A self-tightening sleeper fastener bolt operation device and operation method

Abstract

The present invention discloses a self-tightening and loosening sleeper fastener bolt operation device and method, the operation device comprises: a mounting frame mounted on a frame of an operation vehicle; a sensor assembly disposed on the mounting frame for realizing bolt detection; an image acquisition assembly disposed on the mounting frame for realizing bolt positioning; and a tensioning shaft mechanism disposed on the mounting frame for realizing bolt tightening or loosening operations. The tensioning shaft mechanism can move in the transverse, longitudinal and vertical directions relative to the frame to realize the positioning and alignment of the bolts. The present invention can solve the technical problems that the positioning accuracy between the existing sleeper bolt disassembly operation device and the bolts is not high, the transverse distance between the bolt wrenches is fixed, and it cannot adapt to large changes in the bolt spacing.

Description

Technical Field

[0001] The invention relates to the technical field of rail engineering machinery, in particular to an operating device and an operating method for self-tightening rail sleeper fastener bolts used for disassembling and assembling rail sleeper fasteners. 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 device 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 rail sleeper fastener bolt operating device and operating method to solve the technical problems that the positioning accuracy between the existing rail sleeper bolt disassembly operating device 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 rail sleeper fastener bolt operating device, the self-tightening rail sleeper fastener bolt operating device comprising:

[0011] A mounting frame mounted on a frame of a work vehicle;

[0012] A sensor assembly disposed on the mounting frame and used for bolt detection;

[0013] An image acquisition component disposed on the mounting frame and used to realize the positioning of the bolt;

[0014] And a tensioning shaft mechanism is arranged on the installation frame and is used to realize the tightening or loosening operation of the bolt.

[0015] The tension shaft mechanism can move in the transverse, longitudinal and vertical directions relative to the frame to achieve positioning and alignment of the bolt.

[0016] Furthermore, the mounting frame includes a longitudinal frame, a transverse frame, a vertical frame, a rail-supporting wheel, a longitudinal guide column and a vertical guide column, and the operating device also includes a longitudinal drive mechanism and a vertical drive mechanism. The longitudinal guide column is fixed to the vehicle frame, and the longitudinal frame can be movably arranged on the longitudinal guide column. The transverse frame is installed on the longitudinal frame, and the vertical guide column is vertically arranged on the transverse frame. The vertical frame can be movably arranged on the vertical guide column, and the tension shaft mechanism is installed on the vertical frame. One end of the longitudinal drive mechanism is connected to the vehicle frame, and the other end is connected to the longitudinal frame. One end of the vertical drive mechanism is connected to the vertical frame, and the other end is connected to the transverse frame. The image acquisition component, the sensor component and the rail-supporting wheel are all connected to the transverse frame.

[0017] Furthermore, the installation frame further comprises a transverse guide column and a transverse guide sleeve, wherein the transverse guide sleeve is installed on the transverse frame, and both ends of the transverse guide column are fixed on the longitudinal frame. The transverse guide sleeve is movably installed on the transverse guide column, and the rail-supporting wheel is installed on the transverse guide sleeve.

[0018] Furthermore, the longitudinal drive mechanism drives the longitudinal frame to move along the rail, thereby driving the tension shaft mechanism to move forward and backward. The vertical drive mechanism drives the vertical frame to move vertically, thereby driving the tension shaft mechanism to move up and down. The rail-supporting wheels drive the transverse frame to move transversely, so that the tension shaft mechanism always remains on both sides of the rail.

[0019] Furthermore, the tension shaft mechanism includes a driving unit, a speed reducer, a bearing assembly, a transmission shaft, a sleeve and an encoder. The speed reducer is installed below the driving unit, and the bearing assembly is installed below the speed reducer and connected to the vertical frame at the same time. A rotating shaft is arranged in the bearing assembly, and the encoder is installed below the bearing assembly. One end of the rotating shaft is connected to the speed reducer, and the other end is connected to the transmission shaft. The other end of the transmission shaft passes through the encoder and is connected to the sleeve.

[0020] Furthermore, the tension shaft mechanism also includes a buffer pad, a first elastic member and a connecting plate. The connection between the reducer and the bearing assembly is achieved through the connecting plate, the buffer pad is installed on the connecting plate and then installed on the vertical frame, and the buffer pad is arranged between the connecting plate and the vertical frame. The first elastic member is installed in the bearing assembly, and one end of the first elastic member abuts against the transmission shaft.

[0021] Furthermore, the working device also includes a rail clamping mechanism disposed on the frame, and when the sensor assembly detects a bolt, the working vehicle brakes and stops traveling, and the rail is clamped by the rail clamping mechanism. When the tensioning shaft mechanism completes operation, the rail clamping mechanism is loosened from the rail.

[0022] Furthermore, the track clamping mechanism 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 sub-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 sub-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 track clamping block. The rocker arm is movably connected to the sub-frame through a pin shaft, and the rocker arm can rotate around the pin shaft. One end of the second elastic member is connected to the sub-frame, and the other end is connected to the rocker arm to provide pulling force for the rocker arm.

[0023] 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, 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 second elastic member, so that the rail clamping block is loosened from the rail.

[0024] Furthermore, the operating device includes two tensioning shaft mechanisms arranged side by side in the transverse direction, and the installation positions of the two tensioning shaft mechanisms correspond to the positions of two bolts of the same fastener.

[0025] Furthermore, the image acquisition component and the sensor component are arranged in front of the tensioning shaft mechanism along the working direction, and maintain a set distance from the tensioning shaft mechanism.

[0026] Furthermore, the frame includes a main frame and a sub-frame, and the working device also includes a sub-frame installed on the main frame. The sub-frame is arranged on the main frame in the transverse direction, and the working device is arranged on at least one of the left and right sides of the sub-frame and is located on the outer side of the main frame in the transverse direction.

[0027] Furthermore, the lateral width of the sub-frame is greater than the lateral width of the frame, and the working device is symmetrically arranged on the left and right inner sides of the sub-frame along the lateral direction, and is located on the left and right outer sides of the frame along the lateral direction.

[0028] The present invention also specifically provides a technical implementation scheme of a self-tightening sleeper fastener bolt operation method based on the above device, and the self-tightening sleeper fastener bolt operation method comprises the following steps:

[0029] S10) When the work vehicle is moving, the sensor assembly detects the bolts at the same time;

[0030] S20) when the sensor assembly detects the bolt, the working vehicle brakes and stops moving, and clamps the rail through the rail clamping mechanism;

[0031] S30) The image acquisition component starts taking pictures and acquiring the position of the bolt, and the longitudinal drive mechanism drives the tension shaft mechanism to move a corresponding distance;

[0032] S40) when the tensioning shaft mechanism reaches a specified position, the vertical driving mechanism presses down a set distance so that the sleeve is sleeved on the bolt;

[0033] S50) the drive unit of the tightening / loosening shaft mechanism starts to rotate, and after rotating a set number of times, the drive unit stops working, and the tightening / loosening operation of the bolt is completed;

[0034] S60) The vertical drive mechanism is depressurized and reset, the longitudinal drive mechanism is reset, the rail clamping mechanism is released from the rail, and the work vehicle continues to move.

[0035] Furthermore, in the step S30), the longitudinal frame is driven to move along the rail direction by the longitudinal drive mechanism, thereby driving the tensioner shaft mechanism to move forward and backward. When the work vehicle is traveling, the rail-supporting wheels installed on the transverse guide sleeve are supported on the rails, and the transverse frame is driven to move transversely by the rail-supporting wheels, so that the tensioner shaft mechanism is always kept on both sides of the rails and aligned with the bolts, and the tensioner shaft mechanism reaches the specified position. In the step S40), the vertical frame is driven to perform a downward pressing operation in the vertical direction by the vertical drive mechanism, thereby driving the tensioner shaft mechanism to move downward, so that the sleeve is sleeved on the bolt.

[0036] Furthermore, in the step S20), 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. In the step S60), 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 second elastic member, so that the rail clamping block is loosened from the rail.

[0037] By implementing the technical solution of the self-tightening rail sleeper fastener bolt operation device and operation method provided by the present invention, the following beneficial effects are achieved:

[0038] (1) The self-tensioning rail sleeper fastener bolt operation device and operation method of the present invention can drive the tensioning shaft mechanism to move horizontally, longitudinally and vertically to achieve three-coordinate adjustment of the tensioning shaft mechanism and high-precision positioning of the bolt, which can effectively solve the technical problems of low positioning accuracy between the operation device and the bolt, fixed lateral distance between the tensioning shaft mechanism, and inability to adapt to large changes in bolt spacing;

[0039] (2) The self-tensioning rail sleeper fastener bolt operation device and operation method of the present invention adopts a transverse mechanism and a rail-restoring wheel, which can not only realize the transverse positioning of the tensioning shaft mechanism, but also adapt to the track gauge change within a certain range, and realize double-sided rail resting, making the trolley operation more stable;

[0040] (3) The self-tightening rail sleeper fastener bolt operation device and operation method of the present invention uses a visual sensing system that combines image recognition and sensors to perform secondary positioning of the bolts, which can accurately identify the bolt features and obtain the bolt positions;

[0041] (4) The self-tightening and loosening sleeper fastener bolt operation device and operation method of the present invention, the tensioning shaft mechanism outputs torque by adopting a combination of a hydraulic drive unit and a speed reduction mechanism, and the tightening shaft assembly has a torque detection function, which can detect the number of loosening and tightening circles, thereby realizing accurate control of the loosening and tightening torque; by adopting a flexible support member to support the tensioning shaft, it can adapt to the inclination of the sleeper bolt within a certain range; by arranging a spring connection between the tensioning sleeve and the speed reducer, it can be ensured that when the tensioning shaft is pressed down, the tensioning sleeve will not rigidly collide with the bolt due to excessive downward pressure, thereby realizing the function of the tensioning shaft to adapt to different bolt heights;

[0042] (5) The self-tightening and loosening sleeper fastener bolt operation device and operation method of the present invention, by adopting a rail clamping mechanism driven by an oil cylinder, can simultaneously achieve rapid braking of the operation vehicle and maintain relative fixity between the operation vehicle body and the rail when the bolts are loosened or tightened. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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.

[0044] Figure 1 It is a schematic front view of the structure of a specific embodiment of the self-tightening rail sleeper fastener bolt operating device of the present invention applied to an operating vehicle;

[0045] Figure 2It is a schematic front view of the structure of a specific embodiment of the self-tightening rail sleeper fastener bolt operating device of the present invention applied to an operating vehicle;

[0046] Figure 3 It is a structural schematic diagram of a specific embodiment of the self-tightening rail sleeper fastener bolt operating device of the present invention;

[0047] Figure 4 It is a front view of the working principle of a working vehicle used in a specific embodiment of the self-tightening and loosening rail sleeper fastener bolt working device of the present invention;

[0048] Figure 5 It is a rear view showing the working principle of a working vehicle used in a specific embodiment of the self-tensioning rail sleeper fastener bolt working device of the present invention;

[0049] Figure 6 It is a schematic diagram of the internal structure of a working vehicle used in a specific embodiment of the self-tightening and loosening sleeper fastener bolt working device of the present invention;

[0050] Figure 7 It is a schematic top view of the structure of a working vehicle used in a specific embodiment of the self-tightening and loosening sleeper fastener bolt working device of the present invention;

[0051] Figure 8 It is a three-dimensional diagram of the working principle of a working vehicle used in a specific embodiment of the self-tightening and loosening sleeper fastener bolt working device of the present invention;

[0052] Fig. 9 It is a schematic diagram of the action principle of a specific embodiment of the self-tightening rail sleeper fastener bolt operation device of the present invention;

[0053] Fig.10 It is a three-dimensional diagram of the installation structure of a specific embodiment of the self-tightening rail sleeper fastener bolt operation device of the present invention;

[0054] Fig.11 It is a partially enlarged structural schematic diagram of a specific embodiment of the self-tightening rail sleeper fastener bolt operating device of the present invention;

[0055] Fig.12 It is a partial enlarged structural schematic diagram of a specific embodiment of the self-tightening rail sleeper fastener bolt operating device of the present invention from another viewing angle;

[0056] Fig.13 It is a schematic structural front view of a specific embodiment of the self-tightening rail sleeper fastener bolt operating device of the present invention;

[0057] Fig.14 It is a schematic top view of the structure of a specific embodiment of the self-tightening rail sleeper fastener bolt operating device of the present invention;

[0058] Fig.15It is a schematic front view of the structure of a tensioning shaft mechanism in a specific embodiment of the self-tensioning rail sleeper fastener bolt operation device of the present invention;

[0059] Fig.16 It is a schematic side view of the structure of a tensioning shaft mechanism in a specific embodiment of the self-tensioning rail sleeper fastener bolt operation device of the present invention;

[0060] Fig.17 It is a schematic diagram of the assembly structure of the tensioning shaft mechanism in a specific embodiment of the self-tensioning rail sleeper fastener bolt operation device of the present invention;

[0061] Fig.18 It is a schematic cross-sectional structure diagram of a tensioning shaft mechanism in a specific embodiment of the self-tensioning rail sleeper fastener bolt operation device of the present invention;

[0062] Fig.19 It is a three-dimensional structural schematic diagram of a rail clamping mechanism in a specific embodiment of the self-tightening and loosening sleeper fastener bolt operating device of the present invention;

[0063] Fig. 20 It is a front view of the action principle of the rail clamping mechanism in a specific embodiment of the self-tightening and loosening sleeper fastener bolt operation device of the present invention;

[0064] Fig.21 It is a top view of the action principle of the rail clamping mechanism in a specific embodiment of the self-tightening and loosening sleeper fastener bolt operation device of the present invention;

[0065] In the figure: 1-driving wheel pair, 2-frame, 3-operating device, 301-longitudinal frame, 302-transverse frame, 303-vertical frame, 304-elastic shaft mechanism, 30401-driving unit, 30402-reducer, 30403-buffer pad, 30404-bearing assembly, 30405-first elastic member, 30406-transmission shaft, 30407-sleeve, 30408-encoder, 30409-rotating shaft, 30410-connecting plate, 305-image acquisition assembly, 306-sensor assembly, 307-rail wheel, 308-longitudinal driving mechanism, 309-longitudinal guide column, 310-vertical driving mechanism , 311-top beam, 312-vertical guide column, 313-lateral guide column, 314-lateral guide sleeve, 4-battery module, 5-driven wheelset, 6-inverter module, 7-power unit, 8-operation control cabinet, 9-sub-frame, 91-first beam, 92-second beam, 10-rail clamping mechanism, 1001-drive module, 1002-fixed seat, 1003-connecting rod, 1004-guide rod, 1005-rocker arm, 1006-second elastic member, 1007-rail clamping block, 1008-pin shaft, 11-rail, 12-sleeper, 13-bolt, 14-fastener, 15-wheel set, 16-main frame, 100-operation vehicle. DETAILED DESCRIPTION

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] As attached Figure 1 To Attachment Fig.21 As shown, a specific embodiment of the self-tightening rail sleeper fastener bolt operating device and operating method of the present invention is given, and the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0072] Example 1

[0073] As attached Figure 1 To Attachment Figure 3 As shown, an embodiment of a self-tightening rail sleeper fastener bolt operating device of the present invention, the operating device 3 specifically includes:

[0074] A mounting frame 300 mounted on the frame 2 of the work vehicle 100;

[0075] A sensor assembly 306 disposed on the mounting frame 300 for detecting the bolt 13;

[0076] An image acquisition assembly 305 disposed on the mounting frame 300 and used to realize the positioning of the bolt 13;

[0077] A tensioning shaft mechanism 304 is provided on the mounting frame 300 and is used to realize the tightening or loosening operation of the bolt 13 .

[0078] The tension shaft mechanism 304 can move in the lateral, longitudinal and vertical directions relative to the frame 2 to achieve positioning and alignment of the bolt 13 .

[0079] As attached Figure 3 , 11 , 12, 13 and 14, the working device 3 further includes a longitudinal frame 301, a transverse frame 302, a vertical frame 303, a rail wheel 307, a longitudinal guide column 309 and a vertical guide column 312, and the working device 3 also includes a longitudinal drive mechanism 308 and a vertical drive mechanism 310. The longitudinal guide column 309 is fixed to the sub-frame 9, and the longitudinal frame 301 is movably arranged on the longitudinal guide column 309. The transverse frame 302 is installed on the longitudinal frame 301, and a vertical guide column 312 is vertically arranged on the transverse frame 302. The vertical frame 303 is movably arranged on the vertical guide column 312, and the tension shaft mechanism 304 is installed on the vertical frame 303. One end of the longitudinal drive mechanism 308 is connected to the sub-frame 9, and the other end is connected to the longitudinal frame 301. One end of the vertical drive mechanism 310 is connected to the top beam 311 of the vertical frame 303, and the other end is connected to the transverse frame 302. The image acquisition assembly 305 , the sensor assembly 306 and the rail wheel 307 are all connected to the transverse frame 302 .

[0080] The mounting frame 300 further includes a transverse guide post 313 and a transverse guide sleeve 314. The transverse guide sleeve 314 is mounted on the transverse frame 302. Both ends of the transverse guide post 313 are fixed on the longitudinal frame 301. The transverse guide sleeve 314 is movably mounted on the transverse guide post 313. The rail-supporting wheel 307 is mounted on the transverse guide sleeve 314. The longitudinal frame 301 is driven along the track direction (such as the attached Figure 7 and attached Fig.10The vertical frame 303 is driven by the vertical drive mechanism 310 to move in the vertical direction (as shown in the figure L, i.e., the longitudinal direction), thereby driving the tension shaft mechanism 304 to move forward and backward. Figure 5 , 8 , 9 and 10) to move, thereby driving the tension shaft mechanism 304 to move up and down. The horizontal frame 302 is driven by the rail wheel 307 to move in the horizontal direction (as shown in the attached Figure 2 , 5 , 7, 8, 9 and 10, i.e., the length direction of the sleeper 12), so that the tension shaft mechanism 304 is always kept on both sides of the rail 11, and the operation of the working vehicle 100 is more stable through the double-sided rail leaning while realizing the adaptive track gauge change. As an alternative embodiment, the structure that adapts to the track gauge change can be changed from the combination of the rail leaning wheel 307 and the transverse mechanism to the combination of the oil cylinder or the motor and the transverse mechanism, and the double-sided rail leaning mode of the rail leaning wheel 307 can also be changed to the single-sided rail leaning mode of the elastic structure.

[0081] As attached Figure 2 , 7 As shown in Figures 10 and 11, the lateral width of the sub-frame 9 is greater than the lateral width of the frame 2, and the sub-frame 9 includes a first crossbeam 91 and a second crossbeam 92 which are parallel to and opposite to each other. The working device 3 is symmetrically arranged on the left and right inner sides of the sub-frame 9 in the lateral direction, and is located on the left and right outer sides of the frame 2 in the lateral direction. The transverse frame 302 further adopts a rectangular parallelepiped frame structure. Two longitudinal guide posts 309 are connected between the first crossbeam 91 and the second crossbeam 92, and the two longitudinal guide posts 309 are parallel to and opposite to each other. The longitudinal frame 301 is movably mounted on the two longitudinal guide posts 309. The two transverse guide posts 313 extend in the direction of the sleepers, are parallel to and opposite to each other, and the two transverse guide sleeves 314 are movably mounted on the transverse guide posts 313, respectively. Four vertical guide posts 312 extend vertically and are arranged in parallel to each other inside the transverse frame 302, and the vertical frame 303 is movably mounted on the vertical guide posts 312. The transverse guide sleeve 314 is mounted on the transverse frame 302 . One end of the longitudinal drive mechanism 308 is connected to the first crossbeam 91 , and the other end is connected to the transverse guide sleeve 314 .

[0082] As attached Fig.15 , 16, 17 and 18, the tension shaft mechanism 304 further includes a driving unit 30401, a reducer 30402, a bearing assembly 30404, a transmission shaft 30406, a sleeve 30407 and an encoder 30408. The reducer 30402 is installed below the driving unit 30401, and the bearing assembly 30404 is installed below the reducer 30402 and is also connected to the vertical frame 303. A rotating shaft 30409 is further provided in the bearing assembly 30404, and the encoder 30408 ​​is installed below the bearing assembly 30404. One end of the rotating shaft 30409 is connected to the reducer 30402, and the other end is connected to the transmission shaft 30406. The other end of the transmission shaft 30406 passes through the encoder 30408 ​​and is connected to the sleeve 30407. As a preferred embodiment of the present invention, the drive unit 30401 can further adopt a (quantitative plunger) hydraulic motor, the drive unit 30401 can also adopt an electric drive structure, and the sleeve 30407 can further adopt a universal sleeve.

[0083] The tension shaft mechanism 304 further includes a buffer pad 30403, a first elastic member 30405 and a connecting plate 30410, and the connection between the reducer 30402 and the bearing assembly 30404 is realized by the connecting plate 30410. The buffer pad 30403 is installed on the connecting plate 30410 and then installed on the vertical frame 303. The buffer pad 30403 is arranged between the connecting plate 30410 and the vertical frame 303, which can adapt to the situation where the bolt 13 is tilted. The buffer pad 30403 can also be changed from a flexible support member to a spring support structure. The first elastic member 30405 is installed in the bearing assembly 30404, and one end is abutted against the transmission shaft 30406. The first elastic member 30405 further adopts an ordinary metal spring or a gas spring.

[0084] As attached Figure 1 , 4 As shown in FIGS. 6, 8 and 11, a rail clamping mechanism 10 is further provided on the sub-frame 9. When the sensor assembly 306 detects the bolt 13, the working vehicle 100 brakes and stops traveling, and the rail 11 is clamped by the rail clamping mechanism 10. When the tensioning shaft mechanism 304 is finished, the rail clamping mechanism 10 is loosened from the rail 11. Fig.19 , 20 As shown in FIG. 21 , the rail clamping mechanism 10 further includes a driving module 1001, a fixing seat 1002, and a fixing seat 1002 as the center and extending in a horizontal direction (as shown in FIG. Fig.19 , 20The connecting rod 1003, the guide rod 1004 and the rocker arm 1005 are symmetrically arranged from the inside to the outside (in the direction shown by W in FIG. 21). The fixing seat 1002 is installed on the sub-frame 9, and the driving module 1001 is installed in the fixing seat 1002. One end of the two connecting rods 1003 is connected to the driving module 1001, and they are respectively arranged on the left and right sides of the driving module 1001. The other end of the connecting rod 1003 is connected to one end of the guide rod 1004, and the guide rod 1004 is movably installed on the sub-frame 9. The other end of the guide rod 1004 is in contact with one end of the rocker arm 1005, and the other end of the rocker arm 1005 is provided with a rail clamping block 1007. The rocker arm 1005 is movably connected to the sub-frame 9 through a pin shaft 1008, and the rocker arm 1005 can rotate around the pin shaft 1008. One end of the second elastic member 1006 is connected to the sub-frame 9, and the other end is connected to the rocker arm 1005 to provide tension for the rocker arm 1005. As a preferred embodiment of the present invention, the driving module 1001 can further use a hydraulic cylinder, and the second elastic member 1006 can further use a tension spring.

[0085] When the driving module 1001 contracts inward, it drives the connecting rod 1003 to move, and then drives the guide rod 1004 to move outward. The guide rod 1004 pushes the rocker arm 1005 outward and rotates it, so that the rail clamping block 1007 connected to the rocker arm 1005 clamps the rail 11. When the driving module 1001 extends outward, it drives the connecting rod 1003 to move, and then pulls the guide rod 1004 to move inward. The rocker arm 1005 is lifted upward under the pulling force of the second elastic member 1006, so that the rail clamping block 1007 is loosened from the rail 11. In this embodiment, the rail clamping mechanism 10 adopts a structure of clamping the rail from the outside of the rail 11, and can also adopt a structure of clamping the rail from the inside of the rail 11.

[0086] As attached Fig.11 and attached Fig.12 As shown, the image acquisition component 305 and the sensor component 306 are arranged in front of the tension shaft mechanism 304 along the working direction, and maintain a set distance from the tension shaft mechanism 304. The image acquisition component 305 can further adopt a camera component, and the sensor component 306 is selected from any one or a combination of laser sensors, ultrasonic sensors, proximity switches and metal induction sensors.

[0087] As attached Fig.10 As shown, the vehicle frame 2 further includes a main frame 16 and a sub-frame 9, and the working device 3 further includes a sub-frame 9 mounted on the main frame 16. The sub-frame 9 is arranged on the main frame 16 in the transverse direction, and the working device 3 is arranged on at least one of the left and right sides of the sub-frame 9 and is located on the outer side of the main frame 16 in the transverse direction.

[0088] The rail 11 is fixed to the sleeper 12 by a fastener 14, and the fastener 14 further includes a bolt 13. Fig. 9and attached Fig.10 As shown, the operating device 3 includes two tensioning shaft mechanisms 304 arranged side by side in the transverse direction, and the installation positions of the two tensioning shaft mechanisms 304 correspond to the positions of two bolts 13 of the same fastener 14, 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.

[0089] In this embodiment, the longitudinal drive mechanism 308, the vertical drive mechanism 310 and the drive module 1001 can be specifically driven by oil cylinders, air cylinders, electric cylinders or motors. The combination of guide sleeves and guide posts (longitudinal frame 301 and longitudinal guide posts 309, vertical frame 303 and vertical guide posts 312, and transverse guide posts 313 and transverse guide sleeves 314) 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.

[0090] Example 2

[0091] As attached Figure 1 To Attachment Fig.12 As shown, an operating device 3 described in Example 1 is applied to an embodiment of a self-tightening and loosening sleeper fastener bolt operating vehicle, and the operating vehicle 100 specifically includes:

[0092] A frame 2 supported on rails 11 by a wheelset 15;

[0093] A sub-frame 9 is disposed on the vehicle frame 2 in a transverse direction; the sub-frame 9 can be further specifically installed below the vehicle frame 2;

[0094] The working device 3 is disposed on at least one of the left and right sides of the sub-frame 9 and is located on the outer side of the frame 2 in the lateral direction.

[0095] The operating device 3 is provided with a sensor assembly 306 for detecting the bolt 13, an image acquisition assembly 305 for positioning the bolt 13, and a tensioning shaft mechanism 304 for tightening or loosening the bolt 13. The operating device 3 can drive the tensioning shaft mechanism 304 to move in the lateral, longitudinal and vertical directions relative to the sub-frame 9 to achieve the positioning and alignment of the bolt 13.

[0096] As attached Figure 1 , 2 As shown in Figure 6, the wheelset 15 further includes a driving wheelset 1 and a driven wheelset 5, and the subframe 9 is further arranged between the driving wheelset 1 and the driven wheelset 5. The frame 2 carries a battery module 4, an inverter module 6, a power unit 7 and an operation control cabinet 8, and is covered by a cover. The power unit 7 can be specifically assembled using a hydraulic station or a pneumatic power source. The rail clamping mechanism 10 is located at the working device 3 along the working direction (such as the attached Figure 1 , 48 and the direction shown by L), and is arranged close to the driven wheel pair 5. The driving wheel pair 1 and the driven wheel pair 5 constitute the running system of the working vehicle 100, wherein the driving wheel pair 1 is equipped with a hydraulic motor, which can enable the working vehicle 100 to achieve continuous high-speed self-running and frequent start and stop. The working vehicle 100 can also be driven by an electric motor or a pneumatic motor instead of a hydraulic motor to achieve the running of the working vehicle 100. The frame 2 is installed on the driving wheel pair 1 and the driven wheel pair 5 by bolt connection. The frame 2 is the main load-bearing structural member of the whole vehicle, which needs to meet the requirements of load-bearing and work support, and reduce the weight as much as possible. According to the design requirements of the scheme, the frame assembly of the entire working vehicle 100 is mainly composed of two major parts: the frame 2 and the sub-frame 9. The frame 2 and the sub-frame 9 are formed by welding respectively, and the overall structural size is ensured by post-welding processing. The frame 2 and the sub-frame 9 are connected by bolts, and the frame 2 and the sub-frame 9 can also adopt an integrally formed frame structure.

[0097] Example 3

[0098] An embodiment of a self-tightening rail sleeper fastener bolt operation method based on the device described in embodiment 1, the method specifically comprises the following steps:

[0099] S10) When the working vehicle 100 is moving, the sensor assembly 306 simultaneously detects the bolt 13;

[0100] S20) When the sensor assembly 306 detects the bolt 13, the work vehicle 100 brakes and stops traveling, and at the same time clamps the rail 11 through the rail clamping mechanism 10;

[0101] S30) The image acquisition component 305 starts taking pictures and acquires the position of the bolt 13, and the longitudinal drive mechanism 308 drives the tension shaft mechanism 304 to move a corresponding distance;

[0102] S40) When the tension shaft mechanism 304 reaches the specified position, the vertical drive mechanism 310 presses down a set distance so that the sleeve 30407 is sleeved on the bolt 13;

[0103] S50) The drive unit 30401 of the tensioning shaft mechanism 304 starts to rotate, and after rotating a set number of times, the drive unit 30401 stops working, and the tightening and loosening operation of the bolt 13 is completed;

[0104] S60) The vertical drive mechanism 310 is depressurized and reset, the longitudinal drive mechanism 308 is reset, the rail clamping mechanism 10 is released from the rail 11, and the work vehicle 100 continues to move.

[0105] In the step S30), the longitudinal frame 301 is driven to move along the rail by the longitudinal drive mechanism 308, thereby driving the tension shaft mechanism 304 to move forward and backward. When the work vehicle 100 is traveling, the rail-supporting wheels 307 installed on the transverse guide sleeve 314 are supported on the rail 11, and the transverse frame 302 is driven to move transversely by the rail-supporting wheels 307, so that the tension shaft mechanism 304 is always kept on both sides of the rail 11 and aligned with the bolt 13, and the tension shaft mechanism 304 reaches the specified position.

[0106] In step S40 ), the vertical frame 303 is driven by the vertical driving mechanism 310 to perform a downward pressing operation in the vertical direction, thereby driving the tensioning shaft mechanism 304 to press downward, so that the sleeve 30407 is sleeved on the bolt 13 .

[0107] In step S20), when the driving module 1001 contracts inward, it drives the connecting rod 1003 to move, and then drives the guide rod 1004 to move outward. The guide rod 1004 pushes the rocker arm 1005 outward and causes it to rotate, so that the rail clamping block 1007 connected to the rocker arm 1005 clamps the rail 11.

[0108] In step S60), when the driving module 1001 extends outward, it drives the connecting rod 1003 to move, and then pulls the guide rod 1004 to move inward. The rocker arm 1005 is lifted upward under the pulling force of the second elastic member 1006, so that the rail clamping block 1007 connected to the rocker arm 1005 is loosened from the rail 11.

[0109] 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 mechanism 304 remains stationary relative to the ground under the action of the longitudinal drive mechanism 308. In this case, the track clamping mechanism 10 is not required.

[0110] By implementing the technical solutions of the self-tightening rail sleeper fastener bolt operation device and operation method described in the specific embodiments of the present invention, the following technical effects can be produced:

[0111] (1) The self-tightening and loosening sleeper fastener bolt operation device and operation method described in the specific embodiment of the present invention can drive the tensioning shaft mechanism to move horizontally, longitudinally and vertically to achieve three-coordinate adjustment of the tensioning shaft mechanism and high-precision positioning of the bolt, which can effectively solve the technical problems of low positioning accuracy between the operation device and the bolt, fixed lateral distance between the tensioning shaft mechanism, and inability to adapt to large changes in bolt spacing;

[0112] (2) The self-tensioning rail sleeper fastener bolt operation device and operation method described in the specific embodiment of the present invention, the operation device adopts a transverse mechanism and a rail-restoring wheel, which can not only realize the transverse positioning of the tensioning shaft mechanism, but also adapt to the track gauge change within a certain range, and realize double-sided rail resting, making the trolley operation more stable;

[0113] (3) In the self-tightening rail sleeper fastener bolt operation device and operation method 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 position;

[0114] (4) The self-tightening and loosening rail sleeper fastener bolt operation device and operation method described in the specific embodiment of the present invention, the tensioning shaft mechanism outputs torque by adopting a combination of a hydraulic drive unit and a reduction mechanism, and adopts a quantitative plunger motor to drive the tensioning shaft. The tightening shaft assembly has a torque detection function and can detect the number of loosening and tightening circles, thereby realizing precise control of the tensioning torque; by adopting a flexible support member to support the tensioning shaft, it can adapt to the inclination of the rail sleeper bolt within a certain range; by arranging a spring connection between the tensioning sleeve and the reducer, it can be ensured that when the tensioning shaft is pressed down, the tensioning sleeve will not rigidly collide with the bolt due to excessive downward pressure, thereby realizing the function of the tensioning shaft to adapt to different bolt heights;

[0115] (5) The self-tightening and loosening sleeper fastener bolt operation device and operation method described in the specific embodiment of the present invention can simultaneously achieve rapid braking of the operation vehicle and maintain relative fixity between the operation vehicle body and the rail when the bolts are loosened or tightened by adopting a rail clamping mechanism driven by a cylinder.

[0116] 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.

[0117] 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 fastener bolt operating device, characterized in that: The operating device (3) comprises: A mounting frame (300) mounted on a frame (2) of a working vehicle (100); A sensor assembly (306) disposed on the mounting frame (300) and used to detect the bolt (13); An image acquisition component (305) disposed on the mounting frame (300) and used to achieve positioning of the bolt (13); and a tightening shaft mechanism (304) disposed on the mounting frame (300) and used to realize the tightening or loosening operation of the bolt (13); The tension shaft mechanism (304) can move in the transverse, longitudinal and vertical directions relative to the vehicle frame (2) to achieve positioning and alignment of the bolt (13); the tension shaft mechanism (304) comprises a drive unit (30401), a reducer (30402), a bearing assembly (30404), a transmission shaft (30406), a sleeve (30407) and an encoder (30408); the reducer (30402) is installed below the drive unit (30401), and the bearing assembly (30404) is installed below the drive unit (30401). The bearing assembly (30404) is installed below the reducer (30402) and is also connected to the vertical frame (303); a rotating shaft (30409) is provided inside the bearing assembly (30404), and the encoder (30408) is installed below the bearing assembly (30404); one end of the rotating shaft (30409) is connected to the reducer (30402), and the other end is connected to the transmission shaft (30406); the other end of the transmission shaft (30406) passes through the encoder (30408) and is connected to the sleeve (30407); The working device (3) further comprises a rail clamping mechanism (10) arranged on the vehicle frame (2); when the sensor assembly (306) detects the bolt (13), the working vehicle (100) brakes and stops moving, and at the same time clamps the steel rail (11) through the rail clamping mechanism (10); when the tensioning shaft mechanism (304) completes operation, the rail clamping mechanism (10) is released from the steel rail (11); the vehicle frame (2) comprises a main frame (16) and a sub-frame (9); the working device (3) The vehicle also comprises a sub-frame (9) mounted on the main frame (16); the sub-frame (9) is arranged on the main frame (16) in the transverse direction, the working device (3) is arranged on at least one of the left and right sides of the sub-frame (9), and is located on the outside of the main frame (16) in the transverse direction; the transverse width of the sub-frame (9) is greater than the transverse width of the vehicle frame (2), the working device (3) is symmetrically arranged on the left and right inner sides of the sub-frame (9) in the transverse direction, and is located on the left and right outer sides of the vehicle frame (2) in the transverse direction; The rail clamping mechanism (10) comprises a driving module (1001), a fixing seat (1002), and a connecting rod (1003), a guide rod (1004) and a rocker arm (1005) which are symmetrically arranged in sequence from the inside to the outside along the transverse direction with the fixing seat (1002) as the center; the fixing seat (1002) is mounted on the sub-frame (9), and the driving module (1001) is mounted in the fixing seat (1002); one end of each of the two connecting rods (1003) is connected to the driving module (1001), and the two connecting rods (1003) are respectively arranged on the left and right sides of the driving module (1001); the other end of the connecting rod (1003) is connected to one end of the guide rod (1004); The guide rod (1004) is movably mounted on the sub-frame (9); the other end of the guide rod (1004) is in contact with one end of the rocker arm (1005); the other end of the rocker arm (1005) is provided with a rail clamping block (1007); the rocker arm (1005) is movably connected to the sub-frame (9) via a pin shaft (1008); the rocker arm (1005) is rotatable around the pin shaft (1008); one end of the second elastic member (1006) is connected to the sub-frame (9), and the other end is connected to the rocker arm (1005) to provide a pulling force for the rocker arm (1005); the second elastic member (1006) is a tension spring; When the driving module (1001) contracts inwards, it drives the connecting rod (1003) to move, thereby driving the guide rod (1004) to move outwards, and the guide rod (1004) pushes the rocker arm (1005) outwards and rotates it, so that the rail clamping block (1007) connected to the rocker arm (1005) clamps the rail (11); when the driving module (1001) extends outwards, it drives the connecting rod (1003) to move, thereby pulling the guide rod (1004) to move inwards, and the rocker arm (1005) is lifted upwards under the pulling force of the second elastic member (1006), so that the rail clamping block (1007) is loosened from the rail (11).

2. The self-tightening sleeper fastener bolt operation device according to claim 1, characterized in that: The mounting frame (300) comprises a longitudinal frame (301), a transverse frame (302), a vertical frame (303), a rail-supporting wheel (307), a longitudinal guide column (309) and a vertical guide column (312); the operating device (3) further comprises a longitudinal drive mechanism (308) and a vertical drive mechanism (310); the longitudinal guide column (309) is fixed to the vehicle frame (2); the longitudinal frame (301) is movably arranged on the longitudinal guide column (309); the transverse frame (302) is mounted on the longitudinal frame (301); the vertical guide column (312) is arranged vertically on the transverse frame The vehicle frame (302) is provided on the vertical frame (303); the vertical frame (303) is movably arranged on the vertical guide column (312); the tension shaft mechanism (304) is installed on the vertical frame (303); one end of the longitudinal drive mechanism (308) is connected to the vehicle frame (2), and the other end is connected to the longitudinal frame (301); one end of the vertical drive mechanism (310) is connected to the vertical frame (303), and the other end is connected to the transverse frame (302); the image acquisition component (305), the sensor component (306) and the rail-supporting wheel (307) are all connected to the transverse frame (302).

3. The self-tightening sleeper fastener bolt operation device according to claim 2, characterized in that: The mounting frame (300) further comprises a transverse guide column (313) and a transverse guide sleeve (314); the transverse guide sleeve (314) is mounted on the transverse frame (302); both ends of the transverse guide column (313) are fixed on the longitudinal frame (301); the transverse guide sleeve (314) is movably mounted on the transverse guide column (313); and the rail-supporting wheel (307) is mounted on the transverse guide sleeve (314).

4. The self-tightening sleeper fastener bolt operation device according to claim 3, characterized in that: The longitudinal drive mechanism (308) drives the longitudinal frame (301) to move along the rail direction, thereby driving the tension shaft mechanism (304) to move forward and backward; the vertical drive mechanism (310) drives the vertical frame (303) to move vertically, thereby driving the tension shaft mechanism (304) to move up and down; and the rail-supporting wheels (307) drive the transverse frame (302) to move transversely, so that the tension shaft mechanism (304) is always maintained on both sides of the rail (11).

5. The self-tightening sleeper fastener bolt operation device according to claim 4, characterized in that: The tension shaft mechanism (304) further comprises a buffer pad (30403), a first elastic member (30405) and a connecting plate (30410); the connection between the reducer (30402) and the bearing assembly (30404) is achieved through the connecting plate (30410); the buffer pad (30403) is installed on the connecting plate (30410) and then installed on the vertical frame (303); the buffer pad (30403) is arranged between the connecting plate (30410) and the vertical frame (303); the first elastic member (30405) is installed in the bearing assembly (30404), and one end thereof abuts against the transmission shaft (30406).

6. The self-tightening sleeper fastener bolt operation device according to any one of claims 1 to 5, characterized in that: The operating device (3) comprises two tensioning shaft mechanisms (304) arranged side by side in a transverse direction, and the installation positions of the two tensioning shaft mechanisms (304) correspond to the positions of two bolts (13) of the same fastener (14).

7. The self-tightening sleeper fastener bolt operation device according to claim 6, characterized in that: The image acquisition component (305) and the sensor component (306) are arranged in front of the tensioning shaft mechanism (304) along the working direction, and maintain a set distance from the tensioning shaft mechanism (304).

8. A method for operating self-tightening sleeper fastener bolts based on the device according to any one of claims 1 to 7, characterized in that: The operation method comprises the following steps: S10) when the working vehicle (100) is moving, the sensor assembly (306) simultaneously detects the bolt (13); S20) when the sensor assembly (306) detects the bolt (13), the working vehicle (100) brakes and stops traveling, and at the same time clamps the rail (11) through the rail clamping mechanism (10); S30) the image acquisition component (305) starts taking pictures and acquiring the position of the bolt (13), and the longitudinal drive mechanism (308) drives the tension shaft mechanism (304) to move a corresponding distance; S40) when the tensioning shaft mechanism (304) reaches a specified position, the vertical driving mechanism (310) presses down a set distance so that the sleeve (30407) is sleeved on the bolt (13); S50) the driving unit (30401) of the tightening / loosening shaft mechanism (304) starts to rotate, and after rotating a set number of times, the driving unit (30401) stops working, and the tightening / loosening operation of the bolt (13) is completed; S60) The vertical drive mechanism (310) is depressurized and reset, the longitudinal drive mechanism (308) is reset, the rail clamping mechanism (10) is released from the rail (11), and the work vehicle (100) continues to move.

9. The self-tightening sleeper fastener bolt operation method according to claim 8, characterized in that: In the step S30), the longitudinal frame (301) is driven to move along the rail direction by the longitudinal driving mechanism (308), thereby driving the tension shaft mechanism (304) to move forward and backward; when the working vehicle (100) is moving, the rail-supporting wheel (307) installed on the transverse guide sleeve (314) is supported on the rail (11), and the transverse frame (302) is driven to move in the transverse direction by the rail-supporting wheel (307), so that the tension shaft mechanism (304) is always kept on both sides of the rail (11) and aligned with the bolt (13), and the tension shaft mechanism (304) reaches the specified position; in the step S40), the vertical frame (303) is driven to perform a downward pressing operation in the vertical direction by the vertical driving mechanism (310), thereby driving the tension shaft mechanism (304) to move downward, so that the sleeve (30407) is sleeved on the bolt (13).

10. The self-tightening sleeper fastener bolt operation method according to claim 8 or 9, characterized in that: In the step S20), when the driving module (1001) contracts inwards, it drives the connecting rod (1003) to move, thereby driving the guide rod (1004) to move outwards, and the guide rod (1004) pushes the rocker arm (1005) outwards and causes it to rotate, so that the rail clamping block (1007) connected to the rocker arm (1005) clamps the rail (11); in the step S60), when the driving module (1001) extends outwards, it drives the connecting rod (1003) to move, thereby pulling the guide rod (1004) to move inwards, and the rocker arm (1005) is lifted upwards under the pulling force of the second elastic member (1006), so that the rail clamping block (1007) is loosened from the rail (11).

Images