Self-tightening rail sleeper bolt operation vehicle and operation method thereof

Abstract

The present invention discloses a self-tightening and loosening rail sleeper bolt operation vehicle and an operation method thereof. The operation vehicle comprises: a frame supported on a steel rail by a wheel pair; a movable frame arranged on the frame in the transverse direction and located between two sets of wheel pairs and movable in the longitudinal direction of the frame; and an operation mechanism arranged on at least one of the left and right sides of the movable frame and located on the transverse outer side of the frame. The operation mechanism is provided with a sensor module for bolt detection, an image acquisition module for bolt positioning, and a tensioning shaft device for tightening or loosening the bolt. The tensioning shaft device can be driven to move in the transverse, longitudinal and vertical directions relative to the movable frame by the operation mechanism to realize the positioning and alignment of the bolt. The present invention can solve the technical problems existing in the existing rail sleeper bolt disassembly method, that is, the positioning accuracy between the operation mechanism and the bolt is not high, the transverse distance between the bolt wrenches is fixed, and the bolt spacing cannot be adapted to the situation of large changes.

Description

Technical Field

[0001] The invention relates to the technical field of track engineering machinery, in particular to an operating trolley for self-tightening rail sleeper fastener bolts used for disassembling and assembling rail sleeper fasteners and an operating method thereof. Background Art

[0002] In the field of railway engineering, railway rails need to be replaced in time when they reach a certain life span. At present, railway track replacement operations mainly adopt manual or mechanical track replacement within the skylight point. Rail fasteners are parts used to connect rails and sleepers (or other types of rail foundations) on railway tracks, also known as intermediate connecting parts. Its function is to fix the rails on the sleepers, maintain the track gauge and prevent the longitudinal and lateral movement of the rails relative to the sleepers. It is a key component to ensure the safety of railway operations. At present, the most commonly used spring-clip I-type rail fasteners for fixing rail tracks include ω spring clips, spiral spikes and round gaskets. The spiral spikes include nuts and bolts. Railway track and sleeper replacement construction requires the separation of the track and the sleeper, which requires the disassembly of the railway fasteners. Therefore, the disassembly of the rail fasteners is one of the important steps in the line track replacement construction.

[0003] At present, the disassembly of rail fasteners is still mainly done manually, specifically using human internal combustion wrenches to work in sections in parallel. Workers use professional rail fastener electric wrenches to disassemble rail fasteners one by one at the railway site. The advantages of this method are flexible operation, the ability to arrange workers according to different maintenance volumes, and strong applicability. Although manual disassembly operations are highly reliable and subjective, they have the disadvantages of low disassembly efficiency, high risk, and time-consuming and labor-intensive disassembly process. Especially when facing long-distance maintenance, a large number of personnel and equipment need to be transported, and there are also the following disadvantages:

[0004] (1) Large demand for labor;

[0005] (2) Complex scheduling and coordination;

[0006] (3) There are many people on site, and the safety risk is high.

[0007] For example, a typical operation scenario is: at the track replacement construction site, 2 operators are assigned every 100 meters to be responsible for the disassembly and assembly of fasteners. For a 2-kilometer track replacement operation within the skylight point, 40 operators and 40 internal combustion motor wrenches will be assigned to disassemble and assemble fasteners. In order to successfully complete the construction within the skylight point and not delay the operation time of other track replacement processes, the time allocated for disassembly and assembly of fasteners is very short, and the labor intensity is very high. After the operation is completed, the transportation of 40 internal combustion wrenches is also very complicated. Due to the large number of operating tools, vehicles cannot be used for transportation, and they can only be pushed to the next skylight point by manpower (2 kilometers of transportation is required for 2 kilometers of operation). Therefore, it takes up a lot of manpower and time, and is not convenient for unified care and management of machinery.

[0008] In the prior art, there are also vehicles that use automatic operation to disassemble and assemble sleeper fastener nuts, such as: the Chinese invention application "A Sleeper Fastener Nut Disassembly and Assembly Vehicle" applied by Changsha Hanpeng Electronic Technology Co., Ltd. on August 13, 2019 and published on October 8, 2019, with publication number CN110303332A. The application discloses a sleeper fastener nut disassembly and assembly vehicle, including a vehicle body and an electrical control system arranged on the vehicle body, a bogie is provided on the lower side of both ends of the vehicle body along the length direction, a track is provided on the lower side of the middle section of the vehicle body along the length direction, a first drive device connected to the electrical control system is provided on the upper side of the track, a disassembly and assembly mechanism connected to the first drive device is provided on the lower side of the track, and a liftable impact wrench is provided on the lower side of the disassembly and assembly mechanism. The sleeper fastener nut disassembly and assembly vehicle performs automated operations on the sleeper fastener nuts through the disassembly and assembly mechanism, thereby improving the operating efficiency of disassembling and assembling the nuts and reducing the operating cost of disassembling and assembling the nuts. However, the disassembly and assembly vehicle is a large-scale track maintenance machine, and the power system uses a diesel generator set or a contact network generator set. The disassembly and assembly mechanism is located under the vehicle body, and the detection system uses two-level detection. At the same time, the disassembly and assembly mechanism can only move and adjust in two directions, lacking adjustment along the direction of the sleeper. The disassembly and assembly mechanism uses a pneumatic impact wrench, which cannot accurately control the tightening torque. Secondly, the positioning accuracy between the disassembly and assembly vehicle operating mechanism and the bolts is not high, and the lateral distance between the bolt wrenches is fixed, which cannot adapt to the situation where the bolt spacing varies greatly, nor can it adapt to the situation where the bolt heights are different. Summary of the invention

[0009] In view of this, the purpose of the present invention is to provide a self-tightening and loosening sleeper bolt operation vehicle and its operation method, so as to solve the technical problems of the existing sleeper bolt disassembly method in which the positioning accuracy between the operation mechanism and the bolt is not high, the lateral distance between the bolt wrenches is fixed, and it cannot adapt to large changes in the bolt spacing.

[0010] In order to achieve the above-mentioned invention object, the present invention specifically provides a technical implementation scheme of a self-tightening and loosening sleeper bolt operation vehicle, which comprises:

[0011] The frame is supported on rails by wheelsets;

[0012] A movable frame is disposed on the frame in a transverse direction and between the two wheel sets, and can move longitudinally along the frame;

[0013] An operating mechanism is arranged on at least one of the left and right sides of the movable frame and is located on the outer side of the frame in the lateral direction.

[0014] The operating mechanism is provided with a sensor module for bolt detection, an image acquisition module for bolt positioning, and a tensioning shaft device for tightening or loosening the bolt. The operating mechanism can drive the tensioning shaft device to move horizontally, longitudinally and vertically relative to the movable frame to achieve positioning and alignment of the bolt.

[0015] Furthermore, a longitudinal slide rail is provided on the frame, and a first longitudinal drive mechanism is provided between the axle or frame of the wheelset and the movable frame, and the movable frame can be driven to move forward and backward along the longitudinal slide rail by the first longitudinal drive mechanism.

[0016] Further, the operating mechanism includes a transverse guide column, a transverse guide sleeve, a connecting beam, a vertical driving mechanism, a vertical guide column, a vertical guide sleeve, a moving beam and a floating mounting plate. Two transverse guide columns that are parallel to each other and arranged oppositely along the track are installed on the movable frame, the transverse guide sleeve is installed on the transverse guide column, and the transverse guide sleeve can move along the transverse guide column. The vertical guide column is installed on the transverse guide sleeve, the vertical guide sleeve is installed on the vertical guide column, and the vertical guide sleeve can move along the vertical guide column. The connecting beam is connected between the two transverse guide sleeves, the moving beam is connected between the two vertical guide sleeves, one end of the vertical driving mechanism is connected to the connecting beam, and the other end is connected to the floating mounting plate after passing through the moving beam. The tension shaft device is installed on the floating mounting plate, and the vertical driving mechanism can drive the tension shaft device to perform lifting or pressing operations through the floating mounting plate. The operating mechanism also includes a transverse driving mechanism, one end of the transverse driving mechanism is connected to the frame, and the other end is connected to the moving beam or the floating mounting plate, and the tension shaft device can be driven to move in the transverse direction through the transverse driving mechanism.

[0017] Furthermore, the operating mechanism also includes a second longitudinal drive mechanism, a longitudinal guide column and a longitudinal guide sleeve. The longitudinal guide column is installed on the vertical guide sleeve, and the floating mounting plate is installed on the longitudinal guide sleeve. The longitudinal guide sleeve is installed on the longitudinal guide column, and the longitudinal guide sleeve can move along the longitudinal guide column. The second longitudinal drive mechanism is arranged between the axle or the movable frame and the floating mounting plate. The second longitudinal drive mechanism can drive the tension shaft device to move along the track direction.

[0018] Furthermore, the movable frame is driven by the first longitudinal driving mechanism to make the tension shaft device reach the initial position. The sensor module is used for the initial positioning of the bolt, the image acquisition module is used for the second positioning of the bolt, and the tension shaft device is driven by the vertical driving mechanism, the second longitudinal driving mechanism and the transverse driving mechanism to achieve vertical, longitudinal and transverse three-coordinate precise positioning.

[0019] Furthermore, the image acquisition module and the sensor module are both mounted on a floating mounting plate. The sensor module is mounted in front of the tension shaft device along the working direction, and the image acquisition module is mounted behind the tension shaft device along the working direction, and the image acquisition module and the sensor module both maintain a set distance from the tension shaft device.

[0020] Furthermore, a rail clamping device is provided on the movable frame, and when the working vehicle is in a traveling operation, the rail is clamped by the rail clamping device, and then the frame is driven forward by the first longitudinal driving mechanism. When the frame reaches a predetermined position, the rail clamping device is released from the rail, and then the movable frame is driven forward by the first longitudinal driving mechanism.

[0021] Furthermore, the rail clamping device includes a driving module, a fixed seat, and a connecting rod, a guide rod and a rocker arm that are symmetrically arranged in sequence from the inside to the outside along the horizontal direction with the fixed seat as the center. The fixed seat is installed on the movable frame, and the driving module is installed in the fixed seat. One end of the two connecting rods is connected to the driving module and is respectively arranged on the left and right sides of the driving module. The other end of the connecting rod is connected to one end of the guide rod, and the guide rod is movably mounted on the movable frame. The other end of the guide rod abuts against one end of the rocker arm, and the other end of the rocker arm is provided with a rail clamping block. The rocker arm is movably connected to the movable frame through a pin shaft, and the rocker arm can rotate around the pin shaft. One end of the elastic member is connected to the movable frame, and the other end is connected to the rocker arm to provide pulling force for the rocker arm.

[0022] Furthermore, when the driving module contracts inward, it drives the connecting rod to move, and then drives the guide rod to move outward, and the guide rod pushes the rocker arm outward to rotate it, so that the rail clamping block connected to the rocker arm clamps the rail. When the driving module extends outward, it drives the connecting rod to move, and then pulls the guide rod to move inward, and the rocker arm is lifted upward under the pulling force of the elastic member, so that the rail clamping block is loosened from the rail.

[0023] Furthermore, the wheelset comprises a driving wheelset and a driven wheelset, and the rail clamping device is located at the front of the operating mechanism along the operating direction and close to the driving wheelset.

[0024] Furthermore, the lateral width of the movable frame is greater than the lateral width of the vehicle frame, and the operating mechanism is symmetrically arranged on the left and right inner sides of the movable frame along the lateral direction, and is located on the left and right outer sides of the vehicle frame along the lateral direction.

[0025] Furthermore, the operating mechanism includes two tensioning shaft devices arranged side by side in the transverse direction, and the installation positions of the two tensioning shaft devices correspond to the positions of two bolts of the same fastener.

[0026] Furthermore, the frame carries a power module, a control cabinet and a generator, and the power module adopts an air power source.

[0027] The present invention also specifically provides a technical implementation scheme of the above-mentioned self-tightening and loosening sleeper bolt operation vehicle operation method, and the self-tightening and loosening sleeper bolt operation vehicle operation method comprises the following steps:

[0028] S10) When the working vehicle is moving, the rail is clamped by the rail clamping device, and the frame is driven forward by the first longitudinal driving mechanism, and the sensor module detects the bolt at the same time; when the bolt is detected, the first longitudinal driving mechanism stops pushing the frame, and the rail clamping device is loosened from the rail;

[0029] S20) the image acquisition module starts taking pictures and acquiring the position of the bolt, and drives the tension shaft device to adjust its position along the rail direction through the second longitudinal drive mechanism, and drives the tension shaft device to adjust its position along the horizontal direction through the horizontal drive mechanism;

[0030] S30) when the tensioning shaft device reaches a specified position, the vertical drive mechanism presses down a set distance so that the tensioning shaft device is sleeved on the bolt, and drives the tensioning shaft device to tighten or loosen the bolt;

[0031] S40) After the operation is completed, the vertical drive mechanism releases pressure and resets, the second longitudinal drive mechanism and the transverse drive mechanism drive the tension shaft device to reset, and the operation vehicle continues to travel;

[0032] S50) If the bolt is not detected, after the frame travels a set distance, the rail clamping device is loosened from the rail, and then the movable frame is driven forward by the first longitudinal driving mechanism, and the working vehicle continues to travel.

[0033] Furthermore, in the step S10), the movable frame is driven by the first longitudinal drive mechanism to make the tension shaft device reach the initial position. In the step S20), the tension shaft device is driven by the vertical drive mechanism, the second longitudinal drive mechanism and the transverse drive mechanism to achieve vertical, longitudinal and transverse three-coordinate precise positioning.

[0034] Furthermore, in the step S40), after the tensioning shaft device completes one operation, the rail is clamped by the rail clamping device, and then the frame is driven to move forward by the first longitudinal driving mechanism. When the frame reaches the predetermined position, the rail clamping device is loosened from the rail, and then the movable frame is driven to move forward by the first longitudinal driving mechanism, and the working vehicle continues to travel.

[0035] Furthermore, in the step S10), when the driving module contracts inward, it drives the connecting rod to move, and then drives the guide rod to move outward, and the guide rod pushes the rocker arm outward to rotate, so that the rail clamping block connected to the rocker arm clamps the rail. When the driving module pushes outward, it drives the connecting rod to move, and then pulls the guide rod to move inward, and the rocker arm is lifted upward under the pulling force of the elastic member, so that the rail clamping block is loosened from the rail.

[0036] By implementing the technical solution of the self-tightening rail sleeper bolt operation vehicle and the operation method thereof provided by the present invention, the following beneficial effects are achieved:

[0037] (1) The self-tensioning rail sleeper bolt operation vehicle and the operation method thereof of the present invention can drive the tensioning shaft device to move horizontally, longitudinally and vertically to achieve three-coordinate adjustment of the tensioning shaft device and high-precision positioning of the bolts, which can effectively solve the technical problems of low positioning accuracy between the operation mechanism and the bolts, fixed lateral distance between the tensioning shaft devices, and inability to adapt to large changes in bolt spacing;

[0038] (2) The self-tightening and loosening sleeper bolt operation vehicle and the operation method thereof of the present invention, the detection system adopts a visual sensing system combining image recognition and sensors to perform secondary positioning of the bolts, which can accurately identify the bolt features and obtain the bolt positions;

[0039] (3) The self-tensioning rail sleeper bolt operation vehicle and the operation method thereof of the present invention can drive the tensioning shaft device to perform a downward pressing operation through the floating mounting plate, which can not only adapt to the tilt of the rail sleeper bolt within a certain range, but also prevent the bolt from rigidly colliding with the bolt due to excessive downward pressing, thereby realizing the function of the tensioning shaft adapting to different bolt heights;

[0040] (4) The self-tightening and loosening sleeper bolt operation vehicle and the operation method thereof of the present invention can simultaneously realize rapid braking of the operation vehicle and keep the vehicle body and the rail relatively fixed when the bolts are loosened and tightened by adopting a rail clamping device driven by an oil cylinder;

[0041] (5) The self-tightening and loosening rail sleeper bolt operation vehicle and the operation method thereof of the present invention adopt a cylinder-driven running mode, which can not only effectively reduce costs compared with oil cylinder drive, but also effectively avoid motor losses caused by frequent starting and stopping compared with motor drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work.

[0043] Figure 1 It is a schematic structural front view of a specific embodiment of the self-tightening and loosening rail sleeper bolt operation vehicle of the present invention;

[0044] Figure 2 It is a schematic structural front view of a specific embodiment of the self-tightening and loosening rail sleeper bolt operation vehicle of the present invention at another viewing angle;

[0045] Figure 3 It is a three-dimensional structural schematic diagram of a specific embodiment of the self-tightening and loosening rail sleeper bolt operation vehicle of the present invention;

[0046] Figure 4 It is a schematic bottom view of the structure of a specific embodiment of the self-tightening and loosening rail sleeper bolt operation vehicle of the present invention;

[0047] Figure 5 It is a schematic front view of the structure of a specific embodiment of the self-tightening and loosening rail sleeper bolt operation vehicle of the present invention;

[0048] Figure 6 It is a three-dimensional structural schematic diagram of the operating mechanism of a specific embodiment of the self-tightening and loosening rail sleeper bolt operating vehicle of the present invention;

[0049] Figure 7 It is a schematic front view of the structure of the working mechanism of a specific embodiment of the self-tightening and loosening rail sleeper bolt working vehicle of the present invention;

[0050] Figure 8 It is a schematic side view of the structure of the operating mechanism of a specific embodiment of the self-tightening and loosening rail sleeper bolt operating vehicle of the present invention;

[0051] Fig. 9 It is a schematic top view of the structure of the operating mechanism of a specific embodiment of the self-tightening and loosening rail sleeper bolt operating vehicle of the present invention;

[0052] Fig.10 It is a schematic diagram of the three-dimensional structure of a rail clamping device in a specific embodiment of a self-tightening and loosening sleeper bolt operation vehicle of the present invention;

[0053] Fig.11 It is a front view of the action principle of the rail clamping device in a specific embodiment of the self-tightening and loosening rail sleeper bolt operation vehicle of the present invention;

[0054] Fig.12 It is a top view of the action principle of the rail clamping device in a specific embodiment of the self-tightening and loosening sleeper bolt operation vehicle of the present invention;

[0055] In the figure: 1-power module, 2-control cabinet, 3-frame, 4-generator, 5-first longitudinal drive mechanism, 6-wheel set, 61-driving wheel set, 62-driven wheel set, 63-axle, 7-longitudinal slide rail, 8-rail clamping device, 801-driving module, 802-fixed seat, 803-connecting rod, 804-guide rod, 805-rocker arm, 806-elastic member, 807-rail clamping block, 808-pin shaft, 9-operating mechanism, 901-transverse guide column, 902-transverse guide sleeve, 903-connecting beam, 904-elastic shaft device, 905-vertical drive mechanism, 906-longitudinal guide column, 907-longitudinal guide sleeve, 908-vertical guide column, 909-vertical guide sleeve, 910-moving beam, 911-floating mounting plate, 912-image acquisition module, 913-sensor module, 10-lateral drive mechanism, 11-movable frame, 12-second longitudinal drive mechanism, 13-rail, 14-sleeper, 15-fastener, 16-bolt, 100-work vehicle. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0057] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0058] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0060] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0061] As attached Figure 1 To Attachment Fig.12 As shown, a specific embodiment of the self-tightening and loosening sleeper bolt operation vehicle and the operation method thereof of the present invention is given, and the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0062] Example 1

[0063] As attached Figure 1 To Attachment Figure 5 As shown, an embodiment of a self-tightening and loosening sleeper bolt operation vehicle of the present invention, the operation vehicle 100 specifically comprises:

[0064] The frame 3 is supported on the rails 13 by the wheelset 6;

[0065] A movable frame 11 is disposed on the frame 3 in the transverse direction and between the two wheel sets 6 and can move longitudinally along the frame 3;

[0066] The operating mechanism 9 is arranged on at least one of the left and right sides of the movable frame 11 and is located on the outer side of the vehicle frame 3 in the lateral direction.

[0067] The operating mechanism 9 is provided with a sensor module 913 for detecting the bolt 16, an image acquisition module 912 for locating the bolt 16, and a tensioning shaft device 904 for tightening or loosening the bolt 16. The operating mechanism 9 can drive the tensioning shaft device 904 to move in a lateral direction (such as the attached) relative to the movable frame 11. Figure 3 , 4 , the direction indicated by W in 5 and 6), longitudinal direction (as shown in the attached Figure 4 and 6 The direction indicated by L in the figure is also the track direction) and the vertical direction (as shown in the attached figure). Figure 1 , 2, 3, 5 and 6) to achieve the positioning alignment of the bolt 16.

[0068] The frame 3 is further provided with a longitudinal slide rail 7, and a first longitudinal drive mechanism 5 is provided between the axle 63 of the wheelset 6 or the frame 3 and the movable frame 11, and the movable frame 11 can be driven to move forward and backward along the longitudinal slide rail 7 by the first longitudinal drive mechanism 5. The frame 3 carries a power module 1, a control cabinet 2 and a generator 4. As a preferred embodiment of the present invention, the power module 1 further specifically adopts an air power source, which can not only effectively reduce the cost compared with the oil cylinder drive, but also effectively avoid the motor loss caused by frequent start and stop compared with the motor drive. The power module 1 can also be driven by a hydraulic power source cylinder or a motor. The frame 3 is divided into two layers, the upper layer is placed with the power module 1, the control cabinet 2 and the generator 4, the lower layer is installed with the longitudinal slide rail 7 and the first longitudinal drive mechanism 5, and the wheelset 6 is installed below the frame 3.

[0069] As attached Figure 6 To Attachment Fig. 9 As shown, the operating mechanism 9 further includes a transverse guide column 901, a transverse guide sleeve 902, a connecting beam 903, a vertical driving mechanism 905, a vertical guide column 908, a vertical guide sleeve 909, a movable beam 910 and a floating mounting plate 911. Two transverse guide columns 901 that are parallel to each other (extending in the transverse direction) and arranged oppositely along the track direction (i.e., longitudinal direction) are installed on the movable frame 11, and two transverse guide sleeves 902 that are parallel to each other (extending in the vertical direction) and arranged oppositely along the transverse direction are movably installed on the transverse guide column 901 on one side, and the transverse guide sleeve 902 can move along the transverse guide column 901. Four vertical guide columns 908 are arranged vertically and parallel to each other and installed on the transverse guide sleeve 902, and two vertical guide sleeves 909 are movably installed on the vertical guide column 908, parallel to each other (extending in the transverse direction) and arranged oppositely along the track direction, and the vertical guide sleeve 909 can move along the vertical guide column 908. The connecting beam 903 is connected between the two transverse guide sleeves 902, the moving beam 910 is connected between the two vertical guide sleeves 909, one end of the vertical driving mechanism 905 is connected to the connecting beam 903, and the other end passes through the moving beam 910 and is connected to the floating mounting plate 911. The tension shaft device 904 is installed on the floating mounting plate 911, and the vertical driving mechanism 905 can drive the tension shaft device 904 to perform lifting or pressing operations through the floating mounting plate 911. The operating mechanism 9 also includes a transverse driving mechanism 10, one end of which is connected to the frame 3, and the other end is connected to the moving beam 910 or the floating mounting plate 911, and the tension shaft device 904 can be driven to move in the transverse direction through the transverse driving mechanism 10.

[0070] The operating mechanism 9 also includes a second longitudinal drive mechanism 12, a longitudinal guide column 906 and a longitudinal guide sleeve 907. Two longitudinal guide columns 906 that are parallel to each other (extending along the track direction) and arranged opposite to each other in the transverse direction are installed between two vertical guide sleeves 909, and a floating mounting plate 911 is installed on the longitudinal guide sleeve 907. Two longitudinal guide sleeves 907 are movably installed on the longitudinal guide column 906 on one side, and the longitudinal guide sleeve 907 can move along the longitudinal guide column 906. The second longitudinal drive mechanism 12 is arranged between the axle 63 or the movable frame 11 and the floating mounting plate 911. The tension shaft device 904 can be driven to move along the track direction by the second longitudinal drive mechanism 12. The movable frame 11 is driven by the first longitudinal drive mechanism 5 to make the tension shaft device 904 reach the initial position. The sensor module 913 is used for the initial positioning of the bolt 16, and the image acquisition module 912 is used for the second positioning of the bolt 16. The vertical drive mechanism 905, the second longitudinal drive mechanism 12 and the transverse drive mechanism 10 drive the tension shaft device 904 to achieve vertical, longitudinal and transverse three-coordinate precise positioning. In this embodiment, a two-stage positioning method is used to locate the relationship between the tension shaft device 904 and the bolt 16 of the fastener 15. The first stage positioning uses the first longitudinal drive mechanism 5 to push the movable frame 11 so that the tension shaft device 904 reaches the initial position. The second stage positioning relies on the three-way sliding positioning mechanism on the operating mechanism 3, which is driven by the driving mechanism in three directions to achieve precise positioning in three coordinates. At the same time, the vertical drive mechanism 905 can drive the tension shaft device 904 to perform a downward pressing operation through the floating mounting plate 911, which can cooperate with the visual sensing system to deal with the situation of different bolt heights.

[0071] The image acquisition module 912 and the sensor module 913 are further mounted on the floating mounting plate 911. The sensor module 913 is mounted on the tension shaft device 904 along the working direction (such as the attached Figure 1 , 2 3 and L), the image acquisition module 912 is installed behind the tension shaft device 904 along the working direction, and the image acquisition module 912 and the sensor module 913 are both kept at a set distance from the tension shaft device 904. The image acquisition module 912 can further adopt a camera assembly, and the sensor module 913 is selected from any one or a combination of laser sensors, ultrasonic sensors, proximity switches and metal induction sensors.

[0072] As attached Figure 2As shown, a rail clamping device 8 is further provided on the movable frame 11. When the working vehicle 100 is in the traveling operation, the rail 13 is clamped by the rail clamping device 8, and then the frame 3 is driven to move forward by the first longitudinal drive mechanism 5. When the frame 3 reaches the predetermined position, the rail clamping device 8 is loosened from the rail 13, and then the movable frame 11 is driven to move forward by the first longitudinal drive mechanism 5. In this embodiment, the driving mode of the working vehicle 100 is completed by the cooperation of the rail clamping device 8 and the first longitudinal drive mechanism 5. After the tensioning shaft device 904 completes the operation, the movable frame 11 clamps the rail 13 by the rail clamping device 8, and then the frame 3 is driven to move forward by the first longitudinal drive mechanism 5. When the frame 3 reaches the predetermined position, the rail clamping device 8 releases the clamping claw, and then the movable frame 11 is pushed forward by the first longitudinal drive mechanism 5.

[0073] As attached Fig.10 , 11 As shown in FIG. 12 , the rail clamping device 8 further includes a driving module 801, a fixing seat 802, and a fixing seat 802 as the center and extending in a horizontal direction (as shown in FIG. Fig.10 , 11 12 and 13 ) are symmetrically arranged from inside to outside. The fixing seat 802 is installed on the movable frame 11, and the driving module 801 is installed in the fixing seat 802. One end of the two connecting rods 803 is connected to the driving module 801, and is respectively arranged on the left and right sides of the driving module 801. The other end of the connecting rod 803 is connected to one end of the guide rod 804, and the guide rod 804 is movably installed on the movable frame 11. The other end of the guide rod 804 is in contact with one end of the rocker arm 805, and the other end of the rocker arm 805 is provided with a rail clamping block 807. The rocker arm 805 is movably connected to the movable frame 11 through a pin 808, and the rocker arm 805 can rotate around the pin 808. One end of the elastic member 806 is connected to the movable frame 11, and the other end is connected to the rocker arm 805, providing a pulling force for the rocker arm 805. As a preferred embodiment of the present invention, the driving module 801 may further adopt a hydraulic cylinder, and the elastic member 806 may further adopt a tension spring.

[0074] When the driving module 801 contracts inward, it drives the connecting rod 803 to move, and then drives the guide rod 804 to move outward. The guide rod 804 pushes the rocker arm 805 outward and rotates it, so that the rail clamping block 807 connected to the rocker arm 805 clamps the rail 13. When the driving module 801 extends outward, it drives the connecting rod 803 to move, and then pulls the guide rod 804 to move inward. The rocker arm 805 is lifted upward under the pulling force of the elastic member 806, so that the rail clamping block 807 is loosened from the rail 13. In this embodiment, the rail clamping device 8 adopts a structure of clamping the rail from the outside of the rail 13, and can also adopt a structure of clamping the rail from the inside of the rail 13.

[0075] As attached Figure 4 As shown, the wheel set 6 further includes a driving wheel set 61 and a driven wheel set 62, and the rail clamping device 8 is located in front of the working mechanism 9 along the working direction and close to the driving wheel set 61. The lateral width of the movable frame 11 is greater than the lateral width of the frame 3, and the working mechanism 9 is symmetrically arranged on the left and right inner sides of the movable frame 11 along the lateral direction, and is located on the left and right outer sides of the frame 3 along the lateral direction.

[0076] The rail 11 is fixed to the sleeper 12 by a fastener 14, and the fastener 14 further includes a bolt 13. Figure 4 and attached Figure 5 As shown, the operating mechanism 9 includes two tensioning shaft devices 904 arranged side by side in the transverse direction, and the installation positions of the two tensioning shaft devices 904 correspond to the positions of two bolts 16 of the same fastener 15, so as to complete the bolt disassembly and assembly operations of four groups of fasteners 14 fixed between two rails 11 and one sleeper 12 at one time.

[0077] In this embodiment, the first longitudinal drive mechanism 5, the transverse drive mechanism 10, the second longitudinal drive mechanism 12, the vertical drive mechanism 905 and the drive module 801 can be specifically driven by oil cylinders, air cylinders, electric cylinders or motors. The combination of guide sleeves and guide posts (transverse guide posts 901 and transverse guide sleeves 902, longitudinal guide posts 906 and longitudinal guide sleeves 907, and vertical guide posts 908 and vertical guide sleeves 909) can also use alternative structures such as guide rail and slider combination, parallelogram mechanism, and gear and rack combination to realize the moving pair function.

[0078] Example 2

[0079] An embodiment of the method for operating a self-tightening and loosening sleeper bolt operation vehicle as described in Example 1, the method specifically comprises the following steps:

[0080] S10) When the working vehicle 100 is moving, the rail 13 is clamped by the rail clamping device 8, and the frame 3 is driven forward by the first longitudinal driving mechanism 5, and the sensor module 913 detects the bolt 16 at the same time; when the bolt 16 is detected, the first longitudinal driving mechanism 5 stops pushing the frame 3, and the rail clamping device 8 is loosened from the rail 13;

[0081] S20) The image acquisition module 912 starts taking pictures and acquiring the position of the bolt 16, and drives the tension shaft device 904 to adjust the position along the rail direction through the second longitudinal drive mechanism 12, and drives the tension shaft device 904 to adjust the position along the horizontal direction through the horizontal drive mechanism 10;

[0082] S30) When the tensioning shaft device 904 reaches the specified position, the vertical drive mechanism 905 presses down a set distance so that the tensioning shaft device 904 is sleeved on the bolt 16, and drives the tensioning shaft device 904 to tighten or loosen the bolt 16;

[0083] S40) After the operation is completed, the vertical drive mechanism 905 is depressurized and reset, the second longitudinal drive mechanism 12 and the transverse drive mechanism 10 drive the tension shaft device 904 to reset, and the operation vehicle 100 continues to travel;

[0084] S50) If the bolt 16 is not detected, after the frame 3 travels a set distance, the rail clamping device 8 is loosened from the rail 13, and then the first longitudinal driving mechanism 5 drives the movable frame 11 to move forward, and the working vehicle 100 continues to travel.

[0085] In step S10), the movable frame 11 is driven by the first longitudinal drive mechanism 5 to make the tension shaft device 904 reach the initial position. In step S20), the tension shaft device 904 is driven by the vertical drive mechanism 905, the second longitudinal drive mechanism 12 and the transverse drive mechanism 10 to achieve vertical, longitudinal and transverse three-coordinate precise positioning.

[0086] In step S40), after the tensioning shaft device 904 completes one operation, the rail clamping device 8 clamps the rail 13, and then the first longitudinal drive mechanism 5 drives the vehicle frame 3 to move forward. When the vehicle frame 3 reaches the predetermined position, the rail clamping device 8 is loosened from the rail 13, and then the first longitudinal drive mechanism 5 drives the movable frame 11 to move forward, and the working vehicle 100 continues to travel.

[0087] In the step S10), when the driving module 801 contracts inward, it drives the connecting rod 803 to move, and then drives the guide rod 804 to move outward, and the guide rod 804 pushes the rocker arm 805 outward to rotate, so that the rail clamping block 807 connected to the rocker arm 805 clamps the rail 13. When the driving module 801 extends outward, it drives the connecting rod 803 to move, and then pulls the guide rod 804 to move inward, and the rocker arm 805 is lifted upward under the pulling force of the elastic member 806, so that the rail clamping block 807 connected to the rocker arm 805 is loosened from the rail 13.

[0088] In the working method described in Example 2, the working vehicle 100 moves in a step-by-step manner, and can also move in a continuous motion manner, that is, the body of the working vehicle 100 keeps moving, and the tension shaft device 904 remains stationary relative to the ground under the action of the first longitudinal drive mechanism 5. In this case, the track clamping device 8 is not required.

[0089] By implementing the technical solution of the self-tightening rail sleeper bolt operation vehicle and the operation method thereof described in the specific embodiment of the present invention, the following technical effects can be produced:

[0090] (1) The self-tensioning rail sleeper bolt operation vehicle and the operation method thereof described in the specific embodiment of the present invention can drive the tensioning shaft device to move horizontally, longitudinally and vertically to achieve three-coordinate adjustment of the tensioning shaft device and high-precision positioning of the bolts, which can effectively solve the technical problems of low positioning accuracy between the operation mechanism and the bolts, fixed lateral distance between the tensioning shaft devices, and inability to adapt to large changes in bolt spacing;

[0091] (2) The self-tightening and loosening sleeper bolt operation vehicle and the operation method thereof described in the specific embodiment of the present invention, the detection system uses a visual sensing system combining image recognition and sensors to perform secondary positioning of the bolts, which can accurately identify the bolt features and obtain the bolt positions;

[0092] (3) The self-tightening and loosening sleeper bolt operation vehicle and its operation method described in the specific embodiment of the present invention can drive the tensioning shaft device to perform a downward pressing operation through the floating mounting plate, which can not only adapt to the tilting of the sleeper bolt within a certain range, but also will not cause a rigid collision with the bolt due to excessive downward pressing, thereby realizing the function of the tensioning shaft adapting to different bolt heights;

[0093] (4) The self-tightening and loosening sleeper bolt operation vehicle and the operation method thereof described in the specific embodiment of the present invention can simultaneously achieve rapid braking of the operation vehicle and keep the vehicle body and the rail relatively fixed when the bolts are loosened or tightened by adopting a rail clamping device driven by an oil cylinder;

[0094] (5) The self-tightening and loosening rail sleeper bolt operation vehicle and its operation method described in the specific embodiment of the present invention adopts a cylinder-driven running mode, which can not only effectively reduce costs compared with oil cylinder drive, but also effectively avoid motor losses caused by frequent starting and stopping compared with motor drive.

[0095] 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.

[0096] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as above in the preferred embodiment, it is not used to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of protection of the technical solution of the present invention.

Claims

1. A self-tightening sleeper bolt operation vehicle, characterized in that: include: A vehicle frame (3) supported on a rail (13) by a wheelset (6); A movable frame (11) disposed on the vehicle frame (3) in a transverse direction and located between the two wheel sets (6), and movable in a longitudinal direction along the vehicle frame (3); An operating mechanism (9) disposed on at least one of the left and right sides of the movable frame (11) and located on the lateral outer side of the vehicle frame (3); The operating mechanism (9) is provided with a sensor module (913) for detecting the bolt (16), an image acquisition module (912) for positioning the bolt (16), and a tensioning shaft device (904) for tightening or loosening the bolt (16); the operating mechanism (9) can drive the tensioning shaft device (904) to move in the horizontal, longitudinal and vertical directions relative to the movable frame (11) to achieve positioning and alignment of the bolt (16); The frame (3) is provided with a longitudinal slide rail (7), and a first longitudinal drive mechanism (5) is provided between the axle (63) of the wheelset (6) or the frame (3) and the movable frame (11), and the movable frame (11) can be driven to move forward and backward along the longitudinal slide rail (7) by the first longitudinal drive mechanism (5); the frame (3) carries a power module (1), a control cabinet (2) and a generator (4), and the power module (1) adopts an air power source; the frame (3) is divided into an upper and a lower layer, the upper layer is provided with the power module (1), the control cabinet (2) and the generator (4), and the lower layer is provided with the longitudinal slide rail (7) and the first longitudinal drive mechanism (5), and the wheelset (6) is installed below the frame (3); A rail clamping device (8) is provided on the movable frame (11); when the working vehicle (100) is in a traveling operation, the rail (13) is clamped by the rail clamping device (8), and then the vehicle frame (3) is driven to move forward by the first longitudinal driving mechanism (5); when the vehicle frame (3) reaches a predetermined position, the rail clamping device (8) is released from the rail (13), and then the movable frame (11) is driven to move forward by the first longitudinal driving mechanism (5); The rail clamping device (8) comprises a driving module (801), a fixing seat (802), and connecting rods (803), guide rods (804) and rocker arms (805) which are symmetrically arranged in sequence from the inside to the outside along the transverse direction with the fixing seat (802) as the center; the fixing seat (802) is mounted on the movable frame (11), and the driving module (801) is mounted in the fixing seat (802); one end of each of the two connecting rods (803) is connected to the driving module (801), and the two connecting rods (803) are respectively arranged on the left and right sides of the driving module (801); the other end of the connecting rod (803) is connected to the guide rod ( The guide rod (804) is connected to one end of the movable frame (11); the guide rod (804) is movably mounted on the movable frame (11); the other end of the guide rod (804) is in contact with one end of the rocker arm (805); the other end of the rocker arm (805) is provided with a rail clamping block (807); the rocker arm (805) is movably connected to the movable frame (11) via a pin shaft (808); the rocker arm (805) is rotatable around the pin shaft (808); one end of the elastic member (806) is connected to the movable frame (11), and the other end is connected to the rocker arm (805), so as to provide a pulling force for the rocker arm (805); When the driving module (801) contracts inward, it drives the connecting rod (803) to move, thereby driving the guide rod (804) to move outward, and the guide rod (804) pushes the rocker arm (805) outward and rotates it, so that the rail clamping block (807) connected to the rocker arm (805) clamps the steel rail (13); when the driving module (801) extends outward, it drives the connecting rod (803) to move, thereby pulling the guide rod (804) to move inward, and the rocker arm (805) is lifted upward under the pulling force of the elastic member (806), so that the rail clamping block (807) is loosened from the steel rail (13).

2. The self-tightening sleeper bolt operation vehicle according to claim 1, characterized in that: The operating mechanism (9) comprises a transverse guide column (901), a transverse guide sleeve (902), a connecting beam (903), a vertical driving mechanism (905), a vertical guide column (908), a vertical guide sleeve (909), a movable beam (910) and a floating mounting plate (911); two transverse guide columns (901) which are parallel to each other and arranged opposite to each other along the track direction are mounted on the movable frame (11); the transverse guide sleeve (902) is mounted on the transverse guide column (901), and the transverse guide sleeve (902) can move along the transverse guide column (901); the vertical guide column (908) is mounted on the transverse guide sleeve (902), and the vertical guide sleeve (909) is mounted on the vertical guide column (908), and the vertical guide sleeve (909) can move along the vertical guide column (908); the connecting beam (903) is connected to the two transverse guide sleeves. (902), the movable beam (910) is connected between two vertical guide sleeves (909), one end of the vertical drive mechanism (905) is connected to the connecting beam (903), and the other end passes through the movable beam (910) and is connected to the floating mounting plate (911); the tension shaft device (904) is installed on the floating mounting plate (911), and the vertical drive mechanism (905) can drive the tension shaft device (904) to perform lifting or pressing operations through the floating mounting plate (911); the operating mechanism (9) also includes a lateral drive mechanism (10), one end of the lateral drive mechanism (10) is connected to the frame (3), and the other end is connected to the movable beam (910) or the floating mounting plate (911), and the tension shaft device (904) can be driven to move in the lateral direction through the lateral drive mechanism (10).

3. The self-tightening sleeper bolt operation vehicle according to claim 2, characterized in that: The operating mechanism (9) further comprises a second longitudinal drive mechanism (12), a longitudinal guide column (906) and a longitudinal guide sleeve (907); the longitudinal guide column (906) is mounted on the vertical guide sleeve (909), and the floating mounting plate (911) is mounted on the longitudinal guide sleeve (907); the longitudinal guide sleeve (907) is mounted on the longitudinal guide column (906), and the longitudinal guide sleeve (907) can move along the longitudinal guide column (906); the second longitudinal drive mechanism (12) is arranged between the axle (63) or the movable frame (11) and the floating mounting plate (911); the tension shaft device (904) can be driven to move along the track through the second longitudinal drive mechanism (12).

4. The self-tightening sleeper bolt operation vehicle according to claim 3, characterized in that: The movable frame (11) is driven by the first longitudinal drive mechanism (5) to make the tension shaft device (904) reach an initial position; the sensor module (913) is used for the initial positioning of the bolt (16), the image acquisition module (912) is used for the second positioning of the bolt (16), and the tension shaft device (904) is driven by the vertical drive mechanism (905), the second longitudinal drive mechanism (12) and the transverse drive mechanism (10) to achieve vertical, longitudinal and transverse three-coordinate precise positioning.

5. The self-tightening sleeper bolt operation vehicle according to claim 4, characterized in that: The image acquisition module (912) and the sensor module (913) are both mounted on the floating mounting plate (911); the sensor module (913) is mounted in front of the tension shaft device (904) along the working direction, and the image acquisition module (912) is mounted behind the tension shaft device (904) along the working direction; the image acquisition module (912) and the sensor module (913) both maintain a set distance from the tension shaft device (904).

6. The self-tightening sleeper bolt operation vehicle according to claim 5, characterized in that: The wheel set (6) comprises a driving wheel set (61) and a driven wheel set (62), and the rail clamping device (8) is located at the front of the operating mechanism (9) along the operating direction and is close to the driving wheel set (61).

7. The self-tightening sleeper bolt operation vehicle according to any one of claims 1 to 6, characterized in that: The lateral width of the movable frame (11) is greater than the lateral width of the vehicle frame (3), and the operating mechanism (9) is symmetrically arranged on the left and right inner sides of the movable frame (11) in the lateral direction, and is located on the left and right outer sides of the vehicle frame (3) in the lateral direction.

8. The self-tightening sleeper bolt operation vehicle according to claim 7, characterized in that: The operating mechanism (9) comprises two tensioning shaft devices (904) arranged side by side in the transverse direction, and the installation positions of the two tensioning shaft devices (904) correspond to the positions of two bolts (16) of the same fastener (15).

9. An operating method of a self-tightening and loosening sleeper bolt operating vehicle as claimed in any one of claims 1 to 8, characterized in that: The operation method comprises the following steps: S10) When the working vehicle (100) is moving, the rail clamping device (8) clamps the steel rail (13), and then the first longitudinal driving mechanism (5) drives the vehicle frame (3) to move forward, and the sensor module (913) detects the bolt (16) at the same time; when the bolt (16) is detected, the first longitudinal driving mechanism (5) stops pushing the vehicle frame (3), and the rail clamping device (8) is loosened from the steel rail (13); S20) the image acquisition module (912) starts taking pictures and acquiring the position of the bolt (16), and drives the tension shaft device (904) to adjust its position along the rail direction through the second longitudinal drive mechanism (12), and drives the tension shaft device (904) to adjust its position along the horizontal direction through the horizontal drive mechanism (10); S30) when the tensioning shaft device (904) reaches a specified position, the vertical drive mechanism (905) presses down a set distance so that the tensioning shaft device (904) is sleeved on the bolt (16), and drives the tensioning shaft device (904) to tighten or loosen the bolt (16); S40) After the operation is completed, the vertical drive mechanism (905) releases pressure and resets, the second longitudinal drive mechanism (12) and the transverse drive mechanism (10) drive the tension shaft device (904) to reset, and the operation vehicle (100) continues to perform the traveling operation; S50) If the bolt (16) is not detected, after the vehicle frame (3) travels a set distance, the rail clamping device (8) is loosened from the rail (13), and then the movable frame (11) is driven forward by the first longitudinal drive mechanism (5), and the working vehicle (100) continues to perform the traveling operation.

10. The operating method of the self-tightening and loosening sleeper bolt operating vehicle according to claim 9, characterized in that: In the step S10), the movable frame (11) is driven by the first longitudinal drive mechanism (5) to make the tension shaft device (904) reach an initial position; in the step S20), the tension shaft device (904) is driven by the vertical drive mechanism (905), the second longitudinal drive mechanism (12) and the transverse drive mechanism (10) to achieve vertical, longitudinal and transverse three-coordinate precise positioning.

11. The operating method of the self-tightening and loosening sleeper bolt operating vehicle according to claim 10, characterized in that: In the step S40), after the tensioning shaft device (904) completes an operation, the rail clamping device (8) clamps the steel rail (13), and then the first longitudinal drive mechanism (5) drives the vehicle frame (3) to move forward; when the vehicle frame (3) reaches a predetermined position, the rail clamping device (8) is released from the steel rail (13), and then the first longitudinal drive mechanism (5) drives the movable frame (11) to move forward, and the working vehicle (100) continues to perform the traveling operation.

12. The method for operating the self-tightening and loosening sleeper bolt operation vehicle according to claim 9, 10 or 11, characterized in that: In the step S10), when the driving module (801) contracts inwards, it drives the connecting rod (803) to move, thereby driving the guide rod (804) to move outwards, and the guide rod (804) pushes the rocker arm (805) outwards and causes it to rotate, so that the rail clamping block (807) connected to the rocker arm (805) clamps the rail (13); when the driving module (801) extends outwards, it drives the connecting rod (803) to move, thereby pulling the guide rod (804) to move inwards, and the rocker arm (805) is lifted upwards under the pulling force of the elastic member (806), so that the rail clamping block (807) is loosened from the rail (13).

Images