Railway engineering roadbed protection fence installation machinery and installation method

Abstract

The present invention relates to the field of railway roadbed protection fences, and specifically discloses a railway engineering roadbed protection fence installation machine and an installation method, including an installation unit arranged on a crawler machine, the installation unit including a three-degree-of-freedom drive mechanism, the three-degree-of-freedom drive mechanism is provided with a clamping claw, and the clamping claw can grab a fence. The purpose of the present invention is to solve the technical problem of how to automatically install a fence.

Description

Technical Field

[0001] The invention relates to the field of railway roadbed protection fences, and specifically discloses a railway engineering roadbed protection fence installation machine and an installation method. Background Art

[0002] Railway roadbed protection fence is a kind of isolation and protection structure used on both sides and borders of railways. It is generally made of steel structure and galvanized on the outside. In the existing technology, manual handling or crane hoisting is mostly adopted. The manual handling method is time-consuming and labor-intensive and has been gradually eliminated. The crane hoisting method is relatively simple to operate and has low cost. The disadvantage is that the fence needs to be manually moved for positioning and installation. At the same time, there is also a safety risk of falling during the hoisting process.

[0003] Application No. 202022879947.8 discloses an auxiliary lifting tool for the upper sill of a high-speed railway roadbed protection fence, which relates to the field of construction, including a pair of main frames hinged by high-strength connecting bolts, an L-shaped support plate connected to the inner side of the bottom end of the pair of main frames, and a reinforcement connected between the main frame and the L-shaped support plate. The main frame includes a vertical portion and an inclined portion inclined inward along the vertical portion. The angle between the vertical portion and the inclined portion is 135°. An arc-shaped opening is opened on the inner side of the middle of the vertical portion, a lifting hole is opened at the top of the inclined portion, and a hinged hole is opened at the upper part of the inclined portion. This patent solves the problems of traditional manual handling being cumbersome and laborious, having high safety risks, and low construction efficiency.

[0004] The above patent mainly solves the technical problem of safe hoisting of the fence and improves safety. However, during installation, the fence still needs to be manually supported to the specified position and then installed. The manual operation steps cannot be completely eliminated, resulting in low installation efficiency and poor installation accuracy. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a railway engineering roadbed protection fence installation machine and installation method to solve the technical problem of how to automatically install the fence.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: A railway engineering roadbed protection fence installation machine includes an installation unit arranged on a crawler machine, the installation unit includes a three-degree-of-freedom drive mechanism, and the three-degree-of-freedom drive mechanism is provided with a clamping claw, and the clamping claw can grab the fence. In this solution, a three-degree-of-freedom drive mechanism with three degrees of freedom is installed on an existing crawler machine, and the mechanism is provided with a clamping claw, and the clamping claw can grab the fence, so that the automatic grabbing and installation of the fence can be realized. Crawler machines generally use crawler excavators or crawler wood grabbers. The bucket of the excavator / claws of the wood grabber are removed and then the three-degree-of-freedom drive mechanism and the clamping claw in this solution are installed.

[0007] Optionally, the three-degree-of-freedom drive mechanism includes a first degree-of-freedom driver, a first mounting panel, a second degree-of-freedom driver, a second mounting panel, a third degree-of-freedom driver, and a third mounting panel; the first mounting panel is fixedly set on the first degree-of-freedom driver, and the first mounting panel can rotate; the second degree-of-freedom driver is set on the first panel, and the second degree-of-freedom driver is provided with a second mounting panel, and the second mounting panel can move horizontally left and right; the third degree-of-freedom driver is set on the second mounting panel, and the third mounting panel is set on the third degree-of-freedom driver, and the third mounting panel can move vertically up and down; the clamp is set on the third mounting panel.

[0008] Optionally, the first degree of freedom driver includes a rotary motor, and the first mounting panel is arranged on the output end of the rotary motor; the second degree of freedom driver includes at least two horizontally arranged horizontal linear motors, and the second mounting panel includes a second left panel and a second right panel, and the second left panel and the second right panel are respectively arranged on the two horizontal linear motors; the third degree of freedom driver includes four vertical linear motors, and the vertical linear motors are respectively arranged on the second left panel and the second right panel; there are four third mounting panels, and the third mounting panel is arranged on the vertical linear motor, and the clamp is arranged on the third mounting panel. In this solution, rotary motors, horizontal linear motors and vertical linear motors are used. The motors have high precision and fast moving speed. The disadvantage is that the power provided by the motors is slightly small, but this device is used to grab the fence, and the weight of the fence itself is relatively light, and there is no need to use hydraulic or pneumatic power.

[0009] Optionally, the clamp includes a pneumatic clamp, which includes two clamp bodies, the cross-section of the clamp body is rectangular, and a plurality of raised mounting platforms are formed at opposite ends of the two clamp bodies, and a pressure sensor is arranged on the mounting platform. A foam gasket is also arranged on the clamp body, and a plurality of grooves are formed in the foam gasket to accommodate the mounting platform. In this scheme, the clamp is used to clamp the fence, so the clamp must use a pneumatic structure with greater strength. A mounting platform is arranged on the side of the clamp, and a pressure sensor is arranged on the mounting platform. When the clamp grasps the fence body, the pressure sensor can read the pressure between the clamp and the fence to determine the size of the clamp's grip. When the clamp's grip reaches the set value, the clamp can stop gripping to prevent the clamp from destroying the structure of the fence body. The foam gasket can prevent the clamp and the fence body from being worn due to contact.

[0010] Optionally, among the four clamps, the upper ends of the two upper clamps and the lower ends of the two lower clamps are formed with a raised mounting platform, and the mounting platform is covered with a foam gasket. In this solution, the vertical linear motor can drive the upper two of the four clamps to move upward and the lower two to move downward, so as to open the fence from the upper and lower ends for fixing. In order to prevent the clamps from applying force to the fence and causing deformation of the fence, a pressure sensor is also provided at the upper / lower end of the clamp. When the value detected by the pressure sensor reaches the set value, the vertical linear motor is turned off.

[0011] Optionally, a positioning unit is also included, and the positioning unit includes a verticality positioning mechanism and a position positioning mechanism. The verticality positioning mechanism is used to maintain the verticality of the third mounting panel and the clamping claw, and the position positioning mechanism is used to locate the installation position of the fence. With this solution, the verticality positioning mechanism can ensure that the third mounting panel and the clamping claw are in a vertical state to ensure that the fence is vertical, which is convenient for subsequent installation. The position positioning mechanism can locate the position of the fence for accurate grasping.

[0012] Optionally, the verticality positioning mechanism includes a vertical reference point and a vertical detector, and the vertical detector is arranged on the side of the first mounting panel facing the crawler machinery; the position positioning mechanism includes two grabbing detectors and an installation detector, and the fence is provided with a grabbing reflection point and an installation reflection point, the grabbing detector can detect the position of the grabbing reflection point, and the installation detector can detect the position of the installation reflection point.

[0013] The installation method of the railway engineering roadbed protection fence installation machinery includes the following steps: S1, stack the fence next to the railway embankment; S2, start the crawler machine, grab the fence through the installation unit, and before grabbing, it needs to be positioned through the grab detector to determine the position of the clamp when grabbing the fence; when grabbing, start the second degree of freedom driver, which can drive the clamp to move horizontally to a position where it can be clamped, and then start the clamp to complete the initial clamping. During the initial clamping, the clamping force can be judged by the lateral pressure sensor; S3, after the initial clamping is completed, the fence is flipped to a vertical state, and then the third degree of freedom driver is started. The third degree of freedom driver can drive the upper two clamping jaws to move upward and drive the lower two clamping jaws to move downward. The pressure sensors at the upper end / lower end of the clamping jaws are used to determine whether the clamping jaws have moved to the upper and lower limit positions, and whether the clamping jaws have applied vertical upward and vertical downward thrusts to the fence for a more stable clamping; S4, grab the fence and move it to a designated position by a crawler machine, and then use a vertical detector to detect the verticality of the third mounting panel to ensure that the fence is in a vertical state; S5, detecting the position of the fixed fence by installing a detector for positioning, and then moving the fence to the designated position and installing it.

[0014] Optionally, the fence includes a fence body, a middle mounting node and an end mounting node, there are two middle mounting nodes distributed in the middle of both sides of the fence body, there are four end mounting nodes and they are respectively arranged on the four end sides of the fence body; the grabbing reflection point is arranged on the front and rear sides of the middle mounting node, and the installation reflection point is arranged on the fence body; the end mounting nodes of two adjacent fence bodies can be connected and fixed to each other.

[0015] The working principle and beneficial effects of this solution are: In this solution, a three-degree-of-freedom drive mechanism is used to drive the movement of the clamp. The clamp can locate the fence grabbing position and the fence installation position. After positioning, the clamp is grabbed and moved to the designated position for installation. A pressure sensor is set on the clamp, which is mainly used to control the gripping force of the clamp to prevent the clamp from damaging the fence structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an embodiment; Figure 2 This is a schematic diagram of the structure of the fence; Figure 3 is a schematic diagram of the structure of the installation unit; Figure 4 It is a partial structural exploded view of the installation unit; Figure 5 is a schematic diagram of the structure of the gripper; Figure 6 It is a schematic diagram of the structure of the foam gasket.

[0017] The markings in the accompanying drawings are as follows: crawler machinery 1, mounting unit 2, first degree of freedom driver 3, first mounting panel 4, second degree of freedom driver 5, second limiting groove 6, second mounting panel 7, third degree of freedom driver 8, clamp 9, grabbing detector 10, installation detector 11, thick fence 12, thin vertical rod 13, thick vertical rod 14, grabbing reflection point 15, end mounting node 16, middle mounting node 17, installation reflection point 18, second limiting rail 19, pneumatic claw 20, claw body 21, mounting table 22, foam gasket 23, pressure sensor 24. DETAILED DESCRIPTION

[0018] The following is further described in detail through specific implementation methods: Example A fence, such as Figure 1-Figure 6As shown, the fence includes a fence body, a middle installation node 17 and an end installation node 16. The fence body includes four thick fences 12 in a rectangular shape, two vertical thick vertical rods 14 and a plurality of vertical thin vertical rods 13. The thick vertical rods 14 are symmetrically fixed in the thick fence 12, and the thin vertical rods 13 are evenly fixed in the thick fence 12 along the horizontal direction. There are two middle installation nodes 17 and they are fixedly distributed in the middle of both sides of the fence body. There are four end installation nodes 16 and they are fixedly distributed on the four end sides of the fence body. The front and rear sides of the middle installation node 17 are both provided with grabbing reflection points 15. The front and rear ends of the thick vertical rods 14 of the fence body are both provided with installation reflection points 18. The end installation nodes 16 of two adjacent fence bodies can be connected and fixed to each other.

[0019] A railway engineering roadbed protection fence installation machine includes an installation unit 2 and a positioning unit arranged on a crawler machine 1. The crawler machine 1 can be an excavator or a wood grabber. When modifying it, the bucket of the excavator / claw of the wood grabber can be directly removed, and then the installation unit 2 in this embodiment can be installed. The specific installation requires some adaptive adjustments, and these adjustments are very easy to implement by those skilled in the art, so the specific structure and installation method will not be described in detail.

[0020] The mounting unit 2 includes a three-degree-of-freedom driving mechanism, which includes a first degree-of-freedom driver 3, a first mounting panel 4, a second degree-of-freedom driver 5, a second mounting panel 7, a third degree-of-freedom driver 8 and a third mounting panel.

[0021] The first degree of freedom driver 3 includes a rotary motor, which is fixedly mounted on the crawler machine 1 through a frame, and a first mounting panel 4 is fixedly mounted on an output end of the rotary motor. The first mounting panel 4 can rotate under the drive of the rotary motor.

[0022] The second degree of freedom driver 5 includes at least two horizontally arranged horizontal linear motors, which are fixedly arranged in the middle of the first mounting panel 4. The second mounting panel 7 includes a second left panel and a second right panel, which are respectively arranged on two horizontal linear motors, and the second mounting panel 7 can move horizontally. Second limiting rails 19 are fixedly arranged at the upper and lower ends of the back of the second mounting panel 7, and two horizontal second limiting grooves 6 are arranged on the first mounting panel 4. The upper and lower second limiting rails 19 are respectively slidably arranged in the upper and lower second limiting grooves 6. In the actual construction process, the specific position of the second mounting panel 7 is pre-adjusted according to the size of the fence body so that the spacing between the second left panel and the second right panel is fixed, which can ensure that the spacing between the left and right clamps 9 is fixed to accurately grasp the fence body.

[0023] The third degree of freedom driver 8 includes four vertical linear motors, which are arranged in pairs on the second left panel and the second right panel. There are four third mounting panels, which are fixedly arranged on the four vertical linear motors respectively. There are four clamps 9, which are fixedly arranged on the four third mounting panels respectively.

[0024] The clamping jaw 9 includes a pneumatic jaw 20, and the pneumatic jaw 20 includes two horizontally opposite claw bodies 21. The pneumatic jaw 20 belongs to a very mature prior art, and in this embodiment, the claw body 21 of the pneumatic jaw 20 is mainly improved. The cross-section of the claw body 21 is rectangular, and a plurality of raised mounting platforms 22 are formed at the opposite ends of the two claw bodies 21, and the mounting platforms 22 are rectangular column-shaped. The upper ends of the claw bodies 21 of the two clamping jaws 9 located above and the lower ends of the claw bodies 21 of the two clamping jaws 9 located below are both formed with raised mounting platforms 22. The size of the mounting platforms 22 is small, and the length and width of the cross-section are less than 1 cm, and the height is less than 3 cm. Pressure sensors 24 are arranged on several mounting platforms 22, and foam gaskets 23 are also arranged on the sides of the claw bodies 21, and a plurality of grooves are formed in the foam gaskets 23 to accommodate the mounting platforms 22. The thickness of the foam gasket 23 is at least 0.2 cm. The foam gasket 23 can cover the mounting platform 22 , and a plurality of slots are provided on the foam gasket 23 to accommodate the mounting platform 22 .

[0025] The positioning unit includes a verticality positioning mechanism and a position positioning mechanism. The verticality positioning mechanism is used to maintain the verticality of the third mounting panel and the clamp 9, and the position positioning mechanism is used to locate the installation position of the fence. The verticality positioning mechanism includes a vertical reference point and a vertical detector. The vertical detector is arranged on the side of the first mounting panel 4 facing the crawler machine 1, and the vertical reference point is arranged on the mechanical arm of the crawler machine 1. The position positioning mechanism includes two grabbing detectors 10 and an installation detector 11. A grabbing reflection point 15 and an installation reflection point 18 are arranged on the fence, and the grabbing detector 10 can detect the position of the grabbing reflection point 15, and the installation detector 11 can detect the position of the installation reflection point 18. The grabbing detector 10 is arranged on the second left panel and the second right panel, and the grabbing reflection point 15 is arranged on the thick vertical rod 14 of the fence body. The installation detector 11 is arranged on the first panel, and the installation reflection point 18 is arranged on the middle installation node 17. The grab detector 10 and the installation detector 11 can both use laser detection related devices, such as infrared devices; the installation reflection point 18 and the grab reflection point 15 are made of metal products, related products with good reflection effect. The fence body needs to be coated with anti-corrosion paint, and the paint is generally selected from related products with poor reflection effect.

[0026] The installation method of the railway engineering roadbed protection fence installation machinery includes the following steps: S1, stack the fence next to the railway embankment; S2, start the crawler machine 1, grab the fence through the installation unit 2, and before grabbing, it needs to be positioned through the grab detector 10 to determine the position of the clamping claw 9 when grabbing the fence; when grabbing, start the second degree of freedom driver 5, the second degree of freedom driver 5 can drive the clamping claw 9 to move horizontally, so that the clamping claw 9 moves to a position where it can be clamped, and then start the clamping claw 9 to complete the initial clamping. During the initial clamping, the clamping force can be judged by the lateral pressure sensor 24; S3, after the initial clamping is completed, the fence is flipped to a vertical state, and then the third degree of freedom driver 8 is started. The third degree of freedom driver 8 can drive the two upper clamping jaws 9 to move upward, and drive the two lower clamping jaws 9 to move downward. The pressure sensor 24 at the upper end of the clamping jaw 9 / the lower end of the clamping jaw 9 is used to determine whether the clamping jaw 9 has moved to the upper and lower limit positions, and whether the clamping jaw 9 applies a vertical upward and vertical downward thrust to the fence for a more stable clamping; S4, after grabbing the fence, the crawler machine 1 is used to move it to a designated position, and then the verticality of the third mounting panel is detected by a vertical detector to ensure that the fence is in a vertical state; S5, detecting the position of the fixed fence by installing the detector 11 for positioning, and then moving the fence to the designated position and installing it.

[0027] In this embodiment, the mechanical arm of the crawler machine 1 itself has a certain steering ability, that is, it has the ability to drive several degrees of freedom. Then, combined with the three-degree-of-freedom drive mechanism of the installation unit 2 itself, it can be better used to grasp and install the fence. The three-degree-of-freedom drive mechanism mostly adopts a motor structure, which has the advantages of high precision and fast response, just making up for the shortcomings of the mechanical arm of the crawler machine 1 itself. The pneumatic form of the clamp 9 can provide better gripping force and facilitate clamping. In this embodiment, a grasping detector 10 and an installation detector 11 are also provided. The former is used to locate the relative position of the clamp 9 and the fence for accurate grasping, and the latter is used to locate the relative position of the clamp 9 and the installed fence for accurate alignment and installation. During installation, manual operation is still required, but only manual welding or bolt connection operations are required, which greatly reduces the labor requirements compared to the existing technology. At the same time, compared with hoisting, it can also avoid the safety risk of the fence falling.

[0028] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the present invention.

Claims

1. A railway engineering roadbed protection fence installation machine, characterized by: The invention comprises a mounting unit arranged on a crawler machine, wherein the mounting unit comprises a three-degree-of-freedom driving mechanism, and a clamping claw is arranged on the three-degree-of-freedom driving mechanism, and the clamping claw can grasp a fence.

2. The railway engineering roadbed protection fence installation machine according to claim 1 is characterized by: The three-degree-of-freedom drive mechanism includes a first degree-of-freedom driver, a first mounting panel, a second degree-of-freedom driver, a second mounting panel, a third degree-of-freedom driver, and a third mounting panel; the first mounting panel is fixedly set on the first degree-of-freedom driver, and the first mounting panel can rotate; the second degree-of-freedom driver is set on the first panel, and the second degree-of-freedom driver is provided with a second mounting panel, and the second mounting panel can move horizontally left and right; the third degree-of-freedom driver is set on the second mounting panel, and the third mounting panel is set on the third degree-of-freedom driver, and the third mounting panel can move vertically up and down; the clamp is set on the third mounting panel.

3. The railway engineering roadbed protection fence installation machine according to claim 2 is characterized by: The first degree of freedom driver includes a rotary motor, and the first mounting panel is arranged on the output end of the rotary motor; the second degree of freedom driver includes at least two horizontally arranged horizontal linear motors, and the second mounting panel includes a second left panel and a second right panel, and the second left panel and the second right panel are respectively arranged on the two horizontal linear motors; the third degree of freedom driver includes four vertical linear motors, and the vertical linear motors are respectively arranged on the second left panel and the second right panel; there are four third mounting panels, and the third mounting panels are arranged on the vertical linear motors, and the clamp is arranged on the third mounting panel.

4. The railway engineering roadbed protection fence installation machine according to claim 3 is characterized by: The clamping jaws include a pneumatic jaw, which includes two jaw bodies. The cross-section of the jaw bodies is rectangular, and a plurality of raised mounting platforms are formed at opposite ends of the two jaw bodies. A pressure sensor is arranged on the mounting platform. A foam gasket is also arranged on the jaw body, and a plurality of grooves are formed in the foam gasket to accommodate the mounting platform.

5. The railway engineering roadbed protection fence installation machine according to claim 4 is characterized by: Among the four clamping jaws, the upper ends of the jaw bodies of the two upper clamping jaws and the lower ends of the jaw bodies of the two lower clamping jaws are both formed with raised mounting platforms, and the mounting platforms are covered with foam gaskets.

6. The railway engineering roadbed protection fence installation machine according to claim 5 is characterized by: It also includes a positioning unit, which includes a verticality positioning mechanism and a position positioning mechanism. The verticality positioning mechanism is used to maintain the verticality of the third installation panel and the clamping claw, and the position positioning mechanism is used to locate the installation position of the fence.

7. The railway engineering roadbed protection fence installation machine according to claim 6 is characterized by: The verticality positioning mechanism includes a vertical reference point and a vertical detector, and the vertical detector is arranged on the side of the first mounting panel facing the crawler machinery; the position positioning mechanism includes two grabbing detectors and an installation detector, and the fence is provided with a grabbing reflection point and an installation reflection point. The grabbing detector can detect the position of the grabbing reflection point, and the installation detector can detect the position of the installation reflection point.

8. The installation method of the railway engineering roadbed protection fence installation machine is characterized by: The following steps are involved: S1, stack the fence next to the railway embankment; S2, start the crawler machine, grab the fence through the installation unit, and before grabbing, it needs to be positioned through the grab detector to determine the position of the clamp when grabbing the fence; when grabbing, start the second degree of freedom driver, which can drive the clamp to move horizontally to a position where it can be clamped, and then start the clamp to complete the initial clamping. During the initial clamping, the clamping force can be judged by the lateral pressure sensor; S3, after the initial clamping is completed, the fence is flipped to a vertical state, and then the third degree of freedom driver is started. The third degree of freedom driver can drive the upper two clamping jaws to move upward and drive the lower two clamping jaws to move downward. The pressure sensors at the upper end / lower end of the clamping jaws are used to determine whether the clamping jaws have moved to the upper and lower limit positions, and whether the clamping jaws have applied vertical upward and vertical downward thrusts to the fence for a more stable clamping; S4, grab the fence and move it to a designated position by a crawler machine, and then use a vertical detector to detect the verticality of the third mounting panel to ensure that the fence is in a vertical state; S5, detecting the position of the fixed fence by installing a detector for positioning, and then moving the fence to the designated position and installing it.

9. The method for installing a railway engineering roadbed protection fence installation machine according to claim 8, characterized in that: The fence includes a fence body, a middle installation node and an end installation node. There are two middle installation nodes distributed in the middle of both sides of the fence body, and there are four end installation nodes respectively arranged on the four end sides of the fence body; the grabbing reflection point is arranged on the front and rear sides of the middle installation node, and the installation reflection point is arranged on the fence body; the end installation nodes of two adjacent fence bodies can be connected and fixed to each other.

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