An automatic placing tractor for drum track laying and method

Abstract

The present invention discloses a tractor and a method for automatically placing rollers for track laying, which includes a roller storage pool arranged on the tractor, a roller lowering opening arranged in front of the storage pool, and a roller picking and placing device arranged above the storage pool. The roller picking and placing device includes a transfer mechanism and a roller gripper arranged on the transfer mechanism. The roller gripper can move vertically, horizontally, and up and down along with the transfer mechanism, and can place the grabbed roller at a designated position. A transfer platform is arranged in the area of the lowering opening. The roller picking and placing device is divided into a transfer group and a lowering group. The transfer group transfers the rollers from the storage pool to the transfer platform, and the lowering group places the rollers from the transfer platform through the lowering opening onto the roadbed; the operations of transferring the rollers and lowering the rollers are carried out simultaneously. The advantages of the present invention are as follows: the speed of placing the rollers is increased by about one time; the speed of grasping and locking the rail is fast and stable, and it is easy to release the rail; the roller placing device uses a gear and rack combination to propel when traveling on the track, with a fast speed and low energy consumption.

Description

Technical Field

[0001] The present invention relates to a tractor and method for automatically placing rollers for track laying, belonging to the technical field of railway track laying. Background Art

[0002] With the rapid development of rail transit, manual track laying and semi-mechanized track laying can no longer meet the requirements of railway construction in terms of progress and quality, and automated track laying has gradually become the trend of railway construction development.

[0003] Throughout the entire process of automated track laying, how to automatically place rollers in the front and how to automatically grasp and tow the rail in the back and accurately place the rail on the rollers are issues that the industry has been continuously researching. There are still defects such as slow roller placement speed and the need for manual participation in rail grasping and locking.

[0004] Through domestic retrieval, it is found that the invention patent with the application number 201811510758.4 and the name of a device for collecting and releasing rollers for track laying, a tractor, and a track laying operation method is the closest to the present invention. However, the solution described in this patent has the following defects:

[0005] 1. There is only one set (two sets, one on each of the left and right) of devices for automatically placing rollers. Since the moving distance from grasping the roller to placing the roller is long, the number of rollers placed per unit time is small, resulting in a slow operation speed and low efficiency in the entire track laying process.

[0006] 2. When grasping and locking the rail, this solution has a process of manually driving a wedge block to lock the rail, which not only delays the time for locking the rail but also takes time to withdraw the driven wedge block when releasing the rail.

[0007] 3. The device for placing rollers travels on longitudinal tracks, transverse tracks, and vertical tracks, and its track traveling method adopts the propulsion method of relative rotation of a lead screw and a nut. One of the lead screw or the nut needs to rotate at a high speed to move quickly on the track, resulting in fast wear of the propulsion lead screw and nut and high energy consumption. Summary of the Invention

[0008] The main technical problem to be solved by the present invention is the problem of slow speed and low efficiency in automatically placing rollers.

[0009] In view of the above problems, the technical solution proposed by the present invention is:

[0010] An automatic placing tractor for drum track laying, comprising a drum storage pool arranged on the tractor, a drum lowering opening arranged in front of the storage pool, and a drum picking and placing device arranged above the storage pool. The drum picking and placing device includes a transfer mechanism and a drum gripper arranged on the transfer mechanism. The drum gripper can move longitudinally, horizontally, and vertically along with the transfer mechanism and can place the grabbed drum at a designated position. A transfer platform is arranged in the area of the lowering opening. The drum picking and placing device is divided into a transfer group and a lowering group. The transfer group transfers the drum from the storage pool to the transfer platform, and the lowering group places the drum from the transfer platform through the lowering opening onto the roadbed. The operation of the transfer group transferring the drum from the storage pool to the transfer platform and the operation of the lowering group placing the drum from the transfer platform onto the roadbed are carried out simultaneously.

[0011] Further, the transfer group is divided into a left transfer picking and placing device and a right transfer picking and placing device, the lowering group is divided into a left lowering picking and placing device and a right lowering picking and placing device, and the transfer platform is divided into a left transfer platform and a right transfer platform. The left transfer picking and placing device and the right transfer picking and placing device transfer the drums grabbed from the storage pool to the left transfer platform and the right transfer platform respectively, and the left lowering picking and placing device and the right lowering picking and placing device place the drums grabbed from the left transfer platform and the right transfer platform on the left side and the right side of the roadbed respectively.

[0012] Further, the transfer mechanism of the picking and placing device includes a longitudinal rail, a transverse rail running on the longitudinal rail, and a vertical rail running on the transverse rail. The transfer mechanism adopts a running mode of cooperation between gears and racks. The racks include a longitudinal rack, a transverse rack, and a vertical rack, which are respectively arranged on the longitudinal rail, the transverse rail, and the vertical rail.

[0013] The transfer mechanism further includes a longitudinal driving seat fixed on one side of the transverse rail. The longitudinal driving seat is provided with a longitudinally driving gear driven by a motor. The teeth of the longitudinally driving gear mesh with the teeth of the longitudinal rail. The rotation of the longitudinally driving gear can drive the transverse rail to move longitudinally.

[0014] The transfer mechanism further includes a double-link driving seat running on the other side of the transverse rail. The vertical rail runs on the double-link driving seat.

[0015] The double-link driving seat is provided with a transversely driving gear driven by a motor. The teeth of the transversely driving gear mesh with the teeth of the transverse rack. The rotation of the transversely driving gear drives the double-link driving seat and the vertical rail to move transversely.

[0016] The double-link driving seat is provided with a vertically driving gear driven by a motor. The teeth of the vertically driving gear mesh with the teeth of the vertical rack. The rotation of the vertically driving gear drives the vertical rail to move vertically.

[0017] The drum gripper is installed at the lower end of the vertical rail.

[0018] Further, the drum gripper includes two symmetrically arranged clamping arms on the left and right and clamping palms respectively belonging to the lower sides of the two clamping arms. The upper clamping arm and the lower clamping palm are disconnected, and a self-damaging block is arranged between the clamping arm and the clamping palm. The clamping arm and the clamping palm are fixedly connected by the self-damaging block; a breaking groove is formed in the self-damaging block.

[0019] The breaking groove is formed in the inner side and the outer side of the self-damaging block.

[0020] The distance between the clamping arm and the clamping palm is greater than 10 mm.

[0021] The self-damaging block is connected to the clamping arm and the clamping palm by bolts.

[0022] Further, a plurality of drum baskets that can be lifted and transferred are placed in the drum storage pool, and at least two layers of neatly arranged drums can be placed in the drum baskets.

[0023] Preferably, four drum baskets are actually placed, one in front and one behind on the left and right sides of the drum storage pool.

[0024] Further, the tractor also includes two automatic locking manipulators for gripping and locking the rail, which are respectively installed on the left and right sides of a cross beam that can be lifted and lowered at the rear of the tractor; the automatic locking manipulator includes a fixed seat, a clamping assembly and an inclined propulsion cylinder; the fixed seat is fixed on the cross beam, the clamping assembly includes a main frame and a gripping device arranged at the lower end of the main frame; the main frame is installed on the fixed seat through a first rotating shaft; the inclined propulsion cylinder is installed on the fixed seat, and its propulsion end is connected to the main frame through a second rotating shaft above the first rotating shaft and can propel the main frame to rotate around the first rotating shaft.

[0025] Further, the main frame includes a connecting plate and mounting plates I and II symmetrically fixed on both sides of the connecting plate. There is a distance between mounting plates I and II to form a mounting space; the gripping device includes a first hanging pin and a second hanging pin. The first hanging pin and the second hanging pin are respectively located in first hanging pin holes and second hanging pin holes symmetrically arranged at the lower ends of mounting plates I and II, and the first hanging pin and the second hanging pin can be inserted into and withdrawn from the first hanging pin holes and the second hanging pin holes respectively.

[0026] Further, the grasping device further includes a front tread surface one and a rear tread surface one respectively formed by the lower end surface of the first mounting plate, and a front tread surface two and a rear tread surface two respectively formed by the lower end surface of the second mounting plate; when grasping the rail, the first hanging pin and the second hanging pin are respectively inserted from the first hanging pin hole and the second hanging pin hole under the bottom surface one and the bottom surface two on both sides of the rail head, and the front tread surface one, the rear tread surface one of the first mounting plate and the front tread surface two, the rear tread surface two of the second mounting plate are respectively located above the top surface one and the top surface two of the rail bottom on both sides of the rail; when the lower end of the main frame tilts forward after grasping the rail, while the first hanging pin and the second hanging pin are respectively in contact with and stressed by the bottom surfaces on both sides of the rail head, the rear tread surface one and the rear tread surface two are respectively in contact with and stressed by the top surfaces one and two on both sides of the rail bottom, realizing the external support type locking of the rail; when the lower end of the main frame tilts backward after grasping the rail, while the first hanging pin and the second hanging pin are respectively in contact with and stressed by the bottom surfaces one and two on both sides of the rail head, the front tread surface one and the front tread surface two are respectively in contact with and stressed by the top surfaces one and two on both sides of the rail bottom, also realizing the external support type locking of the rail.

[0027] Further, the clamping assembly further includes a first push pin palm and a second push pin palm; the first push pin palm and the second push pin palm are respectively located on the outer side surfaces of the first mounting plate and the second mounting plate outside the main frame installation space and can slide up and down along the outer side surfaces of the first mounting plate and the second mounting plate; the first push pin palm and the second push pin palm respectively have a first guide plate and a second guide plate that are inclined outward from bottom to top, and the first guide plate and the second guide plate are respectively provided with a first guide pin notch and a second guide pin notch with the notch facing downward, and the first hanging pin and the second hanging pin are respectively located in the first guide pin notch and the second guide pin notch; both sides of the first hanging pin and both sides of the second hanging pin are respectively provided with guide grooves, and the side parts of the first guide plate on both sides of the first guide pin notch are respectively located in the guide grooves on both sides of the first hanging pin, and the side parts of the second guide plate on both sides of the second guide pin notch are respectively located in the guide grooves on both sides of the second hanging pin; the guide grooves are inclined grooves, and their inclination directions and angles are the same as the inclination directions and angles of the first guide plate or the second guide plate in the guide grooves.

[0028] Both sides of the first guide plate and both sides of the second guide plate are respectively provided with reinforcing plates, and guide strips are respectively provided on the outer side surfaces of the reinforcing plates on both sides of the first guide plate close to the outer side surface of the first mounting plate and the outer side surfaces of the reinforcing plates on both sides of the second guide plate close to the outer side surface of the second mounting plate; correspondingly, the first mounting plate and the second mounting plate are provided with guide bar guiding blocks, the outer side surface of the guiding block has a flange protruding towards the guide bar, and a positioning groove is formed between the flange and the corresponding first mounting plate or the second mounting plate, and the outer edge of the guiding block is located in the positioning groove.

[0029] Furthermore, the clamping assembly also includes a sales push cylinder and a connecting arm; the sales push cylinder is installed above the installation space of the main frame, and its lower end is fixed to the middle of the connecting arm, and an over-arm hole 1 and an over-arm hole 2 are respectively provided on the mounting plate 1 and the mounting plate 2, and the two ends of the connecting arm pass through the over-arm hole 1 and the over-arm hole 2 and are fixedly connected to the upper ends of the sales push palm 1 and the sales push palm 2; the over-arm hole 1 and the over-arm hole 2 have a travel space for the connecting arm to move up and down.

[0030] A method for automatically placing rollers for track laying is that a tractor uses a double set of roller pick-up and placement devices to place rollers in cooperation with automatic gripping and locking rails to pull the rails and place the rails on rollers placed in front.

[0031] Furthermore, the double-group roller picking and placing device places the rollers by setting a transfer table in the roller lower opening area on the tractor, and setting two groups of roller placing devices, one group only transfers the rollers from the roller storage pool to the transfer table, and then the other group of roller picking and placing devices places the rollers from the transfer table through the roller lower opening to the positions set on both sides of the track bed; the operations of transferring the rollers from the storage pool to the transfer table and placing the rollers from the transfer table to the track bed are carried out simultaneously.

[0032] Furthermore, the automatic gripping and locking of the rails is achieved by the gripping components of the manipulator supporting the lower bottom surfaces on both sides of the rail head and the upper top surfaces on both sides of the rail bottom from the inside to the outside, and the rails are automatically locked by rotating the inclination angle of the gripping components of the manipulator and utilizing the balancing tendency of the rail's own gravity. During traction, the gripping components maintain this inclination angle and can lock the rails tighter as the traction force increases.

[0033] The advantages of the present invention are: the roller placement speed is increased by about one time; the speed of gripping and locking the rail is fast and stable, and the rail is easy to release; the roller placement device is driven by gear racks on the track, which has high speed and low energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic top view of a tractor for automatically placing rollers for laying tracks;

[0035] Figure 2 A three-dimensional schematic diagram of a storage tank for placing rollers;

[0036] Figure 3 It is a three-dimensional schematic diagram of the left transfer pick-up and place device and the right transfer pick-up and place device on the longitudinal rail;

[0037] Figure 4 It is a three-dimensional schematic diagram of a pick-and-place device;

[0038] Figure 5 It is a three-dimensional schematic diagram of the longitudinal driving gear on the longitudinal driving seat and the longitudinal rack of the longitudinal rail;

[0039] Figure 6 Schematic three-dimensional view of the cooperation drive between the lateral drive gear on the double-link drive seat and the lateral rack of the lateral rail;

[0040] Figure 7 Schematic three-dimensional view of the cooperation drive between the vertical drive gear on the double-link drive seat and the vertical rack of the vertical rail;

[0041] Figure 8 Schematic three-dimensional view of the roller gripper;

[0042] Figure 9 Schematic three-dimensional view of the structural relationship among the clamping arm, clamping palm and self-damaging block of the roller gripper;

[0043] Figure 10 Schematic three-dimensional view of the self-damaging block;

[0044] Figure 11 Schematic three-dimensional view of the automatic locking manipulator;

[0045] Figure 12 Schematic three-dimensional view of the main frame of the automatic locking manipulator;

[0046] Figure 13 Schematic three-dimensional view of the automatic locking manipulator when gripping the rail;

[0047] Figure 14 Schematic plan view of the force condition when the lower part of the main frame of the automatic locking manipulator inclines forward;

[0048] Figure 15 Schematic plan view of the force condition when the lower part of the main frame of the automatic locking manipulator inclines backward;

[0049] Figure 16 Schematic three-dimensional view of the clamping assembly;

[0050] Figure 17 Schematic three-dimensional view of the hanging pin component.

[0051] In the figure: 1, storage pool; 2, longitudinal rail; 21, longitudinal rack; 22, longitudinal drive gear; 3, transverse rail; 31, transverse rack; 32, transverse drive gear; 4, vertical rail; 41, vertical rack; 42, vertical drive gear; 5, longitudinal drive seat; 6, double-link drive seat; 7, roller gripper; 71, clamping arm; 72, clamping palm; 73, self-damaging block; 74, bolt; 75, breaking groove; 8, automatic locking manipulator; 81, fixed seat; 82, main frame; 821, connecting plate; 822, mounting plate 1; 8221, front tread 1; 8222, rear tread 1; 8224, overarm hole 1; 823, mounting plate 2; 8231, front tread 2; 8232, rear tread 2; 83, inclined propulsion cylinder; 84, rotating shaft 1; 85, rotating shaft 2; 86, pushing palm 1; 861, guiding plate 1; 862, missing guide pin 1; 87, pushing palm 2; 871, guiding plate 2; 872, missing guide pin 2; 88, hanging pin 1; 89, hanging pin 2; 810, guiding groove; 811, reinforcing plate; 812, guiding strip; 813, guiding block; 814, position control groove; 815, connecting arm; 816, pushing propulsion cylinder; 9, steel rail; 91, rail head; 92, bottom surface 1; 93, bottom surface 2; 94, top surface 1; 95, top surface 2; 96, rail bottom; 10, roller; 11, roller basket; 12, lowering opening; 13, left turntable; 14, right turntable; 15, left transfer picking and placing device; 16, right transfer picking and placing device; 17, left lowering picking and placing device; 18, right lowering picking and placing device; 19, cross beam. Detailed implementation manner

[0052] As Figure 1 , 2 , as shown in FIGS. 13, the tractor for automatically placing rollers and laying rails undertakes the task of placing rollers 10 while pulling steel rail 9 in the whole automatic rail laying system, so that the steel rail 9 behind the vehicle is placed on the rollers 10. The rollers 10 are placed at certain intervals in front at the positions where the rails fall on both sides of the roadbed. The front end of the steel rail 9 to be laid is grasped and locked by the automatic locking manipulator 8 arranged at the rear end of the tractor, and a forward pulling force is applied to the steel rail 9 as the tractor moves forward. The rear part of the steel rail 9 grasped by the automatic locking manipulator 8 continuously falls on the rollers 10, and under the continuous pulling force applied by the tractor, the steel rail 9 moves forward continuously on the rollers 10 by relying on the rotation of the rollers 10. The purpose of the present invention is to realize that the tractor automatically and quickly places the rollers 10 and pulls the steel rail 9 so that the steel rail 9 behind the vehicle falls onto the rollers 10 placed in front, and overcome the defects of the prior art such as slow placement speed of the rollers 10 and manual participation required for the automatic locking manipulator 8 to grasp the steel rail 9.

[0053] As Figure 1 , 2, as shown in Figures 3, a tractor for automatically placing drum track laying of the present application includes a vehicle body, a vehicle body running system, an artificial operation system, and an automatic control system. It further includes a drum storage pool 1 provided in the middle of the tractor, a drum lowering port 12 provided in front of the storage pool 1, and a drum picking and placing device provided above the storage pool 1. The drum picking and placing device includes a transfer mechanism and a drum gripper 7 provided on the transfer mechanism. The drum gripper 7 can move longitudinally, horizontally, and vertically with the transfer mechanism and can place the grabbed drum 10 at a specified position. A transfer table is provided in the area of the lowering port 12. The drum picking and placing device is divided into a transfer group and a lowering group. During operation, the tractor moves forward along the railway subgrade. The drum picking and placing device of the transfer group continuously transfers the drums from the storage pool 1 to the transfer table, and the picking and placing device of the lowering group continuously places the drums 10 from the transfer table through the lowering port 12 onto the roadbed at a certain interval. In this way, while the picking and placing device of the transfer group transfers the drums from the storage pool 1 to the transfer table, the picking and placing device of the lowering group can place the previously placed drums 10 on the transfer table onto the roadbed. Such combined operation, compared with the prior art, significantly speeds up the placement speed of the drums 10 and will not reduce the operation efficiency of the entire track laying system due to the slow operation speed of the drum placement link.

[0054] The following is a further improvement.

[0055] As Figure 1 shown, the transfer group is divided into a left transfer picking and placing device 15 and a right transfer picking and placing device 16, the lowering group is divided into a left lowering picking and placing device 17 and a right lowering picking and placing device 18, and the transfer table is divided into a left transfer table and a right transfer table. The left transfer picking and placing device 15 and the right transfer picking and placing device 16 transfer the grabbed drums 10 from the storage pool 1 to the left transfer table 13 and the right transfer table 14 respectively, and the left lowering picking and placing device 17 and the right lowering picking and placing device 18 place the drums grabbed from the left transfer table 13 and the right transfer table 14 on the left and right sides of the roadbed respectively. Such left and right synchronous placement makes the operation efficiency more significant.

[0056] As Figure 3 , 4 , shown; the transfer mechanism of the picking and placing device includes a longitudinal rail 2, a transverse rail 3 running on the longitudinal rail 2, and a vertical rail 4 running on the transverse rail 3; the transfer mechanism adopts a running mode of gear and rack cooperation. The rack includes a longitudinal rack 21, a transverse rack 31, and a vertical rack 41, which are respectively provided on the longitudinal rail 2, the transverse rail 3, and the vertical rail 4;

[0057] As Figure 5 , 6As shown; the transfer mechanism further includes a longitudinal driving seat 5 fixed to one side of the transverse rail 3. The longitudinal driving seat 5 is provided with a longitudinally driving gear 22 driven by a motor. The teeth of the longitudinally driving gear 22 mesh with the teeth of the longitudinal rail 2. The rotation of the longitudinally driving gear 22 can drive the transverse rail 3 to move longitudinally;

[0058] The transfer mechanism further includes a double-link driving seat 6 running on the other side of the transverse rail 3. The vertical rail 4 runs on the double-link driving seat 6;

[0059] As Figure 4 、 6 、Figure 7 shows, the double-link driving seat 6 is provided with a transversely driving gear 32 driven by a motor. The teeth of the transversely driving gear 32 mesh with the teeth of the transverse rack 31. The rotation of the transversely driving gear 32 drives the double-link driving seat 6 and the vertical rail 4 to move transversely;

[0060] The double-link driving seat 6 is provided with a vertically driving gear 42 driven by a motor. The teeth of the vertically driving gear 42 mesh with the teeth of the vertical rack 41. The rotation of the vertically driving gear 42 drives the vertical rail 4 to move vertically;

[0061] As Figure 3 、 4 Figure shows, the drum gripper 7 is installed at the lower end of the vertical rail 4. In this way, the drum gripper 7 can grab the drum 10 at a designated position with the transfer mechanism and can also place the drum 10 at a designated position.

[0062] The above transfer mechanism adopts a driving mode of gear and rack cooperation. Compared with the existing technology which adopts a driving mode of screw rod and nut cooperation, the drum gripper 7 moves faster longitudinally, transversely, vertically and up and down, is more accurate and flexible in displacement, and the propulsion energy consumption is also significantly reduced.

[0063] As Figure 8 、 9 、Figure 10 shows, the drum gripper 7 includes a cylinder-type driving mechanism and an action conversion mechanism, and also includes two symmetrically arranged clamping arms 71 on the left and right and clamping palms 72 respectively belonging to the lower parts of the two clamping arms 71. The upper clamping arm 71 is disconnected from the lower clamping palm 72. A self-destructive block 73 is arranged between the clamping arm 71 and the clamping palm 72. The clamping arm 71 and the clamping palm 72 are fixedly connected by the self-destructive block 73; A breaking groove 75 is formed in the self-destructive block 73. The self-destructive block 73 is provided to protect the associated components above the clamping arm from damage when the clamping palm at the lower end of the drum gripper 7 misgrasps an overweight object or strongly collides with a hard object and the self-destructive block 73 self-destructs.

[0064] The breaking groove 75 is formed on the inner side and the outer side of the self-destructive block 73. This is beneficial for the self-destructive block 73 to break in one direction.

[0065] The distance between the clamping arms 71 and the clamping palms 72 is greater than 10 mm. This is to avoid an immediate secondary collision between the clamping arms 71 and the clamping palms 72 after the self-damaging block 73 breaks.

[0066] The self-damaging block 73 is connected to the clamping arms 71 and the clamping palms 72 by bolts 74. This is beneficial for the disassembly, installation, and replacement of the self-damaging block 73.

[0067] As Figure 2 shown, a plurality of drum baskets 11 that can be lifted and transferred are placed in the drum storage tank 1. At least two layers of neatly arranged drums 10 can be placed in the drum baskets 11. The drums 10 in the drum baskets 11 are transported together with the drum baskets 11 by a lifting device provided on the subsequent drum recovery vehicle after being recovered and loaded into the baskets by the subsequent drum recovery vehicle.

[0068] Preferably, four drum baskets 11 are actually placed, one in front and one behind on the left and right sides of the drum storage tank 1.

[0069] As Figure 1 、 11 As shown in FIGS. 11 and 12; the tractor also includes two automatic locking manipulators 8 that grip and lock the rail 9, which are respectively installed on the left and right sides of a cross beam 19 that can be lifted and lowered at the rear of the tractor; the automatic locking manipulator 8 includes a fixed seat 81, a clamping assembly, and an inclined propulsion cylinder 83; the fixed seat 81 is fixed on the cross beam 19, the clamping assembly includes a main frame 82 and a gripping device provided at the lower end of the main frame 82; the main frame 82 is installed on the fixed seat 81 through a first rotating shaft 84; the inclined propulsion cylinder 83 is installed on the fixed seat 81, and its propulsion end is connected to the main frame 82 above the first rotating shaft 84 through a second rotating shaft 85 and can propel the main frame 82 to rotate around the first rotating shaft 84. When the gripping device holds the rail 9, the held rail 9 is lifted by using the lifting of the cross beam 19, and then the main frame 82 is rotated by using the inclined propulsion cylinder 83 to make the main frame 82 tilt along the length direction of the rail 9, so that the held rail 9 can be further locked, and when the main frame 82 returns to its original position, the locked rail 9 can be released.

[0070] The reason for tilting the main frame 82 to lock the rail 9 by the gripping device is that when the gripping device grabs the rail 9, it only hooks the rail head 91 of the rail 9 and can only lift the rail 9, and it has not completely gripped the rail 9 yet, far from meeting the force requirements for pushing and pulling the rail 9. The principle of tilting the main frame 82 to lock the rail 9 by the gripping device is to change the force angle between the force-bearing components in the gripping device and the rail 9, convert part of the gravity of the rail 9 into the fastening force of the gripping device on the rail 9 to meet the force requirements for pushing and pulling the rail 9, which will be further elaborated in combination with the disclosed structure later.

[0071] The tilt propulsion cylinder 83 can be a pneumatic cylinder or an electromagnetic cylinder. Preferably, an oil cylinder is selected in the present invention.

[0072] As Figure 11 —shown in Figure 15, the main frame 82 includes a connecting plate 821, and mounting plates one 822 and two 823 symmetrically fixed on both sides of the connecting plate 821. There is a spacing between the mounting plate one 822 and the mounting plate two 823 to form a mounting space. The grasping device includes a hanging pin one 88 and a hanging pin two 89. The hanging pin one 88 and the hanging pin two 89 are respectively located in the hanging pin holes one and two symmetrically arranged at the lower ends of the mounting plate one 822 and the mounting plate two 823, and the hanging pin one 88 and the hanging pin two 89 can be inserted into and withdrawn from the hanging pin holes one and two respectively. As a preferred solution of the present invention, when the grasping device grasps the rail 9, the hanging pin one 88 and the hanging pin two 89 extend from both sides of the rail 9 to the lower bottom surfaces on both sides of the rail head 91 of the rail 9 to hang the rail head 91 of the rail 9. First, it is ensured that the rail 9 can be lifted, and further settings are made for grasping the rail 9.

[0073] The grasping device further includes a front tread one 8221 and a rear tread one 8222 respectively formed by the lower end surface of the mounting plate one 822, and a front tread two 8231 and a rear tread two 8232 respectively formed by the lower end surface of the mounting plate two 823. When grasping the rail 9, the hanging pin one 88 and the hanging pin two 89 are respectively inserted from the hanging pin holes one and two to below the bottom surfaces one 92 and two 93 on both sides of the rail head 91 of the rail 9. The front tread one 8221, the rear tread one 8222 of the mounting plate one 822, the front tread two 8231, and the rear tread two 8232 of the mounting plate two 823 are respectively located above the top surfaces one 94 and two 95 of the rail bases on both sides of the rail 9. When the lower end of the main frame 82 tilts forward after grasping the rail 9, while the hanging pin one 88 and the hanging pin two 89 are respectively in contact with and stressed by the bottom surfaces on both sides of the rail head 91, the rear tread one 8222 and the rear tread two 8232 are respectively in contact with and stressed by the top surfaces one 94 and two 95 of the rail bases on both sides, realizing an outward bracing type locking of the rail 9. When the lower end of the main frame 82 tilts backward after grasping the rail 9, while the hanging pin one 88 and the hanging pin two 89 are respectively in contact with and stressed by the bottom surfaces one 92 and two 93 on both sides of the rail head 91, the front tread one 8221 and the front tread two 8231 are respectively in contact with and stressed by the top surfaces one 94 and two 95 of the rail bases on both sides, also realizing an outward bracing type locking of the rail 9.

[0074] The tilting of the lower end of the main frame 82 described above is realized under the thrust applied by the tilt propulsion cylinder 83 at the lower part of the main frame 82. When the thrust applied by the tilt propulsion cylinder 83 remains unchanged, the rail 9 automatic two-way locking mechanism of the entire automatic locking manipulator 8 temporarily forms a rigid whole, that is, it can temporarily maintain a specific fixed posture, enabling the traction force of the track-laying vehicle to be instantaneously transmitted to the locked rail 9, and enabling the pushing and pulling of the rail 9.

[0075] As shown Figure 11 , 12 , 13, 16, and 17, the clamping assembly further includes a first push palm 86 and a second push palm 87; the first push palm 86 and the second push palm 87 are respectively located on the outer sides of the first mounting plate 822 and the second mounting plate 823 outside the mounting space of the main frame 82 and can slide up and down along the outer sides of the first mounting plate 822 and the second mounting plate 823; the first push palm 86 and the second push palm 87 respectively have a first guide plate 861 and a second guide plate 871 that are inclined outward from bottom to top, and the first guide plate 861 and the second guide plate 871 are respectively provided with a first missing guide pin 862 and a second missing guide pin 872 with the notch facing downwards, and the first hanging pin 88 and the second hanging pin 89 are respectively located in the first missing guide pin 862 and the second missing guide pin 872; both sides of the first hanging pin 88 and both sides of the second hanging pin 89 have guide grooves 810, and the side parts of the first guide plate 861 on both sides of the first missing guide pin 862 are respectively located in the guide grooves 810 on both sides of the first hanging pin 88, and the side parts of the second guide plate 871 on both sides of the second missing guide pin 872 are respectively located in the guide grooves 810 on both sides of the second hanging pin 89; the guide grooves 810 are inclined grooves, and their inclination directions and angles are the same as those of the first guide plate 861 or the second guide plate 871 in the guide grooves 810. Through such a setting, when the first push palm 86 and the second push palm 87 slide upwards, under the action of the first guide plate 861 and the second guide plate 871, the first hanging pin 88 and the second hanging pin 89 are respectively pushed inwards from the first hanging pin hole and the second hanging pin hole, realizing the quick grasping of the rail 9; when the first push palm 86 and the second push palm 87 slide downwards, under the action of the first guide plate 861 and the second guide plate 871, the first hanging pin 88 and the second hanging pin 89 are respectively withdrawn outwards from the first hanging pin hole and the second hanging pin hole, realizing the quick release of the rail 9.

[0076] The guide grooves 810 are inclined grooves, and their inclination directions and angles are the same as those of the first guide plate 861 or the second guide plate 871 in the guide grooves 810. The function of such a setting is to effectively reduce the resistance between the guide grooves 810 and the first guide plate 861 or the second guide plate 871 during guiding.

[0077] On both sides of the first guide plate 861 and both sides of the second guide plate 871, there are reinforcing plates 811 respectively. Guide strips 812 are provided on the outer sides of the reinforcing plates 811 on both sides of the first guide plate 861 close to the outer side of the first mounting plate 822 and on the outer sides of the reinforcing plates 811 on both sides of the second guide plate 871 close to the outer side of the second mounting plate 823. Correspondingly, guide blocks 813 for controlling the guide strips 812 are provided on the first mounting plate 822 and the second mounting plate 823. The outer side of the guide block 813 has a flange protruding towards the guide strip 812. A positioning groove 814 is formed between the flange and the corresponding first mounting plate 822 or second mounting plate 823. The outer edge of the guide block 813 is located within the positioning groove 814. Such a setting can ensure that the first and second push palms 86 and 87 slide straight up and down along the surfaces of the first mounting plate 822 and the second mounting plate 823.

[0078] The clamping assembly further includes a push rod cylinder 816 and a connecting arm 815. The push rod cylinder 816 is installed above the installation space of the main frame 82, and its lower end is fixed to the middle of the connecting arm 815. On the first mounting plate 822 and the second mounting plate 823, there are respectively a through-arm hole one 8224 and a through-arm hole two. The two ends of the connecting arm 815 pass through the through-arm hole one 8224 and the through-arm hole two respectively and are fixedly connected to the upper ends of the first and second push palms 86 and 87. The through-arm hole one 8224 and the through-arm hole two have a stroke space for the connecting arm 815 to move up and down. Obviously, the up and down sliding of the first and second push palms 86 and 87 is completed by the telescopic movement of the push rod of the push rod cylinder 816.

[0079] As Figure 1 、 2 As shown in FIGS. 13, 14, and 15, an automatic method for placing a roller track is that the tractor uses a double-group roller picking and placing device to place the rollers in cooperation with an automatic grasping and locking of the rail 9 to implement traction on the rail 9 and make the rail 9 fall onto the rollers 10 placed in front. By adopting such a method, the operation efficiency of the entire tractor can be significantly improved.

[0080] The double-group roller picking and placing device for placing the rollers 10 is to set a transfer table in the area of the roller lowering opening 12 on the tractor, and set two groups of roller placing devices. One group only transfers the rollers 10 from the roller storage pool 1 to the transfer table, and then the other group of roller picking and placing devices places the rollers 10 from the transfer table through the roller lowering opening 12 to the set positions on both sides of the roadbed. The operation of transferring the rollers from the storage pool 1 to the transfer table and the operation of placing the rollers 10 from the transfer table to the roadbed are carried out simultaneously. The simultaneous operation of the two groups of devices can nearly double the roller placing speed.

[0081] The automatic grasping and locking of the rail 9 is achieved by the manipulator grasping component supporting the lower bottom surfaces on both sides of the rail head 91 and the upper top surfaces on both sides of the rail bottom 96 from the inside outwards. By rotating the inclination angle of the manipulator grasping component and utilizing the balance tendency of the self-weight of the rail 9, the rail is automatically locked. During traction, the grasping component maintains this inclination angle and can lock the rail 9 more tightly as the traction force increases. This can avoid the defects of the prior art of manually driving wedges to fasten the rail 9 and manually removing wedges to release the rail 9, and greatly improve the time for the manipulator to grasp and fasten the rail.

[0082] The above embodiments are only used to describe the present invention more clearly and should not be regarded as limiting the protection scope covered by the present invention. Any equivalent form of modification should be regarded as falling within the protection scope covered by the present invention.

Claims

1. An automatic placing tractor for drum track laying, comprising a drum storage tank (1) arranged on the tractor, a drum lowering opening (12) arranged in front of the storage tank (1), and a drum picking and placing device arranged above the storage tank (1). The drum picking and placing device includes a transfer mechanism and a drum gripper (7) arranged on the transfer mechanism. The drum gripper (7) can move vertically and horizontally with the transfer mechanism and can place the grabbed drum (10) at a designated position. Characterized in that: A transfer table is arranged in the area of the lowering opening (12). The drum picking and placing device is divided into a transfer group and a lowering group. The transfer group picking and placing device transfers the drum from the storage tank (1) to the transfer table, and the lowering group picking and placing device places the drum (10) from the transfer table through the lowering opening (12) onto the roadbed; the operation of the transfer group picking and placing device transferring the drum from the storage tank (1) to the transfer table and the operation of the lowering group picking and placing device placing the drum (10) from the transfer table onto the roadbed are carried out simultaneously; the tractor further includes two automatic locking manipulators (8) for gripping and locking the rail (9), which are respectively installed on the left and right sides of a cross beam (19) that can be lifted and lowered at the rear of the tractor; the automatic locking manipulator (8) includes a fixed seat (81), a clamping component, and an inclined propulsion cylinder (83); the fixed seat (81) is fixed on the cross beam (19), the clamping component includes a main frame (82) and a gripping device arranged at the lower end of the main frame (82); the main frame (82) is installed on the fixed seat (81) through a first rotating shaft (84); the inclined propulsion cylinder (83) is installed on the fixed seat (81), and its propulsion end is connected to the main frame (82) through a second rotating shaft (85) above the first rotating shaft (84) and can propel the main frame (82) to rotate around the first rotating shaft (84).

2. The automatic placing tractor for drum track laying according to claim 1, Characterized in that: The transfer group is divided into a left transfer picking and placing device (15) and a right transfer picking and placing device (16), the lowering group is divided into a left lowering picking and placing device (17) and a right lowering picking and placing device (18), the transfer table is divided into a left transfer table (13) and a right transfer table (14). The left transfer picking and placing device (15) and the right transfer picking and placing device (16) transfer the grabbed drums (10) from the storage tank (1) to the left transfer table (13) and the right transfer table (14) respectively, and the left lowering picking and placing device (17) and the right lowering picking and placing device (18) place the drums grabbed from the left transfer table (13) and the right transfer table (14) on the left and right sides of the roadbed respectively.

3. The automatic placing tractor for drum track laying according to claim 2, Characterized in that: The transfer mechanism of the picking and placing device includes a longitudinal rail (2), a transverse rail (3) running on the longitudinal rail (2), and a vertical rail (4) running on the transverse rail (3); the transfer mechanism adopts a running mode of gear and rack cooperation. The rack includes a longitudinal rack (21), a transverse rack (31), and a vertical rack (41), which are respectively arranged on the longitudinal rail (2), the transverse rail (3), and the vertical rail (4). The transfer mechanism further includes a longitudinal driving seat (5) fixed to one side of the transverse rail (3). The longitudinal driving seat (5) is provided with a longitudinally driving gear (22) driven by a motor. The teeth of the longitudinally driving gear (22) mesh with the bar teeth of the longitudinal rail (2). The rotation of the longitudinally driving gear (22) can drive the transverse rail (3) to move longitudinally. The transfer mechanism further includes a double-link driving seat (6) running on the other side of the transverse rail (3). The vertical rail (4) runs on the double-link driving seat (6). The double-link driving seat (6) is provided with a transversely driving gear (32) driven by a motor. The teeth of the transversely driving gear (32) mesh with the bar teeth of the transverse rack (31). The rotation of the transversely driving gear (32) drives the double-link driving seat (6) and the vertical rail (4) to move transversely. The double-link driving seat (6) is provided with a vertically driving gear (42) driven by a motor. The teeth of the vertically driving gear (42) mesh with the bar teeth of the vertical rack (41). The rotation of the vertically driving gear (42) drives the vertical rail (4) to move vertically. The drum gripper (7) is installed at the lower end of the vertical rail (4).

4. The tractor for automatically placing drums and laying tracks according to claim 1, characterized in that: The drum gripper (7) includes two symmetrically arranged clamping arms (71) on the left and right and clamping palms (72) respectively belonging to the lower parts of the two clamping arms (71). The upper clamping arm (71) is disconnected from the lower clamping palm (72). A self-damaging block (73) is arranged between the clamping arm (71) and the clamping palm (72). The clamping arm (71) and the clamping palm (72) are fixedly connected by the self-damaging block (73). A breaking groove (75) is formed in the self-damaging block (73).

5. The tractor for automatically placing drums and laying tracks according to claim 1, characterized in that: A plurality of drum baskets (11) that can be hoisted and transferred are placed in the drum storage pool (1). At least two layers of neatly arranged drums (10) can be placed in the drum basket (11).

6. The tractor for automatically placing drums and laying tracks according to claim 1, characterized in that: The main frame (82) includes a connecting plate (821) and mounting plates one (822) and two (823) symmetrically fixed to both sides of the connecting plate (821). There is a space between the mounting plate one (822) and the mounting plate two (823) to form a mounting space. The grasping device includes a hanging pin one (88) and a hanging pin two (89). The hanging pin one (88) and the hanging pin two (89) are respectively located in the hanging pin holes one and two symmetrically arranged at the lower ends of the mounting plate one (822) and the mounting plate two (823). The hanging pin one (88) and the hanging pin two (89) can be inserted into and withdrawn from the hanging pin holes one and two respectively.

7. The tractor for automatically placing drums and laying tracks according to claim 6, characterized in that: The gripping device further includes a front tread surface one (8221) and a rear tread surface one (8222) formed by dividing the lower end surface of the first mounting plate (822), and a front tread surface two (8231) and a rear tread surface two (8232) formed by dividing the lower end surface of the second mounting plate (823); when gripping the rail (9), the first hanging pin (88) and the second hanging pin (89) are respectively inserted from the first hanging pin hole and the second hanging pin hole below the bottom surface one (92) and the bottom surface two (93) on both sides of the rail head (91) of the rail (9), and the front tread surface one (8221), the rear tread surface one (8222) of the first mounting plate (822) and the front tread surface two (8231), the rear tread surface two (8232) of the second mounting plate (823) are respectively located above the top surface one (94) and the top surface two (95) of the rail bottoms on both sides of the rail (9); when the lower end of the main frame (82) tilts forward after gripping the rail (9), while the first hanging pin (88) and the second hanging pin (89) are respectively in contact with and stressed by the bottom surfaces on both sides of the rail head (91), the rear tread surface one (8222) and the rear tread surface two (8232) are respectively in contact with and stressed by the top surfaces one (94) and two (95) on both sides of the rail bottom, realizing the external support type locking of the rail (9); when the lower end of the main frame (82) tilts backward after gripping the rail (9), while the first hanging pin (88) and the second hanging pin (89) are respectively in contact with and stressed by the bottom surface one (92) and the bottom surface two (93) on both sides of the rail head (91), the front tread surface one (8221) and the front tread surface two (8231) are respectively in contact with and stressed by the top surfaces one (94) and two (95) on both sides of the rail bottom, also realizing the external support type locking of the rail (9).

8. The tractor for automatically placing and rolling the track according to claim 6, characterized in that: The clamping assembly further includes a first push palm (86) and a second push palm (87); the first push palm (86) and the second push palm (87) are respectively located on the outer sides of a first mounting plate (822) and a second mounting plate (823) outside the mounting space of the main frame (82) and can slide up and down along the outer sides of the first mounting plate (822) and the second mounting plate (823); the first push palm (86) and the second push palm (87) respectively have a first guide plate (861) and a second guide plate (871) that are inclined outward from bottom to top. The first guide plate (861) and the second guide plate (871) are respectively provided with a first pin guide notch (862) and a second pin guide notch (872) with the notch facing downward. The first hanging pin (88) and the second hanging pin (89) are respectively located in the first pin guide notch (862) and the second pin guide notch (872); both sides of the first hanging pin (88) and both sides of the second hanging pin (89) have guide grooves (810). The side parts of the first guide plate (861) on both sides of the first pin guide notch (862) are respectively located in the guide grooves (810) on both sides of the first hanging pin (88), and the side parts of the second guide plate (871) on both sides of the second pin guide notch (872) are respectively located in the guide grooves (810) on both sides of the second hanging pin (89); the guide grooves (810) are inclined grooves, and their inclination directions and angles are the same as those of the first guide plate (861) or the second guide plate (871) in the guide grooves (810).

9. The tractor for automatically placing a roller track according to claim 6, wherein: the clamping assembly further includes a push cylinder (816) and a connecting arm (815); the push cylinder (816) is installed above the mounting space of the main frame (82), and its lower end is fixed to the middle of the connecting arm (815). A first arm through hole (8224) and a second arm through hole are respectively provided on the first mounting plate (822) and the second mounting plate (823). Both ends of the connecting arm (815) respectively pass through the first arm through hole (8224) and the second arm through hole and are fixedly connected to the upper ends of the first push palm (86) and the second push palm (87); the first arm through hole (8224) and the second arm through hole have a stroke space for the connecting arm (815) to move up and down.

10. A method for automatically placing a roller track by using the tractor according to claim 1, wherein: the tractor uses a double-group roller picking and placing device to place rollers and cooperates with an automatic grasping and locking of the rail (9) to traction the rail (9) and make the rail (9) fall onto the rollers (10) placed in front.

11. The method for automatically placing a roller track according to claim 10, wherein: The drum placing and retrieving device with double groups places the drum (10) by arranging a transfer table in the area of the drum lower opening (12) of the tractor, and arranging two groups of drum placing devices. One group only transfers the drum (10) from the drum storage pool (1) to the transfer table, and then another group of drum placing and retrieving devices places the drum (10) from the transfer table through the drum lower opening (12) to the set positions on both sides of the roadbed; the operation of transferring the drum from the storage pool (1) to the transfer table and the operation of placing the drum (10) from the transfer table to the roadbed are carried out simultaneously.

12. The method for automatically placing drums for track laying according to claim 10, characterized in that: The automatic grasping and locking of the rail (9) is that the mechanical hand grasping component supports the lower bottom surfaces on both sides of the rail head (91) and the upper top surfaces on both sides of the rail bottom (96) from the inside to the outside, and automatically locks the rail by rotating the inclination angle of the mechanical hand grasping component and using the balance tendency of the self-gravity of the rail (9). During traction, the grasping component maintains this inclination angle and can lock the rail (9) more tightly as the traction force increases.

Images