Rail construction prefabricated slab adjusting robot and operation method thereof

Abstract

The application discloses a track construction prefabricated slab adjusting robot and a working method thereof, which comprises a main body, a supporting leg mechanism, a walking mechanism, a left-right direction driving mechanism, a front-rear direction driving mechanism and an up-down lifting mechanism, wherein the main body comprises a trolley framework, a left-right moving platform and a front-rear moving platform, the left-right moving platform is movably installed on the inner side of the trolley framework, the front-rear moving platform is movably installed above the left-right moving platform, the supporting leg mechanism is installed on the trolley framework and used for supporting the trolley framework, and the walking mechanism is installed at the bottom of the trolley framework and used for driving the trolley framework to move along a track. The track construction prefabricated slab adjusting robot is used to replace manual track arrangement, can greatly reduce human errors and safety hazards, guarantees the safety of construction personnel, and can automatically and continuously perform track arrangement work, so that the construction efficiency is greatly improved compared with manual work, and the project progress is accelerated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of subway track construction, and particularly relates to a track construction prefabricated slab adjusting robot and a working method thereof. BACKGROUND

[0002] As an important part of urban public transportation, urban rail transit not only carries a huge passenger flow, but also is an important support for urban economic and social development. With the rapid development of urban rail transit construction, the requirements for the precision, efficiency and safety of track laying and adjustment have reached an unprecedented height.

[0003] The precision of the track is directly related to the stability of train operation and the comfort of passengers. Adjusting prefabricated slabs and track panels can ensure that the geometric parameters of the track meet the design requirements and ensure the stable operation of the train. Traditional subway prefabricated slab and track panel adjustment mostly adopts the manual cooperation with simple mechanical mode. This mode has the problem of low construction efficiency. Urban rail transit construction usually faces the challenges of tight construction period and heavy tasks. The efficiency of track panel adjustment directly affects the progress of the whole project as an important link in the construction process. Manual adjustment of prefabricated slabs and track panels also has the problems of difficult adjustment precision guarantee and great safety hazards. Therefore, a track construction prefabricated slab adjusting robot and a working method thereof are proposed. SUMMARY

[0004] The present application aims to overcome the deficiencies in the prior art and provides a track construction prefabricated slab adjusting robot and a working method thereof to solve the problems of difficult manual adjustment of prefabricated slabs and track panels and low efficiency in the prior art.

[0005] To solve the above problems, the present application provides a track construction prefabricated slab adjusting robot, characterized in that it comprises:

[0006] The main body includes a trolley frame, a left-right moving platform, and a front-back moving platform. The left-right moving platform is movably mounted inside the trolley frame, and the front-back moving platform is movably mounted above the left-right moving platform. Two sets of L-shaped baffles are fixedly connected to both sides of the trolley frame, and both sets of L-shaped baffles are inverted. Two sets of primary rolling elements and two sets of primary stabilizing elements are fixedly connected to the top front and rear sides of the left-right moving platform. The four sets of primary rolling elements and four sets of primary stabilizing elements are rectangularly distributed. Each primary rolling element includes a lug, a connecting shaft, a primary rolling wheel, and a primary stabilizing wheel. Two sets of lugs are provided, and both sets of lugs are fixedly connected to the left-right moving platform. The connecting shaft passes through two sets of ear plates and is fixedly connected to them. The first-stage rolling wheel and the first-stage stabilizing wheel are rotatably connected to the connecting shaft, and the first-stage stabilizing wheel is located on the side of the first-stage rolling wheel near the adjacent first-stage L-shaped baffle. The first-stage rolling wheel rests on the trolley frame and can roll left and right along the trolley frame. The first-stage stabilizing wheel abuts against the inner wall of the top of the adjacent first-stage L-shaped baffle. The first-stage stabilizing component includes a first-stage connecting arm and a first-stage horizontal wheel. The first-stage connecting arm is fixedly connected to the left and right moving platforms. The first-stage horizontal wheel is rotatably connected to the side of the first-stage connecting arm near the adjacent first-stage L-shaped baffle. The first-stage horizontal wheel is horizontally positioned and abuts against the inner wall of the adjacent first-stage L-shaped baffle.

[0007] A support leg mechanism is mounted on the trolley frame to support the trolley frame;

[0008] A traveling mechanism is installed at the bottom of the trolley frame to drive the trolley frame to move along the track;

[0009] The system includes two sets of vertical extraction mechanisms, which are symmetrically installed on the front and rear moving platforms for extracting the track panels. The two sets of vertical extraction mechanisms adjust the position of the track panels by cooperating with the left and right moving platforms and the front and rear moving platforms.

[0010] The above-mentioned precast slab adjustment robot for track construction is characterized in that: two sets of secondary L-shaped baffles are fixedly connected to both sides of the left and right moving platforms, and the four sets of secondary L-shaped baffles are all rectangularly distributed and inverted;

[0011] The front and rear moving platforms are each equipped with secondary rolling elements and secondary stabilizing elements at the positions of the four sets of secondary L-shaped baffles, and the four sets of secondary rolling elements and the four sets of secondary stabilizing elements are all arranged in a rectangular shape.

[0012] The secondary stabilizer includes a mounting shaft, a secondary roller, and a secondary stabilizer. The mounting shaft is fixedly connected to the front and rear moving platforms. The secondary roller and the secondary stabilizer are rotatably connected to the mounting shaft, and the secondary stabilizer is located on the side of the secondary roller close to the adjacent secondary L-shaped baffle. The secondary roller rests on the left and right moving platforms and can roll back and forth along the left and right moving platforms. The secondary stabilizer abuts against the inner top wall of the adjacent secondary L-shaped baffle.

[0013] The secondary stabilizer includes a secondary connecting arm and a secondary horizontal wheel. The secondary connecting arm is fixedly connected to the front and rear moving platforms. The secondary horizontal wheel is rotatably connected to the side of the secondary connecting arm near the adjacent secondary L-shaped baffle. The secondary horizontal wheel is horizontally positioned and abuts against the inner wall of the adjacent secondary L-shaped baffle.

[0014] The above-mentioned precast slab adjustment robot for track construction is characterized in that: the support leg mechanism includes four sets of hydraulic support legs, which are respectively installed at the four corners of the trolley frame.

[0015] The above-mentioned precast slab adjustment robot for track construction is characterized in that: the walking mechanism includes two sets of electric track wheels and two sets of track wheels, both of which are fixedly installed at the bottom of the trolley frame, and the two sets of electric track wheels and two sets of track wheels are arranged in a rectangular pattern.

[0016] The above-mentioned robot for adjusting precast slabs in track construction is characterized in that: the upper and lower extraction mechanism includes a hydraulic cylinder and an extraction hook, the hydraulic cylinder is fixedly installed on the front and rear moving platform, and the extraction hook is detachably installed at the bottom of the hydraulic cylinder.

[0017] The above-mentioned track construction precast slab adjustment robot is characterized in that: the track construction precast slab adjustment robot further includes a left-right drive mechanism, which is installed on the trolley frame and located below the left-right moving platform to drive the left-right moving platform to move in the left-right direction;

[0018] The left-right drive mechanism includes a primary drive motor, a reducer, connecting rods, a steering gear, a primary bearing housing, and a primary lead screw. Two sets of each reducer, connecting rod, steering gear, and primary bearing housing are provided. The reducer, the two sets of steering gears, and the two sets of primary bearing housings are all fixedly mounted on the trolley frame. The shaft of the primary drive motor is connected to the input end of the reducer. The two sets of connecting rods are respectively connected to the output ends on both sides of the reducer. The input ends of the two sets of steering gears are respectively connected to the two sets of reducers. The output ends of the two sets of steering gears are respectively connected to the two sets of primary bearing housings. Two sets of primary lead screws are rotatably sleeved on each of the two sets of primary bearing housings. All four sets of primary lead screws are fixedly mounted on the trolley frame. The left-right moving platform is driven by the two sets of primary bearing housings.

[0019] The above-mentioned track construction precast slab adjustment robot is characterized in that: the track construction precast slab adjustment robot further includes a forward and backward drive mechanism, which is installed on the left and right moving platform and disposed below the forward and backward moving platform to drive the forward and backward moving platform to move in the forward and backward direction;

[0020] The forward and backward drive mechanism includes a secondary drive motor, a secondary bearing housing, a secondary lead screw, and synchronous pulleys. Two sets of secondary bearing housings and synchronous pulleys are provided. The secondary drive motor and the two sets of secondary bearing housings are fixedly mounted on the left and right moving platforms. The secondary lead screw is rotatably connected to and passes through the two sets of secondary bearing housings. The two sets of synchronous pulleys are respectively fixedly mounted on the shaft of the secondary drive motor and the end of the secondary lead screw. The two sets of synchronous pulleys are connected by a synchronous belt drive. The forward and backward moving platforms are driven by the secondary lead screw.

[0021] The above-mentioned precast slab adjustment robot for track construction is characterized in that: a hydraulic station frame is fixedly connected to one side of the trolley frame, a hydraulic station for providing hydraulic power to the device is fixedly installed on the top of the hydraulic station frame, and a power supply for supplying power to the device is fixedly installed on the top of the front and rear moving platforms.

[0022] A drag chain is also fixedly installed between the left and right moving platform and the trolley frame.

[0023] The above-mentioned robot for adjusting precast slabs in track construction is characterized in that: an electrical cabinet is also fixedly installed on the side of the trolley frame facing away from the hydraulic station frame.

[0024] This invention also discloses a method for adjusting precast slabs in track construction, using the aforementioned robot for adjusting precast slabs in track construction, characterized by the following steps:

[0025] S1, the two sets of track construction precast slab adjustment robots are hoisted onto the working track sections;

[0026] S2, the two robots move to the corresponding adjustment working surfaces on the track sections via the walking mechanism;

[0027] S3, after reaching the working face, the robot’s four hydraulic support legs support the shield face, suspending the equipment at a suitable distance on the working face;

[0028] S4, after the two robots extract the rails through the upper and lower extraction mechanism, they use the left and right moving platform and the front and back moving platform to move and adjust the rails.

[0029] S5. After the adjustment is completed, the robot moves to the next track segment and continues working.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] 1. This invention uses a robot to adjust precast slabs for track construction, replacing manual labor for track panel adjustment. This can minimize human error and safety hazards, and ensure the safety of construction personnel.

[0032] 2. The track construction robot of the present invention can automatically and continuously perform track adjustment operations, which greatly improves construction efficiency compared with manual labor, helps to accelerate project progress and shorten project duration.

[0033] 3. By setting a primary rolling element and a primary stabilizing element to cooperate with the left and right moving platforms, and a secondary rolling element and a secondary stabilizing element to cooperate with the front and rear moving platforms, the present invention enables the left and right moving platforms and the front and rear moving platforms to remain stable during movement, thereby ensuring the stable adjustment of the track panel and improving the adjustment accuracy of the track panel.

[0034] The invention will now be described in further detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0036] Figure 1 This is a three-dimensional structural diagram of a robot for adjusting precast slabs in track construction according to the present invention.

[0037] Figure 2 This is a schematic diagram of the trolley frame and left-right drive mechanism of a precast slab adjustment robot for track construction according to the present invention.

[0038] Figure 3 This is a schematic diagram of the left-right drive mechanism of a precast slab adjustment robot for track construction according to the present invention.

[0039] Figure 4 This is a schematic diagram of the left-right moving platform and the forward-backward driving mechanism of a precast slab adjustment robot for track construction according to the present invention.

[0040] Figure 5 This is a partial structural diagram of the forward and backward moving platform and the up and down extraction mechanism of a precast slab adjustment robot for track construction according to the present invention.

[0041] Figure 6 This is a schematic diagram of the left-right moving platform structure and the upper side structure of the front-back moving platform of a precast slab adjustment robot for track construction according to the present invention.

[0042] Figure 7This is a schematic diagram of the left-right moving platform structure and the lower side structure of the front-back moving platform of a precast slab adjustment robot for track construction according to the present invention.

[0043] Figure 8 This is a schematic diagram of the forward and backward drive mechanism of a precast slab adjustment robot for track construction according to the present invention.

[0044] Figure 9 This is a schematic diagram of the lower structure of the forward and backward moving platform of a rail transit adjustment robot according to the present invention.

[0045] Explanation of reference numerals in the attached figures:

[0046] 100—Main body; 101—Car frame; 102—Left and right moving platform;

[0047] 1021—Primary rolling element; 1021-1—Ear plate; 1021-2—Connecting shaft;

[0048] 1021-3—First-stage rolling wheel; 1021-4—First-stage stabilizing wheel;

[0049] 1022—Primary stabilizer; 1022-1—Primary connecting arm;

[0050] 1022-2—First-level horizontal wheel; 103—Forward and backward moving platform;

[0051] 1031—Secondary rolling element; 1031-1—Mounting shaft;

[0052] 1031-2—Secondary rolling wheel; 1031-3—Secondary stabilizing wheel;

[0053] 1032—Secondary stabilizer; 1032-1—Secondary connecting arm;

[0054] 1032-2—Secondary horizontal wheel; 104—Bumper block; 105—Drag chain;

[0055] 106—Hydraulic station frame; 107—Hydraulic station; 108—Power supply;

[0056] 109—Electrical appliance cabinet rack; 110—Level 1 L-shaped baffle;

[0057] 111—Secondary L-shaped baffle; 200—Support leg mechanism;

[0058] 201—Hydraulic support leg; 300—Traveling mechanism; 301—Electric track wheel;

[0059] 302—Rail wheel; 400—Left and right drive mechanism;

[0060] 401—Single-stage drive motor; 402—Reducer; 403—Connecting rod;

[0061] 404—Steering gear; 405—First-stage bearing housing; 406—First-stage lead screw;

[0062] 500—Forward and backward drive mechanism; 501—Second-stage drive motor;

[0063] 502—Secondary bearing housing; 503—Secondary lead screw; 504—Synchronous pulley;

[0064] 600—Up and down extraction mechanism; 601—Hydraulic cylinder; 602—Extraction hook. Detailed Implementation

[0065] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0066] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0067] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0068] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0069] like Figure 1 , Figure 2 and Figure 4As shown, this embodiment discloses a precast slab adjustment robot for track construction, which includes a main body 100, a support leg mechanism 200, a walking mechanism 300, and an up-and-down extraction mechanism 600. The main body 100 includes a trolley frame 101, a left-right moving platform 102, and a front-back moving platform 103. The left-right moving platform 102 is movably installed inside the trolley frame 101, and the front-back moving platform 103 is movably installed above the left-right moving platform 102. The support leg mechanism 200 is installed on the trolley frame 101 to support the trolley frame 101. The walking mechanism 300 is installed at the bottom of the trolley frame 101 to drive the trolley frame 101 to move along the track. The up-and-down extraction mechanism 600 is provided in two sets, and the two sets of up-and-down extraction mechanisms 600 are symmetrically installed on the front-back moving platform 103 to extract the track panel. The two sets of up-and-down extraction mechanisms 600 adjust the position of the track panel by cooperating with the left-right moving platform 102 and the front-back moving platform 103.

[0070] The trolley frame 101 has two fixedly connected L-shaped baffles 110 on both sides, and both sets of L-shaped baffles 110 are inverted. The top front and rear sides of the left and right moving platform 102 have two sets of primary rolling elements 1021 and two sets of primary stabilizing elements 1022 fixedly connected. The four sets of primary rolling elements 1021 and four sets of primary stabilizing elements 1022 are rectangularly distributed. Each primary rolling element 1021 includes an ear plate 1021-1, a connecting shaft 1021-2, a primary rolling wheel 1021-3, and a primary stabilizing wheel 1021-4. Two sets of ear plates 1021-1 are provided, and both sets are fixedly connected to the left and right moving platform 102. The connecting shaft 1021-2 passes through both sets of ear plates 1021-1 and is fixedly connected to both sets of ear plates 1021-1. The primary rolling wheel 1021-3 and the primary stabilizing wheel 1021-4... All stabilizing wheels 1021-4 are rotatably connected to the connecting shaft 1021-2, and the first-level stabilizing wheel 1021-4 is located on the side of the first-level rolling wheel 1021-3 near the adjacent first-level L-shaped baffle 110. The first-level rolling wheel 1021-3 rests on the trolley frame 101 and can roll left and right along the trolley frame 101. The first-level stabilizing wheel 1021-4 abuts against the inner top wall of the adjacent first-level L-shaped baffle 110. The first-level stabilizing component 1022 includes a first-level connecting arm 1022-1 and a first-level horizontal wheel 1022-2. The first-level connecting arm 1022-1 is fixedly connected to the left and right moving platform 102. The first-level horizontal wheel 1022-2 is rotatably connected to the side of the first-level connecting arm 1022-1 near the adjacent first-level L-shaped baffle 110. The first-level horizontal wheel 1022-2 is horizontally arranged and abuts against the inner side wall of the adjacent first-level L-shaped baffle 110.

[0071] In this embodiment, the precast slab adjustment robot for track construction travels along the track via a walking mechanism 300 to the location where the precast slab needs adjustment. Then, the support leg mechanism 200 supports the trolley frame 101. The up-and-down lifting mechanism 600 then lifts the precast slab to be adjusted; the left-right moving platform 102 and the front-back moving platform 103 of the main body 100 drive the up-and-down lifting mechanism 600 to move forward-backward and backward, and left-right, thereby adjusting the position of the precast slab. Therefore, by using the precast slab adjustment robot to replace manual track adjustment, human error and safety hazards can be minimized, ensuring the safety of construction personnel. Simultaneously, the rolling guide structure formed by the trolley frame 101 and the first-stage L-shaped baffle 110, along with the first-stage rolling element 1021 and the first-stage stabilizer 1022, is simple in structure, low in cost, and durable, providing sufficient support force for the movement of the precast slab. The baffle of the L-shaped baffle also protects the operating space of the rolling element and stabilizer, limiting the position of the first-stage rolling element 1021.

[0072] like Figure 1 , Figure 2 , Figure 4 and Figure 9 As shown in the figure, in this embodiment, two sets of secondary L-shaped baffles 111 are fixedly connected to both sides of the left and right moving platforms 102. The four sets of secondary L-shaped baffles 111 are rectangularly distributed and inverted. Secondary rolling elements 1031 and secondary stabilizing elements 1032 are provided on the front and rear moving platforms 103 at positions directly opposite the four sets of secondary L-shaped baffles 111. The four sets of secondary rolling elements 1031 and four sets of secondary stabilizing elements 1032 are rectangularly distributed. The secondary stabilizing element 1031 includes a mounting shaft 1031-1, secondary rolling wheels 1031-2, and secondary stabilizing wheels 1031-3. The mounting shaft 1031-1 is fixedly connected to the front and rear moving platforms 103. The secondary rolling wheels 1031-2 and secondary stabilizing wheels 1031-3 are rotatably connected to the mounting shaft 1031-1 and are... The primary stabilizing wheel 1031-3 is located on the side of the secondary rolling wheel 1031-2 near the adjacent secondary L-shaped baffle 111. The secondary rolling wheel 1031-2 rests on the left and right moving platform 102 and can roll back and forth along the left and right moving platform 102. The secondary stabilizing wheel 1031-3 abuts against the inner top wall of the adjacent secondary L-shaped baffle 111. The secondary stabilizing component 1032 includes a secondary connecting arm 1032-1 and a secondary horizontal wheel 1032-2. The secondary connecting arm 1032-1 is fixedly connected to the front and rear moving platform 103. The secondary horizontal wheel 1032-2 is rotatably connected to the side of the secondary connecting arm 1032-1 near the adjacent secondary L-shaped baffle 111. The secondary horizontal wheel 1032-2 is horizontally arranged and abuts against the inner side wall of the adjacent secondary L-shaped baffle 111.

[0073] like Figure 7As shown, the two-stage L-shaped baffle 111 is configured in two sets, with a space reserved in the middle for the drag chain 105 to move. It provides guidance and limit for the front and rear moving platforms 103 without affecting their movement. Its structure is simple and durable, and it can provide sufficient support for the movement of the precast slab.

[0074] like Figure 1 As shown, the support leg mechanism 200 in this embodiment includes four sets of hydraulic support legs 201, which are respectively installed at the four corners of the trolley frame 101. By raising and lowering the hydraulic support legs, the track construction precast slab adjustment robot can be suspended on the working surface, so that the precast slab to be adjusted can be lifted by the lifting and lowering mechanism 600 first, and its position can be adjusted left and right or forward and backward, and then the guide rail can be placed in the required position by the lifting and lowering mechanism 600.

[0075] like Figure 1 As shown, the walking mechanism 300 in this embodiment includes two sets of electric track wheels 301 and two sets of track wheels 302. The two sets of electric track wheels 301 and the two sets of track wheels 302 are fixedly installed at the bottom of the trolley frame 101, and the two sets of electric track wheels 301 and the two sets of track wheels 302 are arranged in a rectangular shape.

[0076] In this embodiment, the walking mechanism 300 is used to drive the track construction precast slab adjustment robot to move along the track, which can quickly reach the position that needs to be adjusted and improve work efficiency.

[0077] like Figure 1 , Figure 5 , Figure 6 and Figure 7 As shown in the figure, the upper and lower extraction mechanism 600 in this embodiment includes a hydraulic cylinder 601 and an extraction hook 602. The hydraulic cylinder 601 is fixedly installed on the front and rear moving platform 103, and the extraction hook 602 is detachably installed at the bottom end of the hydraulic cylinder 601.

[0078] like Figure 1 , Figure 2 and Figure 3As shown, the track construction precast slab adjustment robot in this embodiment also includes a left-right drive mechanism 400. The left-right drive mechanism 400 is mounted on the trolley frame 101 and located below the left-right moving platform 102 to drive the left-right moving platform 102 to move in the left-right direction. The left-right drive mechanism 400 includes a primary drive motor 401, a reducer 402, a connecting rod 403, a steering gear 404, a primary bearing seat 405, and a primary lead screw 406. Two sets of each of the reducer 402, connecting rod 403, steering gear 404, and primary bearing seat 405 are provided. Each set of first-stage bearing seats 405 is fixedly mounted on the trolley frame 101. The shaft of the first-stage drive motor 401 is connected to the input end of the reducer 402. The two sets of connecting rods 403 are respectively connected to the output ends on both sides of the reducer 402. The input ends of the two sets of steering gears 404 are respectively connected to the two sets of reducers 402. The output ends of the two sets of steering gears 404 are respectively connected to the two sets of first-stage bearing seats 405. Two sets of first-stage lead screws 406 are rotatably sleeved on the two sets of first-stage bearing seats 405. All four sets of first-stage lead screws 406 are fixedly mounted on the trolley frame 101. The left and right moving platform 102 is drivenly connected to the two sets of first-stage bearing seats 405.

[0079] like Figure 4 , Figure 7 and Figure 8 As shown, the track construction precast slab adjustment robot in this embodiment also includes a forward and backward drive mechanism 500. The forward and backward drive mechanism 500 is installed on the left and right moving platform 102 and located below the forward and backward moving platform 103 to drive the forward and backward moving platform 103 to move in the forward and backward direction. The forward and backward drive mechanism 500 includes a secondary drive motor 501, a secondary bearing seat 502, a secondary lead screw 503, and a synchronous pulley 504. There are two sets of each secondary bearing seat 502 and synchronous pulley 504. The secondary drive motor 501 and the two sets of secondary bearing seats 502 are fixedly installed on the left and right moving platform 102. The secondary lead screw 503 is rotatably connected to the two sets of secondary bearing seats 502 and passes through the two sets of secondary bearing seats 502. The two sets of synchronous pulleys 504 are respectively fixedly installed on the shaft of the secondary drive motor 501 and the end of the secondary lead screw 503. The two sets of synchronous pulleys 504 are connected by a synchronous belt drive. The forward and backward moving platform 103 is driven by the secondary lead screw 503.

[0080] like Figure 1 and Figure 2As shown, in this embodiment, a hydraulic station frame 106 is fixedly connected to one side of the trolley frame 101. A hydraulic station 107 for providing hydraulic power to the device is fixedly installed on the top of the hydraulic station frame 106. A power supply 108 for supplying power to the device is fixedly installed on the top of the front and rear moving platforms 103. A cable chain 105 is also fixedly installed between the left and right moving platforms 102 and the trolley frame 101. The cable chain 105 is used to lay power lines, control lines, and oil pipelines connected to the left and right moving platforms 102.

[0081] like Figure 1 and Figure 2 As shown, in this embodiment, an electrical cabinet frame 109 is also fixedly installed on the side of the trolley frame 101 facing away from the hydraulic station frame 106.

[0082] This application also discloses a method for adjusting precast slabs in track construction, which uses the aforementioned precast slab adjustment robot for track construction, characterized by including the following steps:

[0083] Step 1: The two sets of precast track slab adjustment robots are hoisted onto the working track sections;

[0084] Step 2: The two robots move to their respective adjustment working surfaces on the track sections via the walking mechanism 300;

[0085] Step 3: After reaching the working face, the robot's four hydraulic support legs 201 support the shield face, suspending the equipment at a suitable distance on the working face;

[0086] Step 4: After the two sets of robots extract the rails through the vertical extraction mechanism 600, they use the horizontal moving platform 102 and the front-back moving platform 103 to move and adjust the rails or precast slabs.

[0087] Step 5: After the adjustment is completed, the robot moves to the next track segment and continues working.

[0088] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A robot for adjusting precast slabs in track construction, characterized in that, include: The main body (100) includes a trolley frame (101), a left and right moving platform (102), and a front and rear moving platform (103). The left and right moving platform (102) is movably installed inside the trolley frame (101), and the front and rear moving platform (103) is movably installed above the left and right moving platform (102). A primary L-shaped baffle (110) is fixedly connected to both sides of the trolley frame (101), and both sets of the primary L-shaped baffles (110) are inverted. Two sets of secondary L-shaped baffles (111) are fixedly connected to both sides of the left and right moving platform (102), and the four sets of secondary L-shaped baffles (111) are also fixedly connected. The secondary L-shaped baffles (111) are all rectangularly distributed and inverted. Two sets of primary rolling elements (1021) and two sets of primary stabilizing elements (1022) are fixedly connected to the top front and rear sides of the left and right moving platform (102). The four sets of primary rolling elements (1021) and four sets of primary stabilizing elements (1022) are all rectangularly distributed. Each primary rolling element (1021) includes an ear plate (1021-1), a connecting shaft (1021-2), a primary rolling wheel (1021-3), and a primary stabilizing wheel (1021-4). Two sets of ear plates (1021-1) are provided. The two sets of ear plates (1021-1) are... 1-1) Both are fixedly connected to the left and right moving platforms (102). The connecting shaft (1021-2) passes through the two sets of ear plates (1021-1) and is fixedly connected to the two sets of ear plates (1021-1). The first-stage rolling wheel (1021-3) and the first-stage stabilizing wheel (1021-4) are rotatably connected to the connecting shaft (1021-2), and the first-stage stabilizing wheel (1021-4) is located on the side of the first-stage rolling wheel (1021-3) near the adjacent first-stage L-shaped baffle (110). The first-stage rolling wheel (1021-3) rests on the trolley frame (101) and can move along the left and right sides of the trolley frame (101). When the first-stage stabilizing wheel (1021-4) rolls to the right, it abuts against the inner wall of the top of the adjacent first-stage L-shaped baffle (110). The first-stage stabilizing component (1022) includes a first-stage connecting arm (1022-1) and a first-stage horizontal wheel (1022-2). The first-stage connecting arm (1022-1) is fixedly connected to the left and right moving platform (102). The first-stage horizontal wheel (1022-2) is rotatably connected to the side of the first-stage connecting arm (1022-1) near the adjacent first-stage L-shaped baffle (110). The first-stage horizontal wheel (1022-2) is horizontally set and abuts against the inner wall of the adjacent first-stage L-shaped baffle (110).The front and rear moving platforms (103) are each equipped with secondary rolling elements (1031) and secondary stabilizing elements (1032) at positions directly opposite the four sets of secondary L-shaped baffles (111). The four sets of secondary rolling elements (1031) and the four sets of secondary stabilizing elements (1032) are arranged in a rectangular pattern. Each secondary rolling element (1031) includes a mounting shaft (1031-1), a secondary rolling wheel (1031-2), and a secondary stabilizing wheel (1031-3). The mounting shaft (1031-1) is fixedly connected to the front and rear moving platforms (103). The secondary rolling wheel (1031-2) and the secondary stabilizing wheel (1031-3) are rotatably connected to the mounting shaft (1031-1), and the secondary stabilizing wheel (1031-3) is located near the adjacent secondary L-shaped baffle (111) of the secondary rolling wheel (1031-2). On one side of the L-shaped baffle (111), the secondary rolling wheel (1031-2) rests on the left and right moving platform (102) and can roll back and forth along the left and right moving platform (102). The secondary stabilizing wheel (1031-3) abuts against the inner wall of the top of the adjacent secondary L-shaped baffle (111). The secondary stabilizing component (1032) includes a secondary connecting arm (1032-1) and a secondary horizontal wheel (1032-2). The secondary connecting arm (1032-1) is fixedly connected to the front and rear moving platform (103). The secondary horizontal wheel (1032-2) is rotatably connected to the side of the secondary connecting arm (1032-1) near the adjacent secondary L-shaped baffle (111). The secondary horizontal wheel (1032-2) is horizontally set and abuts against the inner wall of the adjacent secondary L-shaped baffle (111). Support leg mechanism (200), the support leg mechanism (200) is installed on the trolley frame (101) to support the trolley frame (101), the support leg mechanism (200) includes four sets of hydraulic support legs (201), the four sets of hydraulic support legs (201) are respectively installed at the four corners of the trolley frame (101); A traveling mechanism (300) is mounted on the bottom of the trolley frame (101) for driving the trolley frame (101) to move along the track; The upper and lower extraction mechanism (600) is provided in two sets. The two sets of upper and lower extraction mechanisms (600) are symmetrically installed on the front and rear moving platforms (103) for extracting the rail panel. The two sets of upper and lower extraction mechanisms (600) adjust the position of the rail panel by cooperating with the left and right moving platforms (102) and the front and rear moving platforms (103). The upper and lower extraction mechanism (600) includes a hydraulic cylinder (601) and an extraction hook (602). The hydraulic cylinder (601) is fixedly installed on the front and rear moving platforms (103), and the extraction hook (602) is detachably installed at the bottom of the hydraulic cylinder (601).

2. The precast slab adjustment robot for track construction according to claim 1, characterized in that: The walking mechanism (300) includes two sets of electric track wheels (301) and two sets of track wheels (302). The two sets of electric track wheels (301) and the two sets of track wheels (302) are fixedly installed at the bottom of the trolley frame (101). The two sets of electric track wheels (301) and the two sets of track wheels (302) are arranged in a rectangular shape.

3. The precast slab adjustment robot for track construction according to claim 1, characterized in that: The track construction precast slab adjustment robot also includes a left-right drive mechanism (400), which is installed on the trolley frame (101) and located below the left-right moving platform (102) to drive the left-right moving platform (102) to move in the left-right direction; The left-right drive mechanism (400) includes a primary drive motor (401), a reducer (402), a connecting rod (403), a steering gear (404), a primary bearing housing (405), and a primary lead screw (406). Two sets of each of the reducer (402), connecting rod (403), steering gear (404), and primary bearing housing (405) are provided. The reducer (402), the two sets of steering gears (404), and the two sets of primary bearing housings (405) are all fixedly mounted on the trolley frame (101). The shaft of the primary drive motor (401) is connected to the reducer (402). The input end is connected, the two sets of connecting rods (403) are respectively connected to the output ends on both sides of the reducer (402), the input ends of the two sets of steering gears (404) are respectively connected to the two sets of reducers (402), the output ends of the two sets of steering gears (404) are respectively connected to the two sets of first-stage bearing seats (405), the first-stage screw (406) is rotatably sleeved on the two sets of first-stage bearing seats (405), the four sets of first-stage screws (406) are all fixedly installed on the trolley frame (101), and the left and right moving platform (102) is driven connected to the two sets of first-stage bearing seats (405).

4. The robot for adjusting precast slabs in track construction according to claim 1, characterized in that: The track construction precast slab adjustment robot also includes a forward and backward drive mechanism (500), which is installed on the left and right moving platform (102) and located below the forward and backward moving platform (103) to drive the forward and backward moving platform (103) to move in the forward and backward direction; The forward and backward drive mechanism (500) includes a secondary drive motor (501), a secondary bearing housing (502), a secondary lead screw (503), and a synchronous pulley (504). Two sets of the secondary bearing housing (502) and the synchronous pulley (504) are provided. The secondary drive motor (501) and the two sets of secondary bearing housings (502) are fixedly installed on the left and right moving platform (102). The secondary lead screw (503) is rotatably connected to the two sets of secondary bearing housings (502) and passes through the two sets of secondary bearing housings (502). The two sets of synchronous pulleys (504) are respectively fixedly installed on the shaft of the secondary drive motor (501) and the end of the secondary lead screw (503). The two sets of synchronous pulleys (504) are connected by a synchronous belt drive. The forward and backward moving platform (103) is driven by the secondary lead screw (503).

5. The precast slab adjustment robot for track construction according to claim 1, characterized in that: A hydraulic station frame (106) is fixedly connected to one side of the trolley frame (101), and a hydraulic station (107) for providing hydraulic power to the device is fixedly installed on the top of the hydraulic station frame (106). A power supply (108) for supplying power to the device is fixedly installed on the top of the front and rear moving platform (103). A drag chain (105) is also fixedly installed between the left and right moving platform (102) and the trolley frame (101).

6. The track construction precast slab adjustment robot according to claim 5, characterized in that: An electrical cabinet frame (109) is also fixedly installed on the side of the trolley frame (101) facing away from the hydraulic station frame (106).

7. A method for adjusting precast slabs in track construction, employing the track construction precast slab adjustment robot as described in any one of claims 1 to 6, characterized in that, Includes the following steps: S1, the two sets of track construction precast slab adjustment robots are hoisted onto the working track sections; S2, the two robots move to the corresponding adjustment working surfaces on the track sections via the walking mechanism (300); S3, after reaching the working face, the robot’s four hydraulic support legs (201) support the shield face, suspending the equipment at a suitable distance on the working face; S4, after the two robots extract the rails through the up and down extraction mechanism (600), they move and adjust the rails using the left and right moving platform (102) and the front and back moving platform (103); S5. After the adjustment is completed, the robot moves to the next track segment and continues working.

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