Rail hugging walking device and method

Abstract

The application discloses a rail-holding walking device and method, and belongs to the technical field of railway engineering equipment. The method comprises the following steps: S10: a control module drives and adjusts a rail-holding jaw and a walking wheel set based on track profile information obtained by a track type sensor in real time, so as to match the current track specification; S20: the control module drives the rail-holding jaw to clamp the track, and obtains rail-holding state information reflecting the fitting state of the rail-holding jaw and the side surface of the track, so as to ensure that a preset rigid anchoring is established between the device and the track; S30: the control module drives the walking wheel set to move along the track based on the execution work information and the track type monitoring information obtained by the track type sensor in real time, and dynamically adjusts the rail-holding jaw and the walking wheel set; and S40: after the work is completed, the control module controls the rail-holding jaw to be separated from the rail-holding state based on preset reset driving information, and stops the movement of the walking wheel set. The walking precision degradation problem of the traditional separated structure under dynamic working conditions is solved.

Description

Technical Field

[0001] This invention relates to the field of railway engineering equipment technology, specifically to a rail-hugging traveling device and method. Background Technology

[0002] In the field of rail transit maintenance equipment technology, the reliable movement and precise positioning of automated equipment involved in operations such as track bolt tightening and inspection are fundamental to ensuring operational quality and efficiency. Currently, such equipment generally adopts a modular architecture that separates the "rail clamp" and the "independent walking wheel set," with the two mechanically coupled through a connecting bracket with assembly gaps. While this classic design achieves basic fixing and movement functions, its inherent structural form leads to a core and systemic technical defect: under dynamic operating conditions, the guiding accuracy and trajectory stability of the equipment's walking mechanism severely deteriorate.

[0003] When the equipment performs operations that generate periodic vibrations, such as bolt tightening, its traveling mechanism, clamping mechanism, and buffer unit are isolated or simply connected mechanical combinations. This prevents the force from being uniformly and synchronously transmitted and dissipated through a rigid, integrated structure. Under vibration, the gaps at the connecting brackets can cause microscopic movement and impacts, resulting in relative positional drift between the "rail gripping" and "traveling" functional units, which should work in tandem. This leads to a deviation in the trajectory of the traveling wheel set relative to the theoretical track centerline, i.e., misalignment. Moreover, this deviation caused by structural gaps is random and dynamic, and cannot be eliminated in advance through simple mechanical calibration, nor can it be compensated for in real time during operation through fixed control programs. This presents a bottleneck for existing equipment in high-standard track maintenance operations, resulting in poor controllability of work quality and potentially affecting operational safety due to positioning deviations. Summary of the Invention

[0004] To address the problems mentioned in the background section, the present invention provides a rail-mounted traveling device and method, the technical solution of which is as follows:

[0005] A method for rail-hugging travel includes the following steps:

[0006] S10: The control module drives the adjustment of the rail clamp and the traveling wheel set based on the track profile information obtained in real time by the rail profile sensor to match the current track specifications;

[0007] S20: The control module drives the rail clamping jaws to clamp the rail and acquires the rail clamping status information reflecting the contact state between the rail clamping jaws and the side of the rail, so as to ensure that a preset rigid anchor is established between the device and the rail.

[0008] S30: The control module drives the wheel assembly to move along the track by acquiring the operation information and simultaneously dynamically adjusts the rail clamp and the wheel assembly based on the track monitoring information continuously acquired in real time by the track sensor.

[0009] S40: After the operation is completed, the control module controls the rail clamp to disengage from the rail clamping state based on the preset reset drive information and stops the movement of the traveling wheel set.

[0010] Preferably, step S10 includes the following steps:

[0011] S101: The track profile sensor scans the track, acquires the original contour information containing the key geometric features of the track, and transmits it to the control module;

[0012] S102: The control module receives the original contour information, performs feature extraction, and generates digital parameter information to characterize the specific specifications of the current track.

[0013] S103: The control module generates a first control command for adjusting the width of the rail clamp jaws and a second control command for adjusting the wheel track of the traveling wheel set based on the digital parameter information, and drives the corresponding actuators to execute synchronously.

[0014] Preferably, step S20 includes the following steps:

[0015] S201: After confirming the rail type matching, the control module sends clamping and rail-holding information containing the target clamping force to the hydraulic drive component based on the preset rigid anchoring rules.

[0016] S202: The hydraulic drive unit drives the rail clamping jaws to close based on the clamping rail information, so that its clamping surface continuously presses against the side wall of the rail.

[0017] S203: The control module receives the rail clamping feedback information from the clamping force sensor in real time and compares the rail clamping feedback information with the preset anchoring threshold to ensure that a rigid anchoring state is established.

[0018] Preferably, step S30 includes the following steps:

[0019] S301: The control module acquires the task information and drives the walking wheel set to move along the track at the corresponding task speed;

[0020] S302: The track profile sensor continuously acquires track profile detection information in the direction of travel during the movement process. The track profile detection information includes track alignment, joint and turnout section features, and is uploaded to the control module.

[0021] S303: The control module calls different preset control strategies based on the rail type detection information to generate clamping control commands for controlling the rail clamp jaws and traveling control commands for controlling the traveling wheel set.

[0022] Preferably, in step S403, the preset control strategy is specifically as follows:

[0023] When the track in the direction of travel is determined to be a straight line based on the track type detection information, a clamping control command is generated to control the rail clamping jaws to maintain a constant basic clamping force, and a travel control command is generated to control the traveling wheel set to maintain a uniform and stable travel.

[0024] When the track enters a curve section based on the track type detection information, a clamping control command is generated to control the rail clamp located on the outside of the curve to appropriately increase the clamping force. At the same time, a set speed difference is generated to control the inner and outer travel wheel sets to achieve a smooth curve-passing travel control command.

[0025] When the track turnout or rail joint area in the direction of travel is identified based on the rail type detection information, a clamping control command is generated to control the rail clamping jaws to reduce the clamping force in advance and to generate a short-term speed reduction control command for the traveling wheel set. After the sensor confirms that the special section has been passed, a travel control command is generated to restore all parameters to the standard operating values.

[0026] Furthermore, a rail-hugging traveling device includes an integrated frame. Two adjustable-distance traveling wheel sets are movably mounted at both ends of the bottom of the integrated frame. A traction motor is fixedly mounted on one side of the traveling wheel set, and the traction motor is movably connected to the adjacent traveling wheel set based on a transmission screw. Two rail-hugging components for rigid anchoring with the rail are also provided at the bottom of the integrated frame. A control module for collecting and processing data information is fixedly mounted on the end of the integrated frame away from the traction motor.

[0027] Preferably, the rail clamping assembly includes a hydraulic drive and rail clamping jaws. The hydraulic drive is fixedly installed at the bottom of the integrated frame, and two opposing rail clamping jaws are movably installed at the bottom of the hydraulic drive. The hydraulic drive is used to drive and control the relative lateral movement of the two rail clamping jaws.

[0028] Preferably, a traction motor is fixedly installed between the two rail-holding components at the bottom of the integrated frame, and a lead screw drive is installed on the output shaft of the traction motor. The lead screw drive is connected to the transmission lead screw. A rail profile sensor for sensing the rail contour is also fixedly installed on the integrated frame on one side of the transmission lead screw.

[0029] Preferably, the walking wheel assembly includes a guide member, a spring, and a movable wheel. The transmission screw is movably mounted on the bottom of the integrated frame. The guide member is movably mounted on the integrated frame on both sides of the transmission screw. The spring is installed inside the guide member, and the two ends of the spring are respectively connected to the integrated frame and the movable wheel.

[0030] The beneficial effects of the rail-hugging traveling device and method of the present invention are as follows:

[0031] This invention effectively solves the problem of deteriorated walking accuracy caused by assembly gaps and component disengagement in traditional split structures under dynamic working conditions by constructing an intelligent operation process based on real-time perception and closed-loop control. First, the system automatically identifies the track specifications and adaptively matches the mechanism based on real-time scanning by the track profile sensor, eliminating initial assembly errors caused by manual adjustment and fixed structure from the source. Then, while driving the jaws to clamp the track, the system confirms the rigid anchoring state through a closed-loop feedback from the force sensor, ensuring high-precision benchmark positioning at the starting point of the operation. Furthermore, during the core walking and operation process, the system adjusts the clamping force and walking parameters in real time based on the dynamic information of the track alignment continuously acquired by the track profile sensor, forming a continuous control loop of "perception-decision-execution". This allows the device to actively adapt to changes in track geometry and counteract the impact of operational vibrations, thereby maintaining high-precision alignment between the walking trajectory and the track centerline under dynamic working conditions. Finally, the automatic reset process ensures the continuity and safety of operation. Overall, this solution transforms the original separate, static, and open-loop operation mode into an integrated, dynamic, and closed-loop intelligent walking control method. Through automatic sensing and active adjustment throughout the entire process, it eliminates the uncertainty and error accumulation caused by mechanical backlash, significantly improving the walking guidance accuracy, dynamic stability, and adaptability of the equipment under complex line conditions. Attached Figure Description

[0032] Figure 1 This is a flowchart of an embodiment of a rail-hugging walking method according to this application; Figure 2 This is a flowchart illustrating an implementation of step S10 in an embodiment of a rail-hugging walking method according to this application. Figure 3 This is a flowchart illustrating an implementation of step S20 in an embodiment of a rail-hugging walking method according to this application; Figure 4 This is a flowchart illustrating an implementation of step S30 in an embodiment of a rail-hugging walking method according to this application. Figure 5 This is a top view of the device in an embodiment of the rail-hugging walking device of this application; Figure 6 This is a cross-sectional view of the walking wheel assembly in an embodiment of the rail-hugging walking device of this application; Figure 7 This is a cross-sectional structural diagram of the rail-holding component in an embodiment of a rail-holding walking device according to this application.

[0033] Among them, 1. Integrated frame; 2. Traction motor; 3. Screw drive component; 4. Transmission screw; 5. Rail type sensor; 6. Travel wheel set; 7. Rail clamping assembly; 8. Control module; 9. Rail; 601. Guide component; 602. Spring; 603. Moving wheel; 701. Hydraulic drive component; 702. Rail clamping jaw. Detailed Implementation

[0034] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] As attached Figure 1-4 As shown, a method for rail-hugging travel includes the following steps:

[0036] S10: The control module drives the adjustment of the rail clamp and the traveling wheel set based on the track profile information obtained in real time by the rail profile sensor to match the current track specifications;

[0037] S20: The control module drives the rail clamping jaws to clamp the rail and acquires the rail clamping status information reflecting the contact state between the rail clamping jaws and the side of the rail, so as to ensure that a preset rigid anchor is established between the device and the rail.

[0038] S30: The control module drives the wheel assembly to move along the track by acquiring the operation information and simultaneously dynamically adjusts the rail clamp and the wheel assembly based on the track monitoring information continuously acquired in real time by the track sensor.

[0039] S40: After the operation is completed, the control module controls the rail clamp to disengage from the rail clamping state based on the preset reset drive information and stops the movement of the traveling wheel set.

[0040] In this embodiment, the track profile information is digital data on the shape, size, and spatial position of the track cross-section collected by the track profile sensor; the track specifications are the standardized parameters of the track, as well as its actual geometric shape, such as straight lines, curve radii, and turnout structures; the rail clamping status information is data fed back by the sensor during the clamping process, used to quantify the degree of clamping between the rail clamping jaws and the track side; the execution operation information is the command information issued by the control module to start walking and working; the track profile monitoring information is the same as the track profile information, except that the track profile information is only acquired once in the initial preparation stage, while the track monitoring information is continuously acquired during the operation stage; the reset drive information is a preset command information used to end the operation process.

[0041] Specifically, the control module first uses the track profile information detected in real time by the track profile sensor to drive and adjust the opening width of the rail clamp and the wheelbase of the traveling wheel set to precisely match the current track specifications. This step fundamentally eliminates the initial assembly errors caused by fixed mechanical parts or inaccurate manual adjustments in traditional equipment, enabling the device to automatically and quickly adapt to different track types. Subsequently, the control module drives the rail clamp to perform a clamping action and simultaneously acquires rail clamping status information through sensors to confirm that the device and the track have reached the preset rigid anchoring standard. This step establishes a stable and gapless working reference platform, completely solving the problem of insufficient overall structural rigidity caused by loose connections, and providing crucial stability assurance for high-precision operations. Then, while driving the traveling wheel set carrying the equipment, the control module continuously adjusts the clamping force of the rail clamp and the motion parameters of the traveling wheel set based on the rail profile monitoring information fed back by the rail profile sensor. This step constitutes a real-time closed-loop control of "perception-decision-execution," enabling the device to intelligently respond to dynamic geometric changes in the track. The beneficial effect is a significant improvement in the trajectory accuracy, stability, and passability under complex working conditions (such as small-radius curves and turnout areas), effectively avoiding jamming and deviation. Finally, when the operation is completed, the control module, based on the reset drive information, instructs the rail clamp to disengage from the rail clamp and stop the traveling wheel set, achieving a safe and orderly end to the operation. The entire method, through the above-mentioned coherent automated steps, upgrades the separate, static traditional operation into an integrated, dynamic, and intelligent continuous control process.

[0042] In one embodiment, step S10 includes the following steps:

[0043] S101: The track profile sensor scans the track, acquires the original contour information containing the key geometric features of the track, and transmits it to the control module;

[0044] S102: The control module receives the original contour information, performs feature extraction, and generates digital parameter information to characterize the specific specifications of the current track.

[0045] S103: The control module generates a first control command for adjusting the width of the rail clamp jaws and a second control command for adjusting the wheel track of the traveling wheel set based on the digital parameter information, and drives the corresponding actuators to execute synchronously.

[0046] In this embodiment, the key geometric features of the track are geometric parameters extracted from the track profile that have a decisive influence on the clamping and movement of the device, such as the rail head width, rail web height, and rail surface curvature radius; digital parameter information refers to a set of quantitative data generated after feature extraction that can be directly understood and calculated by the control program; the first control command and the second control command refer to two sets of drive signals generated by the control module based on calculations and sent to the hydraulic drive component and the traction motor, respectively.

[0047] Specifically, firstly, the track profile sensor actively scans the track, directly acquiring raw contour information containing key geometric features. This information is transmitted to the control module in real time, converting the track geometry into initial electronic signals that can be read and processed by the control system. This captures key information about the external environment, replacing traditional manual measurement and visual judgment, thus eliminating sources of human error. Next, the control module receives the raw contour information and extracts features using an embedded algorithm. It accurately analyzes the feature values ​​directly related to clamping and movement from the raw data, ultimately converting them into digital parameter information characterizing the current track condition. Finally, based on the generated digital parameter information, the control module generates, in parallel, a first control command for precisely adjusting the width of the clamping jaws and a second control command for adjusting the wheelbase of the walking wheelset, using an internal mapping model or calculation formula. Simultaneously, it drives the hydraulic drive components and traction motor to complete the corresponding mechanical adjustments, seamlessly converting the digital results into precise changes in the physical form of the device. This constitutes a complete automated pre-process of "perception-cognition-execution," providing a precise physical configuration foundation for subsequent stable clamping and high-precision movement.

[0048] In one embodiment, step S20 includes the following steps:

[0049] S201: After confirming the rail type matching, the control module sends the clamping and gripping information containing the target clamping force to the hydraulic drive component based on the preset rigid anchoring rules.

[0050] S202: The hydraulic drive unit drives the rail clamping jaws to close based on the clamping rail information, so that its clamping surface continuously presses against the side wall of the rail.

[0051] S203: The control module receives the rail clamping feedback information from the clamping force sensor in real time and compares the rail clamping feedback information with the preset anchoring threshold to ensure that a rigid anchoring state is established.

[0052] In this embodiment, the rigid anchoring rule is a program logic or data model pre-stored in the control module to guide how to achieve reliable clamping. It specifies the target clamping force and anchoring threshold that should be achieved during the clamping process. The target clamping force is the theoretical pressure value that the hydraulic drive needs to output to achieve a reliable rigid anchoring state, calculated by the control module according to the rigid anchoring rule. The clamping and gripping information is the control information sent by the control module to the hydraulic drive, which includes action parameters such as the target clamping force, and is used to command the hydraulic drive to start and perform clamping actions according to specific requirements. The gripping feedback information is data collected in real time by the clamping force sensor and sent to the control module to reflect the current actual clamping force. The anchoring threshold is a force threshold preset in the rigid anchoring rule.

[0053] Specifically, firstly, after confirming rail type matching, the control module immediately makes a decision based on its internally preset rigid anchoring rules, generating clamping information containing specific target clamping forces, and accurately sending it to the hydraulic drive unit. This achieves standardized and programmed initiation of the clamping action, eliminating the uncertainty and arbitrariness of manual operation. Subsequently, the hydraulic drive unit, as the core execution unit, accurately responds to and executes the clamping information, outputting hydraulic power to drive the clamping jaws to move towards the rail sidewall and continuously clamp. Ultimately, the control module receives real-time feedback information from the clamping force sensor and compares it with the anchoring threshold in the rigid anchoring rules, making logical judgments. This step objectively and quantitatively detects and confirms the result of the clamping action online. Its core benefit lies in forming a complete control closed loop of "command-execution-feedback-verification," which not only ensures that each clamping reliably meets the preset rigid connection standard, thus eliminating the risk of structural micro-movement or loosening during operation due to insufficient clamping force, but more importantly, it replaces the subjective judgment relying on human experience in the traditional method with real-time data feedback, realizing measurable, verifiable, and consistent anchoring quality, laying an absolutely solid benchmark for subsequent high-precision operations.

[0054] In one embodiment, step S30 includes the following steps:

[0055] S301: The control module acquires the task information and drives the walking wheel set to move along the track at the corresponding task speed;

[0056] S302: The track profile sensor continuously acquires track profile detection information in the direction of travel during the movement process. The track profile detection information includes track alignment, joint and turnout section features, and is uploaded to the control module.

[0057] S303: The control module calls different preset control strategies based on the rail type detection information to generate clamping control commands for controlling the rail clamp jaws and traveling control commands for controlling the traveling wheel set.

[0058] In this embodiment, the execution operation information is issued by the operator or by the superior system, and usually includes a start command, target operation position, operation speed, etc., which are instructions or parameter sets used to trigger the core working mode of the equipment; track alignment refers to the geometric shape characteristics of the track in the horizontal and vertical planes, such as straight segments, curved segments, ramps, etc.; preset control strategy refers to a set of control logic and parameter sets pre-stored in the control module for different track type detection information (such as straight lines, curves, turnouts); clamping control command is an instant command generated by the control module according to the currently activated preset control strategy, which is used to dynamically adjust the magnitude or distribution of the clamping force of the rail clamping jaws; travel control command is an instant command generated by the control module according to the currently activated preset control strategy, which is used to dynamically adjust the speed of the traveling wheel set or the differential speed of the left and right wheels.

[0059] Specifically, firstly, the control module receives and parses the operation information, thereby driving the walking wheel set to move along the track at a specified operating speed, thus initiating the main operation process. Next, the track profile sensor continuously scans the track in the forward direction during the equipment's movement, acquiring comprehensive track profile detection information in real time, including track alignment changes, joint positions, and turnout section characteristics. This information is continuously uploaded to the control module, transforming the dynamic and complex external track environment into a continuous, processable data stream, providing fundamental information support for proactive control and adaptation. Then, the control module rapidly analyzes the real-time incoming track profile detection information and, based on this, calls the most suitable strategy from its internal preset control strategy library. This strategy is then instantly calculated into two sets of specific execution commands: a clamping control command to optimize clamping stability, and a walking control command to adjust the walking posture and speed, which are simultaneously sent to the corresponding actuators. This step transforms the equipment from a passive, rigid walking mode to an intelligent walking mode that can proactively anticipate and adapt to changes in track geometry. By dynamically adjusting the clamping force and walking parameters, it effectively overcomes the risks of lateral slippage or jamming that may occur due to centrifugal effects on curved sections, as well as the impact and offset when passing through turnouts and joints, greatly improving the passability of complex lines. Furthermore, continuous closed-loop correction ensures that the walking trajectory is always aligned with the track centerline with high precision, thereby meeting the stringent precision requirements of high-speed rail and other high-grade lines for maintenance operations.

[0060] In one embodiment, the preset control strategy in step S403 is specifically as follows:

[0061] When the track in the direction of travel is determined to be a straight line based on the track type detection information, a clamping control command is generated to control the rail clamping jaws to maintain a constant basic clamping force, and a travel control command is generated to control the traveling wheel set to maintain a uniform and stable travel.

[0062] When the track enters a curve section based on the track type detection information, a clamping control command is generated to control the rail clamp located on the outside of the curve to appropriately increase the clamping force. At the same time, a set speed difference is generated to control the inner and outer travel wheel sets to achieve a smooth curve-passing travel control command.

[0063] When the track turnout or rail joint area in the direction of travel is identified based on the rail type detection information, a clamping control command is generated to control the rail clamping jaws to reduce the clamping force in advance and to generate a short-term speed reduction control command for the traveling wheel set. After the sensor confirms that the special section has been passed, a travel control command is generated to restore all parameters to the standard operating values.

[0064] In this embodiment, the basic clamping force is a constant and optimized clamping force value preset under normal stable working conditions such as a straight road, in order to maintain the necessary connection rigidity between the device and the track while avoiding excessive frictional wear.

[0065] Specifically, for the most common working condition of straight roads, the strategy is to generate instructions to maintain the basic clamping force and uniform speed. Its function is to ensure that the equipment completes most of the work efficiently and smoothly in the standard mode with the most energy-saving and least wear-prone conditions. The beneficial effect is to optimize the economy and durability of equipment operation while ensuring the stability of the foundation.

[0066] When the control module determines that it has entered a curve segment, the system immediately switches to a cornering strategy: on the one hand, it generates instructions to increase the clamping force of the outer rail clamps to produce greater centripetal friction to resist centrifugal effects; on the other hand, it simultaneously generates instructions to control the inner and outer traveling wheel sets to generate a precise speed difference. This combined strategy actively coordinates the outputs of the clamping system and the traveling system, enabling the device to adapt to the curve's geometric forced steering. This fundamentally avoids the jamming or lateral slippage that can occur with traditional rigid structures on curves, achieving smooth and precise curve-passing capability and significantly expanding the applicable track range of the equipment.

[0067] When a special section such as a turnout or joint is detected ahead, the control module appropriately reduces the clamping force of the rail clamps in advance to reduce the risk of interference with moving parts or hard impact. At the same time, it instructs the traveling wheels to briefly reduce speed. After the sensors confirm that the section has been completely passed, it instructs all parameters to be restored to standard operating values. This strategy greatly improves the safety and adaptability of the equipment when passing through complex and vulnerable areas, effectively preventing equipment damage or track damage caused by rigid impacts. At the same time, the "advance action - confirmation and restoration" timing logic ensures the continuity and efficiency of the operation process.

[0068] As attached Figure 5-7 As shown, a rail-hugging traveling device includes an integrated frame 1. Adjustable-distance traveling wheel sets 6 are movably mounted at both ends of the bottom of the integrated frame 1. A traction motor 2 is fixedly mounted on one side of the traveling wheel set 6, and the traction motor 2 is movably connected to the adjacent traveling wheel set 6 based on a transmission screw 4. Two rail-hugging components 7 for rigidly anchoring to the rail 9 are also provided at the bottom of the integrated frame 1. A control module 8 for collecting and processing data information is fixedly mounted on the end of the integrated frame 1 away from the traction motor 2.

[0069] In this embodiment, the integrated frame 1 serves as the rigid load-bearing and installation benchmark. Adjustable wheel sets 6 with relative spacing are movably mounted at both ends of its bottom. The traction motor 2 is fixedly mounted on one side of the frame and movably connected to the adjacent wheel sets 6 via a transmission screw 4, forming a closed and precise wheel spacing mechanical adjustment mechanism. Simultaneously, the rail clamping assembly 7 for anchoring is directly installed at the bottom of the integrated frame 1, sharing the same rigid mounting base with the wheel sets 6. This integrated structural design completely eliminates the accumulated assembly errors and connection interface issues caused by the traditional connection of the "rail clamping fixture" and the "independent wheel sets 6" via external separate brackets. This ensures that the relative spatial position between the rail clamping anchor point and the driving wheel has an inherent certainty at the same level as the machining precision of the integrated frame 1, establishing a high-precision walking geometric benchmark from the source. Furthermore, all operating loads and vibrations are uniformly transmitted and dissipated through the high-rigidity integrated frame, avoiding localized stress concentration and greatly improving the dynamic stability and durability of the structure. Furthermore, by fixing the control module 8 to one end of the integrated frame 1 away from the traction motor 2, the direct impact of motor vibration and electromagnetic interference on precision electronic components is avoided, thereby improving the stability and reliability of the control system.

[0070] In one embodiment, the rail clamping assembly 7 includes a hydraulic drive 701 and rail clamping jaws 702. The hydraulic drive 701 is fixedly installed at the bottom of the integrated frame 1, and two opposing rail clamping jaws 702 are movably installed at the bottom of the hydraulic drive 701. The hydraulic drive 701 is used to drive and control the relative lateral movement of the two rail clamping jaws 702.

[0071] In this embodiment, the hydraulic drive unit 701 is fixedly installed at the bottom of the integrated frame 1 as a power source, thus obtaining stable support. Two opposing rail clamps 702 are movably installed at the bottom of the hydraulic drive unit 701, and are uniformly driven and controlled by the hydraulic drive unit 701 to move laterally relative to each other. This integrates the drive unit that provides clamping force and the rail clamps 702 that directly perform clamping into a modular functional unit that can operate independently. Through the direct rigid connection between the power and the actuator, the force transmission path is the shortest, the efficiency is the highest, and there are no errors or lags caused by intermediate links. Moreover, the relative movement of the two rail clamps 702 can ensure that the force is applied synchronously and centrally from both sides of the rail 9, forming a stable and reliable clamping, effectively avoiding the mechanism jamming or off-center load that may be caused by unilateral drive.

[0072] In one embodiment, a traction motor 2 is fixedly installed between the two rail-holding components 7 at the bottom of the integrated frame 1. A lead screw drive 3 is installed on the output shaft of the traction motor 2. The lead screw drive 3 is connected to the transmission lead screw 4. A rail profile sensor 5 for sensing the contour of the rail 9 is also fixedly installed on the integrated frame 1 on one side of the transmission lead screw 4.

[0073] In this embodiment, the traction motor 2 is fixedly installed at the center of the bottom of the frame between the two rail-holding assemblies 7. Its output shaft directly drives the lead screw drive 3, which in turn drives the transmission lead screw 4, forming the core drive chain located on the central axis of the device. At the same time, the rail profile sensor 5 for sensing is directly fixedly installed on the integrated frame 1 on one side of the transmission lead screw 4, thereby coupling the three functions of power output, motion conversion, and key information acquisition on the same rigid platform, ensuring the balance of power transmission to the two transmission lead screws 4. Moreover, the sensor is installed close to the adjustment mechanism, which can directly and accurately detect the contour of the track 9 and provide real-time feedback for adjustment, forming a high-precision control foundation.

[0074] In one embodiment, the walking wheel set 6 includes a guide 601, a spring 602, and a moving wheel 603. The transmission screw 4 is movably mounted on the bottom of the integrated frame 1. The guide 601 is movably mounted on the integrated frame 1 on both sides of the transmission screw 4. The spring 602 is installed inside the guide 601. The two ends of the spring 602 are respectively connected to the integrated frame 1 and the moving wheel 603.

[0075] In this embodiment, the transmission lead screw 4 is movably mounted on the integrated frame 1, providing primary installation freedom; the guide member 601 is then movably mounted on the frames on both sides of the lead screw, forming secondary guidance; finally, the integrated frame 1 and the moving wheel 603 are connected by the spring 602 inside the guide member 601, respectively, to achieve tertiary elastic buffering. While ensuring that the moving wheel 603 can accurately follow the lead screw for wheel gauge adjustment, a highly efficient vibration buffering and impact absorption system is constructed in the vertical and lateral directions through multi-stage movable connections with the internal spring 602. This effectively attenuates and isolates high-frequency vibrations and uneven impacts from the rail surface, preventing them from being directly transmitted to the integrated frame 1 and the upper working equipment, significantly improving the stability of travel and the overall reliability of the equipment.

[0076] The present invention and its embodiments have been described above. This description is not restrictive. The accompanying drawings are only one embodiment of the present invention. The actual structure is not limited to this. In short, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the spirit of the present invention, such design should fall within the protection scope of the present invention.

Claims

1. A method for track-hugging travel, characterized in that: Including the following steps: S10: The control module drives the adjustment of the rail clamp and the traveling wheel set based on the track profile information obtained in real time by the rail profile sensor to match the current track specifications. S20: The control module drives the rail clamping jaws to clamp the rail and acquires the rail clamping status information reflecting the contact state between the rail clamping jaws and the side of the rail, so as to ensure that a preset rigid anchor is established between the device and the rail. S30: The control module drives the wheel assembly to move along the track by acquiring the operation information and simultaneously dynamically adjusts the rail clamp and the wheel assembly based on the track monitoring information continuously acquired in real time by the track sensor. S40: After the operation is completed, the control module controls the rail clamp to disengage from the rail clamping state based on the preset reset drive information and stops the movement of the traveling wheel set.

2. The rail-hugging walking method according to claim 1, characterized in that: Step S10 includes the following steps: S101: The track profile sensor scans the track, acquires the original contour information containing the key geometric features of the track, and transmits it to the control module; S102: The control module receives the original contour information, performs feature extraction, and generates digital parameter information to characterize the specific specifications of the current track. S103: The control module generates a first control command for adjusting the width of the rail clamp jaws and a second control command for adjusting the wheel track of the traveling wheel set based on the digital parameter information, and drives the corresponding actuators to execute synchronously.

3. The rail-hugging walking method according to claim 1, characterized in that: Step S20 includes the following steps: S201: After confirming the rail type matching, the control module sends the clamping and gripping information containing the target clamping force to the hydraulic drive component based on the preset rigid anchoring rules. S202: The hydraulic drive unit drives the rail clamping jaws to close based on the clamping rail information, so that its clamping surface continuously presses against the side wall of the rail. S203: The control module receives the rail clamping feedback information from the clamping force sensor in real time and compares the rail clamping feedback information with the preset anchoring threshold to ensure that a rigid anchoring state is established.

4. The rail-hugging walking method according to claim 1, characterized in that: Step S30 includes the following steps: S301: The control module acquires the task information and drives the walking wheel set to move along the track at the corresponding task speed; S302: The track profile sensor continuously acquires track profile detection information in the direction of travel during the movement process. The track profile detection information includes track alignment, joint and turnout section features, and is uploaded to the control module. S303: The control module calls different preset control strategies based on the rail type detection information to generate clamping control commands for controlling the rail clamp jaws and traveling control commands for controlling the traveling wheel set.

5. The rail-hugging walking method according to claim 4, characterized in that: In step S403, the preset control strategy is specifically as follows: When the track in the direction of travel is determined to be a straight line based on the track type detection information, a clamping control command is generated to control the rail clamping jaws to maintain a constant basic clamping force, and a travel control command is generated to control the traveling wheel set to maintain a uniform and stable travel. When the track enters a curve section based on the track type detection information, a clamping control command is generated to control the rail clamp located on the outside of the curve to appropriately increase the clamping force. At the same time, a set speed difference is generated to control the inner and outer travel wheel sets to achieve a smooth curve-passing travel control command. When the track turnout or rail joint area in the direction of travel is identified based on the rail type detection information, a clamping control command is generated to control the rail clamping jaws to reduce the clamping force in advance and to generate a short-term speed reduction control command for the traveling wheel set. After the sensor confirms that the special section has been passed, a travel control command is generated to restore all parameters to the standard operating values.

6. A rail-clamping traveling device, employing the rail-clamping traveling method according to any one of claims 1-5, characterized in that: The system includes an integrated frame (1), on which two adjustable-distance walking wheel sets (6) are movably mounted at the bottom ends. A traction motor (2) is fixedly mounted on the walking wheel set (6) near one side of the integrated frame (1). The traction motor (2) is movably connected to the adjacent walking wheel set (6) based on a transmission screw (4). Two rail-clamping components (7) for rigidly anchoring with the track (9) are also provided at the bottom of the integrated frame (1). A control module (8) for collecting and processing data information is also fixedly mounted on the end of the integrated frame (1) away from the traction motor (2).

7. A rail-hugging traveling device according to claim 6, characterized in that: The rail clamping assembly (7) includes a hydraulic drive (701) and rail clamping jaws (702). The hydraulic drive (701) is fixedly installed at the bottom of the integrated frame (1). Two opposing rail clamping jaws (702) are movably installed at the bottom of the hydraulic drive (701). The hydraulic drive (701) is used to drive and control the relative lateral movement of the two rail clamping jaws (702).

8. A rail-hugging traveling device according to claim 7, characterized in that: A traction motor (2) is fixedly installed between the two rail-holding components (7) at the bottom of the integrated frame (1). A lead screw drive (3) is installed on the output shaft of the traction motor (2). The lead screw drive (3) is connected to the transmission lead screw (4). A rail profile sensor (5) for sensing the contour of the track (9) is also fixedly installed on the integrated frame (1) on one side of the transmission lead screw (4).

9. A rail-hugging traveling device according to claim 8, characterized in that: The walking wheel assembly (6) includes a guide (601), a spring (602), and a moving wheel (603). The transmission screw (4) is movably mounted on the bottom of the integrated frame (1). The guide (601) is movably mounted on the integrated frame (1) on both sides of the transmission screw (4). The spring (602) is installed inside the guide (601). The two ends of the spring (602) are respectively connected to the integrated frame (1) and the moving wheel (603).

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