CN109778616A - CRTS I type double-block ballastless track adjusting system and method - Google Patents
CRTS I type double-block ballastless track adjusting system and method Download PDFInfo
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- CN109778616A CN109778616A CN201910187716.XA CN201910187716A CN109778616A CN 109778616 A CN109778616 A CN 109778616A CN 201910187716 A CN201910187716 A CN 201910187716A CN 109778616 A CN109778616 A CN 109778616A
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- IXORZMNAPKEEDV-OBDJNFEBSA-N gibberellin A3 Chemical compound C([C@@]1(O)C(=C)C[C@@]2(C1)[C@H]1C(O)=O)C[C@H]2[C@]2(C=C[C@@H]3O)[C@H]1[C@]3(C)C(=O)O2 IXORZMNAPKEEDV-OBDJNFEBSA-N 0.000 description 1
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Abstract
The invention discloses a CRTS I type double-block ballastless track adjusting system and a method, which comprise a measuring system, a control system and an execution system, wherein the control system is respectively in wireless connection with the measuring system and the execution system; the track adjusting system comprises a support frame, an executing system and an adjusting mechanism, wherein the support frame comprises an adjusting screw rod used for adjusting a track, the adjusting mechanism comprises at least one servo regulator and at least one mechanical arm, the power output end of the mechanical arm is connected with the servo regulator, the output end of the servo regulator is connected with the adjusting screw rod so as to adjust the track, the executing system further comprises a walking mechanism used for supporting the adjusting mechanism to walk, the walking mechanism comprises a first rack and wheels used for supporting the first rack to move, and at least one fixed seat assembly is arranged on the same surface of the first rack; the machine replaces manpower, and is efficient, consumes few manpower resources, and the human cost is low, and the precision is high.
Description
Technical field
The present invention relates to I type double-block type ballastless track regulating systems of technical field of rail traffic more particularly to a kind of CRTS
And method.
Background technique
In high speed railway construction, I type double-block type ballastless track of CRTS is one of non-fragment orbit type of current mainstream, is adopted
It is slightly spread with batch production concentration pre-casting sleeper, construction site cloth pillow, track, the pipeline mode of track construction accurate adjustment, concreting
Complete the construction of road bed board；Its middle orbit is slightly spread and track construction accurate adjustment is in I type double block Construction of Ballastless Track technology of CRTS
Two critical processes, efficiency directly restrict ballastless track bed board construction speed, and precision directly affects non-fragment orbit
The comfort level of ride comfort and operation phase passenger.
However the track in Construction of Ballastless Track is slightly spread at present and track accurate adjustment is separately carried out by binomial process, every Pin rail
Row's frame is about 6500mm, 4 crossbeams are connected and fixed the left and right section of track and form an entirety, passes through support frame screw rod, brace
Ground stress；Manually first with total station press the every Pin section of track frame of coordinate method setting-out on base plate angle point, manually play the line of ink marker, again by
Every Pin section of track is slightly taped against position (being laid with precision controlling within 5mm) by the played line of ink marker by hand fit's gantry crane；Track construction essence
Adjusting current common method is rail row supporting frame+total station cooperation track detection car+manual work mode, and rail is examined with total station
Trolley successively measures the 3 d space coordinate data of each crossbeam position on the section of track, calculates each crossbeam position measured data and design
Deviation between data is manually carried out accurately according to deviation with vertical and transverse screw of the specialist tools to track panel supporting rack
Adjustment.
Process is tedious for the track fine adjusting method, first carries out track coarse adjustment, then carry out accurate adjustment, every group of coarse adjustment and accurate adjustment are both needed to match
2 technical staff and 6 workers are set, per hour the only 3 Pin section of track of accurate adjustment (about 20 meters or so), low efficiency, labor intensive resource
It is more, at high cost, and precision is big by human factor and such environmental effects, does not fit mutually with the development of China express railway Fast Construction
It answers.
Summary of the invention
Technical problems based on background technology, the invention proposes a kind of adjustings of I type double-block type ballastless track of CRTS
System and method replaces manpower with machine, and automatic control system controls to adjust, high-efficient, labor intensive resource is few, human cost
Low, precision is high.
I type double-block type ballastless track regulating system of a kind of CRTS proposed by the present invention, including measuring system, control system and
Execution system, control system respectively with measuring system, execute system wireless and connect, which is characterized in that the execution system includes
Adjustment mechanism and braced frame for trapped orbit；The braced frame includes the adjusting screw rod for adjusting track, described
Adjustment mechanism includes at least one servo-operated regulator and at least one mechanical arm, the power output end and servo-operated regulator of mechanical arm
Connection, the output end of servo-operated regulator is connect with adjusting screw rod, to adjust track.
Further, the execution system further includes being used to support the walking mechanism of the adjustment mechanism walking, the row
Walking mechanism includes the first rack and the wheel for being used to support the first gantry motion, is provided at least on the same surface of the first rack
The power output end of one reservation component, mechanical arm is connect with servo-operated regulator by universal joint, and mechanical arm is defeated far from power
One end of outlet and reservation member hinges.
Further, the execution system further includes correcting mechanism, and the correcting mechanism includes prism, electric drive hydraulic thruster
And the displacement sensor for detecting the adjustment mechanism position, the axial ends of electric drive hydraulic thruster are arranged with rolling respectively
Wheel, prism bar and wheel, idler wheel are set to the relative inner of rails, prism bar far from electric drive hydraulic thruster one end with
Prism connection.
Further, the measuring system includes the total station for obtaining prism feedback position coordinate.
Further, prism is provided with buffer stopper in the junction with prism bar, and fluted, rib is opened up on the buffer stopper
Mirror is nested in the groove of the buffer stopper, and the buffer stopper is fixed on prism bar one end relative to the side of groove.
The braced frame includes joist body and adjusting screw rod, the joist body include with rail to outside vertically disposed joist
The joist inner sleeve that can be moved in joist housing and in joist housing is covered and is sheathed on, adjusting screw rod includes elevation adjusting screw rod
With rail to adjusting screw rod, rail is set on one end face of joist length direction to adjusting screw rod, and by gear and joist
Set connection, the one end of rail to adjusting screw rod far from gear are connect with a servo-operated regulator, and elevation adjusting screw rod is set to outside joist
The both ends of length direction are covered, elevation adjusting screw rod is connect with another servo-operated regulator, and joist housing and joist inner sleeve are in elevation tune
It saves and is connected at screw rod by locking device.
A kind of I type double-block type ballastless track adjusting method of CRTS, includes the following steps:
It controls adjustment mechanism to reach at the monitoring point of setting, and is connect with braced frame；
Setting coordinate at each monitoring point of predetermined trajectory, and obtain the actual coordinate at each monitoring point；
The difference for calculating the actual coordinate and the setting coordinate, obtains the orbit displacement amount at each monitoring point, described
Orbit displacement amount includes rail to deviation d and height variation value h；
The deviation is converted to the regulated value n of the adjusting screw rod；
It controls servo-operated regulator and the adjusting screw rod is adjusted by regulated value n, with adjustable track.
Further, it after the control servo-operated regulator adjusts the adjusting screw rod by regulated value n, including walks as follows
It is rapid:
The secondary actual coordinate at each monitoring point is obtained again, and judges whether the secondary actual coordinate deviates setting and sit
Mark；
If it is not, then completing the adjusting to track；
If so, calculating the difference of the secondary actual coordinate and the setting coordinate, obtained at each monitoring point again
Orbit displacement amount is adjusted with adjustable track until completing track.
Further, it asks a method to calculate the difference of the actual coordinate and the setting coordinate using route fixed point, obtains
Orbit displacement amount at each monitoring point；
Further, the actual coordinate obtained at each monitoring point is arranged prism at each monitoring point, including walks as follows
It is rapid:
The Free Station with Total Station electronic Thacheometer of the measuring system；
The total station obtains the actual coordinate of prism feedback, and uploads to control system.
The advantages of a kind of I type double-block type ballastless track regulating system of CRTS and method provided by the invention, is: the present invention
A kind of I type double-block type ballastless track regulating system of CRTS and method provided in structure, measuring system obtain the practical seat of track
Mark, is handled after obtaining the regulated quantity of corresponding adjusting screw rod after uploading to control system, and control system controls mechanical arm movement,
The servo-operated regulator movement connecting with mechanical arm is driven, and then realizes rotating by corresponding regulated quantity for adjusting screw rod, it is final to realize
The adjusting of track；Manual measurement unwrapping wire and the process adjusted in track adjusting are simplified, manpower is saved；Tradition is changed simultaneously
In fine adjusting method, the phenomenon that artificial repeatedly adjustment adjusting screw rod, it is average per hour can the 9 Pin section of track of accurate adjustment (about 60 meters), work efficiency is
3 times of traditional fine adjusting method, is greatly improved the efficiency of Construction of Ballastless Track accurate adjustment；The track on prism is tested by total station
Location information is simultaneously transported to control system to handle, and realizes and adjusts to the automatic and accurate of track；Control system controls electric hydaulic
Stretching for push rod, realizes adjustment mechanism traveling in orbit, improves stability when adjustment mechanism stops；Pass through simultaneously
Automation adjustment track is realized in the accurate connection of mechanical arm being telescoped up between servo adjuster and corresponding adjustment screw.
Detailed description of the invention
Fig. 1 is three-dimensional knot when a kind of adjustment mechanism of I type double-block type ballastless track regulating system of CRTS of the present invention is advanced
Structure schematic diagram；
Structural schematic diagram when Fig. 2 is a kind of adjustment mechanism work of I type double-block type ballastless track regulating system of CRTS；
Fig. 3 is a kind of support frame structure schematic diagram of I type double-block type ballastless track regulating system of CRTS of the present invention；
Fig. 4 is a kind of positive adjustment structure schematic diagram of I type double-block type ballastless track regulating system of CRTS of the present invention；
Fig. 5 is a kind of reversed adjustment structure schematic diagram of I type double-block type ballastless track regulating system of CRTS of the present invention；
Fig. 6 is a kind of step flow chart of I type double-block type ballastless track adjusting method of CRTS of the present invention；
Fig. 7 is that a kind of route fixed point of I type double-block type ballastless track adjusting method of CRTS of the present invention seeks the schematic diagram of a method；
Fig. 8 is that a kind of track of I type double-block type ballastless track adjusting method of CRTS adjusts the schematic diagram of displacement correction method；
Wherein, 1- protecting wall fixing seat, 2- support pull rod, 3- elevation adjusting screw rod, 4- angle adjustable bolt, outside 5- joist
Set, 6- joist inner sleeve, 7- tool track, 8- locking device, 9- rail is to adjusting screw rod, 10- locking strut, 11- prism, 12- sleeper,
13- servo-operated regulator, 14- mechanical arm, 15- wheel, 16- universal joint, 17- electric drive hydraulic thruster, 18- prism bar, 19- idler wheel,
20- screw sheel, the first rack of 21-, 22- reservation component.
Specific embodiment
In the following, technical solution of the present invention is described in detail by specific embodiment.
It should be noted that completing track by conventional method when being adjusted by the adjustment mechanism to track
Thick paving carries out accurate adjustment by the adjustment mechanism, to realize track accurate adjustment on the basis of track is slightly spread.
Referring to figs. 1 to 3, a kind of I type double-block type ballastless track regulating system of CRTS proposed by the present invention, measuring system, control
System processed and execution system, control system are connect with measuring system, execution system wireless respectively, and the braced frame includes being used for
The adjusting screw rod of track is adjusted, the adjustment mechanism includes at least one servo-operated regulator 13 and at least one mechanical arm 14, machine
The power output end of tool arm 14 is connect with servo-operated regulator 13, and the output end of servo-operated regulator 13 is connect with adjusting screw rod, to adjust
Whole track.
Measuring system obtains the actual coordinate of track, is handled to obtain corresponding adjusting screw rod after uploading to control system
After regulated quantity, control system controls mechanical arm 14 and acts, and drives the servo-operated regulator 13 connecting with mechanical arm 14 to act, Jin Ershi
Existing adjusting screw rod is rotated by corresponding regulated quantity, the final adjusting for realizing track；Simplify track adjust in manual measurement unwrapping wire simultaneously
The process of adjusting, saves manpower；Entire accurate adjustment work progress only needs 1 technical staff and 2 workers, greatly reduces
Human resources alleviate labor intensity of workers；It changes in traditional fine adjusting method, artificial the phenomenon that repeatedly adjusting adjusting screw rod,
It is average per hour can the 9 Pin section of track of accurate adjustment (about 60 meters), work efficiency is 3 times of traditional fine adjusting method, is greatly improved non-fragment orbit and applies
The efficiency of work accurate adjustment.
As shown in figure 3, the adjustment mechanism further includes walking mechanism and correcting mechanism, the walking mechanism includes the first machine
Frame 21 and the wheel 15 for being used to support the movement of the first rack 21, are provided at least one reservation on the same surface of the first rack 21
The power output end of component 22, mechanical arm 14 is connect with servo-operated regulator 13 by universal joint 16, and mechanical arm 14 is far from power
One end of output end and reservation component 22 are hinged；The correcting mechanism includes prism 11, electric drive hydraulic thruster 17 and for examining
The displacement sensor of the adjustment mechanism position is surveyed, the axial ends of electric drive hydraulic thruster 17 is arranged with idler wheel 19, prism bar 18
With wheel 15, the idler wheel 19 is set to the relative inner of rails, axial direction of the prism bar 18 far from electric drive hydraulic thruster 17
One end is connect with prism 11, and electric drive hydraulic thruster 17 is fixed in first rack.Prism bar 18 is with electric drive hydraulic thruster 17
Telescopic moving, 18 axis direction of prism bar is vertical with 15 face of bottom wheel, and the top of prism bar 18 to 15 floor height of wheel is set
It is calculated as definite value, 19 centre distance of the left end idler wheel design definite value 38mm (rolling at 18 center of left end prism bar to electric drive hydraulic thruster 17
Take turns 19 radius 25mm), 19 centre distance of the right end idler wheel design at same 18 center of right end prism bar to electric drive hydraulic thruster 17 is fixed
Value 38mm (19 radius 25mm of idler wheel), it is ensured that right above the center that 11 center of two prisms is accurately located at rail in measurement；
The high-intensitive running wheel 15 of 4 of adjustment mechanism pedestal design, walks on the tool track of braced frame, and frictional force is small, movement
Flexibly；Displacement sensor is designed on running wheel, for measuring the mileage of adjustment mechanism walking.
It should be noted that prism 11 is provided with buffer stopper in the junction with prism bar 18, opened up on the buffer stopper
Fluted, prism 11 is nested in the groove of the buffer stopper, and the buffer stopper is fixed on prism bar relative to the side of groove
18 one end.Prism 11 is buffered by buffer stopper, avoids prism 11 during executing system motion, caused by vibration
There is the defect damaged in prism, while prism 11 is nested in the groove of the buffer stopper, is fixed on prism bar convenient for prism 11
On 18.
Specifically, as shown in Figures 2 and 3, mechanical arm 14 is connect with servo-operated regulator 13 by universal joint 16, servo-operated regulator
Axial one end of a shaft is connected on 13, the axial other end of the shaft is sheathed in universal joint 16, and shaft is driven by mechanical arm
It is rotated after dynamic, and then realizes the 360 degree rotation of servo-operated regulator 13, the setting of universal joint and the shaft avoids servo adjusting
Angular deviation of the device 13 when being connect with adjusting screw rod.Servo-operated regulator 13 is connected with corresponding adjusting screw rod by screw sheel 20
Connect, the driving end of servo-operated regulator 13 is fixed in the axial one end of screw sheel 20, the axial other end of screw sheel 20 with it is corresponding
Nut connection on adjusting screw rod, is in the position on adjusting screw rod by adjusting nut, realizes the purpose of adjustable track.
Further, as shown in figure 3, the braced frame includes joist body and adjusting screw rod, the joist body include with
Rail is to vertically disposed joist housing 5 and is sheathed on the joist inner sleeve 6 that can be moved in joist housing 5 and in joist housing 5,
Adjusting screw rod includes elevation adjusting screw rod 3 and rail to adjusting screw rod 9, and rail is set to 5 length direction of joist housing to adjusting screw rod 9
It is connect on one end face and by gear with joist inner sleeve 6, the one end of rail to adjusting screw rod 9 far from gear and a servo-operated regulator
13 connections, elevation adjusting screw rod 3 are set to the both ends of 5 length direction of joist housing, and elevation adjusting screw rod 3 and another servo are adjusted
Device 13 connects, and joist housing 5 is connect at elevation adjusting screw rod 3 by locking device 8 with joist inner sleeve 6.
Further, as shown in figure 3, the braced frame further includes protecting wall fixing seat 1, support pull rod 2,7 and of tool track
Locking strut 10, protecting wall fixing seat 1 and support pull rod 2 are set to the side in joist body length direction, and locking strut 10 is set
It is placed in the other side in joist body length direction, protecting wall is fixed on by protecting wall fixing seat 1 in the axial one end of support pull rod 2
On, the axial other end of support pull rod 2 is connect by the first fixing piece with joist housing 5, outside the axial one end of locking strut 10 and joist
Hingedly, the axial other end of locking strut 10 is connect by the second fixing piece with ground set 5, tool track 7 and the fixed company of joist inner sleeve 6
It connects, tool track 7 is connect by fastener with sleeper 12, and tool track 7, sleeper 12,6 three of joist inner sleeve form a fixed structure.
It should be understood that fixed support frame frame first, when adjustment mechanism is walked in orbit, hydraulic electric push rod 17 is received automatically
Contracting avoids contacting friction between idler wheel 19 and rail medial surface and influencing travel speed, when adjustment mechanism stops at the tune of setting
When saving cross section place, stop motion, electric drive hydraulic thruster 7 is stretched out automatically, the rail medial surface exact contact of idler wheel 19 and track,
So that adjustment mechanism is fixed in setting position, adjustment mechanism is avoided to cause the deviation caused by sliding to lack because fixation is unstable
It falls into, mechanical arm 14 is upheld, and blocks adjusting screw rod automatically, and total station obtains the reality of track locating for adjustment mechanism by prism 11
Position coordinates are simultaneously transported in controller, by comparing the deviation of actual position coordinate and setting position coordinate, obtain deviation,
After servo adjuster 13 receives the deviation, the rail of track is completed by the servo motor rotation in servo adjuster 13
It is adjusted to elevation.
The rail of track is to adjusting: mechanical arm 14 drives a servo-operated regulator 13 to move to rail to the junction of adjusting screw rod 9,
And connect with rail to adjusting screw rod 9, the locking device 8 between joist housing 5 and joist inner sleeve 6 is unclamped, locking device 8 unclamps
Afterwards, the movement of joist inner sleeve 6 does not influence elevation adjusting screw rod 3, by rail to separately adjustable with elevation, realizes rail to the tune with elevation
It saves non-interference；Servo motor rotation in servo-operated regulator 13, when band dynamic rail is to 9 Forced rotation of adjusting screw rod, gear also with
Rotation, so that joist inner sleeve 6 be driven to slide with respect to joist housing 5, and then drive track transverse shifting, realize to the rail of track
To adjustment.
The elevation of track is adjusted: mechanical arm 14 drives a servo-operated regulator 13 to move to the company that elevation adjusts adjusting screw rod 3
Place is met, and adjusts adjusting screw rod 3 with elevation and connect, the servo motor rotation in servo-operated regulator 13 drives elevation adjusting screw rod 3
When Forced rotation, and then joist housing 5 is driven to move up and down, realizes the elevation adjustment of track.
It should be noted that completing track by conventional method when being adjusted by the adjustment mechanism to track
Thick paving carries out accurate adjustment by the adjustment mechanism, to realize track accurate adjustment on the basis of track is slightly spread.
Further, as an embodiment, the locking device 8 that joist housing 5 is connect with joist inner sleeve 6 is cross pin shaft,
Angle adjustable bolt 4 is provided on joist housing 5, angle adjustable bolt 4 is connect with joist inner sleeve 6, on the one hand when joist inner sleeve 6
When fixed with joist housing 5, fixed angles of the joist inner sleeve 6 relative to joist housing 5 can be adjusted by angle adjustable bolt 4
Degree, directionality when convenient for 6 next time of the movement of joist inner sleeve determines, on the other hand, transports in joist inner sleeve 6 relative to joist housing 5
In dynamic process, the movement angle of adjustable joist inner sleeve 6 passes through the tune of moving process with the moving direction of adjustable track
It is whole, avoid track from deviateing setting moving direction mobile.
It should be understood that protecting wall fixing seat 1, support pull rod 2 and elevation adjusting screw rod 3 are the stress of the joist housing 5 of joist body
Device.
It should be noted that have 4 joist bodies and 4 to (8) elevation adjusting screw rod 3 on every Pin rail row supporting frame,
The 2 joist body one end designs of middle head and the tail are mounted with that rail to adjusting screw rod 9, is rotated by rail to adjusting screw rod 9 to drive joist body
The opposite sliding of inner-outer sleeve；Every Pin section of track is an accurate adjustment unit, is equipped with an ATR function total station and two adjustment mechanisms,
Can operation simultaneously, every adjustment mechanism designs 3 mechanical arms；1 servo motor adjuster is designed on each mechanical arm, wherein 2
Servo motor adjuster 13 is connect with two elevation adjusting screw rods 3 on a mechanical arm, and for controlling the adjusting of track elevation, 1 is watched
Take regulex 13 and connect with a rail to adjusting screw rod 9, for track rail to adjusting.
2 adjustment sections are arranged in every Pin section of track, are laid in 2 crossbeam joist body both ends of head and the tail, each adjustment section
The design of joist body is mounted with 1 rail to adjusting screw rod and 1 to (2) vertical adjustment screw rod.
Specifically, braced frame is designed as inside and outside nesting type structure, covers 5 in vitro by joist and slides in beam body inner sleeve 6
Mode realize that the rail of track is adjusted to (transverse direction)；(vertical) adjustment of elevation is realized by elevation adjusting screw rod 3.The rail of track
It is independent of each other to elevation adjustment；The track of inside and outside nested type support frame rail to (transverse direction) adjusting range -20mm~+20mm it
Between, elevation (vertical) adjusting range -50mm~+50mm, the stationary track frame adjusting range of more traditional artificial fine adjusting method
Greatly.
Two adjustment mechanisms, which synchronize, is adjusted 2 positions before and after the same Pin section of track, completes one to quickly, efficiently and accurately
The rail of the Pin section of track is to the adjusting with elevation；After adjustment mechanism adjusts, servo adjuster unclamps adjusting screw rod, and mechanical arm is received
Contracting, electric drive hydraulic thruster are shunk, and then move to next Pin section of track adjustment position.
As shown in fig. 6, a kind of I type double-block type ballastless track adjusting method of CRTS, includes the following steps:
S1: control adjustment mechanism reaches at the monitoring point of setting, and connect with braced frame；
S2: the setting coordinate at each monitoring point of predetermined trajectory, and obtain the actual coordinate at each monitoring point；
The setting coordinate of orbit centre is preset in the controls, which is by route in control system
The positive inverse program of coordinate, which calculates, to be obtained；Total station obtain on adjustment mechanism 1#, 2# 1., 2., 3., the rail of 4. number prism feedback
Center actual coordinate, and send the coordinate in control system.
S3: the difference of the actual coordinate and the setting coordinate is calculated, the orbit displacement amount at each monitoring point, institute are obtained
Stating orbit displacement amount includes rail to deviation d and height variation value h；
Control system is calculated actual coordinate by the positive inverse program of circuit coordinate and sets the deviation of coordinate.
S4: the deviation is converted to the regulated value n of the adjusting screw rod；
Displacement correction program is adjusted by the track in controller according to deviation, converts phase for the orbit displacement amount
Answer the regulated quantity n of adjusting screw rod.
Regulated value n includes rail to regulated value and elevation regulated value, and the adjusting screw rod includes being used for track rail to (cross
To) rail that adjusts to adjusting screw rod and is used for the elevation adjusting screw rod of (upper and lower) adjusting of track elevation, rail passes through to adjusting screw rod
Rail is adjusted to regulated value, and elevation adjusting screw rod is adjusted by elevation regulated value.
S5: control servo-operated regulator 13 adjusts the adjusting screw rod by regulated value n, with adjustable track；
S6: the secondary actual coordinate at each monitoring point is obtained again；
S7: judge whether the secondary actual coordinate deviates setting coordinate；
If so, reentering step S3；
If it is not, then entering step S8；
S8: the adjusting to track is then completed；
After the completion of S6 to S8 is adjustment mechanism accurate adjustment, total station receives control system measurement again and checks information command, then
Secondary 4 prisms 11 on adjustment mechanism, which successively measure, to be checked, and is checked precision and is unsatisfactory for prescribed requirement, is then recycled into step
Rapid S3；It checks after precision meets prescribed requirement, then adjustment mechanism receives the accurate adjustment ending message instruction that control system issues, mechanical
The movement of arm 14 packs up servo adjuster 13 to control, and electric drive hydraulic thruster 17 is shunk automatically, and adjustment mechanism marches to next automatically
The Pin section of track carries out orbit adjusting.
As shown in Figures 4 and 5, big mileage is preferentially adjusted using positive, and small mileage is preferentially adjusted using reversed, but big mileage
It can be adjusted using reversed, small mileage can also be adjusted using positive.2. 1. be 4. 3. prism, in the present embodiment, same Pin rail
Two adjustment mechanisms 1# and 2# are arranged on row to be adjusted track, after Free Station with Total Station electronic Thacheometer, while starting adjustment mechanism and opening
It closes, control system control 1# and 2# adjustment mechanism advances to two adjustment cross section places to accurate adjustment track, and adjustment mechanism passes through
Electric drive hydraulic thruster 17 stops fixing, and information command in place is sent to control system by adjustment mechanism, and total station is to adjustment mechanism
On 4 prisms 1. 2. 3. 4. measure, obtain the actual coordinate of track, control system obtain total station upload it is related
The orbit displacement amount at each monitoring point is obtained after actual coordinate at monitoring point, and converts adjusting screw rod for deviation Value Data
Regulated value n, the servo motor adjuster 13 on adjustment mechanism mechanical arm 14 then drive adjusting screw rod accurately to adjust track.
Entire accurate adjustment process only needs one-key start, has simplified more set processes conversion during artificial accurate adjustment significantly, effectively
When avoiding the complete section of tune that artificial accurate adjustment occurs and adjust other sections again, the position that front adjusts generates partially again
The phenomenon that moving, causing repeated multiple times adjustment, while artificial accurate adjustment error is avoided, rapidly and efficiently, precision is reliable.
By the above feedback regulation, realize the accurate adjusting of track, avoid because Primary regulation not in place due to cause track to go out
Error is now adjusted, which is not set the error in range.
Further, as shown in FIG. 7 and 8, a method, route are asked using route fixed point for the acquisition of step S3 large deviations value
It is the Basic Design unit of pass course that fixed point, which asks stake, --- straight line, circular curve, clothoid carry out analysis and solution one by one, solve
The closest approach of planar point to route is then solved respectively according to different units in which alignment unit.Specific computation model
It is as follows:
S31: setting actual coordinate (xb, yb) it is starting point B, setting coordinate (xe, ye) it is terminal E, company of the starting point B to terminal E
Line is unit B E, and wherein the pile No. of starting point B is sb, tangent line τb, the pile No. of terminal E is se, tangent line τe, the initially survey of setting one
Point P coordinate (xp, yp)；
S32:K is to pinpoint the corresponding closest approach (stake point in as) on unit B E of P, K coordinate (xk, yk), K tangent line is τk；
Judge closest approach K whether on unit B E, comprising:
WhenWhen, closest approach K is on unit B E；
WhenWhen, closest approach K is in fallback unit；
WhenWhen, closest approach K is in advance unit；
Wherein, αbFor vectorWithAngle, αeFor vectorWithAngle；
S32: retain the closest approach K on unit B E；
Initial measuring point P removal corresponding for the closest approach K not on unit B E；And with this sequence analysis adjacent cells, directly
To positioning unit BE.
S33: for the closest approach K on unit B E, the route mileage s of closest approach K is calculatedkWith rail to deviation d.
The route of unit B E is constructed by above method: the coordinate of closest approach K is gradually obtained by above method, finally
The route of the coordinate Component units BE of closest approach K, and then by the adjusting of elevation adjusting screw rod 3 and rail to adjusting screw rod 9, so that
Track is adjusted by initial measuring point P to closest approach K, is finally completed track adjusting.
Further, for the route mileage s of calculating closest approach K in step S33kWith rail to deviation d, using straight line list
Member or circular curve unit or clothoid unit calculate closest approach route mileage skWith rail to deviation d.
(A) as shown in fig. 7, described calculate closest approach route mileage s using straight line unitskWith rail to deviation d, P point is crossed
Make the vertical line of straight line BE, the intersection point of vertical line and straight line BE are closest approach K, comprising:
L=PBcos αb (1-3)
D=PBsin αb (1-4)
sk=sb+l (1-5)
τk=τb (1-6)
K(xk, yk)=f (xb, yb, τb, l) and (1-7)
For formula 1-7, xk=xb+l·cosτbyk=yb+l·sinτb；
Wherein, l is initial step length, which is B point at a distance from K point, and PB is P point at a distance from B point, and d is rail
To deviation.
(B) as shown in fig. 7, described calculate closest approach route mileage s using circular curve unitkWith rail to deviation d, set
The center of circle of circular arc where B and E is C, C point coordinate (xc, yc), the line and circular arc of C point and P pointIntersection point be K, comprising:
L=R α (2-4)
D=| R-PC | (2-5)
sk=sb+l (2-6)
τk=τb+α (2-7)
K(xk, yk)=f (xc, yc, τCP, R) and (2-8)
For formula 2-8:xk=xc+R·cosτcp yk=yc+R·sinτcp；
Wherein, d is rail to deviation, and R is circular curve unitIn radius, l is initial step length, and PC is P point and C point
Distance, α is circular arcCorresponding central angle.The initial step length is arc length of the B point to K point, τcpFor C point on the direction CP
It cuts angle.
(C) as shown in fig. 7, described calculate closest approach route mileage s using clothoid unitkWith rail to deviation d, including
(a) and (b):
(a) position of closest approach K is determined first, comprising:
A bit of close closest approach K on estimation curve BE
Initial step length l is set, is calculated by broken spiral curveWithThat puts is tangentialAnd it calculates
Obtain straight lineWithAngleBy step S32, judge that closest approach K is inOpposed area M；
It is close on region M by broken spiral curve calculated curve BEPointWithThat puts is tangentialAnd calculate straight lineWithAngle
Judge that closest approach K is in by step S32Position, by broken spiral curve cycle calculations close to most
Multiple points of near point K obtain the position of closest approach K, closest approach K is in permission eventually by the mode for infinitely approaching closest approach K
In error range；
It should be understood that straight lineIf distance be in allow error range,For the closest approach of unit B E,Coordinate be K (xk, yk) coordinate.
(b) by the coordinate of determining closest approach K, closest approach route mileage s is obtainedkWith rail to deviation d:
sk=sb+l (3-1)
Wherein, sbFor the mileage for the unit wires starting point B that circles round.
IfDistance be greater than setting change step, then by initial step length l adjustDistance, repeatedly recycle
Closest approach is approached, untilDistance be less than setting change step.
(3) closest approach height variation value h is sought；
Wherein, HkFor the actual measurement elevation of initial measuring point P, HBFor the setting elevation of starting point B, i is line unit ratio of slope；L is initial
Step-length, R are radius of vertical curve, distance between the initial step length, that is, starting point B to K point.
Explanation to radius of vertical curve: for example when track is adjusted on vertical section two slopes section turning point, for the ease of
Traffic safety, with one section of curve come transition, this section of curve is known as vertical curve, and some is taught also referred to as vertical curve on book.R is exactly curve
Radius.This is most common term in surveying.
For formula (4-1), when 2 tangent lines (i.e. 2 slopes sections) for constituting vertical curve are to go up a slope, then take In 2 tangent lines (i.e. 2 slopes section) for constituting vertical curve, the first tangent line be go up a slope, the
When two tangent lines are descending, then takeWhen on 2 tangent lines (i.e. 2 slopes for constituting vertical curve
Section) in, the first tangent line is descending, and the second tangent line is when going up a slope, then to take When in structure
At in 2 tangent lines (i.e. 2 slope sections) of vertical curve, when the first nodel line and the second tangent line are descending, then take
It further explains, the position of the track fed back on prism 11 is obtained by then passing through, adjust corresponding elevation and adjust
It, cannot be by the regulated quantity of regulated quantity n that height variation value h is directly obtained as elevation adjusting screw rod 3 when screw rod 3.
Displacement correction program is adjusted by track, passes through closest approach height variation value h building conversion to elevation adjusting screw rod 3
Regulated quantity n calculating mathematical model, as shown in Figure 8:
Formula (5-1) is into (5-3), A1、A2Indicate the adjustment magnitude of adjusting screw rod, n1Expression is converted to an elevation and adjusts spiral shell
The circle number that bar is adjusted, n2It indicates to be converted to the circle number that another adjusting screw rod is adjusted, f indicates the design processing of elevation adjusting screw rod screw
Proportionality coefficient (such as adjusting screw rod rotation is turned around, and adjusted value is how many millimeter), s1、s2Indicate elevation adjusting screw rod to nearest rail
Between distance, h1、h2Indicate closest approach height variation value, D indicates the center spacing (1506mm) of two tracks.
It should be noted that specifically describing track referring to shown in 8 and adjusting displacement correction program, prism will be surveyed by referring to
The actual measurement elevation at 11 centers and the closest approach height variation value (h for setting height value1、h2), it is obtained by calculation formula (5-1,5-2)
To the adjustment magnitude of the adjusting screw rod on 3 position of elevation adjusting screw rod.(A1、A2), because the connection of track adjusting mechanical arm 14 is watched
It takes adjuster 13 to be mounted on elevation adjusting screw rod 3, servo-operated regulator 13 drives elevation adjusting screw rod 3 to rotate.So wanting
The height variation value of prism 11 is calculated to the regulated value n for being adapted to elevation adjusting screw rod, just can guarantee that the section of track is really transferred to setting
Position.
And rail does not need then to be modified by track adjusting displacement correction program to adjusting screw rod 9, directly passes through straight line
Modular (1-4) or circular curve line element formula (2-5) or clothoid modular (3-2) obtain rail to deviation d, and the rail is to deviation
D is regulated value n of the rail to adjusting screw rod,
It further illustrates, as shown in fig. 7, this adjustment mechanism can be from small mileage to the accurate adjustment of big mileage direction, it can also
To carry out accurate adjustment from big mileage to small mileage direction, total station is erected at the front end in accurate adjustment direction always, and maximum accurate adjustment distance is not
It is most short to be not less than 6 meters more than 80 meters.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of I type double-block type ballastless track regulating system of CRTS, including measuring system, control system and execution system, control
System is connect with measuring system, execution system wireless respectively, which is characterized in that the execution system includes adjustment mechanism and is used for
The braced frame of trapped orbit；
The braced frame includes the adjusting screw rod for adjusting track, and the adjustment mechanism includes at least one servo-operated regulator
(13) it is connect at least one mechanical arm (14), the power output end of mechanical arm (14) with servo-operated regulator (13), servo is adjusted
The output end of device (13) is connect with adjusting screw rod, to adjust track.
2. I type double-block type ballastless track regulating system of CRTS according to claim 1, which is characterized in that described to execute system
System further includes the walking mechanism for being used to support the adjustment mechanism walking, and the walking mechanism includes the first rack (21) and is used for
The wheel (15) of the first rack (21) movement is supported, is provided at least one reservation component on the same surface of the first rack (21)
(22), the power output end of mechanical arm (14) is connect with servo-operated regulator (13) by universal joint (16), and mechanical arm (14) is remote
One end and reservation component (22) from power output end is hinged.
3. I type double-block type ballastless track regulating system of CRTS according to claim 2, which is characterized in that described to execute system
System further includes correcting mechanism, and the correcting mechanism includes prism (11), electric drive hydraulic thruster (17) and for detecting the tune
The displacement sensor of whole mechanism position, the axial ends of electric drive hydraulic thruster (17) are arranged with idler wheel (19), prism bar respectively
(18) and wheel (15), idler wheel (19) are set to the relative inner of rails, and prism bar (18) is far from electric drive hydraulic thruster
(17) one end is connect with prism (11).
4. I type double-block type ballastless track regulating system of CRTS according to claim 3, which is characterized in that the measurement system
System includes the total station for obtaining prism (11) feedback orbital position coordinate.
5. I type double-block type ballastless track regulating system of CRTS according to claim 3, which is characterized in that prism (11) exists
The junction of prism bar (18) is provided with buffer stopper, opens up fluted on the buffer stopper, prism (11) is nested in described slow
It rushes in the groove of block, the buffer stopper is fixed on prism bar (18) one end relative to the side of groove.
6. I type double-block type ballastless track regulating system of CRTS according to claim 1, which is characterized in that the support frame
Frame includes joist body and adjusting screw rod, and the joist body includes to vertically disposed joist housing (5) and being sheathed on support with rail
In beam housing (5) and the joist inner sleeve (6) that can be moved in joist housing (5), adjusting screw rod include elevation adjusting screw rod (3) and
Rail is set on one end face of joist housing (5) length direction to adjusting screw rod (9), rail to adjusting screw rod (9), and by gear with
Joist inner sleeve (6) connection, rail are connect far from one end of gear with a servo-operated regulator (13) to adjusting screw rod (9), and elevation is adjusted
Screw rod (3) is set to the both ends of joist housing (5) length direction, and elevation adjusting screw rod (3) and another servo-operated regulator (13) are even
It connects, joist housing (5) is connect at elevation adjusting screw rod (3) by locking device (8) with joist inner sleeve (6).
7. a kind of I type double-block type ballastless track adjusting method of CRTS as described in claim 1-6 is any, which is characterized in that packet
Include following steps:
It controls adjustment mechanism to reach at the monitoring point of setting, and is connect with braced frame；
Setting coordinate at each monitoring point of predetermined trajectory, and obtain the actual coordinate at each monitoring point；
The difference for calculating the actual coordinate and the setting coordinate, obtains the orbit displacement amount at each monitoring point, the track
Offset includes rail to deviation d and height variation value h；
The deviation is converted to the regulated value n of the adjusting screw rod；
It controls servo-operated regulator (13) and the adjusting screw rod is adjusted by regulated value n, with adjustable track.
8. I type double-block type ballastless track adjusting method of CRTS according to claim 7, which is characterized in that the control is watched
After adjuster (13) are taken by the regulated value n adjusting adjusting screw rod, include the following steps:
The secondary actual coordinate at each monitoring point is obtained again, and judges whether the secondary actual coordinate deviates setting coordinate；
If it is not, then completing the adjusting to track；
If so, calculating the difference of the secondary actual coordinate and the setting coordinate, the track at each monitoring point is obtained again
Offset is adjusted with adjustable track until completing track.
9. I type double-block type ballastless track adjusting method of CRTS according to claim 7, which is characterized in that fixed using route
Point asks a method to calculate the difference of the actual coordinate and the setting coordinate, obtains the orbit displacement amount at each monitoring point.
10. according to any I type double-block type ballastless track adjusting method of CRTS of claim 7-9, which is characterized in that described
The actual coordinate at each monitoring point is obtained, prism (11) are set at each monitoring point, are included the following steps:
The Free Station with Total Station electronic Thacheometer of the measuring system；
The total station obtains the actual coordinate of prism (11) feedback, and uploads to control system.
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| CN201910187716.XA CN109778616B (en) | 2019-03-13 | 2019-03-13 | CRTS I type double-block ballastless track adjusting system and method |
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| CN110714378A (en) * | 2019-11-08 | 2020-01-21 | 武九铁路客运专线湖北有限责任公司 | Double-block ballastless track fine adjustment machine and method |
| CN111441198A (en) * | 2020-04-30 | 2020-07-24 | 中铁四局集团第五工程有限公司 | A fine-tuning robot for construction of III type track boards of CRTS |
| WO2021217765A1 (en) * | 2020-04-30 | 2021-11-04 | 中铁四局集团第五工程有限公司 | Crts iii-type track slab rapid smart precision adjustment system and precision adjustment method |
| CN113944072A (en) * | 2021-10-29 | 2022-01-18 | 中国铁路设计集团有限公司 | Intelligent construction device and construction method for double-block ballastless track |
| CN114134766A (en) * | 2021-12-10 | 2022-03-04 | 山东交通职业学院 | Track panel fine adjustment device for construction of movable ballastless track |
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