A six-degree-of-freedom fine-tuning device and method for prefabricated track slabs

Abstract

This invention provides a six-degree-of-freedom fine-tuning device and method for prefabricated track slabs, belonging to the field of track laying technology. It includes a traveling mechanism for driving the fine-tuning mechanism; a fine-tuning mechanism mounted on the traveling mechanism for adjusting the angle and position of the prefabricated track slab; and six telescopic mechanisms that adjust the angle and position of the prefabricated track slab. This invention achieves precise adjustment of the prefabricated track slab by setting up the fine-tuning mechanism. By adjusting the telescopic lengths of different telescopic mechanisms, the tilt angle of the prefabricated track slab can be precisely controlled, allowing it to be quickly adjusted to the set angle. Furthermore, since the bottom of the prefabricated track slab is arc-shaped, the fine-tuning mechanism can quickly adjust the gripping mechanism to be parallel to the top of the prefabricated track slab, facilitating rapid gripping of the prefabricated track slab.

Description

Technical Field

[0001] This invention relates to the field of track laying technology, specifically to a six-degree-of-freedom fine-tuning device and method for prefabricated track slabs. Background Technology

[0002] Prefabricated track slabs are railway track foundation components that are pre-produced in factories in a standardized manner and quickly assembled on site. They are mainly used in rail transit systems such as high-speed railways, subways, and light rails to replace traditional cast-in-place concrete track structures. Their core features are modularity, industrialization, and high precision, which can significantly improve construction efficiency and quality.

[0003] Prefabricated track slabs need to be precisely installed in the designated positions according to design requirements. Prefabricated track slabs include two structures: those with a flat bottom and those with a curved bottom. The installation and fine-tuning of prefabricated track slabs with curved bottoms are more difficult. Currently, fine-tuning mainly relies on equipment, supplemented by manual labor. The following problems exist during the fine-tuning process:

[0004] 1. The support base is prone to slippage;

[0005] 2. The mileage and direction error cannot be corrected;

[0006] 3. Manual adjustment is laborious, and sometimes turning the adjusting nut does not produce the corresponding displacement.

[0007] These problems result in low automation during the installation and fine-tuning of prefabricated track slabs, and the installation efficiency does not meet expectations, which in turn makes it difficult to promote and use prefabricated track slabs on a large scale.

[0008] In the prior art, there are also some highly automated fine-tuning trolleys. For example, invention patent application number 202510215995.1 discloses a track slab laying fine-tuning trolley. This scheme includes a support frame, a gripping mechanism mounted on the support frame, several fine-tuning claws mounted around the track slab, a turning mechanism mounted on the gripping mechanism for adjusting the fine-tuning claws, a traveling mechanism mounted at the bottom of the support frame, and a control box mounted on the side of the support frame. The control box contains a control module. The fine-tuning claw includes an adjuster base, a vertical adjusting screw, a horizontal adjusting screw, and a steering mechanism. The vertical adjusting screw is connected to the adjuster base and is perpendicular to the adjuster base. Rotating the vertical adjusting screw causes it to move up and down. It can realize the gripping, lifting, horizontal movement, longitudinal movement, and fine-tuning of the track slab, and can complete the laying and fine-tuning work of double-track slabs in ballastless track.

[0009] However, such fine-tuning trolleys are only suitable for adjusting plate-shaped track plates, that is, assembled track plates with a flat bottom. For assembled track plates with an arc bottom, it is still difficult to achieve fully automatic fine-tuning.

[0010] In addition, during the installation of the prefabricated track slab with an arc-shaped bottom, corresponding wedge blocks are required. The structure can be referred to in our company's application for "A wedge support structure for prefabricated track and its installation method" (invention patent application number 202211553324.9). The general steps are as follows: After the angle of the prefabricated track slab is adjusted, the wedge block is placed on the tunnel surface from the side, and then released so that it slides down the arc-shaped tunnel surface under gravity and gets stuck between the prefabricated track slab and the tunnel surface to support the prefabricated track slab.

[0011] The main problem with this step is that the wedge blocks are currently mainly handled and installed manually. However, during construction, the space inside the tunnel is small, and the wedge blocks are relatively heavy. Manual installation is time-consuming and labor-intensive, affecting the installation progress of the prefabricated track slabs, and also poses safety hazards.

[0012] Currently, it's difficult to completely replace manual installation of wedge blocks with mechanical equipment. If the wedge blocks are placed directly on the fine-tuning equipment or corresponding placement frame, and then pushed down using electric cylinders or similar structures after the prefabricated track slab has been fine-tuned, height differences can easily occur, failing to meet construction specifications. While robotic arms can solve this problem better, stably placing the wedge blocks on the tunnel surface, their high cost and the need for multiple arms render them almost impractical. Furthermore, robotic arms rely primarily on friction to hold the wedge blocks in place, and since the wedge blocks are relatively heavy, significant safety hazards exist during the robotic arm's gripping and installation process. Summary of the Invention

[0013] This invention provides a six-degree-of-freedom fine-tuning device and method for prefabricated track slabs to solve the technical problems in the prior art.

[0014] To solve the above problems, the prefabricated track slab six-degree-of-freedom fine-tuning equipment provided by the present invention adopts the following technical solution: it includes a walking mechanism, which is used to drive the fine-tuning mechanism to move;

[0015] The fine-tuning mechanism, installed on the traveling mechanism, is used to adjust the angle and position of the prefabricated track slab. The fine-tuning mechanism includes six telescopic mechanisms, which are adjusted to achieve the adjustment of the angle and position of the prefabricated track slab.

[0016] The gripping mechanism is connected to the bottom of the fine-tuning mechanism. The gripping mechanism is used to grip the prefabricated track plate. The side of the prefabricated track plate is provided with hooks that cooperate with the gripping mechanism.

[0017] The wedge block mounting mechanism is fixedly installed on the left and right sides of the traveling mechanism. The wedge block mounting mechanism includes a mounting frame, on which at least two sets of gripper structures are mounted. The gripper structures include fixed grippers fixedly connected to the mounting frame and movable grippers slidably assembled on the mounting frame.

[0018] The fixed gripper includes a protective box, inside which a drive sprocket and a driven sprocket are rotatably mounted in the vertical direction. The drive sprocket is connected to a reduction motor. A gripping chain is wound between the drive sprocket and the driven sprocket. An avoidance groove is provided on the side of the protective box, so that one side of the gripping chain extends out of the protective box. The gripping chain is also fixedly installed with a limit block to prevent the wedge block from falling off. The structure of the movable gripper is the same as that of the fixed gripper.

[0019] As a further improvement, the walking mechanism includes a walking frame and traveling wheels fixedly installed at the four corners of the bottom of the walking frame.

[0020] As a further improvement, the traveling wheel is connected to a servo geared motor.

[0021] As a further improvement, the fine-tuning mechanism also includes a load-bearing frame fixedly connected to the walking frame, the telescopic mechanism is hinged below the load-bearing frame, and the bottom of the telescopic mechanism is hinged to the gripping mechanism.

[0022] As a further improvement, the telescopic mechanism is an electric cylinder.

[0023] As a further improvement, the gripping mechanism includes a connecting frame and a claw fixedly mounted on the bottom of the connecting frame, the claw being used to engage with the hook to grip the assembled track plate.

[0024] As a further improvement, the two gripper structures are symmetrically arranged, a guide rod is fixedly installed on the mounting frame, the movable gripper is slidably connected to the guide rod, the two movable grippers are adjacent and a telescopic structure is fixedly connected between the two movable grippers, the telescopic structure is used to adjust the distance between the movable gripper and the fixed gripper so as to grip or put down the wedge block.

[0025] As a further improvement, the protective box is also equipped with several support rollers that rotate inside. The support rollers are located inside the gripping chain and are used to support the gripping chain to prevent it from deforming. Rubber pads for increasing friction are also fixedly installed on the gripping chain.

[0026] As a further improvement, the limiting block includes an outer shell and a locking pin horizontally disposed inside the outer shell. The locking pin is slidably assembled inside the outer shell through a sleeve. The locking pin is integrally formed with a baffle plate. The locking pin is also fitted with a return spring for resetting the locking pin. Both ends of the locking pin are hemispherical.

[0027] The locking pin has a trigger block at the end away from the driving sprocket or the driven sprocket. The trigger block is slidably assembled in the housing in the vertical direction and extends upward out of the housing.

[0028] The locking pin has a locking block at one end near the driving sprocket or the driven sprocket. The locking block is slidably assembled in the housing in the horizontal direction, and the locking block extends out of the housing to one side of the end face of the driving sprocket or the driven sprocket. The locking block is also connected to a spring plate for resetting the locking block.

[0029] Both the trigger block and the locking block have a wedge-shaped structure at the end near the locking pin.

[0030] This invention also discloses a fine-tuning method for prefabricated track slabs, employing the aforementioned six-degree-of-freedom fine-tuning equipment for prefabricated track slabs, comprising the following steps:

[0031] S1. Wedge block gripping: The telescopic structure drives the movable gripper to move and grip the wedge block located below the wedge block mounting mechanism, so that the fixed gripper and the movable gripper clamp the wedge block. The geared motor drives the gripping chain to rotate and lift the wedge block to complete the gripping action.

[0032] S2. Position alignment: By adjusting the extension length of the telescopic mechanism, the connecting frame of the gripping mechanism is made parallel to the top of the prefabricated track plate, and the height of the connecting frame is adjusted to correspond to the prefabricated track plate.

[0033] S3. The mobile gripping mechanism is driven by the walking mechanism to move towards the prefabricated track plate;

[0034] S4. Hook plate: The walking mechanism drives the gripping mechanism to move until the claw engages under the hook, completing the gripping action;

[0035] S5. Lifting plate: The telescopic mechanism retracts to lift the prefabricated track plate and transfers it to the predetermined installation position via the traveling mechanism.

[0036] S6. Adjusting plate: The prefabricated track plate is adjusted to the set angle through the telescopic mechanism. After fine adjustment, the plate is placed to complete the installation and fine adjustment of the prefabricated track plate.

[0037] S7. After aligning the prefabricated track slab, lower it vertically for installation;

[0038] S8. Place the wedge block, and the reduction motor rotates in the opposite direction to make the wedge block descend smoothly until the bottom surface of the wedge block is in contact with the tunnel surface. Then, the telescopic structure retracts, releases the grip, and the wedge block slides down the tunnel surface under gravity after being free from external force, and gets stuck between the prefabricated track plate and the tunnel surface, thus completing the installation of the wedge block.

[0039] S9. Unhooking: The telescopic mechanism drives the gripping mechanism to move horizontally, causing the claws to separate from the hook from the side;

[0040] S10. Reset, the device returns to its initial position, waiting for the next operation.

[0041] The beneficial effects of the above-described technical solution of the present invention are as follows:

[0042] This invention achieves precise adjustment of the prefabricated track slab by setting a fine-tuning mechanism. By adjusting the extension length of different telescopic mechanisms, the tilt angle of the prefabricated track slab can be precisely controlled, allowing it to be quickly adjusted to the set angle. In addition, since the bottom of the prefabricated track slab is arc-shaped, the fine-tuning mechanism can also quickly adjust the gripping mechanism to be parallel to the top of the prefabricated track slab, facilitating rapid gripping of the prefabricated track slab.

[0043] The gripping mechanism of this invention has a simple structure, good practicality, and good stability, avoiding the misalignment of the assembled track plate during installation.

[0044] The wedge block installation mechanism of the present invention has relatively low cost and strong practicality. During operation, it can release the wedge block smoothly and is equipped with a limit block as an emergency protection, which greatly reduces safety hazards.

[0045] The present invention has a reasonable structural layout, avoiding the loss of practicality due to excessive cost. The prefabricated track slab does not require manual intervention during fine adjustment and wedge block installation, which not only improves the installation and fine adjustment efficiency of the prefabricated track slab, but also reduces safety hazards and ensures the safety of operators. Attached Figure Description

[0046] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0047] Figure 1 This is a perspective view of the six-degree-of-freedom fine-tuning device for the prefabricated track slab of the present invention;

[0048] Figure 2 This is a side view of the six-degree-of-freedom fine-tuning equipment for the prefabricated track slab of the present invention.

[0049] Figure 3 This is a schematic diagram of the fine-tuning mechanism of the six-degree-of-freedom fine-tuning equipment for prefabricated track slabs of the present invention.

[0050] Figure 4 This is a side view of the fine-tuning mechanism of the six-degree-of-freedom fine-tuning equipment for prefabricated track slabs of the present invention.

[0051] Figure 5 The construction process of the prefabricated track slab six-degree-of-freedom fine-tuning equipment of the present invention. Figure 1 ;

[0052] Figure 6The construction process of the prefabricated track slab six-degree-of-freedom fine-tuning equipment of the present invention. Figure 2 ;

[0053] Figure 7 The construction process of the prefabricated track slab six-degree-of-freedom fine-tuning equipment of the present invention. Figure 3 ;

[0054] Figure 8 This is a schematic diagram of the wedge block mounting mechanism of the six-degree-of-freedom fine-tuning equipment for the prefabricated track slab of the present invention.

[0055] Figure 9 This is a top view schematic diagram of the wedge block mounting mechanism of the prefabricated track slab six-degree-of-freedom fine-tuning equipment of the present invention;

[0056] Figure 10 This is a schematic diagram of the fixed gripper of the six-degree-of-freedom fine-tuning equipment for the prefabricated track slab of the present invention.

[0057] Figure 11 This is a schematic diagram of the main structure of the limiting block in Embodiment 2 of the present invention;

[0058] Figure 12 This is a top view of the limiting block according to Embodiment 2 of the present invention;

[0059] Figure 13 This is a schematic diagram of the flatbed vehicle of the prefabricated track slab six-degree-of-freedom fine-tuning equipment of the present invention.

[0060] Figure 14 This is a top view of the flatbed vehicle of the prefabricated track slab six-degree-of-freedom fine-tuning equipment of the present invention.

[0061] Explanation of reference numerals in the attached figures:

[0062] 1. Walking mechanism; 101. Walking frame; 102. Traveling wheels; 2. Fine-tuning mechanism; 201. Load-bearing frame; 202. Telescopic mechanism; 2021. First electric cylinder; 2022. Second electric cylinder; 2023. Third electric cylinder; 2024. Fourth electric cylinder; 2025. Fifth electric cylinder; 2026. Sixth electric cylinder; 3. Gripping mechanism; 301. Connecting frame; 302. Clamp; 4. Prefabricated track plate; 401. Hook; 5. Wedge block mounting mechanism; 510. Mounting frame; 520. Fixed clamp; 521. Protective box; 5 22. Clearance groove; 523. Drive sprocket; 524. Gripping chain; 525. Rubber pad; 526. Support roller; 527. Driven sprocket; 528. Limit block; 5281. Outer shell; 5282. Trigger block; 5283. Locking pin; 5284. Baffle plate; 5285. Return spring; 5286. Sleeve; 5287. Locking block; 5288. Spring plate; 530. Movable gripper; 540. Guide rod; 550. Telescopic structure; 6. Flatbed trolley; 601. Slide rail frame; 602. Limit rod; 7. Wedge block. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Those skilled in the art should understand that the embodiments described below are only some, not all, of the embodiments disclosed. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0064] In existing technologies, prefabricated track slabs are all manufactured in standardized factories and then transported to the construction site for installation. Railway systems have high requirements for the installation precision of prefabricated track slabs, especially those with curved bottoms. Currently, manual fine-tuning is required, but this process is prone to problems such as slippage of the support base, inability to correct mileage direction errors, laborious manual adjustments, and sometimes failure to produce the corresponding displacement when tightening the adjusting nuts, making it difficult to meet current requirements. Furthermore, prefabricated track slabs with curved bottoms also require wedge-shaped support to prevent subsequent misalignment. Currently, the installation of these wedges still requires manual labor, which is inefficient, in confined spaces, and cumbersome to handle.

[0065] As mentioned above, the assembly difficulties of prefabricated track slabs lie in the following: The prefabricated track slabs weigh up to 20 tons, making them more difficult to handle and place. Furthermore, the bottom surface of the prefabricated track slabs is curved, and under normal rough handling, the accuracy error can reach several centimeters, far exceeding construction requirements. Therefore, currently, after the prefabricated track slabs are installed, multiple, step-by-step fine adjustments are made using a manual fine-tuning mechanism. The entire process requires multiple people working together and is time-consuming.

[0066] To address the issue of fine-tuning of prefabricated track slabs, this invention utilizes a telescopic mechanism 202 to design a six-degree-of-freedom system, which can precisely adjust the horizontal displacement, vertical displacement, and angle changes of the prefabricated track slab 4.

[0067] In the initial state, the telescopic mechanism 202 is fully retracted.

[0068] The prefabricated track plate 4 is gripped. By adjusting the extension length of the telescopic mechanism 202, the connecting frame 301 of the gripping mechanism 3 is made parallel to the top of the prefabricated track plate 4, and the height of the connecting frame 301 is adjusted to correspond to the prefabricated track plate 4. Then, the traveling mechanism 1 drives the gripping mechanism 3 to move horizontally, so that the claw 302 is engaged under the hook 401, completing the gripping action.

[0069] The lifting mechanism 202 retracts, lifting the prefabricated track plate 4 and transferring it to the predetermined installation position via the traveling mechanism 1.

[0070] The straightening plate is adjusted to the set angle by the fine adjustment mechanism 2. After the fine adjustment is completed, the plate is placed to complete the installation and fine adjustment of the prefabricated track plate 4.

[0071] Finally, the hook is released by the translation gripping mechanism 3, and then the equipment is reset to wait for the next action.

[0072] The main challenge in the mechanized installation of wedge block 7 lies in balancing practicality, safety, and stability. While a robotic arm can achieve precise and stable installation of wedge block 7, its high cost hinders widespread adoption. Installing a retractable pin at the bottom of the equipment frame, where the pin extends to support wedge block 7 and retracts to release it during installation, offers better safety but inevitably creates height differences, failing to meet construction standards.

[0073] To address this, the present invention designs a chain-gripping and lifting structure. Specifically, firstly, the distance between the fixed gripper 520 and the movable gripper 530 is adjusted by the telescopic structure 550 to firmly clamp the wedge block 7. Then, the drive sprocket 523 drives the gripping chain 524 to rotate, lifting the wedge block 7. The rubber pad 525 on the gripping chain 524 provides friction while also protecting the wedge block 7. In addition, a limit block 528 is welded to one of the chain links of the gripping chain 524. When gripping the wedge block 7, the limit block 528 rotates into the protective box 521 to avoid it. After lifting the wedge block 7, the limit block 528 rotates to below the wedge block 7, providing emergency support and preventing the wedge block 7 from falling directly due to loosening of the gripper structure.

[0074] When the wedge block 7 is released, the grabbing chain 524 rotates in the opposite direction, and the limiting block 528 also rotates back into the protective box 521, ensuring that the wedge block 7 makes stable contact with the tunnel surface, taking into account practicality, safety and stability.

[0075] After introducing the basic principles of the present invention, various non-limiting embodiments of the present invention are described in detail below. Any number of elements in the accompanying drawings is for illustrative purposes only and not for limitation, and any naming is for distinction only and has no limiting meaning.

[0076] The principles and spirit of the present invention will be explained in detail below with reference to several representative embodiments.

[0077] Example 1 of the six-degree-of-freedom fine-tuning equipment and method for prefabricated track slabs provided by the present invention:

[0078] like Figures 1-10 , Figure 13 and Figure 14 As shown, the prefabricated track slab six-degree-of-freedom fine-tuning equipment includes a walking mechanism 1, a fine-tuning mechanism 2, a gripping mechanism 3, and a wedge block mounting mechanism 5.

[0079] like Figure 1 As shown, the walking mechanism 1 is used to drive the fine adjustment mechanism 2 to move; it includes a walking frame 101 and four traveling wheels 102 fixedly installed at the bottom corners of the walking frame 101. The traveling wheels 102 are connected to servo geared motors. Each of the four traveling wheels 102 is equipped with a servo geared motor, which can accurately control the position of the walking mechanism 1, and thus accurately install the prefabricated track plate 4 in the predetermined position.

[0080] like Figures 1-4 The image shown illustrates the interaction between the gripping mechanism 3 and the track plate. Figure 2 The wedge block installation mechanism 5 is hidden in the middle. The fine adjustment mechanism 2 is installed on the walking mechanism 1. The fine adjustment mechanism 2 is used to adjust the angle and position of the assembled track plate 4. The fine adjustment mechanism 2 includes a load-bearing frame 201 fixedly connected to the walking frame 101 and six telescopic mechanisms 202. The telescopic mechanisms 202 are hinged below the load-bearing frame 201. The bottom of the telescopic mechanisms 202 is hinged to the gripping mechanism 3. The angle and position of the assembled track plate 4 can be adjusted by adjusting the telescopic mechanisms 202.

[0081] During installation, both the load-bearing frame 201 and the connecting frame 301 have three hinge points, which are staggered. Two telescopic mechanisms 202 are installed at each hinge point. In this embodiment, the telescopic mechanism 202 is an electric cylinder. Fine-tuning of the assembled track plate 4 requires high precision, and the precision and response speed of pneumatic or hydraulic cylinders do not meet the design requirements. Therefore, in this embodiment, an electric cylinder is used for the telescopic mechanism 202.

[0082] The gripping mechanism 3 is connected to the bottom of the fine-tuning mechanism 2. The gripping mechanism 3 is used to grip the assembled track plate 4. The side of the assembled track plate 4 is provided with a hook 401 that cooperates with the gripping mechanism 3. The gripping mechanism 3 includes a connecting frame 301 and a claw 302 fixedly installed at the bottom of the connecting frame 301. The claw 302 is used to cooperate with the hook 401 to grip the assembled track plate 4.

[0083] The gripping mechanism 3 has no redundant electrical structure, thereby reducing accuracy errors during use.

[0084] like Figures 8-10 As shown, the wedge block mounting mechanism 5 is fixedly installed on the left and right sides of the walking mechanism 1 by bolts for optional installation or disassembly. The six-degree-of-freedom fine-tuning equipment of the prefabricated track plate 4 of the present invention can not only fine-tune the prefabricated track plate 4 with an arc bottom surface, but also fine-tune the plate-shaped prefabricated track plate 4 with a flat bottom surface. If it is used for fine-tuning the plate-shaped prefabricated track plate 4 with a flat bottom surface, the wedge block mounting mechanism 5 can be removed.

[0085] The wedge block mounting mechanism 5 includes a mounting frame 510, on which at least two sets of gripper structures (not shown in the figure) are mounted. The gripper structures include fixed grippers 520 fixedly connected to the mounting frame 510 and movable grippers 530 slidably assembled on the mounting frame 510.

[0086] The fixed gripper 520 includes a protective housing 521. Inside the protective housing 521, a drive sprocket 523 and a driven sprocket 527 are rotatably mounted in the vertical direction. The drive sprocket 523 is connected to a geared motor (not shown in the figure). A gripping chain 524 is wound between the drive sprocket 523 and the driven sprocket 527. A clearance groove 522 is provided on the side of the protective housing 521, allowing one side of the gripping chain 524 to extend out of the protective housing 521. The gripping chain 524 is also fixedly equipped with a limiting block 528 to prevent the wedge block from falling. The limiting block 528 can pass through the clearance groove 522 and enter the interior of the protective housing 521. To ensure the stability of the gripping, the protective housing 521 has two sets of chain and sprocket structures. The two drive sprockets 523 are connected by a drive shaft. The drive shaft is equipped with a drive sprocket or drive gear to connect to the geared motor.

[0087] The structure of the movable gripper 530 is the same as that of the fixed gripper 520.

[0088] The two gripper structures are symmetrically arranged. A guide rod 540 is fixedly installed on the mounting frame 510. The movable gripper 530 is slidably connected to the guide rod 540. The two movable grippers 530 are adjacent to each other and a telescopic structure 550 is fixedly connected between them. The telescopic structure 550 is used to adjust the distance between the movable gripper 530 and the fixed gripper 520 to grip or lower the wedge block. The telescopic structure 550 preferably uses a hydraulic cylinder or an electric cylinder. The telescopic structure 550 can be a bidirectional telescopic structure 550, or two unidirectional telescopic structures 550 can control the two movable grippers 530 respectively. Several support rollers 526 are also rotatably assembled inside the protective box 521. The support rollers 526 are located inside the gripping chain 524 and are used to support the gripping chain 524 to prevent deformation of the gripping chain 524. Rubber pads 525 for increasing friction are also fixedly installed on the gripping chain 524.

[0089] The wedge block installation mechanism 5 of the present invention has a relatively low cost. Taking the robotic arm solution as an example, it requires 1-2 six-axis industrial robotic arms. Taking the lowest cost, one six-axis industrial robotic arm is used, with X-axis and Y-axis translation systems set at the bottom so that wedge blocks 7 can be placed on both sides of the prefabricated track plate 4 respectively. In order to ensure the installation accuracy of the six-axis industrial robotic arm, it is also necessary to purchase AGV trolleys for installing the X-axis and Y-axis translation systems and the six-axis industrial robotic arm, as well as other supporting vision systems, fixtures, etc. The entire set of equipment costs about 150,000 yuan.

[0090] The main cost of the wedge block mounting mechanism 5 lies in the eight geared motors and two electric cylinders, as well as the modification of the chain. Specifically, protrusions and limiting blocks 528 are welded to the sides of the chain links. The protrusions are for facilitating the connection of the rubber pads 525, and the limiting blocks 528 are used to limit or prevent the wedge blocks 7 from falling. The cost of the wedge block mounting mechanism 5 (including labor costs) is roughly one-third to one-quarter of that of the robotic arm solution.

[0091] like Figures 5-7 As shown (except for the initial position, all other actions in the figure include schematic diagrams with two perspectives, the upper one being the main view and the lower one being the side view), this embodiment also discloses a fine-tuning method for a prefabricated track slab, using the aforementioned six-DOF fine-tuning equipment for prefabricated track slabs, including the following steps:

[0092] S1. The wedge block 7 is gripped. The telescopic structure 550 drives the movable gripper to move and grip the wedge block 7 located below the wedge block mounting mechanism 5, so that the fixed gripper 520 and the movable gripper 530 clamp the wedge block 7. The reduction motor drives the gripping chain 524 to rotate and lift the wedge block 7 to complete the gripping action.

[0093] S2. Position alignment: By adjusting the extension length of the telescopic mechanism 202, the connecting frame 301 of the gripping mechanism 3 is made parallel to the top of the prefabricated track plate 4, and the height of the connecting frame 301 is adjusted to correspond to the prefabricated track plate 4.

[0094] S3. The mobile gripping mechanism 3 is driven by the walking mechanism 1 to move towards the prefabricated track plate 4;

[0095] S4. Hook plate, the walking mechanism 1 drives the gripping mechanism 3 to move until the chuck 302 engages under the hook 401, completing the gripping action;

[0096] S5. Lifting plate: The telescopic mechanism 202 retracts, lifting the prefabricated track plate 4, and transferring the prefabricated track plate 4 to the predetermined installation position via the walking mechanism 1.

[0097] S6. Adjusting plate: The prefabricated track plate 4 is adjusted to the set angle by telescopic mechanism 202. After fine adjustment, the plate is placed to complete the installation and fine adjustment of the prefabricated track plate 4.

[0098] S7. After aligning the plate, lower the prefabricated track plate 4 vertically for installation;

[0099] S8. Place wedge block 7, the reduction motor rotates in the opposite direction, so that wedge block 7 descends smoothly until the bottom surface of wedge block 7 is in contact with the tunnel surface. Then the telescopic structure 550 retracts, releases the grip, and after being free from external force, wedge block 7 slides down the tunnel surface under gravity and gets stuck between the prefabricated track plate 4 and the tunnel surface, thus completing the installation of wedge block 7.

[0100] S9. Unhooking: The telescopic mechanism 202 drives the gripping mechanism 3 to move horizontally, causing the claw 302 to separate from the hook 401 from the side; the specific steps of the unhooking action are as follows: Figure 4 As shown, the first electric cylinder 2021, the second electric cylinder 2022, and the fourth electric cylinder 2024 extend, while the third electric cylinder 2023, the fifth electric cylinder 2025, and the sixth electric cylinder 2026 retract, driving the gripping mechanism 3 to move to the right (i.e., in the X-axis direction in the figure). The hook 401 and the chuck 302 are misaligned in the vertical direction. Then, all the telescopic mechanisms 202 adjust to retract, and the gripping mechanism 3 moves up along the Z-axis, separating the gripping mechanism 3 from the assembled track plate 4, thus completing the unhooking.

[0101] S10. Reset, the device returns to its initial position, waiting for the next operation.

[0102] In step S1, to better achieve stable and rapid gripping of the wedge block 7, in this embodiment, a flatbed cart 6 is provided for placing the wedge block 7. The flatbed cart 6 can be driven manually or electrically, and the wheels of the flatbed cart 6 are equipped with brake pads. The flatbed cart 6 follows behind the equipment of the present invention. Figure 12 and13 As shown, the upper surface of the flatbed 6 is provided with four sets of slide rails 601. The slide rails 601 extend out of the flatbed 6 and beyond the assembled track plate 4. The slide rails 601 have an inclined section and a positioning section. The wedge block 7 can slide down the inclined section under the action of gravity to the positioning section so that the wedge block mounting mechanism 5 can grab it. In addition, in order to prevent motion interference, the inclined section of the slide rails 601 is also provided with a limiting rod 602. In the initial stage, the wedge block 7 is located in the inclined section of the slide rails 601 and is limited by the limiting rod 602. When the flatbed 6 moves to the set position, the limiting rod 602 is pulled out from the rear, the wedge block 7 is released from the limitation and slides down to the positioning section. At this time, the wedge block 7 is just located between the fixed gripper 520 and the movable gripper 530.

[0103] The specific steps of step S1 are as follows:

[0104] When the fine-tuning mechanism 2 finishes fine-tuning the prefabricated track slab 4 in front, the telescopic mechanism 202 retracts, lifting the connecting frame 301 and leaving a gap for the flatbed trolley 6 to enter under the six-degree-of-freedom fine-tuning equipment of the prefabricated track slab 4.

[0105] Before the flatbed trolley 6 enters the six-DOF fine-tuning equipment of the prefabricated track slab 4 of this invention, the wedge block 7 is placed on the inclined section of the slide rail frame 601 and limited by the limiting rod 602; then the flatbed trolley 6 is driven to move until the slide rail frame 601 moves to a position below the wedge block mounting mechanism 5. (This step can generally be done manually. The operator pushes the flatbed trolley 6 under the six-DOF fine-tuning equipment of the prefabricated track slab 4. The fixed gripper 520 and the movable gripper 530 have a positioning effect when gripping, so even if there is a certain error, it can be corrected during the gripping process.)

[0106] After the slide rail 601 moves to a position below the wedge block mounting mechanism 5, the limit rod 602 is pulled out to release the limit on the wedge block 7. The wedge block 7 slides to a position below the wedge block mounting mechanism 5. The telescopic structure 550 drives the movable gripper 530 to move, so that the movable gripper 530 approaches the fixed gripper 520 to grasp the wedge block 7. Then, the reduction motor drives the gripping chain 524 to rotate, so that the wedge block 7 is gradually lifted to complete the lifting action.

[0107] Then the traveling mechanism 1 moves forward one working position to prepare for fine adjustment. At this point, the gripping step of the wedge block 7 is completed. Example 2

[0108] Its main difference from Example 1 is:

[0109] Considering that many geared motors do not have self-locking capability, in order to further improve safety, such as Figure 11 and Figure 12In this embodiment, the limiting block 528 includes an outer shell 5281 and a locking pin 5283 horizontally disposed inside the outer shell 5281. The locking pin 5283 is slidably assembled inside the outer shell 5281 through a sleeve 5286. The locking pin 5283 is integrally formed with a baffle 5284. The locking pin 5283 is also sleeved with a return spring 5285 for resetting the locking pin 5283. Both ends of the locking pin 5283 are hemispherical.

[0110] The locking pin 5283 has a trigger block 5282 at one end away from the driving sprocket 523 or the driven sprocket 527. The trigger block 5282 is slidably assembled in the housing 5281 in the vertical direction, and the trigger block 5282 extends upward out of the housing 5281.

[0111] A locking block 5287 is provided at one end of the locking pin 5283 near the drive sprocket 523 or the driven sprocket 527. The locking block 5287 is slidably mounted in the housing 5281 in the horizontal direction, and the locking block 5287 extends out of the housing 5281 to one side of the end face of the drive sprocket 523 or the driven sprocket 527. The locking block 5287 is also connected to a spring plate 5288 for resetting the locking block 5287. In other embodiments, in order to ensure that the trigger block 5282 can be stably ejected, the trigger block 5282 may also be provided with a spring plate 5288.

[0112] Both the trigger block 5282 and the locking block 5287 have a wedge-shaped structure at the end near the locking pin 5283.

[0113] When the wedge block accidentally falls, it first presses against the trigger block 5282. The trigger block 5282 contracts and descends, pressing against the locking pin 5283, which moves horizontally. This, in turn, presses against the locking block 5287, causing it to pop out and engage with the teeth of the drive sprocket 523 or the driven sprocket 527, preventing the drive sprocket 523 or the driven sprocket 527 from rotating. This provides stable support for the wedge block. This structure is unaffected by signals or circuits, can be stably triggered, is highly practical, and ensures safe construction. Example 3

[0114] Its main difference from Example 1 is:

[0115] In Example 1, the protective box 521 is equipped with two sets of chain and sprocket structures. The two drive sprockets 523 are connected by a drive shaft. The drive shaft is equipped with a drive sprocket or drive gear to connect to a reduction motor.

[0116] In Example 1, the two sets of chain and sprocket structures inside the protective box 521 share a single geared motor, making the assembly of this structure easier.

[0117] In this embodiment, the two sets of chain and sprocket structures in the protective box 521 no longer share a single geared motor. Instead, one set of chain and sprocket structures in the fixed gripper 520 and the corresponding chain and sprocket structures in the movable gripper 530 share a single geared motor.

[0118] Specifically, both geared motors are installed inside the fixed gripper 520 (the movable gripper 530 needs to move, so this arrangement reduces the load). Each of the two sets of chain and sprocket structures within the fixed gripper 520 is connected to one geared motor. The chain and sprocket structures on the same side of the fixed gripper 520 and the movable gripper 530 are connected via bevel gears and a drive shaft. In this design, to prevent interference, only the top sprocket is used as the driving sprocket 523. The drive shaft in this embodiment is a retractable drive shaft (the retractable drive shaft includes a guide shaft and a sleeve 5286 fitted onto the guide shaft; the guide shaft has a key for transmitting torque; and the inner wall of the sleeve 5286 has a guide groove to achieve both transmission capability and retractability).

[0119] In this embodiment, although the assembly of this structure is slightly more difficult, the chain and sprocket structure inside the fixed gripper 520 or the movable gripper 530 can be controlled independently, which can achieve fine adjustment of the angle of the wedge block 7, thereby enabling the bottom of the wedge block 7 to better fit the tunnel surface.

[0120] While various embodiments of the invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of the invention. The appended claims are intended to define the scope of the invention and therefore cover any modular compositions, equivalents, or alternatives within the scope of these claims.

Claims

1. A prefabricated track slab six-degree-of-freedom fine-tuning device, characterized in that, include: The walking mechanism (1) is used to drive the fine adjustment mechanism (2) to move; Fine adjustment mechanism (2), which is installed on walking mechanism (1), fine adjustment mechanism (2) is used to adjust the angle and position of prefabricated track plate (4); fine adjustment mechanism (2) includes six telescopic mechanisms (202), and the angle and position of prefabricated track plate (4) can be adjusted by adjusting telescopic mechanisms (202); The gripping mechanism (3) is connected to the bottom of the fine adjustment mechanism (2). The gripping mechanism (3) is used to grip the prefabricated track plate (4). The side of the prefabricated track plate (4) is provided with a hook (401) that cooperates with the gripping mechanism (3). The wedge block mounting mechanism (5) is fixedly installed on the left and right sides of the walking mechanism (1). The wedge block mounting mechanism (5) includes a mounting frame (510). At least two sets of gripper structures are installed on the mounting frame (510). The gripper structures include fixed grippers (520) fixedly connected to the mounting frame (510) and movable grippers (530) slidably assembled on the mounting frame (510). The fixed gripper (520) includes a protective box (521). Inside the protective box (521), a drive sprocket (523) and a driven sprocket (527) are rotatably mounted in the vertical direction. The drive sprocket (523) is connected to a geared motor. A gripping chain (524) is wound between the drive sprocket (523) and the driven sprocket (527). A clearance groove (522) is provided on the side of the protective box (521) so that one side of the gripping chain (524) extends out of the protective box (521). A limiting block (528) for preventing the wedge block from falling is also fixedly installed on the gripping chain (524). The structure of the movable gripper (530) is the same as that of the fixed gripper (520). The gripping mechanism (3) includes a connecting frame (301) and a claw (302) fixedly installed at the bottom of the connecting frame (301). The claw (302) is used to cooperate with the hook (401) to grip the assembled track plate (4). The two sets of gripper structures are symmetrically arranged. A guide rod (540) is fixedly installed on the mounting frame (510). The movable gripper (530) is slidably connected to the guide rod (540). The two movable grippers (530) are adjacent to each other and a telescopic structure (550) is fixedly connected between the two movable grippers (530). The telescopic structure (550) is used to adjust the distance between the movable gripper (530) and the fixed gripper (520) so as to grip or put down the wedge block.

2. The prefabricated track slab six-degree-of-freedom fine-tuning equipment according to claim 1, characterized in that: The walking mechanism (1) includes a walking frame (101) and traveling wheels (102) fixedly installed at the four corners of the bottom of the walking frame (101).

3. The prefabricated track slab six-degree-of-freedom fine-tuning equipment according to claim 2, characterized in that: The traveling wheel (102) is connected to a servo geared motor.

4. The prefabricated track slab six-degree-of-freedom fine-tuning equipment according to claim 1, characterized in that: The fine adjustment mechanism (2) also includes a load-bearing frame (201) fixedly connected to the walking frame (101), and the telescopic mechanism (202) is hinged below the load-bearing frame (201). The bottom of the telescopic mechanism (202) is hinged to the gripping mechanism (3).

5. The prefabricated track slab six-degree-of-freedom fine-tuning equipment according to claim 4, characterized in that: The telescopic mechanism (202) is an electric cylinder.

6. The prefabricated track slab six-degree-of-freedom fine-tuning equipment according to claim 1, characterized in that: The protective box (521) is also equipped with several support rollers (526) that rotate inside. The support rollers (526) are located inside the gripping chain (524) and are used to support the gripping chain (524) to prevent the gripping chain (524) from deforming. The gripping chain (524) is also fixedly installed with rubber pads (525) to increase friction.

7. The prefabricated track slab six-degree-of-freedom fine-tuning equipment according to claim 6, characterized in that: The limiting block (528) includes an outer shell (5281) and a locking pin (5283) horizontally disposed inside the outer shell (5281). The locking pin (5283) is slidably assembled inside the outer shell (5281) through a sleeve (5286). The locking pin (5283) is integrally formed with a baffle (5284). The locking pin (5283) is also fitted with a return spring (5285) for resetting the locking pin (5283). Both ends of the locking pin (5283) are hemispherical. The locking pin (5283) has a trigger block (5282) at one end away from the driving sprocket (523) or the driven sprocket (527). The trigger block (5282) is slidably mounted in the housing (5281) in the vertical direction, and the trigger block (5282) extends upward out of the housing (5281). The locking pin (5283) has a locking block (5287) at one end near the drive sprocket (523) or driven sprocket (527). The locking block (5287) is slidably mounted in the outer shell (5281) in the horizontal direction, and the locking block (5287) extends out of the outer shell (5281) to one side of the end face of the drive sprocket (523) or driven sprocket (527). The locking block (5287) is also connected to a spring plate (5288) for resetting the locking block (5287). Both the trigger block (5282) and the locking block (5287) have a wedge-shaped structure at the end near the locking pin (5283).

8. A method for fine-tuning a prefabricated track slab, employing the six-degree-of-freedom fine-tuning equipment for prefabricated track slabs as described in any one of claims 1-7, characterized in that, Includes the following steps: S1. Wedge block gripping: The telescopic structure (550) drives the movable gripper to move and grip the wedge block located below the wedge block mounting mechanism (5), so that the fixed gripper (520) and the movable gripper (530) clamp the wedge block. The geared motor drives the gripping chain (524) to rotate and lift the wedge block to complete the gripping action. S2. Position alignment: By adjusting the extension length of the telescopic mechanism (202), the connecting frame (301) of the gripping mechanism (3) is made parallel to the top of the prefabricated track plate (4), and the height of the connecting frame (301) is adjusted to correspond to the prefabricated track plate (4); S3. The mobile gripping mechanism (3) is driven by the walking mechanism (1) to move towards the prefabricated track plate (4); S4. Hook plate, walking mechanism (1) drives gripping mechanism (3) to move until the claw (302) engages under hook (401) to complete the gripping action; S5. Lifting plate, the telescopic mechanism (202) retracts, lifting the prefabricated track plate (4), and transporting the prefabricated track plate (4) to the predetermined installation position through the walking mechanism (1); S6. Adjusting plate: The prefabricated track plate (4) is adjusted to the set angle by telescopic mechanism (202). After fine adjustment, the plate is placed to complete the installation and fine adjustment of the prefabricated track plate (4). S7. After aligning the plate, lower the prefabricated track plate (4) vertically for installation; S8. Place the wedge block, and the deceleration motor rotates in the opposite direction to make the wedge block descend smoothly until the bottom surface of the wedge block is in contact with the tunnel surface. Then the telescopic structure (550) retracts, releases the grip, and after being free from external force, the wedge block slides down the tunnel surface under gravity and is inserted between the prefabricated track plate (4) and the tunnel surface to complete the installation of the wedge block. S9. Unhooking: The telescopic mechanism (202) drives the gripping mechanism (3) to move horizontally, causing the claw (302) to separate from the hook (401) from the side; S10. Reset, the device returns to its initial position, waiting for the next operation.

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