KR20210143256A - CRTSⅢ high-speed intelligent precision adjustment system and precision adjustment method for track plate - Google Patents

Abstract

The CRTSⅢ high-speed intelligent precision adjustment system and precision adjustment method of the CRTSIII type track plate of the present invention can solve the technical problems of the difficult and low precision adjustment quality of the conventional precision adjustment method of the track plate. The CRTSⅢ type high-speed intelligent precision adjustment system of the track plate includes a measurement system and a control system, and further includes an execution system, a wireless transmission system and an information management system, the measurement system is configured to collect three-dimensional spatial coordinates of the track pedestal of the track plate. automatically complete, and at the same time calculate the deviation value from the theoretical value, the control system controls the interworking between the control system and the execution system, and the informatization management system completes the data analysis and management for measurement and fine adjustment and provides necessary data information to the user terminal in real time, and sends a real-time alert for abnormal data. Since the present invention uses the construction precision adjustment method of the precision adjustment robot, it takes an average of 5 minutes for each plate, the work efficiency is three times that of the conventional method, and at the same time, the present invention provides a link between the on-site construction precision adjustment data and the backend server and the user terminal. Real-time data transmission, real-time inquiry, and abnormal data real-time alert were established.

Description

CRTSⅢ high-speed intelligent precision adjustment system and precision adjustment method for track plate

The present invention relates to the field of ballastless track construction technology of high-speed railway, and more specifically, to a CRTSⅢ type high-speed intelligent precision adjustment system and precision adjustment method.

CRTSⅢ type plate-type ballless track technology is a new ballast track structure technology with independent intellectual property rights developed by China by introducing, digesting and absorbing foreign ballast track technology. It is composed of a concrete base, self-filled concrete and CRTSⅢ type track plate. It has changed the position limiting method of the existing plate-type ballless track, expanded the filler material under the plate, and optimized the track plate structure and track elasticity, resulting in higher smoothness. , it has safety and durability, so it is worth much more spread. Summarizing the construction experience of the existing CRTSⅢ plate type ballless track, the track plate laying is a very important process in the construction of the entire ballless track, and the rough laying of the track plate, precise adjustment, compression, edge banding, and self-filled concrete injection Among them, the precise adjustment of the track plate is the most important in the process of laying the track plate, and the control standard of the track plate is high, and the precision is greatly affected by the change in temperature difference, so the precision adjustment work is usually done at night. It can be carried out only in , so the effective working time is short. At present, the precision adjustment method of the track plate is to manually adjust the four measuring frames on the second row orbit pedestal of the track plate and the second row orbit pedestal from the rear, and use a total station to prism on the four frames. Measure the three-dimensional space coordinates of the center of each, calculate the deviation value of the actual measured coordinates and the design coordinates of each center point, convert them into longitudinal and lateral adjustment values, and manually turn the torque wrench according to the adjustment values By using it, it is inserted into the adjusting screw of the precision adjustment claw of the track plate, first adjusting the screw in the longitudinal direction, and then adjusting the screw in the transverse direction to gradually adjust the track plate to a predetermined position in the design, and the longitudinal and lateral directions are Since it is not synchronously controlled, the amount of adjustment in the two directions affects each other during the adjustment process, and it is often necessary to go through several repeated adjustments and several repeated measurements, making the entire measurement process and precise adjustment process very complicated, Adjusting one track plate requires at least two technicians and four operators, and takes an average of 15 minutes. It requires a lot of manpower, the work efficiency is low, and the placement precision of the measuring frame and the quality of the precise adjustment of the track plate are greatly affected by factors such as the responsibility and skill of the operator, so the quality of the precise adjustment cannot be effectively guaranteed. .

To this end, researching high-speed intelligent precision adjustment systems and methods to realize the integration, automation, intelligence, and accuracy of measurement and precision adjustment of the track plate has an important meaning in the development of China's CRTS III plate ballless track technology. have.

The CRTSⅢ high-speed intelligent precision adjustment system of the track plate provided by the present invention can solve the technical problem of the difficult and low precision adjustment quality of the conventional track plate precision adjustment method.

In order to realize the above object, the present invention utilizes the following technical solutions:

The CRTSTⅢ type track plate high-speed intelligent precision adjustment system includes a measurement system and a control system, and further includes an execution system, a wireless transmission system and an information management system,

The measurement system, the execution system, and the information management system each communicate with the control system,

The measuring system automatically completes the collection of three-dimensional spatial coordinates of the orbit pedestal of the track plate, including the ATR total station, data acquisition software, and radio station, and at the same time calculates the deviation value from the theoretical value,

the control system includes a controller and a control software system to control interworking between the control system and the execution system;

The wireless transmission system wirelessly connects the data information between the measurement system, the execution system, the control system and the informatization management system, so as to transmit data information in real time between the measurement system, the execution system, the information management system and the control system and the information center and the APP user. ensure the real-time transmission of information;

The informatization management system, including a server, data management analysis software, and user terminal, completes data analysis management for measurement and fine adjustment, provides necessary data information to the user terminal in real time, and alerts on abnormal data in real time send

Additionally, the actuation system includes two precision-coordinated robots and two pairs of bidirectional regulators,

The bidirectional regulator includes a bidirectional regulator base, a longitudinal adjusting screw, a transverse adjusting screw and a steering wheel,

The longitudinal adjustment screw is fixed on the bidirectional regulator base, installed vertically with the bidirectional regulator base, and moves up and down when the longitudinal adjustment screw is rotated, and the side of the longitudinal adjustment screw is connected to a fixed connection plate, The fixed connecting plate is for connecting to the track plate,

The horizontal adjustment screw and the longitudinal adjustment screw are installed in the same direction and are perpendicular to the bidirectional regulator base, so that it is convenient to connect with the nut sleeve on the adjustment arm of the precision adjustment robot,

The transverse adjustment screw is connected to the steering wheel, the steering wheel is installed on the top of the regulator base, and converts the longitudinal rotational force of the transverse direction adjustment screw into a transverse rotational force,

The bidirectional regulator base is disposed on the ballistic orbital base, and is fixed to the side of the track plate,

The horizontal adjustment screw and the longitudinal adjustment screw complete the synchronous adjustment of the plane and height of the track plate by rotational driving of the adjustment arm servo motor of the precision adjustment robot, and do not affect each other, and the horizontal adjustment screw is the track plate Adjust the plane of the track, and the longitudinal adjustment screw adjusts the height of the track plate.

Additionally, the precision control robot includes a controller and a traveling device that is communicatively connected with the controller, a guide positioning device, a detection device, and a control device,

각으로 설계되고, 주행 휠이 전진할 때, 휠 상의 타원기둥형 롤러는 주행 휠을 따라 함께 전진하고, 동시에 자체 회전하도록 구동하며, 롤러의 자체 회전을 통해, 주행 휠이 전진하면, 동시에 측방향으로 이동할 수 있고, 2쌍의 주행 휠의 전후 대칭 설치, 조합 사용, 및 각 휠의 회전 방향과 속도의 조화로운 제어를 통해, 로봇이 주행 중 임의의 방향으로 동기 이동할 수 있도록 한다. The traveling device includes two pairs of traveling wheels, and is installed and mounted symmetrically back and forth, each traveling wheel is composed of a plurality of freely rotatable elliptical columnar rollers, and the roller axis and the wheel axis are

Angularly designed, when the traveling wheel advances, the elliptical columnar rollers on the wheel advance together along the traveling wheel, and simultaneously drive to self-rotate, through the self-rotation of the roller, when the traveling wheel is forward, at the same time lateral It allows the robot to move synchronously in any direction while driving through the symmetrical installation of two pairs of driving wheels, the use of combination, and the harmonious control of the rotation direction and speed of each wheel.

Additionally, the guide positioning device includes two precision laser sensors and a bracket, the bracket is mounted and fixed to one side of the robot, and according to the structural size of the track pedestal of the track plate, the height of the bracket is 3 cm away from the bottom of the traveling wheel position, the length between both ends of the bracket is designed to be 1.3m, and the laser sensor is designed and mounted at the same height on both ends of the robot fixing bracket.

The arc surface at the end of the track pedestal on the track plate is the detection area of the laser sensor, and the blank area between the two adjacent orbit pedestals is the non-sensing area. can be guaranteed to simultaneously enter into the non-sensing area or

When the robot enters the sensor detection area, the laser sensor starts measuring, and transmits the measurement data information to the control system in real time, and the control system calculates it through the loop control algorithm software, and according to the calculation result, the robot's posture position can be adjusted in real time, greatly improving the positioning efficiency and positioning precision of the precision-adjusting robot.

)를 주요 제어 전략으로 계산하고, 오차(

)는 로봇의 포지셔닝 시의 이정(里程) 방향 편차 값, 중심선 방향 편차 값 및 바디 경사 방향 편차 값을 포함하며,In addition, the loop control algorithm of the precision adjustment robot is the error (

) as the main control strategy, and the error (

) includes the deviation value in the bipolar direction during positioning of the robot, the deviation value in the center line direction, and the deviation value in the body inclination direction,

The computational model is as follows:

(8)Calculation of bidirectional deviation values:

(8)

(9)Calculation of centerline direction deviation values:

(9)

(10)Calculation of slope deviation values:

(10)

(11)Loop control algorithm:

(11)

는 로봇의 설정 값과 실제 값 사이의 오차를 나타내고,

는 휠의 선 속도를 나타내고,

는 센서가 감지 영역으로 진입하는 시간 변화 값을 나타내며,

는 동일한 열의 두 궤도 받침대 내부 끝단 사이의 거리를 나타내고,

는 비례 계수를 나타내고,

는 적분 시간 상수를 나타내고,

는 센서 측정 값을 나타내며,

는 센서가 감지 영역 내에 있는 시간을 나타내고,

는 시간 적분 단위를 나타내고,

는 조절량 적분 단위를 나타내고,

는 시간 미분 단위를 나타내며;

represents the error between the robot's set value and the actual value,

is the linear speed of the wheel,

represents the time change value for the sensor to enter the detection area,

denotes the distance between the inner ends of two orbital pedestals in the same row,

represents the proportionality coefficient,

represents the integral time constant,

represents the sensor measurement,

represents the time the sensor is within the detection area,

represents the time integral unit,

represents the control amount integral unit,

represents the time derivative unit;

가 설정 값 미만이면, 로봇의 자세가 이미 설정 위치로 조정되었음을 의미한다.In the state of motion, the precision adjustment robot measures in real time through a laser sensor and controls the system software to calculate and analyze in real time to adjust the body in real time,

If is less than the set value, it means that the robot's posture has already been adjusted to the set position.

Additionally, the detection device includes a lifting bracket, an orbital pedestal detection mold and an elastic connection device,

The lifting bracket and the detection mold are elastically connected through an elastic connection device, the lifting bracket is controlled by a hydraulic control system, and the elastic connection device ensures that the detection mold is freely adjusted when the detection mold is positioned in the track support groove of the track plate and

The orbital pedestal detection mold includes a precision prism, a tray, and a contact sensor, the precision prism pole is fixed at a central position at the bottom of the tray, perpendicular to the bottom of the tray, and the contact sensor is mounted on the bottom and side of the tray, respectively, respectively Three touch sensors are mounted at the bottom of the tray of the , designed and mounted in an equilateral triangle, two touch sensors are mounted on two sides of the tray each, and each side sensor is mounted at the same height.

The detection method of the detection device,

When the precision adjustment robot is accurately positioned, the lifting bracket descends, and the detection mold falls into the track support groove along the bracket, and by the action of the elastic coupling device, the detection mold is placed on the bottom of the tray and the side of the track support to be detected. , making precise adjustments to its position until it is completely in close contact with the surface of each jaw;

The contact sensor additionally detects the contact status of the bottom and side surfaces of the tray and the detection surface of the track stand in real time. ensuring; including;

The track pedestal detection mold is designed and manufactured by simulating two structure sizes of a standard track on the track pedestal, one of the two structure sizes is the track structure height (H), and one is the standard gauge (L).

The detection mold is placed in the track pedestal of the standard track plate, and with all the contact sensors on the bottom of the tray and the side of the tray in full contact with the surface of the track support and the surface of the jaw, the center of the prism of the detection mold is the track pedestal It is the center of the iron bar after laying the standard track on the

Additionally, the precision detection and calibration method of the orbital pedestal detection mold includes the following steps.

S1. The standard track plate is mounted on the standard detection platform, and before mounting, the height and flatness of the detection platform surface are measured using a precision electronic level, to ensure that the platform surface is flat and level.

S2. The relative coordinate system of the standard track plate is made, the direction of the center connecting line of the left and right track supports in the same row of the standard track board is the Y axis, and the center (O) of the center line of the left and right track supports is the coordinate system origin, passing through the O point, the Y axis The direction perpendicular to is the X axis, the coordinates of the origin (O) of the coordinate system are set to (0, 0), and according to the design structure size of the standard track plate, if the center distance of the left and right track supports in the same row is 1.5156 m, the left The center (B _left ) coordinates of the orbital pedestal are estimated to be (0, -0.7578), and the center (B _right ) coordinates of the right orbital pedestal are estimated to be (0,0.7578).

S3. Method of estimating the center coordinates of the upper surface of the rail after laying the standard track on the track plate: According to the design of the track support and standard track structure, design an inclination of 1/40 on the surface of the track support, and the center of the left and right track supports in the same row The distance is 1.5156 m, and the design height of the track structure is 0.21 m; Cheolgwe theoretical coordinate of the center (G _L) is set to the left side (X- _L, Y _L), and the theoretical coordinate of the right cheolgwe center (G _R) is set to (X- _Wu, Y _R), and the use of analytic geometry and

Left and right iron bars center distance:

=1.5052m이다. _{The theoretical coordinates (G left} ) of the center of the left iron bar obtained through the above calculation are (0.2099, -0.7526), the theoretical coordinates (G _right ) of the center of the right iron bar are (0.2099, 0.7526), and the left and right track distances are (0.2099, 0.7526).

=1.5052 m.

S4. Total station construction: A high-precision intelligent total station is installed at a set distance in the axial direction of the detection platform, and the height of the total station and the height of the track plate on the detection platform are basically the same,

Two precision spherical prisms are placed in the center hole of the left and right orbital pedestals, respectively, the center of the spherical prism is the center of the orbital pedestal, and the center (B _left, B- _right ) coordinates of the left and right orbital pedestals calculated according to S2 are the left and right spherical It is the center coordinate of the prism, and the total station is measured and constructed using the spherical prism and coordinates in the center hole of the left and right orbital pedestals, and the coordinate system of the total station obtained through calculation and the coordinate system of the track plate coincide.

S5. Detecting mold precision detection: Take out the precision spherical prism on the orbit pedestal, place the detection mold on the left and right orbit pedestals, respectively, the contact points of all contact sensors are in close contact with the bottom of the track pedestal and the surface of each jaw, and the total station is Measure each of the precision prisms on the left and right molds to obtain the center actual coordinates of the left and right prisms _{, compare and analyze with the theoretical coordinate values of G left and} G _right estimated in S3, and if the difference values are all less than 0.3 mm, the detection mold is passed, otherwise, calibration is performed on the detection mold until the requirements are met, and detection is performed again.

Additionally, the adjusting device includes a lifting bracket, a hydraulic transmission system, a bidirectional adjusting arm and a servo motor;

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

The lifting bracket includes a hydraulic bearing and a bracket crossbeam, and an upper end of the hydraulic bearing is fixedly connected to a middle portion of the bracket crossbeam;

The bidirectional control arm includes a transverse control arm and a longitudinal control arm, and each includes a fixed arm and a movable arm, and one end of the fixed arm of the bidirectional control arm is fixedly connected to the end of the lifting bracket crossbeam, and the movable arm one end is connected to the other end of the fixed arm through a hinge ball, and can swing forward, backward, left and right, or in any direction;

The other end of the movable arm is designed with a flare nut, so that the adjustment screw on the bi-directional regulator can be quickly connected, thereby improving the self-adapting connection effect between the bi-directional adjusting arm and the adjusting screw of the bi-directional regulator;

The servo motor provides power for the rotation of the bidirectional control arm, and moves and rotates the bidirectional control arm, and at the same time moves and rotates the adjusting screw of the control arm, thereby completing the synchronous precision adjustment of the plane and height of the track plate.

In addition, the center distance of the lifting bracket of the detecting device and the lifting bracket of the adjusting device is designed according to the track plate structural design, that is, between the lateral center line of the track stand of the second or second from behind and the center line of the bolt hole on the side of the track plate The horizontal distance of CRTSⅢ type track plate has different standard models, so taking three examples in this embodiment, the horizontal distance between the lateral center line of the track pedestal of the second or second track plate from the rear and the center line of the bolt hole on the side of the track plate There are also three design values for distance;

It further includes a channel section steel that allows the hydraulic bearing of the lifting bracket to slide in the longitudinal direction so that the precision adjustment robot can be used for all different plate types, the channel section steel is fixed on the surface of the body, and the 3 Four positioning holes are designed, corresponding to the three different plate shapes, the lower end of the hydraulic bearing can slide longitudinally in the channel section steel, and the control system controls the hydraulic bearing of the lifting bracket according to the adjusted raceway plate model. It can be precisely controlled to move to the corresponding positioning hole, the hydraulic system provides power for the movement of the hydraulic bearing, and the positioning hole is fixed at the bottom of the hydraulic bearing so that movement does not occur when the bracket is lifted. guarantee

On the other hand, the present invention has further disclosed a CRTSⅢ type high-speed intelligent precision adjustment method for a CRTSIII-type track plate based on the CRTSIII-type high-speed intelligent precision adjustment system, and includes the following steps.

S1. Construction of fine-tuning data files

Input the basic data files including horizontal and vertical curve elements, start and end transitions, curved superelevation, beam length, beam clearance, and track plate model into the backend server's trackboard fine-tuning software system, and the software system automatically calculates and It analyzes, generates a fine-tuning data file of the track plate, and transmits the fine-tuning data file to the controller of the control system at the construction site in real time through a wireless transmission system.

S2. Mounting of the execution system:

According to the track plate model specification and structural design, a bi-directional regulator is mounted under the track plate, and four bi-directional regulators are installed under each track plate, and the regulator is fixed to the side of the track plate, and intelligent precision-adjusting robot is installed on site installed, and the installed two intelligent precision control robots are first placed in the middle position of the track plate.

S3. Hypothesis of the measuring device:

The total station is installed at an intermediate position of the base plate to adjust the set distance of the track plate, and is connected to the radio station communication device;

A precision prism is mounted on 3 or 4 pairs of CPIII precision control devices before and after the device.

S4. Free construction of total stations:

Turn on the switching power of the controller, turn on the software of the precision adjustment system, call up the relevant information of this observation station, and turn on the total station free establishment measurement function menu, the total station will display the precision on all CPⅢ precision control points set in this observation station. Observe the prisms in sequence, analyze the precision of each point, and intelligently remove the control points with relatively low precision, complete the construction, and wait for the measurement command before the precision adjustment of the precision adjustment robot.

S5. Operation of the fine-tuning robot:

At the same time, turn on the switching power of the two precision control robots, set the operation status of the precision control robots to “auto”, and turn on the robot operation menu of the controller precision system software.

S6. Positioning of the precision-coordinated robot:

The control system calculates each positioning information on the track plate of the two precision adjustment robots according to the track plate model to be adjusted, and sends the positioning information to the precision adjustment robot at the same time. Smart counting starts from the first orbit pedestal of the track plate to be adjusted, the first precision adjustment robot runs from the back of the track plate to be adjusted automatically to the laser detection area of the second track pedestal, and the second precision adjustment robot moves to the laser detection area of the track plate to be adjusted It travels to the laser detection area of the second orbit pedestal of the track plate, calculated through real-time measurement data of precision laser sensor and loop control algorithm software of the robot control system, adjusts the body posture, and the set position calculated by the software system to be precisely adjusted with

S7. Positioning of the detection mold, connection of the adjusting device:

When the precision-adjusting robot is accurately positioned, its detecting device and adjusting device are simultaneously lowered through the hydraulic system, and the detecting mold is accurately positioned to the center position of the orbital pedestal through the hydraulic and self-adapting elastic coupling device, and measured through the contact sensor It additionally detects whether the bottom and side of the mold, the bottom of the track stand, and the surface of the jaw are completely in close contact. Positioning into position, and driven by a servo motor, the flare nut of the movable arm of the adjusting arm is self-adaptively connected and locked with the adjusting screw on the bidirectional regulator.

S8. measurement:

The precision adjustment robot sends the information to the controller of the control system in real time when the detection mold is accurately positioned, the adjustment device and the regulator are connected and locked, and the control system starts to control the measurement of the total station, in order 1# precision Measure the left and right precision prisms of the control robot and the left and right precision prisms of the 2# precision control robot, calculate the difference value between the measurement data and the design data in real time through the system software, and convert the difference value into the adjustment amount of the control arm.

S9. Fine tuning:

The control system operates the servo motor on the control arm of the precision control robot to move and rotate the bidirectional control arm, and at the same time move and rotate the control screw of the bidirectional regulator, and adjust the rotation according to the number of rotations of the control arm calculated by the system software. , to realize synchronous control with respect to the plane and height directions of the track plate.

S10. check:

When the precision adjustment robot completes the precision adjustment, the control system controls the total station to measure the precision prisms of the two precision adjustment robots again, calculates the deviation value between the measured data and the design data in real time, and analyzes the deviation value proceed with,

When the deviation value meets the norm setting requirements, the two-way regulator of the adjusting arm and the track plate of the precision adjusting robot automatically unlocks, the detecting device and the adjusting device are raised through the hydraulic system, and the precision adjusting robot automatically moves to the next track By driving with the plate, the fine adjustment is carried out, and steps S6 to S10 are executed;

If the deviation value does not meet the norm setting range, it is necessary to measure again, fine-tune it again, and execute steps S9-S10 until the deviation value of the verification data meets the norm.

As can be seen from the above technical measures, the present invention provides a CRTSⅢ type high-speed intelligent precision adjustment system for track plate, replacing the manual measurement frame placement with an intelligent robot placing the measurement frame, and a software algorithm with a manual algorithm replace manual precision adjustment with machine precision adjustment, replace manual management with big data informatization management, and simultaneously achieve real-time transmission of information commands between the measurement mechanism and the precision adjustment robot through the automatic control system and wireless communication system This is done automatically, eliminating the need for manual intervention throughout the entire measuring process and fine-tuning process. The purpose of integration, automation, intelligence and informatization of measurement and precision adjustment has been realized. High efficiency, high precision, occupies less manpower resources, and saves cost.

Compared with the conventional fine adjustment mode, the present method has the following advantages.

1) Existing construction precision adjustment method of CRTSⅢ type track plate allocates 2 technicians and 4 workers, and 1 technician constructs the total station and observes the total station, and the other technician has to measure the frame, The CPIII prism must be placed, and the operator's fine-tuning must be guided, and the four operators must each operate the corresponding four precision-adjusting clamps under the track plate, but this method requires only one technician and one auxiliary operator. One technician is responsible for the installation and management of the total station, and the auxiliary operator is responsible for the arrangement of the CPIII prism, reducing the number of workers by 3 times compared to the conventional measurement mode.

2) In the conventional manual construction precision adjustment method, each plate had to be precisely adjusted for an average of 15 minutes, but the construction precision adjustment method by an intelligent precision adjustment robot takes an average of 5 minutes for each plate, so the work efficiency is 3 times higher than that of the existing method it's a boat

3) The conventional construction precision adjustment method does not have an informatization management platform, data cannot be shared, and information cannot be transmitted in real time. Real-time data transmission, real-time inquiry, and abnormal data real-time alert were established.

1 is a schematic diagram of an application scenario of the present invention;
2 is a schematic diagram of the front structure of the precision adjustment robot of the present invention.
3 is a schematic diagram of the side structure of the precision adjustment robot of the present invention.
4 is a schematic diagram of the three-dimensional structure of the precision control robot of the present invention.
5 is a structural schematic diagram of the guide positioning device of the precision adjustment robot of the present invention.
6 and 7 are structural schematic diagrams of a detection device of a precision control robot.
8 and 9 are structural schematic diagrams of an adjustment device for a precision adjustment robot.
10 is a schematic diagram of the side structure of the bidirectional regulator of the present invention.
11 is a schematic diagram of the three-dimensional structure of the bidirectional regulator of the present invention.
12 and 13 are schematic diagrams of the precision detection method of the detection mold of the present invention.
14 is a flow schematic diagram of a fine-tuning operation of the present invention.
15 and 16 are diagrams of a motion method calculation principle of the wheel train of the robot body of the present invention.
17 is a schematic diagram of the internal structure of the bidirectional regulator of the present invention.

In order that the objects, technical solutions and advantages of the embodiments of the present invention become more apparent, the following clearly and completely describes the technical solutions of the embodiments of the present invention, in conjunction with the drawings of the embodiments of the present invention, the described embodiments are It is apparent that these are only some embodiments of the invention and not all embodiments.

As shown in Fig. 1, the CRTSIII type track plate high-speed intelligent precision adjustment system of this embodiment includes a measurement system, a control system 020, an execution system, a wireless transmission system, and an information management system.

The measurement system consists of an ATR total station 011, data acquisition software, and a radio station, and automatically completes the collection of three-dimensional spatial coordinates of the orbit pedestal of the orbit plate, and at the same time calculates the deviation value from the theoretical value.

The control system 020 is composed of a controller and a software system, and controls the interworking between the control system and the execution system.

The wireless transmission system wirelessly connects the data information between the measurement system, the execution system, the control system 020 and the information management system, so that the real-time transmission of data information between the measurement system, the execution system, the information management system, and the control system and the information center and real-time information transmission of APP users.

The informatization management system is composed of a server, data management analysis software, and user terminals, completes data analysis management for measurement and fine adjustment, provides data information necessary for user terminals in real time, and provides real-time alerts for abnormal data. send.

The execution system is composed of two precision adjustment robots (031) and two pairs of bidirectional regulators (032).

As shown in FIGS. 10 and 11 , the bidirectional regulator 032 includes a base 0321 , a fixing bolt, a longitudinal adjustment screw 0322 , a transverse adjustment screw 0323 , and a steering wheel 0324 .

The longitudinal adjustment screw 0322 is fixed on the bidirectional regulator base 0321, is installed perpendicularly to the bidirectional regulator base 0321, and moves up and down when the longitudinal adjustment screw 0322 is rotated, and the longitudinal direction The side of the adjusting screw 0322 is connected to the fixed connecting plate 0325, and the fixed connecting plate 0325 is for connecting to the track plate.

The transverse and longitudinal adjustment screws are installed in the same direction and are perpendicular to the base surface, making it easy to connect with the nut sleeve on the adjustment arm of the precision adjustment robot 031, and the steering wheel 0324 is located on the upper part of the bidirectional regulator. Internally, it converts the rotational force in the longitudinal direction of the transverse adjustment screw 0323 into a rotational force in the transverse direction, and the bidirectional regulator base 0321 is disposed on the ballless track base, and through the fixing bolt to the bolt hole on the side of the track plate. is fixed Since the bidirectional regulator base 0321 is designed in a sawtooth shape, the bottom friction force may be further increased and the base 0321 may be more robust. The lateral and longitudinal adjustment screws of the bidirectional regulator complete the synchronous adjustment of the plane and height of the track plate by the rotational drive of the adjustment arm servo motor of the precision adjustment robot 031, so they do not affect each other and adjust the lateral direction The screw 0323 adjusts the transverse direction (plane) of the track plate, and the longitudinal adjustment screw 0322 adjusts the longitudinal direction (height) of the track plate.

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

Since the bottom surface of the base 0321 is a serrated design, the friction force between the bottom and the base surface is very large, and when the precision adjuster and the track plate are fixedly connected through the fixing bolts, due to the bottom friction force, the position does not slide.

The fixed connecting plate 0325 and the track plate are connected through bolts. When the precision adjustment robot moves and rotates the longitudinal adjustment screw, the fixed connecting plate (0325) can move up or down, moving the type 3 track plate up or down, and the precision adjustment robot moves the horizontal adjustment screw ( 0323) is moved and rotated, through rotation of two gears of the steering wheel, the longitudinal rotation of the transverse adjustment screw is changed to the transverse movement of the transverse screw, thus realizing the transverse movement of the track plate.

17, the steering wheel 0324 includes a steering wheel assembly 03241, and further includes a transverse gear 03242 and a longitudinal gear 03243 installed inside the steering wheel assembly 03241. And, the transverse gear (03242) is installed just below the transverse adjusting screw (0323), the bottom of the transverse adjusting screw (0323) is fixedly connected to 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 rotation of the transverse gear 03242 is the longitudinal gear ( 03243) is driven to rotate in the vertical plane direction.

It further includes a transverse screw 03244, a sliding nut 03245, and a regulator case 03246, the regulator case 03246 is fixed to the upper side of the bidirectional regulator base 0321, and the sliding nut 03245 is the regulator case ( 03246) is fixed inside,

The transverse screw 03244 is installed horizontally in the steering wheel assembly 03241, one end of the transverse screw 03244 is screw-connected with the sliding nut 03245, and the other end is fixed with the longitudinal gear 03243 and That is, when the transverse screw 03244 is rotated, the steering wheel assembly 03241 may be driven to move left and right with respect to the sliding nut 03245 .

The transverse gear 03242 and the longitudinal gear 03243 and the steering wheel assembly 03241 are supported and connected through a bearing 03247, respectively, and the bearing only supports the rotating shaft and reduces the friction coefficient in the rotating process. make it

The longitudinal adjustment screw 0322 may be fixed to the upper side of the regulator case 03246 by installing a fixing block, and the longitudinal adjustment screw 0322 may be rotationally connected to the fixing block. Specifically, it further includes an associated block 03232 and a connecting plate 03231 .

The lateral adjustment screw 0323 and the fixed connecting plate 0325 are connected through a connecting plate 03231 .

A transverse through-hole and a longitudinal through-hole are installed on the associated block 03232 , and the connecting plate 03231 passes through the transverse through-hole of the associated block 03232 .

At the same time, an adjustment hole is provided at a corresponding position of the connecting plate 03231, and the longitudinal adjustment screw 0322 passes through the longitudinal through-hole of the associated block 03232 and the adjustment hole on the connecting plate 03231, respectively.

The connecting plate 03231 can slide laterally with respect to the associated block 03232, and at the same time, the connecting plate 03231 moves left and right with respect to the connecting plate 03231 through the adjustment hole.

A screw connection is made between the associated block 03232 and the longitudinal adjustment screw 0322 . That is, the connecting plate 03231 can move left and right and up and down within a certain range within the internal space of the related block 03232 .

The precision adjusting robot 031 includes a controller 0311, a traveling device 0312, a guide positioning device 0313, a detecting device 0314, an adjusting device 0315, and a position limiting device enabling longitudinal movement of the adjusting device. (0316) is composed of,

The controller 0311 includes a control display panel, a control switch, control software and circuit device, etc., the display panel is for displaying the setting parameters of the precision regulator, operation status information and early warning information, and the control switch is It is for the setting of the on/off state of the regulator, the setting of automatic and manual functions, and the control software is the driving, positioning of the precision regulator, the lifting of the detecting device and the regulating device, the positioning, the adjusting and the hydraulic bearing of the lifting bracket of the regulating device. It is to control the overall interlocking such as longitudinal sliding in the channel section.

각으로 설계되고, 주행 휠이 전진할 때, 휠 상의 타원기둥형 롤러는 주행 휠을 따라 함께 전진하고, 동시에 자체 회전하도록 구동하며, 롤러의 자체 회전을 통해, 주행 휠이 전진하면, 동시에 측방향으로 이동할 수 있고, 2쌍의 주행 휠의 전후 대칭 설치, 조합 사용, 및 각 휠의 회전 방향과 속도의 조화로운 제어를 통해, 로봇이 주행 중, 임의의 방향으로 동기 이동할 수 있도록 한다. 구체적 설계 및 이동 원리는 아래와 같다:The traveling device 0312 is composed of two pairs (four) of traveling wheels, designed and mounted symmetrically forward and backward, each traveling wheel is composed of a plurality of freely rotatable elliptical columnar rollers, and the roller axis and the wheel axis are

Angularly designed, when the traveling wheel advances, the elliptical columnar rollers on the wheel advance together along the traveling wheel, and simultaneously drive to self-rotate, through the self-rotation of the roller, when the traveling wheel is forward, at the same time lateral It allows the robot to move synchronously in any direction while driving through the symmetrical installation, combination use, and harmonious control of the rotation direction and speed of each wheel. The specific design and movement principle are as follows:

The precision adjustment robot traveling device 0312 is designed with two pairs (four) of driving wheels, one pair each on the front and rear of the body, symmetrically arranged, and driven by four sets of corresponding servo motors to roll, According to the design angle of the roller axis and the wheel axis, it is divided into left and right turns, and the wheels on the same axis are symmetrically arranged (that is, one is designed to rotate in the left direction, the other is designed to rotate in the right direction) , The calculation design of the motion method of the wheel train of the body is shown in FIGS. 15 and 16 .

이고, 폭이 2

이라고 가정한다면, 주행 허브 축선과 롤러 축선의 협각은

이고, 상응하게

(

= 1，2，3，4)는 4개의 휠의 모터 구동에 의한 선 속도이며,

=

이고,

는 휠의 반경이고,

는 대응 휠의 회전 각 속도이다. 운동학 분석 결과에 따르면, 4개의 휠의 선 속도

(

= 1，2，3，4)는 각각 아래 식(1), (2), (3), (4)로 계산할 수 있다.With the center point (O) of the robot body as the origin, a relative coordinate system ΣO is created on the body. body length 2

and has a width of 2

Assuming that , the angle between the travel hub axis and the roller axis is

and correspondingly

(

= 1, 2, 3, 4) is the linear speed by motor driving of 4 wheels,

=

ego,

is the radius of the wheel,

is the angular speed of rotation of the corresponding wheel. According to the kinematic analysis result, the linear velocity of the four wheels

(

= 1, 2, 3, 4) can be calculated by the following formulas (1), (2), (3), (4), respectively.

(1)

(One)

(2)

(2)

(3)

(3)

(4)

(4)

,

,

는 각 휠 트레인의 상대 좌표계ΣO에서 X방향으로 이동하는 속도, Y방향으로 이동하는 속도 및 중심점(O)를 중심으로 수직축이 회전하는 각 속도이고, 4개의 휠의 회전 각 속도를 통해 휠의 전방위 이동을 얻을 수 있고, 로봇의 상대 좌표계ΣO에서의 이동 속도의 계산 공식은 (5), (6), (7)에 도시한 바와 같다.In the above formula,

,

,

is the speed of moving in the X direction, the speed of moving in the Y direction, and the angular speed of the vertical axis rotating around the center point (O) in the relative coordinate system ΣO of each wheel train. The movement can be obtained, and the calculation formulas for the movement speed in the relative coordinate system ΣO of the robot are as shown in (5), (6), and (7).

(5)

(5)

(6)

(6)

(7)

(7)

By analyzing typical movement situations such as forward/backward movement, left/right movement, in-place rotation, and inclined movement by the above equation, the rotation direction and speed of each wheel are calculated to obtain a wheel steering relationship of a general omnidirectional movement situation of a wheel train.

Through research on the innovative design of the wheel train of the precision-steering robot (031), and the theoretical calculation method of automatic control of the traveling speed of the robot and the self-rotation speed of the wheel train, the direction and posture of the body as the precision-steering robot advances can be realized in real time, and the effect of adjusting the posture of the precision adjustment robot can be improved.

)를 주요 제어 전략으로 계산하고, 오차(

)는 로봇의 포지셔닝 시의 이정 방향 편차 값, 중심선 방향 편차 값 및 바디 경사 방향 편차 값을 포함하며, 그 계산 모델은 아래와 같다:The guide positioning device 0313 is composed of two precision laser sensors 03131 and a bracket 03132, and the bracket is mounted and fixed to one side of the robot. It is designed at a height of 3 cm from the bottom of the robot, and the length between both ends of the bracket is designed to be 1.3 m, and the precision laser sensor 03131 is designed and mounted at the same height of both ends of the robot fixing bracket. The arc surface at the end of the track pedestal on the track plate is the detection area of the laser sensor, and the blank area between the two adjacent orbit pedestals is the non-sensing area. can be guaranteed to simultaneously enter into the detection area or simultaneously enter the non-sensing area. When the robot enters the sensor detection area, the laser sensor starts measuring, and transmits the measurement data information to the control system in real time, and the control system calculates it through the loop control algorithm software, and according to the calculation result, the robot's posture position (that is, the deviation value in front and rear, left and right, or in any direction) is adjusted in real time, greatly improving the positioning efficiency and positioning precision of the precision adjustment robot. The loop control algorithm calculates the error (

) as the main control strategy, and the error (

) includes the binomial direction deviation value, the centerline direction deviation value, and the body inclination direction deviation value during positioning of the robot, and the calculation model is as follows:

(8)Calculation of bidirectional deviation values:

(8)

(9)Calculation of centerline direction deviation values:

(9)

(10)Calculation of slope deviation values:

(10)

(11)Loop control algorithm:

(11)

는 로봇의 설정 값과 실제 값 사이의 오차를 나타내고,

는 휠의 선 속도를 나타내고,

는 센서가 감지 영역으로 진입하는 시간 변화 값을 나타내며,

는 동일한 열의 두 궤도 받침대 내부 끝단 사이의 거리를 나타내고,

는 비례 계수를 나타내고,

는 적분 시간 상수를 나타내고,

는 센서 측정 값을 나타내며,

는 센서가 감지 영역 내에 있는 시간을 나타내고,

는 시간 적분 단위를 나타내고,

는 조절량 적분 단위를 나타내고,

는 시간 미분 단위를 나타내며;

represents the error between the robot's set value and the actual value,

is the linear speed of the wheel,

represents the time change value for the sensor to enter the detection area,

denotes the distance between the inner ends of two orbital pedestals in the same row,

represents the proportionality coefficient,

represents the integral time constant,

represents the sensor measurement,

represents the time the sensor is within the detection area,

represents the time integral unit,

represents the control amount integral unit,

represents the time derivative unit;

가 충분히 작아 설정 값 미만이면, 로봇의 자세가 이미 설정 위치로 조절되었음을 의미한다.The precision adjustment robot 031 measures in real time through a laser sensor and controls the system software to calculate and analyze in real time, adjusting the body in real time,

If is small enough and less than the set value, it means that the robot's posture has already been adjusted to the set position.

Through the innovative combination design of the guide positioning device (0313) and the traveling device (0312) and the cyclic motion control method, the technical difficulty of accurate positioning of the precision control robot (031) is solved, and the positioning effect and positioning precision of the precision control robot (031) to improve

The detection device 0314 is composed of a lifting bracket 03141, a track stand detection mold 03142 and an elastic connection device 03143. The lifting bracket and the detection mold are elastically connected through the elastic connecting device, the lifting bracket is controlled by the hydraulic control system, and the elastic connection device ensures that the detection mold is freely adjusted when the detection mold is positioned within the track support groove of the track plate. do.

Orbital stand detection mold (03142) is composed of a precision prism (031421), a tray (031422), and a contact sensor (031423), the precision prism pole is fixed at the center position of the bottom of the tray (031422), perpendicular to the bottom of the tray and , the contact sensor 031423 is mounted on the bottom and side of the tray, respectively, 3 touch sensors are mounted on the bottom of each tray, designed and mounted in an equilateral triangle, and 2 touch sensors are mounted on each of the two sides of the tray and each side sensor is mounted at the same height.

When the precision adjustment robot (031) is accurately positioned, the lifting bracket descends, the detection mold falls along the bracket into the orbit support groove, and by the action of the elastic connection device, the detection mold moves the bottom and the side of the tray to the track to be detected. The bottom of the pedestal and the surface of each jaw are precisely adjusted to their position until they are in close contact with each other. The contact sensor additionally detects the contact status of the bottom and side surfaces of the tray and the detection surface of the track stand in real time. guarantee

The track pedestal detection mold is the core of the detection device, designed and manufactured by simulating two important structural sizes of a standard track on the track pedestal, one of the two structural sizes is the track structure height (H, The distance to the center of the surface is 0.21), and one is the standard gauge (L, the distance between the centers of the two bars is 1.505 m). The detection mold is placed in the track pedestal of the standard track plate, and with all the contact sensors on the bottom of the tray and the side of the tray in full contact with the surface of the track support and the surface of the jaw, the center of the prism of the detection mold is the track pedestal is the center of the iron bar after laying the standard track on (that is, the distance from the center of the prism to the center of the surface of the orbit stand is 0.21 m, and the distance between the centers of the prisms of the two detection molds is 1.505 m), and the manufacturing precision of the detection mold If there is a deviation, the center of the prism of the detection mold cannot be accurately described as the center of the iron bar, and precision detection must be performed before using the detection mold.

Precision detection and calibration method of orbital stand detection mold (same as FIGS. 11 and 12):

(1) Mount the standard track plate on the standard detection platform, and before mounting, use a precision electronic level to measure the height and flatness of the detection platform surface to ensure that the platform surface is flat and level;

(2) Create a relative coordinate system of the standard track plate, set the direction of the center connection line of the left and right track supports in the same row of the standard track board as the Y axis, and the center (O) of the center line of the left and right track supports is the coordinate system origin, passing through point O and the direction perpendicular to the Y-axis is the X-axis, and the coordinates of the origin (O) of the coordinate system are set to (0, 0). , the center (B _left ) coordinate of the left orbital pedestal is (0, -0.7578), and the center (B _right ) coordinate of the right orbital pedestal is estimated to be (0,0.7578);

(3) Method of estimating the center coordinates of the upper surface of the iron rail after laying the standard track on the track plate: According to the track support and standard track structure design, design a gradient of 1/40 on the surface of the track support, and the left and right tracks in the same row The center distance of the pedestal is 1.5156 m, and the design height of the track structure is 0.21 m. Cheolgwe theoretical coordinate of the center (G _L) is set to the left side (X- _L, Y _L), and the theoretical coordinate of the right cheolgwe center (G _R) is set to (X- _Wu, Y _R), and uses the analytic geometry :

Left and right iron bars center distance:

=1.5052m이다. The left cheolgwe center coordinates obtained by the above theoretical calculation (G _L) (0.2099, -0.7526), the theoretical coordinate of the center right cheolgwe (G _R) (0.2099, 0.7526), the left and right track distance

=1.5052 m.

(4) Total Station Construction:

A high-precision intelligent total station is installed at about 20m in the axial direction of the detection platform, the height of the total station and the height of the track plate on the detection platform are basically the same, and two precision spherical prisms are placed in the center hole of the left and right orbital pedestals, respectively. and the center of the spherical prism is the center of the orbital pedestal, the center (B _left, B- _right ) coordinates of the left and right orbital pedestals calculated according to (2) are the center coordinates of the left and right spherical prisms, and the total station is the center of the left and right orbital pedestals. It is measured and constructed using the spherical prism and coordinates in the hall, and the coordinate system of the total station obtained through calculation matches the coordinate system of the track plate.

(5) Detection mold precision detection:

Take out the precision spherical prism on the orbit pedestal, place the detection molds on the left and right orbit pedestals, respectively, the contact points of all contact sensors are completely in close contact with the bottom of the orbital pedestal and the surface of each jaw, and the total station is the precision prism on the left and right molds Measure for each, obtain the center actual coordinates of the left and right prisms _{, compare and analyze with the theoretical coordinate values of G left and} G _right estimated in (3) above, and if the difference values are all less than 0.3 mm, the detection mold is pass , otherwise, calibration is performed on the detection mold until the requirements are met, and detection is performed again.

Through the innovative design and method of the detection device, the self-manufacturing precision of the detection mold and the positioning precision on the orbit pedestal are ensured, thereby improving the positioning efficiency of the detection mold, and by automatic control of the control system, the orbital pedestal of the detection mold Realized intelligent precision detection for

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

The lifting bracket is composed of a hydraulic bearing (031511) and a bracket crossbeam (031512), and the upper end of the hydraulic bearing is fixedly connected to the middle portion of the bracket crossbeam (031512) through a connection block (031513). The bidirectional adjusting arm 03153 refers to the transverse adjusting arm 031531 and the longitudinal adjusting arm 031532, and is composed of a fixed arm and a movable arm, respectively, and one end of the fixed arm of the bidirectional adjusting arm is the end of the lifting bracket crossbeam. and one end of the movable arm is connected to the other end of the fixed arm through a hinge ball, and it can swing forward, backward, left, right, or in any direction, and the other end of the movable arm is designed with a flare nut, and the adjustment screw on the two-way regulator to quickly connect, improving the self-adapting connection effect between the bidirectional adjusting arm and the adjusting screw of the bidirectional regulator. Since relative rotation cannot occur between the movable arm and the fixed arm, the adjustment error that exists because the fixed arm and the movable arm do not rotate synchronously is prevented, and the accuracy of precise adjustment of the track plate is ensured. The servo motor provides power for the rotation of the bidirectional control arm, and moves and rotates the bidirectional control arm, and at the same time moves and rotates the adjusting screw of the control arm, thereby completing synchronous precision adjustment of the plane and height of the track plate.

The center distance between the lifting bracket of the detecting device and the lifting bracket of the adjusting device is designed according to the track plate structural design, that is, the horizontal distance between the lateral center line of the track stand of the track plate and the center line of the bolt hole on the side of the track plate is, CRTSⅢ type track Since there are various standard models with different plates, taking three examples in this embodiment, there are also three design values of the horizontal distance between the lateral center line of the track stand of the track plate and the center line of the bolt hole on the side of the track plate. It further includes a channel section steel that allows the hydraulic bearing of the lifting bracket 2 to slide in the longitudinal direction so that the steering robot can be used for all different plate shapes, the channel section steel is fixed on the surface of the body, the channel section steel Three positioning holes are designed on the top, corresponding to the three different plate shapes, the lower end of the hydraulic bearing can slide longitudinally in the channel section steel, and the control system controls the lifting bracket according to the adjusted raceway plate model. The hydraulic bearing of (2) can be precisely controlled to move to the corresponding positioning hole, the hydraulic system provides power for the movement of the hydraulic bearing, and the positioning hole is fixed at the lower end of the hydraulic bearing, allowing the bracket to lift. Ensure that movement does not occur when Through the innovative design of the channel section steel and the positioning hole, combined with the control system, different models of track plates were realized, and all intelligent precision adjustment robots can perform precise adjustments.

Through the above-described innovative design of the adjustment device and the positioning method of the adjustment arm, the conventional manual precision adjustment mode was changed, and a new composition of automatic intelligent precision adjustment of the track plate was realized.

Flow of fine-tuning work (as shown in Fig. 14)

S1. Construction of the fine-tuning data file: input the basic data file containing horizontal and vertical curve elements, start and end transitions, curved superelevation slope, beam length, beam clearance, track plate model, etc. , the software system automatically calculates and analyzes, generates the fine adjustment data file of the track plate, and transmits the fine adjustment data file to the controller of the control system at the construction site in real time through the wireless transmission system (network).

S2. Mounting of the execution system: according to the track plate model specification and structural design, a bi-directional regulator is mounted under the track plate, and four bi-directional regulators are mounted under each track plate, and the regulator is fixed with the side of the track plate, intelligent precision The steering robot is installed on site, and the installed two intelligent precision steering robots are first placed in the middle position of the track plate.

S3. Installation of the measuring device: Install the total station in the middle position of the base plate of about 50 m of the track plate to be controlled, connect it with the radio station communication device, and install the precision prisms on 3~4 pairs of CPⅢ precision control devices before and after the device do.

S4. Free construction of total station: turn on the switching power of the controller, turn on the software of the precision adjustment system, call the relevant information of this observation station (the number of installed 3~4 pairs of CPIII precision control points, fine-tune the main observation station) This required track plate model), when the total station free construction measurement function menu is turned on, the total station observes the precision prisms on all CPⅢ precision control points set in this observation station in order, and analyzes the precision of each point, so that the precision is relatively low. It intelligently removes the low control point, completes the build, and waits for the measurement command before the fine-tuning of the fine-tuning robot.

S5. Operation of the precision adjustment robot: At the same time, turn on the switching power of the two precision adjustment robots, set the operation status of the precision adjustment robot to “auto”, and turn on the robot operation menu of the controller precision system software.

S6. Positioning of the precision adjustment robot: The control system calculates the positioning information on the track plate of the two precision adjustment robots according to the track plate model to be adjusted, and simultaneously sends the positioning information to the precision adjustment robot, and the precision adjustment robot runs and start smart counting from the first track pedestal of the track plate to be adjusted, and the first precision adjustment robot automatically travels from the back of the track plate to be adjusted to the laser detection area of the second orbit pedestal, and the second 's precision-adjusting robot travels to the laser detection area of the second orbit pedestal of the track plate to be adjusted, calculates through real-time measurement data of the precision laser sensor and the loop control algorithm software of the robot control system, adjusts the body posture, and Accurately adjust to the set position calculated by the system.

S7. The positioning of the detection mold and the connection of the adjustment device: When the precision adjustment robot is accurately positioned, the detection device and the adjustment device are lowered at the same time through the hydraulic system, and the detection mold is positioned at the center of the track stand through the hydraulic and self-adapting elastic coupling device. It is precisely positioned with the stylus, and it is additionally detected whether the bottom, side, and bottom of the measuring mold and the bottom of the track stand, and the surface of the jaw are completely in close contact with the contact sensor. Positioning to the central position of the adjusting screw of the bi-directional regulator on the side, and by driving the servo motor, the flare nut of the movable arm of the adjusting arm is self-adaptively connected and locked with the adjusting screw on the bi-directional regulator.

S8. Measurement: When the detection mold is accurately positioned, the adjustment device and the regulator are connected and locked, the precision adjustment robot sends information to the controller of the control system in real time, and the control system starts to control the measurement of the total station, in order 1 #Measure the left and right precision prisms of the precision adjustment robot and the left and right precision prisms of the 2#precision adjustment robot, calculate the difference value between the measurement data and the design data in real time through the system software, and calculate the difference value by the adjustment amount (nut) of the adjustment arm number of revolutions).

S9. Precision adjustment: The control system operates the servo motor on the adjustment arm of the precision adjustment robot to move and rotate the two-way adjustment arm, and simultaneously move the adjustment screw of the two-way regulator to rotate it, according to the number of rotations of the adjustment arm calculated by the system software. The rotation is adjusted accordingly to realize the adjustment of the center line and the height direction of the track plate.

S10. Check: When the precision adjustment robot completes the precision adjustment, the control system controls the total station to measure the precision prisms of the two precision adjustment robots again, calculates the deviation value of the actual measurement data and the design data in real time, and adjusts the deviation value to the deviation value. do the analysis about it.

When the deviation value meets the norm setting requirements, the two-way regulator of the adjusting arm and the track plate of the precision adjusting robot automatically unlocks, the detecting device and the adjusting device are raised through the hydraulic system, and the precision adjusting robot automatically moves to the next track Run with the plate to make precise adjustments, and execute steps S6 to S10.

If the deviation value does not meet the norm setting range, it is necessary to measure again, fine-tune it again, and execute steps S9-S10 until the deviation value of the verification data meets the norm.

Compared with the conventional fine adjustment mode, the present method has the following advantages.

1) Existing construction precision adjustment method of CRTSⅢ type track plate allocates 2 technicians and 4 workers, and 1 technician constructs the total station and observes the total station, and the other technician has to measure the frame, The CPIII prism must be placed, and the operator's fine-tuning must be guided, and the four operators must each operate the corresponding four precision-adjusting clamps under the track plate, but this method requires only one technician and one auxiliary operator. One technician is responsible for the installation and management of the total station, and the auxiliary operator is responsible for the arrangement of the CPIII prism, reducing the number of workers by 3 times compared to the conventional measurement mode.

2) In the conventional manual construction precision adjustment method, each plate had to be precisely adjusted for an average of 15 minutes, but the construction precision adjustment method by an intelligent precision adjustment robot takes 5 minutes for each plate, so the work efficiency is three times that of the existing method am.

3) The conventional construction precision adjustment method does not have an informatization management platform, data cannot be shared, and information cannot be transmitted in real time. Real-time data transmission, real-time inquiry, and abnormal data real-time alert were established.

The above embodiment is only for explaining the technical solution of the present invention, not for limiting the present invention. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that the technical solutions described in each of the above-described embodiments may be modified or some technical features thereof may be replaced equally, and such modifications should be understood. or replacement, the essence of the corresponding technical solution does not depart from the spirit and scope of the technical solution of each embodiment of the present invention.

Claims (10)

A CRTSⅢ type high-speed intelligent precision adjustment system comprising a measurement system and a control system, the system comprising:
Further comprising an execution system, a wireless transmission system and an information management system,
The measurement system, the execution system, and the information management system each communicate with the control system,
The measuring system automatically completes the collection of three-dimensional spatial coordinates of the orbit pedestal of the track plate, including the ATR total station, data acquisition software, and radio station, and at the same time calculates the deviation value from the theoretical value,
the control system includes a controller and a control software system to control interworking between the control system and the execution system;
The wireless transmission system wirelessly connects the data information between the measurement system, the execution system, the control system and the informatization management system, so as to transmit data information in real time between the measurement system, the execution system, the information management system and the control system and the information center and the APP user. ensure the real-time transmission of information,
The informatization management system, including a server, data management analysis software, and user terminal, completes data analysis management for measurement and fine adjustment, provides necessary data information to the user terminal in real time, and alerts on abnormal data in real time CRTS III type track plate high-speed intelligent precision adjustment system. According to claim 1,
The execution system includes two precision-coordinated robots and two pairs of bidirectional regulators;
The bidirectional regulator includes a bidirectional regulator base, a longitudinal adjusting screw, a transverse adjusting screw and a steering wheel,
The longitudinal adjustment screw is fixed on the bidirectional regulator base, installed vertically with the bidirectional regulator base, and moves up and down when the longitudinal adjustment screw is rotated, and the side of the longitudinal adjustment screw is connected to a fixed connection plate, The fixed connecting plate is for connecting to the track plate,
The horizontal adjustment screw and the longitudinal adjustment screw are installed in the same direction and are perpendicular to the bidirectional regulator base, so that it is convenient to connect with the nut sleeve on the adjustment arm of the precision adjustment robot,
The transverse adjustment screw is connected to the steering wheel, the steering wheel is installed on the top of the regulator base, and converts the longitudinal rotational force of the transverse direction adjustment screw into a transverse rotational force,
the bidirectional regulator base is disposed on the ballless orbital base and is fixed to the side of the track plate;
The lateral adjustment screw and the longitudinal adjustment screw complete the synchronous adjustment of the lateral direction and height of the track plate by rotational driving of the servo motor of the adjustment arm of the precision adjustment robot, and do not affect each other, and the lateral adjustment screw is CRTSⅢ high-speed intelligent precision adjustment system for track plate, which adjusts the plane of the track plate, and the longitudinal adjustment screw adjusts the height of the track plate. 3. The method of claim 2,
The precision control robot includes a controller, and a traveling device, a guide positioning device, a detection device, and a control device, each of which is communicatively connected with the controller,
The traveling device includes two pairs of traveling wheels, and is installed and mounted symmetrically back and forth, each traveling wheel is composed of a plurality of freely rotatable elliptical columnar rollers, and the roller axis and the wheel axis are

Angularly designed, when the traveling wheel advances, the elliptical columnar rollers on the wheel advance together along the traveling wheel, and simultaneously drive to self-rotate, through the self-rotation of the roller, when the traveling wheel is forward, at the same time lateral CRTS III type, which enables the robot to move synchronously in any direction while driving, through the symmetrical installation, combination use, and harmonious control of the rotation direction and speed of each wheel. Track plate high-speed intelligent precision adjustment system. 4. The method of claim 3,
The guide positioning device includes two precision laser sensors and a bracket, the bracket is mounted and fixed to one side of the robot, and according to the structural size of the track pedestal of the track plate, the height of the bracket is set apart from the bottom of the traveling wheel. designed, the length between both ends of the bracket is designed as a set value, and the laser sensor is mounted at the same height on both ends of the robot fixing bracket.
The arc surface at the end of the track pedestal on the track plate is the detection area of the laser sensor, and the blank area between the two adjacent orbit pedestals is the non-sensing area. can be guaranteed to simultaneously enter into the non-sensing area or
When the robot enters the sensor detection area, the laser sensor starts measuring, and transmits the measurement data information to the control system in real time, and the control system calculates it through the loop control algorithm software, and according to the calculation result, the robot's posture position CRTSⅢ type high-speed intelligent precision adjustment system for track plate, which greatly improves the positioning efficiency and positioning precision of the precision adjustment robot by adjusting in real time. 5. The method of claim 4,
The loop control algorithm of the precision adjustment robot is the error (

), and the error (

) includes the binomial direction deviation value, the centerline direction deviation value, and the body inclination direction deviation value during positioning of the robot, and the calculation model is as follows:
Calculation of bidirectional deviation values:

Calculation of centerline direction deviation values:

Calculation of slope deviation values:

Loop control algorithm:

represents the error between the robot's set value and the actual value,

is the linear speed of the wheel,

represents the time change value for the sensor to enter the detection area,

denotes the distance between the inner ends of two orbital pedestals in the same row,

represents the proportionality coefficient,

represents the integral time constant,

represents the sensor measurement,

represents the time the sensor is within the detection area,

represents the time integral unit,

represents the control amount integral unit,

represents the time derivative unit;
In the state of motion, the precision adjustment robot measures in real time through a laser sensor and controls the system software to calculate and analyze in real time to adjust the body in real time,

is less than the set value, which means that the robot's posture has already been adjusted to the set position, CRTSⅢ type high-speed intelligent precision adjustment system. 6. The method of claim 5,
The detection device includes a first lifting bracket, an orbital pedestal detection mold and an elastic connection device,
The first lifting bracket and the orbital support detection mold are elastically connected through an elastic connection device, the lifting of the first lifting bracket is controlled through a hydraulic control system, and the elastic connection device means that the detection mold is in the orbital support groove of the orbital plate. ensure freedom of adjustment when positioned;
The orbital pedestal detection mold includes a precision prism, a tray, and a contact sensor, the precision prism pole is fixed at a central position at the bottom of the tray, perpendicular to the bottom of the tray, and the contact sensor is mounted on the bottom and side of the tray, respectively, respectively three touch sensors are mounted at the bottom of the tray of the
The detection method of the detection device,
When the precision adjustment robot is accurately positioned, the lifting bracket descends, and the detection mold falls into the track support groove along the bracket, and by the action of the elastic coupling device, the detection mold is placed on the bottom of the tray and the side of the track support to be detected. , making precise adjustments to its position until it is completely in close contact with the surface of each jaw;
The contact sensor additionally detects the contact status of the bottom and side surfaces of the tray and the detection surface of the track stand in real time. ensuring; including;
The track pedestal detection mold is designed and manufactured by simulating two structure sizes of a standard track on the track pedestal, one of the two structure sizes is the track structure height, and one is the standard gauge,
The detection mold is placed in the track pedestal of the standard track plate, and with all the contact sensors on the bottom of the tray and the side of the tray in full contact with the surface of the track support and the surface of the jaw, the center of the prism of the detection mold is the track pedestal A high-speed intelligent precision adjustment system for the CRTS III type track plate, which is the center of the iron bars after the standard track was laid. 7. The method of claim 6,
The precision detection and calibration method of the orbital stand detection mold,
S1. Mounting the standard track plate on the standard detection platform, and before mounting, detecting the height and flatness of the detection platform surface using a precision electronic level to ensure that the platform surface is flat and level;
S2. Create a relative coordinate system of the standard track plate, with the direction of the center connecting line of the left and right track supports in the same row of the standard track board as the Y axis, the center of the center line of the left and right track supports is the coordinate system origin, passing through point O and perpendicular to the Y axis The direction is the X-axis, the coordinates of the origin of the coordinate system are set to (0, 0), and according to the design structure size of the standard track plate, if the center distance of the left and right orbital supports in the same row is 1.5156m, the center coordinates of the left orbital support are (0, -0.7578), and the center coordinate of the right orbital pedestal is estimated to be (0,0.7578);
S3. The method of estimating the center coordinates of the upper surface of the iron rail after laying the standard track on the track plate is to design the inclination of 1/40 on the surface of the track base according to the track support and standard track structure design drawing, and The center distance is 1.5156 m, the design height of the track structure is 0.21 m; The theoretical coordinates of the center of the left bar _{are set to (X-Left} , Y _Left ), and the theoretical coordinates of the center of the right bar are set to (X- _Right , Y _Right ), using the analytical geometry:

Left and right iron bars center distance:

;
The theoretical coordinates of the center of the left bar obtained through the above calculation are (0.2099, -0.7526), the theoretical coordinates of the center of the right bar are (0.2099, 0.7526), and the distance between the left and right tracks is (0.2099, 0.7526).

=1.5052 m,
S4. Build a total station, but install a high-precision intelligent total station at a set distance in the axial direction of the detection platform, the height of the total station and the height of the track plate on the detection platform are basically the same;
Two precision spherical prisms are placed in the center hole of the left and right orbital pedestals, respectively, the center of the spherical prism is the center of the orbital pedestal, and the center (B _left, B- _right ) coordinates of the left and right orbital pedestals calculated according to S2 are the left and right spherical the center coordinates of the prism, and the total station is measured and constructed using the spherical prisms and coordinates in the center hole of the left and right orbital pedestals, and the coordinate system of the total station obtained through calculation matches the coordinate system of the track plate;
S5. Detecting mold precision detection: Take out the precision spherical prism on the orbit pedestal, place the detection mold on the left and right orbit pedestals, respectively, and the contact points of all contact sensors are completely in close contact with the bottom of the track pedestal and the surface of each jaw, total station Measure each precision prism on the left and right molds to obtain the center actual coordinates of the left and right prisms _{, compare and analyze with the theoretical coordinate values of G left and} G _right estimated in S3, and if the difference values are all less than 0.3 mm, detection the mold is passed, otherwise, calibration is carried out on the detection mold until it meets the requirements, and testing again; cast
CRTS Ⅲ type track plate high-speed intelligent precision adjustment system including. 4. The method of claim 3,
The adjusting device includes a second lifting bracket, a hydraulic transmission system, a bidirectional adjusting arm and a servo motor,
The hydraulic transmission system provides power for lifting the second lifting bracket to complete the lifting function of the lifting bracket,
the second lifting bracket includes a hydraulic bearing bracket crossbeam, and an upper end of the hydraulic bearing is fixedly connected to a middle portion of the bracket crossbeam;
The bidirectional control arm includes a transverse control arm and a longitudinal control arm, and each includes a fixed arm and a movable arm, and one end of the fixed arm of the bidirectional control arm is fixedly connected to the end of the lifting bracket crossbeam, and the movable arm One end is connected to the other end of the fixed arm through a hinge ball, and can swing forward, backward, left, right, or in any direction,
The other end of the movable arm is designed with a flare nut, allowing the adjustment screw on the bidirectional regulator to be connected quickly, improving the self-adapting connection effect between the bidirectional adjusting arm and the adjusting screw of the bidirectional regulator,
Servo motor provides power for rotation of the bidirectional control arm, and moves and rotates the bidirectional control arm, and at the same time moves and rotates the adjusting screw of the control arm to complete synchronous precision adjustment of the plane and height of the track plate. Mold track plate high-speed intelligent precision adjustment system. 8. The method of claim 7,
The center distance between the first lifting bracket of the detecting device and the second lifting bracket of the adjusting device is designed according to the track plate structural design, that is, the lateral center line of the track pedestal of the second or second track plate from the rear and the bolt hole on the side of the track plate As for the horizontal distance between the center lines, since there are various standard models with different CRTSⅢ type track plates, the design value of the horizontal distance between the lateral center line of the track pedestal of the second or second track plate and the center line of the bolt hole on the side of the track plate is also three There is,
It further includes a channel-shaped steel that allows the hydraulic bearing of the lifting bracket to be used for sliding in the longitudinal direction so that the precision-adjusting robot can be used for all different plate types,
The channel section steel is fixed on the surface of the body, and three positioning holes are designed on the channel section steel, corresponding to the three different plate shapes, and the lower end of the hydraulic bearing can slide in the longitudinal direction in the channel section steel, , the control system can precisely control the hydraulic bearing of the lifting bracket to move to the corresponding positioning hole according to the adjusted raceway model, the hydraulic system provides power for the movement of the hydraulic bearing, and the positioning hole is the hydraulic bearing Fixed at the bottom of the CRTSⅢ type track plate high-speed intelligent precision adjustment system to ensure that no movement occurs when the bracket is lifted.
The method for high-speed intelligent precision adjustment of a CRTSIII type track plate, based on the CRTSIII type high-speed intelligent precision adjustment system according to any one of claims 1 to 9,
S1. Construction of fine-tuning data files
Input the basic data files including horizontal and vertical curve elements, start and end transitions, curved superelevation, beam length, beam clearance, and track plate model into the backend server's trackboard fine-tuning software system, and the software system automatically calculates and analyzing, generating a fine adjustment data file of the track plate, and transmitting the fine adjustment data file to a controller of a control system at the construction site in real time through a wireless transmission system;
S2. Mounting of the execution system:
According to the track plate model specification and structural design, a bi-directional regulator is mounted under the track plate, and four bi-directional regulators are installed under each track plate, and the regulator is fixed to the side of the track plate, and intelligent precision-adjusting robot is installed on site installing, and first placing the installed two intelligent precision-adjusting robots in the middle position of the track plate;
S3. Hypothesis of the measuring device:
Install the total station in the middle position of the base plate to adjust the set distance of the track plate, and connect it with the radio station communication device,
Mounting the precision prisms on 3 to 4 pairs of CPIII precision control devices before and after the device;
S4. Free construction of total stations:
Turn on the switching power of the controller, turn on the software of the precision adjustment system, call up the relevant information of this observation station, and turn on the total station free establishment measurement function menu, the total station will display the precision on all CPⅢ precision control points set in this observation station. Observing the prisms in sequence, analyzing the precision of each point, intelligently removing the control point with relatively low precision, completing the construction, and waiting for the measurement command before the precision adjustment of the precision adjustment robot;
S5. Operation of the fine-tuning robot:
Simultaneously turn on the switching power of the two precision control robots, set the operation status of the precision control robots to “auto”, and turn on the robot operation menu of the controller precision system software;
S6. Positioning of the precision-coordinated robot:
The control system calculates each positioning information on the track plate of the two precision adjustment robots according to the track plate model to be adjusted, and sends the positioning information to the precision adjustment robot at the same time. Smart counting starts from the first orbit pedestal of the track plate to be adjusted, the first precision adjustment robot runs from the back of the track plate to be adjusted automatically to the laser detection area of the second track pedestal, and the second precision adjustment robot moves to the laser detection area of the track plate to be adjusted It travels to the laser detection area of the second orbit pedestal of the track plate, calculated through real-time measurement data of precision laser sensor and loop control algorithm software of the robot control system, adjusts the body posture, and the set position calculated by the software system to precisely adjust with;
S7. Positioning of the detection mold, connecting the adjusting device:
Precisely positioned robot, its detecting device and adjusting device are lowered at the same time through the hydraulic system, and the detecting mold is accurately positioned to the center position of the orbital pedestal through the hydraulic and self-adapting elastic coupling device, and measured through the contact sensor It is additionally detected whether the bottom and side surfaces of the mold and the bottom surface of the track stand and the jaw surface are in close contact, and the adjustment device uses hydraulic action to move the bidirectional control arm to the center position of the adjustment screw of the bidirectional regulator on the side of the track plate. positioning, and by driving the servo motor, the flare nut of the movable arm of the adjusting arm is self-adaptively connected and locked with the adjusting screw on the bidirectional regulator;
S8. measurement:
The precision adjustment robot sends the information to the controller of the control system in real time when the detection mold is accurately positioned, the adjustment device and the regulator are connected and locked, and the control system starts to control the measurement of the total station, in order 1# precision Measuring the left and right precision prisms of the adjusting robot and the left and right precision prisms of the 2# precision adjusting robot, calculating the difference value between the measured data and the design data in real time through the system software, and converting the difference value into the adjusting amount of the adjusting arm ;
S9. Fine tuning:
The control system operates the servo motor on the control arm of the control robot to move and rotate the bi-directional control arm, and at the same time move and rotate the control screw of the bi-directional regulator, and rotate according to the number of rotations of the control arm calculated by the system software. performing adjustment to realize synchronous adjustment in the plane and height directions of the track plate;
S10. check:
When the precision adjustment robot completes the precision adjustment, the control system controls the total station to measure the precision prisms of the two precision adjustment robots again, calculates the deviation value between the measured data and the design data in real time, and analyzes the deviation value proceed with,
When the deviation value meets the norm setting requirements, the two-way regulator of the adjusting arm and the track plate of the precision adjusting robot automatically unlocks, the detecting device and the adjusting device are raised through the hydraulic system, and the precision adjusting robot automatically moves to the next track By driving with the plate and performing precise adjustment, steps S6 to S10 are executed,
When the deviation value does not meet the norm setting range, it must be measured again and fine-tuned again, and the CRTS III type orbit comprising the steps of executing steps S9-S10 until the deviation value of the verification data meets the norm Plate high-speed intelligent precision adjustment method.

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