Intelligent Tractor and Its Operating Method

Abstract

The present invention discloses an intelligent tractor and its operation method, which includes a frame main body, a drive axle and a manipulator assembly, and further includes a traveling mechanism. A crawler is provided at the lower end of the frame main body, and wheels are provided on both sides of the crawler at the lower end of the frame main body. Steering mechanisms corresponding to the wheels are respectively assembled on both sides of the frame main body, drive axles are respectively assembled on both sides of the end of the frame main body, an electrical cabinet is installed at one end of the top of the frame main body, and a diesel power system is installed at the top of one end of the frame main body. It solves the problems such as difficult employment and backward technology in the current high-speed railway track laying construction, and conducts innovative research and development to realize a new generation of equipment for intelligent high-speed railway track laying construction. By applying intelligent technologies, each process of intelligent high-speed railway track laying meets the requirements of mechanization, informatization and automation, and realizes the reduction of labor intensity, the reduction of the number of employed people and the improvement of construction quality in the high-speed railway track laying construction.

Description

Technical Field

[0001] The present invention belongs to the technical field of ballastless and ballasted track construction, and particularly relates to an intelligent tractor and an operation method thereof. Background Art

[0002] A tractor is the main rail traction tool for construction departments such as railway maintenance, overhaul, and infrastructure construction. Tractors are divided into two types: ballasted track traction and ballastless track traction. Those that can walk on ballasted tracks and are mainly used for ballasted track construction are called ballasted track laying tractors; those that can walk on ballastless tracks and are mainly used for ballastless track construction are called ballastless track laying tractors.

[0003] Currently, there are problems such as difficult labor employment and backward technology in high-speed railway track laying construction. There is a lack of the use of intelligent technologies to meet the requirements of mechanization, informatization, and automation in each process of high-speed railway intelligent track laying, resulting in high labor intensity, a large number of workers, and low construction efficiency in current high-speed railway track laying construction. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent tractor and an operation method thereof to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An intelligent tractor includes a frame, and also includes a walking system, a roller linkage system, a rail grasping and locking device, and a power system;

[0006] The walking system includes a crawler walking device, a tire walking device, and a track walking device. Among them, the tractor walks in one of the walking modes of the crawler walking device, the tire walking device, and the track walking device and can switch between these walking devices. The crawler walking device is installed at the bottom of the frame. The tire walking device includes a chassis installed below the frame, tires installed on the chassis and located on both sides of the crawler walking device, and a tire lifting component installed between the chassis and the frame for lifting the chassis. The track walking device + includes brackets installed at both ends of the frame, track walking wheels installed on both sides of the brackets, and a track walking wheel lifting component installed between the brackets and the frame for lifting the brackets. The tire lifting component and the lifting component do not act simultaneously. The rail grasping and locking device is installed on the bracket where the front end of the tractor is located;

[0007] The described intelligent tractor drum linkage device includes a code-taking drum manipulator, a drum storage device, a transfer platform, a placing drum manipulator, and a drum dropping device. The drum storage device is installed on the tractor frame, and multiple groups of drums are stored in the drum storage device. The code-taking drum manipulator, the transfer platform, and the placing drum manipulator are all installed on the frame. Among them, the code-taking drum manipulator is located on one side of the drum storage device, the placing drum manipulator is located on the other side of the drum storage device, the transfer platform is located between the drum storage device and the placing drum manipulator, and the drum dropping device is installed under the vehicle body and located between the drum storage device and the placing drum manipulator;

[0008] Among them, the action execution component of the code-taking drum manipulator moves in the XYZ directions and grabs the drum in the drum storage device onto the transfer platform. The action execution component of the placing drum manipulator moves in the XYZ directions and grabs the drum on the transfer platform into the drum dropping device. The drum dropping device transfers the drum from the inner side of the track roadbed to the outer side of the track and then drops the drum.

[0009] A drive axle is further provided between the tire and the chassis. An electrical cabinet is installed at one end of the top of the frame. A diesel power system is installed at the top of one end of the frame. An air compressor is installed at the bottom of one end of the frame. An air tank is provided on one side of the air compressor. A rain shelter is installed on the top of the frame. A driver's cab transverse movement mechanism is installed at the top of the end of the frame.

[0010] Further, the drive axle includes a drive axle bracket, a reducer bracket, and a hydraulic motor. A lifting oil cylinder is provided at the top of the drive axle bracket. The output end of the lifting oil cylinder is provided with a slewing bearing. A bracket connecting seat is provided at the top of the slewing bearing. The slewing bearing and the bracket connecting seat are connected by setting a second bolt. A transverse oil cylinder is provided on one side of the lifting oil cylinder, and the transverse oil cylinder and the lifting oil cylinder are connected by setting a pin shaft.

[0011] Further, the traveling mechanism includes a cross beam, a crawler assembly, and a front beam. A front beam is provided on one side of the cross beam. A rear beam is provided on the other side of the cross beam. Crawler assemblies are fixed at both ends of the cross beam. Guide devices are fixed at both ends of the front beam and the rear beam.

[0012] Further, the railway traveling mechanism includes a frame body. Pins are provided on both sides of the inner bottom of the frame body. Lifting oil cylinders are installed on both sides of the top of the frame body through the pins. Axle shafts are installed on both sides of the inner bottom of the frame body through round nuts, and wheels are provided at both sides of the bottom of the frame body. A single-row tapered bearing is provided inside the wheels.

[0013] Further, the dropping drum device includes a mechanism mounting plate, a large bevel gear, a rotating frame and a first connecting rod. At both ends of one side of the mechanism mounting plate, fixed brackets are welded. At the bottom of the mechanism mounting plate, a driving motor is fixed. On one side of the driving motor, a speed reducer is fixed. At the bottom of the mechanism mounting plate, a connecting bracket is fixed. At the bottom of the connecting bracket, a transmission shaft is installed through a bearing. At the bottom of the transmission shaft, a rotating frame is fixed.

[0014] Further, the driver's cab transverse movement mechanism includes a driver's cab, a runway channel steel, a shaft rod and a bottom plate. At the bottom of the driver's cab, a bottom plate is fixed. On both sides of the bottom plate, supports are fixed. Outside the supports, runway channel steel is arranged. At the bottom of the support, a support seat plate is welded. On one side of the support seat plate, a positioning pin sleeve seat plate is fixed.

[0015] The intelligent tractor drum linkage device includes a code-taking drum manipulator, a drum storage device, a transfer platform, a placing drum manipulator and a dropping drum device. The drum storage device is installed on the tractor frame. Multiple groups of drums are stored in the drum storage device. The code-taking drum manipulator, the transfer platform and the placing drum manipulator are all installed on the frame. Among them, the code-taking drum manipulator is located on one side of the drum storage device, the placing drum manipulator is located on the other side of the drum storage device, the transfer platform is located between the drum storage device and the placing drum manipulator, and the dropping drum device is installed under the vehicle body and located between the drum storage device and the placing drum manipulator;

[0016] Among them, the action execution component of the code-taking drum manipulator moves in the XYZ directions and grabs the drum in the drum storage device onto the transfer platform. The action execution component of the placing drum manipulator moves in the XYZ directions and grabs the drum on the transfer platform into the dropping drum device. The dropping drum device transfers the drum from the inner side of the track bed to the outer side of the track and then drops the drum.

[0017] The number of the dropping drum devices is two, and they are symmetrically distributed at the bottom of the frame.

[0018] The code-taking drum manipulator includes an X-axis component, a Y-axis and an action execution component. The X-axis component is composed of multiple parallel X-axes. An operation interval for the drum is formed between adjacent X-axes. The Y-axis is slidably installed on the X-axis and makes a translational movement along the X-axis. The Y-axis is divided into multiple moving segments corresponding to the operation interval according to the position of the operation interval. The action execution component is composed of a Z-axis slidably installed on the moving segment and making a translational movement along the Y-axis, and a manipulator jaw that moves up and down with the Z-axis and synchronously moves horizontally with the Y-axis.

[0019] Each of the X axes includes an X-axis mounting base and a guide rail provided on the X-axis mounting base for the sliding of the Y axis. A first slide is provided on the guide rail and moves along the X-axis direction. The Y axis is provided with the same number of support frames as the first slides. The support frames are fixed to the first slides through mounting flanges. The first slides drive the moving section to move synchronously in the X-axis direction through the support frames.

[0020] The Y axis includes a Y-axis mounting base and a guide rail provided on the Y-axis mounting base for the sliding of the Z axis. The guide rail is provided with a second slide corresponding to the number of moving sections for mounting the Z axis.

[0021] The Z axis includes a Z-axis main body, a Z-axis mounting seat, and a guide rail provided on the Z-axis mounting seat for the sliding of the Z-axis main body. The Z-axis main body is slidably mounted on the guide rail. The manipulator gripper is mounted at the bottom end of the Z-axis main body and moves with the Z-axis main body.

[0022] Limit switches for detecting the limit positions are provided at both ends of the guide rail. Limit switches for detecting the limit positions are provided at both ends of the guide rail. Limit switches for detecting the limit positions are provided at both ends of the guide rail. The setting of the limit switches can effectively control the moving components, which is prior art and will not be elaborated here.

[0023] It should be noted that the XYZ directions in this application refer to three different mutually perpendicular directions in a broad sense, including the common horizontal, vertical, and longitudinal directions.

[0024] It further includes a driving assembly. The driving assembly includes a first driving motor for driving the Y axis to perform a translational movement along the X axis, a second driving motor for driving the Z axis to perform a translational movement along the moving section along the Y axis, and a third driving motor for driving the manipulator gripper to perform a lifting movement along the Z axis.

[0025] The drum storage device includes a first frame and a second frame. 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 plates. A second partition plate is provided inside the second frame and at the lower end of the first partition plate.

[0026] 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. First reinforcing ribs, second reinforcing ribs, third reinforcing ribs, and fourth reinforcing ribs are successively provided between the first frame and the second frame from top to bottom.

[0027] Further, a card slot is provided inside the third partition plate; the thicknesses of the first positioning plate and the second positioning plate correspond to the diameter of the first card interface. Therefore, through the action of the first card interface, the third partition plate can be sleeved outside the first positioning plate and the second positioning plate, enhancing the stability of the third partition plate.

[0028] Further, 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 penetrate the second partition plate, and the third card interface can facilitate the first positioning plate to penetrate the second partition plate.

[0029] The drum dropping device includes a mounting seat installed on the chassis of a tractor and a driving motor fixed on the mounting seat. The drum dropping device further includes a rotating mechanism and a flipping mechanism. The rotating mechanism consists of a rotating frame and a transmission mechanism for driving the rotating frame to rotate from the inner side of the track bed to the outer side of the track. A cantilever frame is provided on the rotating frame. The flipping mechanism includes a driving cylinder installed on the rotating frame, a flipping claw installed on the cantilever frame for grasping and dropping the drum, and a driving assembly for converting the linear stroke motion of the driving cylinder into the flipping motion of the flipping claw. The rotating plane of the rotating frame and the rotating plane of the flipping claw are not in the same plane.

[0030] The rotating angle of the rotating frame is 180°, which can effectively realize the repeated operation of dropping the drum - receiving the drum from the inner side of the track bed to the outer side of the track.

[0031] A first gear is installed on the output shaft of the driving motor. The transmission mechanism includes a connecting shaft connected to the rotating frame and a second gear meshing with the first gear.

[0032] The flipping claw includes a first clamping plate and a second clamping plate for grasping the drum. Fixed slots for clamping the drum are provided on the first clamping plate and the second clamping plate.

[0033] When clamping the drum, the first clamping plate and the second clamping plate are respectively clamped to the fixed ends on both sides of the drum through the fixed slots.

[0034] When dropping the drum, the first clamping plate and the second clamping plate flip, and the drum falls off from the fixed slots, completing the drum dropping operation.

[0035] Rotating shafts for driving their flipping are fixedly connected to both the first clamping plate and the second clamping plate. Both ends of the rotating shafts are rotatably installed on the cantilever frame.

[0036] The driving assembly consists of a first connecting rod, second connecting rods respectively hinged at both ends of the first connecting rod, and a third connecting rod with one end hinged 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.

[0037] Preferably, the rotation angle of the rotating shaft is not less than 90°, which is convenient for the drum to fall.

[0038] Two parallel mounting plates are provided on the cantilever frame, and each mounting plate is provided with a bushing for fixing both ends of the rotating shaft.

[0039] Preferably, when the output shaft of the driving motor is not on the same straight line as the shaft where the first gear is located, a steering device is further provided between the output shaft of the driving motor and the shaft driving the first gear to rotate.

[0040] A limiting structure is provided on the fixing groove, which can stably clamp the drum from the drum placing manipulator. A common limiting structure is that the fixing groove is a non-through groove, and there are steps on the fixing groove to limit the position of the drum. When the rotating shaft rotates, the limiting structure rotates with the rotating shaft, and the drum is no longer restricted, so it can fall normally. Other structures with limiting functions can also be applied here, and will not be listed one by one.

[0041] Both the first gear and the second gear are helical gears.

[0042] The present invention can rotate the drum from the inner side of the track bed to the outer side of the track, so as to realize the operation conversion between ballastless tracks and ballasted tracks. The 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 perform a rotating motion. Thus, the flipping clamp installed on the cantilever frame provided on the rotating frame drives the drum 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 drum receiving device receives the drum, it will trigger the corresponding induction device, and the induction device sends a signal to the processor, and the processor controls the driving motor to perform corresponding actions. At the same time, when the rotating mechanism rotates to the corresponding position on the outer side of the track bed from the inner side, it will trigger the corresponding inductor, and the inductor feeds back the signal to the processor, and the processor controls the driving cylinder to act, converting the linear stroke 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 both adopt the conventional signal driving, that is, the basic principle of sensing in place - triggering action, it will not be elaborated here.

[0043] The operation method of the intelligent tractor includes the operation of converting the walking state and the operation of track laying. In the operation of track laying, according to the track type, it is divided into the intelligent track laying operation of ballasted tracks and the intelligent track laying operation of ballastless tracks;

[0044] The intelligent ballast track laying operation process includes the following steps: pushing the long rail in place → grasping and locking the long rail → pulling the long rail and synchronously operating the rollers → unlocking and lowering the long rail → waiting for the next track laying;

[0045] The intelligent ballastless track laying operation includes the following steps: pushing the long rail in place → grasping and locking the long rail → pulling the long rail and synchronously placing the rollers → aligning and pulling the rail, sawing the rail, and connecting the rails → unlocking and lowering the long rail → waiting for the next track laying;

[0046] The above-mentioned roller linkage operation includes a roller grasping process and a roller placing process that are carried out sequentially. When there are no rollers on the transfer platform, the roller placing process is not carried out.

[0047] Compared with the prior art, the beneficial effects of the present invention are:

[0048] The present invention drives its moving components separately using the X, Y, and Z axes. The first slide seat 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, realizing multi-position operations of grasping the rollers during the track laying process.

[0049] The present invention is applicable to the roller storage device of an intelligent tractor. Through the functions of the first positioning plate, the first partition plate, the second partition plate, the third partition plate, and the second positioning plate, the interior of the second frame can be divided into 2 layers, and each layer is evenly arranged in 3 rows and 5 columns, thereby achieving the effect of placing the rollers separately.

[0050] The present invention is applicable to the 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 this new storage device can be effectively enhanced.

[0051] The present invention realizes the rotation of the roller from the inner side of the track bed to the outer side of the track through the rotation mechanism, and after reaching the corresponding position, the roller on the flipping claw is flipped and dropped through the flipping mechanism, realizing the conversion of operations between ballast and ballastless tracks, improving the automation performance in track laying operations, and realizing the placement of mechanical automation rollers.

[0052] 5. It solves the problem of laying conversion between ballastless and ballasted tracks in the current high-speed railway track-laying construction, enables each process of intelligent high-speed railway track-laying to meet the requirements of mechanization, informatization, and automation, and realizes the reduction of labor intensity, the reduction of the number of workers, and the improvement of construction quality in high-speed railway track-laying construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of the overall structure of the intelligent tractor of the present invention.

[0054] Figure 2 It is a schematic top view of the intelligent tractor of the present invention.

[0055] Figure 3 It is a schematic diagram of the structure of the drum linkage device of the intelligent tractor of the present invention.

[0056] Figure 4 It is a side view of the drum linkage device of the intelligent tractor of the present invention.

[0057] Figure 5 It is a schematic diagram of the structure of the code-taking drum manipulator of the present invention.

[0058] Figure 6 It is a schematic diagram of the first X-axis structure of the code-taking drum manipulator of the present invention.

[0059] Figure 7 It is a schematic diagram of the second X-axis structure of the code-taking drum manipulator of the present invention.

[0060] Figure 8 It is a schematic diagram of the third X-axis structure of the code-taking drum manipulator of the present invention.

[0061] Figure 9 It is a schematic diagram of the Y-axis structure of the code-taking drum manipulator of the present invention.

[0062] Figure 10 It is a schematic diagram of the Z-axis structure of the code-taking drum manipulator of the present invention.

[0063] Figure 11 It is a schematic diagram of the overall structure of the drum storage device of the present invention.

[0064] Figure 12 It is a top view of the drum storage device of the present invention.

[0065] Figure 13 It is a schematic diagram of the structures of the first partition board, the second partition board, the first positioning board, and the second positioning board of the drum storage device of the present invention.

[0066] Figure 14 It is an internal sectional view of the drum storage device of the present invention.

[0067] Figure 15Schematic diagram of the first card interface structure of the drum storage device of the present invention.

[0068] Figure 16 Schematic diagram of the second and third card interface structures of the drum storage device of the present invention.

[0069] Figure 17 Schematic diagram of the code drum manipulator of the present invention.

[0070] Figure 18 Schematic diagram of the No. 1 X1 axis of the code drum manipulator of the present invention.

[0071] Figure 19 Schematic diagram of the No. 2 X1 axis of the code drum manipulator of the present invention.

[0072] Figure 20 Schematic diagram of the Y1 axis of the code drum manipulator of the present invention.

[0073] Figure 21 Schematic diagram of the overall structure of the drum gripper of the present invention.

[0074] Figure 22 Schematic diagram of the carrier plate structure of the drum gripper of the present invention.

[0075] Figure 23 Schematic diagram of the clamping plate structure of the drum gripper of the present invention.

[0076] Figure 24 Schematic diagram of the drum dropping device of the present invention.

[0077] Figure 25 Bottom view of the drum dropping device of the present invention.

[0078] Figure 26 For Figure 25 Cross-sectional view taken along A-A in

[0079] Figure 27 Schematic diagram of the drive axle of the present invention.

[0080] Figure 28 Schematic diagram of the vehicle frame of the invention.

[0081] Figure 29 Side view of the vehicle frame of the present invention.

[0082] 1. Code-taking drum manipulator; 2. Drum storage device; 3. Transfer platform; 4. Placing drum manipulator; 5. Drum dropping device; 7 - Frame; 8. Drum; 9 - Tire traveling device; 10. Rail traveling device; 11. Diesel power system; 12. Air compressor; 13. Air tank; 14. Rain shelter; 15. Driver's cab transverse movement mechanism; 16 - Crawler traveling device; 17. Locking rail device; 18. Rail traveling safety device; 9 - 1. Tire lifting component; 9 - 2. Tire; 10 - 1. Bracket; 10 - 2. Rail traveling wheel; 10 - 3. Rail traveling wheel lifting component; 1 - 1. Y axis; 1 - 2. X axis; 1 - 3. Operation area; 1 - 4. Moving section; 1 - 5. Z axis; 1 - 6. Manipulator jaw; 1 - 8. First roller; 1 - 9. First guide rail; 1 - 10. First mounting base; 1 - 11. First bellows 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 bellows cover; 1 - 19. Second roller; 1 - 20. First stainless steel drag chain; 1 - 21. Third roller; 1 - 22. Second Y - axis mounting flange; 1 - 23. Third bellows cover; 1 - 24. Second junction box; 1 - 25. Second stainless steel drag chain; 1 - 26. First drive motor; 1 - 27. X - axis gear; 1 - 28. Y - axis base; 1 - 29. Second rack; 1 - 30. Second proximity sensor; 1 - 31. First linear guide rail; 1 - 32. Third drive motor; 1 - 33. Z - axis gear; 1 - 34. Second drive motor; 1 - 35. Y - axis gear; 1 - 36. Z - axis body; 1 - 37. Second linear guide rail; 1 - 38. Third stainless steel drag chain; 1 - 39. Third proximity sensor; 2 - 1. First frame; 2 - 2. Second frame; 2 - 3. First positioning plate; 2 - 4. First rib plate; 2 - 5. First partition plate; 2 - 6. Second partition plate; 2 - 7. Second rib plate; 2 - 8. Third partition plate; 2 - 9. First reinforcing rib; 2 - 10. Second reinforcing rib; 2 - 11. Third reinforcing rib; 2 - 12. Fourth reinforcing rib; 2 - 13. First card interface; 2 - 14. Second positioning plate; 2 - 15. Second card interface; 2 - 16. Third card interface; 4 - 1. Z1 axis; 4 - 2. Y1 axis; 4 - 3. Drum jaw; 4 - 4. First X1 axis; 4 - 5. Second X1 axis; 4 - 6. Drum detection sensor; 4 - 7. Placing drum deflection mechanism; 4 - 8. Drum; 4 - 9. Jaw opening detection sensor; 4 - 10. Jaw closing detection sensor; 5 - 1. Mounting seat; 5 - 2. Drive motor; 5 - 3. Rotating mechanism; 5 - 4. Flipping mechanism; 5 - 301. Rotating frame; 5 - 302. Transmission mechanism; 5 - 303. Cantilever frame; 5 - 401. Drive cylinder; 5 - 402. Flipping claw; 5 - 5. Drive component; 5 - 201. First gear; 5 - 3021. Connecting shaft;5-3022, Second gear; 5-4021, First clamping plate; 5-4022, Second clamping plate; 5-4023, Fixed 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 - Bush; 6-1, Top plate; 6-2, Positioning plate; 6-3, Second detection sensor; 6-4, Bearing plate; 6-5, Fixed 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, Drum detection sensor; 6-12, Horizontal oil cylinder; 6-13, First detection sensor; 6-14, Column; 6-15, Fixed threaded hole; 19-1, Drive axle bracket; 19-2, Slewing bearing; 19-3, Reducer bracket; 19-4, First bolt; 19-5, Nut; 19-6, Washer; 19-7, Hydraulic motor; 19-8, First hexagon socket head screw; 19-9, Second hexagon socket head screw; 19-10, Reducer; 19-11, Pin; 19-12, Second bolt; 19-13, Transition plate; 19-14, Third bolt; 19-15, Pin shaft; 19-16, Split pin; 19-17, Horizontal oil cylinder; 19-18, Lifting oil cylinder; 19-19, Second pin shaft; 19-20, Shaft retaining ring; 19-21, Bracket connecting seat; 19-22, Spring washer; 19-23, Flat washer; 7-1, First vehicle frame body; 7-2, Second vehicle frame body; 7-3, Third vehicle frame body; 7-4, Reinforcing rib; 7-5, End plate; 7-101, Longitudinal beam; 7-102, Cross beam; 7-103, Support beam; 7-104, Installation area; 7-105, Partition beam; 7-201, First connecting plate; 7-202, First mounting bracket; 7-301, Second connecting plate; 7-302, Mounting plate; 7-303, Second mounting bracket; 7-304, Third mounting bracket; 7-305, Extended installation area.; Detailed implementation mode

[0083] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment

[0084] As Figure 1-2 shown, the intelligent tractor includes a vehicle frame 7, and also includes a traveling system, a drum linkage system, a grab rail device 17, and a power system;

[0085] The described traveling system includes a crawler traveling device 16, a tire traveling device 9, and a track traveling device 10. Among them, the tractor travels in one of the traveling modes of the crawler traveling device 16, the tire traveling device 9, and the track traveling device 10 and can switch among the above-mentioned traveling devices. The crawler traveling device 16 is installed at the bottom of the vehicle frame 7. The tire traveling device 9 includes a chassis installed below the vehicle frame 7, tires 9-2 installed on the chassis and located on both sides of the crawler traveling device 16, and a tire lifting component 9-1 installed between the chassis and the vehicle frame 7 and used to lift the chassis. The track traveling device 10 includes brackets 10-1 installed at both ends of the vehicle frame 7, track traveling wheels 10-2 installed on both sides of the brackets 10-1, and a track traveling wheel lifting component 10-3 installed between the brackets 10-1 and the vehicle frame 7 and used to lift the brackets 10-1. The tire lifting component 9-1 and the lifting component 10-3 do not act simultaneously. The latch rail device is installed on the bracket 10-1 where the front end of the tractor is located; the tire lifting component 9-1 and the lifting component 10-3 can be hydraulic / hydraulic action execution components (hydraulic cylinders / pneumatic cylinders). A track traveling safety device 18 is also provided on the vehicle frame 7 to assist the smooth traveling of the track traveling device 10. The safety device 18 is located between the tires 9-2 and the track traveling wheels 10-2.

[0086] The described intelligent tractor drum linkage device includes a code-taking drum manipulator 1, a drum storage device 2, a transfer platform 3, a placing drum manipulator 4, and a drum dropping device 5. The drum storage device 2 is installed on the tractor frame. Multiple groups of drums are stored in the drum storage device 2. The code-taking drum manipulator 1, the transfer platform 3, and the placing drum manipulator 4 are all installed on the vehicle frame. Among them, the code-taking drum manipulator 1 is located on one side of the drum storage device 2, the placing drum manipulator 4 is located on the other side of the drum storage device 2, the transfer platform 3 is located between the drum storage device 2 and the placing drum manipulator 4, and the drum dropping device 5 is installed below the vehicle body and located between the drum storage device 2 and the placing drum manipulator 4;

[0087] Among them, the action execution component of the code-taking drum manipulator 1 moves in the XYZ directions and grabs the drum in the drum storage device 2 onto the transfer platform 3. The action execution component of the placing drum manipulator 4 moves in the XYZ directions and grabs the drum on the transfer platform 3 into the drum dropping device 5. The drum dropping device 5 transfers the drum from the inner side of the track bed to the outer side of the track and then drops the drum.

[0088] A drive axle is also provided between the tire 9-2 and the chassis. An electrical cabinet is installed at one end of the top of the vehicle frame 7. A diesel power system 11 is installed at the top of one end of the vehicle frame 7. An air compressor 12 is installed at the bottom of one end of the vehicle frame 7. An air tank 13 is provided on one side of the air compressor 12. A rain shelter 14 is installed on the top of the vehicle frame 7. A driver's cab transverse movement mechanism 15 is installed at the top of the end of the vehicle frame 7.

[0089] As Figure 3-4 shown, the intelligent tractor drum linkage device includes a code-taking drum manipulator 1, a drum storage device 2, a transfer platform 3, a placing drum manipulator 4, and a drum dropping device 5. The drum storage device 2 is installed on the tractor vehicle frame. Multiple groups of drums are stored in the drum storage device 2. The code-taking drum manipulator 1, the transfer platform 3, and the placing drum manipulator 4 are all installed on the vehicle frame. Among them, the code-taking drum manipulator 1 is located on one side of the drum storage device 2, the placing drum manipulator 4 is located on the other side of the drum storage device 2, the transfer platform 3 is located between the drum storage device 2 and the placing drum manipulator 4, and the drum dropping device 5 is installed below the vehicle body and is located between the drum storage device 2 and the placing drum manipulator 4;

[0090] Among them, the action execution component of the code-taking drum manipulator 1 moves in the XYZ directions and grabs the drum in the drum storage device 2 onto the transfer platform 3. The action execution component of the placing drum manipulator 4 moves in the XYZ directions and grabs the drum on the transfer platform 3 into the drum dropping device 5. The drum dropping device 5 transfers the drum from the inner side of the track bed to the outer side of the track and then drops the drum.

[0091] The number of the drum dropping devices 5 is two, and they are symmetrically distributed at the bottom of the vehicle frame.

[0092] As Figure 5-10 shown, the intelligent tractor code-taking drum manipulator, the intelligent tractor code-taking drum manipulator includes an X-axis assembly, a Y-axis 1-1, and an action execution component. The X-axis assembly consists of multiple parallel X-axes 1-2. An operation interval 1-3 for the drum is formed between adjacent X-axes 1-2. The Y-axis 1-1 is slidably installed on the X-axis 1-2 and makes a translational movement along the X-axis. The Y-axis 1-1 is divided into multiple moving segments 1-4 corresponding to the operation interval 1-3 according to the position of the operation interval 1-3. The action execution component consists of a Z-axis 1-5 slidably installed on the moving segment 1-4 and making a translational movement along the Y-axis 1-1, and a manipulator jaw 1-6 that moves up and down with the Z-axis 1-5 and translates synchronously with the Y-axis 1-1.

[0093] Each of the X - axes 1 - 2 includes an X - axis mounting base 1 - 201 and a guide rail 1 - 202 provided on the X - axis mounting base 1 - 201 for the sliding of the Y - axis 1 - 1. A first slide block 1 - 203 that moves along the X - axis 1 - 2 direction is provided on the guide rail 1 - 202. The same number of support frames 1 - 101 as the first slide block 1 - 203 are provided on the Y - axis 1 - 1. The support frames 1 - 101 are fixed to the first slide block 1 - 203 through mounting flanges 1 - 102. The first slide block 1 - 203 drives the moving section 1 - 4 to move synchronously in the X - axis direction through the support frames 1 - 101.

[0094] The Y - axis 1 - 1 includes a Y - axis mounting base 1 - 103 and a guide rail 1 - 104 provided on the Y - axis mounting base 1 - 103 for the sliding of the Z - axis 1 - 5. A second slide block 1 - 105 for mounting the Z - axis 1 - 5 corresponding to the number of the moving sections 1 - 4 is provided on the guide rail 1 - 104.

[0095] The Z - axis 1 - 5 includes a Z - axis main body 1 - 501, a Z - axis mounting seat 1 - 502, and a guide rail 1 - 503 provided on the Z - axis mounting seat 1 - 502 for the sliding of the Z - axis main body 1 - 501. The Z - axis main body 1 - 501 is slidably mounted on the guide rail 1 - 503. The manipulator jaw 1 - 6 is mounted at the bottom end of the Z - axis main body 1 - 501 and moves with the Z - axis main body 1 - 501.

[0096] Limit switches for detecting the limit positions are provided at both ends of the guide rail.

[0097] Limit switches for detecting the limit positions are provided at both ends of the guide rail.

[0098] Limit switches for detecting the limit positions are provided at both ends of the guide rail.

[0099] It further includes a drive assembly. The drive assembly includes a first drive motor 1 - 26 for driving the Y - axis 1 - 1 to perform a translational motion along the X - axis 1 - 2, a second drive motor 1 - 34 for driving the Z - axis 1 - 5 to perform a translational motion along the moving section along the Y - axis 1 - 1, and a third drive motor 1 - 32 for driving the manipulator jaw 1 - 6 to perform a lifting motion along the Z - axis 1 - 5.

[0100] The following is the specific structure of the present invention, which is applicable to the code-taking drum manipulator of an intelligent tractor, and includes a first X-axis, a second X-axis, a third X-axis, a Y-axis, a Z-axis, and a manipulator gripper 1-6. Sliding seats, slide rails, and mounting bases are provided on the first X-axis, the second X-axis, and the third X-axis. A slide rail is provided on the top of the mounting base. A drum is provided under the sliding seat and is driven by a motor through a gear-rack mechanism. The top of the roller is installed with a mounting flange by screws, and bellows covers are provided on both sides of the slide rail.

[0101] 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. A first guide rail 1-9 is provided on the top of the first mounting base 1-10. A first roller 1-8 is arranged in the first guide rail 1-9. The top of the first roller 1-8 is installed with a third Y-axis mounting flange 1-7 by screws. One end of the top of the first X-axis is installed with a first bellows cover 1-11 by screws.

[0102] 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. A second roller 1-19 is arranged in the second guide rail 1-15. The top of the second roller 1-19 is installed with a first Y-axis mounting flange 1-16 by screws. One end of the top of the second guide rail 1-15 is provided with a second bellows cover 1-18. One side of the end of the second X-axis is installed with a first proximity sensor 1-14 by screws. One end of the bottom of the second X-axis is fixedly installed with a first junction box 1-17 by screws. A first rack 1-13 is provided on one side of the second X-axis.

[0103] The second roller 1-19 can move along the second guide rail 1-15, so as to drive the first Y-axis mounting flange 1-16 to move horizontally.

[0104] The third X-axis is composed of a third roller 1-21, a first stainless steel drag chain 1-20, and a third bellows cover 1-23. The top of the third roller 1-21 is installed with a second Y-axis mounting flange 1-22 by screws. One side of the end of the third X-axis is provided with a third bellows cover 1-23. The other side of the end of the third X-axis is provided with a first stainless steel drag chain 1-20. The other end of the bottom of the third X-axis is installed with a second junction box 1-24 by screws.

[0105] The third roller 1-21 can move horizontally along the direction of the third X-axis.

[0106] Among them, the Y-axis 1-1 is composed of a first linear guide rail 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. One side of the Y-axis 1-1 is installed with the first drive motor 1-26 through bolts. The power output end of the first drive motor 1-26 is connected to the X-axis gear 1-27. The second rack 1-29 is sleeved in the Y-axis 1-1 through a guide groove, and the X-axis gear 1-27 meshes with the second rack 1-29. One side of the second rack 1-29 is connected to a second stainless steel drag chain 1-25. The bottom of the Y-axis 1-1 is installed with a second proximity sensor 1-30 through screws.

[0107] When the first drive motor 1-26 works, the power output end conveniently drives the X-axis gear 1-27 to rotate, so as to drive the second rack 1-29 to move horizontally, and then conveniently drive the second stainless steel drag chain 1-25 to move.

[0108] Among them, the Z-axis 1-5 is composed of a Z-axis body 1-36, a second linear guide rail 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 a Z-axis gear 1-33. The power output end of the second drive motor 1-34 is connected to a Y-axis gear 1-35. One side of the second linear guide rail 1-37 is installed with a third stainless steel drag chain 1-38 through screws. One side of the bottom end of the second linear guide rail 1-37 is installed with a third proximity sensor 1-39 through screws.

[0109] When the third drive motor 1-32 works, the power output end conveniently drives the Z-axis gear 1-33 to rotate. When the second drive motor 1-34 works, it conveniently drives the Y-axis gear 1-35 to rotate.

[0110] It should be noted that when this application works, under the working 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 respectively driven to rotate, so as to drive the corresponding racks to move, thereby driving the manipulator jaw 6 to move in the XYZ directions. The stability during movement is good, which can conveniently and efficiently clamp and move the drum, with high efficiency and good practicability.

[0111] Such as Figure 11-16As shown, the drum storage device 2 includes a first frame 2-1 and a second frame 2-2. The second frame 2-2 is disposed 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 plates 2-14. 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.

[0112] Wherein, one end of the first frame 2-1 is connected to a first rib plate 2-4, and one side of the first frame 2-1 is connected to a second rib plate 2-7. First reinforcing ribs 2-9, second reinforcing ribs 2-10, third reinforcing ribs 2-11, and fourth reinforcing ribs 2-12 are sequentially provided between the first frame 2-1 and the second frame 2-2 from top to bottom.

[0113] 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. The first reinforcing ribs 2-9, second reinforcing ribs 2-10, third reinforcing ribs 2-11, and fourth reinforcing ribs 2-12 can reinforce and protect between the first frame 2-1 and the second frame 2-2. Through the combined action of the first rib plate 2-4, second rib plate 2-7, first reinforcing ribs 2-9, second reinforcing ribs 2-10, third reinforcing ribs 2-11, and fourth reinforcing ribs 2-12, the stability of the new storage device can be effectively enhanced.

[0114] Wherein, a card slot 2-13 is formed inside the third partition plate 2-8.

[0115] The thicknesses of the first positioning plate 2-3 and the second positioning plates 2-14 correspond 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 sleeved outside the first positioning plate 2-3 and the second positioning plates 2-14, enhancing the stability of the third partition plate 2-8.

[0116] Wherein, a second card interface 2-15 is formed on the second partition plate 2-6, and a third card interface 2-16 is formed on the second partition plate 2-6 and on one side of the second card interface 2-15.

[0117] The second card interface 2-15 facilitates the first partition plate 2-5 to penetrate through the second partition plate 2-6, and the third card interface 2-16 can facilitate the first positioning plate 2-3 to penetrate through the second partition plate 2-6.

[0118] It should be noted that when the drum storage device of the present application is working, the operator passes the first partition plate 2-5 through the second card interface 2-15 of the second partition plate 2-6, and passes the first positioning plate 2-3 through the third card interface 2-16 of the second partition plate 2-6. Further, the operator sleeves the third partition plate 2-8 around 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 3 rows and 5 columns, thus achieving the effect of separating and placing the drums. Further, the first rib plate 2-4 can reinforce and protect the first frame 2-1 at both ends of the first frame 2-1, 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 action 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.

[0119] As Figure 19-20 shown, the specific structure of the drum placing 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 drum gripper 4-3 is installed at the bottom of the displacement end of the Z1 axis 4-1. The drum gripper 4-3 includes a drum placing deflection mechanism 4-7. A drum detection sensor 4-6 is arranged near the top of one side of the drum gripper 4-3, and a gripper opening detection sensor 4-9 and a gripper closing detection sensor 4-10 are arranged on the other side of the drum gripper 4-3. The specific structure of the Z1 axis is the same as that of the code-taking drum manipulator.

[0120] The drum placing deflection mechanism 4-7 is composed of a servo cylinder and a driving rod. The bottom of the driving rod is connected with a guiding clamping plate, and the guiding clamping plate is located on both sides of the drum 8.

[0121] When the servo cylinder is working, the power output end can drive the guiding clamping plate to move up and down conveniently. The guiding clamping plate is tangent to the drum 8 and can drive the drum 8 to deflect.

[0122] 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 with a gear, the gear meshes with the rack, and the rack is connected with the sliding block by screws and the sliding block is located in the guide rail.

[0123] When the driving motor works, 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, so as to drive the roller detection sensor 4-6 to move in the XYZ directions.

[0124] Wherein, the clamping end of the roller gripper 4-3 clamps the roller 8, and the roller gripper 4-3 facilitates clamping the roller 8 during operation.

[0125] It should be noted that during operation, the displacement of the gripper is conveniently detected through the gripper opening detection sensor 4-9 and the gripper closing detection sensor 4-10. The roller is conveniently detected during clamping through the roller detection sensor 4-6. By arranging the roller deflection mechanism 4-7, it is convenient to detect the deflection when the roller 8 is deflected. Thus, this manipulator is equipped with multiple groups of sensors, which can conveniently clamp the roller 8 precisely. The Z1 axis 4-1, Y1 axis 4-2, first X1 axis 4-4, and second X1 axis 4-5 are connected to an external power supply for use. When the driving motor works, 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, so as to drive the roller detection sensor 4-6 to move in the XYZ directions.

[0126] As Figure 21-23 shown, wherein, the roller gripper 4-3 and the manipulator gripper 1-6 can adopt the following gripper structure, including a positioning plate 6-2. Columns 6-14 are welded at the bottom corners of the positioning plate 6-2, and bearing plates 6-4 are arranged at the bottoms of the columns 6-14. Rectangular through grooves 6-6 are formed on both side surfaces of the top of the bearing plate 6-4, and connecting rods 6-8 penetrate through the rectangular through grooves 6-6. A clamping plate 6-7 is installed at the bottom of one side of the connecting rod 6-8 through bolts. Horizontal oil cylinders 6-12 are arranged at both ends of the top of the bearing plate 6-4, and the output ends of one side of the horizontal oil cylinders 6-12 are connected to the top of the connecting rod 6-8 through bolts and mounting brackets. Fixing plates 6-5 are installed at both ends of the sides of the bearing plate 6-4 through bolts, and vertical oil cylinders 6-10 are installed at the top of the fixing plates 6-5 through bolts and mounting brackets. The output ends of the bottoms of the vertical oil cylinders 6-10 penetrate through the fixing plates 6-5 and are installed with adjusting plates 6-9 through bolts and mounting brackets.

[0127] The vertical oil cylinders 6-10 are respectively arranged at the diagonals of the bearing plate 6-4 and can work independently, so as to apply a certain force to the fixing frame of the roller through the adjusting plate 6-9.

[0128] Wherein, a first detection sensor 6-13 for detecting the open state of the gripper is arranged 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 gripper is arranged at the other end of the bottom of the positioning plate 6-2.

[0129] The external terminal can determine the position of the clamping plate 6-7 through the first detection sensor 6-13 and the second detection sensor 6-3.

[0130] Among them, the top of the positioning plate 6-2 is installed with the top plate 6-1 through a mounting bracket and bolts, and fixing threaded holes 6-15 are provided on both side surfaces of the top of the top plate 6-1.

[0131] The operator can connect and fix the top plate to an external mechanism through the fixing threaded holes 6-15, so as to connect and fix this jaw to the external mechanism.

[0132] Among them, one end of the bottom of the bearing plate 6-4 is installed with a roller detection sensor 6-11 through screws.

[0133] 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 the external terminal.

[0134] It should be noted that the present invention is a roller jaw applicable to a smart tractor code-taking roller manipulator. During operation, the operator can connect this jaw to an external mechanism and connect the vertical oil cylinder 6-10, the horizontal oil cylinder 6-12, the first detection sensor 6-13, the roller detection sensor 6-11, and the second detection sensor 6-3 to an external control terminal. When the clamping plate 6-7 is at a specified position, the external control terminal can control the horizontal oil cylinder 6-12 to work, so that the two jaws approach each other, and then the jaws can clamp the cylinder body of the roller. Moreover, the external control terminal can also control a single vertical oil cylinder 6-10 to work, and its output end descends, so that the adjustment plate 6-9 exerts a certain force on the fixing frame of the roller. Since the cylinder body of the roller can rotate relative to the fixing frame, the angle of the fixing frame will be adjusted, so that the operator can conveniently adjust the deflection angle when placing the roller to meet the usage requirements of the operator.

[0135] Such as Figure 24-26As shown in the figure, the drum dropping device includes a mounting seat 5-1 installed on the chassis of the tractor and a driving motor 5-2 fixed on the mounting seat 5-1. The drum dropping device further 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. A cantilever frame 5-303 is arranged on the rotating frame 5-301. 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 grasping and dropping the drum, and a driving assembly 5-5 for converting the linear stroke motion of the driving cylinder 5-401 into the flipping motion of the flipping claw 5-402. The rotating plane of the rotating frame 5-301 and the rotating plane of the flipping claw are not in the same plane. The rotating angle of the rotating frame 5-301 is 180°. The setting of not being in the same plane can effectively ensure that there will be no collision during flipping and can effectively rotate the drum from the inner side of the track bed to the outer side of the track.

[0136] A first gear 5-201 is installed on the output shaft of the driving motor 5-2. 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. The second gear 5-3022 is installed on the connecting shaft 5-3021.

[0137] The flipping claw 5-402 includes a first clamping plate 5-4021 and a second clamping plate 5-4022 for grasping the drum. Fixed slots 5-4023 for clamping the drum are arranged on the first clamping plate 5-4021 and the second clamping plate 5-4022.

[0138] When clamping the drum, 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 drum through the fixed slots 5-4023.

[0139] When dropping the drum, the first clamping plate 5-4021 and the second clamping plate 5-4022 flip, and the drum falls off from the fixed slots 5-4023, completing the drum dropping operation.

[0140] Rotating shafts 5-4024 for driving their flipping are fixedly connected to both the first clamping plate 5-4021 and the second clamping plate 5-4022. Both ends of the rotating shafts 5-4024 are rotatably installed on the cantilever frame 5-303.

[0141] The driving assembly 5-5 is composed of a first connecting rod 5-501, second connecting rods 5-502 respectively hinged at both ends of the first connecting rod 5-501, and a third connecting rod 5-503 with one end 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.

[0142] The rotation angle of the rotating shaft 5-4024 is not less than 90°.

[0143] Two parallel mounting plates 5-3031 are arranged on the cantilever frame 5-303, and a bushing 5-3032 for fixing both ends of the rotating shaft 5-4024 is arranged on each mounting plate 5-3031.

[0144] A steering device is further arranged 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 arranged on the fixing groove 5-4023. Both the first gear 5-201 and the second gear 5-3022 are helical gears.

[0145] Specifically, the specific process of the flipping process in combination with the attached drawings is as follows: When the rotating frame 5-301 clamps the roller and rotates from the inner side of the track bed to the outer side of the track, the driving cylinder 5-401 (the air circuit 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 the movement of 5-503, 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 achieve a flipping movement, and the roller is put down after reaching the corresponding position.

[0146] During the intelligent ballast track track-laying operation, the rotating mechanism rotates 180° repeatedly to the inner and outer sides of the vehicle body to place the roller on the roadbed. During the intelligent ballastless track track-laying operation, the rotating mechanism rotates 90° to the lower part of the frame beam to make space for the placing manipulator to place the roller on the roadbed.

[0147] Such as Figure 27As shown, the drive axle includes a drive axle bracket 19-1, a reducer bracket 19-3, and a hydraulic motor 19-7. A lifting oil cylinder 19-18 is provided at the top of the drive axle bracket 19-1. A slewing bearing 19-2 is provided at the output end of the lifting oil cylinder 19-18. A bracket connecting seat 19-21 is provided at the top of the slewing bearing 19-2. The slewing bearing 19-2 and the bracket connecting seat 19-21 are connected by a second bolt 19-12. A transverse oil cylinder 19-17 is provided on one side of the lifting oil cylinder 19-18, and the transverse oil cylinder 19-17 and the lifting oil cylinder 19-18 are connected by a pin 19-15. The periphery of the transverse oil cylinder 19-17 is connected to the bracket connecting seat 19-21 by a third bolt 19-14. A reducer bracket 19-3 is provided at the bottom of the slewing bearing 19-2. The slewing bearing 19-2 and the reducer bracket 19-3 are connected by a first bolt connection 19-4. A corresponding nut 19-5 is provided on the periphery of the first bolt 19-4. A 19-6 is provided between the first bolt 19-4 and the nut 19-5. A hydraulic motor 19-7 is provided inside the reducer bracket 19-3. A transition plate 19-13 is provided on one side of the reducer bracket 19-3. The reducer bracket 19-3 and the transition plate 19-13 are connected by a first hexagon socket head screw 19-8. A reducer 19-10 is provided on one side of the transition plate 19-13. The transition plate 19-13 and the reducer 19-10 are connected by a second hexagon socket head screw 19-9. A corresponding split pin 19-16 is provided on one side of the pin 19-15. The output end of the lifting oil cylinder 19-18 and the slewing bearing 19-2 are connected by a second pin 19-19. A shaft retaining ring 19-20 is provided on the periphery of the second pin 19-19. A spring washer 19-22 and a plain washer 19-23 are provided on the periphery of the third bolt 19-14. A dowel pin 19-11 is provided on one side of the reducer bracket 19-3.

[0148] As Figure 28-29As shown, the frame includes a first frame body 7-1, a second frame body 7-2 and a third frame body 7-3, wherein the first frame body 7-1 includes longitudinal beams 7-101 and transverse beams 7-102 connected to each other to form a frame, and the bottom of the frame is also provided with multiple groups of support beams 7-103 for supporting rollers, and the support beams 7-103 divide the frame into at least two installation areas 7-104 for installing the roller-dropping device and which are not closed at the top and bottom, the second frame 7-2 is composed of a first connecting plate 7-201 and a first mounting frame 7-202 connected to the first connecting plate 7-201 for installing the rear railway running device, and the third frame 7-3 consists of a second connecting plate 7-301, a mounting plate 7-302, a second mounting frame 7-203 for installing a railway running safety guide mechanism, and a third mounting frame 7-204 for installing a front railway running device. The mounting plate 7-302, the second mounting frame 7-303, and the third mounting frame 7-304 are arranged in sequence from the inside to the outside on the second connecting plate 7-301, wherein the mounting plate 7-302 extends in two directions perpendicular to the axis of the second connecting plate 7-301 to form an extended mounting area 7-305, and the first connecting plate 7-201 and the second connecting plate 7-301 are symmetrically distributed on both sides of the frame.

[0149] The support beams 7-103 are evenly distributed at the bottom of the frame.

[0150] The bottom of the frame is also provided with partition beams 7-105 for symmetrically arranging the rollers, corresponding to the number on each side of the track. The partition beams 7-105 are arranged perpendicular to the support beams 7-103. The second frame body 7-2 and the third frame body 7-3 have the same total length. Reinforcing ribs 7-4 are provided between the second frame body 7-2 and the frame, and between the third frame body 7-3 and the frame. An end plate 7-5 is removably mounted on the outer end face of the third mounting frame 7-304. Since there are many lines at the front end of the tractor, the end plate 7-5 can be opened when maintenance is required.

[0151] The first mounting frame 7-202 is also provided with a mounting frame for installing a railway walking safety guide mechanism. The outer end of the first mounting frame 7-202 is also provided with an installation position of a locking rail device, which is convenient for installing the locking rail device.

[0152] In use, the present invention is provided with an installation space for the falling drum within the first vehicle frame body. At the same time, different installation structures are provided on the second vehicle frame body and the third vehicle frame body according to functions. An extended installation area is also provided on the side of the front walking device. Preferably, the length of the unilateral extended installation area should not be too long, preferably being 1 / 5 - 1 / 3 of the first vehicle frame, which is convenient for the space to install other accessories such as the operation room, making the structure more reasonable in the track laying operation direction and optimizing the layout structure. The entire vehicle frame adopts a frame structure, and installation structures for installing the grab drum manipulator are provided on the frames, which is very convenient for manufacturing.

[0153] The operation method of the intelligent tractor includes the operation of converting the walking state and the track laying operation. In the track laying operation, it is divided into the intelligent ballast track laying operation and the intelligent ballastless track laying operation according to the track type;

[0154] The intelligent ballast track laying operation process includes the following steps: pushing the long rail in place → grasping and locking the long rail → pulling the long rail and synchronously operating the drum linkage → unlocking and putting down the long rail → waiting for the next track laying;

[0155] The intelligent ballastless track laying operation includes the following steps: pushing the long rail in place → grasping and locking the long rail → pulling the long rail and synchronously placing the drum → aligning the rail, pulling the rail, sawing the rail, and connecting the rail → unlocking and putting down the long rail → waiting for the next track laying;

[0156] The drum linkage operation includes the drum grasping process and the drum placing process that are carried out in sequence. When there is no drum on the transfer platform, the drum placing process is not carried out.

[0157] Specifically, the drum grasping process is as follows:

[0158] The code-taking drum manipulator is connected and fixed to the vehicle body by 3 X-axis tracks through brackets and is installed in the upper space of the drum storage basket position; 1 Y-axis crossbeam is installed on the 3 X-axis tracks and longitudinally moves along the X-axis track direction. 1 Y-axis track is installed on each of the left and right sides of the Y-axis crossbeam, and a Z-axis track mounting seat is installed on each Y-axis track. 1 Z-axis track is installed on each mounting seat, and the Z-axis track can perform up and down lifting actions. 1 set of mechanical grippers is installed at the lower end of each Z-axis track.

[0159] 2) Action process of the grabbing drum: S101. First, the manipulator stops at the origin coordinate position in the X-axis and Y-axis directions. The manipulator stops at the highest position and the origin position of the Z-axis of the manipulator. The origin coordinate position is a preset position, with the principle of facilitating operation. For example, the leftmost end of the X-axis, the edge of the moving section of the Y-axis, and the highest point of the Z-axis stroke can be selected as the origin. Note: The origin positions of the X-axis and Y-axis of the manipulator for placing the drum are adjusted and set according to the on-site situation, and cannot be adjusted casually after being set. The origin position of the X-axis is about 800 mm from the center of the transfer platform (adjustable, cannot be changed casually after being set), to prevent the manipulator for placing the drum from colliding with the manipulator for picking up the code drum when grabbing the drum on the transfer platform, causing damage. S102. When grabbing the drum, the servo motor in the middle of the Y-axis crossbeam of the manipulator for picking up the code drum drives the Y-axis crossbeam to move along the X-axis track to position the coordinate of the target drum in the X-axis direction corresponding to the mechanical gripper. S103. During the movement of the Y-axis crossbeam 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 position the coordinate of the target drum in the Y-axis direction corresponding to the mechanical gripper. S104. After the manipulator for picking up the code drum completes the positioning of the target drum 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 it descends to the position where the manipulator for picking up the code drum can grab the drum. S105. After the manipulator for picking up the code drum reaches the position of grabbing the target drum, the driving cylinder in the manipulator for picking up the code drum controls the gripper to perform the action of grabbing the drum. S106. After the manipulator for picking up the code drum grabs the drum, the vertical lifting servo motor installed on the Z-axis mounting seat drives the Z-axis track to rise, and rises to the height position where there will be no collision during the horizontal movement of the drum (i.e., rises the Z-axis to the highest position, which is also the origin position of the Z-axis of the manipulator). S107. After the manipulator for picking up the code drum grabs the drum and lifts it to the origin position of the Z-axis, the servo motor in the middle of the Y-axis crossbeam drives the Y-axis crossbeam to move along the X-axis track to the corresponding X-axis coordinate position of the transfer platform on the vehicle. At the same time, the lateral movement servo motors installed on both sides of the Z-axis mounting seat drive the corresponding Z-axis tracks to move laterally along the Y-axis track to the corresponding Y-axis coordinate positions of the two sides of the transfer platform on the vehicle. Note: During the linkage operation, if there is a drum on one of the transfer platforms at this time, the manipulator for picking up the code drum grabs the drum and moves horizontally in the X-axis coordinate direction to wait at a distance of 800 mm from the transfer platform (this parameter is determined according to the actual situation on-site and cannot be adjusted casually), and the Z-axis track does not descend. After the drums on both transfer platforms are taken away by the manipulator for placing the drum, the subsequent actions of positioning the transfer platform and placing the drum on the transfer platform are automatically performed, aiming to prevent the mechanical parts from colliding and causing damage. S108. After the two sets of manipulators for picking up the code drum grab the drums and horizontally position the corresponding transfer platforms on both sides, the vertical lifting servo motors corresponding to each of them installed on the Z-axis mounting seat drive the two groups of Z-axis tracks to descend, and descend to the height position where the drum can fall smoothly and accurately onto the transfer platform after the manipulator for picking up the code drum releases the drum.S109. After the two sets of code-taking drum manipulators grasp the drums and position them vertically, the cylinders in the mechanical manipulators act to open the grippers and place the drums on the transfer platform. S110. After the two sets of code-taking drum manipulators each place a drum, the vertical lifting servo motors respectively installed on the Z-axis mounting seats drive the two sets of Z-axis rails to rise to the position where the code-taking drum manipulators reach the Z-axis origin. After both sets of code-taking drum manipulators are in place, the servo motor in the middle of the Y-axis crossbeam drives the Y-axis crossbeam to move along the X-axis rail to the X-axis origin. At the same time, the lateral movement servo motors installed on both sides of the Z-axis mounting seats respectively drive the corresponding Z-axis rails to move laterally along the Y-axis rail to the Y-axis origin.

[0160] The code-taking drum manipulators complete the code-taking operation process for a pair of drums. During the linked operation, the code-taking drum manipulators perform cyclic operations according to the above operation process.

[0161] The process of placing the drums is as follows: There are two sets of drum-placement manipulators arranged on both sides of the vehicle. The structures of the two sets of drum-placement manipulators are symmetric to each other, and they respectively perform the operation of flipping and grasping the drums onto the drum-dropping mechanisms on both sides of the vehicle.

[0162] The drum-placement manipulator is connected and fixed to the vehicle body by two X1-axis rails through brackets. A Y1-axis crossbeam is installed on the two X1-axis rails and moves longitudinally along the X1-axis rail direction. A Y1-axis rail is installed on the Y1-axis crossbeam. A Z1-axis rail mounting seat is installed on the Y1-axis rail, and a Z1-axis rail is installed on the mounting seat. The Z1-axis rail can perform up-and-down lifting actions, and a set of mechanical grippers is installed at the lower end of the Z1-axis rail. It should be noted that the X-axis and X1-axis are marks to distinguish the code-taking drum manipulator and the drum-placement manipulator, and they represent the same direction in terms of direction. Similarly, see the Y and Y1 axes, and the Z and Z1 axes.

[0163] The two sets of drum-placement manipulators on both sides of the vehicle operate separately according to the following process at the same time.

[0164] a. First, place the drum manipulator in the X1-axis direction, and stop at the origin coordinate position in the Y1-axis direction. Its mechanical gripper stops at the highest position and the origin position of the Z1-axis of the manipulator. Note: The origin positions of the X1-axis and Y1-axis of the drum placement manipulator are adjusted and set according to the on-site situation, and cannot be adjusted casually after being set. The origin position of the X1-axis is approximately 800 mm from the center of the transfer platform (adjustable, cannot be changed casually after being set) to prevent the code-taking manipulator from colliding with the drum placement manipulator when placing the drum on the transfer platform, causing damage. b. During the drum placement operation, the servo motor inside the Y1-axis crossbeam of the drum placement manipulator drives the Y1-axis crossbeam to move along the X1-axis track to position the mechanical gripper at the position coordinate in the X1-axis direction of the transfer platform. Note: During the intelligent track laying operation, when there is no drum on any one of the transfer platforms, the drum placement manipulator stops at the origin position and does not move. When the code-taking manipulator places a pair of drums on the two transfer platforms on both sides, the drum placement manipulator starts to move to grab the drum. c. During the movement of the Y-axis crossbeam 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 to position the mechanical gripper at the position coordinate in the Y1-axis direction of the transfer platform. 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 until it stops at the position where the mechanical gripper can grab the drum. e. After the mechanical gripper reaches the position of the target drum to be grabbed, the driving cylinder in the mechanical gripper controls the gripper to perform the drum-grabbing action. f. After the mechanical gripper grabs the drum, the vertical lifting servo motor installed on the Z1-axis mounting seat drives the Z1-axis track to rise to the height position where there will be no collision during the horizontal movement of the drum (i.e., rise the Z1-axis to the highest position, which is the origin position of the Z1-axis of the manipulator). g. After the manipulator grabs the drum and lifts it to the origin position of the Z1-axis, the servo motor inside the Y1-axis crossbeam drives the Y1-axis crossbeam to move along the X1-axis track to the X1-axis position coordinate of the flipping claw of the corresponding drum-dropping mechanism for placing the drum. h. After the manipulator completes the positioning of the flipping 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 the appropriate height position where the mechanical gripper can horizontally move the grabbed drum to the flipping claw of the drum-dropping mechanism. i. After the manipulator completes the positioning of the flipping 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 laterally along the Y1-axis track to the center position of the flipping claw in the drum-dropping mechanism. j. After the manipulator completes the positioning of the flipping claw in the Y1-axis direction, the gripper cylinder of the mechanical gripper quickly opens the gripper to drop the drum onto the flipping claw. k. After the manipulator drops the drum, the vertical lifting servo motor installed on the Z1-axis mounting seat drives the Z1-axis track to rise. After the mechanical gripper leaves the drum-dropping range, it then performs linkage and moves to the X, Y, and Z origin positions to wait. l. After the mechanical gripper leaves the drum-dropping range, the rotating motor of the drum-dropping mechanism drives the flipping claw to rotate 180° to the outside of the vehicle body.m. When the vehicle is in motion, after the electrical control system counts and performs calculations to determine the position coordinates for placing the drum, when the vehicle moves to the position where the drum on the tipping claw reaches the placement position, the cylinder that controls the tipping of the tipping claw acts to tip the tipping claw and make the drum fall to the placement point. n. After the drum dropping mechanism drops the drum onto the roadbed, the rotation motor of the drum dropping mechanism drives the tipping claw to rotate 180° to the inner side of the vehicle body, and the cylinder controls the tipping claw to return to its original position and wait.

[0165] The manipulator group completes the operation process of placing a pair of drums in place. During the linked operation, the manipulator group performs cyclic operations according to the above operation process.

[0166] It should be noted that the ballastless intelligent track laying condition and the ballasted intelligent track laying condition share the same set of manipulator groups for intelligent track laying operations. However, their track laying processes are different. The specific introduction is as follows: (1) The operation process of the code-taking manipulator for ballastless track bed intelligent track laying is exactly the same as that of the ballasted intelligent track laying in terms of its action process and steps. (2) The operation process of the placing manipulator for ballastless track bed intelligent track laying, the placing manipulators on both sides of the vehicle operate separately according to the following process at the same time:

[0167] a. First, place the drum manipulator in the X1-axis direction. It stops at the origin coordinate position in the Y1-axis direction. Its mechanical gripper stops at the highest position and the origin position of the Z1-axis of the manipulator. Note: The origin positions of the X1-axis and Y1-axis of the placing manipulator are adjusted according to the on-site situation and cannot be adjusted arbitrarily after being set. The origin position of the X1-axis is approximately 800 mm from the center of the transfer platform (adjustable, cannot be changed arbitrarily after being set) to prevent the code-taking manipulator from colliding with the drum placing manipulator when placing the drum on the transfer platform and causing damage. b. During the drum placing operation, the servo motor inside the Y1-axis crossbeam of the drum placing manipulator drives the Y1-axis crossbeam to move along the X1-axis track to position the mechanical gripper at the position coordinate in the X-axis direction of the transfer platform. Note: During the intelligent track laying operation, when there is no drum on any one of the transfer platforms, the drum placing manipulator stops at the origin position and does not move. When the code-taking manipulator places a pair of drums on the two-side transfer platforms, the drum placing manipulator then moves to grab the drum. c. During the movement of the Y-axis crossbeam 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 to position the mechanical gripper at the position coordinate in the Y1-axis direction of the transfer platform. 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 until it stops at the position where the mechanical gripper can grab the drum. e. After the mechanical gripper reaches the position of the target drum to be grabbed, the driving cylinder in the mechanical gripper controls the gripper to perform the drum-grabbing action. f. After the mechanical gripper grabs the drum, the vertical lifting servo motor installed on the Z1-axis mounting seat drives the Z-axis track to rise to the height position where there will be no collision during the horizontal movement of the drum (i.e., rise the Z1-axis to the highest position, which is the origin position of the Z-axis of the manipulator). g. After the manipulator grabs the drum and lifts it to the origin position of the Z1-axis, the servo motor inside the Y-axis crossbeam drives the Y1-axis crossbeam to move along the X1-axis track to the position where the longitudinal distance between the drum and the transfer platform is 200 mm. h. After reaching the position where the longitudinal distance between the drum and the transfer platform is 200 mm, 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 the position 754 mm from the center of the vehicle body. i. After the manipulator completes the positioning in the Y1-axis direction, then the servo motor inside the Y-axis crossbeam drives the Y1-axis crossbeam to move along the X1-axis track to the same lateral position where the drum coincides with the center of the transfer platform. At the same time, the vertical lifting servo motor installed on the Z1-axis mounting seat drives the Z1-axis track to descend until it stops at a height approximately 250 mm from the ballastless track subgrade surface when the mechanical gripper grabs the drum (this parameter can be adjusted according to the on-site situation and cannot be changed arbitrarily after being set) and waits. j. When the vehicle is running, after the automatic tracking vision system, the drum placing vision system, and the electrical control system count and perform calculations to determine the position coordinates of the drum to be placed, when the vehicle runs to the waiting point where the manipulator grabs the drum and reaches this position, control the placing manipulator to perform horizontal follow-up positioning at the drum placing point on the ballastless track.k. During the period when the mechanical gripper grabs the roller and follows the positioning to place the roller on the ballastless track, the electrical control system controls the Z1-axis track to quickly descend, drops the roller onto the track bed, and then the mechanical gripper cylinder quickly opens the gripper to release the roller. l. After the mechanical gripper places the roller on the track bed, the manipulator quickly rises to the highest position, i.e., the origin position of the Z-axis, and at the same time, adjusts to the origin position in the X1-axis direction and the Y1-axis direction to wait.

[0168] The manipulator for placing the roller completes the operation process of placing a pair of rollers in place. During the coordinated operation, the manipulator for placing the roller performs cyclic operations according to the above operation process.

[0169] The operation method of the intelligent tractor. When laying the ballasted track intelligently, the construction should be carried out in the following order: push the long rail in place → grab and lock the long rail → pull the long rail and place the roller synchronously → unlock and release the long rail → wait for the next track laying; when laying the ballastless track intelligently, the train set should be constructed in the following order: push the long rail in place → grab and lock the long rail → pull the long rail and place the roller synchronously → align, pull, saw, and connect the rails → unlock and release the long rail → wait for the next track laying;

[0170] Taking the laying of the ballasted track as an example, the laying includes the following steps. Step 1: After the other supporting equipment of the ballast intelligent tractor for pushing the long rail in place is completed, the ballast intelligent tractor reverses until it stops at a position 500 mm behind the rail end of the rail clamping assembly of the locking rail mechanism at the rear end of the tractor. Then, the operation of grabbing and locking the rail is carried out. The operation steps are as follows: set the distance between the clamping assemblies, grab the rail, lock the rail, and adjust the rail. After the long rail is pushed in place during the intelligent laying of the ballastless track, the center distance between the two rails is usually about 1508 mm. Correspondingly, the locking rail mechanism of the ballast intelligent tractor adjusts the distance between the clamping assemblies to 1510 mm and locks it. After the distance between the two sets of clamping assemblies in the locking rail mechanism is locked, the lateral distance between them cannot be adjusted, but they can move laterally together on the seat body assembly in the locking rail mechanism under the push and pull of the lateral oil cylinder.

[0171] Step 2: After the long rail intelligent tractor returns to its in-place position, the operator remotely controls the gripper rail mechanism at the rear end of the tractor to grab the rails. The process of grabbing 2 rails is carried out in steps. First, remotely control the gripper rail mechanism to descend simultaneously. Stop descending when the clamping rail assembly is 30 mm away from the top surface of the rail during on-site commissioning. Purpose: Facilitate the alignment of the clamping rail assembly with the rail in subsequent operations. Then, operate the lateral movement of the clamping rail assembly to align with the rail. Subsequently, lower the assembly to sleeve the rail from above and insert a pin to grab the rail. During the operation, if it is found that the distance between the 2 rails cannot meet the requirement for the clamping rail assembly to grab the rails simultaneously, operate one of the clamping rail assemblies to first grab 1 rail, then lift the grabbed rail and align it with the other rail to complete grabbing the other rail. After the clamping rail assembly grabs 2 rails, remotely control the clamping rail assembly to swing forward and lock the rail. After the clamping rail assembly locks the rail, operate the gripper rail mechanism to adjust the rail to be symmetric with the center of the vehicle body and lift the rail so that the bottom of the rail is 220 mm away from the subgrade surface as determined during current commissioning. The ballastless and ballasted track laying height values are different. Purpose: During the operation of pulling the rail, the impact is small when the rail falls onto the roller;

[0172] Step 3: After the rail adjustment is completed, operate the ballast intelligent tractor to move forward and carry out the operation of pulling the rail; during the process of pulling the rail, simultaneously carry out the operation of placing the rollers. The whole process of placing the rollers is intelligently and automatically controlled by the electric control system for the manipulator group on the vehicle, without the need for manual operation. The code-taking manipulator is connected and fixed to the vehicle body by 3 X-axis rails through brackets and is installed in the upper space above the roller storage basket; 1 Y-axis crossbeam is installed on the 3 X-axis rails and moves longitudinally along the X-axis rail direction; on both the left and right sides of the Y-axis crossbeam, 1 Y-axis rail is installed, and on each Y-axis rail, a Z-axis rail mounting seat is installed, and on each mounting seat, 1 Z-axis rail is installed. The Z-axis rail can perform up and down lifting actions, and at the lower end of each Z-axis rail, 1 set of mechanical grippers is installed;

[0173] Step 4: Action process of the grabbing drum. First, the code-taking manipulator stops at the origin coordinate position in the X-axis and Y-axis directions; its mechanical gripper stops at the highest position and the origin position of the Z-axis of the manipulator; the distance from the center of the transfer platform is about 800mm and can be adjusted. Once set, it cannot be changed randomly to prevent collision between the manipulator for placing the drum on the transfer platform and the code-taking manipulator, resulting in damage. When grabbing the drum, the servo motor in the middle of the Y-axis crossbeam of the code-taking manipulator drives the Y-axis crossbeam to move along the X-axis track to locate the position coordinate of the target drum in the X-axis direction corresponding to the mechanical gripper; during the movement of the Y-axis crossbeam 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 drum in the Y-axis direction corresponding to the mechanical gripper. After the mechanical gripper completes the positioning of the target drum 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 until it stops at the position where the mechanical gripper can grab the drum. After the mechanical gripper reaches the position to grab the target drum, the driving cylinder in the mechanical gripper controls the gripper to perform the action of grabbing the drum. After the mechanical gripper grabs the drum, the vertical lifting servo motor installed on the Z-axis mounting seat drives the Z-axis track to rise to a height where there will be no collision during the horizontal movement of the drum and rises the Z-axis to the highest position, that is, the origin position of the Z-axis of the manipulator. After the manipulator grabs the drum and lifts it to the origin position of the Z-axis, the servo motor in the middle of the Y-axis crossbeam drives the Y-axis crossbeam to move along the X-axis track to the corresponding X-axis coordinate position of the on-vehicle transfer platform. At the same time, the lateral movement servo motors installed on both sides of the Z-axis mounting seat drive the corresponding Z-axis tracks to move laterally along the Y-axis track to the corresponding Y-axis coordinate positions of the two sides of the on-vehicle transfer platform. During the coordinated operation, if there is a drum on one of the transfer platforms at this time, the mechanical gripper grabs the drum and moves horizontally in the X-axis coordinate direction to wait at a position 800mm away from the transfer platform (this parameter is determined according to the actual situation on-site and cannot be adjusted randomly), and the Z-axis track does not descend. After the drums on both sides of the transfer platform are taken away by the placing manipulators, the subsequent positioning of the transfer platform and the action of placing the drum on the transfer platform are automatically performed; the purpose is to prevent collision between the manipulator parts and cause damage. After the two sets of mechanical grippers grab the drums and horizontally position the corresponding transfer platforms on both sides, the vertical lifting servo motors respectively installed on the Z-axis mounting seats drive the two sets of Z-axis tracks to descend until the drum can fall smoothly and accurately to the height position of the transfer platform after the mechanical gripper releases the drum. After the two sets of mechanical grippers grab the drums and vertically position them, the cylinders in the mechanical grippers act to open the grippers and place the drums on the transfer platform. After each of the two sets of mechanical grippers places the drum, the vertical lifting servo motors respectively installed on the Z-axis mounting seats drive the two sets of Z-axis tracks to rise to the position where the mechanical gripper reaches the origin position of the Z-axis. After both sets of manipulators are in place, the servo motor in the middle of the Y-axis crossbeam drives the Y-axis crossbeam to move along the X-axis track to the origin position of the X-axis; at the same time, the lateral movement servo motors installed on both sides of the Z-axis mounting seat drive the corresponding Z-axis tracks to move laterally along the Y-axis track to the origin position of the Y-axis.The code-taking manipulator completes the code-taking operation process for a pair of rollers; during the linked operation, the code-taking manipulator performs cyclic operations according to the above operation process. The equipment is laid on a standard gauge ballast or ballastless track composed of 100-500 m long rail bars with a rail weight of 60 Kg / m. The remaining steps are not described separately.

[0174] The conversion of the traveling mode in this application is described as follows:

[0175] 1) Rubber tire traveling is converted to crawler traveling:

[0176] First step, operate the railway traveling mechanism to lift the vehicle body to suspend the rubber wheels; second step, disassemble the connecting brackets on the front and rear 4 drive axles, and disassemble the steering synchronization tie rod on the front drive axle; third step, operate to retract the 4 groups of rubber wheels to the highest position and the ballastless safety mechanism to the highest position; fourth step, operate the railway traveling mechanism to lower, so that the crawler falls onto the subgrade surface, and then raise the railway mechanism to the highest position to complete the conversion.

[0177] 2) Railway traveling is converted to crawler traveling:

[0178] First step, place the shoe iron to prevent the vehicle from slipping; second step, switch the traveling mode to the tire traveling mode, and then operate the railway traveling mechanism to lift the vehicle body to suspend the rear rubber wheels; third step, disassemble the connecting brackets on the front and rear 4 drive axles, and disassemble the steering synchronization tie rod on the front drive axle; fourth step, rotate the rear rubber wheels 180° to the outside, and operate to retract the 4 groups of rubber wheels to the highest position and the ballastless safety mechanism to the highest position; fifth step, operate the railway traveling mechanism to lower, so that the crawler falls onto the subgrade surface, and then raise the railway mechanism to the highest position to complete the conversion.

[0179] 3) The conversion of other traveling mechanisms of the vehicle to the railway traveling operation mode:

[0180] (1) Rubber tire traveling is converted to railway traveling:

[0181] First step, lower the railway traveling mechanism onto the rail, place the shoe iron to prevent the vehicle from slipping; second step, retract the guide wheels of the ballastless safety mechanism, and then operate the railway traveling mechanism to lift the vehicle body so that the rubber wheels are lifted above the rail; third step, disassemble the connecting bolt between the connecting bracket on the rear drive axle and the vehicle frame to separate the connecting bracket from the vehicle frame; fourth step, operate the rear rubber wheels to extend, and then rotate the rubber wheels 180° to the inside to the pin limit; fifth step, operate to lift the rubber wheels so that the top surface of the connecting bracket on the drive axle fits with the lateral telescopic inner sleeve of the drive axle; sixth step, operate the rubber wheels to change the span to directly above the rail, and then operate the rear railway traveling mechanism to lower so that the rubber wheels contact and align with the rail surface; seventh step, the driver switches the traveling mode to the railway traveling mode to complete the conversion.

[0182] (2) Conversion of crawler travel to railway travel:

[0183] First step: The railway travel mechanism descends onto the rail, and the shoe iron is placed to prevent the vehicle from slipping. Second step: Operate the railway travel mechanism to lift the vehicle body so that the crawler chain plate is lifted above the rail. Third step: Install the connecting bracket on the two sets of drive axles at the rear end of the vehicle. Fourth step: Rotate the two sets of rear rubber wheels 180° until they are limited by the inner pins. Fifth step: Operate the lifting and span change of the rubber wheels so that the connecting bracket fits with the transverse telescopic inner sleeve of the drive axle. Sixth step: Operate the rubber wheels to change the span to directly above the rail, and then operate the rear railway travel mechanism to descend so that the rubber wheels contact and align with the rail surface. Seventh step: The driver switches the travel mode to the railway travel mode to complete the conversion.

[0184] It should be noted that the travel speed of the railway travel mechanism: on straight tracks, it travels in high gear, with a maximum speed of 6 Km / h; on curves and slopes, it travels in low gear, with a maximum speed of 2.5 Km / h; when the vehicle passes through a turnout, the railway travel mechanism is used to travel across the turnout on the rail. When passing through a turnout, it is required that there is a rail extension line with a length ≥ 11 meters at the turnout exit end of the vehicle (if the rails are not properly laid before and after the turnout, it is necessary to insert and lay a rail line ≥ 11 meters at the turnout exit end) to pass through the turnout.

[0185] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent tractor, comprising a vehicle frame (7), characterized in that, It also includes a traveling system, a drum linkage system, a latch rail device (17), and a power system; The traveling system includes a crawler traveling device (16), a tire traveling device (9), and a rail traveling device (10). Among them, the tractor travels in one of the traveling modes of the crawler traveling device (16), the tire traveling device (9), and the rail traveling device (10) and can switch between the above-mentioned traveling devices. The crawler traveling device (16) is installed at the bottom of the vehicle frame (7). The tire traveling device (9) includes a chassis installed below the vehicle frame (7), tires (9-2) installed on the chassis and located on both sides of the crawler traveling device (16), and a tire lifting component (9-1) installed between the chassis and the vehicle frame (7) and used to lift the chassis. The rail traveling device (10) includes brackets (10-1) installed at both ends of the vehicle frame (7), rail traveling wheels (10-2) installed on both sides of the brackets (10-1), and a rail traveling wheel lifting component (10-3) installed between the brackets (10-1) and the vehicle frame (7) and used to lift the brackets (10-1). The tire lifting component (9-1) and the lifting component (10-3) do not act simultaneously. The latch rail device is installed on the bracket (10-1) where the front end of the tractor is located; The intelligent tractor drum linkage device includes a code-taking drum manipulator (1), a drum storage device (2), a transfer platform (3), a placing drum manipulator (4), and a drum dropping device (5). The drum storage device (2) is installed on the tractor vehicle frame. Multiple groups of drums are stored in the drum storage device (2). The code-taking drum manipulator (1), the transfer platform (3), and the placing drum manipulator (4) are all installed on the vehicle frame. Among them, the code-taking drum manipulator (1) is located on one side of the drum storage device (2), the placing drum manipulator (4) is located on the other side of the drum storage device (2), the transfer platform (3) is located between the drum storage device (2) and the placing drum manipulator (4), and the drum dropping device (5) is installed below the vehicle body and located between the drum storage device (2) and the placing drum manipulator (4); Among them, the action execution component of the code-taking drum manipulator (1) moves in the XYZ directions and grabs the drum in the drum storage device (2) onto the transfer platform (3). The action execution component of the placing drum manipulator (4) moves in the XYZ directions and grabs the drum on the transfer platform (3) into the drum dropping device (5). The drum dropping device (5) transfers the drum from the inner side of the track roadbed to the outer side of the track and then drops the drum; The described code-taking roller manipulator (1) includes an X-axis assembly, a Y-axis (1-1), and an action execution component. The X-axis assembly is composed of multiple parallel X-axes (1-2). An operation interval (1-3) of the roller is formed between adjacent X-axes (1-2). The Y-axis (1-1) is slidably mounted on the X-axis (1-2) and performs a translational movement along the X-axis. The Y-axis (1-1) is divided into multiple moving segments (1-4) corresponding to the operation interval (1-3) according to the position of the operation interval (1-3). The action execution component is composed of a Z-axis (1-5) slidably mounted on the moving segment (1-4) and performing a translational movement along the Y-axis (1-1), and a manipulator jaw (1-6) that moves up and down with the Z-axis (1-5) and synchronously translates with the Y-axis (1-1). Each of the X-axes (1-2) includes an X-axis mounting base and a guide rail provided on the X-axis mounting base for the sliding of the Y-axis (1-1). A first slide seat that moves along the X-axis (1-2) direction is provided on the guide rail. The Y-axis (1-1) is provided with a support frame having the same number as the slide seats. The support frame is fixed to the first slide seat through a mounting flange. The slide seat drives the moving segment (1-4) to perform a synchronous movement in the X-axis direction through the support frame. The Y-axis (1-1) includes a Y-axis mounting base and a guide rail provided on the Y-axis mounting base for the sliding of the Z-axis (1-5). A second slide seat for mounting the Z-axis corresponding to the number of the moving segments (1-4) is provided on the guide rail. The Z-axis (1-5) includes a Z-axis main body, a Z-axis mounting seat, and a guide rail provided on the Z-axis mounting seat for the sliding of the Z-axis main body. The Z-axis main body is slidably mounted on the guide rail. The manipulator jaw is mounted at the bottom end of the Z-axis main body and moves with the Z-axis main body.

2. The intelligent tractor according to claim 1, characterized in that, A drive axle is further provided between the described tire (9-2) and the chassis. An electrical cabinet is installed at one end of the top of the vehicle frame (7). A diesel power system (11) is installed at the top of one end of the vehicle frame (7). An air compressor (12) is installed at the bottom of one end of the vehicle frame (7). An air tank (13) is provided on one side of the air compressor (12). A rain shelter (14) is installed on the top of the vehicle frame (7). A driver's cab transverse movement mechanism (15) is installed at the top of the end of the vehicle frame (7).

3. The intelligent tractor according to claim 1, characterized in that: The described code-taking roller manipulator (1) further includes a drive assembly. The drive assembly includes a first drive motor (1-26) for driving the Y-axis (1-1) to perform a translational movement along the X-axis (1-2), a second drive motor (1-34) for driving the Z-axis (1-5) to perform a translational movement along the moving segment along the Y-axis (1-1), and a third drive motor (1-32) for driving the manipulator jaw (1-6) to perform a lifting movement along the Z-axis (1-5).

4. The intelligent tractor according to claim 1, characterized in that: The described drum storage device (2) includes 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 plates (2-14). 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). A first rib plate (2-4) is connected to one end of the first frame (2-1). A second rib plate (2-7) is connected to one side of the first frame (2-1). First reinforcing ribs (2-9), second reinforcing ribs (2-10), third reinforcing ribs (2-11), and fourth reinforcing ribs (2-12) are successively provided from top to bottom between the first frame (2-1) and the second frame (2-2). A card slot (2-13) is formed inside the third partition plate (2-8). A second card interface (2-15) is formed on the second partition plate (2-6). A third card interface (2-16) is formed on the second partition plate (2-6) and on one side of the second card interface (2-15).

5. The intelligent tractor according to claim 1, characterized in that: The described drum dropping device (5) includes a mounting seat (5-1) installed on the tractor chassis and a driving motor (5-2) fixed on the mounting seat (5-1). The drum dropping device further 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 roadbed to the outer side of the track. A cantilever frame (5-303) is provided on the rotating frame (5-301). 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 grasping and dropping the drum, and a driving component (5-5) for converting the linear stroke motion of the driving cylinder (5-401) into the flipping motion of the flipping claw (5-402). The rotating plane of the rotating frame (5-301) and the rotating plane of the flipping claw are not in the same plane.

6. The intelligent tractor according to claim 5, wherein: The rotating angle of the rotating rack (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) includes a connecting shaft (5-3021) connected to the rotating rack (5-301) and a second gear (5-3022) meshing with the first gear (5-201). The flipping claw (5-402) includes a first clamping plate (5-4021) and a second clamping plate (5-4022) for gripping the drum. Fixed slots (5-4023) for clamping the drum are provided on the first clamping plate (5-4021) and the second clamping plate (5-4022). When clamping the drum, the first clamping plate (5-4021) and the second clamping plate (5-4022) are respectively clamped to the fixed ends on both sides of the drum through the fixed slots (5-4023). When dropping the drum, the first clamping plate (5-4021) and the second clamping plate (5-4022) flip, and the drum falls off from the fixed slots (5-4023) to complete the operation of dropping the drum. Rotating shafts (5-4024) for driving their flipping are fixedly connected to both the first clamping plate (5-4021) and the second clamping plate (5-4022). Both ends of the rotating shaft (5-4024) are rotatably installed on the cantilever rack (5-303). The driving assembly (5-5) consists of a first connecting rod (5-501), second connecting rods (5-502) respectively hinged at both ends of the first connecting rod (5-501), and a third connecting rod (5-503) with one end 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 rotating angle of the rotating shaft (5-4024) is not less than 90°. Two parallel mounting plates (5-3031) are provided on the cantilever rack (5-303). Bushings (5-3032) for fixing both ends of the rotating shaft (5-4024) are provided on each mounting plate (5-3031).

7. The intelligent tractor according to claim 2, wherein: The drive axle includes a drive axle bracket (19-1), a reducer bracket (19-3), and a hydraulic motor (19-7). A lifting oil cylinder (19-18) is provided at the top of the drive axle bracket (19-1). A slewing bearing (19-2) is provided at the output end of the lifting oil cylinder (19-18). A bracket connecting seat (19-21) is provided at the top of the slewing bearing (19-2). The slewing bearing (19-2) is connected to the bracket connecting seat (19-21) by setting second bolts (19-12). A transverse oil cylinder (19-17) is provided on one side of the lifting oil cylinder (19-18), and the transverse oil cylinder (19-17) is connected to the lifting oil cylinder (19-18) by setting a pin shaft (19-15).

8. The operation method of the intelligent tractor according to any one of claims 1-7, characterized in that: It includes a walking state conversion operation and a track laying operation. In the track laying operation, it is divided into a ballast track intelligent track laying operation and a ballastless track intelligent track laying operation according to the track type; The ballast track intelligent track laying operation process includes the following steps: pushing the long rail in place → grasping and locking the long rail → stretching the long rail and synchronously operating the rollers → unlocking and lowering the long rail → waiting for the next track laying; The ballastless track intelligent track laying operation includes the following steps: pushing the long rail in place → grasping and locking the long rail → stretching the long rail and synchronously placing the rollers → aligning, pulling, sawing, and connecting the rails → unlocking and lowering the long rail → waiting for the next track laying; The roller linkage operation includes a roller grasping process and a roller placing process that are carried out in sequence. When there are no rollers on the transfer platform, the roller placing process is not carried out.

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