CN111472217A

CN111472217A - Rapid intelligent fine tuning system and fine tuning method for CRTS III type track slab

Info

Publication number: CN111472217A
Application number: CN202010365254.9A
Authority: CN
Inventors: 李强; 汪家雷; 赵晓明; 欧阳垂礼; 王明刚; 李郴; 刘沛锋; 黄敏
Original assignee: China Tiesiju Civil Engineering Group Co Ltd CTCE Group; Fifth Engineering Co Ltd of CTCE Group
Current assignee: China Tiesiju Civil Engineering Group Co Ltd CTCE Group; Fifth Engineering Co Ltd of CTCE Group
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2020-07-31
Also published as: WO2021217765A1; ZA202109718B; KR102613316B1; KR20210143256A

Abstract

The invention discloses a rapid intelligent fine tuning system and a fine tuning method for a CRTS III type track slab, which can solve the technical problems that the existing track slab fine tuning method is troublesome and labor-consuming, and the fine tuning quality is low. The system comprises a measuring system, a control system, an execution system, a wireless transmission system and an information management system; the measuring system is used for automatically acquiring the three-dimensional space coordinates of the track slab track bearing platform and calculating a deviation value between the three-dimensional space coordinates and a theoretical value; the control system is used for controlling the mutual linkage between the measuring system and the execution system; the information management system completes data analysis management of measurement and fine adjustment, provides required data information for the user terminal in real time, and gives an alarm for abnormal data in real time. The construction fine tuning method of the fine tuning robot is adopted, each plate is used for 5 minutes averagely, the working efficiency is 3 times that of the traditional method, and meanwhile, the real-time transmission and real-time checking of the on-site construction fine tuning data and the data between the background server and the user side and real-time alarming of abnormal data are established.

Description

Rapid intelligent fine tuning system and fine tuning method for CRTS III type track slab

Technical Field

The invention relates to the technical field of high-speed railway ballastless track construction, in particular to a rapid intelligent fine adjustment system and a fine adjustment method for a CRTS III type track slab.

Background

The CRTS III slab ballastless track technology is a novel ballastless track structure technology with independent intellectual property rights, which is innovatively developed on the basis of introducing, digesting and absorbing foreign ballastless track technologies in China. The concrete slab is composed of a concrete base, self-compacting concrete and a CRTS III type track slab, changes the limiting mode of the existing slab ballastless track, expands the filling material under the slab, optimizes the track slab structure and the track elasticity, has higher smoothness, safety and durability, and has higher popularization value. Summarizing the past construction experience of the CRTS III plate-type ballastless track, the track slab laying is an extremely important process in the whole ballastless track construction, and comprises the steps of track slab coarse laying, fine adjustment, compaction, edge sealing and self-compacting concrete pouring, wherein the fine adjustment of the track slab is the important factor in the track slab laying process, and the fine adjustment work can be generally carried out at night and has short effective operation time because the track slab has high control standard and high precision which is greatly influenced by temperature difference change. At present, a track slab fine adjustment method comprises the following steps: manually placing 4 measuring frames into the 2 nd row rail bearing table and the 2 nd last row rail bearing table of the rail plate to be adjusted, measuring three-dimensional space coordinates of the centers of the prisms on the 4 frames respectively by using a total station, calculating deviation values of actual measurement coordinates and design coordinates of each central point, and converted into vertical and horizontal adjusting values, manually sleeving a torque wrench on an adjusting screw rod of the track slab fine adjustment claw according to the adjusting values, adjusting the vertical screw rod first, then adjusting the horizontal screw rod, gradually adjusting the track slab to a designed set position, because vertical and horizontal not synchronous adjustment, lead to the adjustment volume of 2 directions to influence each other in the adjustment process, often need pass through many times of repeated adjustment and many times of repeated measurement, make whole measurement process and fine tuning process become very loaded down with trivial details, adjust a track board and need 2 technical staff and 4 workman at least, average consuming time needs 15 minutes. The occupied manpower is large, the operation efficiency is low, the placing precision of the measuring frame and the fine adjustment quality of the track slab are greatly influenced by factors such as manual responsibility, proficiency and the like, and the fine adjustment quality cannot be effectively guaranteed.

Therefore, a rapid intelligent fine adjustment system and a rapid intelligent fine adjustment method are researched to realize integration, automation, intellectualization and precision of track slab measurement and fine adjustment, and the system and the method have extremely important significance for the technical development of CRTS III slab ballastless tracks in China.

Disclosure of Invention

The invention provides a rapid intelligent fine tuning system for a CRTS III type track slab, which can solve the technical problems that the existing track slab fine tuning method is troublesome and labor-consuming and the fine tuning quality is low.

In order to achieve the purpose, the invention adopts the following technical scheme:

a rapid intelligent fine adjustment system for a CRTS III type track slab comprises a measurement system, a control system, an execution system, a wireless transmission system and an information management system;

the measurement system, the execution system and the information management system are respectively communicated with the control system;

wherein the content of the first and second substances,

the measurement system comprises an ATR total station, data acquisition software and a radio station, and is used for automatically acquiring the three-dimensional space coordinates of the track bearing platform of the track slab and calculating a deviation value between the three-dimensional space coordinates and a theoretical value;

the control system comprises a controller and a control software system and is used for controlling the mutual linkage between the measurement system and the execution system;

the wireless transmission system wirelessly connects the data information among the measurement system, the execution system, the control system and the information management system, so that the real-time transmission of the data information among the measurement system, the execution system, the information management system and the control system and the real-time transmission of the information center and the APP user side are ensured;

the information management system comprises a server, data management analysis software and a user terminal, completes data analysis management of measurement and fine adjustment, provides required data information for the user terminal in real time, and gives an alarm to abnormal data in real time.

Further, the execution system comprises 2 fine tuning robots and 2 pairs of bidirectional regulators;

the bidirectional regulator comprises a bidirectional regulator base, a vertical regulating screw rod, a transverse regulating screw rod and a steering wheel;

the vertical adjusting screw is fixed on the bidirectional adjuster base and is perpendicular to the bidirectional adjuster base, and the vertical adjusting screw moves up and down when being rotated; the side surface of the vertical adjusting screw is connected with a fixed connecting plate, and the fixed connecting plate is used for connecting a track plate;

the transverse adjusting screw and the vertical adjusting screw are arranged in the same direction and are also perpendicular to the base of the bidirectional adjuster, so that the transverse adjusting screw and the vertical adjusting screw are conveniently connected with a nut sleeve on an adjusting arm of the fine adjustment robot;

the transverse adjusting screw is connected with a steering wheel, the steering wheel is arranged at the upper part of the adjuster base, and the rotating force of the transverse adjusting screw in the vertical direction is converted into a transverse rotating force;

the bidirectional regulator base is placed on the ballastless track base and fixed on the side face of the track slab;

the horizontal adjusting screw and the vertical adjusting screw are driven by the servo motor of the adjusting arm of the fine adjustment robot to rotate, synchronous adjustment of the plane and the elevation of the track slab is completed without mutual influence, the horizontal adjusting screw is used for adjusting the plane of the track slab, and the vertical adjusting screw is used for adjusting the elevation of the track slab.

Furthermore, the fine adjustment robot comprises a controller, and a walking device, a guiding and positioning device, a detection device and an adjusting device which are respectively in communication connection with the controller;

wherein the content of the first and second substances,

running gear includes 2 pairs of walking wheels, the symmetry sets up the installation around, every walking wheel comprises a plurality of rollers that can the free rotation elliptic cylinder shape, the roller axis designs into α angles with the wheel axis, when the walking wheel moves ahead, elliptic cylinder shape roller on the wheel is walked along with the walking wheel together, drive self simultaneously and rotate, self through the roller rotates, when having realized that the walking wheel moves ahead, can lateral shifting in step, set up through 2 pairs of walking wheel longitudinal symmetry, the combined use, and the coordinated control of each wheel direction of rotation and speed, make the robot in the march, can remove to arbitrary direction in step.

Furthermore, the guiding and positioning device comprises 2 precise laser sensors and a support, the support is installed and fixed on one side of the robot, the height of the support is designed to be 3cm from the bottom of the walking wheel according to the structural size of a track bearing platform of the track slab, the length between two ends of the support is designed to be 1.3m, and the laser sensors are designed and installed at the same height position of two ends of the robot fixing support;

the cambered surfaces of the ends of the rail bearing tables on the rail plate are sensing areas of the laser sensors, and the neutral area between two adjacent rail bearing tables is a non-sensing area, so that when a robot walks in the middle of the rail plate, the laser sensors at the head end and the tail end can be ensured to simultaneously enter the sensing areas or simultaneously enter the non-sensing areas;

when the robot enters the sensor induction area, the laser sensor starts to measure, and transmits measured data information to the control system in real time, the control system calculates through the cyclic control algorithm software, and the attitude and position of the robot are adjusted in real time according to the calculation result, so that the positioning efficiency and the positioning precision of the fine adjustment robot are greatly improved.

Further, the cycle control algorithm of the fine adjustment robot is to calculate an error e between a set value and an actual value of the robot in a motion state as a main control strategy, wherein the error e comprises a mileage direction deviation value, a center line direction deviation value and a body inclination direction deviation value when the robot is positioned;

the calculation model is as follows:

calculating the mileage direction deviation value: e-v_i·t_i(8)

Calculating a deviation value in the midline direction:

calculating a deviation value of the inclined direction:

and (3) a cycle control algorithm:

wherein e represents the error between the set value and the actual value of the robot; v. of_iIndicating the wheel linear velocity; t is t_iRepresenting a time variation value of the sensor entering the sensing area; d represents the distance between the inner ends of the 2 rail bearing platforms in the same row; k is a radical of_pRepresents a scaling factor; t is_iRepresents an integration time constant; τ represents a sensor measurement; t represents the time of the sensor in the sensing zone; dt represents a time integration unit; de represents an adjustment amount integrating unit; c (t) represents a time differentiation unit;

and when de is smaller than a set value, the posture of the robot is adjusted to a set position.

Furthermore, the detection device comprises a lifting bracket, a rail bearing platform detection mould and an elastic connecting device;

the lifting support is elastically connected with the detection die through an elastic connecting device, and the lifting support is controlled to lift by a hydraulic control system; the elastic connecting device ensures that the detection die can be freely adjusted when being positioned in the rail bearing groove of the rail plate;

the rail bearing platform detection mould comprises a precise prism, trays and contact sensors, wherein a precise prism rod is fixed at the center of the bottom of each tray and is vertical to the bottom surface of each tray, the contact sensors are respectively arranged at the bottom and the side surfaces of each tray, 3 contact sensors are arranged at the bottom of each tray and are arranged according to an equilateral triangle design, 2 contact sensors are respectively arranged on 2 side surfaces of each tray, and each side sensor is arranged at the same height;

the detection method of the detection device comprises the following steps,

after the precise adjustment robot is precisely positioned, the lifting support descends, the detection mold falls into the rail bearing groove along with the support, and under the action of the elastic connecting device, the detection mold precisely adjusts the position of the detection mold until the bottom surface and the side surface of the tray are completely attached to the bottom surface and each jaw surface of the detected rail bearing table;

the contact sensor further detects the close contact condition of the bottom surface and the side surface of the tray and the detection surface of the rail bearing platform in real time, if one surface is not closely contacted, the sensor displays abnormal data in real time to alarm, and the positioning precision of the detection mold is ensured;

the rail bearing platform detection mold simulates 2 structural sizes of a standard rail on a rail bearing platform to carry out design and manufacture, wherein one is the height H of the rail structure, and the other is the standard gauge L;

the detection mould is placed in a rail bearing table of a standard rail plate, and the center of a prism of the detection mould is the center of a steel rail after the rail bearing table is paved with a standard rail under the condition that all contact sensors at the bottom of the tray and the side surface of the tray are completely attached to the table surface and the jaw surface of the rail bearing.

Further, the method for detecting and calibrating the precision of the rail bearing platform detection die comprises the following steps:

s1, installing a standard track board on a standard detection platform; before installation, a precision electronic level is adopted to detect the height and the flatness of the detection platform surface, so as to ensure the platform surface to be level;

s2, establishing a relative coordinate system of the standard track slab, taking the connecting line direction of the centers of the left and right track bearing platforms in the same row of the standard track slab as a Y axis, taking the center O of the center line of the left and right track bearing platforms as the origin of the coordinate system, and taking the direction which passes through the O point and is vertical to the Y axis as an X axis; setting the coordinate of the origin of coordinates O as (0, 0), designing the structural size according to the standard track board, setting the center distance of the left and right rail bearing platforms in the same row as 1.5156m, and pushingCalculating the center B of the left rail bearing platform_{Left side of}Coordinates (0, -0.7578), right rail bearing center B_{Right side}Coordinates (0, 0.7578);

s3, calculating the center coordinates of the top surface of the steel rail after the standard rail is paved on the rail plate: according to the design drawing of the rail bearing platform and the standard rail structure, the rail bearing platform surface is designed to have the gradient of 1/40, the center distance of the left rail bearing platform and the right rail bearing platform in the same row is 1.5156m, and the design height of the rail structure is 0.21 m; left rail center G_{Left side of}Theoretical coordinate is set as (X)_{Left side of}，Y_{Left side of}) Center G of right rail_{Right side}Theoretical coordinate is set as (X)_{Right side}，Y_{Right side}) Adopting an analytic geometry method:

X_{left side of}＝0.21·cosα

Y_{Left side of}＝-0.7578+0.21·sinα

X_{Right side}＝0.21·cosα

Y_{Right side}＝0.7578-0.21·sinα

Center distance between left and right steel rails:

the following results are obtained by the above calculation: theoretical coordinate G of center of left steel rail_{Left side of}(0.2099-0.7526), theoretical coordinates G of center of right rail_{Right side}(0.2099, 0.7526), wherein the left and right track gauges L are 1.5052 m;

s4, building a total station: the high-precision intelligent total station is erected at a set distance in the axis direction of the detection platform, and the height of the total station is basically equal to the height of a track board on the detection platform;

respectively placing 2 precise spherical prisms into the center holes of the left and right rail bearing tables, wherein the center of the spherical prism is the center of the rail bearing table, and the center B of the left and right rail bearing tables calculated according to S2_{Left side of}、B_{Right side}The coordinates are the central coordinates of the left and right spherical prisms, the total station uses the spherical prisms and coordinates in the central holes of the left and right rail bearing platforms to measure and establish the station, and the total station coordinate system is calculated to be consistent with the rail plate coordinate system；

S5, detecting the precision of the die: taking out the precise spherical prisms on the rail bearing table, respectively placing the detection molds on the left rail bearing table and the right rail bearing table, and completely closely attaching the contact points of all the contact sensors to the bottom surface of the rail bearing table and the jaw surfaces; the total station measures the precise prisms on the left and right molds respectively to obtain the actual center coordinates of the left and right prisms, and the G calculated in the above S3_{Left side of}、G_{Right side}And carrying out comparative analysis on the theoretical coordinate values, wherein the difference values are smaller than 0.3mm, the detection die is qualified, otherwise, the detection die is calibrated, and the detection is carried out again until the requirements are met.

Furthermore, the adjusting device comprises a lifting support, a hydraulic transmission system, a bidirectional adjusting arm and a servo motor;

the hydraulic transmission system provides power for the lifting of the lifting support to complete the lifting function of the lifting support;

the lifting support comprises a hydraulic bearing and a support beam, and the upper end of the hydraulic bearing is fixedly connected with the middle part of the support beam;

the bidirectional adjusting arm comprises a transverse adjusting arm and a vertical adjusting arm, and respectively consists of a fixed arm and a movable arm, one end of the fixed arm of the bidirectional adjusting arm is fixedly connected with the end head of the beam of the lifting bracket, and one end of the movable arm is connected with the other end of the fixed arm through a twisting ball and can swing in front, back, left and right directions or any direction;

the other end of the movable arm is designed into a bell-mouthed nut, so that the movable arm can be conveniently and quickly connected with an adjusting screw rod on the two-way adjuster, and the self-adaptive connection efficiency between the two-way adjusting arm and the adjusting screw rod of the two-way adjuster is improved;

the servo motor provides power for the rotation of the bidirectional adjusting arm, drives the bidirectional adjusting arm to rotate, and simultaneously drives the adjusting screw rod of the adjuster to rotate, so that the synchronous and accurate adjustment of the plane and the elevation of the track slab is completed.

Furthermore, the distance between the lifting support of the detection device and the center of the lifting support of the adjustment device is designed according to a track plate structure design drawing, namely the horizontal distance between the transverse center line of the bearing platform of the 2 nd or 2 nd to last track plate and the center line of the bolt hole on the side surface of the track plate, as the CRTS III type track plate has a plurality of different specifications and models, three types are taken as examples in the embodiment, and the design value of the horizontal distance between the transverse center line of the bearing platform of the 2 nd or 2 nd to last track plate and the center line of the bolt hole on the side surface of the track plate is also 3 types;

in order to ensure that the accurate adjustment robot can both use to different board types, still include a hydraulic bearing longitudinal sliding's channel-section steel that can supply lifting support, the channel-section steel is fixed on the fuselage face, design 3 spacing holes on the channel-section steel, correspond above-mentioned 3 different board types, the hydraulic bearing lower extreme can be longitudinal sliding in the channel-section steel, control system can be according to the track board model of adjusting, the hydraulic bearing of accurate control lifting support removes to the spacing hole that corresponds in, hydraulic system provides power for hydraulic bearing's removal, spacing fixed hydraulic bearing lower extreme in hole, can not take place to remove when having ensured the support lift.

On the other hand, the invention also discloses a rapid intelligent fine tuning method of the CRTS III type track slab, based on the rapid intelligent fine tuning system of the CRTS III type track slab,

the method comprises the following steps:

s1, establishing a fine adjustment data file:

inputting basic data files including flat longitudinal curve elements, starting and stopping mileage, curve superelevation, beam length, beam gap and track plate model numbers into a track plate fine tuning software system of a background server, automatically calculating and analyzing the basic data files by the software system to generate track plate fine tuning data files, and transmitting the fine tuning data files to a controller of a construction site control system in real time through a wireless transmission system;

s2, installing an execution system:

according to the model specification and the structural design drawing of the track slab, two-way regulators are installed below the track slab, 4 two-way regulators are installed below each track slab, and the regulators are fixed with the side faces of the track slab; installing the intelligent fine tuning robots on site, and preliminarily placing the 2 installed intelligent fine tuning robots on the middle positions of the track slab;

s3, erecting a measuring device:

erecting a total station at the middle position of a base plate at a set distance of a track plate to be adjusted, and connecting radio station communication equipment;

installing a precise prism on a CP III precise control device in 3-4 pairs in front of and behind the instrument;

s4, freely building a total station:

starting a controller switching power supply, starting fine adjustment system software, calling relevant information of the measuring station, starting a measuring function menu of a free station building of a total station, automatically and sequentially observing all precise prisms on all CP III precise control points set by the measuring station by the total station, analyzing the precision of each point, intelligently eliminating the control points with poor precision, completing the station building, and waiting for a measuring instruction before fine adjustment of a fine adjustment robot;

s5, starting the fine adjustment robot:

simultaneously starting 2 fine tuning robots to switch power supplies, and tuning the working state of the fine tuning robot to an 'automatic' state; starting a robot working menu in the controller fine tuning system software;

s6, positioning of the fine adjustment robot:

the control system calculates the respective positioning information of 2 fine tuning robots on the track slab according to the model of the track slab to be adjusted, and simultaneously sends the positioning information to the fine tuning robots, the fine tuning robots start to walk and start to count intelligently from the 1 st rail bearing platform of the track slab to be adjusted, the 1 st fine tuning robot automatically walks to the 2 nd rail bearing platform laser induction area from the last, and the 2 nd fine tuning robot automatically walks to the 2 nd rail bearing platform laser induction area from the same number of the track slab to be adjusted, real-time measurement data are obtained through a precise laser sensor and the circulation control algorithm software of the robot control system is used for calculating, the attitude of the machine body is adjusted, and the machine body is accurately adjusted to the set position calculated by the software system;

s7, detecting the connection of the mold positioning and adjusting device:

after the precise adjustment robot is precisely positioned, the detection device and the adjusting device of the precise adjustment robot descend simultaneously through a hydraulic system, the detection die is precisely positioned to the central position of the rail bearing table through hydraulic pressure and a self-adaptive elastic connecting device, and the bottom surface and the side surface of the measurement die are further detected through a contact sensor to determine whether the bottom surface and the side surface of the measurement die are completely and closely attached to the bottom surface of the rail bearing table and the jaw surface; under the action of hydraulic pressure, the two-way adjusting arm is positioned at the central position of an adjusting screw rod of the two-way adjuster on the side surface of the track slab, and a bell-mouth nut of the movable arm of the adjusting arm is adaptively connected and locked with the adjusting screw rod on the two-way adjuster under the driving of a servo motor;

s8, measurement:

after the precise positioning of the detection mould of the fine adjustment robot and the connection and locking of the adjusting device and the adjuster, the information is sent to a controller of a control system in real time, the control system starts to control the total station to measure, sequentially measures a left precise prism and a right precise prism of a 1# fine adjustment robot and a left precise prism and a right precise prism of a 2# fine adjustment robot, calculates the difference between the measured data and the designed data in real time through system software, and converts the difference into the adjusting quantity of an adjusting arm;

s9, fine adjustment:

the control system automatically starts a servo motor on the adjusting arm of the fine adjustment robot to drive the bidirectional adjusting arm to rotate, meanwhile drives an adjusting screw of the bidirectional adjuster to rotate, and performs rotation adjustment according to the rotating turns of the adjusting arm calculated by system software to realize adjustment of the plane and the elevation direction of the track slab;

s10, checking:

after the fine tuning of fine tuning robot was accomplished, control system control total powerstation measured 2 fine tuning robot's precision prism once more, calculates measured data and design data deviation value in real time, further analysis to the deviation value:

when the deviation value meets the requirement of specification setting, the adjusting arm of the fine adjustment robot and the two-way adjuster of the track slab are automatically unlocked, the detection device and the adjusting device ascend through a hydraulic system, the fine adjustment robot automatically moves to the next track slab for fine adjustment, and the steps S6-S10 are executed;

and when the deviation value does not meet the specification setting requirement, re-measurement and re-fine adjustment are required, and the steps S9-S10 are executed until the deviation value of the check data meets the specification.

According to the technical scheme, the invention provides the rapid intelligent fine adjustment system for the CRTS III type track slab, the measurement frame is placed instead of a manual measurement frame by an intelligent robot, the manual algorithm is replaced by a software algorithm, the manual fine adjustment is replaced by the machine fine adjustment, the manual management is replaced by the large data informatization management, meanwhile, the real-time transmission of information instructions between the measurement mechanism and the fine adjustment robot is realized through an automatic control system and a wireless communication system, and the whole measurement process and the fine adjustment process are completed fully automatically without manual intervention. The integrated, automatic, intelligent and information purposes of measurement and fine adjustment are realized. High efficiency, high precision, less occupied human resources and cost saving.

Compared with the traditional fine tuning mode, the method has the following advantages:

1) in the traditional construction fine adjustment method of the CRTS III type track slab, 2 technicians and 4 workers need to be configured, wherein 1 technician erects a total station and an observation total station, and the other 1 technician lays a measuring standard frame and a CP III prism and guides the workers to perform fine adjustment, and the 4 workers respectively operate 4 corresponding fine adjustment claws under the track slab; by adopting the method, only 1 technician and 1 auxiliary worker are needed, wherein the 1 technician is responsible for erecting and watching the total station, and the auxiliary worker is responsible for placing the CP III prism, so that the number of operators is reduced by 3 times compared with the traditional measurement mode;

2) the traditional manual construction fine adjustment method has the advantages that the average time of each plate is required to be adjusted by 15 minutes, the intelligent fine adjustment robot construction fine adjustment method has the average time of each plate being 5 minutes, and the working efficiency is 3 times that of the traditional method;

3) the traditional construction fine adjustment method has no informatization management platform, data cannot be shared, and information cannot be transmitted in real time; the method establishes real-time transmission and real-time checking of the site construction fine adjustment data and data between the background server and the server as well as between the server and the user side, and real-time alarming of abnormal data.

Drawings

FIG. 1 is a schematic diagram of an application scenario of the present invention;

FIG. 2 is a schematic front view of the fine adjustment robot of the present invention;

FIG. 3 is a schematic side view of the fine adjustment robot of the present invention;

FIG. 4 is a schematic perspective view of the fine adjustment robot of the present invention;

FIG. 5 is a schematic view of the fine adjustment robot guiding and positioning device of the present invention;

fig. 6 and 7 are schematic structural diagrams of the detection device of the fine adjustment robot;

fig. 8 and 9 are schematic structural diagrams of an adjusting device of the fine adjustment robot;

FIG. 10 is a schematic side view of the bi-directional regulator of the present invention;

FIG. 11 is a schematic perspective view of the bi-directional regulator of the present invention;

FIG. 12 and FIG. 13 are schematic diagrams of the method for detecting the precision of the mold according to the present invention;

FIG. 14 is a schematic diagram of the fine tuning workflow of the present invention;

FIGS. 15 and 16 are schematic diagrams illustrating a motion calculation method of a wheel train of a robot according to the present invention;

fig. 17 is a schematic view of the internal structure of the bidirectional regulator of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.

As shown in fig. 1, the system for rapidly and intelligently fine tuning a CRTS iii-type track slab in this embodiment includes:

a rapid intelligent fine tuning system for a CRTS III type track slab comprises a measurement system, a control system 020, an execution system, a wireless transmission system and an information management system.

The measuring system consists of an ATR total station 011, data acquisition software and a radio station, and is used for automatically acquiring the three-dimensional space coordinates of the track bearing platform of the track slab and calculating a deviation value between the three-dimensional space coordinates and a theoretical value;

the control system 020 consists of a controller and a software system and is used for controlling the mutual linkage between the measurement system and the execution system;

the wireless transmission system wirelessly connects the data information among the measurement system, the execution system, the control system 020 and the information management system, so that the real-time transmission of the data information among the measurement system, the execution system, the information management system and the control system and the real-time transmission of the information center and the APP user side are ensured;

the information management system consists of a server, data management analysis software and a user terminal, completes the data analysis management of measurement and fine adjustment, provides required data information for the user terminal in real time, and gives an alarm to abnormal data in real time.

The execution system consists of 2 fine tuning robots 031 and 2 pairs of two-way regulators 032.

As shown in fig. 10 and 11, the two-way adjuster 032 is composed of a base 0321, a fixing bolt, a vertical adjusting screw 0322, a horizontal adjusting screw 0323 and a steering wheel 0324;

the vertical adjusting screw 0322 is fixed on the two-way adjuster base 0321 and is perpendicular to the two-way adjuster base 0321, and the vertical adjusting screw 0322 is rotated to move up and down; the side surface of the vertical adjusting screw 0322 is connected with a fixed connecting plate 0325, and the fixed connecting plate 0325 is used for connecting a track plate;

the horizontal adjusting screw and the vertical adjusting screw are designed in the same direction and are perpendicular to the surface of the base, so that the horizontal adjusting screw and the vertical adjusting screw are conveniently connected with a nut sleeve on an adjusting arm of a fine adjustment robot 031, a steering wheel 0324 is arranged at the middle upper part of the two-way adjuster in a built-in mode, and the vertical rotating force of the horizontal adjusting screw 0323 is converted into horizontal rotating force; the two-way regulator base 0321 is placed on a ballastless track base and fixed in a bolt hole on the side surface of a track slab through a fixing bolt of the two-way regulator base 0321. The base 0321 of the two-way regulator is designed to be serrated, so that the friction force at the bottom is larger and firmer. Horizontal and vertical adjusting screw of two-way regulator passes through under the fine tuning robot 031's the regulating arm servo motor rotation drive, accomplishes the plane and the elevation synchronization adjustment to the track board, does not influence each other, and horizontal adjusting screw 0323 is used for adjusting the horizontal (plane) of track board, and vertical adjusting screw 0322 is used for adjusting the vertical (elevation) of track board.

Specifically, the working principle of the bidirectional regulator 032 is as follows:

the bottom surface of base 0321 is designed to be zigzag, so that the friction between the bottom of base 0321 and the surface of the base is very large, and when the fine adjuster is fixedly connected with the track plate through the fixing bolt, the position of the fine adjuster cannot slide due to the friction at the bottom.

The fixed connecting plate 0325 and the rail plate are connected together by bolts. When the fine tuning robot drives vertical adjusting screw and rotates, fixed connection board 0325 can make progress or the removal of below to drive three type track boards and make progress or move down, and when the fine tuning robot drives horizontal adjusting screw 0323 and rotates, through the transmission of two gears in the directive wheel, can become horizontal screw's lateral shifting to horizontal adjusting screw vertical rotation, thereby realize the lateral shifting of track board.

As shown in fig. 17, wherein the steering wheel 0324 comprises a steering wheel assembly 03241;

the steering mechanism further comprises a transverse gear 03242 and a longitudinal gear 03243 which are arranged inside the steering wheel assembly 03241, the transverse gear 03242 is arranged right below the transverse adjusting screw 0323, the bottom of the transverse adjusting screw 0323 is fixedly connected with the transverse gear 03242, the transverse adjusting screw 0323 is rotated to drive the transverse gear 03242 to rotate in the horizontal plane direction, the longitudinal gear 03243 is meshed with the transverse gear 03242, and the transverse gear 03242 is rotated to drive the longitudinal gear 03243 to rotate in the vertical plane direction;

the bidirectional regulator further comprises a transverse screw 03244, a sliding nut 03245 and a regulator housing 03246, wherein the regulator housing 03246 is fixed above the bidirectional regulator base 0321, and the sliding nut 03245 is fixed inside the regulator housing 03246;

the transverse screw 03244 is horizontally arranged in the steering wheel assembly 03241, one end of the transverse screw 03244 is in threaded connection with the sliding nut 03245, and the other end of the transverse screw is fixed with the longitudinal gear 03243, that is, the steering wheel assembly 03241 can be driven to move left and right relative to the sliding nut 03245 by rotating the transverse screw 03244.

The transverse gear 03242 and the longitudinal gear 03243 are respectively in supporting connection with the steering wheel assembly 03241 through bearings 03247, which only support the rotating shaft and reduce the friction coefficient during rotation.

The vertical adjusting screw 0322 is fixed above the adjuster shell 03246 through a fixing block, and the vertical adjusting screw 0322 can be rotatably connected with the fixing block relatively. Specifically, the device further comprises a linking block 03232 and a connecting plate 03231;

the transverse adjusting screw 0323 is connected with the fixed connecting plate 0325 through a connecting plate 03231;

a transverse through hole and a longitudinal through hole are formed in the association block 03232, and the connecting plate 03231 penetrates through the transverse through hole of the association block 03232;

meanwhile, adjusting holes are formed in corresponding positions of the connecting plate 03231, and the vertical adjusting screws 0322 respectively pass through the longitudinal through holes of the connecting blocks 03232 and the adjusting holes of the connecting plate 03231;

said connecting plate 03231 is slidable laterally with respect to associated block 03232; meanwhile, the connecting plate 03231 moves left and right relative to the connecting plate 03231 through the adjusting hole;

the linking block 03232 is in threaded connection with the vertical adjusting screw 0322. That is, the connecting plate 03231 can move left and right and up and down within the inner space of the associated block 03232 to a certain extent.

The fine adjustment robot 031 is composed of a controller 0311, a walking device 0312, a guiding and positioning device 0313, a detecting device 0314, an adjusting device 0315 and a limiting device 0316 for the adjusting device to move longitudinally,

the controller 0311 includes a control display panel, a control switch, control software, a circuit device, and the like; the display panel is used for displaying the setting parameters, the working state information and the early warning information of the fine tuning machine; the control switch is used for setting the on-off state of the fine tuning machine and setting the automatic and manual functions; the control software is used for controlling the walking, positioning and detecting device of the fine tuning machine and the lifting, positioning and adjusting of the adjusting device, and the hydraulic bearings of the lifting support of the adjusting device longitudinally slide in the channel steel and the like to integrally link;

running gear 0312 comprises 2 to (4) walking wheels, the symmetrical design installation of front and back, every walking wheel comprises a plurality of rollers that can the free rotation elliptic cylinder form, the roller axis designs into α angle with the wheel axis, when the walking wheel moves ahead, elliptic cylinder form roller on the wheel is walked along with the walking wheel, drive self simultaneously and rotate, self through the roller rotates, when having realized that the walking wheel moves ahead, in step can lateral shifting, through 2 to walking wheel front and back symmetrical design, the combined use, and the coordinated control of each wheel rotation direction and speed, can make the robot in the march, in step can remove to arbitrary direction.

The fine adjustment robot walking device 0312 is designed as 2 pairs (4) of walking wheels, the front and back parts of the machine body are respectively arranged in 1 pair, the machine body is symmetrically arranged, 4 sets of corresponding servo motors drive the machine body to roll, the machine body is divided into a left rotation mode and a right rotation mode according to the design angles of the axes of the rollers and the axes of the wheels, the wheels on the same shaft are symmetrically arranged (namely, one is designed to rotate in the left direction, the other is designed to rotate in the right direction), and the calculation design of the motion mode of the machine body wheel train is shown in fig. 15 and 16.

A relative coordinate system ∑ O is established on the robot body by taking the midpoint O of the robot body as the origin, the advancing direction of the robot is the x-axis direction, the left-going direction is the y-axis direction, and the body length is assumed to be 2_LAnd width is 2_lThe angle between the axis of the running hub and the axis of the roller is α, V_i(i-1, 2, 3, 4) is the linear speed of 4 wheels driven by a motor, v_i＝R_w×θ₁Wherein R is_WIs the radius of the wheel, θ₁Is the angular velocity of rotation of the corresponding wheel. Linear velocity V of 4 wheels based on kinematic analysis results₁(i ═ 1, 2, 3, 4) can be calculated from the following formulae (1), (2), (3), and (4), respectively:

V₁＝V_x-V_y·tanα-(L·tanα+l)·ω_z(1)

V₂＝V_x+V_y·tanα+(L·tanα+l)·ω_z(2)

V₃＝V_x-V_y·tanα+(L·tanα+l)·ω_z(3)

V₄＝V_x+V_y·tanα-(L·tanα+l)·ωz (4)

in the above formula, V_x、V_y、ω_zThe all-round movement of the wheels can be obtained by the rotation angular velocities of the 4 wheels, respectively, the moving velocity of each wheel train in the X direction, the moving velocity in the Y direction and the rotation angular velocity around the vertical axis of the central point O in the relative coordinate system ∑ O, and the moving velocity of the robot in the relative coordinate system ∑ O is calculatedThe formulas are shown as (5), (6) and (7):

the typical movement conditions such as forward and backward movement, leftward and rightward movement, in-situ rotation, oblique movement and the like are analyzed by the above formula, and the rotating direction and speed of each wheel can be calculated, so that the wheel steering relation of the common gear train omnibearing movement condition can be obtained.

Through the research on the innovative design of a 031 gear train of the fine adjustment robot and the automatic control theoretical calculation method of the running speed of the robot and the rotation speed of the gear train, the direction and the posture of the body of the fine adjustment robot can be adjusted in real time while the fine adjustment robot runs, and the effect of adjusting the posture of the fine adjustment robot is improved.

Guide positioning device 0313 comprises 2 accurate laser sensor 03131 and support 03132, and the support mounting is fixed in the robot unilateral, and according to track board support rail platform structural dimension, the support height design is for apart from walking wheel bottom 3cm high position, and length design is 1.3m between the support both ends, and accurate laser sensor 03131 designs to install in the same high position in robot fixed bolster both ends. The cambered surfaces of the ends of the rail bearing tables on the rail plate are induction areas of the laser sensors, and the neutral area between two adjacent rail bearing tables is a non-induction area, so that when the robot walks in the middle of the rail plate, the laser sensors at the head end and the tail end can be ensured to simultaneously enter the induction areas or simultaneously enter the non-induction areas. When the robot enters the sensor induction area, the laser sensor starts to measure, and transmits measured data information to the control system in real time, the control system calculates through the cyclic control algorithm software, and the attitude position (namely, the deviation value in the front-back direction, the left-right direction or any direction) of the robot is adjusted in real time according to the calculation result, so that the positioning efficacy and the positioning precision of the fine adjustment robot are greatly improved. The cyclic control algorithm is used for calculating an error e between a set value and an actual value of the robot in a motion state as a main control strategy, wherein the error e comprises a mileage direction deviation value, a center line direction deviation value and a body inclination direction deviation value when the robot is positioned. The calculation model is as follows:

calculating the mileage direction deviation value: e-v_i·t_i(8)

Calculating a deviation value in the midline direction:

calculating a deviation value of the inclined direction:

and (3) a cycle control algorithm:

the fine adjustment robot 031 is in motion state, through real-time calculation analysis of laser sensor real-time measurement and control system software, the fuselage is adjusted in real time, when de is small enough, is less than the setting value, it indicates that the robot gesture has been adjusted to the setting position.

Through the innovative combination design and the circular motion control method of the guide positioning device 0313 and the walking device 0312, the technical problem of accurate positioning of the fine adjustment robot 031 is solved, and the positioning efficacy and the positioning accuracy of the fine adjustment robot are improved.

The detecting device 0314 is composed of a lifting bracket 03141, a rail supporting platform detecting mold 03142 and an elastic connecting device 03143. The lifting support is elastically connected with the detection die through an elastic connecting device, and the lifting support is controlled to lift by a hydraulic control system; the elastic connecting device ensures that the detection die can be freely adjusted when being positioned in the rail bearing groove of the rail plate;

support rail platform detection mould 03142 comprises accurate prism 031421, tray 031422, contact pick-up 031423, and accurate prism pole is fixed in tray 031422 bottom central point and is put, and is perpendicular with the tray bottom surface, and contact pick-up 031423 installs respectively in tray bottom and side, and 3 contact pick-up of every tray bottom installation are installed according to equilateral triangle design, and 2 contact pick-up are respectively installed to 2 sides of tray, and every side sensor is installed at same height.

After the fine adjustment robot 031 is accurately positioned, the lifting support descends, the detection mold falls into the rail bearing groove along with the support, and under the action of the elastic connecting device, the detection mold precisely adjusts the position of the detection mold until the bottom surface and the side surface of the tray are completely attached to the bottom surface and each jaw face of the detected rail bearing platform; the contact sensor further detects the close contact condition of the bottom surface and the side surface of the tray and the detection surface of the rail bearing platform in real time, if one surface is not close contact, the sensor displays data abnormity in real time to alarm, and the positioning precision of the detection mold is ensured.

A rail bearing platform detection mold is a core part of a detection device, 2 important structural sizes of a standard rail on a rail bearing platform are simulated to be designed and manufactured, one is rail structure height H (the distance from the top surface center of a steel rail to the center of a rail bearing platform surface is 0.21m), the other is standard rail distance L (the distance between the centers of 2 steel rails is 1.505m), the detection mold is placed in the rail bearing platform of a standard rail plate, all contact sensors at the bottom of a tray and the side surface of the tray are completely attached to the rail bearing platform surface and a jaw surface, the prism center of the detection mold is the center of the steel rail after the standard rail is laid on the rail bearing platform (namely, the distance from the prism center to the center of the rail bearing platform surface is 0.21m, and the distance between the prism centers of 2 detection molds is 1.505m), if the manufacturing precision of the detection mold is deviated, the prism center of the detection mold cannot be accurately indicated as the center of the steel rail, and the precision detection mold is required to be detected before.

The precision detection and calibration method of the rail bearing platform detection mould comprises the following steps:

(1) the standard track plate is arranged on the standard detection platform; before installation, a precision electronic level is adopted to detect the height and the flatness of the detection platform surface, so as to ensure the platform surface to be level;

(2) establishing a relative coordinate system of a standard track slab, taking the connecting line direction of the centers of left and right track bearing platforms in the same row of the standard track slab as a Y axis, taking the center O of the center line of the left and right track bearing platforms as the origin of the coordinate system, and taking the direction which passes through the O point and is vertical to the Y axis as an X axis; setting the coordinate of origin O as (0, 0), designing the structure size according to the standard track board, and calculating the center B of the left rail bearing platform when the center distance between the left and right rail bearing platforms in the same row is 1.5156m_{Left side of}Coordinates (0, -0.7578), right rail bearing center B_{Right side}Coordinates (0, 0.7578);

(3) the method for calculating the center coordinates of the top surface of the steel rail after the standard rail is laid on the rail plate comprises the following steps: according to the design drawing of the rail bearing platform and the standard rail structure, the rail bearing platform surface is designed to have the gradient of 1/40, the center distance of the left rail bearing platform and the right rail bearing platform in the same row is 1.5156m, and the design height of the rail structure is 0.21 m. Left rail center G_{Left side of}Theoretical coordinate is set as (X)_{Left side of}，Y_{Left side of}) Center G of right rail_{Right side}Theoretical coordinate is set as (X)_{Right side}，Y_{Right side}) Adopting an analytic geometry method:

X_{left side of}＝0.21·cosα

Y_{Left side of}＝-0.7578+0.21·sinα

X_{Right side}＝0.21·cosα

Y_{Right side}＝0.7578-0.21·sinα

Center distance (track gauge) of left and right rails:

the following results are obtained by the above calculation: theoretical coordinate G of center of left steel rail_{Left side of}(0.2099, -0.7526), right hand steelTheoretical coordinate of rail center G_{Right side}(0.2099, 0.7526) and the left and right track gauges L are 1.5052 m.

(4) Building a total station:

the high-precision intelligent total station is erected in the axial direction of the detection platform at a position of about 20 meters, and the height of the total station is basically equal to the height of a track board on the detection platform; respectively placing 2 precise spherical prisms into the center holes of the left and right rail bearing tables, wherein the center of the spherical prism is the center of the rail bearing table, and calculating the center B of the left and right rail bearing tables according to the step (2)_{Left side of}、B_{Right side}The coordinates are the central coordinates of the left and right spherical prisms, the total station measures and establishes a station by using the spherical prisms and the coordinates in the central holes of the left and right rail bearing platforms, and the coordinate system of the station of the total station is consistent with the coordinate system of the rail plate through calculation;

(5) detecting the precision of the mold:

taking out the precise spherical prisms on the rail bearing table, respectively placing the detection molds on the left rail bearing table and the right rail bearing table, and completely closely attaching the contact points of all the contact sensors to the bottom surface of the rail bearing table and the jaw surfaces; the total station respectively measures the precise prisms on the left and right molds to obtain the actual center coordinates of the left and right prisms and the G calculated in the step (3)_{Left side of}、G_{Right side}And carrying out comparative analysis on the theoretical coordinate values, wherein the difference values are smaller than 0.3mm, the detection die is qualified, otherwise, the detection die is calibrated, and the detection is carried out again until the requirements are met.

By the aid of the innovative design and method of the detection device, the manufacturing precision of the detection die and the positioning precision of the detection die in the rail bearing table are guaranteed, the positioning effect of the detection die is improved, and intelligent and accurate detection of the detection die on the rail bearing table is achieved under automatic control of a control system.

The adjusting device 0315 is composed of a lifting bracket 03151, a hydraulic transmission system 03152, a bidirectional adjusting arm 03153 and a servo motor 03154. The hydraulic transmission system provides power for the lifting of the lifting support to complete the lifting function of the lifting support;

the lifting support is composed of a hydraulic shaft 031511 bearing and a support cross beam 031512, and the upper end of the hydraulic shaft is fixedly connected with the middle part of the support cross beam 031512 through a connecting block 031513; the bidirectional adjusting arm 03153 is a transverse adjusting arm 031531 and a vertical adjusting arm 031532 and respectively consists of a fixed arm and a movable arm, one end of the fixed arm of the bidirectional adjusting arm is fixedly connected with the end head of a beam of the lifting support, one end of the movable arm is connected with the other end of the fixed arm through a twisted ball and can swing in all directions, and the other end of the movable arm is designed into a bell-mouthed nut, so that the bidirectional adjusting arm can be quickly connected with an adjusting screw on a bidirectional adjuster, and the self-adaptive connection effect between the bidirectional adjusting arm and the adjusting screw of the bidirectional adjuster is improved; the movable arm and the fixed arm can not rotate relatively, so that the adjusting error caused by asynchronous rotation of the fixed arm and the movable arm is avoided, and the fine adjustment accuracy of the track slab is ensured. The servo motor provides power for the rotation of the bidirectional adjusting arm, drives the bidirectional adjusting arm to rotate, and simultaneously drives the adjusting screw rod of the adjuster to rotate, so that the synchronous and accurate adjustment of the plane and the elevation of the track slab is completed.

The distance between the lifting support of the detection device and the center of the lifting support of the adjusting device is designed according to a track plate structure design drawing, namely the horizontal distance between the transverse central line of a track bearing platform of the track plate and the central line of bolt holes on the side surface of the track plate, three different specifications and models are adopted for various embodiments of the CRTS III track plate, the design value of the horizontal distance between the transverse central line of the track bearing platform of the track plate and the central line of bolt holes on the side surface of the track plate is also 3, in order to ensure that a fine adjustment robot can be used for different plate types, a channel steel which can be used for the longitudinal sliding of a hydraulic bearing of the lifting support 2 is designed, the channel steel is fixed on the body surface, 3 limit holes are designed on the channel steel, the lower end of the hydraulic bearing can longitudinally slide in the channel steel corresponding to the 3 different plate types, a control system can accurately control the hydraulic bearing of the lifting, the hydraulic system provides power for the movement of the hydraulic bearing, and the lower end of the hydraulic bearing is fixed by the limiting hole, so that the support 2 is prevented from moving when lifted. Through the innovative design of channel-section steel and spacing hole, combine control system, realized the track board of different models, intelligent fine tuning robot can both carry out the fine tuning.

Through the innovative design of the adjusting device and the positioning method of the adjusting arm, the traditional manual fine adjustment mode is changed, and the automatic intelligent fine adjustment new pattern of the track slab is realized.

Fine adjustment work flow

S1, establishing a fine adjustment data file: basic data files are input into a track slab fine adjustment software system of a background server, wherein the basic data files comprise a horizontal and vertical curve element, a starting and stopping mileage, an ultrahigh curve, a long beam, a beam gap, a track slab model and the like, the software system automatically calculates and analyzes the basic data files, generates a track slab fine adjustment data file, and transmits the fine adjustment data file to a controller of a construction site control system in real time through a wireless transmission system (network);

s2, installing an execution system: according to the model specification and the structural design drawing of the track slab, two-way regulators are installed below the track slab, 4 two-way regulators are installed below each track slab, and the regulators are fixed with the side faces of the track slab; installing the intelligent fine tuning robots on site, and preliminarily placing the 2 installed intelligent fine tuning robots on the middle positions of the track slab;

s3, erecting a measuring device: erecting a total station at the middle position of a base plate at about 50 meters of a track plate to be adjusted, and connecting communication equipment such as a radio station and the like; installing precise prisms on the CP III device 002 in 3-4 pairs in front of and behind the instrument;

s4, automatically building a total station: starting a controller switching power supply, starting fine adjustment system software, calling relevant information (an installed 3-4 pairs of CP III precise control point numbers and a track board model needing fine adjustment of the measuring station) of the measuring station, starting a measuring function menu of a free station building of a total station, automatically and sequentially observing precise prisms on all CP III precise control points set by the measuring station by the total station, analyzing the precision of each point, intelligently eliminating control points with poor precision, completing the station building, and waiting for a measuring instruction before fine adjustment of a fine adjustment robot;

s5, starting the fine adjustment robot: simultaneously starting 2 fine tuning robots to switch power supplies, and tuning the working state of the fine tuning robot to an 'automatic' state; starting a robot working menu in the controller fine tuning system software;

s6, positioning of the fine adjustment robot: the control system calculates the respective positioning information of 2 fine tuning robots on the track slab according to the model of the track slab to be adjusted, and simultaneously sends the positioning information to the fine tuning robots, the fine tuning robots start to walk and start to count intelligently from the 1 st rail bearing platform of the track slab to be adjusted, the 1 st fine tuning robot automatically walks to the 2 nd rail bearing platform laser induction area from the last, and the 2 nd fine tuning robot automatically walks to the 2 nd rail bearing platform laser induction area from the same number of the track slab to be adjusted, real-time measurement data are obtained through a precise laser sensor and the circulation control algorithm software of the robot control system is used for calculating, the attitude of the machine body is adjusted, and the machine body is accurately adjusted to the set position calculated by the software system;

s7, detecting the connection of the mold positioning and adjusting device: after the precise adjustment robot is precisely positioned, the detection device and the adjusting device of the precise adjustment robot descend simultaneously through a hydraulic system, the detection die is precisely positioned to the central position of the rail bearing table through hydraulic pressure and a self-adaptive elastic connecting device, and the bottom surface and the side surface of the measurement die are further detected through a contact sensor to determine whether the bottom surface and the side surface of the measurement die are completely and closely attached to the bottom surface of the rail bearing table and the jaw surface; under the action of hydraulic pressure, the two-way adjusting arm is positioned at the central position of an adjusting screw rod of the two-way adjuster on the side surface of the track slab, and a bell-mouth nut of the movable arm of the adjusting arm is adaptively connected and locked with the adjusting screw rod on the two-way adjuster under the driving of a servo motor;

s8, measurement: after the precise positioning of the detection mould of the fine adjustment robot and the connection and locking of the adjusting device and the adjuster, the information is sent to a controller of a control system in real time, the control system starts to control the total station to measure, sequentially measures a left precise prism and a right precise prism of a 1# fine adjustment robot and a left precise prism and a right precise prism of a 2# fine adjustment robot, calculates the difference between the measured data and the designed data in real time through system software, and converts the difference into the adjusting quantity (the number of turns of a nut) of an adjusting arm;

s9, fine adjustment: the control system automatically starts a servo motor on the adjusting arm of the fine adjustment robot to drive the bidirectional adjusting arm to rotate, meanwhile drives an adjusting screw of the bidirectional adjuster to rotate, and performs rotation adjustment according to the rotating turns of the adjusting arm calculated by system software to realize adjustment of the center line and the elevation direction of the track slab;

s10, checking: after the fine tuning of fine tuning robot was accomplished, control system control total powerstation measured 2 fine tuning robot's precision prism once more, calculates measured data and design data deviation value in real time, further analysis to the deviation value:

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a quick intelligent fine tuning system of III type track boards of CRTS, includes measurement system and control system (020), its characterized in that: the system also comprises an execution system, a wireless transmission system and an information management system;

the measurement system, the execution system and the information management system are respectively communicated with the control system (020);

wherein the content of the first and second substances,

the measurement system comprises an ATR total station (011), data acquisition software and a radio station, and is used for automatically acquiring the three-dimensional space coordinates of the track slab bearing platform and calculating a deviation value between the three-dimensional space coordinates and a theoretical value;

the control system (020) comprises a controller and a control software system, and is used for controlling the mutual linkage between the measurement system and the execution system;

the wireless transmission system wirelessly connects the data information among the measurement system, the execution system, the control system (020) and the information management system, so that the real-time transmission of the data information among the measurement system, the execution system, the information management system and the control system (020) and the real-time transmission of the information center and the information of the APP user side are ensured;

2. The CRTS III track board fast intelligent fine tuning system of claim 1, characterized in that:

the execution system comprises 2 fine tuning robots (031) and 2 pairs of two-way regulators (032);

wherein, the two-way adjuster (032) comprises a two-way adjuster base (0321), a vertical adjusting screw rod (0322), a horizontal adjusting screw rod (0323) and a steering wheel (0324);

the vertical adjusting screw rod (0322) is fixed on the two-way adjuster base (0321) and is perpendicular to the two-way adjuster base (0321), and the vertical adjusting screw rod (0322) moves up and down when rotated; the side surface of the vertical adjusting screw rod (0322) is connected with a fixed connecting plate (0325), and the fixed connecting plate (0325) is used for connecting a track plate;

the transverse adjusting screw rod (0323) and the vertical adjusting screw rod (0322) are arranged in the same direction and are also perpendicular to the two-way adjuster base (0321), so that the transverse adjusting screw rod and the vertical adjusting screw rod can be conveniently connected with a nut sleeve on an adjusting arm of a fine adjustment robot (031);

the transverse adjusting screw rod (0323) is connected with a steering wheel (0324), the steering wheel (0324) is arranged at the upper part of the adjuster base (0321), and the vertical rotary power of the transverse adjusting screw rod (0323) is converted into a transverse rotary power;

the bidirectional regulator base (0321) is placed on a ballastless track base and fixed to the side face of the track slab (001);

horizontal adjusting screw (0323) and vertical adjusting screw (0322) rotate the drive through the regulating arm servo motor of accurate adjustment robot (031) under, accomplish horizontal and elevation synchronization adjustment to the track board, do not influence each other, and horizontal adjusting screw (0323) are used for adjusting the plane of track board, and vertical adjusting screw is used for adjusting the elevation of track board.

3. The CRTS III track board fast intelligent fine tuning system of claim 2, characterized in that: the fine adjustment robot (031) comprises a controller (0311), and a walking device (0312), a guiding and positioning device (0313), a detection device (0314) and an adjusting device (0315) which are in communication connection with the controller (0311) respectively;

wherein the content of the first and second substances,

running gear (0312) include 2 pairs of walking wheels, the symmetry sets up the installation around, every walking wheel comprises a plurality of rollers that can the free rotation elliptic cylinder form, the roller axis designs into α angle with the wheel axis, when the walking wheel moves ahead, elliptic cylinder form roller on the wheel is walked along with the walking wheel together, drive self simultaneously and rotate, self through the roller rotates, when having realized that the walking wheel moves ahead, can lateral shifting in step, through 2 pairs of walking wheel front and back symmetry settings, the combined use, and the coordinated control of each wheel rotation direction and speed, make the robot in the march, in step can move to arbitrary direction.

4. The CRTS III track board fast intelligent fine tuning system of claim 3, characterized in that:

the guide positioning device (0313) comprises 2 precise laser sensors and a bracket, the bracket is installed and fixed on one side of the robot, the height of the bracket is designed to be a set height position from the bottom of a walking wheel according to the structural size of a track slab track bearing platform, the length between two ends of the bracket is designed to be a set value, and the laser sensors are installed at the same height position of two ends of a robot fixing bracket;

5. The CRTS III track board fast intelligent fine tuning system of claim 4, characterized in that: the loop control algorithm of the fine adjustment robot (031) is to calculate an error e between a set value and an actual value of the robot in a motion state, wherein the error e comprises a mileage direction deviation value, a center line direction deviation value and a body inclination direction deviation value when the robot is positioned;

the calculation model is as follows:

calculating the mileage direction deviation value: e-v_i·t_i(8)

Calculating a deviation value in the midline direction:

calculating a deviation value of the inclined direction:

and (3) a cycle control algorithm:

6. The CRTS III track board fast intelligent fine tuning system of claim 5, characterized in that:

the detection device (0314) comprises a first lifting bracket (03141), a track supporting platform detection die (03142) and an elastic connecting device (03143);

the first lifting support (03141) is elastically connected with the track bearing platform detection die (03142) through an elastic connecting device (03143), and the lifting support (03141) is controlled to lift by a hydraulic control system; the elastic connection device (03143) ensures that the detection mould is freely adjusted when being positioned in the rail bearing groove of the rail plate;

the rail bearing platform detection mould (03142) comprises a precise prism (031421), a tray (011422) and contact sensors (031423), wherein a precise prism rod is fixed at the center of the bottom of the tray and is vertical to the bottom surface of the tray, the contact sensors are respectively arranged at the bottom and the side surfaces of the tray, 3 contact sensors are arranged at the bottom of each tray and are arranged according to an equilateral triangle design, 2 contact sensors are respectively arranged at 2 side surfaces of the tray, and each side sensor is arranged at the same height;

the detection method of the detection device (0314) comprises,

7. The CRTS III track board fast intelligent fine tuning system of claim 6, characterized in that:

the precision detection and calibration method for the rail bearing platform detection die comprises the following steps:

s2, establishing a relative coordinate system of the standard track slab, taking the connecting line direction of the centers of the left and right track bearing platforms in the same row of the standard track slab as a Y axis, taking the center O of the center line of the left and right track bearing platforms as the origin of the coordinate system, and taking the direction which passes through the O point and is vertical to the Y axis as an X axis; setting the coordinate of origin O as (0, 0), designing the structural size according to the standard track board,the center distance of the left and right rail bearing platforms in the same row is 1.5156m, and the center B of the left rail bearing platform is calculated_{Left side of}Coordinates (0, -0.7578), right rail bearing center B_{Right side}Coordinates (0, 0.7578);

X_{left side of}＝0.21·cosα

Y_{Left side of}＝-0.7578+0.21·sinα

X_{Right side}＝0.21·cosα

Y_{Right side}＝0.7578-0.21·sinα

Center distance between left and right steel rails:

respectively placing 2 precise spherical prisms into the center holes of the left and right rail bearing tables, wherein the center of the spherical prism is the center of the rail bearing table, and the center B of the left and right rail bearing tables calculated according to S2_{Left side of}、B_{Right side}The coordinates are the central coordinates of the left and right spherical prisms, the total station uses the spherical prisms and coordinates in the central holes of the left and right rail bearing platforms to measure and build the station, and the coordinates are calculatedThe station coordinate system of the total station is consistent with the track slab coordinate system;

8. The CRTSIII-type track slab rapid intelligent fine tuning system of claim 3, wherein:

the adjusting device (0315) comprises a second lifting bracket (03151), a hydraulic transmission system (03152), a bidirectional adjusting arm (03153) and a servo motor (03154);

the hydraulic transmission system (03152) provides power for the lifting of the second lifting support (03151) to complete the lifting function of the lifting support;

the second lifting support (03151) comprises a hydraulic bearing (031511) and a support cross beam (031512), and the upper end of the hydraulic bearing is fixedly connected with the middle part of the support cross beam;

the bidirectional adjusting arm (03153) comprises a transverse adjusting arm (031531) and a vertical adjusting arm (031532) which respectively comprise a fixed arm and a movable arm, one end of the fixed arm of the bidirectional adjusting arm is fixedly connected with the end head of the beam of the lifting support, and one end of the movable arm is connected with the other end of the fixed arm through a twisting ball and can swing in front, back, left and right or any direction;

9. The CRTS III track board fast intelligent fine tuning system of claim 7, wherein:

the center distance between a first lifting support (03141) of the detection device (0314) and a second lifting support (03151) of the adjustment device is designed according to a track plate structure design drawing, namely the horizontal distance between the transverse center line of the track bearing platform of the 2 nd or 2 last-but-one track plate and the bolt hole center line of the side surface of the track plate, and as the CRTS III type track plate has 3 different specification models, the design value of the horizontal distance between the transverse center line of the track bearing platform of the 2 nd or 2 last-but-one track plate and the bolt hole center line of the side surface of the track plate also has 3;

in order to ensure that the fine tuning robot can both use to different board types, still include a hydraulic bearing (031511) longitudinal sliding's that can supply lifting support channel-section steel, the channel-section steel is fixed on the fuselage face, design 3 spacing holes on the channel-section steel, correspond above-mentioned 3 different board types, the hydraulic bearing lower extreme can be longitudinal sliding in the channel-section steel, control system can be according to the track board model of adjusting, accurate control lifting support's hydraulic bearing moves to the spacing hole that corresponds in, hydraulic system provides power for hydraulic bearing's removal, the hydraulic bearing lower extreme is fixed in spacing hole, can not take place to remove when having ensured the support lift.

10. A rapid intelligent fine tuning method for a CRTS iii track slab, based on the rapid intelligent fine tuning system for a CRTS iii track slab of any one of claims 1 to 9, characterized in that:

the method comprises the following steps:

s1, establishing a fine adjustment data file:

s2, installing an execution system:

s3, erecting a measuring device:

s4, freely building a total station:

s5, starting the fine adjustment robot:

s6, positioning of the fine adjustment robot:

the control system calculates the respective positioning information of 2 fine tuning robots on the track slab according to the model of the track slab to be adjusted, meanwhile, the positioning information is sent to the fine tuning robots, the fine tuning robots start to walk and start to count intelligently from the 1 st rail bearing platform of the track slab to be adjusted, the 1 st fine tuning robot automatically walks to the 2 nd rail bearing platform laser induction area from the last to the last of the track slab to be adjusted, the 2 nd fine tuning robot automatically walks to the 2 nd rail bearing platform laser induction area from the same number of the track slab to be adjusted, real-time measurement data are obtained through a precise laser sensor, and the machine body posture is adjusted and accurately adjusted to the set position calculated by a software system through the calculation of a cyclic control algorithm of the robot control system;

s7, detecting the connection of the mold positioning and adjusting device:

s8, measurement:

s9, fine adjustment:

the control system automatically starts a servo motor on the adjusting arm of the fine adjustment robot to drive the bidirectional adjusting arm to rotate, meanwhile drives an adjusting screw of the bidirectional adjuster to rotate, and performs rotation adjustment according to the rotating turns of the adjusting arm calculated by system software, so that synchronous adjustment of the plane and the elevation direction of the track slab is realized;

s10, checking: