A device and method for adjusting the orientation and skew of railway concrete sleepers

Abstract

The present invention discloses a device and a method for adjusting the orientation and skew of railway concrete sleepers. The device includes a running system arranged on the rail. A position recognition system for identifying the position of the sleeper is arranged on the side of the running system. A skew adjustment device for adjusting the skew of the sleeper and an orientation adjustment device for adjusting the left-right orientation of the sleeper are arranged in the middle of the running system. Both the skew adjustment device and the orientation adjustment device are connected to an up-and-down moving device, and the up-and-down moving device drives the skew adjustment device and the orientation adjustment device to move up and down. The running system, the position recognition system, the skew adjustment device, the orientation adjustment device, and the up-and-down moving device are all electrically connected to a portable mobile workstation, and an electric control unit and a sleeper position calculation unit are arranged in the portable mobile workstation. The portable mobile workstation is wirelessly connected to a remote controller. A power supply system is arranged above the running system, and the running system, the position recognition system, and the portable mobile workstation are all powered by the power supply system.

Description

Technical Field

[0001] The invention relates to the field of rail transportation, in particular to a device and method for adjusting the orientation and skew of a railway concrete sleeper. Background Art

[0002] When laying seamless lines on railways in one go, special track laying units are generally used for laying sleepers. TCM60 track laying units, CPG500 track laying units, SVM1000 track laying units, etc. are commonly used track laying units. Take the CPG500 track laying unit as an example: the CPG500 track laying unit adopts a single-sleeper continuous operation method, and the machine model is an integrated machine for long rail laying and sleeper laying. The process of laying sleepers and collecting rails is as follows: the on-board gantry crane transfers the sleepers on the sleeper rail transport vehicle to the sleeper conveying device of the working vehicle, and the conveyor chain in the conveying device conveys the sleepers to the sleeper laying mechanism. Operate the long rail positioner, clamp the rail to be laid so that its rail end is aligned with the rail end of the laid rail, and connect the two long rails together with a special non-porous clamp; change the spatial position of the rail collecting device on the working vehicle to convert it from the rail separation state to the rail collecting state; through each rail collecting device, gradually collect the rail into the rail bearing groove. The first and second sleepers are laid manually, and the sleeper spacing is adjusted. Then the control mode is switched, and the sleeper laying system of the track laying unit is switched to the automatic control mode, and the sleepers are evenly laid and collected. When the sleeper laying and leveling devices of the track laying unit are operating in the automatic control mode, the meter also starts to work at the same time, sending pulse signals to the sleeper laying and leveling mechanisms, and the leveling mechanisms automatically adjust the sleeper spacing. The hydraulic ballast leveling mechanism on the work vehicle descends to the ballast surface to achieve the ballast leveling function. As the track laying unit moves forward, the long rails pre-laid on the ballast are accurately placed in the rail bearing groove through various sub-rail collecting devices (rail collecting state) and long rail positioners, etc., so that the track laying unit can lay rails while walking. Before the long rails enter the groove, the rubber pads are placed at the rear of the leveling device under the work vehicle; after the long rails are in place, the initial installation and tightening of the rail fasteners can be carried out under the auxiliary power vehicle. However, the following problems exist in the above process:

[0003] In order to ensure the smooth transmission of sleepers, there is a certain gap between the two ends of the sleepers and the transmission device. This gap will cause the sleepers to deviate from the center line of the railway line, or cause a large deviation in the center of the sleepers of the continuously laid sleepers. The sleeper leveling rod is only responsible for pushing the sleepers forward a certain distance, but it does not have the function of making the center of the sleepers collinear. After this deviation occurs, the workload and difficulty of manual assembly of fasteners in the later stage will increase, and the efficiency of construction will also be reduced.

[0004] Furthermore, when the sleepers are evenly spaced, the sleepers are prone to a certain degree of skewness due to the rolling of ballast particles, etc. When the skewness reaches a certain value, it may have an adverse effect on railway operation, so it needs to be corrected manually. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a device and method for adjusting the orientation and skew of railway concrete sleepers. The device can intelligently adjust the outer skew and left - right orientation of the sleepers through the sleeper orientation and skew adjustment device, so that the position of the sleepers is restored to the theoretical position, reducing the subsequent work. Compared with manual operation, the difficulty is much lower and the construction efficiency is high.

[0006] To solve the above - mentioned technical problem, the technical solution adopted by the present invention is: a device for adjusting the orientation and skew of railway concrete sleepers, including a traveling system arranged on the rail. A position recognition system for identifying the position of the sleeper is arranged on the side of the traveling system. An inclination adjustment device for adjusting the skew of the sleeper and an orientation adjustment device for adjusting the left - right orientation of the sleeper are arranged in the middle of the traveling system. The inclination adjustment device and the orientation adjustment device are both connected to an up - and - down moving device, and the up - and - down moving device drives the inclination adjustment device and the orientation adjustment device to move up and down. The traveling system, the position recognition system, the inclination adjustment device, the orientation adjustment device and the up - and - down moving device are all electrically connected to a portable mobile workstation, and an electric control unit and a sleeper position calculation unit are arranged in the portable mobile workstation. The portable mobile workstation is wirelessly connected to a remote controller. A power supply system is arranged above the traveling system, and the traveling system, the position recognition system and the portable mobile workstation are all powered by the power supply system.

[0007] A further improvement of the technical solution of the present invention is that: the traveling system includes a front wheel set and a rear wheel set slidably arranged on the rail. A frame is fixedly connected above the front wheel set and the rear wheel set. A traveling reduction drive motor is fixedly connected to the bottom side of the frame, and the output shaft of the traveling reduction drive motor is connected to the axle of the front wheel set through a gear for rotation.

[0008] A further improvement of the technical solution of the present invention is that: a braking system is arranged on the axle of the front wheel set. The braking system includes a brake disc fixedly connected to the axle. A brake pad unit is arranged outside the brake disc. The brake pad unit includes semi - circular brake outer pads arranged on both sides of the brake disc and semi - circular rubber brake inner pads arranged inside the semi - circular brake outer pads. The upper part of the semi - circular brake outer pad is threadedly connected to a positive - negative braking rod, and the positive - negative braking rod is connected to the output shaft of a braking reduction drive motor. A brake hub bracket for covering the outside of the brake pad unit is fixedly arranged inside the braking reduction drive motor.

[0009] A further improvement of the technical solution of the present invention is that: the position recognition system includes inverted L - shaped placement brackets fixedly arranged on the front and rear sides of the frame, a 3D laser scanner and a high - definition camera fixedly arranged below the inverted L - shaped placement brackets and at the central position of the line, and a portable mobile workstation fixedly arranged above one of the inverted L - shaped placement brackets. The 3D laser scanner and the high - definition camera are electrically connected to the portable mobile workstation.

[0010] A further improvement of the technical solution of the present invention is that the up-and-down moving device includes a plurality of guide columns fixedly arranged in the middle of the frame and an up-and-down displacement platform slidably sleeved on the plurality of guide columns, and the up-and-down displacement platform is fixedly connected to the telescopic end of the up-and-down moving hydraulic cylinder.

[0011] A further improvement of the technical solution of the present invention is that the skew adjustment device includes an external push-pull unit and an internal push-pull unit, the external push-pull unit includes an external push-pull frame fixedly connected to the fixed end of the up and down moving hydraulic cylinder and an external push-pull rod group arranged at both ends of the external push-pull frame, the external push-pull rod group includes external push-pull rods respectively arranged on both sides of the rail body of the sleeper on the outside of the rail, the internal push-pull unit includes an internal push-pull rod group fixedly arranged on both sides of the upper and lower displacement platforms, the internal push-pull rod group includes internal push-pull rods respectively arranged on both sides of the rail body of the sleeper on the inside of the rail, a bracket for a straightening arm is fixedly arranged at the lower part of one side of the external push-pull frame, a straightening guide rail is fixedly connected to the lower part of the bracket for the straightening arm and the straightening guide rail is fixedly arranged on the upper and lower displacement platforms, the straightening guide rail is fixedly connected to the telescopic end of the skew hydraulic cylinder and the movement displacement of the telescopic end of the skew hydraulic cylinder is monitored by a skew grating ruler and fed back to the electronic control unit in the portable mobile workstation.

[0012] A further improvement of the technical solution of the present invention is that the azimuth adjustment device includes a gripper unit, the gripper unit includes a gripper bracket arranged below the external push-pull frame and grippers arranged at both ends of the gripper bracket, a long displacement hole is opened in the middle of the gripper bracket and the long displacement hole is movably sleeved on the fixed end of the hydraulic cylinder that moves up and down, the gripper is arranged on the outer side of the rail end of the sleeper, slide rails are fixedly arranged below the two ends of the gripper bracket respectively and a cylinder top seat is fixedly arranged at the front end of one side of the slide rail, a slider is slidably arranged on the slide rail, a fixed end of the azimuth hydraulic cylinder is fixedly arranged in one side of the slider and the telescopic end of the azimuth hydraulic cylinder is fixedly connected to the cylinder top seat, the movement displacement of the telescopic end of the azimuth hydraulic cylinder is monitored by the azimuth grating ruler and fed back to the electronic control unit in the portable mobile workstation.

[0013] A further improvement of the technical solution of the present invention is that four lifting units are symmetrically arranged along the center of the frame on the outside of the skew adjustment device and the azimuth adjustment device, and the lifting unit includes a lifting cylinder support fixedly arranged on the inner side of the frame, and the fixed end of the lifting hydraulic cylinder is fixedly connected to the lifting cylinder support, and the telescopic end of the lifting hydraulic cylinder is fixedly connected to the disc base.

[0014] A further improvement of the technical solution of the present invention is that a hydraulic station is arranged on the frame, and the oil pipes of the up and down moving hydraulic cylinder, the tilting hydraulic cylinder, the azimuth hydraulic cylinder and the lifting hydraulic cylinder are all connected to the hydraulic station.

[0015] A further improvement of the technical solution of the present invention is: a method for adjusting the orientation and skew of railway concrete sleepers, comprising the following steps:

[0016] Step S1, preprocessing: Pre-store the theoretical rail sleeper laying positions, the initial positions of the skew adjustment device and the azimuth adjustment device above the central position of the line in the portable mobile workstation;

[0017] Step S2, rail sleeper identification: When the traveling system moves forward, the up and down moving device controls the skew adjustment device and the azimuth adjustment device to move upward by 300 - 600 mm. During the forward movement of the traveling system, the high-definition camera captures the actual position of the rail sleeper, and the area array lidar scans the actual position of the rail sleeper and transmits it to the portable mobile workstation. The area array lidar is located above the central position of the rail sleeper. The rail sleeper position calculation unit inside the portable mobile workstation calculates the slope deviation and the left-right offset of the rail sleeper;

[0018] Taking the point where the area array lidar is located as the coordinate origin, the length direction of the rail sleeper as the x-axis, the width direction of the rail sleeper as the y-axis, and the height direction of the rail sleeper as the z-axis. Among them, the positive direction of the x-axis is recorded as the right direction of the rail sleeper length, the positive direction of the y-axis is recorded as the direction along the trolley traveling direction, the positive direction of the z-axis is the lidar scanning direction. The area array lidar is located directly above the rail sleeper, and the area array lidar scans in a counterclockwise direction. The scanning points to the left of the area array lidar scanned by the area array lidar are recorded as (x 左i , y 左i , z 左i ), the scanning points to the right of the area array lidar scanned by the area array lidar are recorded as (x 右j , y 右j , z 右j ), i, j are the numbering of the scanned points of the lidar, and the height of the lidar from the middle of the top surface of the rail sleeper is recorded as h;

[0019] The calculation process of the slope deviation of the rail sleeper is as follows:

[0020] Screen the points that satisfy among the lidar scanning points to ensure that the screened points are on the top surface of the rail sleeper end outside the rail. β is the distance value from the rail to the end of the rail sleeper. According to the screened points, arbitrarily select a point P 左i (x P , y P ) on the left side. At this time, select the points with the same abscissa x P as point P from the left-side screened points, a total of m points, and take the average value to get M(x 均左i , y 均左i ), where, Arbitrarily select a point Q 右j (x Q , y Q ) on the right side. At this time, select the points with the same abscissa x Q as point Q from the right-side screened points, a total of n points, and take the average value to get N(x 均右j , y 均右j), where At this time, calculate the partial slope of the straight line connecting point M and point N

[0021] Control the movement of the movable end of the skew hydraulic cylinder to make the outer push rod and the inner push rod contact the outer end of the sleeper. Taking the center points of the two steel rails passing through the movable end of the skew hydraulic cylinder as the base points, given that the horizontal distance between the movable end of the skew hydraulic cylinder and the base point is d, calculate the movement distance S of the movable end of the skew hydraulic cylinder. The formula is as follows:

[0022] S = d × k,

[0023] If S > 0, it means the upward skew angle of the sleeper is θ, and the movable end of the skew hydraulic cylinder will retract the sleeper downward by a distance S relative to the base point; if S < 0, it means the downward skew angle of the sleeper is θ, and the sleeper needs to be pushed upward by a distance |S|; if S = 0, it means the sleeper is not skewed;

[0024] The calculation process of the left - right offset of the sleeper is as follows:

[0025] According to the scanning points of the area array lidar, filter the points where |z 左i - h| ≤ α, |z 右j - h| ≤ α. At this time, the filtered points are all the points on the top surface of the sleeper. α is a constant approaching 0. Filter the maximum values of the abscissas on the left and right sides, that is, maxx 左i 、maxx 右j of the points. At this time, the filtered points are the end points of the sleeper. The left - right offset of the sleeper is calculated as follows:

[0026]

[0027] Among them, maxx 左i is the end - point value of the left end face of the sleeper, and maxx 右i is the end - point value of the right end face of the sleeper. When L = 0;

[0028] The formula for the gripper displacement is as follows:

[0029]

[0030]

[0031] Among them, x 抓左 is the left - hand endpoint value when the center of the gripper (34) is at the central position of the line, and x 抓右 is the right - hand endpoint value when the center of the gripper is at the central position of the line. When L 偏i = 0, the middle of the sleeper is on the center line of the railway line, and the gripper does not need to move; when L 偏i > 0, it means the sleeper is offset to the right by a distance L 偏i >, and the gripper needs to be adjusted to move left by a distance L左移i ; When L 偏i < 0, it indicates that the sleeper is offset to the left by a distance of L 偏i , and the gripper needs to be adjusted to move to the right by a distance of L 右移i ;

[0032] Step S3: The running system continues to move forward until the skew adjustment device and the azimuth adjustment device are located above the sleeper to be adjusted;

[0033] Step S4: Fix the running system: The electronic control unit controls the 4 jacking hydraulic cylinders to act downward simultaneously until the disc base contacts the ground to fix the running system;

[0034] Step S5: Adjust the skew angle of the sleeper: The sleeper position calculation unit inside the portable mobile workstation calculates the skew degree of the sleeper 4, then converts it into the effective action distance S of the movable end of the skew hydraulic cylinder, and sends a signal for the skew hydraulic cylinder to act to the electronic control unit. The telescopic end of the skew hydraulic cylinder drives the outer push-pull unit and the inner push-pull unit to adjust the sleeper simultaneously. The skew grating ruler constantly feeds back the action displacement of the telescopic end of the skew hydraulic cylinder to the electronic control power supply until the action displacement of the telescopic end of the skew hydraulic cylinder reaches the requirement, and then the skew hydraulic cylinder drives the outer push-pull unit and the inner push-pull unit to return to their original positions;

[0035] Step S6: Adjust the left and right offset of the sleeper: After the sleeper position calculation unit inside the portable mobile workstation calculates the left and right displacement of the gripper, it sends a signal for the azimuth hydraulic cylinder to act to the electronic control unit. The telescopic end of the azimuth hydraulic cylinder drives the gripper unit to act, and the azimuth grating ruler monitors the effective action distance of the gripper; when the effective action distance reaches the offset value of the gripper, the azimuth hydraulic cylinder drives the gripper to return to the central position.

[0036] Due to the adoption of the above technical solutions, the technical progress achieved by the present invention is:

[0037] 1. The present invention intelligently adjusts the outer skew degree and left and right azimuths of the sleeper through the sleeper azimuth and skew adjustment device, so that the position of the sleeper is restored to the theoretical position, reducing the subsequent work. Compared with manual operation, the difficulty is much lower and the construction efficiency is high;

[0038] 2. In the present invention, the skew adjustment device is bounded by the rail. Outer push rods are arranged on both sides of the sleeper rail body outside the rail, and inner push rods are arranged on both sides of the sleeper rail body inside the rail. The outer push rods and the inner push rods act simultaneously to achieve the correction of the skew degree of the sleeper, with higher correction accuracy;

[0039] 3. In the present invention, a combination of hydraulic cylinders and grating rulers is adopted in the skew adjustment device and the azimuth adjustment device. The grating ruler monitors the action displacement of the hydraulic cylinder and feeds it back to the electronic control unit inside the portable mobile workstation. The electronic control unit controls the hydraulic cylinder to act until the required distance is reached, so the adjustment accuracy and precision are high. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0041] Figure 2 It is a schematic diagram of the structure of the running system of the present invention;

[0042] Figure 3 The present invention Figure 2 In the middle, A shows an enlarged view of the brake hub bracket;

[0043] Figure 4 It is a schematic diagram of the position structure of the skew adjustment device, the azimuth adjustment device and the up-and-down moving device of the present invention;

[0044] Figure 5 The present invention Figure 4 Enlarged view of point B in the middle;

[0045] Figure 6 The present invention Figure 4 Enlarged view of point C in the middle;

[0046] Figure 7 It is a schematic diagram of the structure of the jacking unit of the present invention;

[0047] Figure 8 It is a flow chart of calculating the left and right deviation values ​​of the sleeper of the present invention;

[0048] Figure 9 It is a flow chart of calculating the skewness of the sleeper of the present invention;

[0049] Among them, 1. rails, 2. running system, 3. skew adjustment device, 4. sleepers, 5. orientation adjustment device, 6. up and down moving device, 7. portable mobile workstation, 8. power supply system, 9. front wheel group, 10. rear wheel group, 11. frame, 12. running reduction drive motor, 13. axle, 14. braking system, 15. brake disc, 16. semicircular brake outer pad, 17. semicircular rubber brake inner pad, 18. positive and negative brake lever, 19. brake reduction drive motor, 20. brake hub bracket, 21. inverted L-shaped placement bracket, 22. , area array laser radar, 23, high-definition camera, 24, guide column, 25, up and down displacement platform, 26, up and down moving hydraulic cylinder, 27, push and pull frame, 28, push and pull rod, 29, push and pull rod, 30, bracket for righting arm, 31, righting guide rail, 32, tilting hydraulic cylinder, 33, gripper bracket, 34, gripper, 35, slide rail, 36, cylinder top seat, 37, slider, 38, azimuth hydraulic cylinder, 39, lifting unit, 40, lifting cylinder support, 41, lifting hydraulic cylinder, 42, disc base, 43, hydraulic station. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below in conjunction with embodiments:

[0051] As Figure 1 shown, a device for adjusting the orientation and skew of railway concrete sleepers includes a traveling system 2 arranged on a rail 1. In addition to being able to move forward and backward, the traveling system mainly serves to carry other systems. A position recognition system for identifying the position of the sleeper is arranged on the side of the traveling system 2. An inclination adjustment device 3 for adjusting the skew of the sleeper and an orientation adjustment device 5 for adjusting the left - right orientation of the sleeper 4 are arranged in the middle of the traveling system 2. Both the inclination adjustment device 3 and the orientation adjustment device 5 are connected to an up - and - down moving device 6. The up - and - down moving device 6 drives the inclination adjustment device 3 and the orientation adjustment device 5 to move up and down. The traveling system 2, the position recognition system, the inclination adjustment device 3, the orientation adjustment device 5, and the up - and - down moving device 6 are all electrically connected to a portable mobile workstation 7, and an electronic control unit and a sleeper position calculation unit are arranged in the portable mobile workstation 7. The portable mobile workstation 7 is wirelessly connected to a remote controller, and the remote controller is used for the driverless remote control of the traveling system 2. A power supply system 8 is arranged above the traveling system 2. The traveling system 2, the position recognition system, and the portable mobile workstation 7 are all powered by the power supply system 8. The power supply system 8 uses a large - capacity rechargeable battery. According to needs, power is supplied to the components that need power in the whole device through a transformer.

[0052] As Figure 2 shown, the traveling system 2 includes a front wheel set 9 and a rear wheel set 10 slidably arranged on the rail 1. In order to reduce the mass of the traveling system 2, the wheel diameter is designed to be 40 cm - 80 cm and is made of steel material. The distance between the front and rear axles is 1.5 m - 3.0 m. A frame 11 is fixedly connected above the front wheel set 9 and the rear wheel set 10. The main material of the frame 11 is high - strength lightweight aluminum alloy, which has the characteristics of high strength, high toughness, good workability, good weldability, and corrosion resistance, and is widely used in many industries such as aviation, aerospace, ordnance, and electronics. Using this material has the following advantages for the frame 11: 1. Meeting the load - bearing requirements; 2. Meeting the structural stability requirements of the traveling system 2 under the condition of rapid driving; Meeting the lightweight design requirements. A traveling reduction drive motor 12 is fixedly connected to the bottom side of the frame 11, and the output shaft of the traveling reduction drive motor 12 is rotationally connected to the axle 13 of the front wheel set 9 through gears. The electronic control unit in the portable mobile workstation 7 controls the traveling reduction drive motor 12 to drive the traveling system to move forward or backward.

[0053] As Figure 3As shown in the figure, a braking system 14 is provided on the axle 13 of the front wheel set 9. The braking system 14 includes a brake disc 15 fixedly connected to the axle 13. A brake pad unit is provided on the outer side of the brake disc 15. The brake pad unit includes semi-circular brake outer pads 16 arranged on both sides of the brake disc 15 and semi-circular rubber brake inner pads 17 arranged on the inner sides of the semi-circular brake outer pads 16. The upper part of the semi-circular brake outer pad 16 is threadedly connected to a forward and reverse braking rod 18, and the forward and reverse braking rod 18 is connected to the output shaft of a braking and decelerating drive motor 19. A brake hub bracket 20 for covering the outer side of the brake pad unit is fixedly provided inside the braking and decelerating drive motor 19. When the running system 2 needs to stop operating, the electronic control unit in the portable mobile workstation 7 controls the braking and decelerating drive motor 19 to drive the forward and reverse braking rod 18 to rotate forward, so that the semi-circular rubber brake inner pad 17 on one side is closely attached to the brake disc 15, and braking is achieved by relying on friction, causing the running system 2 to stop. When the running system 2 is about to start operating, the electronic control unit in the portable mobile workstation 7 controls the braking and decelerating drive motor 19 to drive the forward and reverse braking rod 18 to rotate in reverse, so that the semi-circular rubber brake inner pad 17 on this side is separated from the brake disc 15.

[0054] As can be seen Figure 1 in the figure, the position recognition system includes inverted L-shaped placement brackets 21 fixedly provided on the front and rear sides of the vehicle frame 11, a planar laser radar 22 and a high-definition camera 23 fixedly provided below the inverted L-shaped placement brackets 21 and located at the central position of the line, and a portable mobile workstation 7 fixedly provided above one of the inverted L-shaped placement brackets 21. The planar laser radar 22 and the high-definition camera 23 are electrically connected to the portable mobile workstation 7. A set of position recognition systems are placed on the front and rear sides of the running system 2 respectively, so that it can run forward or backward. The planar laser radar 22 and the high-definition camera 23 are located at the central position of the line, with accurate measurement. Three-dimensional data of the sleepers are obtained through the planar laser radar 22, and planar data of the sleepers are obtained through the high-definition camera 23. The planar laser radar 22 is used to detect the left and right offset values and the skew degree of the sleepers. The high-definition camera 23 is used to enhance the recognition accuracy of the azimuth of the sleepers and is also convenient for the operators to monitor the site.

[0055] The positional structures of the skew adjustment device, the azimuth adjustment device, and the vertical movement device are as Figure 4 shown in the figure. Among them, the vertical movement device 6 includes a plurality of guide columns 24 fixedly provided in the middle of the vehicle frame 11 and a vertical displacement platform 25 slidably sleeved on the plurality of guide columns 24. The vertical displacement platform 25 is fixedly connected to the telescopic end of a vertical movement hydraulic cylinder 26. When there is no need to adjust the sleepers,

[0056] The skew adjustment device 3 includes an external push-pull unit and an internal push-pull unit, wherein the external push-pull unit includes an external push-pull frame 27 fixedly connected to the fixed end of the up-and-down moving hydraulic cylinder 26 and an external push-pull rod group arranged at both ends of the external push-pull frame 27, wherein the external push-pull rod group includes external push-pull rods 28 respectively arranged on both sides of the rail body of the sleeper 4 on the outer side of the rail 1, and the internal push-pull unit includes an internal push-pull rod group fixedly arranged on both sides of the up-and-down displacement platform 25, wherein the internal push-pull rod group includes internal push-pull rods 29 respectively arranged on both sides of the rail body of the sleeper 4 on the inner side of the rail 1, as shown in FIG. Figure 5 As shown, a bracket 30 for a straightening arm is fixedly provided at the lower side of the push-pull frame 27, a straightening guide rail 31 is fixedly connected to the lower side of the bracket 30 for the straightening arm, and the straightening guide rail 31 is fixedly provided on the upper and lower displacement platforms 25, the straightening guide rail 31 is fixedly connected to the telescopic end of the skew hydraulic cylinder 32, and the movement displacement of the telescopic end of the skew hydraulic cylinder 32 is monitored by the skew grating ruler and fed back to the electronic control unit in the portable mobile workstation 7.

[0057] The skew adjustment device 3 is provided with an external push-pull unit and an internal push-pull unit, which work simultaneously to correct the skew of the sleeper, and the correction accuracy is higher. The sleeper position calculation unit inside the portable mobile workstation 7 calculates the skew of the sleeper 4 and converts it into the effective action distance of the active end of the skew hydraulic cylinder 32. Then, an action command of the skew hydraulic cylinder 32 is sent to the electronic control unit, and the telescopic end of the skew hydraulic cylinder 32 drives the external push-pull unit and the internal push-pull unit to adjust the sleeper 4 at the same time. The grating ruler monitors the action displacement of the skew hydraulic cylinder 32 and feeds it back to the electronic control unit in the portable mobile workstation. The electronic control unit controls the hydraulic cylinder to move until the required distance is reached, and then the skew hydraulic cylinder 32 drives the external push-pull unit and the internal push-pull unit to return to their original positions.

[0058] The orientation adjustment device 5 includes a gripper unit, which includes a gripper bracket 33 disposed below the external push-pull bracket 27 and grippers 34 disposed at both ends of the gripper bracket 33, and the distance between the inner edges of the grippers at both ends is 2800mm±50mm. A displacement slot is opened in the middle of the gripper bracket 33, and the displacement slot is movably sleeved on the fixed end of the hydraulic cylinder 26 for upward and downward movement. The gripper 34 is disposed on the outer side of the rail end of the sleeper 4. Figure 6As shown, slide rails 35 are respectively and fixedly arranged below both ends of the gripper support 33, and an oil cylinder top seat 36 is fixedly arranged at the front end of one of the slide rails 35. A slider 37 is slidably arranged on the slide rail 35. The fixed end of an azimuth hydraulic cylinder 38 is fixedly arranged inside one of the sliders 37, and the telescopic end of the azimuth hydraulic cylinder 38 is fixedly connected to the oil cylinder top seat 36. The movement displacement of the telescopic end of the azimuth hydraulic cylinder 38 is monitored by an azimuth grating ruler and fed back to the electronic control unit in the portable mobile workstation 7. After the sleeper position calculation unit inside the portable mobile workstation 7 calculates the left and right displacement amounts of the gripper 34, it sends a movement signal of the azimuth hydraulic cylinder 38 to the electronic control unit. The movement of the azimuth hydraulic cylinder 38 drives the gripper unit to move left or right, thereby performing left and right deviation correction on the modified sleeper. The azimuth grating ruler monitors the movement displacement of the azimuth hydraulic cylinder 38 and feeds it back to the electronic control unit inside the portable mobile workstation. The electronic control unit controls the azimuth hydraulic cylinder 38 to act until the required distance is reached, and then the azimuth hydraulic cylinder 38 drives the gripper 34 to return to the central position.

[0059] To make the entire system in a stable state when the skew adjustment device 3 and the azimuth adjustment device 5 are working, 4 jacking units 39 are symmetrically arranged along the center of the vehicle frame 11 on the outer sides of the skew adjustment device 3 and the azimuth adjustment device 5, as Figure 7 shown. The jacking unit 39 includes a jacking oil cylinder support 40 fixedly arranged inside the vehicle frame 11. The fixed end of a jacking hydraulic cylinder 41 is fixedly connected to the jacking oil cylinder support 40, and the telescopic end of the jacking hydraulic cylinder 41 is fixedly connected to a disc base 42. When traveling, the jacking hydraulic cylinder 41 controls the disc base 42 to rise. When stopped, the jacking hydraulic cylinder 41 controls the disc base 42 to fall to the ground.

[0060] A hydraulic station 43 is arranged on the vehicle frame 11. The oil pipes of the up and down moving hydraulic cylinder 26, the skew hydraulic cylinder 32, the azimuth hydraulic cylinder, and the jacking hydraulic cylinder 41 are all connected to the hydraulic station 43.

[0061] A method for adjusting the azimuth and skew of railway concrete sleepers includes the following steps:

[0062] Step S1, preprocessing: Pre-store the theoretical track layout position of the sleeper 4, and the initial positions of the skew adjustment device 3 and the azimuth adjustment device 5 above the central position of the line in the portable mobile workstation 7;

[0063] Step S2, Sleeper Identification: When the traveling system 2 is moving, the up-and-down moving device 6 controls the skew adjustment device 3 and the azimuth adjustment device 5 to move upward by 300 - 600 mm. During the movement of the traveling system, the high-definition camera 23 captures the actual position of the sleeper 4, and the area array lidar 22 scans the actual position of the sleeper 4 and transmits the data to the portable mobile workstation 7. The area array lidar 22 is located above the central position of the sleeper. The sleeper position calculation unit inside the portable mobile workstation 7 calculates the slope deviation and the left-right offset of the sleeper 4.

[0064] Taking the point where the area array lidar 22 is located as the coordinate origin, the length direction of the sleeper as the x-axis, the width direction of the sleeper as the y-axis, and the height direction of the sleeper as the z-axis. Among them, the positive direction of the x-axis is to the right along the length of the sleeper, the positive direction of the y-axis is along the traveling direction of the trolley, and the positive direction of the z-axis is the lidar scanning direction. The area array lidar 22 is located directly above the sleeper 4. When the area array lidar 22 scans, it is in the counterclockwise direction. The scanning points to the left of the area array lidar 22 scanned by the area array lidar 22 are denoted as (x 左i , y 左i , z 左i ), and the scanning points to the right of the area array lidar 22 scanned by the area array lidar 22 are denoted as (x 右j , y 右j , z 右j ). i and j are the numbering of the scanned points by the lidar. The height of the lidar from the middle of the top surface of the sleeper is denoted as h.

[0065] As Figure 8 shown, the calculation process of the slope deviation of the sleeper 4 is as follows:

[0066] Select the points that meet among the lidar scanning points, ensuring that the selected points are on the top surface of the sleeper end outside the rail 1. β is the distance value from the rail 1 to the end of the sleeper 4. According to the selected points, randomly select a point P 左i (x P , y P ) on the left side. At this time, select the points with the same abscissa x P as the P point among the left-side selected points, a total of m points, and take the average value to get M(x 均左i , y 均左i ), where, Randomly select a point Q 右j (x Q , y Q ) on the right side. At this time, select the points with the same abscissa x Q as the Q point among the right-side selected points, a total of n points, and take the average value to get N(x 均右j , y 均右j ), where, At this time, calculate the slope deviation of the straight line connecting the M point and the N point

[0067] Control the movement of the movable end of the skew hydraulic cylinder 32, so that the outer push rod 28 and the inner push rod 29 are in contact with the outer ends of the sleeper 4. Taking the center points of the two rails 1 passing through the movable end of the skew hydraulic cylinder 32 as the reference points, given that the horizontal distance from the movable end of the skew hydraulic cylinder 32 to the reference point is d, find the action distance S of the movable end of the skew hydraulic cylinder 32. The formula is as follows:

[0068] S = d × k,

[0069] If S > 0, it indicates that the upward skew angle of the sleeper 4 is θ, and the movable end of the skew hydraulic cylinder 32 will retract the sleeper 4 downward by a distance S relative to the reference point; if S < 0, it indicates that the downward skew angle of the sleeper is θ, and the sleeper 4 needs to be pushed upward by a distance |S|; if S = 0, it indicates that the sleeper is not skewed;

[0070] As Figure 9 shown, the calculation process of the left - right offset of the sleeper 4 is as follows:

[0071] According to the scanning points of the area array lidar 22, filter out the points where |z 左i - h| ≤ α, |z 右j - h| ≤ α. At this time, the filtered points are all the points on the top surface of the sleeper. α is a constant approaching 0. Filter the maximum values of the abscissas on the left and right sides, that is, maxx 左i 、maxx 右j points. At this time, the filtered points are the end points of the sleeper. The left - right offset of the sleeper 4 is calculated as follows:

[0072]

[0073] Among them, maxx 左i is the end - point value of the left end face of the sleeper 4, and maxx 右i is the end - point value of the right end face of the sleeper 4;

[0074] The displacement formula of the gripper 34 is as follows:

[0075]

[0076]

[0077] Among them, x 抓左 is the left - hand endpoint value when the center of the gripper 34 is at the central position of the line, and x 抓右 is the right - hand endpoint value when the center of the gripper 34 is at the central position of the line. When L 偏i = 0, the middle part of the sleeper 4 is on the center line of the railway line, and the gripper 34 does not need to move; when L 偏i > 0, it indicates that the sleeper 4 is offset to the right by a distance of L 偏i>, the gripper 34 needs to be adjusted to move left by a distance L 左移i ; When L 偏i <0, it means that the sleeper (4) has shifted left by a distance of L 偏i , the gripper 34 needs to be adjusted to move right by a distance L 右移i ;

[0078] Step S3: The traveling system 2 continues to move forward until the skew adjustment device 3 and the azimuth adjustment device 5 are located above the sleeper 4 to be adjusted;

[0079] Step S4: Fix the traveling system 2: The electronic control unit controls the 4 jacking hydraulic cylinders 41 to act downward simultaneously until the disc base 42 touches the ground, fixing the traveling system 2;

[0080] Step S5: Adjustment of the skew angle of the sleeper 4: The sleeper position calculation unit inside the portable mobile workstation 7 calculates the skew degree of the sleeper 4, then converts it into the effective action distance S of the movable end of the skew hydraulic cylinder 32, and sends a signal for the skew hydraulic cylinder 32 to act to the electronic control unit. The telescopic end of the skew hydraulic cylinder 32 drives the outer push-pull unit and the inner push-pull unit to adjust the sleeper 4 simultaneously. The skew grating ruler always feeds back the action displacement of the telescopic end of the skew hydraulic cylinder 32 to the electronic control power supply until the action displacement of the telescopic end of the skew hydraulic cylinder 32 reaches the requirement, and then the skew hydraulic cylinder 32 drives the outer push-pull unit and the inner push-pull unit to return to their original positions;

[0081] Step S6: Adjustment of the left and right offset of the sleeper 4: After the sleeper position calculation unit inside the portable mobile workstation 7 calculates the left and right displacement of the gripper 34, it sends a signal for the azimuth hydraulic cylinder 38 to act to the electronic control unit. The telescopic end of the azimuth hydraulic cylinder 38 drives the gripper unit to act, and the azimuth grating ruler monitors the effective action distance of the gripper 34; When the effective action distance reaches the offset value of the gripper 34, the azimuth hydraulic cylinder 38 drives the gripper 34 to return to the central position.

Claims

1. A device for adjusting the orientation and skew of railway concrete sleepers, characterized in that: The invention comprises a running system (2) arranged on a rail (1), a position identification system for identifying the position of a sleeper being arranged on the side of the running system (2), a skew adjustment device (3) for adjusting the skew of the sleeper and an orientation adjustment device (5) for adjusting the left and right orientation of the sleeper (4) being arranged in the middle of the running system (2), the skew adjustment device (3) and the orientation adjustment device (5) being connected to an up-and-down moving device (6), the up-and-down moving device (6) driving the skew adjustment device (3) and the orientation adjustment device (5) to move up and down, the The running system (2), the position identification system, the skew adjustment device (3), the orientation adjustment device (5) and the up-and-down moving device (6) are all electrically connected to the portable mobile workstation (7), and the portable mobile workstation (7) is provided with an electric control unit and a rail sleeper position calculation unit. The portable mobile workstation (7) is wirelessly connected to a remote controller. A power supply system (8) is provided above the running system (2), and the running system (2), the position identification system and the portable mobile workstation (7) are all powered by the power supply system (8); The skew adjustment device (3) comprises an external push-pull unit and an internal push-pull unit, wherein the external push-pull unit comprises an external push-pull frame (27) fixedly connected to the fixed end of the up-and-down moving hydraulic cylinder (26) and an external push-pull rod group arranged at both ends of the external push-pull frame (27), wherein the external push-pull rod group comprises external push-pull rods (28) respectively arranged at both sides of the rail body of the outer sleeper (4) of the rail (1), and the internal push-pull unit comprises an internal push-pull rod group fixedly arranged at both sides of the up-and-down moving platform (25), wherein the internal push-pull rod group comprises external push-pull rods (28) respectively arranged at both sides of the rail body of the inner sleeper (4) of the rail (1). Inner push-pull rods (29) are provided on both sides of the rail body of the pillow (4); a bracket (30) for a righting arm is fixedly provided below one side of the outer push-pull frame (27); a righting guide rail (31) is fixedly connected below the righting arm bracket (30); and the righting guide rail (31) is fixedly provided on the upper and lower displacement platforms (25); the righting guide rail (31) is fixedly connected to the telescopic end of the skew hydraulic cylinder (32); and the movement displacement of the telescopic end of the skew hydraulic cylinder (32) is monitored by a skew grating ruler and fed back to the electronic control unit in the portable mobile workstation (7); The azimuth adjustment device (5) includes a gripper unit. The gripper unit includes a gripper bracket (33) disposed below the outer push-pull frame (27) and grippers (34) disposed at both ends of the gripper bracket (33). A displacement long hole is formed in the middle of the gripper bracket (33), and the displacement long hole is movably sleeved on the fixed end of the up-and-down moving hydraulic cylinder (26). The grippers (34) are disposed outside the rail ends of the sleeper (4). Slide rails (35) are respectively and fixedly disposed below both ends of the gripper bracket (33), and an oil cylinder top seat (36) is fixedly disposed at the front end of one side of the slide rail (35). A slider (37) is slidably disposed on the slide rail (35). The fixed end of an azimuth hydraulic cylinder (38) is fixedly disposed inside one side of the slider (37), and the telescopic end of the azimuth hydraulic cylinder (38) is fixedly connected to the oil cylinder top seat (36). The movement displacement of the telescopic end of the azimuth hydraulic cylinder (38) is monitored by an azimuth grating ruler and fed back to the electronic control unit in the portable mobile workstation (7).

2. The device for adjusting the orientation and skew of railway concrete sleepers according to claim 1, characterized in that: The traveling system (2) includes a front wheel set (9) and a rear wheel set (10) slidably disposed on the rail (1). A vehicle frame (11) is fixedly connected above the front wheel set (9) and the rear wheel set (10). A traveling reduction drive motor (12) is fixedly connected to the bottom side of the vehicle frame (11), and the output shaft of the traveling reduction drive motor (12) is rotationally connected to the axle (13) of the front wheel set (9) through gears.

3. The device for adjusting the orientation and skew of railway concrete sleepers according to claim 2, characterized in that: A braking system (14) is disposed on the axle (13) of the front wheel set (9). The braking system (14) includes a brake disc (15) fixedly connected to the axle (13). A brake pad unit is disposed outside the brake disc (15). The brake pad unit includes semi-circular brake outer pieces (16) disposed on both sides of the brake disc (15) and semi-circular rubber brake inner pieces (17) disposed inside the semi-circular brake outer pieces (16). The upper part of the semi-circular brake outer piece (16) is threadedly connected to a positive and negative braking rod (18), and the positive and negative braking rod (18) is connected to the output shaft of a braking reduction drive motor (19). A brake hub bracket (20) for covering the outside of the brake pad unit is fixedly disposed inside the braking reduction drive motor (19).

4. The device for adjusting the orientation and skew of railway concrete sleepers according to claim 3, characterized in that: The position recognition system includes inverted L-shaped placement brackets (21) fixedly disposed on the front and rear sides of the vehicle frame (11), a planar array lidar (22) and a high-definition camera (23) fixedly disposed below the inverted L-shaped placement brackets (21) and located at the central position of the line, and a portable mobile workstation (7) fixedly disposed above one side of the inverted L-shaped placement bracket (21). The planar array lidar (22) and the high-definition camera (23) are electrically connected to the portable mobile workstation (7).

5. The device for adjusting the orientation and skew of railway concrete sleepers according to claim 4, characterized in that: The up-and-down moving device (6) includes a plurality of guide columns (24) fixedly disposed in the middle of the vehicle frame (11) and an up-and-down displacement platform (25) slidably sleeved on the plurality of guide columns (24). The up-and-down displacement platform (25) is fixedly connected to the telescopic end of the up-and-down moving hydraulic cylinder (26).

6. The device for adjusting the orientation and skew of railway concrete sleepers according to claim 5, characterized in that: Four jacking units (39) are symmetrically arranged along the center of the frame (11) on the outer sides of the skew adjustment device (3) and the azimuth adjustment device (5). The jacking unit (39) includes a jacking oil cylinder support (40) fixedly arranged on the inner side of the frame (11). The fixed end of a jacking hydraulic oil cylinder (41) is fixedly connected to the jacking oil cylinder support (40), and the telescopic end of the jacking hydraulic oil cylinder (41) is fixedly connected to a disc base (42).

7. The device for adjusting the orientation and skew of railway concrete sleepers according to claim 6, characterized in that: A hydraulic station (43) is arranged on the frame (11). The oil pipes of the up-and-down moving hydraulic oil cylinder (26), the skew hydraulic oil cylinder (32), the azimuth hydraulic oil cylinder, and the jacking hydraulic oil cylinder (41) are all connected to the hydraulic station (43).

8. The adjustment method of the device for adjusting the orientation and skew of railway concrete sleepers according to claim 7, characterized in that: It includes the following steps: Step S1, preprocessing: The theoretical track laying position of the sleeper (4), and the initial positions of the skew adjustment device (3) and the azimuth adjustment device (5) above the central position of the line are pre-stored in the portable mobile workstation (7). Step S2, sleeper identification: When the traveling system (2) moves forward, the up-and-down moving device (6) controls the skew adjustment device (3) and the azimuth adjustment device (5) to move upward by 300 - 600 mm. During the forward movement of the traveling system, the high-definition camera (23) takes pictures of the actual position of the sleeper (4), and the area array lidar (22) scans the actual position of the sleeper (4) and transmits it to the portable mobile workstation (7). The area array lidar (22) is located above the central position of the sleeper. The sleeper position calculation unit inside the portable mobile workstation (7) calculates the slope and the left-right offset of the sleeper (4). Taking the point where the area array lidar (22) is located as the coordinate origin, the length direction of the sleeper as the x-axis, the width direction of the sleeper as the y-axis, and the height direction of the sleeper as the z-axis. Among them, the positive direction of the x-axis is recorded as the right side of the sleeper length, the positive direction of the y-axis is recorded along the running direction of the trolley, the positive direction of the z-axis is the lidar scanning direction. The area array lidar (22) is located directly above the sleeper (4). When the area array lidar (22) scans, it rotates counterclockwise. The scanning points to the left of the area array lidar (22) scanned by the area array lidar (22) are recorded as (x 左i , y 左i , z 左i ). The scanning points to the right of the area array lidar (22) scanned by the area array lidar (22) are recorded as (x 右j , y 右j , z 右j ). i and j are the numbering of the points scanned by the lidar. The height of the lidar from the middle of the top surface of the sleeper is recorded as h; The calculation process of the slope of the sleeper (4) is as follows: Screen the points in the lidar scan points that satisfy , ensure that the screened points are located on the top surface of the sleeper (4) at the end of the sleeper outside the rail (1). β is the distance value of the length of the rail (1) from the end of the sleeper (4). According to the screened points, arbitrarily select a point P on the left 左i (x P , y P ). At this time, select the points with the same abscissa x P as point P among the screened points on the left, a total of m points, and take the average value to obtain M(x 均左i , y 均左i ), where, Arbitrarily select a point Q on the right 右j (x Q , y Q ). At this time, select the points with the same abscissa x Q as point Q among the screened points on the right, a total of n points, and take the average value to obtain N(x 均右j , y 均右j ), where, At this time, calculate the partial slope of the straight line connecting point M and point N Control the movement of the movable end of the skew hydraulic cylinder (32) so that the outer push rod (28) and the inner push rod (29) contact the outer end of the sleeper (4). Taking the center points of the two rails (1) passing through the movable end of the skew hydraulic cylinder (32) as the base points, given that the horizontal distance from the movable end of the skew hydraulic cylinder (32) to the base point is d, find the action distance S of the movable end of the skew hydraulic cylinder (32). The formula is as follows: S = d × k, If S > 0, it means the upward skew angle of the sleeper (4) is θ, and the movable end of the skew hydraulic oil cylinder (32) retracts the sleeper (4) downward by a distance S relative to the base point; if S < 0, it means the downward skew angle of the sleeper is θ, and the sleeper (4) needs to be pushed upward by a distance |S|; if S = 0, it means the sleeper is not skewed. The calculation process of the left-right offset of the sleeper (4) is as follows: According to the scanning points of the area array lidar (22), filter the points where |z 左i -h|≤α and |z 右j -h|≤α. At this time, the filtered points are all the points on the top surface of the sleeper. α is a constant approaching 0. Filter the maximum values of the abscissas on the left and right sides, that is, maxx 左i and maxx 右j points. At this time, the filtered points are the end points of the sleeper. The left and right offset L 偏i of the sleeper (4) is calculated as follows: Among them, maxx 左i is the end point value of the left end face of the sleeper (4), and maxx 右i is the end point value of the right end face of the sleeper (4); The displacement formula of the gripper (34) is as follows: Among them, x 抓左 is the left endpoint value when the center of the gripper (34) is at the central position of the line, and x 抓右 is the right endpoint value when the center of the gripper (34) is at the central position of the line. When L 偏i = 0, the middle of the sleeper (4) is located on the center line of the railway line, and the gripper (34) does not need to move; when L 偏i > 0, it means that the sleeper (4) is offset to the right by a distance of L 偏i (>, and the gripper (34) needs to be adjusted to move left by a distance of L 左移i ; when L 偏i < 0, it means that the sleeper (4) is offset to the left by a distance of L 偏i , and the gripper (34) needs to be adjusted to move right by a distance of L 右移i ; Step S3, the traveling system (2) continues to move forward until the skew adjustment device (3) and the azimuth adjustment device (5) are above the sleeper (4) to be adjusted. Step S4, fixing the traveling system (2): The electronic control unit controls the four jacking hydraulic oil cylinders (41) to move downward simultaneously until the disc base (42) touches the ground to fix the traveling system (2). Step S5, adjusting the skew angle of the sleeper (4): The sleeper position calculation unit inside the portable mobile workstation (7) calculates the skew degree of the sleeper (4), and then converts it into the effective action distance S of the movable end of the skew hydraulic oil cylinder (32), and sends a signal for the skew hydraulic oil cylinder (32) to act to the electronic control unit. The telescopic end of the skew hydraulic oil cylinder (32) drives the outer push-pull unit and the inner push-pull unit to adjust the sleeper (4) simultaneously. The skew grating ruler always feeds back the action displacement of the telescopic end of the skew hydraulic oil cylinder (32) to the electronic control power supply until the action displacement of the telescopic end of the skew hydraulic oil cylinder (32) reaches the requirement, and then the skew hydraulic oil cylinder (32) drives the outer push-pull unit and the inner push-pull unit to return to their original positions. Step S6, adjustment of the left-right offset of the sleeper (4): After the sleeper position calculation unit inside the portable mobile workstation (7) calculates the left-right displacement of the gripper (34), it sends an action signal for the azimuth hydraulic cylinder (38) to the electronic control unit. The telescopic end of the azimuth hydraulic cylinder (38) drives the gripper unit to act, and the azimuth grating ruler monitors the effective action distance of the gripper (34). When the effective action distance reaches the offset value of the gripper (34), the azimuth hydraulic cylinder (38) drives the gripper (34) to return to the central position.

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