Railway rail recycling vehicle

Abstract

The invention discloses a railway rail recycling vehicle, comprising a vehicle frame, a carriage, a control box, a pressure sensor, a conveying device, a first baffle, a cutting device and a clamping machine. The vehicle frame drives the carriage to travel on a track, and the same conveying devices are arranged at both ends of the carriage in a vertical direction. The clamping machine clamps the rails to be recycled, and the control box controls the operation of the vehicle frame, the conveying device, the cutting device and the clamping machine. When the rails need to be recycled, a worker removes fasteners beside the rails, and the control box controls the clamping machine to clamp one end of the cut rails, picks up the rails and puts them on the conveying device. The control box controls the conveying device to slide the rails toward the first baffle. When the pressure sensor on the first baffle is touched by the rails, a signal is transmitted to the control box, and the control box controls the conveying device to stop conveying, and then controls the cutting device to cut off the rails that extend out of the carriage, and then controls the conveying device to flip inward, so that the rails can be placed in the carriage.

Description

Technical Field

[0001] The invention relates to the field of rail recycling, and in particular to a railway rail recycling vehicle. Background Art

[0002] Rails are the main components of railway tracks. Their function is to guide the wheels of locomotives and vehicles forward, bear the huge pressure of the wheels, and transmit it to the sleepers. In electrified railways or automatic block sections, rails can also be used as track circuits. However, with the development of high-speed railways, some railway lines have been abandoned. The rails laid on abandoned railways will be corroded under long-term exposure to the sun and rain, resulting in waste of steel. The material of rails is better than ordinary steel. If these abandoned rails are recycled for secondary use, the waste of steel can be reduced, and the recycled rails can be used as processing materials for other steels.

[0003] In the prior art, most abandoned rails are not recycled, resulting in a large amount of steel waste, so it is urgent to take effective measures to recycle the abandoned rails. The traditional method of carrying the rails away manually increases the labor intensity of the staff. Summary of the invention

[0004] In order to solve the above problems, the purpose of the present invention is to provide a railway rail recovery vehicle, which is designed according to the width of the track and used to recover the rails. The recovery vehicle is allowed to run on the track, and the staff removes the fasteners next to the rails, and uses a clamping machine to clamp one end of the rails onto a conveying device. The conveying device transports the rails to the recovery vehicle with the same length as the carriage, and then uses a cutting device to cut off the rails that extend out of the carriage, so that the rails can be recovered and loaded into the carriage.

[0005] In order to achieve the above-mentioned purpose, a railway rail recovery vehicle provided by the present invention is implemented as follows:

[0006] A railway rail recycling vehicle comprises a frame, a carriage, a control box, a pressure sensor, a conveying device, a first baffle, a cutting device, and a clamping machine. The carriage is mounted on the frame, and the carriage is driven by the frame to travel on the track. The same conveying devices are provided at both ends of the carriage in the vertical direction, which are used to convey the rails into the carriage. The first baffle and the cutting device are provided at the front and rear ends of the carriage, respectively, and two same cutting devices are installed at the rear end of the carriage. The clamping machine is installed at the rear part of the carriage, which is used to clamp the rails to be recycled. The same pressure sensors are provided at both ends of the first baffle, which are used to detect that the rails contact the first baffle and transmit the collected information to the control box. The control box controls the work of the frame, conveying device, cutting device and clamping machine. When the rails need to be recycled, the staff will remove the fasteners next to the rails and cut the rails every 20 meters. The control box controls the clamping machine to clamp one end of the cut rails, pick up the rails and put them on the conveying device. The control box controls the conveying device to slide the rails toward the first baffle. When the pressure sensor on the first baffle is touched by the rails, the signal is transmitted to the control box, and the control box controls the conveying device to stop conveying, and then controls the cutting device to cut off the rails that have grown out of the car, and then controls the conveying device to flip inward to place the rails in the car.

[0007] The frame of the present invention includes a gearbox, a wheelset, a servo motor, a crossbeam, and a bearing seat. Two sets of wheelsets are used as wheels of the rail recovery vehicle. The gearbox is connected to the axle of the front wheelset. Three identical crossbeams are installed above the two wheelsets. The crossbeams and the axles of the wheelset are connected by bearing seats. The servo motor is installed on the middle crossbeam. The output shaft of the servo motor is connected to the gearbox. The servo motor drives the gearbox, and the gearbox drives the axle of the wheelset, thereby driving the wheelset to rotate.

[0008] The bearing seat of the present invention is provided with a first bearing, and the bearing is sleeved on the axle of the wheelset, so that the crossbeam is not damaged when the wheelset rotates.

[0009] A generator is installed in front of the carriage of the present invention to provide electric energy for the control box, the pressure sensor, the conveying device, the cutting device and the clamping machine.

[0010] The conveying device of the present invention comprises a second baffle, a first steel bar, a roller, a rotating shaft, a second bearing, a first bevel gear, a second bevel gear, a first stepper motor, a first telescopic motor, and a second steel bar. The second baffle is installed above the second steel bar and is used to prevent the rail from falling outside the carriage. The roller is arranged between the first steel bar and the second steel bar, the first steel bar is biased to the inner side of the carriage, the rotating shaft is fixed between the second steel bar and the second bearing, both ends of the second steel bar are provided with a rotating shaft and a second bearing, and the two second bearings are respectively fixed at the front and rear ends of the carriage. The first bevel gear is installed on the roller at the edge, and the second bevel gear is installed on the rotating shaft of the first stepper motor. The second bevel gear is driven to rotate by the first stepper motor, and the second bevel gear is driven by the first bevel gear, thereby driving the roller at the edge to rotate. The telescopic rod of the first telescopic motor is connected to the first steel bar. When the cutting device cuts off the rail transmitted to the conveying device, the control box controls the first telescopic motor to retract the telescopic rod and pull the first steel bar downward, so that the conveying device tilts toward the inner side of the carriage, thereby allowing the cut rail to slide into the carriage.

[0011] The cutting device of the present invention comprises a cutting machine, a rack, a slide groove, a spur gear and a second stepper motor. Two identical cutting devices are installed on the rear wall of a carriage, and each cutting device is installed corresponding to a transmission device, and is respectively used to cut the steel rails received by the two transmission devices, wherein: the slide groove and the second stepper motor are installed on the rear wall of the carriage, the cutting machine is installed on the upper part of the rack, the rack is embedded in the slide groove, the spur gear is installed on the output shaft of the second stepper motor, the control box controls the second stepper motor to drive the spur gear to rotate, the spur gear is driven by the rack, and then the rack drives the cutting machine to rotate to achieve cutting of the steel rails.

[0012] The place where the cutting device is installed on the rear wall of the carriage of the present invention is provided with two grooves, so that the rack drives the cutting machine to move up and down on the rear wall of the carriage.

[0013] The gripping machine of the present invention comprises a second telescopic motor, a slide rail, a third telescopic motor, a third stepping motor, an electric mechanical claw, a high-definition camera, and a moving frame. The third stepping motor is installed in the carriage, the third telescopic motor is installed on the output shaft of the third stepping motor, the slide rail is installed on the telescopic rod of the third telescopic motor, the second telescopic motor and the moving frame are installed on the slide rail, and the telescopic rod of the second telescopic motor is connected to the moving frame, the electric mechanical claw is installed directly below the moving frame, the high-definition camera is installed below the moving frame, and is used to assist the electric mechanical claw in grasping the rail, and the control box is connected to the second telescopic motor, The third telescopic motor, the third stepping motor, the electric mechanical claw, and the high-definition camera are connected. After the control box controls the third stepping motor to rotate left or right, the electric mechanical claw can be just above the rail. When the control box controls the third telescopic motor to contract, the electric mechanical claw can just be stuck on the rail. When the control box controls the third telescopic motor to extend, the rail can just be lifted to the horizontal position of the roller. The control box controls the second telescopic motor to push or pull the moving frame to move on the slide rail. The control box controls the electric mechanical claw to grab the rail and accurately grab the rail with the assistance of the high-definition camera.

[0014] The recycling scheme of the present invention for the rail is as follows: when it is necessary to grab the rail, the control box controls the electric mechanical claw to open, the control box controls the third stepping motor to move the slide rail to the top of the rail, and the electric mechanical claw moves to the top of the rail along with the slide rail. Since the gauge between the two rails is basically unchanged, the third stepping motor can more accurately move the electric mechanical claw to the top of the rail that needs to be grabbed, the control box controls the third telescopic motor to retract the telescopic rod, and move the electric mechanical claw to the top of the rail. The high-definition camera continuously collects the position of the rail and transmits the collected image information to the control box. After the control box performs image recognition, the position of the electric mechanical claw is continuously adjusted so that the electric mechanical claw can be on the rail. The control box then controls the electric mechanical claw to grab the rail, the control box controls the second telescopic motor to retract the telescopic rod, drives the mobile frame to move toward the direction of the carriage, and then collects the position of the conveying device through the high-definition camera, adjusts the third stepping motor to rotate through the control box, so that the rail grabbed by the electric mechanical claw is above the roller, and then controls the third telescopic motor to retract the telescopic rod to place one end of the rail on the roller. The control box then controls the motor claw to loosen the rail, but does not completely loosen the rail, so that the rail is transmitted to the conveying device along with the roller. The control box controls the first stepper motor to rotate, driving the outermost roller to rotate, and assisting the electric claw to move the rail to the conveying device. When the pressure sensor detects that the rail has reached the first baffle, the control box controls the first stepper motor to stop working, and then controls the second stepper motor to raise the cutter, so that the cutter cuts off the rail that has grown out of the carriage. The control box controls the cutter to close, and then controls the first telescopic motor to contract, so that the conveying device tilts toward the inside of the carriage, and slides the rail into the carriage. Then the control box controls the second stepper motor to rotate in the opposite direction, and retracts the cutter. With the assistance of the high-definition camera, the electric claw moves the remaining rail to the conveying device again, and places the remaining rail in the carriage under the transportation of the conveying device, that is, completes the recovery of one of the rails. Then the control box controls the third stepper motor to move the electric claw to the top of another rail to recover the other rail.

[0015] A ball bearing is arranged between the slide rail and the movable frame of the present invention, and the ball bearing can make the movable frame move more smoothly when the second telescopic motor drives the movable frame to move on the slide rail.

[0016] The control box of the present invention comprises a metal aluminum box, a voltage-stepping and voltage-stabilizing module, a PLC controller, and an FPGA control board. The voltage-stepping and voltage-stabilizing module steps down and stabilizes the power output by the generator, and provides power for the PLC controller, the FPGA control board, the servo motor, the first stepper motor, the first telescopic motor, the second stepper motor, the cutting machine, the second telescopic motor, the third telescopic motor, the third stepper motor, and the electric mechanical claw. The pressure sensor and the camera transmit the collected pressure information and image information to the FPGA control board for processing. The FPGA control board sends the processed result to the PLC controller, and the PLC controller controls the servo motor, the first stepper motor, the first telescopic motor, the second stepper motor, the cutting machine, the second telescopic motor, the third telescopic motor, the third stepper motor, and the electric mechanical claw to perform corresponding actions, thereby realizing the recovery of the rails.

[0017] The FPGA control board of the present invention performs grayscale processing on the image information collected by the high-definition camera in sequence, converts the collected image into a grayscale image, removes discrete noise points, filters out the noise of the image through a median filtering method, obtains a binary image through threshold segmentation, then performs edge detection processing on the binary image, and finally extracts image features, and identifies the rails by using the color of the rails as image features.

[0018] Since the present invention adopts a clamping machine to clamp the rails to be recycled onto a conveying device, and then uses a cutting device to cut off the rails that extend out of the carriage and put them into the carriage, the following beneficial effects can be obtained:

[0019] The present invention only requires manual removal of the fasteners beside the rails and cutting the rails at a certain length, and the cut rails can be recovered into the carriage through the cooperation of the clamping machine, the conveying device and the cutting device, which greatly reduces the labor intensity of the staff, recovers the abandoned rails and reduces the waste of steel caused by the rails. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a railway rail recovery vehicle of the present invention;

[0021] Figure 2 It is a structural schematic diagram of a frame of a railway rail recovery vehicle of the present invention;

[0022] Figure 3 It is a schematic diagram of the installation structure between a bearing seat and a first bearing of a railway rail recovery vehicle of the present invention;

[0023] Figure 4 This is a schematic diagram of the installation structure of a generator of a railway rail recovery vehicle according to the present invention;

[0024] Figure 5It is a structural schematic diagram of a conveying device of a railway rail recovery vehicle of the present invention;

[0025] Figure 6 It is a structural schematic diagram of a cutting device of a railway rail recovery vehicle of the present invention;

[0026] Figure 7 This is a schematic diagram of a rear wall of a carriage of a railway rail recycling vehicle according to the present invention;

[0027] Figure 8 It is a schematic diagram of the installation between the rack and the slideway of a railway rail recovery vehicle of the present invention;

[0028] Fig. 9 It is a schematic diagram of a clamping machine of a railway rail recycling vehicle of the present invention;

[0029] Fig.10 It is a schematic diagram of the installation between the slide rail and the moving frame of a railway rail recovery vehicle of the present invention;

[0030] Fig.11 This is a schematic structural diagram of a control box of a railway rail recovery vehicle of the present invention;

[0031] Fig.12 The present invention is a working principle diagram of a railway rail recovery vehicle.

[0032] Description of main component symbols.

[0033]

[0034] DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below in conjunction with the embodiments and with reference to the accompanying drawings.

[0036] See also Figures 1 to 12 The figure shows a railway rail recycling vehicle in the present invention, which includes a frame 1, a carriage 2, a control box 3, a pressure sensor 4, a conveying device 5, a first baffle 6, a cutting device 7, and a clamping machine 8, and the carriage 2 is installed on the frame 1.

[0037] like Figure 1As shown, the carriage 2 is driven by the frame 1 to travel on the track. The width of the frame 1 is the same as the track gauge, which is convenient for the frame 1 to travel on the track. The same conveying devices 5 are provided at both ends of the vertical direction of the carriage 2 for conveying the rails into the carriage 2. The front and rear ends of the carriage 2 are respectively provided with a first baffle 6 and a cutting device 7, and two same cutting devices 7 are installed at the rear end of the carriage 2. Each cutting device 7 corresponds to a conveying device 5, and the rails entering the corresponding conveying device 5 are cut. The gripper 8 is installed at the rear part of the carriage 2 for gripping the rails to be recycled. The same pressure sensors 4 are provided at both ends of the first baffle 6 for detecting that the rails contact the first baffle 6 and transmit the collected information to the control box 3. The control box 3 is connected with the frame 1, the conveying device 5, the cutting device 7 and the gripper 8, and controls the operation of the frame 1, the conveying device 5, the cutting device 7 and the gripper 8. When the rail needs to be recycled, the staff will remove the fasteners beside the rail and cut the rail every 20 meters. The control box 3 controls the gripper 8 to clamp one end of the cut rail, pick up the rail and put it on the conveyor 5. The control box 3 controls the conveyor 5 to slide the rail toward the first baffle 6. When the pressure sensor 4 on the first baffle 6 is touched by the rail, the signal is transmitted to the control box 3, and the control box 3 controls the conveyor 5 to stop conveying. Then the cutting device 7 is controlled to cut off the rail that has grown out of the carriage 2, and then the conveyor 5 is controlled to flip inward to place the rail in the carriage 2. After the gripper 8 clamps the rail to the conveyor 5, it will continue to clamp the rail and push it forward until the rail is cut by the cutting device 7, and then release it to clamp the next section of the rail. After the gripper 8 completes the recycling of the rail on one side, it moves to the top of the other rail to recycle the rail.

[0038] like Figure 2 As shown, the frame 1 includes a gearbox 9, a wheelset 10, a servo motor 11, a crossbeam 12, and a bearing seat 13. Two sets of wheelsets 10 are used as wheels of the rail recovery vehicle. The gearbox 9 is connected to the axle of the front wheelset 10. Three identical crossbeams 12 are installed above the two sets of wheelsets 10. The crossbeams 12 and the axles of the wheelset 10 are connected by bearing seats 13. The servo motor 11 is installed on the middle crossbeam 12. The output shaft of the servo motor 11 is connected to the gearbox 9. The servo motor 11 drives the gearbox 9, and the gearbox 9 drives the axle of the wheelset 10, thereby driving the wheelset 10 to rotate. A total of four bearing seats 13 are arranged on the two sets of wheelsets 10, so that the crossbeam 12 does not affect the operation of the wheelset 10 when it is installed between the two sets of wheelsets 10. The rotation of the servo motor 11 is controlled by the control box 3, thereby achieving an automatic control effect.

[0039] like Figure 3As shown, the bearing seat 13 is provided with a first bearing 14, and the first bearing 4 is mounted on the axle of the wheelset 10, so that the crossbeam 12 is not damaged when the wheelset 10 rotates. The crossbeam 12 is fixed on the bearing seat 13, and the carriage 2 is mounted on the crossbeam 12, so that the frame 1 can drive the carriage 2 to run on the track.

[0040] like Figure 4 As shown, a generator 15 is installed in front of the carriage 2 to provide power for the control box 3, the pressure sensor 4, the conveying device 5, the cutting device 7, and the clamping machine 8. The carriage 2 is 10 meters long, and each section of rail can be cut twice and placed in the carriage 2.

[0041] like Figure 5 As shown, the conveying device 5 includes a second baffle 16, a first steel bar 17, a roller 18, a rotating shaft 19, a second bearing 20, a first bevel gear 21, a second bevel gear 22, a first stepping motor 23, a first telescopic motor 24, and a second steel bar 25. The second baffle 16 is installed above the second steel bar 25 to prevent the rail from falling outside the carriage 2. The roller 18 is arranged between the first steel bar 17 and the second steel bar 25. The first steel bar 17 is biased to the inner side of the carriage 2. The rotating shaft 19 is fixed between the second steel bar 25 and the second bearing 20. The rotating shaft 19 and the second bearing 20 are provided at both ends of the second steel bar 25. The two second bearings 20 are respectively fixed at the front and rear ends of the carriage 2. The first bevel gear 21 is installed on the roller 18 at the edge. The second bevel gear 22 is installed on the roller 18 at the edge. On the rotating shaft of the first stepper motor 23, the second bevel gear 22 is driven to rotate by the first stepper motor 23, and the second bevel gear 22 is driven by the first bevel gear 21, thereby driving the outermost roller 18 to rotate. The outermost roller 18 cooperates with the clamping machine 8 to transfer the rail to the conveying device 5. The telescopic rod of the first telescopic motor 24 is connected to the first steel bar 17. When the cutting device 7 cuts off the rail transmitted to the conveying device 5, the control box 3 controls the first telescopic motor 24 to retract the telescopic rod and pull the first steel bar 17 downward, so that the conveying device 5 tilts toward the inside of the carriage 2, and then allows the cut rail to slide into the carriage 2. The other rollers 18 between the first steel bar 17 and the second steel bar 25 are used to assist the outermost roller 18 to transport the rail to the conveying device 5.

[0042] like Figure 6As shown, the cutting device 7 includes a cutting machine 26, a rack 27, a chute 28, a spur gear 29, and a second stepper motor 30. Two identical cutting devices 7 are installed on the rear wall 39 of the carriage, and each cutting device 7 is installed corresponding to a transmission device, and is used to cut the rails received by the two transmission devices 5, wherein: the chute 28 and the second stepper motor 30 are installed on the rear wall 39 of the carriage, the cutting machine 26 is installed on the upper part of the rack 27, the rack 27 is embedded in the chute 28, and the spur gear 29 is installed on the output shaft of the second stepper motor 30, which is controlled by the control box 3 The second stepper motor 30 is controlled to drive the spur gear 29 to rotate. The spur gear 29 is driven by the rack 27, and the rack 27 drives the cutter 26 to rotate to achieve cutting of the rail. When the clamping machine 8 clamps the rail and places it on the conveying device 5, the second stepper motor 30 drives the rack 27 to move downward and moves the cutter 26 to the bottom of the conveying device 5 to prevent the cutter 26 from being damaged during the movement of the rail on the conveying device 5. When the conveying device 5 stops conveying the rail, the second stepper motor 30 drives the rack 27 to move upward, so that the cutter 26 cuts the rail.

[0043] like Figure 7 As shown, two grooves are provided at the place where the cutting device 7 is installed on the rear wall 39 of the carriage, so that the rack 27 can drive the cutting machine 26 to move up and down on the rear wall 39 of the carriage.

[0044] like Figure 8 As shown, the rack 27 is embedded in the slide groove 28, and lubricating oil is added to the slide groove 28, so that the second stepping motor 30 drives the rack 27 to move, so that the cutting machine 26 moves along with the rack 27.

[0045] like Fig. 9As shown, the gripper 8 includes a second telescopic motor 31, a slide rail 32, a third telescopic motor 33, a third stepping motor 34, an electric mechanical claw 35, a high-definition camera 36, ​​and a moving frame 37. The third stepping motor 34 is installed in the carriage 2, the third telescopic motor 33 is installed on the output shaft of the third stepping motor 34, the slide rail 32 is installed on the telescopic rod of the third telescopic motor 33, the second telescopic motor 31 and the moving frame 37 are installed on the slide rail 32, and the telescopic rod of the second telescopic motor 31 is connected to the moving frame 37, the electric mechanical claw 35 is installed directly below the moving frame 37, the high-definition camera 36 is installed below the moving frame 37, and is used to assist the electric mechanical claw 35 in grasping the rail, and the control box 3 is connected to the first telescopic motor 31. The second telescopic motor 31, the third telescopic motor 33, the third stepping motor 34, the electric mechanical claw 35, and the high-definition camera 36 are connected. After the control box 3 controls the third stepping motor 34 to rotate left or right, the electric mechanical claw 35 can be just above the rail. When the control box 3 controls the third telescopic motor 33 to contract, the electric mechanical claw 35 can just be stuck on the rail. When the control box 3 controls the third telescopic motor 33 to extend, the rail can just be lifted to the horizontal position of the roller 18. The control box 3 controls the second telescopic motor 31 to push or pull the moving frame 37 to move on the slide rail 32. The control box 3 controls the electric mechanical claw 35 to grab the rail and accurately grab the rail with the assistance of the high-definition camera 36.

[0046] The recycling scheme for the rail is as follows: when it is necessary to grab the rail, the control box 3 controls the electric mechanical claw 35 to open, the control box 3 controls the third stepper motor 34 to move the slide rail 32 to the top of the rail, and the electric mechanical claw 35 moves to the top of the rail along with the slide rail 32. Since the gauge between the two rails is basically unchanged, the third stepper motor 34 can more accurately move the electric mechanical claw 35 to the top of the rail to be grabbed, the control box 3 controls the third telescopic motor 33 to retract the telescopic rod, and move the electric mechanical claw 35 to the top of the rail. The high-definition camera 36 continuously collects the position of the rail and records the collected information. The image information is transmitted to the control box 3. After the control box 3 performs image recognition, the position of the electric mechanical claw 35 is continuously adjusted so that the electric mechanical claw 35 can be on the rail. The control box 3 then controls the electric mechanical claw 35 to grasp the rail. The control box 3 controls the second telescopic motor 31 to retract the telescopic rod, driving the mobile frame 37 to move toward the carriage 2. The position of the conveying device 5 is then captured by the high-definition camera 36. The control box 3 adjusts the rotation of the third stepping motor 34 so that the rail grabbed by the electric mechanical claw 35 is above the roller 18. The third telescopic motor 33 is then controlled to retract the telescopic rod to place one end of the rail on the roller 18. The first stepper motor 23 drives the roller 18, and then the control box 3 controls the motor mechanical claw to loosen the rail, but does not completely loosen the rail, so that the rail is transmitted to the conveying device 5 along with the roller 18. The control box 3 controls the first stepper motor 23 to rotate, driving the outermost roller 18 to rotate, and assisting the electric mechanical claw 35 to move the rail to the conveying device 5. When the pressure sensor 4 detects that the rail has reached the first baffle 6, the control box 3 controls the first stepper motor 23 to stop working, and then controls the second stepper motor 30 to raise the cutter 26, so that the cutter 26 cuts off the rail that has grown out of the carriage 2, and controls The control box 3 controls the cutting machine 26 to close, and then controls the first telescopic motor 24 to contract, so that the conveying device 5 tilts toward the inside of the carriage 2, and slides the rail into the carriage 2. Then the control box 3 controls the second stepper motor 30 to rotate in the opposite direction, and retracts the cutting machine 26. The electric mechanical claw 35 moves the remaining rails to the conveying device 5 again with the assistance of the high-definition camera 36, ​​and places the remaining rails into the carriage 2 under the transportation of the conveying device 5, that is, the recovery of one of the rails is completed. Then the control box 3 controls the third stepper motor 34 to move the electric mechanical claw 35 to the top of another rail, and recover the other rail. The recovery process is the same as the previous rail.

[0047] like Fig.10 As shown, a ball 38 is provided between the slide rail 32 and the moving frame 37 , and the ball 38 can make the second telescopic motor 31 drive the moving frame 37 to move on the slide rail 32 more smoothly.

[0048] like Fig.11As shown, the control box 3 includes a metal aluminum box 40, a voltage reduction and stabilizing module 41, a PLC controller 42, and an FPGA control board 43. The pressure sensor 4 and the camera are connected to the FPGA control board 43. The PLC controller 42 is connected to the FPGA control board 43, the servo motor 11, the first stepper motor 23, the first telescopic motor 24, the second stepper motor 30, the cutting machine 26, the second telescopic motor 31, the third telescopic motor 33, the third stepper motor 34, and the electric mechanical claw 35. The voltage reduction and stabilizing module 41 reduces and stabilizes the power output by the generator 15, and provides power to the PLC controller 42, the FPGA control board 43, the servo motor 11, the first stepper motor 23, the first telescopic motor 24, the second stepper motor 30, the cutting machine 26, the second telescopic motor 31, the third telescopic motor 33, the third stepper motor 34, and the electric mechanical claw 35. The machine 24, the second stepper motor 30, the cutting machine 26, the second telescopic motor 31, the third telescopic motor 33, the third stepper motor 34, and the electric mechanical claw 35 provide power, the pressure sensor 4 and the camera transmit the collected pressure information and image information to the FPGA control board 43 for processing, the FPGA control board 43 sends the processed result to the PLC controller 42, and the PLC controller 42 controls the servo motor 11, the first stepper motor 23, the first telescopic motor 24, the second stepper motor 30, the cutting machine 26, the second telescopic motor 31, the third telescopic motor 33, the third stepper motor 34, and the electric mechanical claw 35 to make corresponding actions, thereby realizing the recovery of the rail.

[0049] The FPGA control board 43 performs grayscale processing on the image information collected by the high-definition camera 36 in turn, converts the collected image into a grayscale image, removes discrete noise points, filters out the noise of the image through the median filtering method, obtains a binary image through threshold segmentation, then performs edge detection processing on the binary image, and finally extracts image features. Since the abandoned rails are rusted, the surface color has changed, so the color of the rails can be used as an image feature to identify the rails.

[0050] The frame 1 can be manually pushed by the carriage 2, so that the frame 1 drives the carriage 2 to run on the rails. When it is necessary to stop, the frame 1 can be stopped by placing stones on the contact edge of the wheelset 10 with the rails. It is also possible to send instructions to the PLC controller 42 through the keyboard, so that the PLC controller 42 controls the servo motor 11 to drive the frame 1 to move.

[0051] The working principle and working process of the present invention are as follows:

[0052] like Fig.12As shown, the PLC controller 42 controls the electric mechanical claw 35 to open, the PLC controller 42 controls the third stepper motor 34 to move the slide rail 32 to the top of the rail, the electric mechanical claw 35 moves to the top of the rail along with the slide rail 32, the PLC controller 42 controls the third telescopic motor 33 to retract the telescopic rod, and moves the electric mechanical claw 35 to the top of the rail, the high-definition camera 36 continuously collects the position of the rail, and transmits the collected image information to the FPGA control board 43, after the FPGA control board 43 performs image recognition, the recognition result is transmitted to the PLC controller 42, and the PLC controller 42 continuously adjusts the motor according to the image recognition result. The position of the mechanical claw 35 is controlled so that the electric mechanical claw 35 can be on the rail. The PLC controller 42 controls the electric mechanical claw 35 to grasp the rail. The PLC controller 42 controls the second telescopic motor 31 to retract the telescopic rod, driving the mobile frame 37 to move toward the carriage 2. The high-definition camera 36 is used to collect the position of the conveying device 5. The PLC controller 42 adjusts the rotation of the third stepping motor 34 so that the rail grasped by the electric mechanical claw 35 is above the roller 18. The third telescopic motor 33 is controlled to retract the telescopic rod to place one end of the rail on the roller 18 that can be driven by the first stepping motor 23. Then the PLC controller 42 controls the electric mechanical claw to release the steel rail. The steel rail is moved without completely loosening the steel rail, so that the steel rail is transmitted to the conveying device 5 along with the roller 18. The PLC controller 42 controls the first stepper motor 23 to rotate, driving the outermost roller 18 to rotate, and assisting the electric mechanical claw 35 to move the steel rail to the conveying device 5. When the pressure sensor 4 detects that the steel rail has reached the first baffle 6, the collected information is transmitted to the FPGA control board 43 for processing, and the processed result is sent to the PLC controller 42. The PLC controller 42 controls the first stepper motor 23 to stop working, and then controls the second stepper motor 30 to raise the cutter 26, so that the cutter 26 cuts the steel rail that has grown out of the carriage 2. The PLC controller 42 controls the cutting machine 26 to be closed, and then controls the first telescopic motor 24 to contract, so that the conveying device 5 tilts toward the inside of the carriage 2 and slides the rail into the carriage 2. Then the PLC controller 42 controls the second stepper motor 30 to rotate in the opposite direction to retract the cutting machine 26. The electric mechanical claw 35, with the assistance of the high-definition camera 36, ​​moves the remaining rails onto the conveying device 5 again, and places the remaining rails into the carriage 2 under the transportation of the conveying device 5, thus completing the recovery of one of the rails. Then the PLC controller 42 controls the third stepper motor 34 to move the electric mechanical claw 35 to the top of the other rail to recover the other rail.

Claims

1. A railway rail recovery vehicle, characterized in that: The invention comprises a frame, a carriage, a control box, a pressure sensor, a conveying device, a first baffle, a cutting device and a clamping machine. The carriage is installed on the frame, and the carriage is driven by the frame to travel on the track. The two ends of the carriage parallel to the direction of the rail are provided with the same conveying device for conveying the rail to the carriage. The front and rear ends of the carriage are respectively provided with a first baffle and a cutting device, and two identical cutting devices are installed at the rear end of the carriage. The clamping machine is installed at the rear part of the carriage for clamping the rail to be recycled. Both ends of the first baffle are provided with the same pressure sensor for detecting that the rail contacts the first baffle and The collected information is transmitted to the control box, which controls the work of the frame, conveyor, cutting device, and gripper. When the rail needs to be recycled, the control box controls the gripper to clamp one end of the cut rail, pick up the rail and put it on the conveyor. The control box controls the conveyor to slide the rail toward the first baffle. When the pressure sensor on the first baffle is touched by the rail, the signal is transmitted to the control box, which controls the conveyor to stop conveying, and then controls the cutting device to cut off the rail that has grown out of the carriage, and then controls the conveyor to flip inward, so that the rail can be placed in the carriage. After the gripper clamps the rail onto the conveyor, it will continue to clamp the rail and push it forward until the rail is cut by the cutting device, then release it and clamp the next section of rail. After the gripper completes the recovery of the rail on one side, it will move to the other rail to recover the rail. The conveying device comprises a second baffle, a first steel bar, a roller, a rotating shaft, a second bearing, a first bevel gear, a second bevel gear, a first stepper motor, a first telescopic motor, and a second steel bar. The second baffle is installed above the second steel bar to prevent the rail from falling outside the carriage. The roller is arranged between the first steel bar and the second steel bar, the first steel bar is biased to the inner side of the carriage, the rotating shaft is fixed between the second steel bar and the second bearing, both ends of the second steel bar are provided with a rotating shaft and a second bearing, and the two second bearings are respectively fixed at the front and rear ends of the carriage. The first bevel gear is installed on the roller at the edge, and the second bevel gear is installed on the rotating shaft of the first stepper motor. The second bevel gear is driven to rotate by the first stepper motor, and the second bevel gear drives the first bevel gear to transmit, thereby driving the roller at the edge to rotate. The telescopic rod of the first telescopic motor is connected to the first steel bar. When the cutting device cuts off the rail transmitted to the conveying device, the control box controls the first telescopic motor to retract the telescopic rod to pull the first steel bar downward, so that the conveying device tilts toward the inner side of the carriage, thereby allowing the cut rail to slide into the carriage. The cutting device includes a cutting machine, a rack, a chute, a spur gear, and a second stepper motor. Two identical cutting devices are installed on the rear wall of the carriage, and each cutting device is installed corresponding to a transmission device, and is respectively used to cut the rails received by the two transmission devices. The chute and the second stepper motor are installed on the rear wall of the carriage, and the cutting machine is installed on the upper part of the rack, the rack is embedded in the chute, and the spur gear is installed on the output shaft of the second stepper motor. The control box controls the second stepper motor to drive the spur gear to rotate, the spur gear drives the rack to transmit, and then the rack drives the cutting machine to move, so as to realize the cutting of the rails; The gripping machine includes a second telescopic motor, a slide rail, a third telescopic motor, a third stepping motor, an electric mechanical claw, a high-definition camera, and a moving frame. The third stepping motor is installed in the carriage, the third telescopic motor is installed on the output shaft of the third stepping motor, the slide rail is installed on the telescopic rod of the third telescopic motor, the second telescopic motor and the moving frame are installed on the slide rail, and the telescopic rod of the second telescopic motor is connected to the moving frame, the electric mechanical claw is installed directly below the moving frame, the high-definition camera is installed below the moving frame to assist the electric mechanical claw in grasping the rail, and the control box is connected to the second telescopic motor and the third stepping motor. Three telescopic motors, a third stepper motor, an electric mechanical claw, and a high-definition camera are connected. After the control box controls the third stepper motor to rotate left or right, the electric mechanical claw can be just above the rail. When the control box controls the third telescopic motor to contract, the electric mechanical claw can just be stuck on the rail. When the control box controls the third telescopic motor to extend, the rail can just be lifted to the horizontal position of the roller. The control box controls the second telescopic motor to push or pull the moving frame to move on the slide rail. The control box controls the electric mechanical claw to grab the rail and accurately grab the rail with the assistance of the high-definition camera.

2. The rail recycling vehicle according to claim 1, characterized in that: The frame includes a gearbox, a wheelset, a servo motor, a crossbeam, and a bearing seat. Two sets of wheelsets are used as wheels of the rail recovery vehicle. The gearbox is connected to the axle of the front wheelset. Three identical crossbeams are installed above the two wheelsets. The crossbeams and the axles of the wheelsets are connected by bearing seats. The servo motor is installed on the middle crossbeam. The output shaft of the servo motor is connected to the gearbox. The servo motor drives the gearbox to transmit, and the gearbox drives the axle of the wheelset to transmit, thereby driving the wheelset to rotate.

3. The rail recycling vehicle according to claim 1, characterized in that: Two grooves are arranged at the place where the cutting device is installed on the rear wall of the carriage, so that the rack drives the cutting machine to move up and down on the rear wall of the carriage.

4. The rail recycling vehicle according to claim 1, characterized in that: The recycling scheme of the rail is as follows: when it is necessary to grab the rail, the control box controls the electric mechanical claw to open, the control box controls the third stepper motor to move the slide rail to above the rail, the electric mechanical claw moves to above the rail with the slide rail, the control box controls the third telescopic motor to retract the telescopic rod, and moves the electric mechanical claw above the rail, the high-definition camera continuously collects the position of the rail, and transmits the collected image information to the control box, and the control box continuously adjusts the position of the electric mechanical claw after image recognition so that the electric mechanical claw can be on the rail, and the control box controls the electric mechanical claw to grasp the rail, the control box controls the second telescopic motor to retract the telescopic rod, drives the mobile frame to move toward the carriage, and then collects the position of the conveying device through the high-definition camera, adjusts the third stepper motor to rotate through the control box, so that the rail grabbed by the electric mechanical claw is above the roller, and then controls the third telescopic motor to retract the telescopic rod, and puts one end of the rail on the roller that can be driven by the first stepper motor, and then the control box controls the electric motor The mechanical claw loosens the rail, but does not completely loosen the rail, so that the rail is transmitted to the conveying device along with the roller. The control box controls the first stepper motor to rotate, driving the outermost roller to rotate, and assisting the electric mechanical claw to move the rail to the conveying device. When the pressure sensor detects that the rail has reached the first baffle, the control box controls the first stepper motor to stop working, and then controls the second stepper motor to raise the cutter, so that the cutter cuts off the rail that grows out of the car. The control box controls the cutter to close, and then controls the first telescopic motor to contract, so that the conveying device tilts toward the inside of the car, and slides the rail into the car. Then the control box controls the second stepper motor to rotate in the opposite direction, and retracts the cutter. With the assistance of the high-definition camera, the electric mechanical claw moves the remaining rail to the conveying device again, and places the remaining rail in the car under the transportation of the conveying device, that is, completes the recovery of one of the rails. Then the control box controls the third stepper motor to move the electric mechanical claw above another rail to recover the other rail.

5. The rail recycling vehicle according to claim 4, characterized in that: The control box includes a metal aluminum box, a step-down and voltage stabilizing module, a PLC controller, and an FPGA control board. The pressure sensor and the camera are connected to the FPGA control board. The PLC controller is connected to the FPGA control board, the servo motor, the first stepper motor, the first telescopic motor, the second stepper motor, the cutting machine, the second telescopic motor, the third telescopic motor, the third stepper motor, and the electric mechanical claw. The step-down and voltage stabilizing module steps down and stabilizes the power output by the generator, and provides power for the PLC controller, the FPGA control board, the servo motor, the first stepper motor, the first telescopic motor, the second stepper motor, the cutting machine, the second telescopic motor, the third telescopic motor, the third stepper motor, and the electric mechanical claw. The pressure sensor and the camera transmit the collected pressure information and image information to the FPGA control board for processing. The FPGA control board sends the processed results to the PLC controller, and the PLC controller controls the servo motor, the first stepper motor, the first telescopic motor, the second stepper motor, the cutting machine, the second telescopic motor, the third telescopic motor, the third stepper motor, and the electric mechanical claw to perform corresponding actions, thereby realizing the recovery of the rails.

6. The rail recycling vehicle according to claim 5, characterized in that: The FPGA control board performs grayscale processing on the image information collected by the high-definition camera in sequence, converts the collected image into a grayscale image, removes discrete noise points, filters out the noise of the image through a median filter, obtains a binary image through threshold segmentation, then performs edge detection processing on the binary image, and finally extracts image features, and identifies the rails by using the color of the rails as image features.

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