An automated apparatus for drilling and planting of railway bed

Abstract

This invention discloses an automated device for drilling and anchoring railway track beds, comprising a traveling mechanism, a Cartesian coordinate robotic arm, a drilling dust removal component, and an adhesive injection and anchoring component. The Cartesian coordinate robotic arm includes an X-axis module and a Y-axis module. The drilling dust removal component includes a drilling Z-axis module and an electric hammer. The adhesive injection and anchoring component includes an anchoring Z-axis module, a glue cartridge assembly, and a servo gripper. The X-axis and Y-axis modules drive the drilling and anchoring Z-axis modules to move in a plane. The electric hammer is mounted on the drilling Z-axis module, which drives the electric hammer to move up and down along the Z-axis. The glue cartridge assembly and servo gripper are mounted on the anchoring Z-axis module, which drives the glue cartridge assembly and servo gripper to move up and down along the Z-axis. This invention achieves multi-degree-of-freedom motion operation for drilling and anchoring work at the work point, effectively improving construction efficiency.

Description

Technical Field

[0001] This invention relates to automated construction equipment, specifically an automated device for drilling and bolting railway track beds. Background Technology

[0002] During the installation and construction of railway signal devices, the work of measuring, drilling, and bolting is mainly carried out manually. The quality of the work depends entirely on the sense of responsibility and technical level of the construction personnel, which makes it difficult to guarantee the final quality of the construction.

[0003] Chinese invention patent CN113482391A discloses an automatic chemical anchor bolt installation mechanism, including a sliding drive motor, a linear sliding module, a sliding mounting base assembly, an anchor bolt installation base, a rotary drive motor, a clamp, a clamp cylinder, and a solenoid valve. The sliding mounting base assembly is mounted on the linear sliding module, the sliding drive motor is mounted on the side of the linear sliding module and linked to it, and the anchor bolt installation base is mounted on the sliding mounting base assembly. The clamp cylinder is rotatably mounted on the anchor bolt installation base, and the rotary drive motor is mounted on the anchor bolt installation base and can drive the clamp cylinder to rotate. The solenoid valve controls the start and stop of the clamp cylinder, and the clamp is connected to the clamp cylinder and clamping is controlled through it. This invention not only greatly reduces the labor intensity of workers and improves the efficiency of chemical anchor bolt installation, but also makes the anchor bolt insertion depth more precise and the insertion method makes the subsequent connection of the anchor bolt more stable. However, this mechanism can only realize the anchor bolt installation function, the operation is simple, and it cannot effectively improve the work efficiency of railway signal installation and construction. Summary of the Invention

[0004] In order to solve the technical problems existing in the background art, the present invention provides an automated drilling and tack bolting device, which has a fully automated working capability and is used to replace manual work.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: an automated device for drilling and bolting railway track beds, comprising a traveling mechanism, a rectangular coordinate robotic arm, a drilling dust removal component, and an adhesive injection bolting component. The rectangular coordinate robotic arm includes an X-axis module and a Y-axis module, with the Y-axis module mounted on the X-axis module. The drilling dust removal component includes a drilling Z-axis module and an electric hammer. The adhesive injection bolting component includes a bolting Z-axis module and an adhesive injection bolting component. The Z-axis modules are respectively mounted on the Y-axis modules. The X-axis and Y-axis modules drive the drilling Z-axis module and the plugging Z-axis module to move in the plane. The electric hammer is mounted on the drilling Z-axis module, which drives the electric hammer to move up and down along the Z-axis to complete the drilling operation. The glue injection plugging assembly is mounted on the plugging Z-axis module, which drives the glue injection plugging assembly to move up and down along the Z-axis to complete the glue injection plugging operation.

[0006] As a preferred embodiment of the present invention: the X-axis module includes an X-axis guide rail, an X-axis slide block, and an X-axis drive device; the Y-axis guide rail, Y-axis slide block, and Y-axis drive device are also present; the X-axis guide rail is mounted on the traveling mechanism; the X-axis slide block is slidably mounted on the X-axis guide rail; the X-axis drive device is connected to and can drive the X-axis slide block to slide along the X-axis guide rail; the Y-axis guide rail is mounted on the X-axis slide block; the Y-axis slide block is slidably mounted on the Y-axis guide rail; the Y-axis drive device is connected to and can drive the Y-axis slide block to slide along the Y-axis guide rail; both the drilling Z-axis module and the plugging Z-axis module include a Z-axis base, a Z-axis slide block, and a Z-axis drive device; the Z-axis base is mounted on the Y-axis slide block; the Z-axis slide block is slidably mounted on the Z-axis base; the Z-axis drive device is connected to and can drive the Z-axis slide block to slide in the vertical direction. The X-axis drive device, Y-axis drive device and Z-axis drive device preferably adopt a lead screw mechanism (i.e., electric lead screw) driven by a servo motor and a reducer. The servo motor drive has the characteristics of high control accuracy and fast response. By using a reducer with a preferred transmission ratio, the rotational motion of the lead screw of the module is realized, thereby controlling the linear motion of the slide along the axial direction.

[0007] As a preferred embodiment of the present invention, the X-axis module, Y-axis module and Z-axis module are also equipped with cable chains to facilitate wiring and protect the lines.

[0008] In a preferred embodiment of the present invention: the traveling mechanism is further equipped with several vacuum cleaners, and the electric hammer is mounted on the Z-axis slide via an electric hammer connecting plate. It moves up and down with the movement of the Z-axis slide, and completes the drilling of the railway track bed through a pre-set travel distance. An air nozzle is also installed on the electric hammer connecting plate, one end of which is aligned with the drill bit of the electric hammer, and the other end is connected to the vacuum cleaners to facilitate the collection and removal of dust generated during operation, avoiding dust impact on the working environment. A rebar detector is also installed on the electric hammer connecting plate. Before drilling, the electric hammer detects rebar; upon detection, the X-module can make minor adjustments based on the rebar's position according to the program.

[0009] As a preferred embodiment of the present invention: the glue injection and plugging assembly includes a glue cartridge assembly and a servo gripper assembly. The glue cartridge assembly includes a nozzle, a glue cartridge, and a glue gun. The glue gun and nozzle are respectively installed at the upper and lower ends of the glue cartridge. The glue cartridge is installed on the Z-axis base. The upper end of the glue gun is connected to the Z-axis slide via a connecting rod. The movement of the Z-axis slide drives the connecting rod to compress and squeeze out the glue from the glue gun in the glue cartridge. The servo gripper assembly includes a gripper and a gripper drive device. The gripper and the gripper drive device are installed on the Z-axis slide. The gripper drive device is connected to and can drive the gripper to open and close. A material hopper is also installed on the traveling mechanism. The material hopper includes a hopper base, a hopper cover, a hopper baffle, and a storage plate. The storage plate supports materials such as bolts or chemical packets used in engineering. Several laser sensors are also installed on the hopper base. The hopper is used to store bolts and chemical packets required for bolt installation. The materials are manually fed in, and then automatically picked up by the servo gripper and inserted into the pre-drilled holes. The laser sensor detects the status of the materials in the hopper and counts them to remind the user to replenish them. The gripper drive device is a cylinder.

[0010] As a preferred embodiment of the present invention: the left side of the glue cartridge box forms an opening and closing structure through a hinge, the right side of the glue cartridge box is fixed by a wing nut, the glue nozzle is installed at the lower end of the glue cartridge box, the glue cartridge box is provided with a glue gun mounting seat that cooperates with the glue gun, the upper end of the glue cartridge box is provided with an opening for fixing the glue gun, and the glue gun mounting seat is connected to the glue nozzle. The glue gun can be replaced by opening and closing the glue cartridge box.

[0011] As a preferred embodiment of the present invention: the traveling mechanism is a tracked traveling mechanism, which includes a chassis frame, a drive motor, a right front track wheel assembly, a left front track wheel assembly, a right rear track wheel assembly, and a left rear track wheel assembly. The right front track wheel assembly, the left front track wheel assembly, the right rear track wheel assembly, and the left rear track wheel assembly are respectively connected to the chassis frame by bolts, and the right front track wheel assembly, the left front track wheel assembly, the right rear track wheel assembly, and the left rear track wheel assembly are respectively connected to the drive motor by belts. The chassis frame is equipped with guide wheel assemblies at its four corners. Each guide wheel assembly includes a guide wheel base, a guide wheel support, a guide wheel, and two swing rods. The guide wheel base is mounted on the chassis frame, and the two swing rods are arranged parallel and spaced apart. One end of each swing rod is hinged to the guide wheel base, and the other end is hinged to the guide wheel support. The guide wheel base, guide wheel support, and two swing rods form a quadrilateral linkage mechanism. The guide wheel is rotatably mounted on the bottom end of the guide wheel support. During operation, the guide wheel swing rod mechanism moves downward, causing the guide wheel to contact the sidewall of the railway track bed. Through the force feedback of the guide wheel, the traveling direction of the device is adjusted, ensuring that the equipment moves forward with the track bed as the reference.

[0012] As a preferred embodiment of the present invention: an air compressor is also installed on the walking mechanism, and the air compressor is connected to the vacuum cleaner and the gripper drive device.

[0013] As a preferred embodiment of the present invention: the walking mechanism is further equipped with a powertrain device, the powertrain device including a low-noise diesel generator and a battery module, the low-noise diesel generator providing power to the battery module, and the battery module supplying power to the automated equipment.

[0014] As a preferred embodiment of the present invention, a control cabinet is also installed on the walking mechanism, and the control cabinet includes a cabinet body, electrical components, control units, etc.

[0015] The beneficial effects of this invention are as follows: This solution, through the optimization of existing construction tools and the adoption of automated integration technology, combines all operating tools and monitoring devices, enabling simultaneous automated drilling and rebar installation operations. The chassis of this solution serves as the platform for all equipment, employing a tracked traction system that allows movement along the railway track bed. The chassis is characterized by high rigidity and stability, ensuring controllable benchmarks during construction operations. The operating tools, through designed X, Y, and Z axis modules, achieve multi-degree-of-freedom movement for drilling and rebar installation at the work points. These modules are characterized by precise positioning and accurate targeting, achieving more precise and controllable errors compared to manual operation. The drilling hammer and rebar injection / installation components are mounted on the Z-axis module, enabling vertical movement and operational procedures through module movement. The drilling module integrates a rebar detector, allowing for fine-tuning based on rebar position. This invention has profound significance for improving construction quality, reducing construction costs, and minimizing labor costs. Attached Figure Description

[0016] Figure 1 This is a perspective view of the overall structure of the present invention;

[0017] Figure 2 This is a perspective view of the walking mechanism structure of the present invention;

[0018] Figure 2a and Figure 2b This is a schematic diagram of the guide wheel assembly structure of the present invention;

[0019] Figure 3 This is a three-dimensional view of the rectangular coordinate robotic arm structure of the present invention;

[0020] Figure 4 4a and 4b are schematic diagrams of the drilling dust removal component of the present invention;

[0021] Figure 5 5a and 5b are schematic diagrams of the adhesive injection and plugging assembly structure of the present invention;

[0022] Figure 6 6a and 6b are schematic diagrams of the installation of the electric hammer of the present invention;

[0023] Figure 6c This is a schematic diagram of the electric hammer structure of the present invention;

[0024] Figure 7 This is a schematic diagram of the glue cartridge assembly structure of the present invention;

[0025] Figure 8 This is a schematic diagram of the silo structure of the present invention. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings. It is worth noting that these specific embodiments are merely representative specific embodiments of the present invention, and the specific methods, apparatuses, conditions, materials, etc., exemplified therein are not intended to limit the present invention or the corresponding specific embodiments.

[0027] An automated device for drilling and bolting railway track beds, such as... Figure 1 As shown, the system mainly includes a traveling mechanism 1, a control cabinet 2, a Cartesian coordinate robotic arm 3, an air compressor 4, a powertrain unit 5, a drilling and dust removal assembly 6, and an injection and plugging assembly 7. The powertrain unit 5 includes a low-noise diesel generator and a battery module mounted on the traveling mechanism 1 with screws. The low-noise diesel generator provides power to the battery module, which in turn powers the automated equipment. The control cabinet 2 includes a cabinet mounted on the traveling mechanism 1 with screws, electrical components, and control units. The air compressor 4 includes an air compressor and an air tank mounted on the traveling mechanism 1 with screws, as well as a piping system connecting the various components. Figure 2 As shown, in this scheme, the traveling mechanism 1 adopts a tracked traveling mechanism, which includes a chassis frame 11, a right front drive motor 14, a left front drive motor 12, a right rear drive motor 15, a left rear drive motor 13, a right front track wheel assembly 141, a left front track wheel assembly 121, a right rear track wheel assembly 151, and a left rear track wheel assembly 131. The right front track wheel assembly 141 and the left front track wheel assembly 131... Assembly 121, right rear track wheel assembly 151, and left rear track wheel assembly 131 are respectively connected to the chassis frame 11 by bolts. The right front track wheel assembly 141, left front track wheel assembly 121, right rear track wheel assembly 151, and left rear track wheel assembly 131 are respectively connected to the right front drive motor 14, left front drive motor 12, right rear drive motor 15, and left rear drive motor 13 by belts. Guide wheel assemblies 16 are also installed at the four corners of the chassis frame 11, such as... Figure 2a As shown, each guide wheel assembly 16 includes a guide wheel base 161, a guide wheel support 162, a guide wheel 163, and two rocker arms 164. The guide wheel base 161 is mounted on the chassis frame 11. The two rocker arms 164 are arranged in parallel and spaced apart. One end of each rocker arm 164 is hinged to the guide wheel base 161, and the other end is hinged to the guide wheel support 162. The guide wheel base 161, the guide wheel support 162, and the two rocker arms 164 form a quadrilateral linkage mechanism. The guide wheel 163 is rotatably mounted on the bottom end of the guide wheel support 162. Figure 2bAs shown, the limit swing angle of the swing arm 164 is 120°, thereby achieving a vertical displacement height of approximately 519mm for the guide wheel 163. During operation, the guide wheel swing arm mechanism 16 moves downwards, causing the guide wheel 163 to contact the sidewall of the railway track bed. A pressure sensor may also be installed on the guide wheel 163; through force feedback from the guide wheel 163, the traveling direction of the device is adjusted to ensure that the equipment moves forward with the track bed as the reference. Figure 3 As shown, the Cartesian coordinate robotic arm 3 includes an X-axis module and a Y-axis module. The X-axis module includes two X-axis guide rails 31, an X-axis slide 32, and an X-axis drive device. The Y-axis module includes the Y-axis guide rail 33, a Y-axis slide, and a Y-axis drive device. The drive device is a combination of a servo motor and a reducer. The motor and reducer drive the module's lead screw to rotate, and the slide converts the rotational motion of the lead screw into linear motion along the axis. The two X-axis guide rails are mounted parallel to each other on the chassis frame 11. The X-axis slide 32 is slidably mounted on the X-axis guide rail 31. The X-axis drive device is connected to and can drive the X-axis slide 32 to slide along the X-axis guide rail. The Y-axis guide rail 33 is mounted on the X-axis slide, and the Y-axis slide is slidably mounted on the Y-axis guide rail. The Y-axis drive device is connected to and can drive the Y-axis slide along the Y-axis guide rail. The X-axis module and the Y-axis module can achieve linear movement in a plane. Figure 4-Figure 4b As shown, the drilling dust removal assembly 6 includes a drilling Z-axis module 61 and an electric hammer 62, as... Figure 5-5b As shown, the glue injection and plugging assembly 7 includes a plugging Z-axis module 71 and a glue injection and plugging assembly. The glue injection and plugging assembly consists of a glue cartridge assembly 72 and a servo gripper assembly 73. Both the drilling Z-axis module and the plugging Z-axis module include a Z-axis base, a Z-axis slide, and a Z-axis drive device. The Z-axis base is mounted on the Y-axis slide, and the Z-axis slide is slidably mounted on the Z-axis base. The Z-axis drive device is connected to and can drive the Z-axis slide to slide in the vertical direction. The drilling Z-axis module 61 and the plugging Z-axis module 71 are respectively mounted on the Y-axis module. The X-axis module and the Y-axis module drive the drilling Z-axis module 61 and the plugging Z-axis module 71 to move in the plane. The electric hammer 62 is mounted on the drilling Z-axis module 61. The drilling Z-axis module 61 drives the electric hammer 62 to move up and down along the Z-axis to complete the drilling operation. The glue cartridge assembly 72 and the servo gripper 73 are mounted on the plugging Z-axis module 71. The plugging Z-axis module 71 drives the glue cartridge assembly 72 and the servo gripper 73 to move up and down along the Z-axis to complete the glue injection and plugging operation.

[0028] Furthermore, the rectangular coordinate robotic arm 3 can also be equipped with several vacuum cleaners 8, such as... Figure 6-6cAs shown, the electric hammer 62 is mounted on the Z-axis slide via the electric hammer connecting plate 63. It moves up and down with the movement of the Z-axis slide, completing the drilling of the railway track bed through a pre-set travel distance. An air nozzle is also installed on the electric hammer connecting plate 63. One end of the air nozzle is aligned with the drill bit end of the electric hammer, and the other end is connected to the vacuum cleaner 8, facilitating the collection and removal of dust generated during operation, thus avoiding dust impact on the working environment. A rebar detector is also installed on the electric hammer connecting plate 63. Before drilling, the electric hammer detects rebar; upon detection, the X module can make fine adjustments forward and backward according to the rebar's position, based on the program.

[0029] Furthermore, the glue cartridge assembly includes a nozzle 721, a glue cartridge 720, and a glue gun. The glue gun and nozzle 721 are respectively installed at the upper and lower ends of the glue cartridge 720. The glue cartridge 720 is installed on the Z-axis base. The upper end of the glue gun is connected to the Z-axis slide via a connecting rod. The movement of the Z-axis slide drives the connecting rod to compress and extrude the glue from the glue gun inside the glue cartridge 720. The servo gripper assembly 73 includes a gripper and a gripper drive device. The gripper and gripper drive device are installed on the Z-axis slide. The gripper drive device is connected to and can drive the gripper to open and close, completing the material gripping function as the Z-axis module slider moves. In this embodiment, the gripper drive device is a cylinder. Figure 7 As shown, the left side of the glue cartridge 720 is hinged by a hinge 724 to form an opening and closing structure, and the right side of the glue cartridge 720 is fixed by a wing nut 722. The nozzle 721 is installed at the lower end of the glue cartridge 720. The glue cartridge 720 is provided with two glue gun mounting seats 723 that cooperate with the glue gun. The upper end of the glue cartridge 720 is provided with an opening for fixing the glue gun. The two glue gun mounting seats 723 are respectively connected to the nozzle 721. The glue gun can be replaced by opening and closing the glue cartridge 720.

[0030] Furthermore, the walking mechanism 1 is also equipped with a hopper, such as... Figure 8 As shown, the silo includes a silo base 91, a silo cover, a silo baffle, and a storage plate 92. The storage plate 92 has several storage holes for storing bolts and chemical agent packages required for plugging. Several laser sensors are also installed on the silo base 91. The laser sensors are used to detect whether there is material on the silo level and remind manual replenishment.

[0031] Furthermore, cable chains are installed on the X-axis module, Y-axis module, and Z-axis module to facilitate wiring and protect the circuitry.

[0032] Furthermore, in this embodiment, the X-axis drive device, Y-axis drive device and Z-axis drive device all adopt a lead screw mechanism (i.e., electric lead screw) driven by a servo motor and a reducer. The servo motor drive has the characteristics of high control accuracy and fast response. By using a reducer with a preferred transmission ratio, the rotational motion of the lead screw of the module is realized, thereby controlling the linear motion of the slide along the axial direction.

[0033] Furthermore, the walking mechanism 1 can also be a wheeled walking mechanism or an articulated walking mechanism, etc.

[0034] This embodiment optimizes existing construction tools and employs automated integration technology to combine all tools and monitoring devices for automated drilling and rebar installation operations. The chassis serves as the platform for all equipment, utilizing a tracked traction system for movement along the railway track bed. The chassis is characterized by high rigidity and stability, ensuring controllable benchmarks throughout the construction process. The working tools utilize designed X, Y, and Z axis modules to achieve multi-degree-of-freedom movement during drilling and rebar installation. These modules offer precise positioning and accurate targeting, significantly reducing errors compared to manual operation. The drilling hammer and rebar injection assembly are mounted on the Z-axis module, enabling vertical movement and operational procedures. The drilling module integrates a rebar detector for fine-tuning based on rebar position. This invention, designed according to existing drilling and rebar installation processes, offers significant advantages in improving construction quality, reducing costs, and minimizing labor.

[0035] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. Any simple equivalent divisions and combinations of parts and modifications made in accordance with the scope of the patent application and the description of the invention shall still fall within the scope of the patent of the present invention.

Claims

1. An automated device for drilling and bolting railway track beds, characterized in that, The device includes a walking mechanism, a Cartesian coordinate robotic arm, a drilling and dust removal assembly, and a glue injection and plugging assembly. The Cartesian coordinate robotic arm includes an X-axis module and a Y-axis module, with the Y-axis module mounted on the X-axis module. The drilling and dust removal assembly includes a drilling Z-axis module and an electric hammer. The glue injection and plugging assembly includes a plugging Z-axis module and a glue injection and plugging assembly, which are respectively mounted on the Y-axis module. The X-axis and Y-axis modules drive the drilling Z-axis module and the plugging Z-axis module to move in a plane. The electric hammer is mounted on the drilling Z-axis module, which drives the electric hammer to move up and down along the Z-axis. The glue injection and plugging assembly is mounted on the plugging Z-axis module, which drives the glue injection and plugging assembly to move up and down along the Z-axis. The X-axis module includes an X-axis guide rail, an X-axis slide, and an X-axis drive device. The Y-axis module includes a Y-axis guide rail, a Y-axis slide, and a Y-axis drive device. The X-axis guide rail is mounted on the traveling mechanism, and the X-axis slide is slidably mounted on the X-axis guide rail. The X-axis drive device is connected to and can drive the X-axis slide along the X-axis guide rail. The Y-axis guide rail is mounted on the X-axis slide, and the Y-axis slide is slidably mounted on the Y-axis guide rail. The Y-axis drive device is connected to and can drive the Y-axis slide along the Y-axis guide rail. The drilling Z-axis module and the plugging Z-axis module both include a Z-axis base, a Z-axis slide, and a Z-axis drive device. The Z-axis base is mounted on the Y-axis slide, and the Z-axis slide is slidably mounted on the Z-axis base. The Z-axis drive device is connected to and can drive the Z-axis slide in the vertical direction. The adhesive insertion assembly includes a glue cartridge assembly and a servo gripper assembly. The glue cartridge assembly includes a nozzle, a glue cartridge, and a glue gun. The glue gun and nozzle are respectively installed at the upper and lower ends of the glue cartridge. The glue cartridge is mounted on a Z-axis base. The upper end of the glue gun is connected to a Z-axis slide via a connecting rod. The movement of the Z-axis slide drives the connecting rod to compress and extrude the glue gun from the glue cartridge. The glue cartridge has a glue gun mounting seat that mates with the glue gun. The upper end of the glue cartridge has an opening for fixing the glue gun. The glue gun mounting seat communicates with the nozzle. The servo gripper assembly includes a gripper and a gripper drive device. The gripper and gripper drive device are mounted on the Z-axis slide. The gripper drive device is connected to and can drive the gripper to open and close. A hopper is also installed on the traveling mechanism, and the hopper contains materials for the gripper to grasp.

2. The automated equipment for drilling and bolting railway track beds according to claim 1, characterized in that, The X-axis drive device, Y-axis drive device and Z-axis drive device are all electric lead screw cylinders, and an air compressor is installed on the walking mechanism to control the operation of the X-axis drive device, Y-axis drive device and Z-axis drive device.

3. An automated device for drilling and bolting railway track beds according to claim 1 or 2, characterized in that, Cable chains are also installed on the X-axis module, Y-axis module and Z-axis module.

4. The automated equipment for drilling and bolting railway track beds according to claim 1, characterized in that, The walking mechanism is also equipped with a vacuum cleaner. The electric hammer is mounted on the Z-axis slide via an electric hammer connecting plate. An air nozzle is also mounted on the electric hammer connecting plate. One end of the air nozzle is aligned with the drill bit end of the electric hammer, and the other end is connected to the vacuum cleaner.

5. The automated equipment for drilling and bolting railway track beds according to claim 4, characterized in that, A rebar detector is also installed on the electric hammer connection plate.

6. The automated equipment for drilling and bolting railway track beds according to claim 1, characterized in that, The left side of the glue cartridge is hinged to form an opening and closing structure, and the right side of the glue cartridge is fixed by a wing nut.

7. The automated equipment for drilling and bolting railway track beds according to claim 1, characterized in that, The traveling mechanism includes a chassis frame, a drive motor, a right front track wheel assembly, a left front track wheel assembly, a right rear track wheel assembly, and a left rear track wheel assembly. The right front track wheel assembly, left front track wheel assembly, right rear track wheel assembly, and left rear track wheel assembly are connected to the chassis frame by bolts. The right front track wheel assembly, left front track wheel assembly, right rear track wheel assembly, and left rear track wheel assembly are each connected to the drive motor by belts. The chassis frame has four... Guide wheel assemblies are also installed at the corners. Each guide wheel assembly includes a guide wheel base, a guide wheel support, a guide wheel, and two swing rods. The guide wheel base is mounted on the chassis frame. The two swing rods are arranged in parallel and spaced apart. One end of each swing rod is hinged to the guide wheel base, and the other end is hinged to the guide wheel support. The guide wheel base, the guide wheel support, and the two swing rods form a quadrilateral linkage mechanism. The guide wheel is rotatably mounted on the bottom end of the guide wheel support.

8. An automated device for drilling and bolting railway track beds according to claim 1 or 7, characterized in that, The walking mechanism is also equipped with a powertrain and a control cabinet.

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