Automatic ballast raking device for railway ballast track

Abstract

The invention provides an automatic ballast raking device for a railway ballast track. The device comprises an automatic walking module, a line state sensing module, a railway ballast cleaning module, a ballast raking module and an operation control system, wherein the railway ballast cleaning module is used for cleaning railway ballast covering the end part of a sleeper, the middle part of the sleeper and the surface of a fastener through a sweeper; sleeper end images are shot in real time through a visual sensor, a line state sensing module collects three-dimensional point cloud data of a ballast bed and the surrounding environment through a laser radar, and an operation control system recognizes the positions of sleepers according to the received sleeper end images and extracts the distance between the sleepers and the position of a sleeper box area. And according to the received ballast bed point cloud data, identifying and modeling a ballast bed profile before operation, calculating ballast raking amounts and ballast raking directions at different positions, and generating an operation mode and operation parameters. According to the device, automatic obstacle avoidance in the walking process is achieved, and self-adaptive adjustment and accurate control of operation parameters are achieved according to the track bed profile. Manual intervention is not needed in the whole operation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ballast track, and particularly relates to an automatic ballast cleaning and loading device for railway ballast track. BACKGROUND

[0002] Ballast track is an important infrastructure of railway and is widely used at home and abroad. However, under the long-term coupling effect of high-frequency impact load of trains and complex service environment, the deterioration of broken stone ballast such as abrasion, crushing and pulverization occurs, and the invasion of external dust and small particles of the lower subgrade causes the gradual aggravation of the dirtiness of the track bed. The dirtiness seriously reduces the elasticity and drainage performance of the track bed, leading to the difficulty in maintaining the line geometric position and endangering the driving safety. In order to ensure the good service performance of the ballast track, the track bed needs to be maintained and repaired regularly.

[0003] At present, in the maintenance and repair of railway ballast track, the existing technology mainly adopts two operation forms of ballast distribution and shaping vehicle device shaping and manual ballast cleaning to adjust the distribution of ballast.

[0004] Ballast distribution and shaping vehicle is a large road maintenance device, which pushes the loose and unevenly accumulated ballast on the surface of the track bed as a whole through the equipped middle plow, side plow and other mechanisms, and combines the sweeping and ballast supplementing device to arrange the ballast into a flat distribution meeting the standard track bed section requirements. The ballast distribution and shaping vehicle is mainly used for new line construction and major repair construction, and can effectively rectify the large-scale track bed deformation such as ballast shoulder collapse and sleeper box overflow caused by the operation of track bed screening and sleeper replacement, so as to restore the standard section profile of the track bed.

[0005] Manual ballast cleaning is to use shovel, rake, ballast basket and other tools to dig and take ballast by the operating personnel, and the excess ballast in the track core and ballast shoulder is transported to the ballast deficient position by manual transportation, and the top surface of the sleeper and the track bed section are cleaned and corrected. Compared with the large road maintenance device, manual ballast cleaning has stronger flexibility and adaptability, can meet the needs of tamping operation after screening, and can supplement ballast to the sleeper box area under the rail, so as to improve the tamping quality and operation effect.

[0006] The disadvantages of the ballast distribution and shaping vehicle and manual ballast cleaning in the existing technology of railway ballast track maintenance and repair include:

[0007] (1) Manual ballast cleaning

[0008] Manual ballast cleaning relies on manpower to finish track bed maintenance, which has problems of heavy workload, high labor intensity, low labor efficiency and much repetitive labor. Even if dozens of people work on the track at the same time, the working speed is far behind the device operation, which becomes the key bottleneck of the overall construction efficiency of ballast track maintenance. A large number of workers and large machines such as ballast cleaning car and tamping car working on the line not only greatly increase the difficulty of on-site construction organization, but also bring great safety risks. At the same time, the quality of manual ballast cleaning depends on the technical level and experience of the workers, and it is easy to have uneven operation quality, which is difficult to ensure the overall uniformity of the line state after maintenance. Overall, with the continuous rise of labor costs, this high investment and low efficiency operation mode has been difficult to meet the development needs of modern railway maintenance and repair.

[0009] (2) Ballast distribution and shaping vehicle

[0010] The ballast distribution and shaping vehicle is mainly used to restore the overall profile of the track bed, and focuses on adjusting the ballast to the stacking form conforming to the standard cross-section profile. Although it has high operation efficiency, the operation angle of the shaping plow is relatively fixed, and it is difficult to direct the ballast to the sleeper box area under the rail due to the physical obstruction of the rail and the sleeper. Moreover, it is impossible to flexibly adjust the direction and amount of ballast removal according to the tamping operation needs. Therefore, under the existing technical conditions, manual ballast removal is still needed to complete the directional ballast supplement under the rail after the screen cleaning, and corresponding device operation equipment needs to be developed to improve the operation efficiency and quality. SUMMARY

[0011] Embodiments of the present application provide an automatic ballast removal device for railway ballast track to effectively improve the operation quality and efficiency of the track bed ballast removal.

[0012] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions.

[0013] An automatic ballast removal device for railway ballast track, comprising: an automatic walking module, a line state sensing module, a ballast cleaning module, a ballast removal module and an operation control system, the operation control system is connected with the automatic walking module, the line state sensing module, the ballast cleaning module and the ballast removal module;

[0014] The automatic walking module is used to provide the automatic ballast removal device with walking ability through walking wheels;

[0015] The ballast cleaning module is used to remove the ballast covered on the end of the sleeper, the middle of the sleeper and the surface of the fastener by the cleaner;

[0016] The ballast module is used for directional pushing of the sleeper box ballast through the ballast mechanism, provides a working reaction force through the wheel clamping rail head, uses the visual sensor installed on both sides of the vehicle frame to take real-time images of the sleeper end, and transmits the images to the operation control system for operation positioning.

[0017] The line state sensing module includes laser radars installed on the front and rear ends of the device, collects three-dimensional point cloud data of the track bed and the surrounding environment through the laser radars, and transmits the three-dimensional point cloud data to the operation control system.

[0018] The operation control system is used for adjusting the output power of the drive motor in the automatic walking module through the built-in program, controlling the operation of the automatic walking module by using the output power, identifying the sleeper position according to the received sleeper end image, extracting the sleeper spacing and the sleeper box region position, identifying and modeling the track bed profile before operation according to the received track bed point cloud data, calculating the ballast amount and the ballast direction at different positions, determining the ballast rake insertion position, insertion depth and horizontal displacement according to the track bed profile before operation, the ballast amount and the ballast direction, and generating the operation mode and the operation parameters.

[0019] Preferably, the automatic walking module includes front walking wheels, rear walking wheels, a vehicle frame, a drive motor and a detachable power supply, the front walking wheels and the rear walking wheels are respectively installed on both ends of the vehicle frame, the drive motor is powered by the detachable power supply to provide power for the front walking wheels and the rear walking wheels, and the front walking wheels and the rear walking wheels are designed according to the rail profile and are provided with a flange angle, a tread slope and a flange inner side arc.

[0020] Preferably, the ballast cleaning module includes a non-gauge side cleaner, a gauge side cleaner, a cleaner brush head, a two-section telescopic arm and a horizontal guide rail, the non-gauge side cleaner is a disc brush head structure, continuously rotates with the device to remove the covered ballast on the sleeper end and the fastener surface, and the gauge side cleaner is used to remove the covered interference ballast on the middle part of the sleeper and the gauge side fastener.

[0021] When traveling in a non-operation interval, the gauge side cleaner is retracted, and in the operation state, the motor drives the two-section telescopic arm to stretch at an arbitrary angle and an arbitrary height to fit the ballast surface, the two-section telescopic arm realizes flexible adjustment of the angle of the cleaner brush head through the hinged structure, and pushes the cleaner brush head to the sleeper box region through the horizontal guide rail movement.

[0022] Preferably, the ballast cleaning module comprises a visual sensor, a wheel-holding rail-clamping counterforce device and a ballast cleaning mechanism, the visual sensor installed on both sides of the vehicle frame shoots the image of the sleeper end in real time, the wheel-holding rail-clamping counterforce device is installed below the vehicle frame, when the automatic ballast cleaning device travels to the designated working position, the wheel-holding rail-clamping counterforce device clamps the oil cylinder to tighten the wheel to clamp the lower part of the rail head, and the rail wheel is in abutment with the upper part of the rail head, thereby jointly strengthening the vehicle frame to form a counterforce structure.

[0023] The ballast cleaning mechanism comprises a vertical guide rod, a ballast cleaning rake fixing frame, a ballast cleaning rake, a vertical hydraulic cylinder, a horizontal guide rail, a horizontal guide rod and a horizontal moving motor, the vertical guide rod vertically penetrates through the fixing frame, the lower part is welded with the ballast cleaning rake, the two ends of the vertical hydraulic cylinder are connected with the fixing frame and the ballast cleaning rake respectively, the ballast cleaning rake is driven to insert downward by the extension and contraction of the oil cylinder, thereby realizing the local and quantitative excavation of the ballast in the middle part of the sleeper box, the horizontal guide rail and the horizontal guide rod are connected with the vehicle frames on both sides, the ballast cleaning rake fixing frame is installed on the guide rail, and the fixing frame is controlled by the horizontal moving motor, so as to drive the ballast cleaning rake to push the ballast to the lower part of the rail in a horizontal direction.

[0024] Preferably, after the work is completed, the work control system 6 obtains the ballast point cloud data again by using the laser radar at the rear end of the device, establishes the ballast profile after the work, stores and shares to the cloud, and realizes the visual management and remote synchronization of the line state after the work.

[0025] As can be seen from the technical solutions provided by the above-mentioned embodiments of the present application, the automatic ballast cleaning device of the present application realizes the automatic obstacle avoidance in the traveling process by the real-time sensing of the line state by the laser radar, realizes the self-adaptive adjustment and accurate control of the working parameters according to the ballast profile. The whole working process does not need manual intervention, thereby greatly reducing the labor input in the maintenance and repair of the ballasted track. The working strength and mode are accurately controlled, the ballast is effectively and directionally supplemented to the sleeper box under the rail, and the effect of the subsequent tamping work is guaranteed.

[0026] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following description and the attached drawings. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0028] Figure 1 A structural diagram of an automatic ballast cleaning device of a railway ballasted track provided by the embodiments of the present application;

[0029] Figure 2A top view of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the present application;

[0030] Figure 3 A side view of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the present application;

[0031] Figure 4 A front view of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the present application;

[0032] Figure 5 A partial front view of the gauge side sweeper of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the present application;

[0033] Figure 6 A side view of the gauge side sweeper of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the present application in an unfolded state;

[0034] Figure 7 A side view of the gauge side sweeper of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the present application in a folded state;

[0035] Figure 8 A partial sectional view of the ballast cleaning mechanism of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the present application;

[0036] Figure 9 A schematic view of the ballast cleaning mechanism of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the present application in a downward insertion state;

[0037] Figure 10 A schematic view of the ballast cleaning mechanism of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the present application in a horizontal pushing state;

[0038] Figure 11 An overall operation flowchart of the internal placement of the operation control system and the automatic ballast cleaning device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0039] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as a limitation of the present application.

[0040] It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It is further understood that the terms "comprise" (or comprise), "comprises" (or comprises) and "comprising" (or comprising) when used in this specification, specify the presence of stated features, integers, steps, operations, elements, or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. It is further understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can be present. In addition, the use of "connection" or "coupling" herein also includes wireless connection or coupling. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0041] It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It is further understood that the terms "comprise" (or comprise), "comprises" (or comprises) and "comprising" (or comprising) when used in this specification, specify the presence of stated features, integers, steps, operations, elements, or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. It is further understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can be present. In addition, the use of "connection" or "coupling" herein also includes wireless connection or coupling. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0042] For the purpose of promoting an understanding of the principles of the application, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same. It will, nevertheless, be understood that no limitation of the scope of the application is thereby intended, such alterations and further modifications in the illustrated device being contemplated as falling within the scope of the application.

[0043] The structure of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the application is shown in Figure 1 the top view and the side view are shown in Figure 2 、 3 The automatic ballast cleaning device comprises an automatic walking module, a line state sensing module, a ballast cleaning module, a ballast cleaning module and a working control system.

[0044] The automatic walking module comprises front walking wheels 1, rear walking wheels 2, a vehicle frame 3, a driving motor 4 and a detachable power supply 5. The front walking wheels 1 and the rear walking wheels 2 are designed according to the rail profile, and are provided with a flange angle, a tread slope and a flange inner side arc to ensure that they do not derail when driving on a curve. The front walking wheels 1 and the rear walking wheels 2 are respectively installed at both ends of the vehicle frame 3. The vehicle frame 3 is forged by high-strength lightweight aluminum alloy material, and the load-bearing strength is enhanced by a stiffened rib structure to effectively prevent excessive deformation under the action of the working load. The driving motor 4 is powered by the detachable power supply 5 to provide power for the front walking wheels 1 and the rear walking wheels 2. The braking and deceleration are realized by motor damping and reverse rotation.

[0045] The number 6 in the figure is a job control system, which can adjust the output power of the driving motor 4 through the built-in program to realize the automatic control of the automatic walking module. The numbers 7 and 8 are laser radars installed at the front and rear ends of the device, which are used to collect three-dimensional point cloud data of the track bed and the surrounding environment, identify and recognize the on-line obstacles through multi-frame construction, filtering and clustering, and upload the information to the job control system 6. When encountering obstacles, automatic warning, emergency braking and job suspension can be realized to ensure the safety of the job. Before the job, the job control system 6 uses the track bed point cloud data obtained by the front-end laser radar 7 of the device to identify and model the track bed profile before the job, further combines the compacting and stabilizing job requirements to calculate the amount of ballast and the direction of ballast at different positions, determines the insertion position, insertion depth and transverse displacement of the ballast rake according to the track bed profile before the job, the amount of ballast and the direction of ballast, and generates the job mode and job parameters accordingly.

[0046] After the job is completed, the job control system 6 obtains the track bed point cloud data again by using the rear-end laser radar 8 of the device to establish the track bed profile after the job, stores and shares it to the cloud to realize the visual management and remote synchronization of the line state after the job, and provides data support for subsequent other maintenance and repair jobs.

[0047] The front view of the small automatic ballast cleaning device for railway ballast track developed by the application is shown in Figure 4 The ballast cleaning module is composed of a non-gauge side cleaner 9 and a gauge side cleaner 10. The non-gauge side cleaner 9 is a disc brush head structure, which rotates continuously with the device advancing to remove the covered ballast on the end of the sleeper and the fastener surface, so that the end of the sleeper and the fastener are completely exposed. The device is connected to the vehicle frame 3 through a hydraulic rod, the stroke of the hydraulic rod is adjustable, and the precise cleaning of the end of the sleeper at different positions is supported.

[0048] The local front view of the gauge side cleaner of the automatic ballast cleaning device for railway ballast track provided by the embodiment of the application is shown in Figure 5 The expanded state side view is shown in Figure 6 The contracted state side view is shown in Figure 7 As shown in Figure 5 , 6 The gauge side cleaner 10 is used to remove the excess ballast covered on the middle part of the sleeper and the gauge side fastener after shaping. The number 11 in the figure is a cleaner brush head, the number 12 is a two-section telescopic arm, and the angle can be flexibly adjusted through a hinged structure; the number 13 is a transverse guide rail, and the telescopic arm is connected to the guide block at the end. The built-in motor in each hinged node can control the angle and relative position relationship between each part to realize the telescopic function. When advancing in the non-job interval, the gauge side cleaner 10 can be completely retracted to Figure 7In the state shown, avoid interference with the track structure collision. In the operating state, the motor drive telescopic arm 12 is accurately stretched at any angle, any height to fit the ballast surface, through the transverse guide rail 13 to move the sleeper surface ballast effective cleaning and push to the sleeper box area.

[0049] As shown in Figure 1 , the ballast module is composed of visual sensor 14, wheel clamping anti-force device 15 and ballast mechanism 16. Before shaping, the visual sensor 14 installed on both sides of the frame 3 real-time shooting sleeper end image, and upload to the operation control system 6 to identify sleeper position, accurately extract sleeper spacing and sleeper box area position, automatic ballast device running to the designated operating position and guide the ballast mechanism accurate operation. Wheel clamping anti-force device 14 is installed under the frame 3, when the device reaches the operating position, clamping cylinder tightens the wheel clamping rail head under the part, while the top rail wheel 17 abuts the upper part of the rail head, combined with the frame 3 to form the anti-force structure, to provide enough anti-force for the ballast operation.

[0050] The ballast mechanism of the automatic ballast device for railway ballast track provided by the embodiment of the application is shown in the partial sectional view of Figure 8 , the ballast mechanism 16 is used for directional pushing of sleeper box ballast, the number 18 is a vertical guide rod, the number 19 is a ballast rake fixing frame, the number 20 is a ballast rake, the number 21 is a vertical hydraulic cylinder, the number 22 is a horizontal guide rail, the number 23 is a horizontal guide rod, and the number 24 is a horizontal moving motor. The vertical guide rod 18 vertically penetrates the fixing frame 19, the lower part is welded with the ballast rake 20, and the vertical hydraulic cylinder 21 is connected with the fixing frame 19 and the ballast rake 20 at both ends respectively. The ballast rake 20 is driven to be inserted downward by the extension and contraction of the cylinder, so as to realize local quantitative excavation of the sleeper box middle ballast. The horizontal guide rail 22, the horizontal guide rod 23 and the two side frames 3 are connected, the ballast rake fixing frame 19 is installed on the guide rail 22, the fixing frame 19 is controlled by the horizontal moving motor 24, the ballast rake 20 can be driven horizontally to push the ballast to the lower part of the rail to meet the demand of sleeper box ballast quantity for the tamping operation.

[0051] The ballast mechanism of the automatic ballast device for railway ballast track provided by the embodiment of the application is shown in the partial sectional view of Figure 9 , the horizontal pushing schematic view is shown in Figure 10 . The process of the ballast mechanism downward insertion-horizontal pushing is shown in Figure 9 , 10 . The hydraulic cylinders in the wheel clamping anti-force device 15 and the ballast mechanism 16 in the ballast module are supplied with oil by the hydraulic oil tank 25 in Figure 1 .

[0052] The internal placement of the operation control system and the automatic ballast device provided by the embodiment of the application is shown in the overall operation flow Figure 11As shown, the number 6 is the whole machine operation control system, the operation control system 6 and the other four modules can interact data and operation instructions in real time, issue instructions in sequence and coordinate the modules to complete the specified action, so as to realize self-walking, self-sensing and completing ballast cleaning and ballast removal according to the target profile.

[0053] In summary, the automatic ballast removal device for railway ballast track provided by the embodiment of the application has the following beneficial effects:

[0054] (1) High automation degree

[0055] The automatic ballast removal device can automatically walk on the steel rail, realize automatic obstacle avoidance during walking through real-time sensing of the line state by the laser radar, and realize self-adaptive adjustment and precise control of the operation parameters according to the track bed profile. The whole operation process does not need manual intervention, greatly reducing the labor input in the maintenance and repair of the ballast track.

[0056] (2) High operation precision

[0057] The automatic ballast removal device can accurately reconstruct the track bed profile before operation, accurately evaluate the ballast gain and loss distribution at each position, and automatically generate operation parameters through the operation control system on this basis. According to the actual distribution state of the ballast in different areas and the demand for tamping operation, differential cleaning and ballast removal strategies are adopted to accurately control the operation intensity and mode, effectively and directionally supplement the ballast to the rail sleeper box, and ensure the effect of subsequent tamping operation.

[0058] (3) High operation efficiency

[0059] The automatic ballast removal device realizes integrated and continuous operation of walking, sensing, ballast cleaning and ballast removal, avoids the repeated and inefficient process of traditional manual ballast removal, and overcomes the technical limitation that the ballast shaping vehicle is difficult to directionally supplement the ballast to the rail sleeper box according to the tamping demand. Through the integrated and highly automated operation process, the operation time is significantly shortened, and the maintenance and repair efficiency is greatly improved.

[0060] (4) Low operation cost

[0061] The automatic ballast removal device can realize unmanned operation of ballast track maintenance and repair, greatly reducing the labor cost. In addition, the operation of the device is simple, the deployment is flexible, the maintenance is convenient, and the cost is economical, which brings higher economy and cost benefit to the railway operation and maintenance unit.

[0062] (5) Wide application range

[0063] The automatic ballast cleaning device has good universality and adaptability, is suitable for daily maintenance and repair work of multi-type ballast tracks such as heavy haul railway, general speed railway, high-speed railway and urban rail transit, and has very wide application range. In addition, the automatic ballast cleaning device not only supports single machine independent operation, but also can realize hitch operation with a large track maintenance device such as a screen car and a tamping car, is convenient for being connected into a ballast track continuous device maintenance and operation system, and has broad application prospect.

[0064] (6) High safety

[0065] The automatic ballast cleaning device adopts an unmanned operation mode, effectively avoids collision risks brought by traditional man-machine mixed operation, and eliminates safety hazards from the source. Meanwhile, the automatic ballast cleaning device has self-sensing capability, can identify obstacles in real time during walking and automatically avoid obstacles, and ensures safe operation of the device during operation.

[0066] Those skilled in the art can understand that the drawings are only schematic diagrams of an embodiment, and the modules or processes in the drawings are not necessarily necessary for implementing the present application.

[0067] Each embodiment in the specification is described in a progressive manner, and the same and similar parts between each embodiment can be referred to each other, and each embodiment mainly describes differences from other embodiments. Especially, since the device or system embodiment is basically similar to the method embodiment, the description is relatively simple, and the related parts can be referred to the part of the method embodiment. The device and system embodiments described above are only schematic, and the units described as separate components can be or can not be physically separated, and the components displayed as units can be or can not be physical units, that is, can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the modules can be selected to achieve the purpose of the embodiment. Those skilled in the art can understand and implement without creative labor.

[0068] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An automated ballast cleaning device for railway ballasted track, characterized in that, include: The system includes an automatic travel module, a track status sensing module, a ballast cleaning module, a ballast removal module, and an operation control system, wherein the operation control system is connected to the automatic travel module, the track status sensing module, the ballast cleaning module, and the ballast removal module. The automatic walking module; Used to provide mobility for the automated ballast removal device via traveling wheels; The ballast cleaning module is used to remove ballast covering the ends, middle, and fastener surfaces of the sleepers using a cleaner; The ballast removal module is used to directionally push the sleeper box ballast through the ballast removal mechanism, clamp the rail head with the clamping wheel to provide working reaction force, and use vision sensors installed on both sides of the frame to take real-time images of the sleeper ends and transmit them to the operation control system for operation positioning. The track status sensing module includes a lidar installed at the front and rear of the device. The lidar collects three-dimensional point cloud data of the track bed and the surrounding environment and transmits the three-dimensional point cloud data to the operation control system. The operation control system is used to adjust the output power of the drive motor in the automatic traveling module through a built-in program, and use the output power to control the operation of the automatic traveling module; identify the position of the sleeper based on the received sleeper end image, and extract the sleeper spacing and sleeper box area position; identify and model the track bed profile before operation based on the received track bed point cloud data, calculate the amount and direction of ballast removal at different positions, and determine the insertion position, insertion depth and lateral displacement of the ballast rake based on the track bed profile before operation, the amount and direction of ballast removal, thereby generating the operation mode and operation parameters.

2. The apparatus of claim 1, wherein, The automatic traveling module includes: a front traveling wheel, a rear traveling wheel, a frame, a drive motor, and a detachable power supply. The front traveling wheel and the rear traveling wheel are respectively installed at both ends of the frame. The drive motor is powered by the detachable power supply to provide power to the front traveling wheel and the rear traveling wheel. The front traveling wheel and the rear traveling wheel are designed according to the profile of the rail and are provided with wheel flange angles, tread slopes, and inner arcs of the wheel flange.

3. The apparatus of claim 1, wherein, The ballast cleaning module includes a non-gauge side cleaner, a gauge side cleaner, a cleaner brush head, a two-section telescopic arm, and a transverse guide rail. The non-gauge side cleaner has a disc-type brush head structure that rotates continuously as the device moves to remove ballast covering the ends of the sleepers and the surface of the fasteners. The gauge side cleaner is used to remove interference ballast covering the middle of the sleepers and the gauge side fasteners. When traveling in non-operational areas, the track gauge side sweeper retracts. In operation, the motor drives the two-section telescopic arm to extend at any angle and height to fit the ballast surface. The two-section telescopic arm uses a hinge structure to flexibly adjust the angle of the sweeper brush head. The sweeper brush head is pushed to the pillow box area by moving the transverse guide rail.

4. The apparatus of claim 3, wherein, The ballast removal module includes a vision sensor, a wheel-clamping reaction device, and a ballast removal mechanism. The vision sensors installed on both sides of the frame capture images of the sleeper ends in real time. The wheel-clamping reaction device is installed under the frame. When the automated ballast removal device moves to the designated working position, the wheel-clamping reaction device clamps the hydraulic cylinder to tighten the wheel and clamp the lower part of the rail head. At the same time, the top rail wheel abuts against the upper part of the rail head, and together with the frame, they form a reaction structure. The ballast cleaning mechanism comprises a vertical guide rod, a ballast cleaning rake fixing frame, a ballast cleaning rake, a vertical hydraulic cylinder, a horizontal guide rail, a horizontal guide rod and a horizontal moving motor, the vertical guide rod vertically penetrates the fixing frame, the lower part is welded with the ballast cleaning rake, the two ends of the vertical hydraulic cylinder are connected with the fixing frame and the ballast cleaning rake respectively, the ballast cleaning rake is driven to insert downward through the extension and contraction of the hydraulic cylinder, the local quantitative excavation of the ballast in the middle part of the sleeper box is realized, the horizontal guide rail and the horizontal guide rod are connected with the two side frames, the ballast cleaning rake fixing frame is installed on the guide rail, the fixing frame is controlled by the horizontal moving motor, the ballast cleaning rake can be driven horizontally to push the ballast to the direction of the rail below for directional supplement.

5. The device of any one of claims 1 to 4, wherein, After the operation is completed, the operation control system 6 obtains the ballast point cloud data again by using the laser radar at the rear end of the device, establishes the ballast profile after the operation, stores and shares to the cloud end, and realizes the visual management and remote synchronization of the line state after the operation.

Images