A method for assembling track panels of a concrete-filled steel tubular sleeper ballastless track

Abstract

The invention discloses a method for assembling a track panel of a concrete-filled steel tubular sleeper type ballastless track, belonging to the technical field of rail transit engineering. The method includes marking the installation hole positions on both sides of the sleeper unit and marking the grasping points on the steel tubes of the sleeper unit; marking the placement positions of the sleeper units on the ground; grasping the steel tubes of the sleeper unit and grasping the sleeper unit to the placement position of the sleeper unit; placing the connecting rods longitudinally, and the connecting rods connect adjacent sleeper units; installing side track panel connecting rods on both sides of the sleeper unit, and the side track panel connecting rods are inserted into the installation hole positions on both sides of the sleeper unit, and the side track panel connecting rods connect each sleeper unit to form a track panel. In this application, the placement of the sleeper unit, the grasping of the sleeper unit, and the connection of the side track panel connecting rods on both sides of the sleeper unit during the track panel assembly process are all set in an identifiable form, so as to facilitate the subsequent realization of the full automation of track panel assembly by using a robotic arm, etc., and can greatly improve the assembly quality and assembly efficiency of the track panel.

Description

Technical Field

[0001] The invention belongs to the technical field of rail transit engineering, and particularly relates to a method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track. Background Art

[0002] The concrete-filled steel tubular sleeper is composed of a concrete sleeper block and a steel tube, and concrete is poured into the steel tube. The steel tube is inserted into two concrete sleeper blocks as a connecting member to form a concrete-filled steel tubular sleeper structure. As an important part of the ballastless track, the concrete-filled steel tube has the advantages of high strength, good integrity and good stability, and has been widely used in the construction of ballastless tracks such as high-speed railways, urban railways and intercity railways in China.

[0003] The existing construction method for the concrete-filled steel tubular sleeper ballastless track generally adopts the track panel construction method, that is, first pre-assemble the track panel in the workshop, and then hoist the whole track panel to the track construction position, where the assembly of the track panel is the key link. The traditional track panel assembly method uses a crane to hoist the concrete-filled steel tubular sleeper to the site, manually place the sleeper in place, and then use the tool rail and fasteners to assemble the sleepers together to form a track panel. The traditional track panel assembly method has the following problems in the long-term use process: the accuracy of manually placing the sleeper is low and needs to be adjusted repeatedly; the personnel are relatively concentrated during the assembly process, the labor intensity is large, and the hoisting site is not safe; the tool rail and fasteners need to be disassembled after the track panel is installed and poured, which is time-consuming and laborious. Summary of the Invention

[0004] In view of one or more of the above defects or improvement requirements of the prior art, the invention provides a method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track, which is used to solve the problems of large working intensity, low installation accuracy and the need for repeated adjustment caused by the existing manual installation of the track panel.

[0005] To achieve the above object, the invention provides a method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track, which comprises the following steps:

[0006] S1. Mark the installation hole positions on both sides of the sleeper unit, and mark the grasping points on the steel tube of the sleeper unit;

[0007] S2. Mark the placement position of the sleeper unit on the ground;

[0008] S3. Grasp the steel tube of the sleeper unit, and grasp the sleeper unit to the placement position of the sleeper unit;

[0009] S4. Place the connecting rod longitudinally, and the connecting rod connects adjacent sleeper units;

[0010] S5. Install side track tie linkages on both sides of the track tie unit. Insert the side track tie linkages into the installation hole positions on both sides of the track tie unit. The track side linkages connect each track tie unit to form a track.

[0011] As a further improvement of the present invention, the marking of the installation hole positions on both sides of the track tie unit in S1 includes:

[0012] Determine the positions of the circular installation holes corresponding to the side track tie linkages on both sides of the track tie unit. There are two circular installation holes. Etch marking points on the upper and lower sides of the midpoint of the center line connecting the centers of the two circular installation holes.

[0013] The marking of the grasping points on the steel pipe in S1 includes:

[0014] Obtain the axial center of the steel pipe, and etch marking points at N mm on both sides away from the axial center of the steel pipe respectively.

[0015] As a further improvement of the present invention, the marking points are concentric rings with a radius of 8 - 12 mm, and paint is sprayed at the marking points.

[0016] As a further improvement of the present invention, the marking of the placement position of the track tie unit in S2 is realized by a laser dot matrix generator. S2 includes:

[0017] The laser dot matrix generator obtains the track length, the spacing between adjacent track tie units, and the tie spacing of the track tie unit. The laser dot matrix generator forms cross-shaped installation points arranged in an array on the ground, and the intersection center of each cross-shaped installation point corresponds to the geometric center of the bottom surface of the tie block of each track tie unit.

[0018] As a further improvement of the present invention, the grasping of the steel pipe in the track tie unit in S3 is realized by a manipulator. The manipulator has an electromagnetic suction structure, and the manipulator is correspondingly connected with an image recognition device. S3 includes:

[0019] The image recognition device obtains the position of the grasping point on the steel pipe. The manipulator adheres to the grasping point on the steel pipe, and the manipulator adsorbs and grasps the steel pipe through electromagnetic suction.

[0020] As a further improvement of the present invention, the method for obtaining the adsorption force of the manipulator in S3 is as follows:

[0021] (Formula 1)

[0022] Among them, φ is the magnetic flux, with the unit of Wb; B is the magnetic induction intensity, with the unit of T; μ 0 is the vacuum permeability, and its value is 4π * 10 -7 , with the unit of Wb / A*m; S is the cross-sectional area of the magnetic circuit, with the unit of m 2 .

[0023] As a further improvement of the present invention, the method for obtaining the magnetic induction intensity B in S3 is as follows:

[0024] (Formula 2)

[0025] Wherein, N is the number of turns of the coil; I is the current intensity, with the unit of A; U is the power supply voltage, with the unit of V; R is the winding resistance, with the unit of Ω; δ is the air gap length, with the unit of m.

[0026] As a further improvement of the present invention, the connecting rod is axially telescopically adjustable. The two ends of the connecting rod are provided with permanent magnets in the shape of tiles, and the magnetic attraction force between the two ends of the connecting rod and the steel pipe is radially rotatably adjustable.

[0027] As a further improvement of the present invention, the image recognition device is a 3D camera. The three-dimensional image generated by the image recognition device under the bidirectional light source is converted into a binary image, and the projection images in two directions are superimposed and integrated to obtain a shadow image, which is trained and recognized by a convolutional neural network to obtain the installation hole positions and grasping positions on the sleeper unit.

[0028] As long as the above-mentioned improved technical features do not conflict with each other, they can be combined with each other.

[0029] Generally speaking, compared with the prior art, the beneficial effects of the above technical solutions conceived by the present invention include:

[0030] (1) For the method for assembling the track slab of the steel pipe concrete sleeper type ballastless track of the present invention, by respectively marking points on the steel pipe and the side of the sleeper unit and correspondingly marking the placement positions of the sleeper units on the ground, the placement of the sleeper units, the grasping of the sleeper units, and the connection of the side track slab connecting rods on both sides of the sleeper units during the track slab assembly process in the present application are all in recognizable forms, which is convenient for subsequent full automation of the track slab assembly process using a robotic arm or the like without manual input, greatly improving the assembly quality and assembly efficiency of the track slab.

[0031] (2) For the method for assembling the track slab of the steel pipe concrete sleeper type ballastless track of the present invention, by using the laser dot matrix technology, a plurality of sleeper placement points are formed on the ground, which is convenient for the accurate placement of the sleeper units without manual adjustment; by using the image recognition technology, the grasping positions and the installation positions of the side track slab connecting rods on the sleeper units are recognized, and the accurate placement of the sleeper units and the accurate installation of the side track slab connecting rods are directly realized by the manipulator, realizing the full automation of the steel pipe concrete sleeper type ballastless track assembly, and greatly improving the assembly quality and assembly efficiency of the track slab. Description of the Drawings

[0032] Figure 1It is a schematic flowchart of the assembling method of the track slab of the concrete-filled steel tubular sleeper ballastless track in the embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the overall structure of the track slab of the concrete-filled steel tubular sleeper ballastless track in the embodiment of the present invention.

[0034] In all the drawings, the same reference numerals represent the same technical features, specifically:

[0035] 1, sleeper block; 2, steel pipe; 3, connecting rod; 4, circular mounting hole. Specific embodiments

[0036] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0038] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0039] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "linkage", "fixation" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0041] Embodiment:

[0042] Please refer to Figure 1 、 Figure 2 In this application, the method for assembling the track panel of the concrete-filled steel tube sleeper type ballastless track is mainly applicable to the assembly of the track panel of the concrete-filled steel tube sleeper type ballastless track. Specifically, the track panel of the concrete-filled steel tube sleeper type ballastless track specifically includes a plurality of sleeper units arranged at intervals along the track layout direction. Each sleeper unit includes a pair of sleeper blocks 1 arranged in pairs along the transverse direction. The two sleeper blocks 1 are connected by two steel tubes 2. Concrete is poured into the steel tubes 2. Etching points are respectively marked at N mm on both sides of the axial center of the steel tubes 2. Installation holes for the side track panel connecting rods are respectively opened on the mutually facing sides of the two sleeper blocks 1. A plurality of sleeper units arranged longitudinally are connected into a whole through the side track panel connecting rods. Further, connecting rods 3 are also arranged between the sleeper units arranged longitudinally. Both ends of the connecting rods 3 are respectively butted against the steel tubes 2 of adjacent sleeper units to connect each sleeper unit into a whole.

[0043] Further preferably, the connecting rods 3 in this application are telescopically arranged, and the length of the connecting rods 3 can be adjusted according to different distances between the sleeper units. Preferably, both ends of the connecting rods 3 have permanent magnets in the shape of tiles. The magnetic attraction force between both ends of the connecting rods 3 and the steel tubes 2 can be adjusted by rotating the connecting rods 3 radially. The permanent magnets at the ends of the connecting rods 3 have magnetic poles. When the connecting rods 3 are rotated, the magnetic pole parts corresponding to the attachment of the connecting rods 3 and the steel tubes 2 are different, so that the adsorption force between the connecting rods 3 and the steel tubes 2 is changed, enabling the adsorption or removal of the connecting rods 3 from the steel tubes 2 in this application by rotating the connecting rods 3.

[0044] The assembling method of the track slab of the concrete-filled steel tubular sleeper type ballastless track in the preferred embodiment of the present invention is used to install the track slab of the above concrete-filled steel tubular sleeper type ballastless track, and it includes the following steps:

[0045] S1. Mark the installation hole positions on both sides of the sleeper unit, and mark the grasping points on the steel pipe 2 of the sleeper unit;

[0046] S2. Mark the placement position of the sleeper unit on the ground;

[0047] S3. Grasp the steel pipe 2 of the sleeper unit, and grasp the sleeper unit to the placement position of the sleeper unit;

[0048] S4. Place the connecting rod 3 longitudinally, and the connecting rod 3 connects adjacent sleeper units;

[0049] S5. Install the side track slab connecting rods on both sides of the sleeper unit, and the side track slab connecting rods are inserted into the installation hole positions on both sides of the sleeper unit, and the side track slab connecting rods connect each sleeper unit to form a track slab.

[0050] During the assembling process of the track slab of the concrete-filled steel tubular sleeper type ballastless track, it mainly involves the placement of the sleeper unit and the connection of the side track slab connecting rods on both sides of the sleeper unit. In this application, the placement of the sleeper unit, the grasping of the sleeper unit, and the connection of the side track slab connecting rods on both sides of the sleeper unit during the track slab assembling process are all set in an identifiable form, so as to facilitate the subsequent realization of the full automation of track slab assembling by using a robotic arm, etc., and greatly improve the assembling quality and efficiency of the track slab.

[0051] Further, as a preferred embodiment of the present invention, the marking of the installation hole positions on both sides of the sleeper unit in S1 of this application includes:

[0052] Determine the positions of the circular installation holes 4 corresponding to the side track slab connecting rods on both sides of the sleeper unit. There are two such circular installation holes 4, and marking points are etched respectively on the upper and lower sides of the midpoint of the connection line of the centers of the two circular installation holes 4; specifically, the docking dimensions of the above circular installation holes 4 correspond to those of the side track slab connecting rods. Usually, the diameter of the circular installation hole 4 is 35 mm, the depth is 30 mm, and a chamfer is provided at the inlet position of the circular installation hole 4 to reduce the stress concentration phenomenon when the side track slab connecting rod is assembled in the circular installation hole 4.

[0053] Correspondingly, the marking of the grasping points on the steel pipe 2 in S1 specifically includes: obtaining the axial center of the steel pipe 2, and etching marking points respectively at N mm away from both sides of the axial center of the steel pipe 2. Preferably, the etched marking points on the steel pipe 2 are respectively 250 mm away from the axial center of the steel pipe 2.

[0054] Further, in step S2 of the present application, the marked points are concentric circles with a radius of 8 - 12 mm, and paint is sprayed at the marked points. It should be noted that the marked points on the steel pipe 2 are the subsequent grasping points. The marked points on both sides of the sleeper unit are relatively fixed with the positions of the two circular mounting holes 4. The positions of the circular mounting holes 4 can be obtained through the marked points. Preferably, the paint sprayed at the marked points in the present application is reflective paint, which can improve the recognition of the marked points and facilitate the image recognition device to obtain the accurate positions of the marked points.

[0055] Further, as a preferred embodiment of the present invention, in step S2 of the present application, the placement position of the marked sleeper unit is marked by a laser dot matrix generator, which specifically includes: The laser dot matrix generator obtains the length of the track panel, the spacing between adjacent sleeper units, and the sleeper spacing of the sleeper unit. The laser dot matrix generator forms cross-shaped mounting points arranged in an array on the ground at the installation location of the track panel. The intersection center of each cross-shaped mounting point corresponds to the geometric center of the bottom surface of the sleeper block 1 of each sleeper unit. During the installation and arrangement of the sleeper unit, it is necessary to assemble the sleeper unit into the corresponding installation area. To achieve the precise installation of the sleeper unit, the present application first obtains the length of the track panel, the spacing between adjacent sleeper units, and the sleeper spacing of the sleeper unit through the laser dot matrix generator to obtain the placement position of each sleeper unit. The sleeper block 1 is the main structure of the sleeper unit. The present application uses the geometric center of the bottom surface of the sleeper block 1 as the marked point, and forms a cross-shaped mounting point corresponding to the geometric center of the bottom surface of the sleeper block 1 on the ground through the laser dot matrix generator. The intersection center of this cross-shaped mounting point represents the geometric center of the bottom surface of the sleeper block 1. Placing the sleeper block 1 of the sleeper unit at the intersection center of the cross-shaped mounting point can achieve the precise placement of the sleeper unit. Preferably, the lengths of the steel-concrete sleeper ballastless track panels in the present application include different specifications such as 5600 mm, 4925 mm, 6730 mm, and 5500 mm.

[0056] Further, as a preferred embodiment of the present invention, in step S3 of the present application, the grasping of the steel pipe 2 in the sleeper unit is realized by a manipulator. The manipulator has an electromagnetic suction structure, and the manipulator is correspondingly connected to an image recognition device. This step S3 specifically includes:

[0057] The image recognition device obtains the position of the grasping point on the steel pipe 2. The manipulator adheres to the grasping point on the steel pipe 2, and the manipulator adsorbs and grasps the steel pipe 2 through electromagnetic suction. The magnetic adsorption grasping form can avoid the problem of mismatch between the traditional manipulator and the steel pipe 2 during grasping, and the magnetic adsorption grasping has a large adsorption force, which is suitable for the grasping and handling of the sleeper unit.

[0058] Specifically, the calculation method of the adsorption force of the above manipulator is as follows:

[0059] (Formula 1)

[0060] Among them, φ is the magnetic flux with the unit of Wb; B is the magnetic induction intensity with the unit of T; μ 0 is the permeability of vacuum, and its value is 4π * 10 -7 , with the unit of Wb / A*m; S is the cross-sectional area of the magnetic circuit with the unit of m 2 .

[0061] Furthermore, the calculation method of the magnetic induction intensity B in the above formula 1 is as follows:

[0062] (Formula 2)

[0063] Among them, N is the number of turns of the coil; I is the current intensity with the unit of A; U is the power supply voltage with the unit of V; R is the winding resistance with the unit of Ω; δ is the air gap length with the unit of m.

[0064] By combining formula 1 and formula 2, the calculation formula for the adsorption force can be obtained:

[0065] (Formula 3)

[0066] By controlling the magnitude of the adsorption force of the manipulator, the stable grasping and moving of the sleeper units of different models and sizes by the manipulator can be achieved.

[0067] Furthermore, the image recognition device in this application is a 3D camera. This image recognition device can generate a three-dimensional image under a bidirectional light source, convert it into a binary image, superimpose and integrate the projection images in two directions to obtain a shadow image, and finally train and recognize through a convolutional neural network to obtain the installation hole positions and grasping points on the sleeper unit.

[0068] Specifically, the conversion formula for converting the above three-dimensional image into a binary image is as follows:

[0069] (Formula 4)

[0070] Among them, is the binary value of the point position; is the binary value of the horizontal point; is the binary value of the vertical point. Specifically, generating a three-dimensional image by the above 3D camera, converting the three-dimensional image into a binary image and obtaining position information belong to the common technologies of existing 3D cameras, which will not be elaborated here.

[0071] Those skilled in the art can easily understand that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track, characterized in that, it includes the following steps: S1. Mark the installation hole positions on both sides of the sleeper unit, and mark the grasping points on the steel pipe of the sleeper unit; S2. Mark the placement position of the sleeper unit on the ground through a laser dot matrix generator; the laser dot matrix generator obtains the length of the track panel, the spacing between adjacent sleeper units and the spacing between the sleeper blocks of the sleeper unit, and the laser dot matrix generator forms cross-shaped installation points arranged in an array on the ground, and the intersection center of each cross-shaped installation point corresponds to the geometric center of the bottom surface of the sleeper block of each sleeper unit; S3. Use a manipulator to grasp the steel pipe of the sleeper unit. The manipulator obtains the position of the grasping point on the steel pipe according to the image recognition device, and grabs the sleeper unit to the placement position of the sleeper unit; S4. Place the connecting rod longitudinally, and the connecting rod connects adjacent sleeper units; S5. Install side track panel connecting rods on both sides of the sleeper unit. The side track panel connecting rods are inserted into the installation hole positions on both sides of the sleeper unit, and the side track panel connecting rods connect each sleeper unit to form a track panel.

2. The method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track according to claim 1, characterized in that, the marking of the installation hole positions on both sides of the sleeper unit in S1 includes: determine the positions of the circular installation holes corresponding to the side track panel connecting rods on both sides of the sleeper unit. There are two circular installation holes, and marking points are etched on the upper and lower sides of the midpoint of the center line connecting the centers of the two circular installation holes; the marking of the grasping points on the steel pipe in S1 includes: obtain the axial center of the steel pipe, and etch marking points at N mm away from both sides of the axial center of the steel pipe.

3. The method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track according to claim 2, characterized in that, the marking points are concentric circles with a radius of 8 - 12 mm, and paint is sprayed at the marking points.

4. The method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track according to claim 1, characterized in that, the manipulator in S3 has an electromagnetic suction structure, and the manipulator is correspondingly connected with an image recognition device. S3 includes: the image recognition device obtains the position of the grasping point on the steel pipe, the manipulator adheres to the grasping point on the steel pipe, and the manipulator adsorbs and grabs the steel pipe through electromagnetic suction.

5. The method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track according to claim 4, characterized in that, the calculation method of the adsorption force of the manipulator in S3 is as follows: (Formula 1) Among them, φ is the magnetic flux with the unit of Wb; B is the magnetic induction intensity with the unit of T; μ 0 is the magnetic permeability of vacuum, and its value is 4π×10 -7 , with the unit of Wb / A·m; S is the cross-sectional area of the magnetic circuit with the unit of m 2 .

6. The method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track according to claim 5, characterized in that, the calculation method of the magnetic induction intensity B in S3 is as follows: (Formula 2) wherein, N is the number of turns of the coil; I is the current intensity, with the unit of A; U is the power supply voltage, with the unit of V; R is the winding resistance, with the unit of Ω; δ is the air gap length, with the unit of m.

7. The method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track according to claim 1, characterized in that, the connecting rod is axially telescopic and adjustable, and both ends of the connecting rod have permanent magnets in the shape of tiles, and the magnetic suction force between both ends of the connecting rod and the steel pipe is radially rotatable and adjustable.

8. The method for assembling a track panel of a concrete-filled steel tubular sleeper ballastless track according to claim 4, characterized in that, The image recognition device is a 3D camera. The three-dimensional image generated by the image recognition device under a bidirectional light source is converted into a binary image, and the projection images in two directions are superimposed and integrated to obtain a shadow image, which is trained and recognized through a convolutional neural network to obtain the installation hole positions and grasping positions on the sleeper unit.

Images