Intelligent adjusting operation robot for gauge of ordinary-speed railway

Abstract

The invention discloses a general speed railway gauge intelligent adjustment operation robot which comprises a main body frame, a walking mechanism, a connecting cross beam and a baffle plate exchange mechanism are arranged at the bottom of the main body frame, the main body frame moves along with the walking mechanism, and the baffle plate exchange mechanism is used for clamping a gauge baffle plate and rotating a gasket. The end part of the connecting cross beam is fixedly connected with the main body frame, the other end of the connecting cross beam is provided with a side rail supporting mechanism and a side rail balancing mechanism, the side rail supporting mechanism is positioned at the bottom of the connecting cross beam, and the side rail balancing mechanism is positioned at the upper part of the connecting cross beam. A bolt loosening and clamping driving module, a guide rail and a bolt loosening and clamping mechanism are arranged on the side face of the main frame, the bolt loosening and clamping mechanism is in sliding connection with the guide rail, the bolt loosening and clamping driving module drives the bolt loosening and clamping mechanism to move along the guide rail, and the bolt loosening and clamping mechanism is used for movably placing an elastic strip, a flat washer and a spike bolt.

Description

Technical Field

[0001] The present invention belongs to the technical field of railway track adjustment equipment, and in particular relates to an intelligent gauge adjustment robot for conventional railways. Background Art

[0002] Railway tracks are the infrastructure for train operation, and the accuracy of their geometric parameters directly affects the safety, stability, and comfort of train operation. Rail fasteners connect the rails to the supporting structure beneath the rails. They are an essential and key component of the railway track structure and an important guarantee for the safe and smooth operation of trains. The track gauge (i.e., the horizontal distance between the inner sides of the two rail heads) is one of the key indicators of track geometry. However, during long-term train operation, the rails are rolled over for a long time, causing the bolts and nuts on the rail fasteners to loosen. This results in a poor tightening of the rails, resulting in a large track gauge offset, which can even affect the safety of train operation. Therefore, the fasteners require daily maintenance, which is a huge workload.

[0003] At present, the development of conventional railways in my country has entered the stage of long-term operation, management, and maintenance, moving from large-scale construction. Maintaining the rail fasteners in normal service is a key task at this stage. In the fastener system, a rubber pad is installed between the rail base and the sleeper bearing groove. The concrete on both sides of the sleeper bearing groove tilts upward and extends outward to form a shoulder. A gauge plate is installed between the rail and the shoulder. The end of the gauge plate facing the rail engages the end of the rubber pad, while the other end of the gauge plate abuts the inner surface of the shoulder. The fastener assembly also includes a spring bar, one end of which is pressed against the upper end surface of the rail base and the other end against the working surface of the gauge plate. One end of the spike bolt passes vertically through the gap in the middle of the spring bar and is screwed onto the sleeper. A flat washer is located between the spring bar and the nut of the spike bolt and is also inserted into the spike bolt. The gauge plates are installed in pairs on both sides of the rail. As the bolts are tightened, the gauge plates on both sides push the rails toward each other.

[0004] Currently, track gauge adjustment is performed manually by railway maintenance personnel. The specific manual operation steps are as follows: manually measuring the track gauge, tightening bolts with a torque wrench, sequentially removing spikes, washers, and spring bars, removing the gauge plates on both sides of the rail, and relocating or reinstalling them with new plates. Due to the narrow space on both sides of the rail and the dense fastener density, manual operation requires frequent tool angle adjustments, which can lead to low work efficiency and pose safety hazards such as tool slippage and over- or under-tightening of bolts. Manual operation is difficult to precisely control and can easily cause rail deviation due to uneven force on one side, exacerbating gauge errors and even affecting the overall elasticity of the fastener system.

[0005] In summary, there is an urgent need for an automated switching device that can automatically measure the track gauge, synchronously operate the track gauge baffles on both sides of the rail, and have high-precision positioning and adaptive clamping functions to solve problems such as low manual efficiency, poor synchronization, and insufficient environmental adaptability, and promote the upgrading of track maintenance towards intelligence and efficiency.

[0006] Among existing technical solutions, the Chinese invention patent with publication number CN117779535A relates to the technical field of replacement or maintenance of sub-rail structural components of high-speed railway ballastless tracks. It discloses an automated system for precise adjustment of high-speed railway rail fasteners. The system uses a track measurement system to measure the rails, and a central control system analyzes and collects data to automatically generate fastener component replacement instructions. The component replacement equipment uses a baffle operating mechanism and a pad operating mechanism to sequentially remove components from the rail fasteners and move them to corresponding waiting positions. The robotic arm feeding mechanism grabs the corresponding new material and feeds it to the baffle operating mechanism and pad operating mechanism. The baffle operating mechanism and pad operating mechanism move to the rail fastener replacement operation area and complete the installation of the corresponding fastener components. This system eliminates manual operation and achieves full automation.

[0007] While this automated system for precise adjustment of high-speed rail fasteners can automate bolt tightening and component replacement, its structure is complex and heavy (no mention of lightweight design) due to its integrated body, multiple crossbeams, gear drive mechanisms, and scrap recycling devices. Some equipment relies on fixed procedures, lacking flexibility. Furthermore, the system is only applicable to high-speed rail fasteners. Summary of the Invention

[0008] The purpose of the present invention is to solve the above problems and provide a conventional railway intelligent gauge adjustment robot that can automatically identify fastener components such as bolts, spring bars, and gauge plates through visual automation, and accurately locate the center points of bolts, the gripping points of spring bars, the edges of gauge plates, etc., to guide the robot to complete repetitive bolt tightening, spring bar gripping, and gauge plate replacement tasks, thereby realizing automated gauge adjustment operations.

[0009] In order to solve the above technical problems, the technical solution of the present invention is: a conventional railway track gauge intelligent adjustment operation robot, including a main frame, a walking mechanism, a connecting beam and a baffle exchange mechanism are provided at the bottom of the main frame, the main frame follows the walking mechanism, and the baffle exchange mechanism is used to clamp the track gauge baffle and the gasket for rotation; the end of the connecting beam is fixedly connected to the main frame, and the other end of the connecting beam is provided with a side rail support mechanism and a side rail balancing mechanism, the side rail support mechanism is located at the bottom of the connecting beam, and the side rail balancing mechanism is located at the upper part of the connecting beam; the side of the main frame is provided with a bolt loosening and clamping drive module, a guide rail and a bolt loosening and clamping mechanism, the bolt loosening and clamping mechanism is slidably connected to the guide rail, the bolt loosening and clamping drive module drives the bolt loosening and clamping mechanism to move along the guide rail, and the bolt loosening and clamping mechanism is used to move and place elastic bars, flat washers and spike bolts.

[0010] Preferably, the running mechanism includes a flat-ground running mechanism and a track running mechanism, and the number of the flat-ground running mechanisms is four and they are distributed in a rectangular shape.

[0011] Preferably, the bolt tightening and loosening clamping mechanism includes a bolt tightening and loosening end actuator and a telescopic clamp, the telescopic clamp includes a clamp upper block, a clamp shaft, a clamp middle connecting rod and a clamp support block, the upper end of the clamp shaft is passed through the clamp upper block, and the other end of the clamp shaft passes through the clamp middle connecting rod and is connected to the bolt tightening and loosening end actuator, and the clamp support block is rotatably connected to the clamp upper block and the clamp middle connecting rod respectively.

[0012] Preferably, the middle connecting rod of the clamp includes a first middle connecting rod of the clamp and a second middle connecting rod of the clamp, the first middle connecting rod of the clamp and the second middle connecting rod of the clamp are rotatably connected, the clamp shaft is passed through the middle of the first middle connecting rod of the clamp, and the end of the second middle connecting rod of the clamp is rotatably connected to the middle of the clamp support block.

[0013] Preferably, the clamping jaw support block is a bent structure, and the end of the clamping jaw support block is provided with a "U"-shaped clamping jaw support block end slot, the end of the clamping jaw support block with the clamping jaw support block end slot is rotatably connected to the clamping jaw upper block, and a clamping jaw support block through slot is provided at the middle bending part of the clamping jaw support block, and the end of the second connecting rod in the middle of the clamping jaw is located in the clamping jaw support block through slot and is rotatably connected to the bent part of the clamping jaw support block, and a clamping jaw support block connecting block is provided at the bottom of the clamping jaw support block, and the clamping jaw support block connecting block is a rectangular structure, and two parallel arranged clamping jaw support block connecting block holes are provided on the clamping jaw support block connecting block.

[0014] Preferably, the baffle exchange mechanism includes a turntable, an upper and lower telescopic cylinder of a parallel clamp mounting beam, a parallel clamp mounting beam and a parallel clamp. The turntable is connected to the parallel clamp mounting beam through the upper and lower telescopic cylinder of the parallel clamp mounting beam. The parallel clamps are located at both ends of the parallel clamp mounting beam. When the turntable rotates, it can drive the parallel clamps to rotate synchronously.

[0015] Preferably, the main body frame is provided with a parking brake switch, a tablet computer display screen, a signal receiving antenna, an alarm indicator light, a headlight and a fastener position identification module; the parking brake switch, the tablet computer display screen, the signal receiving antenna and the alarm indicator light are located at the top of the main body frame, and the headlight and the fastener position identification module are located on the front end surface of the main body frame.

[0016] Preferably, a track gauge detector is provided on the connecting beam for automatic rail distance measurement.

[0017] The beneficial effects of the present invention are:

[0018] 1. The intelligent gauge adjustment robot for conventional railways provided by this invention utilizes 3D vision to achieve high-precision identification and positioning of railroad spike bolts, gauge plates, and other components. This robot replaces manual labor in tightening and loosening bolts and precisely swapping gauge plates, significantly improving operational automation and reducing reliance on operator skills. Its single-operation efficiency is more than double that of manual labor, making it suitable for maintenance operations requiring short downtime and high workloads.

[0019] 2. The present invention avoids the problems of unilateral force unevenness and gauge error caused by manual operation by synchronously operating the gauge baffles on both sides, improves the accuracy of gauge correction, and ensures the stability and operation safety of the train.

[0020] 3. This invention replaces manual high-intensity and high-risk tool operations and is equipped with a real-time torque monitoring and overload protection system to effectively avoid problems such as tool slippage, over-tightening or under-tightening of bolts, and improve on-site operation safety.

[0021] 4. The robot of the present invention has a compact structure, small size, and light weight. It has two walking modes: along the track and on flat ground. It is suitable for complex scenes with dense rail fasteners and limited working space, and enhances environmental adaptability.

[0022] 5. The present invention is equipped with a lighting system that can meet the needs of nighttime operation of railway operation and maintenance and improve the weak light collection defects of the visual system; it has two walking modes: along the rails and on flat ground. It is small in size and light in weight. It is integrated with the existing gauge measurement to realize the automation and intelligence of the gauge adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic structural diagram of a conventional railway track gauge intelligent adjustment robot according to the present invention;

[0024] Figure 2 It is a side structural schematic diagram of the present invention;

[0025] Figure 3 It is a schematic diagram of the axonometric structure of the present invention;

[0026] Figure 4This is a schematic diagram of the main structure of the present invention;

[0027] Figure 5 This is a schematic diagram of the telescopic clamp structure of the present invention;

[0028] Figure 6 This is a schematic structural diagram of the baffle exchange mechanism of the present invention;

[0029] Figure 7 It is a schematic diagram of the parallel clamping jaw structure of the present invention;

[0030] Figure 8 It is a schematic diagram of the bottom structure of the present invention;

[0031] Figure 9 This is a transmission structure diagram of the rear traveling mechanism of the present invention;

[0032] Figure 10 It is a schematic diagram of the internal structure of the present invention.

[0033] Explanation of the reference numerals: 1. Main frame; 2. Parking brake switch; 3. Tablet computer display; 4. Signal receiving antenna; 5. Warning indicator light; 6. Headlight; 7. Fastener position recognition module; 8. Level walking mechanism; 9. Track walking mechanism; 10. Track gauge detector; 11. Connecting beam; 12. Side rail support mechanism; 13. Side rail balancing mechanism; 14. Bolt tightening and clamping drive module; 15. Guide rail; 16. Parallel clamp; 17. Bolt tightening and clamping mechanism; 18. Bolt tightening and clamping end effector; 19. Telescopic clamp; 20. Baffle exchange mechanism; 21. Turntable; 22. Parallel clamp mounting beam upper and lower telescopic cylinder; 23. Parallel clamp mounting beam; 24. Control system module; 25. Baffle exchange mechanism rotation drive module; 26. Guide rail drive motor; 27. Battery module; 28. Travel servo drive motor; 81. Telescopic cylinder of level travel mechanism; 91. Front travel mechanism; 92. Rear travel mechanism; 191. Upper block of clamping jaw; 192. Clamping jaw shaft; 193. Intermediate connecting rod of clamping jaw; 194. Support block of clamping jaw; 911. Roller of front track travel mechanism; 912. Connecting piece of front track travel mechanism; 921. Connecting piece of rear travel mechanism; 922. Roller of rear travel mechanism; 923. Helical gear transmission structure; 1611. Linear motor of parallel clamping jaw drive device; 1612. Connecting block of parallel clamping jaw drive device; 1931. First connecting rod of intermediate clamping jaw; 1932. Second connecting rod of intermediate clamping jaw; 1941. Through slot at end of clamping jaw support block; 1942. Through slot of clamping jaw support block; 1943. Connecting block of clamping jaw support block; 1944. Connecting block hole of clamping jaw support block. DETAILED DESCRIPTION

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0035] like Figures 1 to 10As shown, the present invention provides a conventional railway track gauge intelligent adjustment robot, comprising a main frame 1. A running mechanism, a connecting crossbeam 11, and a baffle exchange mechanism 20 are provided at the bottom of the main frame 1. The main frame 1 moves with the running mechanism, and the baffle exchange mechanism 20 is used to clamp the gauge baffle and rotate the gasket. The connecting crossbeam 11 is fixedly connected to the main frame 1 at one end. A side rail support mechanism 12 is provided at the other end of the connecting crossbeam 11, located at the bottom of the connecting crossbeam 11. A track gauge detector 10 is located above the connecting crossbeam 11. The connecting crossbeam 11 and the side rail support mechanism 12 constitute a side rail balancing mechanism 13, an integrated device for supporting, balancing, and assisting the movement of the main frame. The side of the main frame 1 is provided with a bolt tightening and clamping drive module 14, a guide rail 15 and a bolt tightening and clamping mechanism 17. The bolt tightening and clamping mechanism 17 is slidably connected to the guide rail 15. The bolt tightening and clamping drive module 14 drives the bolt tightening and clamping mechanism 17 to move along the guide rail 15. The bolt tightening and clamping mechanism 17 is used to move and place spring bars, flat washers and spike bolts.

[0036] In this embodiment, a guide rail drive motor 26 is installed at the end of the guide rail 15, which is arranged vertically. The guide rail drive motor 26 is located at the top of the guide rail 15 and is a servo motor. A guide rail drive screw is mounted on the rotating shaft end of the guide rail drive motor 26. A screw block is mounted on the guide rail drive screw, which is connected to the bolt tightening and clamping drive module 14. The screw drives the screw block up and down during rotation, thereby achieving the up and down movement of the bolt tightening and clamping drive module 14. The drive screw and the screw block constitute the existing screw-nut assembly structure.

[0037] The running mechanism includes a flat-ground running mechanism 8 and a track running mechanism 9. There are four flat-ground running mechanisms 8 distributed in a rectangular shape.

[0038] In this embodiment, both the ground travel mechanism 8 and the track travel mechanism 9 are roller-bottomed structures, which can drive the main frame 1 to move synchronously. The ground travel mechanism 8 is a conventional universal wheel structure. A ground travel telescopic cylinder 81 is provided at the top of the ground travel mechanism 8. The ground travel telescopic cylinder 81 is fixedly connected to the main frame 1. The telescopic rod end of the ground travel telescopic cylinder 81 is connected to the ground travel mechanism 8, driving the ground travel mechanism 8 to move up and down. The track travel mechanism 9 includes a front travel mechanism 91 and a rear travel mechanism 92. The front travel mechanism 91 includes a front track travel mechanism roller 911 and a front track travel mechanism connector 912. The front track travel mechanism connector 911 is a bent member with an "N"-shaped cross-section. The front track travel mechanism roller 912 is located in the middle of the front track travel mechanism connector 911 and is rotatably connected. The back of the front track travel mechanism connector 911 is fixedly connected to the main frame 1. The rear traveling mechanism 92 includes a rear traveling mechanism connector 921 and a rear traveling mechanism roller 922. A traveling servo drive motor 28 is installed inside the main frame 1. The cross-section of the rear traveling mechanism connector 921 is "n"-shaped. The rear traveling mechanism roller 922 is located in the middle of the rear traveling mechanism connector 921. The upper end of the rear traveling mechanism connector 921 is fixedly connected to the main frame 1. The rear traveling mechanism connector 921 is a shell component. The rear traveling mechanism connector is internally provided with an existing helical gear transmission structure 923 component. The rotating shaft end of the traveling servo drive motor 28 is connected to the input end of the helical gear transmission structure 923, and the output end of the helical gear transmission structure 923 is connected to the rear traveling mechanism roller 922, thereby achieving the effect of the traveling servo drive motor 28 driving the rear traveling mechanism roller to rotate. The helical gear transmission structure 923 is a gear transmission structure commonly used in the art and is used for transmission steering.

[0039] The bolt tensioning and clamping mechanism 17 includes a bolt tensioning end effector 18 and a retractable clamping jaw 19. The retractable clamping jaw 19 comprises an upper clamping jaw block 191, a clamping jaw shaft 192, an intermediate clamping jaw connecting rod 193, and a clamping jaw support block 194. The upper end of the clamping jaw shaft 192 is inserted into the upper clamping jaw block 191, and the other end of the clamping jaw shaft 192 passes through the intermediate clamping jaw connecting rod 193 and is connected to the bolt tensioning and clamping end effector 18. The clamping jaw support block 197 is rotatably connected to the upper clamping jaw block 191 and the intermediate clamping jaw connecting rod 193, respectively. The bolt tensioning and clamping end effector 18 is an M24 hexagon socket. As the bolt tensioning and clamping drive module 14 rotates and moves up and down, the bolt tensioning and clamping end effector 18 is connected to the clamping jaw shaft 192 as an integral structure.

[0040] In this embodiment, during the extension and retraction process of the jaw shaft 192, the connection between the jaw upper block 191 and the jaw intermediate connecting rod 193 drives the jaw support block 194 to move accordingly, achieving the gripping operation. The top of the jaw shaft 192 is connected to the bolt tensioning and gripping drive module 14, which controls the movement of the jaw shaft 192. As the jaw shaft 192 moves downward, the jaw intermediate connecting rod 193 opens the jaw support block 194. Simultaneously, the bolt tensioning end effector 18 reaches the spike downward, and the sleeve at the end of the bolt tensioning end effector 18 loosens the spike. As the jaw shaft 192 moves upward, the jaw intermediate connecting rod 193 retracts the jaw support block 194 and clamps the spring bar, flat washer, and spiral spike. In this embodiment, the bolt tensioning and gripping drive module 14 is a conventional telescopic rotary motor that enables the rotation and extension of the jaw shaft 192.

[0041] The middle link 193 of the clamp includes a first middle link 1931 of the clamp and a second middle link 1932 of the clamp. The first middle link 1931 of the clamp and the second middle link 1932 of the clamp are rotatably connected. The clamp shaft 192 is passed through the middle of the first middle link 1931 of the clamp, and the end of the second middle link 1932 of the clamp is rotatably connected to the middle of the clamp support block 194.

[0042] The jaw support block 194 has a bent structure. A U-shaped jaw support block end slot 1941 is provided at the end of the jaw support block 194. The end of the jaw support block 194 with the jaw support block end slot 1941 is rotatably connected to the jaw upper block 191. A jaw support block slot 1942 is provided at the middle bend of the jaw support block 194. The end of the second connecting rod 1932 in the middle of the jaw is located within the jaw support block slot 1942 and is rotatably connected to the bent portion of the jaw support block 194. A jaw support block connecting block 1943 is provided at the bottom of the jaw support block 194. The jaw support block connecting block 1943 is a rectangular parallelepiped structure with two parallel jaw support block connecting block holes 1944. During use, the jaw support block connecting block 1943 can tightly fit the clamped part, thereby preventing it from falling off during the clamping process. In this embodiment, the bolt tightening and loosening clamping mechanism 17 is a symmetrical structure.

[0043] The baffle exchange mechanism 20 includes a turntable 21, an upper and lower telescopic cylinder 22 for a parallel clamp mounting beam, a parallel clamp mounting beam 23 and a parallel clamp 16. The turntable 21 is connected to the parallel clamp mounting beam 23 through the upper and lower telescopic cylinder 22 for the parallel clamp mounting beam. The parallel clamp 16 is located at both ends of the parallel clamp mounting beam 23. When the turntable 21 rotates, it can drive the parallel clamp 16 to rotate synchronously.

[0044] In this embodiment, a baffle exchange mechanism rotation drive module 25 is provided within the main frame 1. The baffle exchange mechanism rotation drive module 25 is a baffle exchange drive motor. The rotating shaft end of the baffle exchange drive motor is connected to the turntable 21 and drives the turntable 21 to rotate. The telescopic end of the upper and lower telescopic cylinders 22 of the parallel clamp mounting beam is connected to the parallel clamp mounting beam 23. When the upper and lower telescopic cylinders 22 of the parallel clamp mounting beam extend and retract, they drive the parallel clamp mounting beam 23 and the parallel clamp 16 to move up and down. The parallel clamp 16 is a two-finger clamp, which includes a parallel clamp drive device 161 and a parallel clamp end finger 162. After the parallel clamp 16 reaches the working position, the parallel clamp drive device 161 moves the parallel clamp end finger 162 to the appropriate position to simultaneously clamp the gauge baffle and gasket. In this embodiment, the parallel gripper drive device 161 controls the end finger 162 to move horizontally to a designated position to grip an object. In this embodiment, the parallel gripper drive device 161 includes a parallel gripper drive device linear motor 1611 and a parallel gripper drive device connecting block 1612. The parallel gripper drive device linear motor 1611 is connected to the parallel gripper drive device connecting block 1612, and the other end of the parallel gripper drive device linear motor 1611 is fixedly connected to the parallel gripper mounting beam 23. The bottom of the parallel gripper drive device connecting block 1612 is concave and has a groove-shaped structure. The parallel gripper end finger 162 is a plate-like structure. The end of the parallel gripper end finger 162 is "T"-shaped. The "T"-shaped end of the parallel gripper end finger 162 is located in the groove of the parallel gripper drive device connecting block 1612 and is slidably connected, so it will not fall off in the vertical direction. Independent coils within the parallel gripper's linear motor 1611 and the parallel gripper's end fingers 162 constitute a conventional servo drive. The electromagnetic force generated by the parallel gripper's linear motor 1611 achieves horizontal movement of the parallel gripper's end fingers 162. There are two parallel gripper end fingers 162, and when they move relative to each other, they tighten and loosen the grip on an object.

[0045] The main body frame 1 is provided with a parking brake switch 2, a tablet computer display screen 3, a signal receiving antenna 4, an alarm indicator light 5, a front lighting 6 and a fastener position identification module 7. The parking brake switch 2, the tablet computer display screen 3, the signal receiving antenna 4 and the alarm indicator light 5 are located at the top of the main body frame 1, and the front lighting 6 and the fastener position identification module 7 are located on the front end surface of the main body frame 1.

[0046] A control system module 24 and a battery module 27 are housed within the main vehicle frame 1. These modules are electrically connected to the parking brake switch 2, tablet display 3, signal receiving antenna 4, warning indicator 5, headlight 6, fastener position recognition module 7, and the electric components within the travel mechanism, baffle exchange mechanism 20, and bolt tightening and tightening clamp drive module 14. Battery module 27 provides power to these components. The control system module 24, a conventional control module, controls the operation of these components.

[0047] The parking brake switch 2 is electrically connected to the track running mechanism 9 to control the movement and stop of the track running mechanism 9. A track gauge detector 10 is provided on the connecting beam 11 for automatic distance measurement of the rails.

[0048] In this embodiment, the main frame 1 primarily supports the encapsulated internal components. Two guide rails 15 are designed on either side, allowing the bolt tightening and loosening gripping mechanism 17 to slide up and down within the guide rails 15 to prevent interference with the baffle exchange mechanism 20, which is connected to the main frame 1. The main frame 1 is connected to the side rail support mechanism 12 on the other track via a connecting crossbeam 11. The gauge detector 10 provided on the connecting crossbeam 11 is used for automatic rail distance measurement. The gauge detector 10 transmits the gauge data back to the control system module 24 within the main frame 1. The fastener position recognition module 7 is an industrial-grade 3D camera installed in front of the main frame 1. The fastener position recognition module 7 can obtain high-precision spike bolt positions and guide the robot to complete bolt tightening and loosening. During operation, the control system module sends a working command to precisely position the main frame 1 and the bolt tensioning and clamping mechanism 17. Once in position, the bolt tensioning and clamping mechanism 17 begins loosening the spike bolts. The retractable clamping jaws 19 then clamp the spring bar, flat washer, and spike bolt together, raising the bolt to a certain height along the guide rail 15. During this operation, the baffle exchange mechanism 20 is in a waiting position, with parallel clamping jaws 16 at both ends positioned forward and backward along the track. After the bolt tensioning and clamping mechanism 17 moves upward to the non-interference position, the turntable 21 at the bottom of the main frame 1 controls the baffle exchange mechanism 20 to rotate 90° to the working position. The parallel clamping jaws 16 at both ends of the baffle exchange mechanism 20 clamp the gauge plate and shim. The turntable rotates 180°, placing the parallel clamping jaws 16 in place to swap the gauge plate positions. The turntable 21 then rotates 90°, returning the baffle exchange mechanism 20 to the waiting position. After the bolt tensioning and loosening gripping mechanism 17 descends along the guide rail 15 into position, the retractable gripping jaw 19 returns the spring bar, flat washer, and spike bolt to their original positions. The bolt tensioning and loosening end effector 18 then tightens the spike bolt. This completes the automated track gauge adjustment operation at that location. The robot continues along the track, and the gauge detector 10 measures the rail gauge. Once the location with the largest gauge deviation is detected, the automated adjustment process is repeated.

[0049] The track-based robot is driven by the track travel mechanism 9 while operating along the track. The four running wheels of the ground travel mechanism 8 can be retracted into the main frame 1. After the track operation is completed, the ground travel mechanism 8 extends downward, lifting the main frame 1 until the other parts of the robot no longer interfere with the ground. The running wheels support the robot's movement on the ground.

[0050] The present invention aims to solve the problem of automated and intelligent gauge adjustment in the operation and maintenance of conventional railways. In view of the scenario where rail fastener maintenance operations require integrated distance measurement, automated bolt tightening, intelligent clamping and precise installation of gauge baffles to adjust the gauge, an embodied intelligent robot for conventional railway gauge adjustment operations is invented. Through 3D vision, fastener components such as bolts, spring bars, and gauge baffles are automatically identified, and high-precision positioning of bolt center points, spring bar grabbing points, and gauge baffle edges is performed. The robot is guided to complete repetitive bolt tightening, spring bar grabbing, and gauge baffle replacement tasks to achieve automated gauge adjustment operations. The robot is equipped with a lighting system that can meet the nighttime operation needs of railway operation and maintenance and improve the weak light acquisition defects of the visual system. The robot has two walking modes: along the rails and on flat ground. It is small in size and light in weight. It is integrated with existing gauge measurement to achieve automated and intelligent gauge adjustment.

[0051] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and it should be understood that the scope of protection of the present invention is not limited to such specific descriptions and embodiments. Those skilled in the art can make various other specific variations and combinations based on the technical teachings disclosed in the present invention without departing from the essence of the present invention, and such variations and combinations are still within the scope of protection of the present invention.

Claims

1. A robot for intelligently adjusting track gauge of conventional railways, characterized by: The invention comprises a main frame (1), wherein a traveling mechanism, a connecting crossbeam (11) and a baffle exchange mechanism (20) are provided at the bottom of the main frame (1); the main frame (1) moves along with the traveling mechanism; the baffle exchange mechanism (20) is used to clamp the gauge baffle and the gasket for rotation; the end of the connecting crossbeam (11) is fixedly connected to the main frame (1); the other end of the connecting crossbeam (11) is provided with a side rail support mechanism (12) and a side rail balancing mechanism (13); the side rail support mechanism (12) is located at the end of the connecting crossbeam (11); The bottom and side rail balancing mechanisms (13) are located on the upper part of the connecting crossbeam (11); the side of the main frame (1) is provided with a bolt loosening and tightening clamping driving module (14), a guide rail (15) and a bolt loosening and tightening clamping mechanism (17); the bolt loosening and tightening clamping mechanism (17) is slidably connected to the guide rail (15); the bolt loosening and tightening clamping driving module (14) drives the bolt loosening and tightening clamping mechanism (17) to move along the guide rail (15); the bolt loosening and tightening clamping mechanism (17) is used to move and place elastic bars, flat washers and spike bolts.

2. The conventional railway track gauge intelligent adjustment robot according to claim 1, characterized in that: The running mechanism comprises a flat-ground running mechanism (8) and a track running mechanism (9), and the number of the flat-ground running mechanisms (8) is four and they are distributed in a rectangular shape.

3. The conventional railway track gauge intelligent adjustment robot according to claim 1, characterized in that: The bolt tightening and loosening clamping mechanism (17) comprises a bolt tightening and loosening end effector (18) and a telescopic clamping jaw (19). The telescopic clamping jaw (19) comprises a clamping jaw upper block (191), a clamping jaw shaft (192), a clamping jaw intermediate connecting rod (193) and a clamping jaw support block (194). The upper end of the clamping jaw shaft (192) is passed through the clamping jaw upper block (191), and the other end of the clamping jaw shaft (192) passes through the clamping jaw intermediate connecting rod (193) and is connected to the bolt tightening and loosening end effector (18). The clamping jaw support block (197) is rotatably connected to the clamping jaw upper block (191) and the clamping jaw intermediate connecting rod (193) respectively.

4. The conventional railway track gauge intelligent adjustment robot according to claim 1, characterized in that: The middle connecting rod (193) of the clamping jaw includes a first middle connecting rod (1931) and a second middle connecting rod (1932) of the clamping jaw. The first middle connecting rod (1931) and the second middle connecting rod (1932) of the clamping jaw are rotatably connected. The clamping jaw shaft (192) is passed through the middle of the first middle connecting rod (1931) of the clamping jaw, and the end of the second middle connecting rod (1932) of the clamping jaw is rotatably connected to the middle of the clamping jaw support block (194).

5. The conventional railway track gauge intelligent adjustment robot according to claim 1, characterized in that: The clamping jaw support block (194) is of a bent structure. The end of the clamping jaw support block (194) is provided with a U-shaped clamping jaw support block end slot (1941). The end of the clamping jaw support block (194) with the clamping jaw support block end slot (1941) is rotatably connected to the clamping jaw upper block (191). A clamping jaw support block slot (1942) is provided at the middle bending portion of the clamping jaw support block (194). The end of the second connecting rod (1932) in the middle of the clamping jaw is located in the clamping jaw support block slot (1942) and is rotatably connected to the bending portion of the clamping jaw support block (194). A clamping jaw support block connecting block (1943) is provided at the bottom of the clamping jaw support block (194). The clamping jaw support block connecting block (1943) is of a rectangular parallelepiped structure and is provided with two parallelly arranged clamping jaw support block connecting block holes (1944).

6. The conventional railway track gauge intelligent adjustment robot according to claim 1, characterized in that: The baffle exchange mechanism (20) comprises a turntable (21), a parallel clamping jaw mounting beam upper and lower telescopic cylinder (22), a parallel clamping jaw mounting beam (23) and a parallel clamping jaw (16). The turntable (21) is connected to the parallel clamping jaw mounting beam (23) via the parallel clamping jaw mounting beam upper and lower telescopic cylinder (22). The parallel clamping jaw (16) is located at both ends of the parallel clamping jaw mounting beam (23). When the turntable (21) rotates, the parallel clamping jaw (16) can be driven to rotate synchronously.

7. The conventional railway track gauge intelligent adjustment robot according to claim 1, characterized in that: The main body frame (1) is provided with a parking brake switch (2), a tablet computer display screen (3), a signal receiving antenna (4), an alarm indicator light (5), a front lighting lamp (6) and a fastener position identification module (7); the parking brake switch (2), the tablet computer display screen (3), the signal receiving antenna (4) and the alarm indicator light (5) are located at the top of the main body frame (1); and the front lighting lamp (6) and the fastener position identification module (7) are located on the front end surface of the main body frame (1).

8. The conventional railway track gauge intelligent adjustment robot according to claim 1, characterized in that: The connecting crossbeam (11) is provided with a track gauge detector (10) for automatically measuring the distance of the rails.

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