Automatic accurate sleeper laying system for railway track panel assembly

Abstract

The invention provides an automatic accurate sleeper laying system and method for railway track panel assembly operation, and belongs to the technical field of railway laying equipment, the system comprises a sleeper carrying gantry module, a sleeper pose fine adjustment module and a driving positioning module which are integrated on a movable vehicle body. The sleeper carrying gantry module is responsible for forking and carrying sleepers from a sleeper stack, and is provided with a depth camera and a laser displacement sensor to ensure accurate operation; the sleeper pose fine adjustment module adjusts the pose of the sleeper through the horizontal pushing mechanism and the clamping mechanism, the high-precision three-dimensional camera assists scanning, the reinspection driving positioning module controls the vehicle body to move on the walking track, and accurate positioning and operation are ensured. Full-automatic laying and posture fine adjustment operation of the sleepers are achieved, the whole system has the advantages of being high in operation reliability, high in adaptability, high in construction efficiency, high in sleeper posture adjustment precision, good in sleeper laying quality and the like, and the productivity and economic benefits of the whole track panel assembling operation can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of railway laying equipment, and in particular to an automatic and precise laying system for sleepers used for assembling railway track rows. Background Art

[0002] Railway track is a track structure composed of rails, sleepers, fasteners and other components. It is a commonly used roadbed unit in railway construction. Usually, each set of track consists of two rails with a length of 25 meters, 42 sleepers and a number of matching track fasteners. At present, the assembly of railway track is mainly completed by a large number of workers working manually and operating semi-automatic mechanical equipment. Among them, the laying and fine-tuning of sleepers often require a large number of workers to complete the work. During the construction process, workers first need to measure and locate the approximate placement of sleepers, operate forklifts to move sleepers from the storage area to the vicinity of the assembly area, and when the sleepers are close to the target position, many workers use tools such as crowbars to unload the sleepers from the forklift and place them roughly at the target position. After that, workers use tools such as crowbars to adjust the position and posture of sleepers by visual inspection or simple measuring tools. The laying and fine-tuning process of sleepers is considered to be over until the placement of all sleepers meets the requirements of the track.

[0003] In the traditional manual rail assembly operation, the entire operation process of sleeper handling and position fine-tuning lacks systematicity, accuracy and coordination. In the above sleeper laying fine-tuning process, the adjustment method completely relies on workers to simply measure the approximate position of the sleepers through direct observation or with the help of tools such as measuring instruments, and then use tools such as crowbars to make simple adjustments. The standard for completing the operation is roughly judged by whether the sleeper spacing meets the rail assembly requirements and whether the lateral position is aligned to ensure the normal laying of the rails.

[0004] At present, the sleeper transportation process in traditional track assembly operations mainly relies on manual operation by workers and cooperation with semi-automatic mechanical equipment. The position and posture of the sleepers are determined and adjusted by manual measurement and manual operation with crowbars. There are a lot of drawbacks in the entire construction process, including low efficiency of sleeper laying construction, high labor cost investment, poor accuracy of sleeper positioning and posture adjustment, and low safety factor of construction operations. The poor accuracy of sleeper position adjustment can easily have a certain impact on the subsequent fastener installation and rail laying, which will not only increase the subsequent operation time and reduce the overall construction efficiency, but also waste a lot of material costs.

[0005] In response to the problems of sleeper transportation and laying operations, the Chinese invention patent application with application number 202222094699.5 discloses a type IIIa sleeper transportation device, which still uses manual labor as the power source, has low construction efficiency, high labor intensity, and is only suitable for type IIIa sleepers, with poor operational versatility; the Chinese invention patent application with application number 202122962547.8 discloses a sleeper laying device, which needs to be used in conjunction with an adapted sleeper transport vehicle, and still requires manual operation of the device for sleeper laying operations, and has a low degree of intelligence.

[0006] In response to the problem of fine-tuning the position and posture of sleepers, the Chinese invention patent application with publication number CN115262303A discloses an automatic rail assembly system based on intelligent control, but its design still lacks systematicity, intelligence and reliability. First of all, the sleeper position adjustment process in this scheme is based on manually placing sleepers at a certain distance, and can only adjust the position and posture of sleepers that have been roughly laid. There is no matching automatic transport and laying scheme for sleepers. To a certain extent, the system has poor coordination and low intelligence. Secondly, the postures of the manually placed sleepers are uneven and easily deviate too much from the target posture. The high-precision three-dimensional camera carried by the system collects the sleeper point cloud through the principle of structured light. However, under open-air working conditions, due to the influence of natural light, the imaging effect of this type of camera is poor, which easily leads to the loss of point cloud data. Therefore, this method has certain challenges for the high-precision camera to obtain the sleeper point cloud information, the host to perform point cloud registration based on the acquired point cloud information, and the host to control the posture adjustment mechanism to complete the corresponding action based on the calculation results. It is easy to cause large errors, resulting in inaccurate adjustment of the final sleeper posture, and reduced construction efficiency and quality.

[0007] The Chinese invention patent application with publication number CN117262626A discloses an intelligent sleeper transportation system and transportation method, but its design still lacks reliability, adaptability and efficiency. First, in this scheme, when transporting sleepers, the sleepers are first taken out of the material bin and then placed in the sleeper storage module for transportation. The number of sleepers that can be stored in the storage module is limited and is not enough to complete a set of rail row assembly operations. Therefore, this process will reduce the operation efficiency. At the same time, due to the large number and weight of sleepers carried, strict requirements are placed on the mechanical structure and drive module of the storage module; secondly, during the entire operation of placing sleepers into the storage module and taking sleepers out of the storage module and laying and fine-tuning, all operations are completed by an independent six-degree-of-freedom robotic arm in the sleeper handling robot module. Due to the heavy weight of the sleepers, high requirements are placed on the mechanical structure of the gripper at the end of the robotic arm. In addition, due to the mechanical structure during storage, laying and fine-tuning, the mechanical structure of the robot arm is also very demanding. The arm needs to clamp the sleepers and perform a series of movements, so it should have very rigorous control methods, algorithms and robot arm path planning, but the relevant content is not explained in this plan; finally, the positioning method of the system is to use the high-definition camera in the intelligent positioning module to identify the marker block, the six-axis inclination sensor to measure the three-dimensional rotation angle of the space to collect data to generate a BIM model, and use the positioning algorithm to determine the system position and generate the operation path, but this positioning method has high requirements on the construction site, and it is necessary to reasonably arrange the sleeper warehouse, rail assembly area, transportation path and marker block position. Under poor construction conditions and high complexity of the construction environment, the operation accuracy of the system will be significantly reduced, resulting in a decrease in construction efficiency and quality. Summary of the invention

[0008] The object of the present invention is to provide a system for automatically fine-tuning and laying sleepers used in railway track assembly operations, so as to solve at least one technical problem existing in the above-mentioned background technology.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] The present invention provides a sleeper automatic precision laying system for railway track assembly operations, comprising: a sleeper transport gantry module, a sleeper posture fine-tuning module, and a drive positioning module, wherein the three modules are integrated on a movable vehicle body; the system is arranged as a whole in a special construction site, which is constructed by two running tracks and two track pad rails; the driving wheel and the driven wheel in the drive positioning module are located on the running tracks, driving the entire system to move on the driving tracks; the track pad rail length and spacing are smaller than the running tracks, and the system is used for the fine-tuning of sleeper laying and subsequent track assembly operations; a sleeper stack consisting of a plurality of sleepers is placed at one end of the track, wherein each horizontal row of sleepers and each vertical row of sleepers are spaced a certain distance apart, so as to facilitate the sleeper transport gantry module to fork the sleepers.

[0011] Furthermore, the sleeper transport gantry module includes two gear rack module columns and an I-beam connected and constructed, a slide is installed on the column and can move up and down along the direction of the column, a sleeper fork is fixed on the slide to fork the sleepers; a depth camera and four laser displacement sensors are fixed on the front side of the sleeper fork; the bottom of the two columns are welded to the groove on the front side of the vehicle body to fix the sleeper transport gantry to the front side of the vehicle body.

[0012] Furthermore, in the sleeper transport gantry module, the host communicates with the encoders of the two gear and rack module columns respectively through Ethernet, and synchronously controls the motors of the two gear and rack module columns, thereby controlling the movement of the sleeper fork; the depth camera is used to identify the gap position between the two layers of sleepers in the sleeper stack, so as to facilitate the sleeper fork to pick up the target sleeper; the laser displacement sensor is used to detect the distance between the sleeper fork and the sleeper when picking up the target sleeper, so as to prevent the two from colliding.

[0013] Furthermore, the sleeper posture fine-tuning module includes a push mechanism, a clamping mechanism, an air pump and a high-precision three-dimensional camera; the push mechanism and the supporting mechanism are respectively fixed to the upper and lower sides of a connecting plate, and then the connecting plate is fixed to the car body by fixing angle fittings, and a plurality of fixing holes are reserved on the connecting plate, the fixing angle fittings and the car body to facilitate changing the fixing positions of the two mechanisms and the installation position of the module.

[0014] Furthermore, the push mechanism includes a double-force cylinder and a push rod, which are used to adjust the lateral position of the sleeper; the clamping mechanism includes a double-force cylinder, a fixed block fixedly connected to the connecting plate, a short arm of the clamp rotatably connected to the fixed block, a clamp arm rotatably connected to the short arm of the clamp, a translation connecting plate fixedly connected to the double-force cylinder, and a clamp head rotatably connected to the clamp arm.

[0015] Furthermore, in the sleeper posture fine-tuning module, a high-precision three-dimensional camera is fixed in the rear compartment of the vehicle body to scan the sleepers to obtain their posture information, thereby assisting in vehicle body positioning and sleeper posture re-inspection before posture adjustment of the target sleeper.

[0016] Furthermore, the drive positioning module includes a motor and a reducer, a drive positioning module encoder, a coupling, a synchronous pulley, a driving wheel and a driven wheel; the motor and the reducer are fixed in the rear compartment of the vehicle body through a torque arm and a bearing seat, and then fixed to the middle of the coupling through a flat key connection; the two synchronous wheels are fixed to the two ends of the coupling with a tensioning sleeve, and the two synchronous wheels are fixed to the two driving wheels with bolts, and are synchronously driven by a synchronous belt and an idler wheel is installed to keep the synchronous belt tensioned, thereby constituting the movement of the synchronous pulley drive system.

[0017] Furthermore, the two driven wheels and the two driving wheels are respectively fixed to the front and rear sides of the vehicle body so that the vehicle body is located on the walking track; the drive positioning module encoder is connected to the motor and communicates with the host to control the displacement speed, direction and distance of the vehicle body on the walking track.

[0018] The beneficial effects of the present invention are as follows: a relatively simple construction site is built, which can be applicable to most railway track assembly construction sites, and the fully automatic laying and posture fine-tuning operations of sleepers are realized. A complete set of sleeper construction process flows is designed based on the system hardware composition. The entire system has the advantages of high operation reliability, strong adaptability, high construction efficiency, high sleeper posture adjustment accuracy, good sleeper laying quality, etc., which can effectively improve the productivity and economic benefits of the entire track assembly operation.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, which will become obvious from the following description, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0021] Figure 1 It is a three-dimensional schematic diagram of the partial structure and construction site of the automatic laying and fine-tuning system for sleepers described in an embodiment of the present invention.

[0022] Figure 2 It is a schematic diagram of the partial internal three-dimensional structure of the automatic laying and fine-tuning system for sleepers described in an embodiment of the present invention.

[0023] Figure 3 It is a three-dimensional schematic diagram of the local structure of the sleeper handling gantry module described in an embodiment of the present invention.

[0024] Figure 4 It is a three-dimensional schematic diagram of the local structure of the sleeper posture fine-tuning module described in an embodiment of the present invention.

[0025] Figure 5 It is a three-dimensional schematic diagram of the local structure of the driving and positioning module according to an embodiment of the present invention.

[0026] Among them: 1-sleeper handling gantry module; 2-sleeper posture fine adjustment module; 3-drive positioning module; 4-car body; 5-sleeper; 6-travel track; 7-track pad rail; 8-sleeper stack; 11-gear rack module column; 12-I-beam; 13-slide; 14-sleeper fork; 15-gear rack module motor; 16-gear rack module encoder; 17-depth camera; 18-laser displacement sensor; 21-flat Push mechanism; 22-clamping mechanism; 23-air pump; 24-high-precision three-dimensional camera; 25-double-force cylinder; 26-connecting plate; 211-push rod; 221-fixed block; 222-short arm of the clamp; 223-clamp arm; 224-translational connecting plate; 225-clamp head; 31-motor and reducer; 32-drive positioning module encoder; 33-coupling shaft; 34-synchronous pulley; 35-driving wheel; 36-driven wheel. DETAILED DESCRIPTION

[0027] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below by the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0028] It should be understood by those skilled in the art that unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this invention belongs.

[0029] It should also be understood that terms, such as those defined in commonly used dictionaries, should be understood to have a meaning consistent with that in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless as defined herein.

[0030] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements and / or groups thereof.

[0031] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0032] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0033] In the description of this specification, the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present technology and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present technology.

[0034] Unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in this technology can be understood according to specific circumstances.

[0035] To facilitate understanding of the present invention, the present invention is further explained below with reference to specific embodiments in conjunction with the accompanying drawings, and the specific embodiments do not constitute a limitation on the embodiments of the present invention.

[0036] Those skilled in the art should understand that the drawings are merely schematic diagrams of embodiments, and the components in the drawings are not necessarily necessary for implementing the present invention.

[0037] like Figures 1 to 5As shown, in this embodiment, a system and method for automatic and precise laying of sleepers in railway track assembly is provided. The system as a whole is composed of a sleeper handling gantry module 1, a sleeper posture fine-tuning module 2, and a driving and positioning module 3, and the three modules are integrated on a movable vehicle body 4. The system as a whole is arranged in a special construction site, which is mainly constructed by two running tracks 6 and two track pads 7. The driving wheel 35 and the driven wheel 36 in the driving and positioning module 3 are located on the running track 6, driving the entire system to move on the driving track 6. The track pad 7 is slightly narrower than the running track 6 and is used for the laying and fine-tuning of sleepers 5 and subsequent track assembly operations. At the end of the track, a sleeper stack 8 with 28 (4 layers * 7 rows) sleepers as a group is placed, and each horizontal row of sleepers and each vertical row of sleepers have a certain interval, which is convenient for the sleeper handling gantry module 1 to fork the sleepers, thereby forming a workstation that can repeatedly and continuously complete the automatic laying and posture fine-tuning operations of sleepers. The sleeper transport gantry module 1 is mainly constructed by connecting two gear rack module columns 11 and an I-beam 12. A slide 13 is installed on the column and can move up and down along the column direction. A sleeper fork 14 is fixed on the slide to fork the sleeper 5; a depth camera 17 and four laser displacement sensors 18 are fixed on the front side of the sleeper fork 14; the bottom of the two columns are welded to the groove on the front side of the vehicle body to fix the sleeper transport gantry to the front side of the vehicle body.

[0038] In the sleeper transport gantry module 1, the host communicates with the encoders 16 of the two gear rack module columns 11 through Ethernet, and synchronously controls the motors 15 of the two gear rack module columns 11, thereby controlling the movement of the sleeper fork 14; the depth camera 17 is used to identify the gap position between the two layers of sleepers in the sleeper stack 8, so as to facilitate the sleeper fork 14 to fork the target sleeper; the laser displacement sensor 18 is used to detect the distance between the sleeper fork 14 and the sleeper when forking the target sleeper, so as to prevent the two from colliding.

[0039] The sleeper posture fine adjustment module 2 is mainly composed of a push mechanism 21, a clamping mechanism 22, an air pump 23 and a high-precision three-dimensional camera 24. The two mechanisms are respectively fixed to the upper and lower sides of a connecting plate 26, and then the connecting plate 26 is fixed to the car body 4 through a fixing angle piece. A plurality of fixing holes are reserved on the connecting plate 26, the fixing angle piece and the car body 4, so as to facilitate changing the fixing position of the two mechanisms and the installation position of the module.

[0040] In the sleeper posture fine-tuning module 2, the horizontal push mechanism is composed of a double-force cylinder 25 and a push rod 211 connected by bolts, which is used to adjust the lateral posture of the sleeper; the clamping mechanism is composed of a double-force cylinder 25, a translation connecting plate 224 and a four-bar mechanism composed of a fixed block 221, a short arm 222 of the clamping claw, a clamping claw arm 223, and a claw head 225 connected by a pin shaft, which is used to adjust the longitudinal posture of the sleeper. In the sleeper posture fine-tuning module 2, a high-precision three-dimensional camera 24 is fixed in the rear compartment of the vehicle body, which is used to scan the sleepers to obtain their posture information, assist in positioning the vehicle body 4 before adjusting the posture of the target sleeper, and recheck the sleeper posture after the system completes the sleeper construction work of a group of rail rows.

[0041] The driving and positioning module 3 is mainly composed of a motor and reducer 31, a driving and positioning module encoder 32, a coupling 33, a synchronous pulley 34, a driving wheel 35 and a driven wheel 36. The motor and reducer 31 is fixed in the rear compartment of the vehicle body through a torque arm and a bearing seat, and then fixed to the middle of the coupling 33 through a flat key connection. The two synchronous wheels are fixed to the two ends of the coupling by a tension sleeve, and the two synchronous wheels are fixed to the two driving wheels 35 by bolt connection. The synchronous wheels are driven by a synchronous belt and an idler wheel is installed to keep the tension of the synchronous belt, thereby forming the synchronous pulley 34 drive system movement. The two driven wheels 36 and the two driving wheels 35 are respectively fixed to the front and rear sides of the vehicle body so that the vehicle body is located on the walking track 6. The driving and positioning module encoder 32 is connected to the motor and communicates with the host to control the displacement speed, direction and distance of the vehicle body on the walking track.

[0042] In this embodiment, the automatic laying process of sleepers includes the following steps: Step 1: When the system starts working, the positions of the movable vehicle body 4, the sleeper transport gantry module 1 and the sleeper posture fine-tuning module 2 are first initialized. Among them, the initial position of the slide 13 in the sleeper transport gantry module 1 needs to ensure that it is at the highest position of the column; the double-force cylinder 25 in the sleeper posture fine-tuning module 2 is in a fully retracted state, that is, the initial position of the horizontal push mechanism 21 needs to ensure that its push rod 211 is fully retracted, and the initial position of the clamping mechanism 22 needs to ensure that its clamping claws are fully opened. Step 2: Further, the host controls the movement of the vehicle body 4, driving the entire system to move to a distance of about 100-150mm from the sleeper stack 8; the host controls the slide 13 of the sleeper transport gantry module 1 to drive the sleeper fork 14 to move downward slowly and uniformly, and at the same time, the depth camera 17 fixed on the front side of the sleeper fork 14 begins to scan the position data of the first sleeper on the first layer of the sleeper stack 8 and transmits it to the host. The host identifies the gap position between the bottom of the sleeper and the top of the second layer of sleepers and records this data. According to the data, the host controls the slide 13 to drive the sleeper fork 14 to move to the gap position. Step 3: Further, the host controls the vehicle body 4 to continue to move forward slowly and at a uniform speed. If the laser sensor 18 fixed on the front side of the sleeper fork detects a signal in the process of approaching the target sleeper, that is, the height of the sleeper fork 14 will collide with the target sleeper, the host will immediately alarm and stop moving, and the depth camera will scan again to re-identify the gap position and record the data. The host controls the slide 13 to move back to the gap position according to the data; if the laser sensor 18 does not detect a signal, that is, the height of the sleeper fork 14 can pass through the gap position normally, the vehicle body 4 continues to move forward slowly and at a uniform speed until the target sleeper is roughly located in the middle of the two sleeper forks 14, and the host controls the vehicle body 4 to stop moving. Then the host controls the slide 13 to drive the sleeper fork 14 to move upward until the target sleeper is completely lifted and then stops moving. Step 4: Further, the host controls the vehicle body 4 to move in the opposite direction, and moves at a uniform speed to the target position of the first sleeper of the first group of rails set in the host database and then stops moving; then the host controls the slide 13 of the sleeper handling gantry module 1 to drive the sleeper fork 14 to move downward at a uniform speed and slowly until the sleeper is stably placed on the pad rail and then stops moving. Step 5: Further, the host controls the vehicle body 4 to move forward, and assists the host in controlling the movement of the vehicle body 4 based on the high-precision three-dimensional camera 24 scanning to obtain the sleeper position information, until the target sleeper is roughly located in the middle position of the sleeper posture fine-tuning module 2 on both sides and then stops moving. Step 6: Further, the host controls the air pump 23 to inflate the double-force cylinder 25 to make it fully extended, that is, the push rod 211 of the horizontal push mechanism is fully extended, and the clamping claw of the clamping mechanism 22 is fully clamped; while completing this process, the posture of the target sleeper is also fine-tuned. Step 7: Further, the movable vehicle body 4, the sleeper transport gantry module 1 and the sleeper posture fine-tuning module 2 are moved to the initialization position to complete the transport and posture fine-tuning operation of the first target sleeper.Step 8: Further, repeat steps 2 to 7 until the handling and posture fine-tuning of all the sleepers of a set of track is completed. Step 9: Further, the host controls the vehicle body 4 to move slowly and uniformly, and all the sleepers laid through the above steps are scanned by the high-precision three-dimensional camera 24 to obtain their point cloud data and transmit them to the host. The host analyzes and processes the data and compares it with the standard track sleeper model in the database. If it is within the allowable error range, no adjustment is made. If it is outside the allowable error range, the host controls the sleeper handling gantry module 1 and the sleeper posture fine-tuning module 2 again to adjust the sleeper, thereby completing the re-inspection work.

[0043] In summary, the automatic and precise laying system and method for sleepers used for railway track assembly described in the embodiment of the present invention is expected to be greatly improved compared with the current sleeper construction work completed manually, aiming at the disadvantages of low construction efficiency, poor operation accuracy and quality, low intelligence, and low safety factor. According to the current construction site survey results, a construction team consisting of 12-20 people can perform a maximum of 7-8 sets of track assembly operations per day while ensuring a certain construction quality, while the system involved in the present invention completes the laying and posture fine-tuning of a set of track sleepers within 50 minutes; when the sleeper material warehouse is fully stored, the system can continuously complete the laying of sleepers for about 7 sets of track, and on the premise of ensuring the construction quality and system operation safety, multiple rounds of sleeper laying operations can be performed every day, thereby greatly improving the construction efficiency. The system designed by the present invention integrates the handling, laying and posture fine-tuning of sleepers, and does not require manual auxiliary operations during the construction process, which greatly improves the degree of automation and intelligence. The sleeper posture fine-tuning mechanism of the present invention has a smaller size and a flexible installation position, and can be adjusted according to different types of sleepers. Moreover, since the sleeper posture fine-tuning method of the present invention mainly relies on a cylinder-driven mechanical structure to complete the operation, the method is more reliable and has higher construction efficiency in construction sites with relatively harsh environmental conditions. The system designed by the present invention directly picks up sleepers from the sleeper material bin fork for transportation, without the need to store the sleepers from the material bin into the system. At the same time, the forking area of ​​the sleeper fork can be appropriately increased according to construction requirements so as to fork multiple sleepers at one time, effectively increasing the working efficiency. Compared with the clamping claw at the end of the robot arm, the sleeper fork has a simpler and more reliable structure, a larger bearing capacity, and a stronger stability during transportation. Secondly, the sleeper fine-tuning operation is completed by a push mechanism and a clamping mechanism. The two mechanisms mainly rely on a simple and reliable mechanical structure driven by a cylinder to cooperate with a high-precision three-dimensional camera to perform corresponding actions, and have the characteristics of higher operating reliability, simpler and more effective control method, and more accurate fine-tuning effect. Finally, the system designed by the present scheme builds a simple and convenient construction site by itself according to its own operating method. The site is suitable for most construction sites, and reasonably combines the material bin, the rail assembly area, the driving path and the system into one, forming a complete set of fully automatic intelligent sleeper laying and posture fine-tuning construction scenes.

[0044] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative work on the basis of the technical solution disclosed in the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic and precise laying system for sleepers in railway track assembly operations, characterized in that: include: A sleeper transport gantry module (1), a sleeper posture fine-tuning module (2), and a driving and positioning module (3) are integrated on a movable vehicle body (4); the system is arranged as a whole in a specially made construction site, which is constructed by two running tracks (6) and two track pads (7); the driving wheel (35) and the driven wheel (36) in the driving and positioning module (3) are located on the running tracks (6) to drive the entire system to move on the driving tracks (6); the length and spacing of the track pads (7) are smaller than those of the running tracks (6) and are used for the laying and fine-tuning of sleepers (5) and subsequent track assembly operations; a sleeper stack (8) consisting of a plurality of sleepers is placed at the end of the track pads, wherein each horizontal row of sleepers and each vertical row of sleepers have a certain spacing, so as to facilitate the sleeper transport gantry module (1) to fork the sleepers.

2. The automatic laying and fine-tuning system for sleepers in railway track assembly according to claim 1 is characterized in that: The sleeper transport gantry module (1) comprises two rack and pinion module columns (11) and an I-beam (12) connected and constructed, a slide (13) being mounted on the column and being movable up and down along the column direction, a sleeper fork (14) being fixed on the slide and being used to fork the sleeper (5); a depth camera (17) and four laser displacement sensors (18) being fixed on the front side of the sleeper fork (14), the depth camera being used for sleeper position recognition and positioning, and the laser displacement sensor being used for detecting sleeper distance; the bottoms of the two columns are welded to the grooves on the front side of the vehicle body to fix the sleeper transport gantry on the front side of the vehicle body.

3. The automatic laying and fine-tuning system for sleepers in railway track assembly according to claim 1 is characterized in that: In the sleeper transport gantry module (1), the host communicates with the encoders (16) of the two gear rack module columns (11) respectively through Ethernet, and synchronously controls the motors (15) of the two gear rack module columns (11), thereby controlling the movement of the sleeper fork (14); the depth camera (17) is used to identify the gap position between two layers of sleepers in the sleeper stack (8), so that the sleeper fork (14) can fork the target sleeper; the laser displacement sensor (18) is used to detect the distance between the sleeper fork (14) and the sleeper when forking the target sleeper, so as to prevent the two from colliding.

4. The automatic laying and fine-tuning system for sleepers in railway track assembly according to claim 1 is characterized in that: The sleeper posture fine-tuning module (2) comprises a horizontal pushing mechanism (21), a clamping mechanism (22), an air pump (23) and a high-precision three-dimensional camera (24); the horizontal pushing mechanism and the clamping mechanism are respectively fixed to the upper and lower sides of a connecting plate (26), and then the connecting plate (26) is fixed to the vehicle body (4) through a fixing angle piece. A plurality of fixing holes are reserved on the connecting plate (26), the fixing angle piece and the vehicle body (4), so as to facilitate changing the fixing positions of the two mechanisms and the module installation position.

5. The automatic laying and fine-tuning system for sleepers in railway track assembly according to claim 4 is characterized in that: The horizontal push mechanism comprises a double-force cylinder (25) and a push rod (211), which are connected by bolts and are used to adjust the lateral position of the sleeper; the clamping mechanism comprises a double-force cylinder (25), a fixed block (221) fixedly connected to a connecting plate (26), a short clamp arm (222) rotatably connected to the fixed block (221), a clamp arm (223) rotatably connected to the short clamp arm (222), a translation connecting plate (224) fixedly connected to the double-force cylinder (25), and a clamp head (225) rotatably connected to the clamp arm (223).

6. The automatic laying and fine-tuning system for sleepers in railway track assembly according to claim 1, characterized in that: In the sleeper posture fine-tuning module (2), a high-precision three-dimensional camera (24) is fixed in the rear compartment of the vehicle body and is used to scan the sleepers to obtain their posture information, thereby assisting in positioning the vehicle body (4) and rechecking the sleeper posture before adjusting the posture of the target sleeper.

7. The automatic laying and fine-tuning system for sleepers in railway track assembly according to claim 1, characterized in that: The driving positioning module (3) comprises a motor and a reducer (31), a driving positioning module encoder (32), a coupling shaft (33), a synchronous pulley (34), a driving wheel (35) and a driven wheel (36); the motor and the reducer (31) are fixed in the rear compartment of the vehicle body through a torque arm and a bearing seat, and then fixed to the middle of the coupling shaft (33) through a flat key connection; the two synchronous wheels are fixed to the two ends of the coupling shaft by a tension sleeve, and the two synchronous wheels are fixed to the two driving wheels (35) by bolt connection, and the synchronous wheels are driven by a synchronous belt and an idler wheel is installed to keep the synchronous belt tensioned, thereby forming the synchronous pulley (34) driving system movement.

8. The automatic laying and fine-tuning system for sleepers in railway track assembly according to claim 7, characterized in that: Two driven wheels (36) and two driving wheels (35) are respectively fixed to the front and rear sides of the vehicle body so that the vehicle body is located on the running track (6); the driving positioning module encoder (32) is connected to the motor and communicates with the host to control the displacement speed, direction and distance of the vehicle body on the running track.

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