenance mode, complicated for operation, large labor intensity, the degree of automation are low, working efficiency is low, need artificial row Walk to overhaul rail conditions, need artificial trimming protection trees, trimming speed is slow, the trimming time is long, trimming effect is poor, trims and finishes It needs manually to shred branch later, artificial squeeze is needed to push away stone, squeeze and push away that the time is long, squeezes that push away speed slow and squeeze that push away effect difference etc. difficult Topic, may be implemented the road conditions detection of rail, pruning trees, stone squeeze and push away integrated automatic maintenance function, without manually grasping Make, easy to operate, labor intensity is small, and work efficiency is high for high degree of automation, and has automatically walk maintenance rail conditions, automatic Trimming protection trees, trimming speed is fast, it is short to trim the time, trimming effect is good, trimming shreds branch automatically after finishing, automatic crowded Stone is pushed away, squeezes and pushes away that the time is short, squeezes that push away speed fast and squeeze and push away the advantages that effect is good.

To achieve the goals above, the present invention is using following technical scheme come real: a kind of automatic maintenance machine of rail integration The detection function that automatically moves of rail may be implemented in device people, including track mobile foundation, track mobile foundation, and the track is mobile Track tree trimming device is installed, rail protection trees may be implemented in track tree trimming device on the left of the upper surface of pedestal The upper surface right side of automatic clipping function, track mobile foundation is equipped with track stone squeeze device, track stone squeeze device Automatic squeeze that track vibration-reducing stone may be implemented pushes away function.

The track mobile foundation includes substrate, and two rows of mobile pillars are symmetrically installed in the middle part of the lower end surface of the substrate, The lower end of the mobile pillar of two rows is welded with movable drill base, and the mobile pillar of two rows plays the role of even support movable drill base, mobile The both ends of base station are symmetrically welded with two rows of fixed columns, and the two sides of two rows of fixed columns are separately installed with two devices that are movably walking, and two Row's fixed column plays the role of supporting two devices that are movably walking respectively；The device that is movably walking includes being welded on corresponding fixation The walking base station of column, the upper and lower ends for base station of walking are symmetrically installed there are four damping driving mechanism, four damping driving mechanisms It is connected respectively with two synchronous belts on outer wall, the outer wall of two synchronous belts is equipped with walking belt wheel, due to four damping driving machines Structure is symmetrically distributed in the upper and lower ends of walking base station, so that four damping driving mechanisms play uniformly two synchronous belts Vibration damping transmission agency, then walking belt wheel stabilized walking on rail is driven by two synchronous belts, driving force is steady, is driven effect Well, middle part strainer there are two being symmetrically installed in the middle part of the upper and lower ends of the walking base station, the top of two middle part strainers End is born against on the inner wall up and down of treads wheel, and two middle part strainers, which play, is uniformly tensioned walking belt wheel inner wall up and down Effect, be symmetrically installed there are four lateral strainer on the outside of the upper and lower ends of the walking base station, four lateral strainers Top be connected with two synchronous belts, four lateral strainers play the role of uniformly being tensioned walking belt wheel or so inner wall； The damping driving mechanism includes the lower vibration-damped table being mounted on walking base station end face, and lower vibration-damped table upper surface is equal in the axial direction There are four damping branches for even installation, and the upper end of four damping branches is mounted in vibration-damped table, since four damping branches are uniform It is distributed between lower vibration-damped table and upper vibration-damped table, to play the role of uniform shock-absorbing support, the upper surface of upper vibration-damped table is set It sets there are two driving ear, drive shaft is equipped with by bearing between two driving ears, drive is equipped with by shaft coupling in drive shaft Dynamic motor, driving motor are mounted on driving support, and driving support is mounted in vibration-damped table, the middle part installation of the drive shaft There are two drive pulley, two drive pulleys are meshed with two synchronous belts respectively, and the present invention is driven by driving motor and driven Axis rotates on two driving ears, and drive shaft drives two drive pulley rotations, and two drive pulleys drive two synchronous belts to pass Dynamic, two toothed belt transmissions drive walking belt wheel to walk on rail；The damping branch includes being mounted in lower vibration-damped table No.1 ear mount is equipped with No.1 hydraulic cylinder by pin shaft between No.1 ear mount, and the top of No.1 hydraulic cylinder is equipped with by pin shaft No. two ear mounts, No. two ear mounts are mounted in vibration-damped table, and No.1 hydraulic cylinder is formed when rotating in No.1 ear mount in this hair Turn that the prismatic pair P formed when revolute pair R pair, No.1 hydraulic cylinder works is secondary, No.1 hydraulic cylinder is formed when No. two ear mounts rotate Dynamic secondary R pair, so as to form RPR type parallel connection branch, and lower vibration-damped table is as fixed platform, four of four damping branches formation RPR type parallel connection branch, upper vibration-damped table form 4-RPR type parallel institution as moving platform, and 4-RPR type parallel institution, which has, to be stablized Property it is good, dynamic property is good, precision is high, rigidity is strong and bearing capacity is big the advantages that, four damping driving mechanisms formed four 4-RPR Type parallel institution plays uniform rigidity from steady walking function to the walking belt wheel on two synchronous belts；The middle part strainer Including the tensioning pillar being welded on walking base station end face, it is tensioned on pillar and is tensioned supporting plate there are two being symmetrical arranged, two tensionings It is respectively welded on the side wall of supporting plate there are two mandrel is advocated, is separately installed with two by bearing on two opinion mandrels and advocates tightly Wheel, two opinion bearings up pulley are tightly attached on walking belt wheel inner wall, and two two opinion bearings up pulley can rotate on two opinion bearings up pulley, By two opinion bearings up pulley to inner wall carries out uniform tensioning function up and down in the middle part of walking belt wheel；The lateral strainer includes Two lateral stays of walking base station end face are symmetrically welded at, secondary tensioning shaft is equipped with by bearing between two lateral stays, Two lateral stays, which play the role of stablizing, supports secondary tensioning shaft, is symmetrically installed on secondary tensioning shaft there are two secondary tensioning wheel, two Secondary tensioning wheel is tightly attached on walking belt wheel inner wall, and two secondary tensioning wheels can rotate on secondary tensioning shaft, passes through two secondary tensionings Wheel is to the walking uniform tensioning function of belt wheel both ends inner wall.When work, when needing to carry out the detection of rail road conditions, four dampings are driven Four driving motors on motivation structure start simultaneously at work, and driving motor drives drive shaft to rotate on two driving ears, drive Axis drives two drive pulley rotations, and two drive pulleys drive two toothed belt transmissions, and two toothed belt transmissions drive walking Belt wheel is walked on rail, and the revolute pair R that No.1 hydraulic cylinder is formed when rotating in No.1 ear mount in the present invention is secondary, No.1 The revolute pair R pair that the prismatic pair P formed when hydraulic cylinder works is secondary, No.1 hydraulic cylinder is formed when No. two ear mounts rotate, thus shape At RPR type parallel connection branch, and lower vibration-damped table formed as fixed platform, four damping branches four RPR type parallel connection branches, on Vibration-damped table forms 4-RPR type parallel institution as moving platform, 4-RPR type parallel institution have stability is good, dynamic property is good, The advantages that precision is high, rigidity is strong and bearing capacity is big, four 4-RPR type parallel institutions that four damping driving mechanisms are formed are by two The good tension effects in middle part of a middle part strainer and the good tension effects in both ends of four lateral strainers are same to two Walk the walking belt wheel that takes and play uniform rigidity from steady walking function, can automatically walk overhaul rail conditions, realize rail Automatically move detection function, easy to operate, labor intensity is small, and effect is high-efficient, high degree of automation.

The track tree trimming device includes the trimming bottom plate being welded on the left of substrate upper surface, trims and welds on bottom plate There is trimming supporting plate, trims and clamping rotary-cut branch is installed in the middle part of the side on supporting plate, it is anti-that rail may be implemented in clamping rotary-cut branch The clamping rotary cutting function for protecting trees, the side on both sides for trimming supporting plate are symmetrically installed that there are two sawings to pat branch, and two sawings Beating unbranched symmetric is located at the two sides of clamping rotary-cut branch, pats branches by two sawings and gets off branch progress quickly to rotary-cut Beating shreds；The clamping rotary-cut branch includes the clamping supporting plate being mounted on trimming supporting plate, and clamping supporting plate side wall upside is symmetrical Installation is fixed on clamping fixed board, the two sides for clamping fixed board are symmetrical there are two No. four hydraulic cylinders in the middle part of two No. four hydraulic cylinders It is welded on clamping supporting plate, clamping fixed board plays the role of two No. four hydraulic cylinders of even support, the top of two No. four hydraulic cylinders End is equipped with grain-clamping table by flange, drives grain-clamping table motor adjustment clamp distance by two No. four hydraulic cylinders, grain-clamping table Middle part is welded with clamp posts, and the top two sides of clamp posts are symmetrically installed that there are two clamp hand, two clamping hands by hinge Back and grain-clamping table between drive branches to be connected by two clampings respectively, pass through two clampings and branches drive two driven to press from both sides Hold pollard needed for hand clamps automatically；The clamping driving branch includes No. seven ear mounts being mounted on grain-clamping table, No. seven ears No. five hydraulic cylinders are equipped with by pin shaft between seat, the top of No. five hydraulic cylinders is mounted between No. eight ear mounts by pin shaft, and eight Number ear mount is mounted on the back of clamping hand, drives clamping hands to rotate in clamp posts by No. five hydraulic cylinders；The clamping branch Middle side part is equipped with rotating electric machine by motor cabinet under plate side wall, and main rotary-cut platform, main rotation are equipped on the output shaft of rotating electric machine It cuts and is symmetrically installed with four rotary-cut locating rods on platform in the axial direction, the bottom end of four rotary-cut locating rods passes through sliding matching mode It is installed in rotary-cut annular groove, rotary-cut annular groove is welded on clamping supporting plate, passes through four rotary-cut locating rods and rotary-cut ring The auxiliary stopper support function of shape sliding slot makes rotating electric machine can be with the rotary-cut angle of the main rotary-cut platform of stable regulation, the main rotary-cut Four No. six hydraulic cylinders are symmetrically installed on the outer wall of platform, the top of four No. six hydraulic cylinders is equipped with secondary rotation by flange Platform drives secondary turntable motor adjustment rotary-cut distance by four No. six hydraulic cylinders, welds No. three fixed links in the middle part of secondary turntable, No. three fixed link tops are provided with No.1 fixed ear, and No.1 fixed ear is mounted between two No. two fixed ears by pin shaft, and two A No. two fixed ears are arranged in No. four fixed links, and the top of No. four fixed links is equipped with rotary-cut motor, rotary-cut by motor cabinet Rotary-cut wheel is installed, there are two No. three fixed ears, two No. three solid for setting on the side wall of No. four fixed links on the output shaft of motor To determine that No. seven hydraulic cylinders are installed by pin shaft between ear, the bottom end of No. seven hydraulic cylinders is mounted between No. nine ear mounts by pin shaft, No. nine ear mounts are welded on secondary turntable, drive two No. two fixed ears in No. four fixed links at No. three by No. seven hydraulic cylinders It is rotated in the No.1 fixed ear of fixed link, to have adjusted the rotary-cut position of rotary-cut wheel, then rotary-cut motor drives rotary-cut wheel fast Pollard needed for fast rotary-cut；It includes being mounted on the sawing bottom plate trimmed on supporting plate that branch is patted in the sawing, on sawing bottom plate It is obliquely equipped on sawing supporting plate, sawing supporting plate middle inside is equipped with beating supporting plate by hinge, pats supporting plate top It is welded with sawing platform, is uniformly arranged on sawing platform there are three mounting base, is separately installed with three electric saws in three mounting bases, three Mounting base plays the role of that three electric saws are fixedly mounted, and there are two pat trunnion, two beating branch for setting on the sawing supporting plate Beating axis is equipped with by bearing between ear, pats and row's cam is uniformly installed on axis, cam type is disc cam, each The top of cam, which is resisted against, pats on supporting plate, and the upper end for patting axis is equipped with beating motor by shaft coupling, pats electricity Machine, which is mounted on, to be patted on support, is patted support and is welded on sawing supporting plate inner wall, and beating opening is provided on the sawing supporting plate, And pat all cam bottom ends on axis and be located at and pat in opening, it pats when the setting of opening prevents cam to rotate and encounters sawing The phenomenon that supporting plate, the upper end of the sawing supporting plate are uniformly installed there are three limit spring, the top of three limit springs respectively with The side wall of three mounting bases is connected, and drives beating axis to rotate on two beating trunnions by patting motor, pats axis and drive one Cam rotation is arranged, ceaselessly drives beating by specific profile line in the spring force restoring force effect lower cam of three limit springs Supporting plate moves back and forth repeatedly sawing supporting plate, pats supporting plate and three electric saws in three mounting bases is driven to pat sawing protection repeatedly Branch crushes to carry out whole sawings to the branch that rotary-cut is got off.When work, trees are protected when needing the present invention to trim rail When, two No. four hydraulic cylinder setting in motions, two No. four hydraulic cylinders, which drive, has two clamping hands movements on the right side of grain-clamping table to adjust To suitable clamp distance, so two No. five hydraulic cylinders on latter two clamping driving branch drive two clamping hands to clamp institute automatically Rotating electric machine is started to work after needing pollard, clamping to finish, in the auxiliary of four rotary-cut locating rods and rotary-cut annular groove The rotary-cut angle of rotary-cut wheel on the right side of the main rotary-cut platform of limited support lower rotating electrical machine stable regulation, then pass through four No. six hydraulic cylinder bands On the right side of dynamic pair turntable then rotary-cut wheel motor adjustment is driven in No. four fixed links by No. seven hydraulic cylinders again to rotary-cut distance Two No. two fixed ears rotate in the No.1 fixed ear of No. three fixed links adjusts rotary-cut wheel to suitable rotary-cut position, at this time rotary-cut Pollard needed for motor drives the quick rotary-cut of rotary-cut wheel, latter two sawing that branch rotary-cut finishes pat branch and start simultaneously at work Make, two sawings pat two beating motors on branch and start to work, and pat motor drive and pat axis on two beating trunnions Rotation pats axis and drives row's cam rotation, acts on lower cam by special wheel in the spring force restoring force of three limit springs Profile, which ceaselessly drives, pats supporting plate moving back and forth repeatedly in sawing supporting plate, pats supporting plate and drives three electricity in three mounting bases Saw pats sawing repeatedly and protects branch, crushes to carry out whole sawings to the branch that rotary-cut is got off, and realizes rail protection tree The automatic clipping function of wood, easy to operate, labor intensity is small, high degree of automation, and trimming speed is fast, and the trimming time is short, trimming Effect is good, and trimming finishes and shreds branch automatically later.

The track stone squeeze device includes that be welded on the right side of substrate upper surface crowded pushes away bottom plate, squeezes to push away and weld on bottom plate There is crowded push bracket, squeeze push bracket upper end lower right-hand side and be welded with to squeeze and pushes away platform, squeezes and push away platform lower end and be symmetrically installed there are two No. eight hydraulic cylinders, two It is fixed on and is squeezed on presumption plate in the middle part of a No. eight hydraulic cylinders, the both ends for squeezing presumption plate are welded on to squeeze and push away on platform lower end surface, squeeze presumption Plate plays the role of two No. eight hydraulic cylinders of fixed support, and the top of described two No. eight hydraulic cylinders, which is equipped with to squeeze by flange, to push away Supporting plate, the crowded lower end for pushing away supporting plate are welded with Z-type frame, are symmetrically installed on the downside of the middle part of Z-type frame there are two supporting plate is oriented to, two are oriented to Guiding axis is equipped with by bearing between the lower end of supporting plate, row's directive wheel is uniformly installed on guiding axis, each directive wheel Outer wall is evenly arranged with guiding plectrum along its circumferencial direction, and the front end of the guiding axis is equipped with guide motor by shaft coupling, Guide motor is mounted on guide type shoe by motor cabinet, and guide type shoe is welded on corresponding guiding supporting plate side wall, guide type shoe Play the role of fixed support guide motor, guiding axis rotation is driven by guide motor, guiding axis drives on all directive wheels Guiding plectrum quick rotation, be oriented to plectrum and the vibration damping stone in outside be quickly allocated to rail side, the middle part two of the Z-type frame Side is symmetrically installed there are two laterally crowded pushing mechanism, and two lateral crowded pushing mechanisms play and two lateral stones are allocated under guiding plectrum Side, the lateral crowded pushing mechanism includes the vertical plate for being welded on upper surface in the middle part of Z-type frame, is equipped on the side wall of vertical plate by hinge Secondary push plate, the lower end of secondary push plate are evenly arranged with pair and pawl, and No. ten ear mounts are equipped on secondary push plate inner wall, are led between No. ten ear mounts It crosses pin shaft and No. ten hydraulic cylinders is installed, the bottom end of No. ten hydraulic cylinders is mounted in ride on Bus No. 11 ear mount by pin shaft, ride on Bus No. 11 ear mount It is welded on guiding fixed board side wall, drives secondary push plate to rotate on vertical plate by No. ten hydraulic cylinders, pushed away by the pair in secondary push plate Two lateral stones are allocated to below guiding plectrum by pawl, and the vibration damping stone in outside is quickly quickly allocated to iron in order to be oriented to plectrum Trackside side；It is symmetrically installed on the right side of the lower end of the Z-type frame there are two No. nine hydraulic cylinders, is fixed in the middle part of two No. nine hydraulic cylinders It is oriented on fixed board, the both ends for being oriented to fixed board are welded on the lower end right side wall of Z-type frame, and the top of two No. nine hydraulic cylinders passes through method Orchid is equipped with featured plate, and the lower end of featured plate is evenly arranged with featured pawl, drives featured plate movement by two No. nine hydraulic cylinders, Quickly the vibration damping stone in principal direction is allocated to below guiding plectrum by promoting mainly the featured pawl on plate again, in order to be oriented to plectrum The vibration damping stone in outside is quickly quickly allocated to rail side；Middle side part is welded with stone guiding machine under the crowded push bracket upper end Structure, stone guide mechanism include the guiding bottom plate for being welded on middle side part under crowded push bracket upper end, and the lower end for guiding bottom plate, which is welded with, leads Draw supporting plate, guide the lower end of supporting plate by hinge and inverted T shaped supporting plate is installed, the side wall and guiding supporting plate inner wall of inverted T shaped supporting plate it Between uniformly there are three guiding driving branches for installation, drive branches that inverted T shaped supporting plates is driven to guide supporting plate lower end by three guidings It rotates repeatedly, inverted T shaped supporting plate lower end is uniformly arranged three stone guiding branches, and three stone guiding branches can be with F.F. vibration damping stone Son is squeezed and is pushed away on rail side, and stone guiding branch includes being welded on the concave frame of inverted T shaped supporting plate lower end and being welded on inverted T shaped supporting plate The guiding motor of lower end guides and is equipped with guidance axis by shaft coupling on the output shaft of motor, passes through bearing in the middle part of guidance axis It is mounted on concave frame, the lower end of guidance axis is welded with target seeker, and target seeker is spherical structure, uniformly sets on the spherical surface of target seeker It being equipped with triangle and draws block, drive guidance axis to rotate on concave frame by guiding motor, guidance axis drives the target seeker rotation of lower section, Triangle on target seeker draw block guiding driving branch rotation repeatedly under by vibration damping stone quickly squeeze be pushed into beside rail；It is described Guiding driving branch includes ten No. two ear mounts being mounted on guiding supporting plate inner wall, is equipped between ten No. two ear mounts by pin shaft The top of ride on Bus No. 11 hydraulic cylinder, ride on Bus No. 11 hydraulic cylinder is mounted between ten No. three ear mounts by pin shaft, and ten No. three ear mounts are mounted on On the side wall of inverted T shaped supporting plate, inverted T shaped supporting plate is driven to rotate repeatedly on guiding supporting plate by ride on Bus No. 11 hydraulic cylinder.When work, when The present invention is needed squeeze when pushing away vibration damping stone, two No. ten hydraulic cylinders on two lateral crowded pushing mechanisms are started to work, and No. ten Hydraulic cylinder drives secondary push plate to rotate on vertical plate, is pawled by the pair in secondary push plate and two lateral stones are allocated under guiding plectrum Side, two No. nine hydraulic cylinders are also started to work at the same time, and two No. nine hydraulic cylinders drive featured plate movement, then by promoting mainly plate On featured pawl quickly the vibration damping stone in principal direction is allocated to below guiding plectrum, when two lateral and principal direction on stone Guide motor is started to work after being allocated to below guiding plectrum, and guide motor drives guiding axis rotation, and guiding axis drives all guiding The vibration damping stone in outside is quickly allocated to beside rail by the guiding plectrum quick rotation on wheel, guiding plectrum, then three stones The three guiding motors guided on branch are started to work, and guiding motor drives guidance axis to rotate on concave frame, and guidance axis drives The target seeker of lower section rotates, and the triangle on target seeker draws block will under the rotation repeatedly of ride on Bus No. 11 hydraulic cylinder on guiding driving branch Vibration damping stone is quickly squeezed and is pushed into beside rail, and automatic squeeze for realizing track vibration-reducing stone pushes away function, easy to operate, labor intensity Small, high degree of automation squeezes that push away the time short, squeezes that push away speed fast, squeezes that push away effect good.

The present invention is in use, when needing the present invention to carry out the detection of rail road conditions, four in four damping driving mechanisms Driving motor starts simultaneously at work, and driving motor drives drive shaft to rotate on two driving ears, and drive shaft drives two transmissions Belt wheel rotation, two drive pulleys drive two toothed belt transmissions, and two toothed belt transmissions drive walking belt wheel in rail uplink Walk, and the revolute pair R that No.1 hydraulic cylinder is formed when rotating in No.1 ear mount in the present invention is secondary, No.1 hydraulic cylinder works when shape At the revolute pair R pair that prismatic pair P is secondary, No.1 hydraulic cylinder is formed when No. two ear mounts rotate, so as to form RPR type parallel connection branch Chain, and lower vibration-damped table formed as fixed platform, four damping branches four RPR type parallel connection branches, upper vibration-damped table is as dynamic flat Platform forms 4-RPR type parallel institution, and 4-RPR type parallel institution is with stability is good, dynamic property is good, precision is high, rigidity is strong The advantages that big with bearing capacity, four 4-RPR type parallel institutions that four damping driving mechanisms are formed are by two middle part tensioning devices The good tension effects in the middle part of structure and the good tension effects in both ends of four lateral strainers are to the walking on two synchronous belts Belt wheel plays uniform rigidity from steady walking function, can automatically walk overhaul rail conditions, realize rail automatically moves inspection Brake；When needing present invention trimming rail protection trees, two No. four hydraulic cylinder setting in motions, two No. four hydraulic cylinder bands Dynamic to have two clamping hands movements on the right side of grain-clamping table to be adjusted to suitable clamp distance, so latter two clamping drives two on branch Pollard needed for No. five hydraulic cylinders drive two clamping hands to clamp automatically, rotating electric machine is started to work after clamping finishes, Rotary-cut on the right side of the main rotary-cut platform of the auxiliary stopper of four rotary-cut locating rods and rotary-cut annular groove support lower rotating electrical machine stable regulation The rotary-cut angle of wheel, then by rotary-cut wheel motor adjustment on the right side of four secondary turntables of No. six hydraulic cylinders drive to rotary-cut distance, so Drive two No. two fixed ears in No. four fixed links in the No.1 fixed ear of No. three fixed links by No. seven hydraulic cylinders again afterwards Rotation adjusting rotary-cut wheel is to suitable rotary-cut position, pollard needed for rotary-cut motor drives the quick rotary-cut of rotary-cut wheel at this time, branch Latter two sawing that rotary-cut finishes pats branch and starts simultaneously at work, and two sawings pat two beating motors on branch and start work Make, pat motor and beating axis is driven to rotate on two beating trunnions, pats axis and drive row's cam rotation, in three limit bullets The spring force restoring force effect lower cam of spring ceaselessly drives by specific profile line pats supporting plate in the repeatedly next of sawing supporting plate It backhauls dynamic, pats supporting plate and three electric saws in three mounting bases is driven to pat sawing protection branch repeatedly, to get off to rotary-cut Branch carries out whole sawings and crushes, and realizes the automatic clipping function of rail protection trees；Subtract when needing the present invention to carry out crowded push away When vibration stone, two No. ten hydraulic cylinders on two lateral crowded pushing mechanisms are started to work, and No. ten hydraulic cylinders drive pair push plates vertical It is rotated on plate, is pawled by the pair in secondary push plate and two lateral stones are allocated to below guiding plectrum, two No. nine at the same time Hydraulic cylinder is also started to work, and two No. nine hydraulic cylinders drive featured plate movement, then will quickly be led by promoting mainly the featured pawl on plate Vibration damping stone on direction is allocated to below guiding plectrum, after two stones laterally and in principal direction are allocated to below guiding plectrum Guide motor is started to work, and guide motor drives guiding axis rotation, and guiding axis drives the guiding plectrum on all directive wheels quick The vibration damping stone in outside is quickly allocated to beside rail by rotation, guiding plectrum, and then three on three stone guiding branches lead Draw motor start-up operation, guiding motor drives guidance axis to rotate on concave frame, and guidance axis drives the target seeker rotation of lower section, leads Triangle on leader draw block guiding driving branch on ride on Bus No. 11 hydraulic cylinder rotation repeatedly under by vibration damping stone quickly squeeze be pushed into Beside rail, automatic squeeze for realizing track vibration-reducing stone pushes away function；Finally realize the road conditions detection of rail, pruning trees, Stone, which squeezes, pushes away the automatic maintenance function of integration, is not necessarily to manual hand manipulation, easy to operate, labor intensity is small.

The beneficial effects of the present invention are:

1. four 4-RPR type parallel institutions that the upper four damping driving mechanisms of the present invention are formed are by two middle part tensioning devices The good tension effects in the middle part of structure and the good tension effects in both ends of four lateral strainers are to the walking on two synchronous belts Belt wheel plays uniform rigidity from steady walking function, can automatically walk overhaul rail conditions, realize rail automatically moves inspection Brake；

2. the present invention drives two clamping hands to clamp automatically by two No. five hydraulic cylinders on two clamping driving branches Required pollard, rotary-cut wheel by three aspect such as rotary-cut angle, rotary-cut distance, rotary-cut position after adjusting, rotary-cut motor The quick rotary-cut of rotary-cut wheel is driven to clamp branch, then sawing pats branch under the spring force restoring force effect of three limit springs Cam driven pats supporting plate and is afraid of to play movement back and forth on sawing supporting plate, and is afraid of to beat while moving three back and forth Branch is protected in sawing to three electric saws in mounting base repeatedly, crushes, realizes to carry out whole sawings to the branch that rotary-cut is got off The automatic clipping function of rail protection trees；

3. the present invention laterally squeezes pushing mechanism by two and two lateral vibration damping stones is allocated to guiding plectrum lower section and two Vibration damping stone in principal direction is allocated to below guiding plectrum by No. nine hydraulic cylinders under the featured pawl auxiliary on featured plate, then is passed through Guide motor drives the guiding plectrum on all directive wheels that the vibration damping stone on the outside of track is quickly allocated to rail side, and last three Target seeker on a stone guiding branch, which quickly squeezes vibration damping stone under the rotation repeatedly of three guiding driving branches, is pushed into iron Trackside side, automatic squeeze for realizing track vibration-reducing stone push away function；

4. the present invention solve existing rail maintenance mode there are complicated for operation, large labor intensity, the degree of automation it is low, Working efficiency is low, when needing artificial walking maintenance rail conditions, needing slow artificial trimming protection trees, trimming speed, trimming Between it is long, trimming effect is poor, trimming needs manually to shred branch after finishing, artificial squeeze is needed to push away stone, squeeze and push away that the time is long, crowded pushes away Speed slowly and squeezes and pushes away the problems such as effect difference, realizes the road conditions detection of rail, pruning trees, stone are squeezed to push away and integrated be safeguarded automatically Function is not necessarily to manual hand manipulation, and easy to operate, labor intensity is small, and work efficiency is high for high degree of automation, and has automatic row Walk to overhaul rail conditions, automatic trimming protection trees, after trimming speed is fast, the trimming time is short, trimming effect is good, trimming finishes Automatically branch is shredded, automatic squeeze pushes away stone, squeezes and push away that the time is short, squeezes that push away speed fast and squeeze and push away the advantages that effect is good.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples.

Fig. 1 is structural schematic diagram of the invention；

Fig. 2 is the first structure diagram of track mobile foundation of the present invention；

Fig. 3 is the second structural schematic diagram of track mobile foundation of the present invention；

Fig. 4 is the structural schematic diagram of damping driving mechanism of the present invention；

Fig. 5 is the structural schematic diagram of track tree trimming device of the present invention；

Fig. 6 is the structural schematic diagram of present invention clamping rotary-cut branch；

Fig. 7 is the main view of present invention clamping rotary-cut branch；

Fig. 8 is the first structure diagram that branch is patted in sawing of the present invention；

Fig. 9 is the second structural schematic diagram that branch is patted in sawing of the present invention；

Figure 10 is the third structural schematic diagram that branch is patted in sawing of the present invention；

Figure 11 is the structural schematic diagram of track stone squeeze device of the present invention；

Figure 12 be track stone squeeze device of the present invention removal squeeze after pushing away bottom plate, squeezing push bracket, stone guide mechanism the One structural schematic diagram；

Figure 13 be track stone squeeze device of the present invention removal squeeze after pushing away bottom plate, squeezing push bracket, stone guide mechanism the Two structural schematic diagrams；

Figure 14 is the structural schematic diagram of stone guide mechanism of the present invention.

Specific embodiment

In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below Conjunction is specifically illustrating, and the present invention is further explained.

As shown in figs. 1 to 14, the automatic maintaining robot of a kind of rail integration, including track mobile foundation 1, track move The detection function that automatically moves of rail may be implemented in moving base 1, is equipped with track on the left of the upper surface of the track mobile foundation 1 The automatic clipping function of rail protection trees, the mobile base of track may be implemented in tree trimming device 3, track tree trimming device 3 Track stone squeeze device 4 is installed on the right side of the upper surface of seat 1, track vibration-reducing stone may be implemented in track stone squeeze device 4 It is automatic squeeze push away function.

The track mobile foundation 1 includes substrate 11, is symmetrically installed with two rows of movements in the middle part of the lower end surface of the substrate 11 Pillar 12, the lower end of the mobile pillar 12 of two rows are welded with movable drill base 13, and the mobile pillar 12 of two rows plays the mobile base of even support The effect of platform 13, the both ends of movable drill base 13 are symmetrically welded with two rows of fixed columns 14, and the two sides of two rows of fixed columns 14 are installed respectively There are two the device 15 that is movably walking, two rows of fixed columns 14 play the role of supporting two devices 15 that are movably walking respectively；The shifting Dynamic running gear 15 includes the walking base station 151 for being welded on corresponding fixed column 14, and the upper and lower ends of walking base station 151 are symmetrically installed There are four damping driving mechanism 152, it is connected respectively with two synchronous belts 153 on the outer wall of four damping driving mechanisms 152, two The outer wall of synchronous belt 153 is equipped with walking belt wheel 154, since four damping driving mechanisms 152 are symmetrically distributed in walking base station 151 Upper and lower ends so that four damping driving mechanisms 152 play uniform vibration damping transmission agency to two synchronous belts 153, The walking stabilized walking on rail of belt wheel 154 is driven by two synchronous belts 153 again, driving force is steady, and transmission effect is good, described Walk base station 151 upper and lower ends in the middle part of be symmetrically installed there are two middle part strainer 155, two middle part strainers 155 Top is born against on the inner wall up and down of treads wheel 154, and two middle part strainers 155 play uniformly tensioning walking belt wheel The upper and lower ends outside of the effect of about 154 inner walls, the walking base station 151 is symmetrically installed there are four lateral strainer 156, The top of four lateral strainers 156 is connected with two synchronous belts 153, and four lateral strainers 156, which play, uniformly to be opened The effect of tight walking 154 or so inner wall of belt wheel；The damping driving mechanism 152 includes being mounted on walking 151 end face of base station Lower vibration-damped table 1521, uniformly there are four damping branch 1522, four dampings for installation in the axial direction for lower 1521 upper surface of vibration-damped table The upper end of branch 1522 is mounted in vibration-damped table 1523, since four damping branches 1522 are evenly distributed on lower vibration-damped table 1521 Between upper vibration-damped table 1523, to play the role of uniform shock-absorbing support, the upper surface of upper vibration-damped table 1523 is provided with two A driving ear 1524 is equipped with drive shaft 1525 by bearing between two driving ears 1524, passes through shaft coupling in drive shaft 1525 Device is equipped with driving motor 1526, and driving motor 1526 is mounted on driving support 1527, and driving support 1527, which is mounted on, to be subtracted Shake on platform 1523, the installation of the middle part of the drive shaft 1525 there are two drive pulley 1528, two drive pulleys 1528 respectively with Two synchronous belts 153 are meshed, and the present invention drives drive shaft 1525 to turn on two driving ears 1524 by driving motor 1526 Dynamic, drive shaft 1525 drives two drive pulleys 1528 to rotate, and two drive pulleys 1528 drive two synchronous belts 153 to be driven, Two transmissions of synchronous belt 153 drive treads wheel 154 to walk on rail；The damping branch 1522 includes being mounted on lower damping No.1 hydraulic cylinder 1522b, No.1 liquid are equipped with by pin shaft between No.1 ear mount 1522a on platform 1521, No.1 ear mount 1522a The top of cylinder pressure 1522b is equipped with No. two ear mount 1522c by pin shaft, and No. two ear mount 1522c are mounted in vibration-damped table 1523, The revolute pair R that No.1 hydraulic cylinder 1522b is formed when rotating on No.1 ear mount 1522a in this hair is secondary, No.1 hydraulic cylinder 1522b The revolute pair R pair that the prismatic pair P formed when work is secondary, No.1 hydraulic cylinder 1522b is formed when No. two ear mount 1522c are rotated, from And RPR type parallel connection branch is formd, and four RPR that lower vibration-damped table 1521 is formed as fixed platform, four damping branches 1522 Type parallel connection branch, upper vibration-damped table 1523 form 4-RPR type parallel institution as moving platform, and 4-RPR type parallel institution has steady The advantages that qualitative good, dynamic property is good, precision is high, rigidity is strong and bearing capacity is big, four of the formation of four damping driving mechanisms 152 4-RPR type parallel institution plays uniform rigidity from steady walking function to the walking belt wheel 154 on two synchronous belts 153；It is described Middle part strainer 155 includes the tensioning pillar 1551 being welded on walking 151 end face of base station, is tensioned on pillar 1551 and symmetrically sets Set there are two be tensioned supporting plate 1552, two tensioning supporting plate 1552 side wall on be respectively welded there are two advocate mandrel 1553, two Advocate to be separately installed with two opinion bearings up pulley 1554 by bearing on mandrel 1553, two opinion bearings up pulley 1554 are tightly attached to walking On 154 inner wall of belt wheel, two two opinion bearings up pulley 1554 can rotate on two opinion bearings up pulley 1554, pass through two opinion bearings up pulley Inner wall carries out uniform tensioning function up and down at 1554 pairs of 154 middle parts of walking belt wheel；The lateral strainer 156 includes balanced welding Two lateral stays 1561 in walking 151 end face of base station are connect, pair is equipped with by bearing between two lateral stays 1561 and is opened Mandrel 1562, two lateral stays 1561, which play the role of stablizing, supports secondary tensioning shaft 1562, symmetrically pacifies on secondary tensioning shaft 1562 There are two secondary tensioning wheel 1563, two secondary tensioning wheels 1563 to be tightly attached on walking 154 inner wall of belt wheel for dress, two secondary tensioning wheels 1563 can rotate on secondary tensioning shaft 1562, uniformly be opened by two secondary tensioning wheels, 1563 pairs of walking belt wheels, 154 both ends inner wall Tight function.Four driving motors when work, when needing to carry out the detection of rail road conditions, in four damping driving mechanisms 152 1526 start simultaneously at work, and driving motor 1526 drives drive shaft 1525 to rotate on two driving ears 1524, drive shaft 1525 Two drive pulleys 1528 are driven to rotate, two drive pulleys 1528 drive two synchronous belts 153 to be driven, two synchronous belts 153 Transmission drive treads wheel 154 walk on rail, and in the present invention No.1 hydraulic cylinder 1522b on No.1 ear mount 1522a The prismatic pair P formed when the revolute pair R formed when rotation is secondary, No.1 hydraulic cylinder 1522b works is secondary, No.1 hydraulic cylinder 1522b exists The revolute pair R pair formed when No. two ear mount 1522c rotation, so as to form RPR type parallel connection branch, and 1521 conduct of lower vibration-damped table Four RPR type parallel connection branches that fixed platform, four damping branches 1522 are formed, upper vibration-damped table 1523 form 4- as moving platform RPR type parallel institution, 4-RPR type parallel institution is with stability is good, dynamic property is good, precision is high, rigidity is strong and bearing capacity is big The advantages that, four 4-RPR type parallel institutions that four damping driving mechanisms 152 are formed are by strainer 155 in the middle part of in the of two The good tension effects in middle part and the good tension effects in both ends of four lateral strainers 156 are to the row on two synchronous belts 153 Walk belt wheel 154 and play uniform rigidity from steady walking function, can automatically walk overhaul rail conditions, realize the automatic shifting of rail Dynamic detection function, easy to operate, labor intensity is small, and effect is high-efficient, high degree of automation.

The track tree trimming device 3 includes the trimming bottom plate 31 being welded on the left of 11 upper surface of substrate, trims bottom plate It is welded with trimming supporting plate 32 on 31, trims and clamping rotary-cut branch 33 is installed in the middle part of the side on supporting plate 32, clamp rotary-cut branch 33 may be implemented rail protection trees clamping rotary cutting function, trimming supporting plate 32 side on both sides be symmetrically installed there are two sawing clap Branch 34 is beaten, and the two sides that branch 34 is symmetrically positioned in clamping rotary-cut branch 33 are patted in two sawings, pats branch by two sawings Chain 34 gets off to rotary-cut, and quickly beating shreds for branch progress；The clamping rotary-cut branch 33 includes being mounted on trimming supporting plate 32 Supporting plate 331 is clamped, No. four hydraulic cylinders 332 there are two being symmetrically installed on the upside of 331 side wall of supporting plate, two No. four hydraulic cylinders 332 are clamped Middle part be fixed on clamping fixed board 333 on, clamping fixed board 333 two sides be symmetrically welded at clamping supporting plate 331 on, clamp fixed board 333 play the role of two No. four hydraulic cylinders 332 of even support, and the top of two No. four hydraulic cylinders 332 is equipped with by flange Grain-clamping table 334 drives 334 motor adjustment clamp distance of grain-clamping table, the middle part of grain-clamping table 334 by two No. four hydraulic cylinders 332 Clamp posts 335 are welded with, the top two sides of clamp posts 335 are symmetrically installed by hinge there are two hand 336 is clamped, and two press from both sides Hold drives branch 337 to be connected by two clampings respectively between the back of hand 336 and grain-clamping table 334, is driven by two clampings Pollard needed for branch 337 drives two clamping hands 336 to clamp automatically；The clamping driving branch 337 includes being mounted on folder It holds and No. five hydraulic cylinder 337b is equipped with by pin shaft between No. seven ear mounts 337a, No. seven ear mount 337a on platform 334, No. five hydraulic The top of cylinder 337b is mounted between No. eight ear mount 337c by pin shaft, and No. eight ear mount 337c are mounted on the back of clamping hand 336, Clamping hand 336 is driven to rotate in clamp posts 335 by No. five hydraulic cylinder 337b；In on the downside of 331 side wall of clamping supporting plate Portion is equipped with rotating electric machine 338 by motor cabinet, and main rotary-cut platform 339, main rotary-cut platform are equipped on the output shaft of rotating electric machine 338 Four rotary-cut locating rods 3310 are symmetrically installed on 339 in the axial direction, the bottom end of four rotary-cut locating rods 3310 passes through sliding Fit system is installed in rotary-cut annular groove 3311, and rotary-cut annular groove 3311 is welded on clamping supporting plate 331, passes through four The auxiliary stopper support function of rotary-cut locating rod 3310 and rotary-cut annular groove 3311 makes rotating electric machine 338 can be with stable regulation The rotary-cut angle of main rotary-cut platform 339, is symmetrically installed with four No. six hydraulic cylinders 3312 on the outer wall of the main rotary-cut platform 339, and four The top of No. six hydraulic cylinders 3312 of root is equipped with secondary turntable 3313 by flange, drives pair by four No. six hydraulic cylinders 3312 3313 motor adjustment rotary-cut distance of turntable welds No. three fixed links 3314, No. three fixed links 3314 in the middle part of secondary turntable 3313 Top is provided with No.1 fixed ear 3315, and No.1 fixed ear 3315 is mounted between two No. two fixed ears 3316 by pin shaft, Two No. two fixed ears 3316 are arranged in No. four fixed links 3317, and the top of No. four fixed links 3317 is equipped with by motor cabinet Rotary-cut motor 3318 is equipped with rotary-cut wheel 3319 on the output shaft of rotary-cut motor 3318, sets on the side wall of No. four fixed links 3317 It sets there are two No. three fixed ears 3320, No. seven hydraulic cylinders 3321 is equipped with by pin shaft between two No. three fixed ears 3320, seven The bottom end of number hydraulic cylinder 3321 is mounted between No. nine ear mounts 3322 by pin shaft, and No. nine ear mounts 3322 are welded on secondary turntable On 3313, drive two No. two fixed ears 3316 in No. four fixed links 3317 in No. three fixed links by No. seven hydraulic cylinders 3321 It is rotated in 3314 No.1 fixed ear 3315, to have adjusted the rotary-cut position of rotary-cut wheel 3319, then 3318 band of rotary-cut motor Pollard needed for the dynamic quick rotary-cut of rotary-cut wheel 3319；It includes the saw being mounted on trimming supporting plate 32 that branch 34 is patted in the sawing Bottom plate 341 is cut, is obliquely equipped on sawing supporting plate 342 on sawing bottom plate 341,342 middle inside of sawing supporting plate passes through hinge Chain be equipped with pat supporting plate 343, pat 343 top of supporting plate be welded with sawing platform 344, be uniformly arranged on sawing platform 344 there are three Mounting base 345, three electric saws 346 are separately installed in three mounting bases 345, and three mounting bases 345 play fixed installation three The effect of electric saw 346, setting passes through between two beating trunnions 347 there are two trunnion 347 is patted on the sawing supporting plate 342 Bearing, which is equipped with, pats axis 348, pats and is uniformly equipped with row's cam 349 on axis 348, and 349 type of cam is disc cam, often The top of a cam 349, which is resisted against, pats on supporting plate 343, and the upper end for patting axis 348 is equipped with beating by shaft coupling Motor 3410 is patted motor 3410 and is mounted on beating support 3411, pats support 3411 and be welded on 342 inner wall of sawing supporting plate On, beating opening is provided on the sawing supporting plate 342, and pat 349 bottom end of all cams on axis 348 and be located at beating opening In, pat when the setting of opening prevents cam 349 to rotate the phenomenon that encountering sawing supporting plate 342, the sawing supporting plate 342 it is upper Uniformly installation is there are three limit spring 3412 at end, the top of three limit springs 3412 side wall with three mounting bases 345 respectively It is connected, drives beating axis 348 to rotate on two beating trunnions 347 by patting motor 3410, pat axis 348 and drive a row convex 349 rotation of wheel, three limit springs 3412 spring force restoring force effect lower cam 349 by specific profile line ceaselessly band It is dynamic to pat the moving back and forth repeatedly in sawing supporting plate 342 of supporting plate 343, it pats supporting plate 343 and drives three electricity in three mounting bases 345 Saw 346 pats sawing repeatedly and protects branch, crushes to carry out whole sawings to the branch that rotary-cut is got off.When work, work as needs When the present invention trims rail protection trees, two No. four 332 setting in motions of hydraulic cylinder, two No. four hydraulic cylinders 332 drives have folder Two 336 motor adjustments of clamping hand on 334 right side of platform are held to suitable clamp distance, so latter two clamping drives on branch 337 Pollard needed for two No. five hydraulic cylinder 337b drive two clamping hands 336 to clamp automatically, rotating electric machine after clamping finishes 338 start to work, and support lower rotating electrical machine 338 in the auxiliary stopper of four rotary-cut locating rods 3310 and rotary-cut annular groove 3311 The rotary-cut angle of the main 339 right side rotary-cut wheel 3319 of rotary-cut platform of stable regulation, then secondary rotation is driven by four No. six hydraulic cylinders 3312 Then 3313 right side rotary-cut wheel of turntable, 3319 motor adjustment drives No. four fixations by No. seven hydraulic cylinders 3321 again to rotary-cut distance Two No. two fixed ears 3316 on bar 3317 rotate in the No.1 fixed ear 3315 of No. three fixed links 3314 adjusts rotary-cut wheel 3319 to suitable rotary-cut position, pollard needed for rotary-cut motor 3318 drives the quick rotary-cut of rotary-cut wheel 3319 at this time, branch rotation It cuts complete latter two sawing beating branch 34 and starts simultaneously at work, two beating motors 3410 on branches 34 are patted in two sawings It starts to work, pats motor 3410 and beating axis 348 is driven to rotate on two beating trunnions 347, pat axis 348 and drive a row convex 349 rotation of wheel, three limit springs 3412 spring force restoring force effect lower cam 349 by specific profile line ceaselessly band It is dynamic to pat the moving back and forth repeatedly in sawing supporting plate 342 of supporting plate 343, it pats supporting plate 343 and drives three electricity in three mounting bases 345 Saw 346 pats sawing repeatedly and protects branch, crushes to carry out whole sawings to the branch that rotary-cut is got off, realizes rail protection The automatic clipping function of trees, easy to operate, labor intensity is small, high degree of automation, and trimming speed is fast, and the trimming time is short, repairs It is good to cut effect, and trimming finishes and shreds branch automatically later.

The track stone squeeze device 4 includes that be welded on the right side of 11 upper surface of substrate crowded pushes away bottom plate 41, squeezes and pushes away bottom plate It is welded with crowded push bracket 42 on 41, squeezes 42 upper end lower right-hand side of push bracket and is welded with to squeeze and pushes away platform 43, squeezes and pushes away 43 lower end of platform and be symmetrically installed with Two No. eight hydraulic cylinders 44, the middle part of two No. eight hydraulic cylinders 44, which is fixed on, to be squeezed on presumption plate 45, squeezes the both ends weldering of presumption plate 45 It connects and pushes away on 43 lower end surface of platform squeezing, squeeze presumption plate 45 and play the role of two No. eight hydraulic cylinders 44 of fixed support, described two eight The top of number hydraulic cylinder 44, which is equipped with to squeeze by flange, pushes away supporting plate 46, squeezes and pushes away the lower end of supporting plate 46 and be welded with Z-type frame 47, Z-type frame It is symmetrically installed on the downside of 47 middle part there are two supporting plate 48 is oriented to, is equipped with and is led by bearing between the lower end of two guiding supporting plates 48 One row's directive wheel 410 is uniformly installed to axis 49, on guiding axis 49, the outer wall of each directive wheel 410 is uniform along its circumferencial direction It is provided with guiding plectrum 411, the front end of the guiding axis 49 is equipped with guide motor 412 by shaft coupling, and guide motor 412 is logical It crosses motor cabinet to be mounted on guide type shoe 413, guide type shoe 413 is welded on corresponding guiding 48 side wall of supporting plate, guide type shoe 413 Play the role of fixed support guide motor 412, drives guiding axis 49 to rotate by guide motor 412, guiding axis 49 drives institute There is 411 quick rotation of guiding plectrum on directive wheel 410, is oriented to plectrum 411 for the vibration damping stone in outside and is quickly allocated to track side Side, the on both sides of the middle of the Z-type frame 47 are symmetrically installed there are two laterally crowded pushing mechanism 414, and two are laterally squeezed pushing mechanism 414 and played Two lateral stones are allocated to 411 lower section of guiding plectrum, the laterally crowded pushing mechanism 414 includes being welded on 47 middle part of Z-type frame The vertical plate 4141 of end face is equipped with secondary push plate 4142 by hinge on the side wall of vertical plate 4141, and the lower end of secondary push plate 4142 is uniform It is provided with pair and pawls 4143, No. ten ear mounts 4144 are installed on secondary 4142 inner wall of push plate, pass through pin shaft between No. ten ear mounts 4144 No. ten hydraulic cylinders 4145 are installed, the bottom end of No. ten hydraulic cylinders 4145 is mounted in ride on Bus No. 11 ear mount 4146 by pin shaft, and 11 Number ear mount 4146 is welded on guiding 416 side wall of fixed board, drives secondary push plate 4142 in vertical plate 4141 by No. ten hydraulic cylinders 4145 Upper rotation is pawled by the pair in secondary push plate 4142 and 4,143 two lateral stones is allocated to guiding plectrum 411 lower section, in order to lead The vibration damping stone in outside is quickly quickly allocated to rail side to plectrum 411；It is symmetrically installed on the right side of the lower end of the Z-type frame 47 Two No. nine hydraulic cylinders 415, the middle part of two No. nine hydraulic cylinders 415 are fixed on guiding fixed board 416, and the two of guiding fixed board 416 End is welded on the lower end right side wall of Z-type frame 47, and the top of two No. nine hydraulic cylinders 415 is equipped with featured plate 417 by flange, The lower end of featured plate 417 is evenly arranged with featured pawl 418, drives featured plate 417 to move by two No. nine hydraulic cylinders 415, then The vibration damping stone in principal direction is quickly allocated to 411 lower section of guiding plectrum by promoting mainly the featured pawl 418 on plate 417, in order to The vibration damping stone in outside is quickly quickly allocated to rail side by guiding plectrum 411；Middle side part welds under 42 upper end of crowded push bracket There is stone guide mechanism 40, stone guide mechanism 40 includes the guiding bottom plate 401 for being welded on middle side part under crowded 42 upper end of push bracket, is led The lower end for drawing bottom plate 401 is welded with guiding supporting plate 402, and the lower end of guiding supporting plate 402 is equipped with inverted T shaped supporting plate 403 by hinge, Uniformly installation passes through three there are three guiding driving branch 404 between the side wall and guiding 402 inner wall of supporting plate of inverted T shaped supporting plate 403 Guiding driving branch 404 drives inverted T shaped supporting plate 403 to rotate repeatedly in guiding 402 lower end of supporting plate, and inverted T shaped 403 lower end of supporting plate is uniform Three stone guiding branches 405 are set, and three stone guiding branches 405 can be squeezed with F.F. vibration damping stone and be pushed away on rail side, stone Son guiding branch 405 includes being welded on the concave frame 4051 of inverted T shaped 403 lower end of supporting plate and being welded on inverted T shaped 403 lower end of supporting plate Motor 4052 is guided, guides and guidance axis 4053 is equipped with by shaft coupling on the output shaft of motor 4052, in guidance axis 4053 Portion is mounted on concave frame 4051 by bearing, and the lower end of guidance axis 4053 is welded with target seeker 4054, and target seeker 4054 is ball Shape structure is evenly arranged with triangle on the spherical surface of target seeker 4054 and draws block 4055, passes through guiding motor 4052 and drives guidance axis 4053 rotate on concave frame 4051, and guidance axis 4053 drives the target seeker 4054 of lower section to rotate, the triangle on target seeker 4054 Draw block 4055 guiding driving branch 404 rotation repeatedly under by vibration damping stone quickly squeeze be pushed into beside rail；The guiding is driven Dynamic branch 404 includes passing through pin between ten No. two ear mounts, 4041, ten No. two ear mounts 4041 being mounted on guiding 402 inner wall of supporting plate Axis is equipped with ride on Bus No. 11 hydraulic cylinder 4042, the top of ride on Bus No. 11 hydraulic cylinder 4042 by pin shaft be mounted on ten No. three ear mounts 4043 it Between, ten No. three ear mounts 4043 are mounted on the side wall of inverted T shaped supporting plate 403, drive inverted T shaped supporting plate by ride on Bus No. 11 hydraulic cylinder 4042 403 rotate repeatedly on guiding supporting plate 402.When work, when need the present invention squeeze push away vibration damping stone when, two lateral squeeze push away Two No. ten hydraulic cylinders 4145 in mechanism 414 are started to work, and No. ten hydraulic cylinders 4145 drive secondary push plate 4142 in vertical plate 4141 Upper rotation is pawled by the pair in secondary push plate 4142 and 4,143 two lateral stones is allocated to guiding plectrum 411 lower section, at the same time Two No. nine hydraulic cylinders 415 are also started to work, and two No. nine hydraulic cylinders 415 drive featured plate 417 to move, then by promoting mainly plate Vibration damping stone in principal direction is quickly allocated to 411 lower section of guiding plectrum by the featured pawl 418 on 417, as two lateral and main sides Guide motor 412 is started to work after upward stone is allocated to 411 lower section of guiding plectrum, and guide motor 412 drives 49 turns of guiding axis Dynamic, guiding axis 49 drives 411 quick rotation of guiding plectrum on all directive wheels 410, is oriented to plectrum 411 for the vibration damping stone in outside Sub to be quickly allocated to beside rail, then three guiding motors 4052 on three stone guiding branches 405 are started to work, guiding electricity Machine 4052 drives guidance axis 4053 to rotate on concave frame 4051, and guidance axis 4053 drives the target seeker 4054 of lower section to rotate, and leads Triangle on leader 4054 draw block 4055 on guiding driving branch 404 under the rotation repeatedly of ride on Bus No. 11 hydraulic cylinder 4042 by vibration damping Stone is quickly squeezed and is pushed into beside rail, and automatic squeeze for realizing track vibration-reducing stone pushes away function, and easy to operate, labor intensity is small, High degree of automation, squeezes that push away the time short, squeezes that push away speed fast, squeezes that push away effect good.

The present invention in use, when needing the present invention to carry out the detection of rail road conditions, in four damping driving mechanisms 152 four A driving motor 1526 starts simultaneously at work, and driving motor 1526 drives drive shaft 1525 to rotate on two driving ears 1524, Drive shaft 1525 drives two drive pulleys 1528 to rotate, and two drive pulleys 1528 drive two synchronous belts 153 to be driven, and two Synchronous belt 153 transmission drive treads wheel 154 walk on rail, and in the present invention No.1 hydraulic cylinder 1522b in No.1 ear The prismatic pair P formed when the revolute pair R formed when rotating on seat 1522a is secondary, No.1 hydraulic cylinder 1522b works is secondary, No.1 is hydraulic The revolute pair R pair that cylinder 1522b is formed when No. two ear mount 1522c are rotated, so as to form RPR type parallel connection branch, and lower damping Four RPR type parallel connection branches that platform 1521 is formed as fixed platform, four damping branches 1522, upper vibration-damped table 1523 are as dynamic flat Platform forms 4-RPR type parallel institution, and 4-RPR type parallel institution is with stability is good, dynamic property is good, precision is high, rigidity is strong The advantages that big with bearing capacity, four 4-RPR type parallel institutions that four damping driving mechanisms 152 are formed are by two middle part tensionings The good tension effects in the middle part of mechanism 155 and the good tension effects in both ends of four lateral strainers 156 are to two synchronous belts Walking belt wheel 154 on 153 plays uniform rigidity from steady walking function, can automatically walk overhaul rail conditions, realize iron Rail automatically moves detection function；When needing present invention trimming rail protection trees, two No. four hydraulic cylinders 332 start to transport Dynamic, two No. four hydraulic cylinders 332, which drive, has two 336 motor adjustments of clamping hand on 334 right side of grain-clamping table to suitable clamp distance, So two No. five hydraulic cylinder 337b on latter two clamping driving branch 337 drive repairs needed for the automatic clamping of two clamping hands 336 Poll, rotating electric machine 338 is started to work after clamping finishes, in four rotary-cut locating rods 3310 and rotary-cut annular groove 3311 The auxiliary stopper support main 339 right side rotary-cut wheel 3319 of rotary-cut platform of 338 stable regulation of lower rotating electrical machine rotary-cut angle, then pass through Four No. six hydraulic cylinders 3312 drive secondary 3313 right side rotary-cut wheel of turntable, 3319 motor adjustment to rotary-cut distance, then pass through again No. seven hydraulic cylinders 3321 drive two No. two fixed ears 3316 in No. four fixed links 3317 in the No.1 of No. three fixed links 3314 Rotation adjusts rotary-cut wheel 3319 to suitable rotary-cut position in fixed ear 3315, and rotary-cut motor 3318 drives rotary-cut wheel 3319 fast at this time Pollard needed for fast rotary-cut, latter two sawing that branch rotary-cut finishes pat branch 34 and start simultaneously at work, and two sawings are clapped It makes two beating motors 3410 on branch 34 to start to work, pats motor 3410 and drive beating axis 348 in two beating trunnions 347 Upper rotation pats axis 348 and drives row's cam 349 rotation, convex under the spring force restoring force effect of three limit springs 3412 Wheel 349 ceaselessly drives by specific profile line and pats the moving back and forth repeatedly in sawing supporting plate 342 of supporting plate 343, pats supporting plate Three electric saws 346 pat sawing repeatedly and protect branch in 343 three mounting bases 345 of drive, thus the branch to get off to rotary-cut into Row whole sawing crushes, and realizes the automatic clipping function of rail protection trees；Vibration damping stone is pushed away when needing the present invention squeeze When, two lateral two No. ten hydraulic cylinders 4145 squeezed on pushing mechanisms 414 are started to work, and No. ten hydraulic cylinders 4145 drive secondary push plate 4142 rotate on vertical plate 4141, are pawled by the pair in secondary push plate 4142 and 4,143 two lateral stones are allocated to guiding plectrum 411 lower sections, two No. nine hydraulic cylinders 415 are also started to work at the same time, and two No. nine hydraulic cylinders 415 drive featured plate 417 to transport It is dynamic, then the vibration damping stone in principal direction is quickly allocated to 411 lower section of guiding plectrum by promoting mainly the featured pawl 418 on plate 417, when Two are laterally allocated to guide motor 412 after being oriented to 411 lower section of plectrum and start to work with the stone in principal direction, guide motor 412 Guiding axis 49 is driven to rotate, guiding axis 49 drives 411 quick rotation of guiding plectrum on all directive wheels 410, is oriented to plectrum 411 The vibration damping stone in outside is quickly allocated to beside rail, then three guiding motors 4052 on three stone guiding branches 405 It starts to work, guiding motor 4052 drives guidance axis 4053 to rotate on concave frame 4051, and guidance axis 4053 drives leading for lower section Leader 4054 rotates, and the triangle on target seeker 4054 draws the ride on Bus No. 11 hydraulic cylinder 4042 on guiding driving branch 404 of block 4055 Vibration damping stone is quickly squeezed under rotating repeatedly and is pushed into beside rail, automatic squeeze for realizing track vibration-reducing stone pushes away function；Finally Realize the road conditions detection of rail, pruning trees, stone squeeze and push away the automatic maintenance function of integration, be not necessarily to manual hand manipulation, behaviour Make simplicity, labor intensity is small, and solving existing rail maintenance mode, there are complicated for operation, large labor intensity, the degree of automation are low Under, working efficiency is low, need artificial walking maintenance rail conditions, needs that artificial trimming protection trees, trimming speed are slow, trimming Time is long, trimming effect is poor, trimming needs manually to shred branch after finishing, artificial squeeze is needed to push away stone, squeeze and push away time length, crowded It pushes away speed and pushes away the problems such as effect difference with crowded slowly, reached purpose.

The basic principles, main features and advantages of the 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 only illustrating for the description in above embodiments and description is of the invention Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent It defines.

Claims (3)

1. a kind of automatic maintaining robot of rail integration, it is characterised in that: including track mobile foundation (1), the track is moved Track tree trimming device (3), peace on the right side of the upper surface of track mobile foundation (1) are installed on the left of the upper surface of moving base (1) Equipped with track stone squeeze device (4)；

The track mobile foundation (1) includes substrate (11), is symmetrically installed with two rows of shiftings in the middle part of the lower end surface of the substrate (11) The lower end of dynamic pillar (12), two rows mobile pillar (12) is welded with movable drill base (13), the both ends balanced welding of movable drill base (13) It is connected to two rows of fixed columns (14), the two sides of two rows of fixed columns (14) are separately installed with two devices that are movably walking (15)；The shifting Dynamic running gear (15) include the walking base station (151) for being welded on corresponding fixed column (14), the upper and lower ends of walking base station (151) Be symmetrically installed there are four damping driving mechanism (152), on the outer wall of four damping driving mechanisms (152) respectively with two synchronous belts (153) it is connected, the outer wall of two synchronous belts (153) is equipped with walking belt wheel (154), and up and down the two of walking base station (151) End middle part is symmetrically installed there are two middle part strainer (155), and the top of two middle part strainers (155), which is born against, is expert at On the inner wall up and down for walking belt wheel (154), it is symmetrically installed on the outside of the upper and lower ends of walking base station (151) and is tensioned there are four lateral Mechanism (156), the top of four lateral strainers (156) are connected with two synchronous belts (153)；The damping driving mechanism It (152) include the lower vibration-damped table (1521) being mounted on walking base station (151) end face, lower vibration-damped table (1521) upper surface is along axis Direction is uniformly installed there are four damping branch (1522), and the upper end of four damping branches (1522) is mounted on vibration-damped table (1523) On, the upper surface setting of upper vibration-damped table (1523) passes through bearing between two driving ears (1524) there are two ear (1524) are driven It is equipped with drive shaft (1525), driving motor (1526), driving motor is equipped with by shaft coupling in drive shaft (1525) (1526) it is mounted in driving support (1527), driving support (1527) is mounted on vibration-damped table (1523), the drive shaft (1525) middle part installation there are two drive pulley (1528), two drive pulleys (1528) respectively with two synchronous belts (153) It is meshed；The middle part strainer (155) includes the tensioning pillar (1551) being welded on walking base station (151) end face, It is symmetrical arranged on compact support (1551) there are two supporting plate (1552) are tensioned, is respectively welded on the side wall of two tensionings supporting plate (1552) There are two mandrel (1553) are advocated, two opinion bearings up pulley are separately installed with by bearing on two opinion mandrels (1553) (1554), two opinion bearings up pulley (1554) are tightly attached on walking belt wheel (154) inner wall；

The track tree trimming device (3) includes the trimming bottom plate (31) being welded on the left of substrate (11) upper surface, trims bottom It is welded with trimming supporting plate (32) on plate (31), clamping rotary-cut branch (33) is installed in the middle part of the side in trimming supporting plate (32), is repaired The side on both sides for cutting supporting plate (32) is symmetrically installed that there are two sawings to pat branch (34), and to pat branch (34) symmetrical for two sawings Positioned at the two sides of clamping rotary-cut branch (33)；Clamping rotary-cut branch (33) includes the clamping being mounted in trimming supporting plate (32) Supporting plate (331) clamps No. four hydraulic cylinders (332) there are two being symmetrically installed on the upside of supporting plate (331) side wall, two No. four hydraulic cylinders (332) it is fixed in the middle part of in clamping fixed board (333), the two sides of clamping fixed board (333) are symmetrically welded at clamping supporting plate (331) On, the top of two No. four hydraulic cylinders (332) is equipped with grain-clamping table (334) by flange, and grain-clamping table is welded in the middle part of (334) The top two sides of clamp posts (335), clamp posts (335) are symmetrically installed by hinge there are two hand (336) are clamped, and two press from both sides It holds and is connected respectively by two clamping drivings branch (337) between the back of hand (336) and grain-clamping table (334)；The clamping branch Middle side part is equipped with rotating electric machine (338) by motor cabinet under plate (331) side wall, is installed on the output shaft of rotating electric machine (338) There is main rotary-cut platform (339), is symmetrically installed with four rotary-cut locating rods (3310) on main rotary-cut platform (339) in the axial direction, four The bottom end of rotary-cut locating rod (3310) is installed in rotary-cut annular groove (3311), rotary-cut annular groove by sliding matching mode (3311) it is welded in clamping supporting plate (331), is symmetrically installed with four No. six hydraulic cylinders on the outer wall of the main rotary-cut platform (339) (3312), the top of four No. six hydraulic cylinders (3312) is equipped with secondary turntable (3313) by flange, secondary turntable (3313) No. three fixed links (3314) are welded at middle part, and No. three fixed link (3314) tops are provided with No.1 fixed ear (3315), and No.1 is fixed Ear (3315) is mounted between two No. two fixed ears (3316) by pin shaft, and two No. two fixed ears (3316) are arranged at No. four In fixed link (3317), the top of No. four fixed links (3317) is equipped with rotary-cut motor (3318), rotary-cut motor by motor cabinet (3318) it is equipped on output shaft rotary-cut wheel (3319), there are two No. three fixations for setting on the side wall of No. four fixed links (3317) Ear (3320) is equipped with No. seven hydraulic cylinders (3321), No. seven hydraulic cylinders by pin shaft between two No. three fixed ears (3320) (3321) bottom end is mounted between No. nine ear mounts (3322) by pin shaft, and No. nine ear mounts (3322) are welded on secondary turntable (3313) on；It includes the sawing bottom plate (341) being mounted in trimming supporting plate (32), sawing bottom plate that branch (34) are patted in the sawing (341) it is obliquely equipped on sawing supporting plate (342), sawing supporting plate (342) middle inside is equipped with beating by hinge Supporting plate (343), pat supporting plate (343) top be welded with sawing platform (344), be uniformly arranged on sawing platform (344) there are three installation Seat (345) is separately installed with three electric saws (346) on three mounting bases (345), is provided with two on the sawing supporting plate (342) A beating trunnion (347) is equipped between two beating trunnions (347) by bearing and pats axis (348), is patted on axis (348) One row's cam (349) is uniformly installed, the top of each cam (349), which is resisted against, pats on supporting plate (343), the beating axis (348) upper end is equipped with by shaft coupling and pats motor (3410), is patted motor (3410) and is mounted on beating support (3411) On, it pats support (3411) and is welded on sawing supporting plate (342) inner wall, beating opening is provided on the sawing supporting plate (342), And pat all cams (349) bottom end on axis (348) and be located in beating opening, the upper end of the sawing supporting plate (342) is uniform Installation is there are three limit spring (3412), the top of three limit springs (3412) side wall with three mounting bases (345) respectively It is connected；

The track stone squeeze device (4) includes that be welded on the right side of substrate (11) upper surface crowded pushes away bottom plate (41), squeezes and pushes away bottom Crowded push bracket (42) are welded on plate (41), crowded push bracket (42) upper end lower right-hand side, which is welded with to squeeze, pushes away platform (43), squeezes and pushes away under platform (43) No. eight hydraulic cylinders (44) there are two being symmetrically installed are held, is fixed on and is squeezed in presumption plate (45) in the middle part of two No. eight hydraulic cylinders (44), The both ends for squeezing presumption plate (45) are welded on to squeeze and push away on platform (43) lower end surface, and the top of described two No. eight hydraulic cylinders (44) passes through method Orchid, which is equipped with to squeeze, pushes away supporting plate (46), and the crowded lower end for pushing away supporting plate (46) is welded with Z-type frame (47), right on the downside of the middle part of Z-type frame (47) Claim installation there are two supporting plate (48) are oriented to, guiding axis (49) be equipped with by bearing between the lower end of two guiding supporting plate (48), One row's directive wheel (410) is uniformly installed, the outer wall of each directive wheel (410) is uniformly set along its circumferencial direction on guiding axis (49) It is equipped with guiding plectrum (411), the front end of the guiding axis (49) is equipped with guide motor (412), guide motor by shaft coupling (412) it is mounted on guide type shoe (413) by motor cabinet, guide type shoe (413) is welded on corresponding guiding supporting plate (48) side wall On, the on both sides of the middle of the Z-type frame (47), which is symmetrically installed, squeezes pushing mechanism (414) there are two lateral, the lower end of the Z-type frame (47) Right side is symmetrically installed there are two No. nine hydraulic cylinders (415), is fixed on guiding fixed board in the middle part of two No. nine hydraulic cylinders (415) (416) on, the both ends of guiding fixed board (416) are welded on the lower end right side wall of Z-type frame (47), two No. nine hydraulic cylinders (415) Top featured plate (417) are equipped with by flange, the lower end of featured plate (417) is evenly arranged with featured pawl (418)；It is described to squeeze Middle side part is welded with stone guide mechanism (40) under push bracket (42) upper end, and stone guide mechanism (40) includes being welded on crowded push bracket (42) under upper end middle side part guiding bottom plate (401), guiding bottom plate (401) lower end be welded with guiding supporting plate (402), guiding branch The lower end of plate (402) is equipped with inverted T shaped supporting plate (403) by hinge, the side wall of inverted T shaped supporting plate (403) and guiding supporting plate (402) Uniformly there are three guiding driving branch (404), inverted T shaped supporting plate (403) lower end is uniformly arranged three stones and leads for installation between inner wall Draw branch (405), stone guiding branch (405) includes being welded on the concave frame (4051) and welding of inverted T shaped supporting plate (403) lower end Guiding motor (4052) in inverted T shaped supporting plate (403) lower end is guided and is equipped on the output shaft of motor (4052) by shaft coupling The middle part of guidance axis (4053), guidance axis (4053) is mounted on concave frame (4051) by bearing, under guidance axis (4053) End is welded with target seeker (4054), and target seeker (4054) is spherical structure, is evenly arranged with three on the spherical surface of target seeker (4054) Draw block (4055) in angle；

The damping branch (1522) includes the No.1 ear mount (1522a) being mounted on lower vibration-damped table (1521), No.1 ear mount It is equipped with No.1 hydraulic cylinder (1522b) between (1522a) by pin shaft, the top of No.1 hydraulic cylinder (1522b) is pacified by pin shaft Equipped with No. two ear mounts (1522c), No. two ear mounts (1522c) are mounted on vibration-damped table (1523)；

Clamping driving branch (337) includes No. seven ear mounts (337a) being mounted on grain-clamping table (334), No. seven ear mounts No. five hydraulic cylinders (337b) are equipped with by pin shaft between (337a), the top of No. five hydraulic cylinders (337b) is mounted on by pin shaft Between No. eight ear mounts (337c), No. eight ear mounts (337c) are mounted on the back of clamping hand (336)；

Guiding driving branch (404) includes being mounted on ten No. two ear mounts (4041) guided on supporting plate (402) inner wall, and 12 It is equipped with ride on Bus No. 11 hydraulic cylinder (4042) between number ear mount (4041) by pin shaft, the top of ride on Bus No. 11 hydraulic cylinder (4042) passes through Pin shaft is mounted between ten No. three ear mounts (4043), and ten No. three ear mounts (4043) are mounted on the side wall of inverted T shaped supporting plate (403).

2. a kind of automatic maintaining robot of rail integration according to claim 1, it is characterised in that: the lateral tensioning Mechanism (156) includes being symmetrically welded at two lateral stays (1561) of walking base station (151) end face, two lateral stays (1561) it is equipped with secondary tensioning shaft (1562) between by bearing, is symmetrically installed that there are two secondary tensioning wheels on secondary tensioning shaft (1562) (1563), two secondary tensioning wheels (1563) are tightly attached on walking belt wheel (154) inner wall.

3. a kind of automatic maintaining robot of rail integration according to claim 1, it is characterised in that: lateral squeeze pushes away Mechanism (414) includes the vertical plate (4141) for being welded on upper surface in the middle part of Z-type frame (47), passes through hinge on the side wall of vertical plate (4141) It is equipped with secondary push plate (4142), the lower end of secondary push plate (4142) is evenly arranged with pair and pawls (4143), secondary push plate (4142) inner wall On No. ten ear mounts (4144) are installed, No. ten hydraulic cylinders (4145) are equipped with by pin shaft between No. ten ear mounts (4144), No. ten The bottom end of hydraulic cylinder (4145) is mounted on ride on Bus No. 11 ear mount (4146) by pin shaft, and ride on Bus No. 11 ear mount (4146) is welded on guiding On fixed board (416) side wall.