CN108000538A - A kind of full-automation underground railway track polishing cleaning manipulator - Google Patents
A kind of full-automation underground railway track polishing cleaning manipulator Download PDFInfo
- Publication number
- CN108000538A CN108000538A CN201711222955.1A CN201711222955A CN108000538A CN 108000538 A CN108000538 A CN 108000538A CN 201711222955 A CN201711222955 A CN 201711222955A CN 108000538 A CN108000538 A CN 108000538A
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- China
- Prior art keywords
- polishing
- cleaning
- steady
- block
- rail
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B31/00—Working rails, sleepers, baseplates, or the like, in or on the line; Machines, tools, or auxiliary devices specially designed therefor
- E01B31/02—Working rail or other metal track components on the spot
- E01B31/12—Removing metal from rails, rail joints, or baseplates, e.g. for deburring welds, reconditioning worn rails
- E01B31/17—Removing metal from rails, rail joints, or baseplates, e.g. for deburring welds, reconditioning worn rails by grinding
Abstract
The present invention relates to a kind of full-automatic underground railway track polishing cleaning manipulator,Including from steady mobile device,Can be according to the self-control polishing direction that rail curved shape is stablized from steady mobile device,It is described that variable high pressure cleaning device is installed from steady mobile device lower face,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 top 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 suitable for 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, and without human intervention, the degree of automation is high.
Description
It is the Application No. 2016105002337 submitted on June 28th, 2016 applying date that the present invention, which is, entitled one
The divisional application of the Chinese patent application of kind underground railway track intelligence polishing cleaning manipulator.
Technical field
The present invention relates to rail processing technique field, specifically a kind of full-automatic underground railway track polishing cleaning machinery
Hand.
Background technology
It is also higher and higher to the quality requirement of rail with the continuous development of high ferro technology, 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, many burrs are had in the main body production shaping rear surface of rail, 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 subject to corrosion to be also possible to produce rust staining for a long time, 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 to be manually operated by operator
Rail grinding apparatus is polished, and then operator's cleaning equipment auxiliary is cooled down 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, work efficiency is low；2nd, it is not necessarily all straight trip since the rail having is bending arc track
Rail, existing grinding apparatus is different when bending arc-shaped rail polishing to adjust polishing direction in time, direction self-control of polishing
Poor performance, the artificial auxiliary adjustment polishing direction of demand, but inevitably exist during manual adjustment polishing direction and adjust error, and beating
Stability is poor during grinding the manual adjusting in direction, thus greatly reduces the smoothness of rail polishing, and 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 cannot 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, since 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
To solve the above-mentioned problems, can be with the present invention provides a kind of full-automatic underground railway track polishing cleaning manipulator
Solve existing rail polishing cleaning equipment by needed existing for human assistance mode of operation manual operation, the degree of automation it is low,
Polishing cleaning speed is slow, polishing effect is poor, direction self-adaptability of polishing is poor, equipment is difficult to be close to rail surface completely,
The problems such as scope of polishing is small, the scope of application is small, residual polishing iron filings cleaning performance difference and work efficiency are low, it is possible to achieve rail
Full-automatic sanding cleaning function, without human intervention, the degree of automation is high, and with polishing cleaning speed is fast, polishing effect
Well, direction Self homeostasis adjustment performance of polishing is good, equipment can be close to rail surface completely, polishing scope is big, the scope of application is big, residual
Iron filings high-pressure wash effect of polishing is good and the advantages that work efficiency is high.
To achieve these goals, the present invention is realized using following technical scheme：A kind of full-automation underground railway track is beaten
Cleaning manipulator is ground, including from steady mobile device, the self-control that can be stablized from steady mobile device according to rail curved shape
Polishing direction so that the polishing that the present invention is suitable for different tracks shape rail is cleaned, and the scope of application is big, described to be filled from surely mobile
Put lower face and variable high pressure cleaning device is installed, variable high pressure cleaning device can adjust high-pressure wash direction so that this hair
It is bright unaffected in bruting process, high-pressure wash direction is adjusted after polishing and is worked, is worked using high-pressure water jet
The residual polishing iron filings adhered on principle Rapid Cleaning rail and the dust do not removed, high-pressure wash effect is good, and variable high pressure is clear
The lower end of cleaning device is symmetrically installed with four No. four hydraulic cylinders, and the top 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 suitable for rail under different terrain height and beats
Cleaning is ground, 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 is high.
It is described to include from steady mobile device from steady support plate and Self homeostasis adjustment block, the lower face front and rear sides from steady support plate
It is symmetrically welded with and is provided with two from steady lifting lug, is provided with positioned at from steady branch front edge of board from steady lifting lug inner wall by motor cabinet
Mobile motor, the output shaft of mobile motor are connected by shaft coupling with mobile leading screw, and the rear end of mobile leading screw is installed by bearing
, from steady lifting lug, movable block is being provided with by thread fiting mode on the middle part of mobile leading screw positioned at from steady support plate rear end,
Mobile leading screw is driven to rotate by mobile motor, mobile leading screw drives movable block movement, and the both ends of movable block are symmetrically arranged with two
A limited block, the lower face of two limited blocks are separately mounted in two fixed concave blocks by sliding matching mode, two fixations
Concave block upper end is respectively welded at from the both sides of steady support plate, is made by the both sides spaced motion of two limited blocks and two fixed concave blocks
Movable block on mobile leading screw can with carry out move back and forth；Two L-types are symmetrically welded with left and right sides of the movable block
Connect support plate；Three Self homeostasis adjustment mechanisms are separately installed with the upper surface of the Self homeostasis adjustment block, left and right end face, positioned at from steady
Liang Ge Self homeostasis adjustments mechanism top on the face of adjusting block left and right ends is separately mounted on two L-type connection support plate inner walls, is located at
Self homeostasis adjustment mechanism top on Self homeostasis adjustment block upper surface is separately mounted to the lower face of movable block, and Self homeostasis adjustment mechanism has
Good Self homeostasis adjustment performance, three Self homeostasis adjustment mechanisms carry out Self homeostasis adjustment block from three upper end, left end, right end directions
Self homeostasis adjustment, when running into the polishing of curved shape rail, three Self homeostasis adjustment mechanisms can according to rail bending direction quickly into
The stable self-control polishing direction of row so that the polishing that the present invention is suitable for different tracks shape rail is cleaned, the scope of application
Greatly, the lower face of Self homeostasis adjustment block is welded with from steady fulcrum, is welded with from the lower face of steady fulcrum from steady round platform, from steady fulcrum
To fixed support from the effect of steady round platform；The Self homeostasis adjustment mechanism is included from steady platform and lower from steady platform, on from the upper of steady platform
End face is installed on L-type connection support plate or movable block, on from steady platform and down between steady platform on it is uniform from steady platform axis direction
Four are provided with from steady side chain, under be installed on from the lower face of steady platform in the corresponding end surface of Self homeostasis adjustment block；It is described from steady side chain
It is welded on including upper end between No. two ear mounts on steady platform lower face, No. two ear mounts and No. three hydraulic pressure is provided with by axis pin
Cylinder, the top of No. three hydraulic cylinders are installed in No. three ear mounts by axis pin, and No. three ear mounts are welded on down from the upper surface of steady platform,
No. three hydraulic cylinder bottoms form prismatic pair P, three at work in No. two ear mounts formation revolute pair R, No. three hydraulic cylinders in the present invention
Number hydraulic cylinder top forms revolute pair P in No. three ear mounts, and on from steady platform, four PRP types from steady side chain, down from steady platform shape
Into 4-RPR parallel institutions, 4-RPR parallel institutions are with dynamic response is good, rigidity is high, large carrying capacity, stability are good and fortune
The advantages that precision is high is moved, when the present invention make it that the present invention runs into the polishing of curved shape rail by the advantages of 4-RPR parallel institutions
The self-control polishing direction that can be quickly stablized so that the polishing that the present invention is suitable for different tracks shape rail is clear
Wash, the scope of application is big.During work, if run into the polishing of curved shape rail, three Self homeostasis adjustment mechanisms are in parallel by 4-RPR
The self-control polishing direction that the advantages of mechanism is quickly stablized according to rail bending direction so that the present invention is suitable for difference
The polishing cleaning of trajectory shape rail, the scope of application is big, after the rail section polishing at this position, mobile motor at this time
Go into operation work, and mobile motor drives mobile leading screw to rotate, and mobile leading screw drives movable block movement, in two limited blocks and two fixations
So that movable block drives the present invention to enter next polishing position under the both sides spaced motion of concave block.
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 face both sides are symmetrically installed with two cleanings and adjust side chains and two high-pressure wash side chains, two cleanings adjust side chains respectively with
Two high-pressure wash side chains are connected, and two cleanings, which adjust side chain, can accurately adjust the high-pressure wash angle of two high-pressure wash side chains
Degree, when the present invention is being polished, two cleaning adjusting side chains adjust two high-pressure wash side chains and up move so that this
Invention is unaffected in bruting process, and polishing finishes latter two cleaning adjusting side chain two high-pressure wash side chain of adjusting and down transports
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, which adjusts side chain, includes two cleaning lifting lugs for being welded on cleaning support plate lower face, cleaning lifting lug 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 installed by shaft coupling
There is regulation motor, regulation motor is installed on the lower face of cleaning support plate by motor cabinet, drives adjustment axis to turn by regulation motor
Dynamic, adjustment axis drives adjustment gear to rotate, and adjustment gear drives corresponding high-pressure wash side chain to adjust cleaning angle；The high pressure is clear
Two cleaning risers that side chain includes being symmetrically welded at cleaning support plate rear and front end are washed, are passed through between the lower end of two cleaning risers
Bearing is provided with cleaning shaft, cleans in the middle part of shaft and is welded with Y type release handles, arc-shaped gear is provided with the top of Y type release handles
Circle, arc gear ring are meshed with adjustment gear, and the gearratio of adjustment gear and arc gear ring is 3:1, adjustment gear drives arc
Ring gear against rotation, passes through 3:1 low gearratio drives the velocity of rotation for reducing arc gear ring, improves the stationary performance of transmission, arc
Shaped ring gear drives Y types release handle to be rotated in cleaning shaft, and arc gear ring is provided at both ends with two and blocks block, and two block block
Define positive and negative slewing area of the arc gear ring in adjustment gear, it is exactly the positive negative side of arc gear ring that two, which block block position,
To two extreme rotational positions, the positive and negative slewing area of arc gear ring is exactly rotation model of the Y types release handle in cleaning shaft
Enclose, while two in two arc gear rings block block and Y type release handles upper end are effectively limited, the Y types release handle
Lower end is installed with limit shaft, and the both ends of limit shaft are separately mounted on two arc-shaped limit rings by sliding matching mode,
And three connecting poles are welded between each arc-shaped limit ring upper end and corresponding cleaning riser lower end, three connecting poles play company
The effect of support arc spacing ring is connect and fixes, the scope of arc-shaped limit ring is just the positive and negative rotation scope of limit shaft, limit shaft
Positive and negative slewing area of the positive and negative rotation scope with arc gear ring in adjustment gear it is corresponding, while limit shaft is in arc-shaped limit
Spaced motion on ring effectively limits Y type release handles lower end so that and Y type release handles upper end, lower end uniformly limit, from
And cause the accurate slewing area that Y type release handles are determined of the present invention, the high-pressure wash of the present invention is finally accurately determined
Angle of regulation range, the central axis for cleaning shaft, limit shaft, arc-shaped limit ring and arc gear ring be combined with each other,
Cause the slewing area, Y type release handles that adjustment gear drives arc gear ring in Y type release handles in the present invention using coaxial line principle
The slewing area three of slewing area, limit shaft on arc-shaped limit ring in cleaning shaft is equal, so that of the invention
Can accurate up and down adjustment high-pressure wash angle；The lower end of the Y types release handle is welded with adjusting support plate, adjusts under support plate
End uniform welding has three adjusting pillars, and the end of three adjusting pillars is welded with cleaning fixed plate, and three adjusting pillars play
Even support cleans the effect of fixed plate, and cleaning fixed plate lower end is evenly arranged with three cleaning fixed blocks, and three cleanings are fixed
Three giants are respectively fixed with block, three giants after cleaning is regulated and utilizes Cleaning by High Pressure Water Jet principle
The residual polishing iron filings and the dust do not removed, high-pressure wash effect adhered on Rapid Cleaning rail are good.During work, work as the present invention
The residual polishing iron filings adhered on timely high-pressure wash rail and the dust do not removed are needed after polishing, first according to rail institute
High-pressure wash angle of the present invention is adjusted in position, two regulation motors that two cleanings are adjusted on side chain start simultaneously at work, adjust
Saving motor drives adjustment axis to rotate, and adjustment axis drives adjustment gear to rotate, and adjustment gear drives arc gear ring to rotate, arc gear ring
Drive Y type release handle upper ends to rotate in cleaning shaft to rotate on arc-shaped limit ring with the limit shaft on Y type release handles lower end,
Due to having carried out effective restriction to Y type release handles upper end, lower end in the present invention so that the present invention, which reaches, specifies high-pressure wash position
Can immediately stop present invention work by stopping regulation motor when putting, so that three are accurately have adjusted below cleaning fixed plate
The high-pressure wash angle of giant, three giants regulated after cleaning are quick 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 cleaning rail are good.
The adjustable sanding apparatus includes the polishing support plate for being installed 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 moving mechanisms, two polishing side chains is separately installed with the inside of Liang Ge moving mechanisms, two are beaten
It is connected between mill side chain using welding manner, is used to place required polishing rail, two polishing side chains between two polishing side chains
Upper end be respectively welded two mobile travellers, two mobile traveller upper ends are provided with two by sliding matching mode and mobile slide
Groove, two mobile chute upper ends are respectively welded at the lower face of polishing support plate, pass through two mobile travellers and two mobile chutes
Spacing auxiliary Xia Liangge moving mechanisms drive two polishing campaigns back and forth for being stablized of polishing side chains；Moving mechanism's bag
Two polishing lifting lugs for being symmetrically welded at polishing support plate lower end are included, pass through electricity on the polishing lifting lug inner wall of polishing support plate rear end
Engine base is provided with polishing motor, and polishing leading screw is provided with by shaft coupling on the output shaft for motor of polishing, the middle part for leading screw of polishing
The mode of being connected through a screw thread is provided with polishing motion block, drives polishing motion block to stablize on polishing leading screw by motor of polishing and moves；
The polishing side chain includes two reinforcing rib blocks being welded on corresponding polishing motion block side wall, the end welding of two reinforcing rib blocks
At the back of bow-shaped support, reinforcing rib block plays the role of being fixedly connected with bow-shaped support and polishing motion block, the inner side of bow-shaped support
Two No. five hydraulic cylinders are symmetrically installed with middle part, the top of two No. five hydraulic cylinders is provided with main abrading block, passes through two No. five
The movement of hydraulic cylinder enables winner's abrading block to be close in the middle part of required polishing rail side wall, and the upper and lower ends of main abrading block pass through No.1
Limit spring is separately installed with two No.1 auxiliary abrading blocks, passes through No. two limit springs on the outer wall of two No.1 auxiliary abrading blocks
Two No. two auxiliary abrading blocks are separately installed with, pass through the spacing connection function one of No.1 limit spring and No. two limit springs
Number auxiliary abrading block can with main abrading block, No. two auxiliary abrading blocks be synchronized with the movement, two No. two auxiliary abrading blocks outer wall on install respectively
There are two No. six hydraulic cylinders, required beat can be close to by No. two auxiliary abrading blocks of movement two of two No. six hydraulic cylinders
Rail side wall upper and lower ends are ground, the bottom of two No. six hydraulic cylinders is separately mounted to the inner side upper and lower ends of bow-shaped support；It is described
I-shaped polishing structure is formed between main abrading block, No.1 auxiliary abrading block, No. two auxiliary abrading blocks on two polishing side chains, with rail
Shape is corresponding.During work, pass through four No. five hydraulic cylinder activity adjustments, two main mills on two polishing side chains in the present invention
Block is close in the middle part of required polishing rail side wall, passes through four No. six hydraulic cylinder activity adjustments four two on two polishing side chains
Number auxiliary abrading block be close to needed for polishing rail side wall upper and lower ends, and two polishing side chains on four No.1s auxiliary abrading block by
Corresponding main abrading block, No. two auxiliary abrading blocks is followed to be close to institute in the connection position-limiting action of No.1 limit spring, No. two limit springs
The upper and lower transition recess of the rail side wall that need to polish, so as to constitute the I-shaped polishing structure for being close to rail surface so that the present invention
Rail surface can be close to completely, and two in Liang Ge moving mechanisms polishing motor starts simultaneously at movement, two polishings at this time
Motor drives two polishing motion blocks to stablize movement on two polishing leading screws, and two polishing motion blocks drive two polishing side chains two
Root movement traveller is moved back and forth with what is stablized under the spacing auxiliary of two mobile chutes, is formed between two polishing side chains
The polishing campaign back and forth that I-shaped polishing structure stablizes rail, polishing scope is big, and polishing effect is good, and work efficiency is high.
In use, the present invention is installed in existing mobile equipment first, it is by existing mobile equipment that the present invention is mobile
To required polishing rail section, after location determination is good, if the present invention runs into the polishing of curved shape rail, moved from steady
Dynamic device is started to work, three Self homeostasis adjustment mechanisms by the advantages of 4-RPR parallel institutions according to rail bending direction quickly into
The stable self-control polishing direction of row so that the polishing that the present invention is suitable for 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 suitable for different terrain
The polishing cleaning of rail under height, at this time 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 since the connection position-limiting action of No.1 limit spring, No. two limit springs follows correspondence
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 two in Liang Ge moving mechanisms beat at this time
Electric mill machine starts simultaneously at movement, and two polishing motors drive two polishing motion blocks to stablize on two polishing leading screws and move, 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 stablizes rail, model of polishing
Enclose greatly, polishing effect is good, and work 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, at this time variable high pressure cleaning device start-up operation are first in place according to rail institute
Put and adjust high-pressure wash angle of the present invention, two regulation motors that two cleanings are adjusted on side chain start simultaneously at work, adjust 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 shaft and are 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, regulates three giants after cleaning 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；When the rail section at this position is beaten
After mill cleaning, mobile motor goes into operation works at this time, and mobile motor drives mobile leading screw to rotate, and mobile leading screw drives movable block to transport
It is dynamic, 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
Polishing position, can quickly polish cleaning rail in the manner described above, realize the present invention and the full-automatic sanding of rail is cleaned
Function, without human intervention, the degree of automation are high, and polishing cleaning speed is fast, and work efficiency is high.
The beneficial effects of the invention are as follows：
1st, in the present invention on from steady platform, four PRP 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 end 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 since 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 moving mechanisms drive two polishing side chains it
Between the polishing campaign back and forth stablized to rail of I-shaped polishing structure that is formed, polishing scope is big, and polishing effect is good, and work is imitated
Rate is high；
4th, the present invention solves existing rail polishing cleaning equipment by being needed existing for human assistance mode of operation manually
Operation, the degree of automation 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 work efficiency are low etc.
Problem, realizes full-automatic sanding cleaning function of the present invention to rail, and without human intervention, the degree of automation 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 work 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 structure diagram of the present invention；
Fig. 2 is structure diagram 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 the sectional view along A-A of Fig. 3 of the present invention；
Fig. 5 is the structure diagram 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 the B-B direction sectional view of Fig. 6 of the present invention；
Fig. 8 is the structure diagram between present invention cleaning shaft, Y types release handle, arc gear ring and limit shaft；
Fig. 9 is the structure diagram of the adjustable sanding apparatus of the present invention；
Figure 10 is the II of Fig. 9 of the present invention to partial enlarged view；
Figure 11 is the full sectional view of the adjustable sanding apparatus of the present invention；
Figure 12 is the C-C of Figure 11 of the present invention to sectional view.
Specific embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 12, a kind of full-automatic underground railway track polishing cleaning manipulator, including from steady mobile device 7,
Can be according to the self-control polishing direction that rail curved shape is stablized from steady mobile device 7 so that the present invention is suitable for difference
The polishing cleaning of trajectory shape rail, the scope of application is big, described to be provided with variable high pressure cleaning dress from steady 7 lower face of mobile device
8 are put, variable high pressure cleaning device 8 can adjust high-pressure wash direction so that the present invention is unaffected in bruting process, polishing
After adjust high-pressure wash direction and work, utilize the residual adhered on high-pressure water jet operation principle Rapid Cleaning rail
Polishing 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 four
Number hydraulic cylinder 10, the top of four No. four hydraulic cylinders 10 are provided with adjustable sanding apparatus 9, and four No. four hydraulic cylinders 10 can be adjusted
The polishing height of the present invention so that the present invention is suitable for the polishing cleaning of rail under different terrain height, adjustable polishing dress
Put 9 and can be close to rail surface completely and polish back and forth, polishing scope is big, and polishing effect is good, and work 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 face of steady support plate 71
Front and rear sides, which are symmetrically welded with, is provided with two from steady lifting lug 71a, positioned at from steady 71 front end of support plate from steady lifting lug 71a inner walls
Mobile motor 72 is provided with by motor cabinet, the output shaft of mobile motor 72 is connected by shaft coupling with mobile leading screw 73, mobile
The rear end of leading screw 73 is mounted on from steady 71 rear end of support plate from steady lifting lug 71a by bearing, the middle part of mobile leading screw 73
It is upper that movable block 74 is provided with by thread fiting mode, drive mobile leading screw 73 to rotate by mobile motor 72, mobile leading screw 73
Movable block 74 is driven to move, the both ends of movable block 74 are symmetrically arranged with two limited block 74a, the lower face of two limited block 74a
It is separately mounted to by sliding matching mode in two fixed concave blocks 75, two fixed 75 upper ends of concave block are respectively welded at from steady branch
The both sides of plate 71, by two limited block 74a and the both sides spaced motion movable block 74 of two fixed concave blocks 75 in movement
On 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 connection support plates 76；
Three Self homeostasis adjustment mechanisms 77 are separately installed with the upper surface of the Self homeostasis adjustment block 70, left and right end face, positioned at Self homeostasis adjustment
77 top of Liang Ge Self homeostasis adjustments mechanism on 70 left and right ends face of block is separately mounted on two L-type connection 76 inner walls of support plate, position
The lower face of movable block 74, Self homeostasis adjustment are separately mounted in 77 top of Self homeostasis adjustment mechanism on 70 upper surface of Self homeostasis adjustment block
Mechanism 77 has good Self homeostasis adjustment performance, and three Self homeostasis adjustment mechanisms 77 are from three upper end, left end, right end directions to certainly
Steady adjusting block 70 carries out Self homeostasis adjustment, and when running into the polishing of curved shape rail, three Self homeostasis adjustment mechanisms 77 can be according to iron
The self-control polishing direction that rail bending direction is quickly stablized so that the present invention is suitable for beating for different tracks shape rail
Mill cleaning, the scope of application is big, and the lower face of Self homeostasis adjustment block 70 is welded with from steady fulcrum 78, is welded from the lower face of steady fulcrum 78
Have from steady round platform 79, play the role of fixed support from steady round platform 79 from steady fulcrum 78；The Self homeostasis adjustment mechanism 77 includes upper
From steady platform 771 and lower from steady platform 773, on be installed on from the upper surface of steady platform 771 on L-type connection support plate 76 or movable block 74, on
From steady platform 771 and down from being uniformly provided with four from steady side chain 772 from steady platform axis direction between steady platform 773, down from steady
The lower face of platform 773 is installed in the corresponding end surface of Self homeostasis adjustment block 70；It is described to be welded on certainly including upper end from steady side chain 772
No. two ear mounts 7721 on steady 771 lower face of platform, are provided with No. three hydraulic cylinders 7722 between No. two ear mounts 7721 by axis pin, and three
The top of number hydraulic cylinder 7722 is installed in No. three ear mounts 7723 by axis pin, and No. three ear mounts 7723 are welded on down from steady platform 773
Upper surface on, No. three 7722 bottoms of hydraulic cylinder form revolute pair R, No. three hydraulic cylinders 7722 in No. two ear mounts 7721 in the present invention
Form prismatic pair P at work, No. three 7722 tops of hydraulic cylinder form revolute pair P in No. three ear mounts 7723, and on from steady platform
771st, four PRP types from steady side chain 772, down from steady platform 773 form 4-RPR parallel institutions, and 4-RPR parallel institutions have dynamic
The advantages that state responds, rigidity height, large carrying capacity, stability are good and kinematic accuracy is high, the present invention is by 4-RPR parallel institutions
The advantages of allow the present invention run into curved shape rail polishing when quickly stablized self-control polishing direction so that
The polishing that the present invention is suitable for different tracks shape rail is cleaned, and the scope of application is big.During work, if running into curved shape rail
During polishing, three Self homeostasis adjustment mechanisms 77 are quickly stablized by the advantages of 4-RPR parallel institutions according to rail bending direction
Self-control polishing direction so that the present invention be suitable for different tracks shape rail polishing clean, the scope of application is big, when this
After the rail section polishing at a position, mobile motor 72 goes into operation works at this time, and mobile motor 72, which drives, to be moved leading screw 73 and rotate,
Mobile leading screw 73 drives movable block 74 to move, and makes under two limited block 74a and the both sides spaced motion of two fixed concave blocks 75
Obtaining movable block 74 drives the present invention to enter next polishing position.
The variable high pressure cleaning device 8 is welded on the cleaning support plate 81 from steady 79 lower end of round platform, cleaning including upper surface
The lower face both sides of support plate 81 are symmetrically installed with two cleanings and adjust side chain 82 and two high-pressure wash side chains 83, and two cleanings are adjusted
Section side chain 82 is connected with two high-pressure wash side chains 83 respectively, and it is clear that two cleaning adjusting side chains 82 can accurately adjust two high pressures
The high-pressure wash angle of side chain 83 is washed, it is clear to adjust two high pressures for two cleaning adjusting side chains 82 when the present invention is being polished
Wash side chain 83 up to move so that the present invention is unaffected in bruting process, and polishing finishes latter two cleaning and adjusts side chain 82
Adjust two high-pressure wash side chains 83 down to move, utilize the residual adhered on high-pressure water jet operation principle Rapid Cleaning rail
Polishing iron filings and the dust do not removed, high-pressure wash effect are good；The cleaning adjusts side chain 82 and is welded on cleaning branch including two
The cleaning lifting lug 821 of 81 lower face of plate, clean lifting lug 821 between adjustment axis 822 is installed, the middle part of adjustment axis 822 passes through
Key is provided with adjustment gear 823, and the rear end of adjustment axis 822 is provided with regulation motor 824 by shaft coupling, and regulation motor 824 is logical
The lower face that motor cabinet is installed on cleaning support plate 81 is crossed, drives adjustment axis 822 to rotate by regulation motor 824,822 band of adjustment axis
Dynamic adjustment 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 includes two cleaning risers 831 for being symmetrically welded at 81 rear and front end of cleaning support plate, the lower end of two cleaning risers 831
Between by bearing be provided with cleaning shaft 832, cleaning shaft 832 middle part be welded with Y types release handle 833, Y type release handles
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-shaped gear
The gearratio of circle 834 is 3:1, adjustment gear 823 drives arc gear ring 834 to rotate, and passes through 3:1 low gearratio, which drives, reduces arc
The velocity of rotation of shaped ring gear 834, improves the stationary performance of transmission, and arc gear ring 834 drives Y types release handle 833 to turn in cleaning
Rotated on axis 832, arc gear ring 834 is provided at both ends with two and blocks block 834a, and two block block 834a and define arc-shaped gear
The 834 positive and negative slewing area in adjustment gear 823 is enclosed, it is exactly that arc gear ring 834 is positive and negative that two, which block block 834a positions,
Two extreme rotational positions in direction, the positive and negative slewing area of arc gear ring 834 is exactly that Y types release handle 833 is cleaning shaft 832
On slewing area, while two in two arc gear rings 834 block block 834a 833 upper end of Y types release handle is carried out it is effective
Limit, the lower end of the Y types release handle 833 is installed with limit shaft 835, and the both ends of limit shaft 835 pass through the side of being slidably matched
Formula is separately mounted on two arc-shaped limit rings 836, and each 836 upper end of arc-shaped limit ring and 831 lower end of corresponding cleaning riser
Between be welded with three connecting pole 836a, three connecting pole 836a play the work of connection and fixed support arc spacing ring 836
With the scope of arc-shaped limit ring 836 is just the positive and negative rotation scope of limit shaft 835, the positive and negative rotation scope and arc of limit shaft 835
Positive and negative slewing area of the shaped ring gear 834 in adjustment gear 823 is corresponding, while limit shaft 835 is on arc-shaped limit ring 836
Spaced motion effectively limits 833 lower end of Y types release handle so that and 833 upper end of Y types release handle, lower end uniformly limit, from
And cause the accurate slewing area that Y types release handle 833 is determined of the present invention, finally accurately it is determined that the high pressure of the present invention is clear
Wash angle of regulation range, the center for cleaning shaft 832, limit shaft 835, arc-shaped limit ring 836 and arc gear ring 834 4
Axis be combined with each other, and make it that adjustment gear 823 drives arc gear ring 834 in Y type release handles in the present invention using coaxial line principle
Slewing area in cleaning shaft 832 of 833 slewing area, Y types release handle 833, limit shaft 835 are in arc-shaped limit ring 836
On slewing area three it is equal so that the present invention can accurate up and down adjustment high-pressure wash angle；The Y types are adjusted
The lower end of handle 833, which is welded with, adjusts support plate 837, and adjusting the lower end uniform welding of support plate 837 has three adjusting pillar 837a, three
The end for adjusting pillar 837a is welded with cleaning fixed plate 88, and three adjusting pillar 837a play even support cleaning fixed plate
838 effect, 838 lower end of cleaning fixed plate are evenly arranged with three cleaning fixed blocks 838a, three cleaning fixed block 838a
Three giants 839 are respectively fixed with, three giants 839 regulated after cleaning are former using Cleaning by High Pressure Water Jet
The residual polishing iron filings and the dust do not removed, high-pressure wash effect adhered on reason Rapid Cleaning rail are good.During work, when this hair
The residual polishing iron filings adhered on timely high-pressure wash rail and the dust do not removed are needed after bright polishing, first according to rail
Position adjusts high-pressure wash angle of the present invention, and two regulation motors 824 that two cleanings are adjusted on side chain 82 start simultaneously at
Work, regulation motor 824 drive adjustment axis 822 to rotate, and adjustment axis 822 drives adjustment gear 823 to rotate, 823 band of adjustment gear
Dynamic arc gear ring 834 rotates, and arc gear ring 834 drives 833 upper end of Y types release handle to be rotated in cleaning shaft 832 and adjusted with Y types
Limit shaft 835 on 833 lower end of handle rotates on arc-shaped limit ring 836, due in the present invention to 833 upper end of Y types release handle, under
End has carried out effective restriction so that the present invention reaches can be stood when specifying high-pressure wash position by stopping regulation motor 824
Horse stops present invention work, so as to accurately have adjusted the high-pressure wash angle of 838 three giants 839 in lower section of cleaning fixed plate
Degree, regulates three giants 839 after cleaning using adhering on Cleaning by High Pressure Water Jet principle Rapid Cleaning rail
Residual polishing 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 installed on four No. four 10 lower ends of hydraulic cylinder, support plate of polishing
Liang Ge moving mechanisms 92 are symmetrically installed with left and right sides of 91 lower end, the inner side of Liang Ge moving mechanisms 92 is separately installed with two polishings
Side chain 93, two polishing side chains 93 between be connected using welding manner, two polishing side chains 93 between be used for place required polishing
Rail, the upper end of two polishing side chains 93 are respectively welded two mobile travellers 94, and two mobile 94 upper ends of traveller pass through slip
Fit system is provided with two mobile chutes 95, and two 95 upper ends of mobile chute are respectively welded at the lower face of polishing support plate 91,
Two polishing side chains are driven by the spacing auxiliary Xia Liangge moving mechanisms 92 of two mobile travellers 94 and two mobile chutes 95
The 93 polishing campaigns back and forth stablized；The moving mechanism 92 includes being symmetrically welded at two polishings of 91 lower end of polishing support plate
Lifting lug 921, polishing motor 922, polishing are provided with 921 inner wall of polishing lifting lug of 91 rear end of polishing support plate by motor cabinet
Polishing leading screw 923 is provided with by shaft coupling on the output shaft of motor 922, the middle part side of being connected through a screw thread for leading screw 923 of polishing
Formula is provided with polishing motion block 924, drives polishing motion block 924 to stablize on polishing leading screw 923 by motor 922 of polishing and moves；Institute
State two reinforcing rib blocks 931 that polishing side chain 93 includes being welded on corresponding polishing 924 side wall of motion block, two reinforcing rib blocks 931
End be welded on the back of bow-shaped support 932, reinforcing rib block 931, which plays, is fixedly connected with bow-shaped support 932 and polishing motion block 924
Effect, be symmetrically installed with two No. five hydraulic cylinders 933 in the middle inside of bow-shaped support 932, two No. five hydraulic cylinders 933
Top is provided with main abrading block 934, winner's abrading block 934 is close to required polishing by the movement of two No. five hydraulic cylinders 933
In the middle part of rail side wall, the upper and lower ends of main abrading block 934 are separately installed with two No.1 auxiliary mills by No.1 limit spring 935
Block 936, two No.1s aid in being separately installed with two No. two auxiliary by No. two limit springs 937 on the outer wall of abrading block 936
Abrading block 938, abrading block 936 is aided in by the spacing connection function No.1 of No.1 limit spring 935 and No. two limit springs 937
It can be synchronized with the movement with main 934, No. two auxiliary abrading blocks 938 of abrading block, be separately installed with the outer wall of two No. two auxiliary abrading blocks 938
Two No. six hydraulic cylinders 939, can be close to by No. two auxiliary abrading blocks 938 of movement two of two No. six hydraulic cylinders 939
In required polishing rail side wall upper and lower ends, the bottom of two No. six hydraulic cylinders 939 is separately mounted to the inner side of bow-shaped support 932
Upper and lower ends；Between 936, No. two main abrading block 934, No.1 auxiliary abrading block auxiliary abrading blocks 938 on described two polishing side chains 93
I-shaped polishing structure is formed, it is corresponding with the shape of rail.During work, pass through four on two polishing side chains 93 in the present invention
Two main abrading blocks 934 of No. five 933 activity adjustments of hydraulic cylinder are close in the middle part of required polishing rail side wall, pass through two polishing side chains
Four No. six hydraulic cylinders, 939 activity adjustment, four No. two auxiliary abrading blocks 938 on 93 are close to above and below required polishing rail side wall
Both ends, and four No.1s on two polishing side chains 93 aid in abrading block 936 due to 935, No. two limit springs of No.1 limit spring
937 connection position-limiting action follows corresponding 934, No. two auxiliary abrading blocks 938 of main abrading block to be close to above and below required polishing rail side wall
Transition recess, so as to constitute the I-shaped polishing structure for being close to rail surface so that the present invention can be close to rail completely
Surface, at this time two in Liang Ge moving mechanisms 92 polishing motor 922 start simultaneously at movement, two polishing motors 922 drive two
A polishing motion block 924 stablizes movement on two polishing leading screws 923, and two polishing motion blocks 924 drive two polishing side chains 93 to exist
Two mobile travellers 94 are moved back and forth with what is stablized under the spacing auxiliary of two mobile chutes 95, two polishing side chain 93 it
Between the polishing campaign back and forth stablized to rail of I-shaped polishing structure that is formed, polishing scope is big, and polishing effect is good, and work is imitated
Rate is high.
In use, the present invention is installed in existing mobile equipment first, it is by existing mobile equipment that the present invention is mobile
To required polishing rail section, after location determination is good, if the present invention runs into the polishing of curved shape rail, moved from steady
Dynamic device 7 is started to work, 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 suitable for different tracks shape rail is cleaned, and is applicable in 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 in
The polishing cleaning of rail under different terrain height, at this time adjustable sanding apparatus 9 start to work, 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 polishing rail side wall, 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, two polishing motors 922 in Liang Ge moving mechanisms 92 start simultaneously at movement at this time, and two are beaten
Electric mill machine 922 drives two polishing motion blocks 924 to stablize movement on two polishing leading screws 923, and two polishing motion blocks 924 drive two
What a 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 a polishing side chain 93 stablizes rail, polishing scope is big, beats
It is good to grind effect, work 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, variable high pressure cleaning device 8 is started to work at this time, 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 chain 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 833 upper end of Y types release handle in cleaning shaft 832 in rotation and 833 lower end of Y types release handle
Limit shaft 835 rotates on arc-shaped limit ring 836, due to being had to 833 upper end of Y types release handle, 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 838 three giants 839 in lower section of cleaning fixed plate, regulates 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, mobile motor at this time
72 go into operation work, and mobile motor 72 drives mobile leading screw 73 to rotate, and mobile leading screw 73 drives movable block 74 to move, in two limited blocks
So that movable block 74 drives the present invention to enter next polishing portion under the both sides spaced motion of 74a and two fixed concave block 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, the degree of automation is high, and polishing cleaning speed is fast, and work efficiency is high, solves existing rail polishing cleaning equipment
By being needed existing for human assistance mode of operation, manual operation, the degree of automation 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 work efficiency is low are stayed, have 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 the description in above embodiments and description 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, 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
Define.
Claims (2)
- A kind of 1. full-automation underground railway track polishing cleaning manipulator, it is characterised in that：It is described including from steady mobile device (7) Variable high pressure cleaning device (8) is installed from steady mobile device (7) lower face, the lower end of variable high pressure cleaning device (8) is symmetrical Four No. four hydraulic cylinders (10) are installed, the top 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, which are symmetrically welded with, is provided with two from steady lifting lug (71a), positioned at from steady support plate (71) front end from steady lifting lug Mobile motor (72) is provided with by motor cabinet on (71a) inner wall, the output shaft of mobile motor (72) passes through shaft coupling and movement Leading screw (73) is connected, and the rear end of mobile leading screw (73) is mounted on from steady support plate (71) rear end from steady lifting lug by bearing On (71a), movable block (74), the both ends of movable block (74) are provided with by thread fiting mode on the middle part of mobile leading screw (73) Two limited blocks (74a) are symmetrically arranged with, the lower face of two limited blocks (74a) is separately mounted to two by sliding matching mode On a fixed concave block (75), two fixed concave block (75) upper ends are respectively welded at from the both sides of steady support plate (71)；The movable block (74) two L-type connection support plates (76) are symmetrically welded with left and right sides of；Upper surface, the left and right end of the Self homeostasis adjustment block (70) Three Self homeostasis adjustment mechanisms (77) are separately installed with face, two on Self homeostasis adjustment block (70) left and right ends face adjust from steady Section mechanism (77) top is separately mounted on two L-type connection support plate (76) inner walls, on Self homeostasis adjustment block (70) upper surface Self homeostasis adjustment mechanism (77) top be separately mounted to the lower faces of movable block (74), the lower face welding of Self homeostasis adjustment block (70) Have from steady fulcrum (78), be welded with from the lower face of steady fulcrum (78) from steady round platform (79)；Self homeostasis adjustment mechanism (77) bag Include from steady platform (771) and lower from steady platform (773), on be installed on L-type connection support plate (76) from the upper surface of steady platform (771) or move On motion block (74), on between steady platform (771) and lower (773) from steady platform on from steady platform axis direction be uniformly provided with four from Steady side chain (772), under be installed on from the lower face of steady platform (773) in the corresponding end surface 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 face both sides for washing support plate (81) are symmetrically installed with two cleanings and adjust side chains (82) and two high-pressure wash side chains (83), and two A cleaning adjusts side chain (82) and is connected respectively with two high-pressure wash side chains (83)；The cleaning, which adjusts side chain (82), includes two The cleaning lifting lug (821) of cleaning support plate (81) lower face is welded on, adjustment axis (822) is installed between cleaning lifting lug (821), The middle part of adjustment axis (822) is provided with adjustment gear (823) by key, and the rear end of adjustment axis (822) is provided with by shaft coupling Regulation motor (824), regulation motor (824) are installed on the lower face of cleaning support plate (81) by motor cabinet；The high-pressure wash Side chain (83) includes being symmetrically welded at two cleaning risers (831) of cleaning support plate (81) rear and front end, two cleaning risers (831) cleaning shaft (832) is provided with by bearing between lower end, Y type release handles are welded with the middle part of cleaning shaft (832) (833), arc gear ring (834), arc gear ring (834) and adjustment gear (823) phase are provided with the top of Y types release handle (833) Engagement, arc gear ring (834) are provided at both ends with two and block block (834a), and peace is fixed in the lower end of the Y types release handle (833) Equipped with limit shaft (835), the both ends of limit shaft (835) are separately mounted to two arc-shaped limit rings by sliding matching mode (836) on, and three connections are welded between each arc-shaped limit ring (836) upper end and corresponding cleaning riser (831) lower end Column (836a), the lower end of the Y types release handle (833), which is welded with, adjusts support plate (837), and the lower end for adjusting support plate (837) is uniform Three adjusting pillars (837a) are welded with, the end of three adjusting pillars (837a) is welded with cleaning fixed plate (88), and cleaning is solid Fixed board (838) lower end is evenly arranged with three cleaning fixed blocks (838a), is respectively fixed with three cleaning fixed blocks (838a) Three giants (839)；The adjustable sanding apparatus (9) includes being installed on the polishing support plate (91) of four No. four hydraulic cylinder (10) lower ends, polishing branch Liang Ge moving mechanisms (92) are symmetrically installed with left and right sides of the lower end of plate (91), are separately installed with the inside of Liang Ge moving mechanisms (92) Two polishing side chains (93), are connected using welding manner between two polishings side chains (93), the upper end of two polishing side chains (93) Two mobile travellers (94) are respectively welded, two mobile traveller (94) upper ends are provided with two movements by sliding matching mode Sliding slot (95), two mobile chute (95) upper ends are respectively welded at the lower face of polishing support plate (91)；The moving mechanism (92) Two polishing lifting lugs (921) including being symmetrically welded at polishing support plate (91) lower end, the polishing positioned at polishing support plate (91) rear end Polishing motor (922) is provided with by motor cabinet on lifting lug (921) inner wall, passes through shaft coupling on the output shaft of polishing motor (922) Device is provided with polishing leading screw (923), and the mode that is connected through a screw thread in the middle part of polishing leading screw (923) is provided with polishing motion block (924)； The polishing side chain (93) includes two reinforcing rib blocks (931) being welded on corresponding polishing motion block (924) side wall, two reinforcements The end of muscle block (931) is welded on the back of bow-shaped support (932), is symmetrically installed with the middle inside of bow-shaped support (932) Two No. five hydraulic cylinders (933), the top of two No. five hydraulic cylinders (933) are provided with main abrading block (934), main abrading block (934) Upper and lower ends are separately installed with two No.1s by No.1 limit spring (935) and aid in abrading block (936), two No.1 auxiliary mills On the outer wall of block (936) by No. two limit springs (937) be separately installed with two No. two auxiliary abrading blocks (938), two two Number auxiliary abrading block (938) outer wall on be separately installed with two No. six hydraulic cylinders (939), the bottom of two No. six hydraulic cylinders (939) End is separately mounted to the inner side upper and lower ends of bow-shaped support (932)；It is described to be welded on from steady side chain (772) including upper end from No. two ear mounts (7721) on steady platform (771) lower face, No. two No. three hydraulic cylinders (7722) are provided with by axis pin between ear mount (7721), the top of No. three hydraulic cylinders (7722) is pacified by axis pin On No. three ear mounts (7723), No. three ear mounts (7723) are welded on down from the upper surface of steady platform (773)；The central shaft for cleaning shaft (832), limit shaft (835), arc-shaped limit ring (836) and arc gear ring (834) four Line be combined with each other；Main abrading blocks (934), No.1 auxiliary abrading block (936) on described two polishings side chains (93), No. two auxiliary abrading blocks (938) it Between formed I-shaped polishing structure.
- A kind of 2. full-automatic underground railway track polishing cleaning manipulator according to claim 1, it is characterised in that：The tune The gearratio for saving gear (823) and arc gear ring (834) is 3:1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711222955.1A CN108000538A (en) | 2016-06-28 | 2016-06-28 | A kind of full-automation underground railway track polishing cleaning manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711222955.1A CN108000538A (en) | 2016-06-28 | 2016-06-28 | A kind of full-automation underground railway track polishing cleaning manipulator |
| CN201610500233.7A CN106078773B (en) | 2016-06-28 | 2016-06-28 | A kind of underground railway track intelligence polishing cleaning manipulator |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610500233.7A Division CN106078773B (en) | 2016-06-28 | 2016-06-28 | A kind of underground railway track intelligence polishing cleaning manipulator |
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| CN108000538A true CN108000538A (en) | 2018-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610500233.7A Active CN106078773B (en) | 2016-06-28 | 2016-06-28 | A kind of underground railway track intelligence polishing cleaning manipulator |
| CN201711223344.9A Pending CN107813331A (en) | 2016-06-28 | 2016-06-28 | A kind of adjustable underground railway track polishing washing and cleaning operation manipulator |
| CN201711222955.1A Pending CN108000538A (en) | 2016-06-28 | 2016-06-28 | A kind of full-automation underground railway track polishing cleaning manipulator |
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| CN201711223344.9A Pending CN107813331A (en) | 2016-06-28 | 2016-06-28 | A kind of adjustable underground railway track polishing washing and cleaning operation manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110804911A (en) * | 2019-11-25 | 2020-02-18 | 株洲时代电子技术有限公司 | Steel rail polishing unit |
| CN111958578A (en) * | 2020-08-17 | 2020-11-20 | 广东万合新材料科技有限公司 | Suspension type manipulator |
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| CN114703708B (en) * | 2022-04-19 | 2024-02-02 | 中铁第四勘察设计院集团有限公司 | Steel rail water jet polishing operation lifting system based on data processing and operation method |
| CN114541195B (en) * | 2022-04-25 | 2022-08-16 | 中铁第四勘察设计院集团有限公司 | Abrasive water jet polishing system and method based on multi-axis drive control |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106078773B (en) | 2018-01-16 |
| CN107813331A (en) | 2018-03-20 |
| CN106078773A (en) | 2016-11-09 |
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