Intelligent tractor roller linkage device and operation method thereof

Abstract

The present invention discloses an intelligent tractor roller linkage device and an operation method thereof, comprising a code-taking roller manipulator, a roller storage device, a transfer platform, a roller placement manipulator and a roller drop device, wherein the action execution component of the code-taking roller manipulator moves in the XYZ direction and grabs the roller in the roller storage device to the transfer platform, and the action execution component of the roller placement manipulator moves in the XYZ direction and grabs the roller on the transfer platform to the roller drop device, and the roller drop device transfers the roller from the inner side of the track bed to the outer side of the track and then drops the roller. The intelligent tractor roller linkage device and the operation method thereof have strong stability, reduce vibration, can avoid mechanical noise, are easy to produce, have strong practicality, meet various needs in mechanical processing, and are suitable for wide promotion and use.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent tractors, and in particular relates to a roller linkage device of an intelligent tractor and an operating method thereof. Background Art

[0002] Tractors are the main rail traction tools used by railway maintenance, overhaul, infrastructure and other construction departments to perform tasks. Tractors are divided into two types: ballasted and ballastless track traction. Tractors that can run on ballasted tracks and are mainly used for laying ballasted tracks are called ballasted track laying tractors; Tractors that can run on ballastless tracks and are mainly used for laying ballastless tracks are called ballastless track laying tractors. In the field of railway construction, track laying is one of the important links. During the traction process, each rail is laid for 500 meters. Roller guides need to be placed. The traditional rail traction process relies on manual roller placement, and mechanical automated roller placement has not yet been realized. In order to realize the automated functions of picking up, grabbing and placing rollers by intelligent tractors,

[0003] An intelligent tractor roller linkage device and an operating method thereof are proposed. Summary of the invention

[0004] The object of the present invention is to provide an intelligent tractor roller linkage device and an operating method thereof to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent tractor roller linkage device, comprising a code-taking roller manipulator, a roller storage device, a transfer platform, a roller placement manipulator and a roller drop device, wherein the roller storage device is installed on the tractor frame, and multiple groups of rollers are stored in the roller storage device, and the code-taking roller manipulator, the transfer platform and the roller placement manipulator are all installed on the frame, wherein the code-taking roller manipulator is located on one side of the roller storage device, and the roller placement manipulator is located on the other side of the roller storage device, the transfer platform is located between the roller storage device and the roller placement manipulator, and the roller drop device is installed under the vehicle body and located between the roller storage device and the roller placement manipulator;

[0006] Among them, the action execution component of the coding roller robot moves in the XYZ direction and grabs the roller in the roller storage device to the transfer platform, and the action execution component of the roller placement robot moves in the XYZ direction and grabs the roller on the transfer platform to the roller dropping device, and the roller dropping device transfers the roller from the inner side of the track bed to the outer side of the track and then drops the roller.

[0007] The number of the drop roller devices is two and they are symmetrically distributed at the bottom of the frame.

[0008] The code-taking roller robot comprises an X-axis assembly, a Y-axis and an action execution component. The X-axis assembly is composed of a plurality of X-axis arranged in parallel, and an operation range of the roller is formed between adjacent X-axis. The Y-axis is slidably mounted on the X-axis and performs translational motion along the X-axis. The Y-axis is divided into a plurality of moving segments corresponding to the operating range according to the position of the operating range. The action execution component is composed of a Z-axis slidably mounted on the moving segment and performs translational motion along the Y-axis, and a robot gripper that performs lifting and lowering motion with the Z-axis and synchronously translates with the Y-axis.

[0009] Each of the X-axis comprises an X-axis mounting base and a guide rail for Y-axis sliding arranged on the X-axis mounting base, a first slide seat moving along the X-axis direction is arranged on the guide rail, and the Y-axis is provided with support frames having the same number as the first slide seats, the support frames are fixed to the first slide seat through a mounting flange, and the first slide seat drives the moving section to move synchronously in the X-axis direction through the support frames.

[0010] The Y-axis comprises a Y-axis mounting base and a guide rail for Z-axis sliding arranged on the Y-axis mounting base, and the guide rail is provided with second slide seats for mounting the Z-axis corresponding to the number of the moving sections.

[0011] The Z-axis comprises a Z-axis body, a Z-axis mounting seat, and a guide rail arranged on the Z-axis mounting seat for the Z-axis body to slide. The Z-axis body is slidably mounted on the guide rail, and the manipulator gripper is mounted at the bottom end of the Z-axis body and moves with the Z-axis body.

[0012] Both ends of the guide rail are provided with travel switches for detecting the limit position. Both ends of the guide rail are provided with travel switches for detecting the limit position. Both ends of the guide rail are provided with travel switches for detecting the limit position. The setting of the travel switch can effectively control the moving parts, which is a prior art and will not be described in detail here.

[0013] It should be noted that the XYZ directions in the present application refer to three different mutually perpendicular directions in a broad sense, including the common horizontal, longitudinal and vertical directions.

[0014] It also includes a driving component, which includes a first driving motor for driving the Y axis to perform translational motion along the X axis, a second driving motor for driving the Z axis to perform translational motion along the Y axis in the moving section, and a third driving motor for driving the manipulator gripper to perform lifting and lowering motion along the Z axis.

[0015] The drum storage device includes a first frame and a second frame, wherein the second frame is provided inside the first frame, a first positioning plate is installed on the inner side of the second frame, a first partition plate is provided inside the second frame, second positioning plates are connected to both sides of the first partition plate, a third partition plate is clamped between the first positioning plate and the second positioning plate, and a second partition plate is provided inside the second frame and at the lower end of the first partition plate.

[0016] Furthermore, one end of the first frame is connected to a first rib plate, one side of the first frame is connected to a second rib plate, and a first reinforcing rib, a second reinforcing rib, a third reinforcing rib and a fourth reinforcing rib are sequentially provided between the first frame and the second frame from top to bottom.

[0017] Furthermore, a card slot is opened inside the third partition plate; the thickness of the first positioning plate and the second positioning plate corresponds to the diameter of the first card interface. Therefore, through the action of the first card interface, the third partition plate can be sleeved on the outside of the first positioning plate and the second positioning plate, which can enhance the stability of the third partition plate.

[0018] Furthermore, a second card interface is provided on the second partition plate, and a third card interface is provided on the second partition plate and on one side of the second card interface; the second card interface facilitates the first partition plate to pass through the second partition plate, and the third card interface facilitates the first positioning plate to pass through the second partition plate.

[0019] The drop roller device comprises a mounting seat mounted on a tractor chassis and a driving motor fixed on the mounting seat, the drop roller device also comprises a rotating mechanism and a flipping mechanism, the rotating mechanism comprises a rotating frame and a transmission mechanism for driving the rotating frame to rotate from the inner side of a track bed to the outer side of a track, the rotating frame is provided with a cantilever frame, the flipping mechanism comprises a driving cylinder mounted on the rotating frame, a flipping claw mounted on the cantilever frame for grabbing and placing the drop roller, and a driving assembly for converting the linear travel motion of the driving cylinder into the flipping motion of the flipping claw, and the rotation plane of the rotating frame and the rotation plane of the flipping claw are not in the same plane.

[0020] The rotating angle of the rotating frame is 180°, which can effectively realize the repeated operation of the drop roller-connection roller rotating from the inner side of the track bed to the outer side of the track.

[0021] A first gear is installed on the output shaft of the driving motor, and the transmission mechanism includes a connecting shaft connected to the rotating frame and a second gear meshing with the first gear.

[0022] The turning claw comprises a first clamping plate and a second clamping plate for grabbing the roller, and the first clamping plate and the second clamping plate are provided with a fixing groove for clamping the roller;

[0023] When clamping the roller, the first clamping plate and the second clamping plate are respectively clamped with the fixed ends on both sides of the roller through the fixing grooves;

[0024] When the roller is dropped, the first clamping plate and the second clamping plate are turned over, and the roller falls off from the fixing groove, thus completing the roller dropping operation;

[0025] The first clamping plate and the second clamping plate are both fixedly connected with a rotating shaft for driving the first clamping plate to flip, and both ends of the rotating shaft are rotatably mounted on the cantilever frame.

[0026] The driving assembly comprises a first connecting rod, a second connecting rod hinged at both ends of the first connecting rod, and a third connecting rod hinged at one end to the second connecting rod. The other end of the third connecting rod is connected to the rotating shaft and drives the rotating shaft to rotate.

[0027] Preferably, the rotation angle of the rotating shaft is not less than 90°, which facilitates the falling of the roller.

[0028] The cantilever frame is provided with two mounting plates arranged in parallel, and each mounting plate is provided with a shaft sleeve used for fixing the two ends of the rotating shaft.

[0029] Preferably, when the output shaft of the driving motor and the shaft where the first gear is located are not on the same straight line, a steering device is further provided between the output shaft of the driving motor and the shaft driving the first gear to rotate.

[0030] A limiting structure is provided on the fixed groove, which can stably clamp the roller from the roller placement robot. A common limiting structure is that the fixed groove is a non-through groove, and there is a step on the fixed groove to limit the position of the roller. When the rotating shaft rotates, the limiting structure rotates with the rotating shaft, and the rolling is no longer restricted, so it can fall normally. Other structures with limiting functions can also be used here, which are not listed one by one.

[0031] The first gear and the second gear are both helical gears.

[0032] The present invention can rotate the roller from the inner side of the track bed to the outer side of the track, thereby realizing the operation conversion between the ballastless track and the ballasted track. Its working principle is as follows: the driving motor drives the connecting shaft to rotate through the meshing of the first gear and the second gear. Since the connecting shaft is fixedly connected to the rotating frame, the connecting shaft drives the rotating frame to rotate, so that the flip clamp installed on the cantilever frame arranged on the rotating frame drives the roller to complete the flipping operation from the inner side of the track bed to the outer side of the track. It should be noted that after the roller-dropping device is connected to the roller, the corresponding sensing device will be triggered, and the sensing device will send a signal to the processor, and the processor will control the driving motor to perform a corresponding action. At the same time, when the rotating mechanism rotates from the inner side of the track bed to the corresponding position on the outer side of the track, the corresponding sensor will be triggered, and the sensor will feed back the signal to the processor, and the processor will control the driving cylinder to act, and convert the linear travel motion of the driving cylinder into the flipping motion of the flipping claw. Since the rotation of the rotating frame and the flipping of the flipping claw are both driven by conventional signals, that is, the basic principle of sensing in place-triggering action, it will not be described in detail here.

[0033] The operating method of the intelligent tractor roller linkage device includes a roller grabbing process and a roller placing process performed in sequence. When there is no roller on the transfer platform, the roller placing process is not performed.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention utilizes XYZ axis to drive its moving parts separately, and the first slide drives the moving section to move synchronously in the X-axis direction through the support frame, and the rollers can be operated in groups and regions, thus realizing multi-position operation of grabbing rollers in the track laying procedure.

[0036] The present invention is applicable to a roller storage device of an intelligent tractor. Through the functions of the first positioning plate, the first dividing plate, the second dividing plate, the third dividing plate and the second positioning plate, personnel can divide the interior of the second frame into two layers, and each layer is evenly arranged in three rows and five columns, thereby achieving the effect of placing the rollers separately.

[0037] The present invention is applicable to a roller storage device of an intelligent tractor. Through the first rib plate, the second rib plate, the first reinforcing rib, the second reinforcing rib, the third reinforcing rib and the fourth reinforcing rib, the first rib plate can reinforce and protect the first frame at both ends of the first frame, the second rib plate can reinforce and protect the first frame on both sides of the first frame, and the first reinforcing rib, the second reinforcing rib, the third reinforcing rib and the fourth reinforcing rib can reinforce and protect between the first frame and the second frame. Through the combined action of the first rib plate, the second rib plate, the first reinforcing rib, the second reinforcing rib, the third reinforcing rib and the fourth reinforcing rib, the stability of the novel storage device can be effectively enhanced.

[0038] The present invention realizes rotating the roller from the inner side of the track bed to the outer side of the track through a rotating mechanism, and after reaching the corresponding position, the roller on the flip claw is flipped and dropped through a flipping mechanism, thereby realizing the conversion of operations between ballasted and ballastless tracks, improving the automation performance in track laying operations, and realizing mechanical automation roller placement. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic structural diagram of the intelligent tractor roller linkage device of the present invention.

[0040] Figure 2 It is a side view of the intelligent tractor roller linkage device of the present invention.

[0041] Figure 3 It is a schematic diagram of the structure of the code-taking roller robot of the present invention.

[0042] Figure 4 This is a schematic diagram of the first X-axis structure of the code-taking roller robot of the present invention.

[0043] Figure 5 This is a schematic diagram of the second X-axis structure of the code-taking roller robot of the present invention.

[0044] Figure 6 It is a schematic diagram of the third X-axis structure of the code-taking roller robot of the present invention.

[0045] Figure 7 It is a schematic diagram of the Y-axis structure of the code-taking roller robot of the present invention.

[0046] Figure 8 This is a schematic diagram of the Z-axis structure of the code-taking roller robot of the present invention.

[0047] Fig. 9 It is a schematic diagram of the overall structure of the drum storage device of the present invention.

[0048] Fig.10 It is a top view of the drum storage device of the present invention.

[0049] Fig.11 It is a schematic structural diagram of the first partition plate, the second partition plate, the first positioning plate and the second positioning plate of the roller storage device of the present invention.

[0050] Fig.12 It is an internal cross-sectional view of the drum storage device of the present invention.

[0051] Fig.13 It is a schematic diagram of the first card interface structure of the drum storage device of the present invention.

[0052] Fig.14 It is a schematic diagram of the structure of the second card interface and the third card interface of the drum storage device of the present invention.

[0053] Fig.15 This is a schematic diagram of the structure of the code-taking roller robot of the present invention.

[0054] Fig.16 This is a schematic diagram of the structure of the No. 1 X1 axis of the code-taking roller robot of the present invention.

[0055] Fig.17 It is a schematic diagram of the structure of the No. 2 X1 axis of the code-taking roller robot of the present invention.

[0056] Fig.18 This is a schematic diagram of the Y1 axis structure of the code taking roller robot of the present invention.

[0057] Fig.19 It is a schematic diagram of the overall structure of the roller clamp of the present invention.

[0058] Fig. 20 It is a schematic diagram of the structure of the bearing plate of the roller clamp of the present invention.

[0059] Fig.21 It is a schematic diagram of the clamping plate structure of the roller clamping claw of the present invention.

[0060] Fig. 22 It is a schematic structural diagram of the falling roller device of the present invention.

[0061] Fig.23 It is a bottom view of the falling roller device of the present invention.

[0062] Fig.24 for Figure 2 Sectional view of AA.

[0063] In the figure: 1. Code-taking roller manipulator; 2. Roller storage device; 3. Transfer platform; 4. Roller placement manipulator; 5. Roller drop device; 8. Roller; 1-1. Y-axis; 1-2. X-axis; 1-3. Operation interval; 1-4. Moving section; 1-5. Z-axis; 1-6. Manipulator gripper; 1-8. First roller; 1-9. First guide rail; 1-10. First mounting base; 1-11. First accordion cover; 1-12. Second mounting base; 1-13. First rack; 1-14. First proximity sensor; 1-15. Second guide rail; 1-16. First Y-axis mounting flange; 1-17. First junction box; 1-18. Second accordion cover; 1-19. Second roller; 1-20. First stainless steel drag chain; 1- 21. The third roller; 1-22. The second Y-axis mounting flange; 1-23. The third accordion shield; 1-24. The second junction box; 1-25. The second stainless steel drag chain; 1-26. The first drive motor; 1-27. The X-axis gear; 1-28. The Y-axis base; 1-29. The second rack; 1-30. The second proximity sensor; 1-31. The first linear guide; 1-32. The third drive motor; 1-33. The Z-axis gear; 1-34. The second drive motor; 1-35. The Y-axis gear; 1-36. The Z-axis body; 1-37. The second linear guide; 1-38. The third stainless steel drag chain; 1-39. The third proximity sensor; 2-1. The first frame; 2-2. The second frame; 2-3. The first positioning plate; 2-4. The first rib plate; 2-5, the first partition plate; 2-6, the second partition plate; 2-7, the second rib plate; 2-8, the third partition plate; 2-9, the first reinforcing rib; 2-10, the second reinforcing rib; 2-11, the third reinforcing rib; 2-12, the fourth reinforcing rib; 2-13, the first card interface; 2-14, the second positioning plate; 2-15, the second card interface; 2-16, the third card interface; 4-1, the Z1 axis; 4-2, the Y1 axis; 4-3, the roller clamp; 4-4, the first X1 axis; 4-5, the second X1 axis; 4-6, the roller detection sensor; 4-7, the roller deflection mechanism; 4-8, the roller; 4-9, the clamp opening detection sensor; 4-10, the clamp closing detection sensor; 5-1, the mounting seat; 5-2, Driving motor; 5-3, rotating mechanism; 5-4, flipping mechanism; 5-301, rotating frame; 5-302, transmission mechanism; 5-303, cantilever frame; 5-401, driving cylinder; 5-402, flip claw; 5-5, driving assembly; 5-201, first gear; 5-3021, connecting shaft; 5-3022, second gear; 5-4021, first clamping plate; 5-4022, second clamping plate; 5-4023, fixing groove; 5-4024, rotating shaft; 5-501, first connecting rod; 5-502, second connecting rod; 5-503, third connecting rod; 5-3031, mounting plate; 5-3032-sleeve; 6-1, top plate; 6-2, positioning plate; 6-3, second detection sensor;6-4, bearing plate; 6-5, fixing plate; 6-6, rectangular through groove; 6-7, clamping plate; 6-8, connecting rod; 6-9, adjusting plate; 6-10, vertical oil cylinder; 6-11, roller detection sensor; 6-12, horizontal oil cylinder; 6-13, first detection sensor; 6-14, column; 6-15, fixing threaded hole. ; DETAILED DESCRIPTION

[0064] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0065] like Figure 1-2 As shown, the intelligent tractor roller linkage device includes a code-taking roller manipulator 1, a roller storage device 2, a transfer platform 3, a roller placement manipulator 4 and a roller drop device 5. The roller storage device 2 is installed on the tractor frame, and multiple groups of rollers are stored in the roller storage device 2. The code-taking roller manipulator 1, the transfer platform 3 and the roller placement manipulator 4 are all installed on the frame, wherein the code-taking roller manipulator 1 is located on one side of the roller storage device 2, the roller placement manipulator 4 is located on the other side of the roller storage device 2, the transfer platform 3 is located between the roller storage device 2 and the roller placement manipulator 4, and the roller drop device 5 is installed under the vehicle body and located between the roller storage device 2 and the roller placement manipulator 4;

[0066] Among them, the action execution component of the coding roller robot 1 moves in the XYZ direction and grabs the roller in the roller storage device 2 to the transfer platform 3, and the action execution component of the roller placement robot 4 moves in the XYZ direction and grabs the roller on the transfer platform 3 to the roller dropping device 5. The roller dropping device 5 transfers the roller from the inner side of the track bed to the outer side of the track and then drops the roller.

[0067] There are two drop roller devices 5, which are symmetrically distributed at the bottom of the frame.

[0068] like Figure 3-8As shown, the intelligent tractor code-taking roller manipulator comprises an X-axis assembly, a Y-axis 1-1 and an action execution component, wherein the X-axis assembly is composed of a plurality of X-axis 1-2 arranged in parallel, an operation zone 1-3 of the roller is formed between adjacent X-axis 1-2, the Y-axis 1-1 is slidably mounted on the X-axis 1-2 and performs translational motion along the X-axis, the Y-axis 1-1 is divided into a plurality of moving sections 1-4 corresponding to the operating zone 1-3 according to the position of the operating zone 1-3, the action execution component is composed of a Z-axis 1-5 slidably mounted on the moving section 1-4 and performs translational motion along the Y-axis 1-1, and a manipulator gripper 1-6 which performs lifting and lowering motion with the Z-axis 1-5 and synchronously translates with the Y-axis 1-1.

[0069] Each of the X-axis 1-2 includes an X-axis mounting base 1-201 and a guide rail 1-202 for the Y-axis 1-1 to slide, which is arranged on the X-axis mounting base 1-201. The guide rail 1-202 is provided with a first slide 1-203 that moves along the direction of the X-axis 1-2. The Y-axis 1-1 is provided with the same number of support frames 1-101 as the first slide 1-203. The support frames 1-101 are fixed on the first slide 1-203 through a mounting flange 1-102. The first slide 1-203 drives the moving section 1-4 to move synchronously in the X-axis direction through the support frames 1-101.

[0070] The Y-axis 1-1 includes a Y-axis mounting base 1-103 and a guide rail 1-104 for sliding of the Z-axis 1-5 arranged on the Y-axis mounting base 1-103, and the guide rail 1-104 is provided with a second slide 1-105 for mounting the Z-axis 1-5 corresponding to the number of the moving sections 1-4.

[0071] The Z-axis 1-5 includes a Z-axis body 1-501, a Z-axis mounting seat 1-502, and a guide rail 1-503 arranged on the Z-axis mounting seat 1-502 for the sliding of the Z-axis body 1-501. The Z-axis body 1-501 is slidably mounted on the guide rail 1-503, and the manipulator gripper 1-6 is installed at the bottom end of the Z-axis body 1-501 and moves with the Z-axis body 1-501.

[0072] Both ends of the guide rail are provided with travel switches for detecting the limit positions.

[0073] Both ends of the guide rail are provided with travel switches for detecting the limit positions.

[0074] Both ends of the guide rail are provided with travel switches for detecting the limit positions.

[0075] It also includes a driving component, which includes a first driving motor 1-26 for driving the Y-axis 1-1 to perform translational motion along the X-axis 1-2, a second driving motor 1-34 for driving the Z-axis 1-5 to perform translational motion along the Y-axis 1-1 in the moving section, and a third driving motor 1-32 for driving the manipulator gripper 1-6 to perform lifting and lowering motion along the Z-axis 1-5.

[0076] The following is a specific structure of the present invention, which is suitable for an intelligent tractor code-taking roller manipulator, including a first X-axis, a second X-axis, a third X-axis, a Y-axis, a Z-axis and manipulator grippers 1-6, wherein the first X-axis, the second X-axis and the third X-axis are all provided with a slide seat, a slide rail and a mounting base, a slide rail is provided on the top of the mounting base, a roller is provided under the slide seat, and is driven by a motor-driven gear rack, a mounting flange is installed on the top of the roller by screws, and accordion guards are provided on both sides of the slide rail.

[0077] Specifically, the first X-axis is composed of a first roller 1-8, a first guide rail 1-9 and a first mounting base 1-10, the first mounting base 1-10 is provided with a first guide rail 1-9 on the top, the first guide rail 1-9 is provided with a first roller 1-8, the top of the first roller 1-8 is installed with a third Y-axis mounting flange 1-7 by screws, and the first accordion cover 1-11 is installed with screws at one end of the top of the first X-axis.

[0078] The second X-axis is composed of a second mounting base 1-12, a second guide rail 1-15, a first Y-axis mounting flange 1-16 and a second roller 1-19, the second guide rail 1-15 is provided with a second roller 1-19, the top of the second roller 1-19 is provided with a first Y-axis mounting flange 1-16 by screws, a second accordion cover 1-18 is provided at one end of the top of the second guide rail 1-15, a first proximity sensor 1-14 is installed at one side of the end of the second X-axis by screws, a first junction box 1-17 is fixedly installed at one end of the bottom of the second X-axis by screws, and a first rack 1-13 is provided at one side of the second X-axis.

[0079] The second roller 1-19 can move along the second guide rail 1-15, thereby driving the first Y-axis mounting flange 1-16 to move horizontally.

[0080] The third X-axis is composed of a third roller 1-21, a first stainless steel drag chain 1-20 and a third accordion cover 1-23. The second Y-axis mounting flange 1-22 is installed on the top of the third roller 1-21 by screws, a third accordion cover 1-23 is arranged on one side of the end of the third X-axis, and the first stainless steel drag chain 1-20 is arranged on the other side of the end of the third X-axis. The second junction box 1-24 is installed on the bottom of the other end of the third X-axis by screws.

[0081] The third roller 1 - 21 can move horizontally along the direction of the third X-axis.

[0082] Among them, the Y-axis 1-1 is composed of a first linear guide 1-31, a second rack 1-29, a Y-axis base 1-28, an X-axis gear 1-27 and a first drive motor 1-26. The first drive motor 1-26 is installed on one side of the Y-axis 1-1 by bolts, and the power output end of the first drive motor 1-26 is connected to the X-axis gear 1-27. A second rack 1-29 is provided in the Y-axis 1-1 through a guide groove sleeve, and the X-axis gear 1-27 is meshed with the second rack 1-29. A second stainless steel drag chain 1-25 is connected to one side of the second rack 1-29, and a second proximity sensor 1-30 is installed on the bottom of the Y-axis 1-1 by screws.

[0083] When the first driving motor 1-26 is working, the power output end can conveniently drive the X-axis gear 1-27 to rotate, thereby driving the second rack 1-29 to move horizontally, and then conveniently driving the second stainless steel drag chain 1-25 to move.

[0084] Among them, the Z-axis 1-5 is composed of a Z-axis body 1-36, a second linear guide 1-37, a third drive motor 1-32 and a second drive motor 1-34, the power output end of the third drive motor 1-32 is connected to the Z-axis gear 1-33, the power output end of the second drive motor 1-34 is connected to the Y-axis gear 1-35, a third stainless steel drag chain 1-38 is installed on one side of the second linear guide 1-37 by screws, and a third proximity sensor 1-39 is installed on one side of the bottom end of the second linear guide 1-37 by screws.

[0085] When the third driving motor 1-32 is working, the power output end can conveniently drive the Z-axis gear 1-33 to rotate, and when the second driving motor 1-34 is working, it can conveniently drive the Y-axis gear 1-35 to rotate.

[0086] It should be noted that when the present application is working, under the action of the first drive motor, the second drive motor and the third drive motor, the X-axis gear, the Y-axis gear and the Z-axis gear can be driven to rotate respectively, thereby driving the corresponding racks to move, thereby driving the manipulator gripper 6 to move in the XYZ directions, and the stability during movement is good, which can facilitate the efficient clamping and moving of the roller, with high efficiency and good practicality.

[0087] like Figure 9-14As shown, the drum storage device 2 includes a first frame 2-1 and a second frame 2-2, a second frame 2-2 is provided inside the first frame 2-1, a first positioning plate 2-3 is installed on the inner side of the second frame 2-2, a first partition plate 2-5 is provided inside the second frame 2-2, second positioning plates 2-14 are connected to both sides of the first partition plate 2-5, a third partition plate 2-8 is clamped between the first positioning plate 2-3 and the second positioning plate 2-14, and a second partition plate 2-6 is provided inside the second frame 2-2 and at the lower end of the first partition plate 2-5.

[0088] Among them, one end of the first frame 2-1 is connected to the first rib plate 2-4, one side of the first frame 2-1 is connected to the second rib plate 2-7, and the first reinforcing rib 2-9, the second reinforcing rib 2-10, the third reinforcing rib 2-11 and the fourth reinforcing rib 2-12 are arranged from top to bottom between the first frame 2-1 and the second frame 2-2.

[0089] The first rib plate 2-4 can reinforce and protect the first frame 2-1 at both ends of the first frame 2-1, the second rib plate 2-7 can reinforce and protect the first frame 2-1 on both sides of the first frame 2-1, and the first reinforcing rib 2-9, the second reinforcing rib 2-10, the third reinforcing rib 2-11 and the fourth reinforcing rib 2-12 can reinforce and protect between the first frame 2-1 and the second frame 2-2. Through the combined effect of the first rib plate 2-4, the second rib plate 2-7, the first reinforcing rib 2-9, the second reinforcing rib 2-10, the third reinforcing rib 2-11 and the fourth reinforcing rib 2-12, the stability of the new storage device can be greatly enhanced.

[0090] Wherein, a card slot 2-13 is opened inside the third partition plate 2-8.

[0091] The thickness of the first positioning plate 2-3 and the second positioning plate 2-14 corresponds to the diameter of the first card interface 2-13. Therefore, through the action of the first card interface 2-13, the third partition plate 2-8 can be mounted on the outside of the first positioning plate 2-3 and the second positioning plate 2-14, which can enhance the stability of the third partition plate 2-8.

[0092] A second card interface 2-15 is provided on the second partition plate 2-6, and a third card interface 2-16 is provided on the second partition plate 2-6 and located on one side of the second card interface 2-15.

[0093] The second card interface 2-15 facilitates the first partition plate 2-5 to penetrate the second partition plate 2-6, and the third card interface 2-16 facilitates the first positioning plate 2-3 to penetrate the second partition plate 2-6.

[0094] It should be noted that when the roller storage device of the present application is working, the personnel insert the first partition plate 2-5 through the second partition plate 2-6 through the second card interface 2-15, and insert the first positioning plate 2-3 through the second partition plate 2-6 through the third card interface 2-16. Further, the personnel set the third partition plate 2-8 on the periphery of the first positioning plate 2-3 and the second positioning plate 2-14, so that the interior of the second frame 2-2 can be divided into two layers, and each layer is evenly arranged in three rows and five columns, so as to achieve the effect of placing the rollers separately. Furthermore, the first rib plate 2-4 can be aligned at both ends of the first frame 2-1. The first frame 2-1 is reinforced and protected, and the second rib plate 2-7 can reinforce and protect the first frame 2-1 on both sides of the first frame 2-1. At the same time, the first reinforcing rib 2-9, the second reinforcing rib 2-10, the third reinforcing rib 2-11 and the fourth reinforcing rib 2-12 can reinforce and protect between the first frame 2-1 and the second frame 2-2. Through the combined effect of the first rib plate 2-4, the second rib plate 2-7, the first reinforcing rib 2-9, the second reinforcing rib 2-10, the third reinforcing rib 2-11 and the fourth reinforcing rib 2-12, the stability of the new storage device can be effectively enhanced.

[0095] like Figure 15-18 As shown, the specific structure of the roller placement manipulator is as follows, including a Z1 axis 4-1, a Y1 axis 4-2, a first X1 axis 4-4, and a second X1 axis 4-5. A roller clamp 4-3 is installed at the bottom of the displacement end of the Z1 axis 4-1. The roller clamp 4-3 includes a roller placement deflection mechanism 4-7. A roller detection sensor 4-6 is arranged near the top of one side of the roller clamp 4-3. A clamp opening detection sensor 4-9 and a clamp closing detection sensor 4-10 are arranged on the other side of the roller clamp 4-3. The specific structure of the Z1 axis is consistent with that of the code-taking roller manipulator.

[0096] The placing roller deflection mechanism 4-7 is composed of a servo electric cylinder and a driving rod, the bottom of the driving rod is connected to a guide clamping plate and the guide clamping plate is located on both sides of the roller 8.

[0097] When the servo electric cylinder is working, the power output end can conveniently drive the guide clamping plate to move up and down. The guide clamping plate is tangent to the roller 8 and can drive the roller 8 to deflect.

[0098] Among them, the Z1 axis 4-1, the Y1 axis 4-2, the first X1 axis 4-4 and the second X1 axis 4-5 are all composed of a driving motor, a gear, a rack, a guide rail and a sliding block. The power output end of the driving motor is connected to a gear, the gear is meshed with the rack, the rack is connected to the sliding block by a screw, and the sliding block is located in the guide rail.

[0099] When the driving motor is working, the power output end drives the gear to rotate, thereby driving the rack to move, driving the sliding block to slide along the guide rail, thereby driving the roller detection sensor 4-6 to move in the XYZ direction.

[0100] The clamping end of the roller clamp 4 - 3 clamps the roller 8 , and the roller clamp 4 - 3 is convenient for clamping the roller 8 when working.

[0101] It should be noted that, when working, the displacement of the clamping jaws can be detected by the clamping jaw opening detection sensor 4-9 and the clamping jaw closing detection sensor 4-10, and the roller detection sensor 4-6 can be used to detect when the roller is clamped. By placing the roller deflection mechanism 4-7, it is convenient to detect the displacement when the roller 8 is offset, so that the manipulator has multiple sets of sensors, which can facilitate the precise clamping of the roller 8. The Z1 axis 4-1, the Y1 axis 4-2, the first X1 axis 4-4 and the second X1 axis 4-5 are connected to an external power supply for use. When the driving motor is working, the power output end drives the gear to rotate, thereby driving the rack to move, and driving the sliding block to slide along the guide rail, thereby driving the roller detection sensor 4-6 to move in the XYZ direction.

[0102] like Figure 19-21 As shown, the roller clamp 4-3 and the manipulator clamp 1-6 can adopt the following clamp structure, including a positioning plate 6-2, columns 6-14 are welded at the bottom corners of the positioning plate 6-2, and a bearing plate 6-4 is arranged at the bottom of the column 6-14, rectangular through grooves 6-6 are opened on the two side surfaces of the top of the bearing plate 6-4, and a connecting rod 6-8 is penetrated in the rectangular through groove 6-6, and a clamping plate 6-7 is installed at the bottom of one side of the connecting rod 6-8 by bolts, horizontal cylinders 6-12 are arranged at both ends of the top of the bearing plate 6-4, and the output end of one side of the horizontal cylinder 6-12 is connected to the top of the connecting rod 6-8 by bolts and a mounting frame, the two side ends of the bearing plate 6-4 are installed with a fixing plate 6-5 by bolts, and the top of the fixing plate 6-5 is installed with a vertical cylinder 6-10 by bolts and a mounting frame, and the bottom output end of the vertical cylinder 6-10 penetrates the fixing plate 6-5 and is installed with an adjustment plate 6-9 by bolts and a mounting frame.

[0103] The vertical oil cylinders 6-10 are respectively arranged at the diagonal positions of the bearing plate 6-4 and can work independently, so that a certain force can be applied to the fixing frame of the roller through the adjustment plate 6-9.

[0104] Among them, a first detection sensor 6-13 for detecting the open state of the clamp is set at one end of the bottom of the positioning plate 6-2, and a second detection sensor 6-3 for detecting the closed state of the clamp is set at the other end of the bottom of the positioning plate 6-2.

[0105] The external terminal can determine the position of the clamping plate 6-7 through the first detection sensor 13 and the second detection sensor 6-3.

[0106] The top of the positioning plate 6-2 is mounted on the top plate 6-1 through a mounting frame and bolts, and fixing threaded holes 6-15 are provided on both sides of the top surface of the top plate 1.

[0107] The operator can connect and fix the top plate to the external mechanism through the fixing threaded holes 6-15, thereby connecting and fixing the clamp to the external mechanism.

[0108] Among them, the roller detection sensor 6-11 is installed at one end of the bottom of the supporting plate 6-4 by screws.

[0109] When there is a roller at the bottom of the clamping plate 6-7, the roller detection sensor 6-11 can output a signal to an external terminal.

[0110] It should be noted that the present invention is a roller clamp suitable for an intelligent tractor code-taking roller manipulator. When working, the operator can connect the clamp to an external mechanism, and connect the vertical cylinder 6-10, the transverse cylinder 6-12, the first detection sensor 6-13, the roller detection sensor 6-11 and the second detection sensor 6-3 to the external control terminal. When the clamp 6-7 is located at the specified position, the external control terminal can control the transverse cylinder 6-12 to work, so that the two clamps are close to each other, so that the clamp can clamp the cylinder of the roller, and the external control terminal can also control the single vertical cylinder 6-10 to work, so that its output end drops, so that the adjustment plate 6-9 applies a certain force to the fixed frame of the roller. Since the cylinder of the roller can be rotated relative to the fixed frame, the angle of the fixed frame will be adjusted, so that personnel can conveniently adjust the deflection angle of the roller when it is placed to meet the personnel's use needs.

[0111] like Figure 22-24As shown, the falling roller device includes a mounting base 1 installed on the tractor chassis and a driving motor 5-2 fixed on the mounting base 5-1, the falling roller device also includes a rotating mechanism 5-3 and a flipping mechanism 5-4, the rotating mechanism 5-3 is composed of a rotating frame 5-301 and a transmission mechanism 5-302 for driving the rotating frame 5-301 to rotate from the inner side of the track bed to the outer side of the track, the rotating frame 5-301 is provided with a cantilever frame 5-303, the flipping mechanism 5-4 includes a driving cylinder 5-401 installed on the rotating frame 5-301, a flipping claw 5-402 installed on the cantilever frame 5-303 for grabbing and placing the falling roller, and a driving component 5-5 for converting the linear travel motion of the driving cylinder 5-401 into a flipping motion of the flipping claw 5-402, the rotation plane of the rotating frame 5-301 and the rotation plane of the flipping claw are not in the same plane. The rotation angle of the rotating frame 5-301 is 180°. The setting that is not in the same plane can effectively ensure that there will be no collision during flipping and can effectively rotate the roller from the inside of the track bed to the outside of the track.

[0112] A first gear 5-201 is installed on the output shaft of the driving motor 5-2, and the transmission mechanism 5-302 includes a connecting shaft 5-3021 connected to the rotating frame 5-301 and a second gear 5-3022 meshing with the first gear 5-201, and the second gear 5-3022 is installed on the connecting shaft 5-3021.

[0113] The flip claw 5-402 includes a first clamping plate 5-4021 and a second clamping plate 5-4022 for grabbing the roller, and the first clamping plate 5-4021 and the second clamping plate 5-4022 are provided with a fixing groove 5-4023 for clamping the roller;

[0114] When clamping the roller, the first clamping plate 5-4021 and the second clamping plate 5-4022 are respectively clamped with the fixed ends on both sides of the roller through the fixing groove 5-4023;

[0115] When the roller is dropped, the first clamping plate 5-4021 and the second clamping plate 5-4022 are flipped, and the roller falls off from the fixing groove 5-4023, completing the roller dropping operation;

[0116] The first clamping plate 5-4021 and the second clamping plate 5-4022 are both fixedly connected with a rotating shaft 5-4024 for driving them to flip, and both ends of the rotating shaft 5-4024 are rotatably mounted on the cantilever frame 5-303.

[0117] The driving assembly 5-5 consists of a first connecting rod 5-501, a second connecting rod 5-502 hinged at both ends of the first connecting rod 5-501, and a third connecting rod 5-503 one end of which is hinged to the second connecting rod 5-502. The other end of the third connecting rod 5-503 is connected to the rotating shaft 5-4024 and drives the rotating shaft 5-4024 to rotate.

[0118] The rotation angle of the rotating shaft 5-4024 is not less than 90°.

[0119] The cantilever frame 5-303 is provided with two mounting plates 5-3031 arranged in parallel, and each mounting plate 5-3031 is provided with a sleeve 5-3032 for fixing the two ends of the rotating shaft 5-4024.

[0120] A steering device is also provided between the output shaft of the driving motor 5-2 and the shaft driving the first gear 5-201 to rotate. A limiting structure is provided on the fixing groove 5-4023. Both the first gear 5-201 and the second gear 5-3022 are helical gears.

[0121] Specifically, the specific process of the flipping process described in the accompanying drawings is as follows: when the rotating frame 5-301 clamps the roller and rotates from the inside of the track bed to the outside of the track, the driving cylinder 5-401 (the air path part is not shown in the figure) starts to move downward and drives the first connecting rod 5-501 to move downward, and drives the second connecting rod 5-502 to move downward. The second connecting rod 5-502 drives 5-503 to move, and the third connecting rod 5-503 is connected to the rotating shaft 5-4024. Both ends of the rotating shaft 5-4024 are rotatably installed on the rotating frame 5-301. Therefore, the rotating shaft 5-4024 can realize flipping movement, and the roller is put down after reaching the corresponding position.

[0122] During intelligent track laying on ballasted track, the rotating mechanism repeatedly rotates 180° to the inside and outside of the vehicle body to place the roller on the roadbed. During intelligent track laying on ballastless track, the rotating mechanism rotates 90° to the bottom of the frame beam to make room for the robot to place the roller on the roadbed.

[0123] The operation method of the intelligent tractor roller linkage device includes a roller grabbing process and a roller placing process performed in sequence. When there is no roller on the transfer platform, the roller placing process is not performed. Specifically, the roller grabbing process is as follows:

[0124] The code-taking roller manipulator is connected and fixed to the vehicle body by three X-axis tracks through a bracket and installed in the space above the roller storage basket. A Y-axis beam is installed on the three X-axis tracks and moves longitudinally along the X-axis track direction. A Y-axis track is installed on both sides of the Y-axis beam, and a Z-axis track mounting seat is installed on each Y-axis track. A Z-axis track is installed on each mounting seat. The Z-axis track can be lifted up and down, and a set of mechanical grippers is installed at the lower end of each Z-axis track.

[0125] 2) Grab the roller action process:

[0126] S101, first the robot stops at the origin coordinate position in the X-axis direction and the Y-axis direction. The robot stops at the highest position and the Z-axis origin position of the robot. The origin coordinate position is a preset position, based on the principle of convenient operation, such as the leftmost end of the X-axis, the side end of the Y-axis moving section, and the highest point of the Z-axis travel can be selected as the origin.

[0127] Note: The X-axis and Y-axis origin positions of the roller manipulator are adjusted and set according to the on-site conditions. They cannot be adjusted at will after setting. The X-axis origin position is about 800mm from the center of the transfer platform (adjustable, and cannot be changed at will after setting) to prevent the roller manipulator from colliding with the code roller manipulator when it is placed on the transfer platform to grab the roller, causing damage.

[0128] S102, when the grabbing roller is in operation, the servo motor in the middle of the Y-axis beam of the code-taking roller manipulator drives the Y-axis beam to move along the X-axis track to locate the position coordinate of the target roller corresponding to the X-axis direction of the manipulator gripper.

[0129] S103, when the Y-axis beam moves along the X-axis track, the lateral movement servo motor installed on the Z-axis mounting seat drives the Z-axis track to move laterally along the Y-axis track to locate the position coordinate of the target roller corresponding to the Y-axis direction of the mechanical gripper.

[0130] S104, after the code-taking roller manipulator completes positioning of the target roller in the X-axis and Y-axis directions, the vertical lifting servo motor installed on the Z-axis mounting seat drives the Z-axis track to descend, and stops when the code-taking roller manipulator can grab the roller.

[0131] S105, after the code-taking roller manipulator reaches the position for grabbing the target roller, the driving cylinder in the code-taking roller manipulator controls the gripper to grab the roller.

[0132] S106, after the code roller robot grabs the roller, the vertical lifting servo motor installed on the Z-axis mounting seat drives the Z-axis track to rise, and rises to a height position where no collision occurs when the roller moves horizontally (and the Z-axis is raised to the highest position, that is, the Z-axis origin position of the robot).

[0133] S107, after the code roller robot grabs the roller and lifts it to the Z-axis origin position, the servo motor in the middle of the Y-axis beam drives the Y-axis beam to move along the X-axis track to the X-axis coordinate position corresponding to the transfer platform on the vehicle, and at the same time, the lateral movement servo motors installed on both sides of the Z-axis mounting seat respectively drive the corresponding Z-axis track to move horizontally along the Y-axis track to the Y-axis coordinate position corresponding to the transfer platform on both sides of the vehicle.

[0134] Note: During linkage operation, if there is a roller on one of the transfer platforms, the code roller robot grabs the roller and moves horizontally in the X-axis coordinate direction to 800mm from the transfer platform (this parameter is determined by the actual situation on site and cannot be adjusted at will after setting) and waits, and the Z-axis track does not descend. After the rollers on the transfer platforms on both sides are taken away by the roller placement robot, the subsequent positioning of the transfer platform and the placement of the roller on the transfer platform are automatically performed to prevent the robot parts from colliding and causing damage.

[0135] S108, after the two sets of code-taking roller manipulators grab the roller and horizontally position the corresponding transfer platforms on both sides, the vertical lifting servo motors installed on the Z-axis mounting seats drive the two sets of Z-axis tracks to descend until the roller can fall smoothly and accurately to the height position of the transfer platform after the code-taking roller manipulator releases the roller.

[0136] S109, after the two sets of code-taking roller manipulators grab the rollers and position them vertically, the cylinders in the mechanical grippers are actuated to open the grippers and lower the rollers to the transfer platform.

[0137] S110, after the two sets of code-taking roller manipulators put down their rollers, the vertical lifting servo motors installed on the Z-axis mounting seat drive the two sets of Z-axis tracks to rise until the code-taking roller manipulators reach the Z-axis origin position. After the two sets of code-taking roller manipulators are in place, the servo motor in the middle of the Y-axis beam drives the Y-axis beam to move along the X-axis track to the X-axis origin position. At the same time, the lateral movement servo motors installed on the Z-axis mounting seats on both sides drive the corresponding Z-axis tracks to move horizontally along the Y-axis track to the Y-axis origin position.

[0138] The code-taking roller manipulator completes the code-taking operation process of a pair of rollers. When working in linkage, the code-taking roller manipulator performs cyclic operation according to the above operation process.

[0139] The roller placement process is as follows: two sets of roller placement manipulators are arranged on both sides of the vehicle, and the two sets of roller placement manipulators are symmetrical in structure to respectively perform the flipping and grabbing operations of the roller placement mechanisms on both sides of the vehicle.

[0140] The placement roller manipulator is connected and fixed to the vehicle body by two X1-axis tracks through a bracket. A Y1-axis crossbeam is installed on the two X1-axis tracks and moves longitudinally along the direction of the X1-axis track. A Y1-axis track is installed on the Y1-axis crossbeam, and a Z1-axis track mounting seat is installed on the Y1-axis track. A Z1-axis track is installed on the mounting seat. The Z1-axis track can be lifted up and down, and a set of mechanical grippers are installed at the lower end of the Z1-axis track. It should be noted that the X-axis and X1-axis are marks to distinguish the code-taking roller manipulator and the placement roller manipulator, and the direction is the same. For the same reason, refer to the Y, Y1, Z and Z1 axes.

[0141] Roller manipulators are placed on both sides of the vehicle and work independently according to the following process.

[0142] a. First, place the roller manipulator in the X1 axis direction and the Y1 axis direction at the origin coordinate position. Its mechanical gripper stops at the highest position and the Z1 axis origin position of the manipulator.

[0143] Note: The X1-axis and Y1-axis origin positions of the roller placement manipulator are adjusted and set according to the on-site conditions and cannot be adjusted at will after setting. The X1-axis origin position is about 800mm from the center of the transfer platform (adjustable, and cannot be changed at will after setting) to prevent the code-taking manipulator from colliding with the roller placement manipulator when placing the roller on the transfer platform, causing damage.

[0144] b. When placing the roller, the servo motor on the inner side of the Y1-axis beam of the roller manipulator drives the Y1-axis beam to move along the X1-axis track to locate the position coordinate of the manipulator gripper corresponding to the X1-axis direction of the transfer platform.

[0145] Note: During the intelligent track laying operation, when there is no roller on any of the transfer platforms, the roller placing robot stops at the origin and does not move. When the coding robot places a pair of rollers on the transfer platforms on both sides, the roller placing robot moves to grab the rollers.

[0146] c. When the Y-axis crossbeam moves along the X1-axis track, the lateral movement servo motor installed on the Z1-axis mounting seat drives the Z1-axis track to move laterally along the Y1-axis track, positioning the position coordinates of the mechanical gripper corresponding to the Y1-axis direction of the transfer platform.

[0147] d. After the mechanical gripper completes the positioning in the X1-axis and Y1-axis directions, the vertical lifting servo motor installed on the Z1-axis mounting seat drives the Z-axis track to descend, and stops when the mechanical gripper can grab the roller.

[0148] e. After the mechanical gripper reaches the position to grab the target roller, the driving cylinder in the mechanical gripper controls the gripper to grab the roller.

[0149] f. After the robot gripper grabs the roller, the vertical lifting servo motor installed on the Z1 axis mounting seat drives the Z1 axis track to rise to a height position where no collision will occur when the roller moves horizontally (and the Z1 axis is raised to the highest position, which is the origin position of the robot Z1 axis).

[0150] g. After the manipulator grabs the roller and lifts it to the Z1-axis origin, the servo motor on the inner side of the Y1-axis beam drives the Y1-axis beam to move along the X1-axis track to place the roller to the X1-axis position coordinate of the flip claw of the corresponding roller drop mechanism.

[0151] h. After the manipulator completes the positioning of the flip claw in the X1-axis direction, the vertical lifting servo motor installed on the Z1-axis mounting seat drives the Z1-axis track to descend to a suitable height position where the mechanical gripper can grab the roller and move it horizontally to the flip claw of the roller-dropping mechanism.

[0152] i. After the manipulator completes the positioning of the flip claw in the Z1 axis direction, the lateral movement servo motor installed on the Z1 axis mounting seat drives the Z axis track to move horizontally along the Y1 axis track to the center position of the flip claw in the drop roller mechanism.

[0153] z, after the robot completes the positioning of the flip claw in the Y1-axis direction, the robot gripper cylinder quickly opens the clamp and puts the roller down onto the flip gripper.

[0154] k. After the robot puts down the roller, the vertical lifting servo motor installed on the Z1 axis mounting seat drives the Z17 axis track to rise. After the robot gripper leaves the range of the roller, it will be linked and move to the X, Y, and Z origin positions to wait.

[0155] 1. After the mechanical gripper leaves the range of the drop roller, the drop roller mechanism rotation motor drives the flip claw to rotate 180° to the outside of the vehicle body.

[0156] m, when the vehicle is moving, the electrical control system counts and calculates to determine the position coordinates of the roller. When the vehicle moves to the position where the roller on the flip claw reaches the placement position, the cylinder that controls the flip claw to flip the flip claw is activated, flipping the flip claw to make the roller fall to the placement point.

[0157] n. After the roller lowering mechanism lowers the roller onto the roadbed, the rotating motor of the roller lowering mechanism drives the flip claw to rotate 180° to the inner side of the vehicle body, and the cylinder controls the flip claw to return to wait.

[0158] The robot group completes the operation process of placing a pair of rollers in place. During the linkage operation, the robot group performs a cyclic operation according to the above operation process.

[0159] It should be noted that the ballastless intelligent track laying condition and the ballasted intelligent track laying condition share the same set of manipulators for intelligent track laying operations. However, the track laying processes are different. The specific introduction is as follows:

[0160] (1) Operation process of intelligent track laying on ballastless track bed with code-taking robot

[0161] Its action process and steps are exactly the same as those of ballasted intelligent track laying.

[0162] (2) Placement of manipulators for intelligent track laying on ballastless trackbed

[0163] Roller manipulators are placed on both sides of the vehicle and work independently according to the following process.

[0164] a. First, place the roller manipulator in the X1 axis direction and the Y1 axis direction at the origin coordinate position. Its mechanical gripper stops at the highest position and the Z1 axis origin position of the manipulator.

[0165] Note: The X1-axis and Y1-axis origin positions of the placement robot are adjusted and set according to the on-site conditions and cannot be adjusted at will after setting. The X1-axis origin position is about 800mm from the center of the transfer platform (adjustable, and cannot be changed at will after setting) to prevent the code-taking robot from colliding with the roller placement robot when placing the roller on the transfer platform, causing damage.

[0166] b. When placing the roller, the servo motor on the inner side of the Y1-axis beam of the roller manipulator drives the Y1-axis beam to move along the X1-axis track to locate the position coordinate of the manipulator gripper corresponding to the X-axis direction of the transfer platform.

[0167] Note: During the intelligent track laying operation, when there is no roller on any of the transfer platforms, the roller placing robot stops at the origin and does not move. When the coding robot places a pair of rollers on the transfer platforms on both sides, the roller placing robot moves to grab the rollers.

[0168] c. When the Y-axis crossbeam moves along the X1-axis track, the lateral movement servo motor installed on the Z1-axis mounting seat drives the Z1-axis track to move laterally along the Y1-axis track, positioning the position coordinates of the mechanical gripper corresponding to the Y1-axis direction of the transfer platform.

[0169] d. After the mechanical gripper completes the positioning in the X1-axis and Y1-axis directions, the vertical lifting servo motor installed on the Z1-axis mounting seat drives the Z1-axis track to descend, and stops when the mechanical gripper can grab the roller.

[0170] e. After the mechanical gripper reaches the position to grab the target roller, the driving cylinder in the mechanical gripper controls the gripper to grab the roller.

[0171] f. After the robot gripper grabs the roller, the vertical lifting servo motor installed on the Z1 axis mounting seat drives the Z axis track to rise to a height position where no collision will occur when the roller moves horizontally (and the Z1 axis is raised to the highest position, which is the Z axis origin position of the robot).

[0172] g. After the robot grabs the roller and lifts it to the Z1-axis origin, the servo motor on the inner side of the Y-axis beam drives the Y1-axis beam to move along the X1-axis track to a position where the roller is 200 mm away from the transfer platform in the longitudinal direction.

[0173] h. After the roller is 200mm away from the transfer platform, the lateral movement servo motor installed on the Z1-axis mounting seat drives the Z-axis track to move laterally along the Y1-axis track to a position 754mm away from the center of the vehicle body.

[0174] i. After the manipulator completes the positioning in the Y1-axis direction, the servo motor on the inner side of the Y-axis beam drives the Y1-axis beam to move along the X1-axis track to the same horizontal position where the center of the roller and the transfer platform coincide. At the same time, the vertical lifting servo motor installed on the Z1-axis mounting seat drives the Z1-axis track to descend until the mechanical gripper grabs the roller about 250mm away from the ballastless roadbed subgrade surface (this parameter can be adjusted according to the on-site conditions and cannot be changed at will after setting) and waits at a high altitude.

[0175] z, when the vehicle is moving, the automatic tracking vision system, the roller placement vision system, and the electrical control system count and calculate to determine the position coordinates of the roller placement. When the vehicle moves to the waiting point for the manipulator to grab the roller and arrives at this position, the placement manipulator is controlled to perform horizontal follow-up positioning of the roller placement point on the ballastless roadbed.

[0176] k. During the time when the mechanical gripper grabs the roller and positions the roller on the ballastless track, the electrical control system controls the Z1-axis track to descend rapidly, dropping the roller onto the track, and then the mechanical gripper cylinder quickly opens the clamp to lower the roller.

[0177] 1. After the robot gripper puts the roller down onto the roadbed, the robot quickly rises to the highest position and the Z-axis origin position, and at the same time the X1-axis and Y1-axis directions are adjusted to the origin position and wait.

[0178] The roller placement manipulator completes the operation process of placing a pair of rollers in place. During linkage operation, the roller placement manipulator performs cyclic operation according to the above operation process.

[0179] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Intelligent tractor roller linkage device, characterized in that: The invention comprises a code-taking roller manipulator (1), a roller storage device (2), a transfer platform (3), a roller placement manipulator (4) and a roller drop device (5), wherein the roller storage device (2) is mounted on a tractor frame, a plurality of rollers are stored in the roller storage device (2), the code-taking roller manipulator (1), the transfer platform (3) and the roller placement manipulator (4) are all mounted on the frame, wherein the code-taking roller manipulator (1) is located on one side of the roller storage device (2), the roller placement manipulator (4) is located on the other side of the roller storage device (2), the transfer platform (3) is located between the roller storage device (2) and the roller placement manipulator (4), and the roller drop device (5) is mounted under the vehicle body and located between the roller storage device (2) and the roller placement manipulator (4); The action execution component of the code-taking roller manipulator (1) moves in the XYZ direction and grabs the roller in the roller storage device (2) onto the transfer platform (3); the action execution component of the roller placement manipulator (4) moves in the XYZ direction and grabs the roller on the transfer platform (3) into the roller drop device (5); the roller drop device (5) transfers the roller from the inner side of the track bed to the outer side of the track and then drops the roller; The drop roller device (5) comprises a mounting seat (5-1) mounted on a tractor chassis and a drive motor (5-2) fixed on the mounting seat (5-1). The drop roller device also comprises a rotating mechanism (5-3) and a flipping mechanism (5-4). The rotating mechanism (5-3) comprises a rotating frame (5-301) and a transmission mechanism (5-302) for driving the rotating frame (5-301) to rotate from the inner side of the track bed to the outer side of the track. A cantilever is provided on the rotating frame (5-301). The rotating frame (5-303) is a rotating frame, wherein the flipping mechanism (5-4) comprises a driving cylinder (5-401) installed on the rotating frame (5-301), a flipping claw (5-402) installed on the cantilever frame (5-303) for grabbing and placing the roller, and a driving component (5-5) for converting the linear travel motion of the driving cylinder (5-401) into a flipping motion of the flipping claw (5-402), and the rotation plane of the rotating frame (5-301) and the rotation plane of the flipping claw are not in the same plane.

2. The intelligent tractor roller linkage device according to claim 1 is characterized in that: The number of the drop roller devices (5) is two, and they are symmetrically distributed at the bottom of the frame.

3. The intelligent tractor roller linkage device according to claim 1 is characterized in that: The code-taking roller manipulator (1) comprises an X-axis assembly, a Y-axis (1-1) and an action execution component. The X-axis assembly is composed of a plurality of X-axis (1-2) arranged in parallel, and an operation zone (1-3) of the roller is formed between adjacent X-axis (1-2). The Y-axis (1-1) is slidably mounted on the X-axis (1-2) and performs translational motion along the X-axis. The Y-axis (1-1) is divided into a plurality of moving sections (1-4) corresponding to the operation zone (1-3) according to the location of the operation zone (1-3). The action execution component is composed of a Z-axis (1-5) slidably mounted on the moving section (1-4) and performs translational motion along the Y-axis (1-1), and a manipulator gripper (1-6) that performs lifting and lowering motion with the Z-axis (1-5) and synchronously translates with the Y-axis (1-1).

4. The intelligent tractor roller linkage device according to claim 3 is characterized in that: Each X-axis (1-2) comprises an X-axis mounting base and a guide rail for the Y-axis (1-1) to slide, which is arranged on the X-axis mounting base; a first slide seat moving along the X-axis (1-2) is arranged on the guide rail; a support frame having the same number as the slide seat is arranged on the Y-axis (1-1); the support frame is fixed on the first slide seat through a mounting flange; the slide seat drives the moving section (1-4) to move synchronously in the X-axis direction through the support frame; the Y-axis (1-1) comprises a Y-axis mounting base and a guide rail for the Z-axis (1-5) to slide, which is arranged on the Y-axis mounting base; a second slide seat for mounting the Z-axis corresponding to the number of the moving sections (1-4) is arranged on the guide rail; the Z-axis (1-5) comprises a Z-axis body, a Z-axis mounting base, and a guide rail for the Z-axis body to slide, which is arranged on the Z-axis mounting base; the Z-axis body is slidably mounted on the guide rail; and the manipulator gripper is mounted at the bottom end of the Z-axis body and moves with the Z-axis body.

5. The intelligent tractor roller linkage device according to claim 3 is characterized in that: The code-taking roller manipulator (1) further comprises a driving assembly, wherein the driving assembly comprises a first driving motor (1-26) for driving the Y-axis (1-1) to perform translational motion along the X-axis (1-2), a second driving motor (1-34) for driving the Z-axis (1-5) to perform translational motion along the Y-axis (1-1) in the moving section, and a third driving motor (1-32) for driving the manipulator gripper (1-6) to perform lifting and lowering motion along the Z-axis (1-5).

6. The intelligent tractor roller linkage device according to claim 1 is characterized in that: The drum storage device (2) comprises a first frame (2-1) and a second frame (2-2); the second frame (2-2) is provided inside the first frame (2-1); a first positioning plate (2-3) is installed on the inner side of the second frame (2-2); a first partition plate (2-5) is provided inside the second frame (2-2); second positioning plates (2-14) are connected to both sides of the first partition plate (2-5); a third partition plate (2-8) is clamped between the first positioning plate (2-3) and the second positioning plate (2-14); and a second partition plate (2-6) is provided inside the second frame (2-2) and at the lower end of the first partition plate (2-5).

7. The intelligent tractor roller linkage device according to claim 6 is characterized in that: One end of the first frame (2-1) is connected to a first rib plate (2-4), one side of the first frame (2-1) is connected to a second rib plate (2-7), a first reinforcing rib (2-9), a second reinforcing rib (2-10), a third reinforcing rib (2-11) and a fourth reinforcing rib (2-12) are provided in sequence from top to bottom between the first frame (2-1) and the second frame (2-2), a card slot (2-13) is provided inside the third partition plate (2-8), a second card interface (2-15) is provided on the second partition plate (2-6), and a third card interface (2-16) is provided on the second partition plate (2-6) and located on one side of the second card interface (2-15).

8. The intelligent tractor roller linkage device according to claim 1 is characterized in that: The rotation angle of the rotating frame (5-301) is 180°, a first gear (5-201) is installed on the output shaft of the driving motor (5-2), the transmission mechanism (5-302) comprises a connecting shaft (5-3021) connected to the rotating frame (5-301) and a second gear (5-3022) meshing with the first gear (5-201), the flip claw (5-402) comprises a first clamping plate (5-4021) and a second clamping plate (5-4022) for grabbing the roller, and the first clamping plate (5-4021) and the second clamping plate (5-4022) are provided with a fixing groove (5-4023) for clamping the roller; When clamping the roller, the first clamping plate (5-4021) and the second clamping plate (5-4022) are respectively clamped with the fixed ends on both sides of the roller through the fixing grooves (5-4023); When the roller is dropped, the first clamping plate (5-4021) and the second clamping plate (5-4022) are turned over, and the roller falls off from the fixing groove (5-4023), thereby completing the roller dropping operation; The first clamping plate (5-4021) and the second clamping plate (5-4022) are both fixedly connected with a rotating shaft (5-4024) for driving them to flip, and both ends of the rotating shaft (5-4024) are rotatably mounted on the cantilever frame (5-303); The driving assembly (5-5) comprises a first connecting rod (5-501), a second connecting rod (5-502) respectively hinged at two ends of the first connecting rod (5-501), and a third connecting rod (5-503) one end of which is hinged to the second connecting rod (5-502); the other end of the third connecting rod (5-503) is connected to the rotating shaft (5-4024) and drives the rotating shaft (5-4024) to rotate; The rotation angle of the rotating shaft (5-4024) is not less than 90°; The cantilever frame (5-303) is provided with two mounting plates (5-3031) arranged in parallel, and each mounting plate (5-3031) is provided with a shaft sleeve (5-3032) for fixing the two ends of the rotating shaft (5-4024).

9. The operating method of the intelligent tractor roller linkage device according to any one of claims 1 to 8, characterized in that: The method comprises a roller grabbing process and a roller placing process which are performed in sequence. When there is no roller on the transfer platform, the roller placing process is not performed.

Images