A sleeper posture fine-tuning system for subway track assembly

Abstract

The present invention provides a sleeper posture fine-tuning system for assembling subway track panels, belonging to the technical field of subway track engineering equipment, comprising a car body movable along the track; a first adjustment mechanism provided on the car body, the first adjustment mechanism being used to adjust the posture of the sleeper in a first direction; a second adjustment mechanism provided on the car body, the second adjustment mechanism being used to adjust the posture of the sleeper in a second direction; an image acquisition device provided on the car body, being used to acquire image information of the sleepers on the track; and an electric control box provided on the car body, which can control the actions of the first adjustment mechanism and the second adjustment mechanism based on the image information to complete the adjustment of the posture of the sleeper in the first direction and the second direction, respectively. The present invention can automatically adjust the posture of the sleeper, thereby improving the accuracy of the posture adjustment, eliminating the need for manual adjustment of the sleeper, reducing labor intensity, improving work efficiency, and reducing labor costs.

Description

Technical Field

[0001] The present invention relates to the technical field of subway track engineering equipment, and in particular to a sleeper posture fine-tuning system for assembling subway track panels. Background Art

[0002] Subway track is laid by transporting assembled rail panels to their destinations via railcars. Prior art, at the subway track panel assembly site, the position of sleepers is manually adjusted using a combination of rulers, clamps, and crowbars. However, subway sleepers are heavy and numerous (a 25-meter-long subway track panel has 42 sleepers), often requiring a large number of workers to perform simultaneous position adjustments. This results in low efficiency, high labor costs, and a high workload. Furthermore, the accuracy of manually adjusted sleeper positions is difficult to guarantee. Summary of the Invention

[0003] The purpose of the present invention is to provide a sleeper posture fine-tuning system for assembling subway rails, which improves the efficiency and accuracy of subway sleeper posture adjustment, thereby improving the assembly efficiency of subway rails and reducing the labor intensity of workers, so as to solve at least one technical problem existing in the above-mentioned background technology.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] In one aspect, the present invention provides a sleeper posture fine-tuning system for subway track assembly, comprising:

[0006] A vehicle body for driving the sleeper posture fine-tuning system for subway track assembly to move along the track;

[0007] The car body is provided with a first adjustment mechanism, the first adjustment mechanism is used to adjust the position of the sleeper in a first direction; the car body is provided with a second adjustment mechanism, the second adjustment mechanism is used to adjust the position of the sleeper in a second direction;

[0008] The vehicle body is provided with an image acquisition device, which is used to acquire image information of sleepers on the track;

[0009] An electric control box is provided on the vehicle body, and the electric control box can control the actions of the first adjustment mechanism and the second adjustment mechanism according to the image information to complete the adjustment of the position of the sleeper in the first direction and the second direction respectively.

[0010] Preferably, the vehicle body includes: a supporting frame, and a supporting plate arranged on the supporting frame; a rotatable axle is provided on the supporting frame, and wheels are provided at both ends of the axle; a bearing seat is provided on the supporting frame, and the axle passes through the bearing on the bearing seat and is fixedly connected to the inner ring of the bearing.

[0011] Preferably, the first adjustment mechanism includes two opposite first adjustment mechanical claws arranged on the supporting plate.

[0012] Preferably, the first adjustment mechanical claw includes a first fixing frame fixed on the supporting plate, a first base is fixed on the first fixing frame, a first telescopic device is movably connected to the first base, the other end of the first telescopic device is movably connected to a first connecting rod, the first connecting rod is movably connected to the supporting frame, and the end of the first connecting rod is movably connected to a first baffle.

[0013] Preferably, the first telescopic device is movably connected to the first base through a pin, the telescopic end of the first telescopic device is movably connected to the first connecting rod through a pin, and the end of the first connecting rod is movably connected to the first baffle through a pin.

[0014] Preferably, a through hole is provided on the supporting plate, a first support is provided on the supporting frame, and the first connecting rod passes through the through hole and is movably connected to the first support via a pin.

[0015] Preferably, the second adjustment mechanism includes multiple groups of second adjustment mechanical claws, and the two second adjustment mechanical claws in each group of second adjustment mechanical claws are arranged opposite to each other.

[0016] Preferably, the second adjustment mechanical claw includes a second fixing frame fixed on the supporting plate, a second base is fixed on the second fixing frame, a second telescopic device is movably connected to the second base, the other end of the second telescopic device is movably connected to a second connecting rod, the second connecting rod is movably connected to a second support fixed on the supporting plate, and the end of the second connecting rod is movably connected to a second baffle.

[0017] Preferably, the second telescopic device is movably connected to the second base through a pin, the telescopic end of the second telescopic device is movably connected to the second connecting rod through a pin, the second connecting rod is movably connected to the second support through a pin, and the end of the second connecting rod is movably connected to the second baffle through a pin.

[0018] Preferably, the first telescopic device and the second telescopic device are both electric telescopic cylinders, and the image acquisition device is a high-precision 3D structured light camera.

[0019] The beneficial effects of the present invention are as follows: the position and posture of the sleeper can be automatically adjusted, the accuracy of the position and posture adjustment is improved, the sleeper does not need to be adjusted manually, the labor intensity is reduced, the work efficiency is improved, and the labor cost is reduced.

[0020] Additional aspects and advantages of the present invention will be set forth in part in the following description, will become apparent from the following description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a top three-dimensional structural diagram of the sleeper posture fine-tuning system for subway track assembly described in an embodiment of the present invention.

[0023] Figure 2 This is a bottom three-dimensional structural diagram of the sleeper posture fine-tuning system for subway track assembly described in an embodiment of the present invention.

[0024] Figure 3 This is a main structural diagram of the sleeper posture fine-tuning system for subway track assembly described in an embodiment of the present invention.

[0025] Figure 4 This is a top view of the structure of the sleeper posture fine-tuning system for subway track assembly described in an embodiment of the present invention.

[0026] Figure 5 This is a bottom-up structural diagram of the car body of the sleeper posture fine-tuning system for subway track assembly described in an embodiment of the present invention.

[0027] Figure 6 This is a flow chart of the working principle of the sleeper posture fine-tuning system for subway track assembly described in an embodiment of the present invention.

[0028] Among them: 1-vehicle body; 2-first adjustment mechanism; 3-second adjustment mechanism; 4-image acquisition device; 5-electrical control box; 6-carrying frame; 7-carrying plate; 8-axle; 9-wheel; 10-bearing seat; 11-first fixed frame; 12-first base; 13-first telescopic device; 14-first connecting rod; 15-first baffle; 16-through hole; 21-first support; 17-second fixed frame; 18-second base; 19-second telescopic device; 20-second connecting rod; 22-second support; 23-second baffle; 24-camera bracket; 25-connecting flange. DETAILED DESCRIPTION

[0029] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and are not to be construed as limiting the present invention.

[0030] Those skilled in the art will understand that unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this invention belongs.

[0031] It should also be understood that terms, such as those defined in commonly used dictionaries, should be understood to have a meaning consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless as defined herein.

[0032] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and / or groups thereof.

[0033] In the description of this specification, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless otherwise inconsistent.

[0034] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0035] In the description of this specification, the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the present technology and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the present technology.

[0036] Unless otherwise specified or limited, the terms "installed," "connected," "connected," and "disposed" should be understood broadly. For example, they may refer to fixed connection or disposition, detachable connection or disposition, or integral connection or disposition. Those skilled in the art will understand the specific meanings of these terms in this technology based on specific circumstances.

[0037] To facilitate understanding of the present invention, the present invention is further explained below with reference to specific embodiments in conjunction with the accompanying drawings. However, the specific embodiments do not constitute a limitation on the embodiments of the present invention.

[0038] Those skilled in the art should understand that the drawings are merely schematic diagrams of embodiments, and the components in the drawings are not necessarily necessary for implementing the present invention.

[0039] Example

[0040] like Figures 1 to 5 As shown, in this embodiment, a sleeper posture fine-tuning system for assembling subway track sheets is provided, comprising: a car body 1 for driving the sleeper posture fine-tuning system for assembling subway track sheets to move along the track; a first adjustment mechanism 2 is provided on the car body 1, and the first adjustment mechanism 2 is used to adjust the posture of the sleeper in a first direction; a second adjustment mechanism 3 is provided on the car body 1, and the second adjustment mechanism 3 is used to adjust the posture of the sleeper in a second direction; an image acquisition device 4 is provided on the car body 1, and the image acquisition device 4 is used to acquire image information of the sleeper on the track; an electric control box 5 is provided on the car body, and the electric control box 5 is used to control the actions of the first adjustment mechanism 2 and the second adjustment mechanism 3 according to the image information, so as to complete the adjustment of the posture of the sleeper in the first direction and the second direction respectively.

[0041] The sleeper posture fine-tuning system for subway track assembly described in this embodiment places the car body 1 on the track and is driven by an external power system to move along the track to the sleeper that needs to be adjusted in posture, thereby achieving position adjustment of sleepers at different positions on the track. Among them, the image acquisition device 4 acquires image information of the sleepers on the track and sends it to the controller in the control box 5. The controller generates control instructions based on the image information to control the first adjustment mechanism 2 and the second adjustment mechanism 3 to adjust the posture of the sleepers in the first and second directions. For example, the first direction is the left-right direction (the direction perpendicular to the extension direction of the track), and the first adjustment mechanism 2 adjusts the posture of the sleeper in the left-right direction; the second direction is the front-back direction (the extension direction of the track), and the second adjustment mechanism 3 adjusts the posture of the sleeper in the left-right direction.

[0042] Specifically, in this embodiment, the vehicle body 1 comprises the following main structures: a supporting frame 6 and a supporting plate 7 mounted on the supporting frame 6; a rotatable axle 8 is mounted on the supporting frame 6, with wheels 9 at both ends of the axle 8; a bearing seat 10 is mounted on the supporting frame 6, and the axle 8 passes through the bearing on the bearing seat 10 and is fixedly connected to the inner ring of the bearing. Furthermore, a vehicle body connection flange 25 is mounted on the supporting plate 7 of the vehicle body 1 for connection to other vehicle body systems.

[0043] like Figure 2 As shown, in this embodiment, four bearing seats 10 are provided on the supporting frame 6, and two bearing seats facing each other form a group. One axle 8 passes through the inner rings of the bearings on the two bearing seats 10 in the same group and is fixedly connected to the inner rings of the bearings, while the outer rings of the bearings are fixedly connected to the bearing seats. In this way, the rotation of the axle 8 can be realized, so that the wheels 9 at both ends of the axle 8 can rotate and move on the track, driving the entire vehicle body to move.

[0044] Specifically, the first adjustment mechanism 2 includes two opposing first adjustment claws disposed on the carrier plate. The first adjustment claws include a first fixing frame 11 fixed to the carrier plate 7, a first base 12 fixed to the first fixing frame 11, a first telescopic device 13 movably connected to the first base 12, the other end of the first telescopic device 13 movably connected to a first connecting rod 14, the first connecting rod 14 movably connected to the carrier frame 6, and a first baffle 15 movably connected to the end of the first connecting rod 14.

[0045] When the sleeper is adjusted in the left-right direction, one end of the first telescopic device is movably connected to the first base 12, such as by a pivot pin, and the other end of the first telescopic device is movably connected to one end of the first connecting rod 14, such as by a pivot pin. The middle part of the first connecting rod 14 is movably connected to the supporting frame, and the other end of the first connecting rod 14 is movably connected to the first baffle, such as by a pivot pin and the first baffle 15. The supporting plate 7 is provided with a through hole 16, and the supporting frame 6 is provided with a first support 21. The first connecting rod 14 passes through the through hole 16 and is movably connected to the first support 21 via a pin. When the first telescopic device 13 is extended or retracted, it can drive the first connecting rod 14 to rotate with the first support 21 as the fulcrum. The rotation of the first connecting rod 14 can drive the first baffle 15 at its other end to move, thereby pushing the sleeper to move.

[0046] Specifically, such as Figure 1 As shown, the first telescopic device 13 is located on the upper surface of the supporting plate 7. A portion of the first connecting rod 14 passes through the through hole 16 and connects to the first baffle 15, which is located below the supporting plate 7, thereby adjusting the position of the sleeper under the supporting plate 7. During use, the two opposing first adjustment mechanical claws work independently to adjust the two ends of the sleeper respectively. For example, the first baffle of one of the first adjustment mechanical claws contacts the left end of the sleeper, thereby adjusting the sleeper to move to the right, while the first baffle of the other first adjustment mechanical claw contacts the right end of the sleeper, thereby adjusting the sleeper to move to the left.

[0047] Specifically, the second adjustment mechanism 3 includes multiple groups of second adjustment mechanical claws, and the two second adjustment mechanical claws in each group of second adjustment mechanical claws are arranged opposite to each other. Figure 2 As shown, in this embodiment, two sets of second adjustment claws are provided. Specifically, each second adjustment claw includes a second fixing frame 17 fixed to the carrier plate 7, a second base 18 fixed to the second fixing frame 17, a second telescopic device 19 movably connected to the second base 18, the other end of the second telescopic device 19 movably connected to a second connecting rod 20, the second connecting rod 20 movably connected to a second support 22 fixed to the carrier plate 7, and a second baffle 23 movably connected to the end of the second connecting rod 20.

[0048] When the sleeper is adjusted in the front-to-back position, one end of the second telescopic device 19 is movably connected to the second base 18, such as by a pivot pin, and the other end of the second telescopic device 19 is movably connected to one end of the second connecting rod 20, such as by a pivot pin. The middle portion of the second connecting rod 20 is movably connected to the second support 22 provided on the carrier plate 7, and the other end of the second connecting rod 20 is movably connected to the second baffle 23, such as by a pivot pin and the second baffle 15. When the second telescopic device 19 is extended or retracted, it can drive the second connecting rod 20 to rotate with the second support 22 as a fulcrum. The rotation of the second connecting rod 20 can drive the second baffle 23 at its other end to move, thereby pushing the sleeper to move.

[0049] Specifically, such as Figure 2 As shown, during use, the two opposing second adjustment claws operate independently to adjust the two sides of the sleeper. For example, the second stopper of one second adjustment claw contacts the front side of the sleeper, adjusting the sleeper to move backward, while the second stopper of the other second adjustment claw contacts the back side of the sleeper, adjusting the sleeper to move forward. The two sets of second adjustment claws work together to adjust the sleeper's position in the front-to-back direction.

[0050] Specifically, the second telescopic device 19 can be movably connected to the second base 18 through a pin, the telescopic end of the second telescopic device 19 can be movably connected to the second connecting rod 20 through a pin, the second connecting rod 20 can be movably connected to the second support 22 through a pin, and the end of the second connecting rod 20 can be movably connected to the second baffle 23 through a pin.

[0051] In practical applications, both the first telescopic device 13 and the second telescopic device 19 are electric telescopic cylinders, and the telescopic state of the electric telescopic cylinders can be controlled by a controller in a control box. The image acquisition device can be specifically a high-precision 3D structured light camera.

[0052] like Figure 6 As shown, specifically, workers at the construction site roughly place the sleepers into the installation position, and the sleeper position fine-tuning system numbers the sleepers in sequence.

[0053] In the first step, the sleeper position fine-tuning system moves to the top of the first sleeper.

[0054] In the second step, a high-precision structured light camera scans the sleepers to sense their position information.

[0055] In the third step, the controller of the sleeper posture fine-tuning system for subway track assembly calculates the target posture of the sleeper.

[0056] The fourth step is to calculate the movement of the six electric push rods by inverse solution.

[0057] In the fifth step, the six electric push rods move according to the predetermined movement amount.

[0058] In the sixth step, a high-precision structured light camera scans the rail sleepers to determine whether their position meets the required accuracy. If not, the system returns to step three. If it does, the first position fine-tuning step is complete, and the subway sleeper position fine-tuning system moves to the next sleeper, repeating the process until the position fine-tuning for the entire row of track is complete.

[0059] Among them, in the second and third steps, the closest point iterative point cloud registration (ICP) algorithm is used to obtain the corresponding point pairs between the point cloud of the sleeper acquired by the high-precision three-dimensional camera and the target point cloud, and construct a transformation matrix based on the corresponding point pairs. The acquired point cloud is transformed to the coordinates of the target point cloud using the constructed transformation matrix, and the error function between the point cloud acquired after the transformation and the target point cloud is estimated. If the error function is greater than the threshold, the above operation is iterated until the given error requirement is met.

[0060] In the fourth step, the motion of the six electric push rods is calculated using the transformation matrix that meets the accuracy requirements after iteration. The transformation matrix calculation formula between the target point cloud and the acquired point cloud is:

[0061] A(θ,x,y)=f(P t ,P g ) (1.1)

[0062] Where, P t is the target point cloud pose; P g is the obtained point cloud pose of the sleeper; f is the point cloud registration ICP algorithm; A is the change matrix obtained by the ICP algorithm; θ, x, y are the parameters that can be obtained according to the change matrix A, which are the deflection angle between the target point cloud and the obtained point cloud, the offset in the x direction (first direction), and the offset in the y direction (second direction), respectively.

[0063] The formula for calculating the movement of each electric push rod is:

[0064] d=g(θ,x,y) (1.2)

[0065] Where d is a 6×1 matrix, each row of which is the calculated movement of each electric push rod; g is the mapping function of the parameters θ, x, y in the change matrix A to the movement of the electric push rod.

[0066] Although the above describes the specific embodiments of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solutions disclosed in the present invention without the need for creative work should be included in the scope of protection of the present invention.

Claims

1. A sleeper posture fine-tuning system for subway track assembly, characterized in that: include: A vehicle body (1) for driving the sleeper posture fine-tuning system for assembling subway rails to move along the track; The vehicle body (1) is provided with a first adjustment mechanism (2), the first adjustment mechanism (2) being used to adjust the position of the sleeper in a first direction; the vehicle body (1) is provided with a second adjustment mechanism (3), the second adjustment mechanism (3) being used to adjust the position of the sleeper in a second direction; An image acquisition device (4) is provided on the vehicle body (1), and the image acquisition device (4) is used to acquire image information of sleepers on the track; An electric control box (5) is provided on the vehicle body, and the electric control box (5) is used to control the actions of the first adjustment mechanism (2) and the second adjustment mechanism (3) according to the image information, so as to adjust the posture of the sleeper in the first direction and the second direction respectively; The vehicle body (1) comprises: a load-bearing frame (6), and a load-bearing plate (7) arranged on the load-bearing frame (6); the first adjustment mechanism (2) comprises two opposite first adjustment mechanical claws arranged on the load-bearing plate; the first adjustment mechanical claw comprises a first fixing frame (11) fixed on the load-bearing plate (7), a first base (12) is fixed on the first fixing frame (11), a first telescopic device (13) is movably connected to the first base (12), the other end of the first telescopic device (13) is movably connected to a first connecting rod (14), the first connecting rod (14) is movably connected to the load-bearing frame (6), and the end of the first connecting rod (14) is movably connected to a first baffle (15); The first telescopic device (13) is movably connected to the first base (12) via a pin, the telescopic end of the first telescopic device (13) is movably connected to the first connecting rod (14) via a pin, and the end of the first connecting rod (14) is movably connected to the first baffle (15) via a pin; a through hole (16) is provided on the bearing plate (7), and a first support (21) is provided on the bearing frame (6); the first connecting rod (14) passes through the through hole (16) and is movably connected to the first support (21) via a pin; the second adjustment mechanism (3) includes multiple groups of second adjustment mechanical claws, and the two second adjustment mechanical claws in each group of second adjustment mechanical claws are arranged opposite to each other; The second adjustment mechanical claw includes a second fixing frame (17) fixed on the supporting plate (7), a second base (18) fixed on the second fixing frame (17), a second telescopic device (19) movably connected to the second base (18), the other end of the second telescopic device (19) movably connected to a second connecting rod (20), the second connecting rod (20) is movably connected to a second support (22) fixed on the supporting plate (7), and the end of the second connecting rod (20) is movably connected to a second baffle (23); The second telescopic device (19) is movably connected to the second base (18) via a pin, the telescopic end of the second telescopic device (19) is movably connected to the second connecting rod (20) via a pin, the second connecting rod (20) is movably connected to the second support (22) via a pin, and the end of the second connecting rod (20) is movably connected to the second baffle (23) via a pin.

2. The sleeper posture fine-tuning system for subway track assembly according to claim 1 is characterized in that: A rotatable axle (8) is provided on the supporting frame (6), and wheels (9) are provided at both ends of the axle (8); a bearing seat (10) is provided on the supporting frame (6), and the axle (8) passes through the bearing on the bearing seat (10) and is fixedly connected to the inner ring of the bearing.

3. The sleeper posture fine-tuning system for subway track assembly according to claim 2 is characterized in that: The first telescopic device (13) and the second telescopic device (19) are both electric telescopic cylinders, and the image acquisition device (4) is a 3D structured light camera.

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