An automated railway fastener bulk material vehicle

Abstract

The present invention discloses an automated railway fastener bulk material vehicle, comprising: a material vehicle and a work vehicle for pulling the material vehicle, the material vehicle comprising a silo system for storing material boxes, the work vehicle comprising a loading device, a material taking device, an assembly device, an image recognition device, a scattering device and a control system, and also comprising a conveying system for transporting the material boxes in the silo system to the loading device and removing the material boxes on the loading device; the control system signal is connected to the conveying system, the loading device, the material taking device, the assembly device, the scattering device and the image recognition device. Intelligent and efficient fastener bulk material can be realized, after changing the track and the sleeper, the fasteners are assembled as a set according to the needs and placed on the sleeper side or installed on the inner side of the spike according to the needs, saving labor and reducing safety risks.

Description

Technical Field

[0001] The present invention relates to the technical field of track engineering, and more particularly to an automated railway fastener bulk material vehicle. Background Art

[0002] When the railway line is overhauled, fasteners need to be replaced. At present, domestic railway fastener replacement is carried out manually. That is, the fasteners are first classified and bagged manually, and the new fasteners are transported to the operation point by rail or road before construction. The bagged fastener accessories are dropped on the line, and then the bagged accessories are scattered on both sides of the rails. The accessories are sorted and installed at the spike position, and finally the track gauge is adjusted and the fasteners are tightened. This operation method basically relies entirely on manual work, so there are the following problems: 1. Large labor demand; 2. Uneven bulk materials are prone to shortages; 3. The quality of block model identification is low; 4. There are many people on site and the safety risk is high.

[0003] Therefore, how to realize the automation of bulk material of railway fasteners is a problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide an automated railway fastener bulk train to achieve intelligent and efficient fastener bulking. After changing tracks and sleepers, the fasteners are assembled as a set and placed on the sleeper side or installed on the inside of the spikes as needed, saving labor and reducing safety risks.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] An automated railway fastener bulk material vehicle, comprising: a material vehicle and a work vehicle towing the material vehicle, the material vehicle comprising a silo system for storing material boxes, the work vehicle comprising a loading device, a material taking device, an assembly device, an image recognition device, a dispensing device and a control system, and also comprising a conveying system for transporting the material boxes in the silo system to the loading device and removing the material boxes on the loading device;

[0007] The feeding device is used to deliver the fasteners in the material box at a preset rhythm, and the picking device is used to pick up the fasteners delivered by the feeding device at a preset rhythm and put them into the assembly device in a preset order; the assembly device is used to receive and fix each fastener in the stacking order when the picking device puts them in, and the assembly device is also used to deliver the assembled fasteners to the scattering device;

[0008] The scattering device is used to obtain and fix the fasteners in the assembly device, the image recognition device is used to obtain the position information of the sleepers and the spikes, and the scattering device is also used to install the fasteners therein on both sides of the sleepers or insert them into the inner side of the spikes according to the position information; the control system signal is connected to the conveying system, the loading device, the picking device, the assembly device, the scattering device and the image recognition device.

[0009] Preferably, a feeding device is also provided at the rear of the material vehicle, and the feeding device is used to hoist the material box into the silo system.

[0010] Preferably, the feeding device comprises a cantilever crane for lifting the material box and transporting the material box to the silo system.

[0011] Preferably, the silo system includes a bottom conveying device disposed at the bottom of the material vehicle and used to receive the material box on the cantilever crane to convey the material box into the material vehicle.

[0012] Preferably, the conveying system includes a top track arranged on the top of the work vehicle and the material vehicle, a material replenishment hoisting robot and an empty box hoisting robot arranged on the top track, and a driving device for driving the material replenishment hoisting robot and the empty box hoisting robot to move along the top track according to a preset trajectory. The material replenishment hoisting robot is used to lift the material box in the silo system to the loading device, and the empty box hoisting robot is used to lift the used material box on the loading device to the work vehicle for storage.

[0013] Preferably, the work vehicle includes a car body, a power bogie arranged in front of the car body, and a non-power bogie arranged behind the car body. A driver's cab is also arranged in front of the car body, and the control system includes an electrical system and a hydraulic system arranged on the rear side of the driver's cab.

[0014] Preferably, the feeding device comprises a nut feeding station, a washer feeding station, a spring bar feeding station, a pad feeding station, and a block feeding station;

[0015] The nut loading station, the washer loading station, the spring bar loading station, the pad loading station and the block loading station all include: a dropping device that controls the falling of fasteners in the material box according to a preset rhythm, and a feeding device for transporting the falling fasteners to the picking device.

[0016] Preferably, the material picking device includes: a washer guide rod for guiding the washers dropped from the washer loading station to the assembly device by gravity, and a nut guide rod for guiding the nuts dropped from the nut loading station to the assembly device by gravity; a first manipulator for clamping the spring bars dropped from the spring bar loading station and placing them into the assembly device according to a preset rhythm; a second manipulator for clamping the pads dropped from the pad loading station and placing them into the assembly device according to a preset rhythm; and a third manipulator for clamping the blocks dropped from the block loading station and placing them into the assembly device according to a preset rhythm.

[0017] Preferably, the assembly device comprises a circular track, a transfer chain cyclically moving along the circular track, and a plurality of assembly jig boxes equidistantly distributed on the transfer chain according to the sleeper spacing; the assembly jig box comprises an assembly groove, a first electromagnetic device for adsorbing and fixing each fastener in the assembly groove, and a first switch for controlling the first electromagnetic device to be powered on or off;

[0018] When the assembly jig box moves to the loading position below the loading device, the transfer chain moves step by step according to a preset beat, and the control system controls the first switch to open, and the picking device installs each fastener in each assembly slot in a preset order according to the preset beat;

[0019] When the assembly jig box moves to above the material transfer position of the scattering device, the transfer chain stays for a first preset time so as to deliver the fasteners in the assembly jig box into the scattering device.

[0020] Preferably, the scattering device includes a rotating cylinder, a rotating drive device for driving the rotating cylinder to rotate along the axis, and the rotating cylinder is provided with a plurality of scattering jig boxes that cooperate with the assembly jig box along its length direction; the scattering jig box includes a scattering groove that cooperates with the assembly groove to receive each fastener, a second electromagnetic device for adsorbing and fixing each fastener in the scattering groove, and a second switch for controlling the second electromagnetic device to be powered on or off;

[0021] The scattering device further includes a lifting drive device for driving the rotating cylinder to move along the height direction of the working vehicle, and a longitudinal drive device for driving the lifting drive device to move along the length direction of the working vehicle;

[0022] When the scattering jig box rotates to the material transfer position above the rotating cylinder, the rotating cylinder stops rotating for a second preset time, and the lifting drive device drives the rotating cylinder to move upward, so that the scattering groove is close to the assembly groove, and the control system controls the second switch to open and controls the first switch to close, so that the fastener in the assembly groove is adsorbed and fixed in the scattering groove;

[0023] When the scattering jig box rotates to the scattering position under the rotating cylinder, the rotating cylinder stops rotating for a third preset time, and the control system controls the longitudinal drive device and the lifting drive device to operate according to the position information of the sleeper or spike detected by the image recognition device, so as to install the fasteners on the scattering jig box on both sides of the sleeper or insert them into the inner side of the spike, and then controls the second switch to be closed to allow the fasteners in the scattering groove to be separated from the assembly jig box.

[0024] The automated railway fastener bulk material vehicle provided by the present invention has a method of placing a material box containing railway fasteners into a silo system of the material vehicle in advance before operation. During operation, the operating vehicle pulls the material vehicle forward evenly along the rails. Under the control of the control system, the conveying system continuously delivers the material box in the silo system into the loading device, and the loading device continuously delivers various fasteners in the material box at a preset rhythm. At the same time, the material taking device obtains the various fasteners delivered by the loading device, and places the various fasteners into the assembly device at a preset rhythm and in a certain order, thereby realizing the automatic assembly of various fasteners in the operating vehicle as a set.

[0025] The assembly device fixes the set of fasteners and sends the set of fasteners to the scattering device. The scattering device obtains the set of fasteners in the assembly device and fixes the set of fasteners. The image recognition device detects the position information of the sleepers and the spikes. The control system controls the action of the scattering device according to the position information of the spikes of the sleepers to install the set of fasteners on the scattering device on both sides of the sleepers or insert them into the inside of the spikes, thereby realizing the automatic set arrangement of railway fasteners. Compared with the traditional manual scattering of fasteners, the present invention has the advantages of high operating efficiency, can save a lot of labor resources, and significantly reduce the safety risks of railway operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0027] Figure 1 A schematic diagram of a specific embodiment of the automated railway fastener bulk material vehicle provided by the present invention;

[0028] Figure 2 is a schematic diagram of the working vehicle;

[0029] Figure 3 This is a schematic diagram of a material vehicle;

[0030] Figure 4 It is a partial schematic diagram of the working vehicle at the loading device;

[0031] Figure 5 is a schematic diagram of a material box;

[0032] Figure 6 It is a front view schematic diagram of the coordination between the material box and the material dropping device;

[0033] Figure 7 It is a side view schematic diagram of the coordination between the material box and the material dropping device;

[0034] Figure 8 A schematic diagram of a first state of cooperation between an assembly device and a bulk fixture;

[0035] Fig. 9 is a schematic diagram of a second state in which the assembly device cooperates with the bulk fixture;

[0036] Fig.10 A schematic diagram of a third state of cooperation between the assembly device and the bulk fixture;

[0037] Fig.11 is a schematic diagram of an assembly jig box with fasteners installed;

[0038] Fig.12 A schematic diagram of a loose fixture box containing fasteners;

[0039] Fig.13 A schematic diagram of the assembly jig box being inserted into the loose jig box;

[0040] Fig.14 A schematic diagram of the stacking order of a set of fasteners in an assembly jig box;

[0041] Fig.15 Schematic diagram of a set of fasteners installed on a road spike.

[0042] in:

[0043] 1-operation vehicle, 2-material vehicle, 3-material box, 4-elastic bar, 5-washer, 6-nut, 7-shim plate, 8-stopper, 9-sleeper, 10-spike;

[0044] 11-feeding device, 12-retrieving device, 13-assembling device, 14-image recognition device, 15-scattering device, 16-conveying system;

[0045] 21- silo system, 211- bottom conveying device, 212- box fixing device, 22- feeding device; 221- cantilever crane;

[0046] 31-box, 32-lifting fulcrum, 33-partition, 34-guide column, 35-automatic opening and closing mechanism;

[0047] 101-driver's cab, 102-control system, 1021-electrical system, 1022-hydraulic system, 103-powered bogie, 104-non-powered bogie;

[0048] 111- nut loading station, 112- washer loading station, 113- spring bar loading station, 114- pad loading station, 115- block loading station, 116- blanking device, 117- feeding device, 118- bracket;

[0049] 1161-feeding port, 1162-guide plate, 1163-first detection head, 1164-upper material guiding device, 1165-lower material guiding device, 1166-second detection head;

[0050] 1171-slide table, 1172-push block, 1173-electric push rod, 1174-conveyor belt, 1175-material taking position;

[0051] 1201-slide rail, 1202-fastener installation manipulator;

[0052] 131-assembly jig box, 1311-side arc groove, 1312-low seat, 1313-low groove, 1314-side low groove, 132-transfer chain, 133-annular track, 134-loading area;

[0053] 151-scattering fixture box, 1511-tooth groove, 1512-middle arc groove, 1513-bottom arc groove, 152-rotating cylinder, 154-longitudinal driving device, 155-lifting driving device, 156-rotating driving device;

[0054] 161-top track, 1601-first longitudinal track, 1602-empty box lifting robot, 1603-replenishment lifting robot, 1604-second longitudinal track. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] The core of the present invention is to provide an automated railway fastener bulk material train to achieve intelligent and efficient fastener bulk material. After changing tracks and sleepers, the fasteners are assembled as a set and placed on the sleeper side or installed on the inside of the spikes as needed, saving labor and reducing safety risks.

[0057] Please refer to Figures 1 to 15 , Figure 1 A schematic diagram of a specific embodiment of the automated railway fastener bulk material vehicle provided by the present invention; Figure 2 is a schematic diagram of the working vehicle; Figure 3 This is a schematic diagram of a material vehicle; Figure 4 It is a partial schematic diagram of the working vehicle at the loading device; Figure 5 is a schematic diagram of a material box; Figure 6 It is a front view schematic diagram of the material box and the material dropping device; Figure 7 It is a side view schematic diagram of a material box and a material dropping device; Figure 8 A schematic diagram of a first state of cooperation between an assembly device and a bulk fixture; Fig. 9 is a schematic diagram of a second state in which the assembly device cooperates with the bulk fixture; Fig.10 A schematic diagram of a third state of cooperation between the assembly device and the bulk fixture; Fig.11 is a schematic diagram of an assembly jig box with fasteners installed; Fig.12 A schematic diagram of a loose fixture box containing fasteners; Fig.13 A schematic diagram of the assembly jig box being inserted into the loose jig box; Fig.14 A schematic diagram of the stacking order of a set of fasteners; Fig.15 Schematic diagram of a set of fasteners installed on a road spike.

[0058] The automated railway fastener bulk material vehicle provided by the present invention comprises: a material vehicle 2 and an operating vehicle 1 for towing the material vehicle 2, wherein the material vehicle 2 comprises a silo system 21 for storing material boxes 3, the operating vehicle 1 comprises a loading device 11, a material picking device 12, an assembly device 13, an image recognition device 14, a scattering device 15 and a control system 102, and also comprises a conveying system 16 for transporting the material boxes 3 in the silo system 21 to the loading device 11, and removing the material boxes 3 on the loading device 11.

[0059] The feeding device 11 is used to deliver the fasteners in the material box 3 at a preset rhythm, and the picking device 12 is used to pick up the fasteners delivered by the feeding device 11 at a preset rhythm and put them into the assembly device 13 in a preset order; the assembly device 13 is used to receive and fix each fastener in the stacking order when the picking device 12 puts them in, and the assembly device 13 is also used to deliver the assembled fasteners to the scattering device 15.

[0060] The scattering device 15 is used to obtain and fix the fasteners in the assembly device 13, and the image recognition device 14 is used to obtain the position information of the sleeper 9 and the spike 10. The scattering device 15 is also used to install the fasteners therein on both sides of the sleeper 9 or insert them into the inner side of the spike 10 according to the position information; the control system 102 is connected to the conveying system 16, the loading device 11, the picking device 12, the assembly device 13, the scattering device 15 and the image recognition device 14 by signal.

[0061] The working vehicle 1 is a power vehicle, which provides the whole vehicle operation and travel, and performs the assembly of the fasteners and places them on both sides of the sleeper 9 or installs them on the spikes 10 according to the assembly rhythm. The function of the working vehicle 1 is to assemble the unassembled fasteners, and install the assembled fasteners on both sides of the sleeper 9 or insert them into the inside of the spikes 10.

[0062] The material car 2 is a non-powered car. The main function of the material car 2 is to provide the working car 1 with a material box 3 storing railway fasteners, and to continuously deliver the material box 3 in the material car 2 to the working car 1 through the conveying system 16. Specifically, one material box 3 can store one type of fastener. Before the operation, the material box 3 is placed in the silo system 21 of the material car 2 in advance, so that the material box 3 can be delivered to the working car 1 during the operation.

[0063] During operation, under the control of the control system 102, the conveying system 16 delivers the material box 3 of the silo system 21 of the material vehicle 2 into the loading device 11, and the loading device 11 continuously delivers the fasteners in the material box 3 according to the operating rhythm of the working vehicle 1 and at a rhythm that matches the operating rhythm. At the same time, the picking device 12 obtains the fasteners delivered by the loading device 11 according to the operating rhythm of the working vehicle 1, and puts the obtained fasteners into the assembly device 13 in a preset order according to a rhythm that matches the operating rhythm, so as to realize automatic assembly of each fastener.

[0064] The assembly device 13 fixes the fasteners put in by the picking device 12 in a certain order, and sends the complete set of fasteners to the scattering device 15. The scattering device 15 obtains the complete set of fasteners in the assembly device 13 and fixes the complete set of fasteners. The image recognition device 14 detects the position information of the sleepers 9 and the spikes 10. The control system 102 controls the scattering device 15 to operate according to the position information of the spikes 10 of the sleepers 9, so as to install the complete set of fasteners on the scattering device 15 on both sides of the sleepers 9 or insert them into the inner side of the spikes 10, so as to realize the automatic scattering of railway fasteners.

[0065] The automated railway fastener bulk material vehicle provided by the present invention places the material box 3 containing railway fasteners into the silo system 21 of the material vehicle 2 in advance before operation. During operation, the operating vehicle 1 pulls the material vehicle 2 forward evenly along the rails. Under the control of the control system 102, the conveying system 16 continuously feeds the material box 3 in the silo system 21 into the loading device 11. The loading device 11 continuously delivers various fasteners in the material box 3 according to a preset rhythm. At the same time, the material taking device 12 obtains the various fasteners delivered by the loading device 11, and places the various fasteners into the assembly device 13 according to the preset rhythm and in a certain order, thereby realizing the automatic assembly of various fasteners in the operating vehicle 1.

[0066] The assembly device 13 fixes the set of fasteners and sends the set of fasteners to the scattering device 15. The scattering device 15 obtains the set of fasteners in the assembly device 13 and fixes the set of fasteners. The image recognition device 14 detects the position information of the sleepers 9 and the spikes 10. The control system 102 controls the scattering device 15 to operate according to the position information of the spikes 10 of the sleepers 9, so as to install the set of fasteners on the scattering device 15 on both sides of the sleepers 9 or insert them into the inner side of the spikes 10, thereby realizing the automatic set arrangement of railway fasteners. Compared with the traditional manual scattering of fasteners, the present invention has the advantages of high operating efficiency, can save a lot of labor resources, and significantly reduce the safety risks of railway operations.

[0067] On the basis of the above embodiment, in order to facilitate loading the material box 3 into the material vehicle system of the material vehicle 2 before operation, as a preferred embodiment, a feeding device 22 is further provided at the rear of the material vehicle 2, and the feeding device 22 is used to hoist the material box 3 into the silo system 21. Specifically, the feeding device 22 includes a cantilever crane 221 for hoisting the material box 3 and hoisting the material box 3 into the silo system 21. In order to hoist the material box 3 into the material vehicle 2 by operating the cantilever crane 221, the convenience of loading is improved.

[0068] On the basis of the above-mentioned embodiment, as a preference, the silo system 21 includes a bottom conveying device 211 disposed at the bottom of the material vehicle 2 and used to receive the material box 3 on the cantilever crane 221 to convey the material box 3 into the material vehicle 2 .

[0069] In this embodiment, considering that the material boxes 3 hoisted into the material vehicle 2 by the cantilever crane 221 need to be further transported into the silo system 21 to store enough material boxes 3 in the silo system 21, the silo system 21 also includes a bottom conveying device 211 disposed at the bottom of the material vehicle 2 for transporting the material boxes 3 hoisted into the material vehicle 2 by the cantilever crane 221 into the material vehicle 2. In addition, a box body fixing device 212 for reinforcing the material boxes 3, such as a baffle or a sink, may be provided on the bottom conveying device 211 to prevent the material boxes 3 from tipping over during transportation.

[0070] On the basis of the above embodiments, as a preference, the conveying system 16 includes a top rail 161 arranged on the top of the work vehicle 1 and the material vehicle 2, a material replenishing hoisting robot 1603 and an empty box hoisting robot 1602 arranged on the top rail 161, and a driving device for driving the material replenishing hoisting robot 1603 and the empty box hoisting robot 1602 to move along the top rail 161 according to a preset trajectory. The material replenishing hoisting robot 1603 is used to lift the material box 3 in the silo system 21 to the loading device 11, and the empty box hoisting robot 1602 is used to lift the used material box 3 on the loading device 11 to the work vehicle 1 for storage.

[0071] In this embodiment, the empty box lifting robot 1602 is used to lift the material box 3 that has been unloaded from the loading device 11, that is, the empty box, and then transport the empty box to the empty box placement position on the work vehicle 1 for storing the empty boxes. The replenishment lifting robot 1603 is used to lift the material box 3 on the material vehicle 2 to the loading device 11 to ensure continuous feeding of the loading device 11.

[0072] Taking into account the specific setting of the top rail 161, specifically, the top rail 161 includes a first longitudinal rail 1601 arranged on the work vehicle 1 along the length direction of the work vehicle 1, a first transverse rail slidably arranged on the first longitudinal rail 1601, a second longitudinal rail 1604 arranged on the material vehicle 2 along the length direction of the material vehicle 2, and a second transverse rail slidably arranged on the second longitudinal rail 1604, the empty box lifting robot 1602 is slidably arranged on the first transverse rail, and the material replenishment lifting robot 1603 is slidably arranged on the second transverse rail.

[0073] Taking into account the specific setting of the driving device, specifically, the driving device includes a first longitudinal driving device for driving the first transverse rail to move along the first longitudinal rail 1601, and a first transverse driving device for driving the empty box lifting robot 1602 to move along the first transverse rail; it also includes a second longitudinal driving device for driving the second transverse rail to move along the second longitudinal rail 1604, and a second transverse driving device for driving the replenishment lifting robot 1603 to move along the second transverse rail.

[0074] By controlling the first longitudinal drive device to drive the first transverse track to move along the first longitudinal track 1601, the empty box lifting robot 1602 can be controlled to move along the length direction of the work vehicle 1. By controlling the first transverse drive device to drive the empty box lifting robot 1602 to move along the first transverse track, the empty box lifting robot 1602 can be controlled to move along the width direction of the work vehicle 1, so that the empty box lifting robot 1602 can be controlled to reach above any material box 3.

[0075] Similarly, the second longitudinal drive device and the second transverse drive device can be controlled to realize the control of the transverse and longitudinal movement of the material replenishment hoisting manipulator 1603. Specifically, the first transverse track can be arranged perpendicular to the first longitudinal track 1601, and the second transverse track can be arranged perpendicular to the second longitudinal track 1604.

[0076] On the basis of the above embodiments, as a preference, the work vehicle 1 includes a car body, a power bogie 103 arranged in front of the car body, and a non-power bogie 104103 arranged at the rear of the car body. A driver's cab 101 is also provided in front of the car body, and the control system 102 includes an electrical system 1021 and a hydraulic system 1022 arranged at the rear side of the driver's cab 101.

[0077] On the basis of the above embodiments, as a preference, the feeding device 11 includes a nut feeding station 111, a washer feeding station 112, a spring bar feeding station 113, a pad feeding station 114, and a block feeding station 115.

[0078] The nut loading station 111, the washer loading station 112, the spring bar loading station 113, the pad loading station 114, and the block loading station 115 all include: a dropping device 116 for controlling the falling of fasteners in the material box 3 on each station according to a preset rhythm, and a feeding device 117 for conveying the falling fasteners to the picking device 12.

[0079] In the present embodiment, five loading stations are arranged in the working vehicle 1 for the five types of railway fasteners, namely the block 8, the pad 7, the spring bar 4, the washer 5 and the nut 6, and a dropping device 116 for controlling the fasteners in the material box 3 to fall according to a preset rhythm is arranged at each loading station, and a feeding device 117 for transporting the fasteners dropped from each station to the picking device 12 respectively, so as to realize the separate loading of various fasteners, so that the picking device 12 can load various fasteners into the assembly device 13 according to a preset order.

[0080] like Figure 5 As shown, as a preferred embodiment, the material box 3 includes a box body 31, a lifting fulcrum 32 for easy lifting is provided at the upper end of the box body 31, guide columns 34 for installing fasteners are provided inside the box body 31 along the height direction of the box body 31, and an automatic opening and closing mechanism 35 is provided at the bottom of the box body 31 to load the fasteners from the bottom of the box body 31 or slide the fasteners out from the bottom of the box body 31 along the guide columns 34.

[0081] Among them, the automatic opening and closing mechanism 35 can be an automatic opening and closing door, which can be controlled by the control system 102. When the fasteners in the box 31 need to be taken out, the automatic opening and closing door is opened by control to cause the fasteners in the box 31 to fall from the bottom of the box 31.

[0082] like Figure 6 and Figure 7 As shown, as a preferred embodiment, the drop device 116 includes a drop port 1161 for placing the material box 3, and an upper material guiding device 1164 and a lower material guiding device 1165 which are arranged below the drop port 1161 and can clamp or release the falling fasteners to control the rhythm of the falling fasteners, and the feeding device 117 is used to transport the fasteners dropped from the drop device 116 to the picking position 1175 of the picking device 12.

[0083] In addition, a partition 33 may be provided between adjacent guide posts 34 in the box body 31 to separate the fasteners on adjacent guide posts 34 through the partition 33 to prevent the fasteners between adjacent guide posts 34 from being stuck together and affecting the normal falling of the fasteners.

[0084] Both the material dropping device 116 and the material feeding device 117 can be arranged on the bracket 118. The material dropping device 116 can be arranged above the bracket 118, and the material feeding device 117 can be arranged below the bracket 118, so as to receive the fasteners dropped from the material dropping device 116. The material feeding device 117 is used to transport the dropped fasteners to the material taking position 1175, so that the material taking device 12 can obtain the fasteners from the material taking position 1175.

[0085] The material drop device 116 includes a drop port 1161, and the drop port 1161 is used to place the material box 3 so that the fasteners in the material box 3 can fall from the drop port 1161. The upper material guide device 1164 and the lower material guide device 1165 are arranged in parallel below the drop port 1161, and can clamp or release the fasteners falling from the drop port 1161. Specifically, under the control of the control system 102, the upper material guide device 1164 and the lower material guide device 1165 can alternately clamp the falling fasteners according to a preset beat. That is, during the process of the fasteners in the material box 3 falling, when the upper material guiding device 1164 pushes forward to clamp the fasteners, the lower material guiding device 1165 is loosened, so that the fasteners at the lower material guiding device 1165 fall down; when the upper material guiding device 1164 is loosened, the lower material guiding device 1165 pushes forward to clamp the fasteners, so that the fasteners fall to the lower material guiding device 1165, thereby realizing the sequential falling of individual fasteners in the material box 3 through the alternating clamping of the upper material guiding device 1164 and the lower material guiding device 1165.

[0086] A guide plate 1162 arranged in a trumpet shape may also be provided at the outer edge of the material drop opening 1161 , so as to facilitate placing the material box 3 into the material drop opening 1161 along the guide plate 1162 , thereby improving the convenience of placing the material box 3 on the material drop opening 1161 .

[0087] To ensure the continuity of material loading by the loading device 11, at least two dropping devices 116 are provided above each feeding device 117. A first detection head 1163 for detecting whether there is a material box 3 is provided at the dropping port 1161, and a second detection head 1166 for detecting whether a fastener has fallen is also provided at the dropping port 1161.

[0088] At least two dropping devices 116 are provided above the feeding device 117, and each dropping device 116 is used to control the falling of the fasteners in the material box 3 thereon, so that when one of the material boxes 3 drops materials, the other material boxes 3 are in a waiting state, and when the material box 3 in the dropping state has finished dropping materials, the second detection head 1166 will detect a signal that no fasteners have fallen, and the controller enables another dropping device 116 with the material box 3 to start dropping materials according to the signal detected by the first detection head 1163, thereby triggering the dropping device 116 at the bottom of the other material box 3 to start the dropping state, and the material box 3 on the dropping device 116 that has dropped all the fasteners can be removed by the conveying system 16, and replenished with a new material box 3 to ensure the continuity of dropping materials.

[0089] Specifically, the upper material guiding device 1164, the lower material guiding device 1165, the feeding device 117, the first detection head 1163 and the second detection head 1166 can be connected to the PLC by signals, that is, the coordinated operation of each device is controlled by the PLC.

[0090] The feeding device includes a conveyor belt 1174 for conveying fasteners to the material collection position, a slide 1171 for receiving fasteners falling from the material drop port, a pushing block 1172 for pushing the fasteners on the slide 1171 to the conveyor belt 1174, and a pushing block driving device for driving the pushing block 1172 to move back and forth along the slide 1171.

[0091] When the fasteners in the material box 3 fall from the blanking device 116, the fasteners will first fall on the slide 1171. To prevent the fasteners from falling off the slide 1171, the slide 1171 can be set to a structure similar to a tray, and the pushing block driving device pushes the pushing block 1172 to move back and forth along the slider 1171 at a certain rhythm, so that the fasteners that fall on the slide 1171 are pushed by the pushing block 1172 to the conveyor belt 1174, and finally the conveyor belt 1174 sends the fasteners to the material picking position 1175 to facilitate the material picking device 12 to pick up the material.

[0092] The pusher block driving device pushes the pusher block to move at a rhythm that is consistent with the drop device 116 controlling the fastener to fall, so as to match the operation rhythm of the bulk material vehicle. Specifically, the pusher block driving device can be an electric push rod 1173.

[0093] On the basis of the above embodiments, as a preference, the material picking device 12 includes: a washer 5 guiding rod for guiding the washer 5 falling from the washer loading station 112 to the assembly device 13 by gravity, and a nut 6 guiding rod for guiding the nut 6 falling from the nut loading station 111 to the assembly device 13 by gravity; a first manipulator for clamping the spring bar 4 falling from the spring bar loading station 113 and placing it into the assembly device 13 according to a preset rhythm; a second manipulator for clamping the pad 7 falling from the pad loading station 114 and placing it into the assembly device 13 according to a preset rhythm; and a third manipulator for clamping the block 8 falling from the block loading station 115 and placing it into the assembly device 13 according to a preset rhythm.

[0094] That is, in this embodiment, different material-retrieving structures are provided for the characteristics of different fasteners and corresponding to different loading stations. For example, the gasket 5 dropped from the gasket loading station 112 is pushed to the material-retrieving station 1175 by the feeding device 117. In order to insert the gasket 5 into the gasket 5 guide rod, the material-retrieving station 1175 can be provided with a funnel structure, and the gasket 5 guide rod is provided below the funnel, so that the gasket 5 falls onto the assembly device 13 along the gasket 5 guide rod. Similarly, the nut 6 can also be retrieved in the same manner.

[0095] like Figure 4 As shown, the block 8, the pad 7 and the spring bar 4 can be placed on the assembly device 13 in a clamping form, that is, when the block 8, the pad 7 and the spring bar 4 are transported to the material taking place of each workstation by the feeding device 117, the first manipulator, the second manipulator and the third manipulator can respectively grab them and place them in the assembly device 13 under the control of the control system 102. Specifically, the first manipulator, the second manipulator and the third manipulator can all include a slide rail 1201 and a fastener installation manipulator 1202 that slides along the slide rail 1201.

[0096] On the basis of the above-mentioned embodiment, as a preference, the assembly device 13 includes a circular track 133, a transfer chain 132 which moves in a circular motion along the circular track 133, and a plurality of assembly jig boxes 131 which are evenly distributed on the transfer chain 132 according to the spacing of the sleepers 9; the assembly jig box 131 includes an assembly groove, a first electromagnetic device for adsorbing to fix each fastener in the assembly groove, and a first switch for controlling the first electromagnetic device to be powered on or off.

[0097] When the assembly jig box 131 moves to the loading position below the loading device 11, the transfer chain 132 moves in steps according to a preset rhythm, and the control system 102 controls the first switch to open, and the picking device 12 installs each fastener in each assembly slot in sequence according to a preset order according to a preset rhythm; when the assembly jig box 131 moves to above the transfer position of the scattering device 15, the transfer chain 132 stays for a first preset time to allow the fasteners in the assembly jig box 131 to be delivered to the scattering device 15.

[0098] On the basis of the above embodiments, as a preference, the scattering device 15 includes a rotating cylinder 152, a rotating driving device 156 for driving the rotating cylinder 152 to rotate along the axis, and a plurality of scattering jig boxes 151 cooperating with the assembly jig box 131 are provided on the rotating cylinder 152 along its length direction; the scattering jig box 151 includes a scattering groove cooperating with the assembly groove to receive each fastener, a second electromagnetic device for adsorbing to fix each fastener in the scattering groove, and a second switch for controlling the second electromagnetic device to be powered on or off.

[0099] The scattering device 15 further includes a lifting drive device 155 for driving the rotating cylinder 152 to move along the height direction of the working vehicle 1, and a longitudinal drive device 154 for driving the lifting drive device 155 to move along the length direction of the working vehicle 1;

[0100] When the scattering jig box 151 rotates to the material transfer position above the rotating cylinder 152, the rotating cylinder 152 stops rotating for a second preset time, and the lifting drive device 155 drives the rotating cylinder 152 to move upward so that the scattering groove is close to the assembly groove, and the control system 102 controls the second switch to open and controls the first switch to close, so that the fasteners in the assembly groove are adsorbed and fixed in the scattering groove.

[0101] When the scattering jig box 151 rotates to the scattering position below the rotating cylinder 152, the rotating cylinder 152 stops rotating for a third preset time, and the control system 102 controls the longitudinal drive device 154 and the lifting drive device 155 to operate according to the position information of the sleeper 9 or the spike 10 detected by the image recognition device 14, so as to install the fasteners on the scattering jig box 151 on both sides of the sleeper 9 or insert them into the inner side of the spike 10, and then control the second switch to be closed to allow the fasteners in the scattering groove to be separated from the assembly jig box 131.

[0102] Among them, the circular track 133 is arranged below the driving feeding device 11, and a transfer chain 132 that moves around the circular track 133 is provided on the circular track 133. An assembly jig box 131 is provided on the transfer chain 132. The assembly jig box 131 is used to receive the fasteners placed by the material picking device 12 and fix each fastener according to the stacking order when the material picking device 12 is placed. The surrounding driving device is used to drive the transfer chain 132 to move along the circular track 133, so as to drive the assembly jig box 131 to move around the circular track 133.

[0103] like Figure 8As shown, when the assembly jig box 131 moves to the loading area 134 above the circular track 133, the control system 102 controls the surrounding drive device to drive the transfer chain 132 to move step by step according to a preset rhythm, so that the picking device 12 can install each fastener in the assembly jig box 131 in sequence according to a preset order, so as to realize the automatic assembly of a set of fasteners, and fix each fastener through the assembly jig box 131.

[0104] After the complete set of fasteners is assembled in the assembly jig box 131, the surrounding drive device drives the transfer chain 132 to continue to operate, so as to transfer the assembly jig box 131 containing the complete set of fasteners to the transfer position under the circular track 133, and stay there for a first preset time.

[0105] The rotating cylinder 152 is driven by the rotating drive device 156 to rotate, so that the empty bulk jig box is rotated to the top of the rotating cylinder 152. The rotating cylinder 152 is driven by the longitudinal drive device 154 to move along the length direction of the work vehicle 1, so that the bulk jig box is aligned with the assembly jig box 131 in the material transfer position. At the same time, the rotating cylinder 152 is driven by the lifting drive device 155 to move upward so that the bulk jig box is close to and cooperates with the assembly jig box 131, so as to transfer the complete set of fasteners in the assembly jig box 131 to the bulk jig box.

[0106] After the complete set of fasteners is transferred from the assembly jig box 131 to the bulk jig box, the lifting drive device 155 drives the bulk jig box to move downward so that the bulk jig box can be separated from the assembly jig box 131. The empty assembly jig box 131 is driven by the surrounding drive device and moved again to the loading area 134 for assembly of the fasteners, and the cycle continues.

[0107] like Fig. 9 As shown, the bulk jig box containing a set of fasteners is driven by the rotating drive device 156 to rotate to the bottom of the rotating cylinder 152, and the control system 102 controls the longitudinal drive device 154 and the lifting drive device 155 to operate according to the position information of the sleeper 9 detected by the image recognition unit, so as to install the fasteners on the bulk jig box on both sides of the sleeper 9 or insert them into the inner side of the spike 10.

[0108] like Fig.10 As shown, after the bulk material jig box installs the fasteners on the sleepers 9 or spikes 10, the rotating cylinder 152 performs three movements, namely vertical movement, longitudinal movement and rotational movement, to carry out the next cycle.

[0109] like Figures 11 to 13As shown, considering the specific settings of the assembly jig box 131 and the bulk jig box, as a preferred embodiment, the assembly jig includes an assembly groove, which includes a side low groove 13141313 arranged on one side of the bottom and used to accommodate a fixed stopper 8, a low groove 1313 arranged on the other side of the bottom and used to accommodate a fixed pad 7, and a side arc groove 1311 arranged on both sides for accommodating a fixed elastic bar 4.

[0110] The scattering jig box 151 includes a scattering groove, which includes a tooth groove 1511 for engaging with the side wall of the assembly jig box 131, and the scattering groove includes a bottom arc groove 1513 for accommodating a fixed elastic bar 4, and a middle arc groove 1512 provided in the middle of the bottom arc groove 1513 and used to accommodate a fixed gasket 5. When the side wall of the assembly jig box 131 is inserted into the tooth groove 1511, the elastic bar 4 can be simultaneously attached to the side arc groove 1311 and the bottom arc groove 1513.

[0111] After the material taking device 12 takes the material from the feeding device 11, it places the stopper 8, the pad 7, the spring bar 4, the washer 5 and the nut 6 in the mounting groove in sequence. Specifically, the material taking device 12 first places the stopper 8 in the side low groove 13141313 of the mounting groove, and then places the pad 7 in the low groove 1313 of the mounting groove, and then places the spring bar 4 on the side arc groove 1311 of the mounting groove, and finally places the washer 5 and the nut 6 on the spring bar 4 in sequence, thereby completing the assembly of a set of fasteners.

[0112] Driven by the transfer chain 132, the assembly jig box 131 rotates to the top of the scattered jig box 151, and the scattered jig box 151 is driven by the rotating cylinder 152 to approach the assembly jig box 131 so that the side wall of the assembly jig box 131 is inserted into the tooth groove 1511 of the scattered jig box 151, and when the side wall of the assembly jig box 131 is inserted into the tooth groove 1511, the elastic bar 4 is simultaneously pressed against the side arc groove 1311 and the bottom arc groove 1513, so that the complete set of fasteners in the assembly jig box 131 can be transferred to the scattered jig box 151, and the scattered jig box 151 can be driven by the rotating cylinder 152 to install the complete set of fasteners on both sides of the sleeper 9 or insert them into the inner side of the spike 10.

[0113] To facilitate installation of the assembly jig box 131 and the scattered jig box 151 , as a preferred embodiment, the bottom of the assembly jig box 131 and the scattered jig box 151 are both provided with a base 1312 for easy installation and connection with an external structure.

[0114] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0115] The above is a detailed introduction to the automated railway fastener bulk material vehicle provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An automated railway fastener bulk material vehicle, characterized in that: include: A material vehicle (2) for storing material boxes and a work vehicle (1) for towing the material vehicle (2), the work vehicle (1) comprising a control system (102), a loading device (11), a material taking device (12), an assembly device (13), an image recognition device (14), and a scattering device (15), all of which are signal-connected to the control system (102), and also comprising a conveying system (16) for transporting the material box (3) to the loading device (11); The feeding device (11) is used to deliver the fasteners in the material box (3) at a preset rhythm, and the taking device (12) is used to put the fasteners delivered by the feeding device (11) into the assembly device (13) at a preset rhythm and in a preset order; The assembly device (13) is used to fix each fastener according to the preset sequence and send the assembled fasteners to the scattering device (15); the image recognition device (14) is used to obtain position information of the sleeper (9) and the spike (10); the scattering device (15) is used to obtain and fix each fastener according to the preset sequence and install the fasteners on both sides of the sleeper (9) or insert them into the inner side of the spike (10) according to the position information; The feeding device (11) comprises a nut feeding station (111), a washer feeding station (112), a spring bar feeding station (113), a pad feeding station (114), and a stopper feeding station (115); The nut loading station (111), the washer loading station (112), the spring bar loading station (113), the pad loading station (114) and the block loading station (115) all include: a dropping device (116) for controlling the falling of fasteners in the material box (3) according to a preset rhythm, and a feeding device (117) for conveying the falling fasteners to the picking device (12); The material taking device (12) comprises: a washer (5) guide rod for guiding the washer (5) dropped from the washer loading station (112) to the assembly device (13) by gravity, and a nut (6) guide rod for guiding the nut (6) dropped from the nut loading station (111) to the assembly device (13) by gravity; a first manipulator for clamping the spring bar (4) dropped from the spring bar loading station (113) and placing it into the assembly device (13) according to a preset rhythm; a second manipulator for clamping the pad (7) dropped from the pad loading station (114) and placing it into the assembly device (13) according to a preset rhythm; and a third manipulator for clamping the stopper (8) dropped from the stopper loading station (115) and placing it into the assembly device (13) according to a preset rhythm; The assembly device (13) comprises a circular track (133), a transfer chain (132) that moves cyclically along the circular track (133), and a plurality of assembly jig boxes (131) that are evenly distributed on the transfer chain (132) according to the spacing of the sleepers (9); The assembly jig box (131) comprises an assembly slot, a first electromagnetic device for adsorbing and fixing each fastener in the assembly slot, and a first switch for controlling the first electromagnetic device to be powered on or off; When the assembly jig box (131) moves to the loading position below the loading device (11), the transfer chain (132) moves stepwise at a preset rhythm, and the control system (102) controls the first switch to be turned on, and the picking device (12) sequentially installs each fastener in each assembly slot in a preset order at a preset rhythm; When the assembly jig box (131) moves to above the material transfer position of the scattering device (15), the transfer chain (132) stays for a first preset time so as to deliver the fasteners in the assembly jig box (131) into the scattering device (15); The scattering device (15) comprises a rotating cylinder (152) and a rotating driving device (156) for driving the rotating cylinder (152) to rotate along an axis, and a plurality of scattering jig boxes (151) cooperating with the assembly jig box (131) are provided on the rotating cylinder (152) along its length direction; The scattering jig box (151) comprises a scattering groove that cooperates with the assembly groove to receive each fastener, a second electromagnetic device for adsorbing and fixing each fastener in the scattering groove, and a second switch for controlling the second electromagnetic device to be powered on or off; The scattering device (15) further comprises a lifting drive device (155) for driving the rotating cylinder (152) to move in the height direction of the working vehicle (1), and a longitudinal drive device (154) for driving the lifting drive device (155) to move in the length direction of the working vehicle (1); When the scattering jig box (151) rotates to the material transfer position above the rotating cylinder (152), the rotating cylinder (152) stops rotating for a second preset time, and the lifting drive device (155) drives the rotating cylinder (152) to move upward, so that the scattering groove is closely attached to the assembly groove, and the control system (102) controls the second switch to open and controls the first switch to close, so that the fastener in the assembly groove is adsorbed and fixed in the scattering groove; When the scattering jig box (151) rotates to the scattering position below the rotating cylinder (152), the rotating cylinder (152) stops rotating for a third preset time, and the control system (102) controls the longitudinal drive device (154) and the lifting drive device (155) to operate according to the position information of the sleeper (9) or the spike (10) detected by the image recognition device (14), so as to install each fastener on the scattering jig box (151) on both sides of the sleeper (9) or insert it into the inner side of the spike (10), and then controls the second switch to be closed, so that the fasteners in the scattering groove are separated from the assembly jig box (131); The material box (3) comprises a box body (31), the upper end of the box body (31) is provided with a lifting fulcrum (32) for facilitating lifting, the box body (31) is provided with a guide column (34) for fitting fasteners along the height direction of the box body (31), and the bottom of the box body (31) is provided with an automatic opening and closing mechanism (35) for inserting fasteners from the bottom of the box body (31) or allowing the fasteners to slide out from the bottom of the box body (31) along the guide column (34).

2. The automated railway fastener bulk material vehicle according to claim 1, characterized in that: The rear of the material vehicle (2) is also provided with a feeding device (22), and the feeding device (22) is used to lift the material box (3) into the silo system (21) of the material vehicle (2).

3. The automated railway fastener bulk vehicle according to claim 2, characterized in that: The feeding device (22) comprises a cantilever crane (221) for lifting the material box (3) and transporting the material box (3) into the silo system (21).

4. The automated railway fastener bulk material vehicle according to claim 3, characterized in that: The silo system (21) comprises a bottom conveying device (211) arranged at the bottom of the material vehicle (2) and used to receive the material box (3) on the cantilever crane (221) so as to convey the material box (3) into the material vehicle (2).

5. The automated railway fastener bulk material vehicle according to claim 1, characterized in that: The conveying system (16) includes a top track (161) arranged on the top of the working vehicle (1) and the material vehicle (2), a material replenishing hoisting robot (1603) and an empty box hoisting robot (1602) arranged on the top track (161), and a driving device for driving the material replenishing hoisting robot (1603) and the empty box hoisting robot (1602) to move along the top track (161) according to a preset trajectory, the material replenishing hoisting robot (1603) is used to lift the material box (3) in the material vehicle (2) to the loading device (11), and the empty box hoisting robot (1602) is used to lift the used material box (3) on the loading device (11) to the working vehicle (1) for storage.

6. The automated railway fastener bulk material vehicle according to claim 5, characterized in that: The work vehicle (1) comprises a vehicle body, a power bogie (103) arranged in front of the vehicle body, and a non-power bogie (104)(103) arranged in the rear of the vehicle body. A driver's cab (101) is also arranged in front of the vehicle body. The control system (102) comprises an electrical system (1021) and a hydraulic system (1022) arranged in the rear of the driver's cab (101).

Images