Rail laying device and method for traffic construction

Abstract

The application provides a track laying device and method for traffic construction, and belongs to the technical field of track traffic. The track laying device and method for traffic construction comprise two longitudinal first clamps, two transverse second clamps, a gear and rack synchronous driving mechanism and a sensing control unit, and the first bending rod and the second bending rod drive the clamps to move synchronously. The method adopts the process of "transverse clamping in the middle, longitudinal clamping bearing, switching of the reference, contact positioning and accurate lowering", converts the first clamp into a gauge positioning reference based on the geometric relationship of D=G-W, and realizes millimeter-level positioning in combination with the sensor rigidly bound with the reference surface. The application solves the pain point of separation of clamping and positioning in traditional hoisting, reduces the gauge error, improves the efficiency, and is suitable for various railway laying and maintenance operations.

Description

Technical Field

[0001] This invention belongs to the field of rail transit technology, and more specifically, relates to a track laying device and method for transportation construction. Background Technology

[0002] Track laying is a core component of railway construction and maintenance, and its efficiency and positioning accuracy directly impact the construction quality and schedule of railway projects. Currently, existing track laying methods suffer from the following main drawbacks: Electromagnetic chucks rely on electromagnetic force to attract rail heads for lifting, which poses a significant safety hazard of falling when power is off. Furthermore, they cannot achieve precise track gauge positioning, and the track gauge needs to be manually adjusted multiple times after lifting, resulting in extremely low efficiency. A single transverse clamp lifting device only clamps the rail web transversely, resulting in poor lifting stability and making long rails prone to torsion and bending deformation; track gauge control relies entirely on manual measurement using a track gauge ruler, which is inaccurate and time-consuming. Large track-laying machines have complex and expensive lifting equipment, which is only suitable for large-scale continuous track-laying operations and cannot meet the needs of sporadic operations such as single rail replacement and emergency repairs within railway maintenance windows. Existing automatic positioning lifting devices mostly use GPS or independent laser positioning devices, which require the addition of a complex positioning system, resulting in high costs and susceptibility to the influence of the construction site environment, and unstable positioning accuracy. The core pain point of the aforementioned existing technology is that the clamping function and the positioning function are separated, and the track gauge control requires independent measurement and adjustment steps, making it impossible to achieve integrated operation of "clamping-positioning-lowering".

[0003] Therefore, there is an urgent need to develop a method and device for precise rail hoisting that is simple in structure, low in cost, highly accurate in positioning, and efficient in operation. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies, such as separation of track laying clamping and positioning, low accuracy, poor efficiency, and significant safety hazards. It provides a track laying device and method based on geometric reference conversion, which transforms the transverse clamping plate into a track gauge positioning reference and combines it with an integrated sensor design to achieve precise, efficient, and safe hoisting of railway tracks.

[0005] This invention is implemented as follows: This invention provides a track laying device for transportation construction, comprising two longitudinally extending first clamping plates and two transversely extending second clamping plates, wherein the first clamping plates and the second clamping plates are located on the same plane; It has two sets of first bending rods that drive the first clamping plate to move laterally and two sets of second bending rods that drive the second clamping plate to move longitudinally. Both the first bending rod and the second bending rod include a horizontal rod and a vertical rod. The bottom wall of the vertical bar of the first bending rod in each group is fixedly connected to the first clamping plate on the same side. Above the first clamping plate, there is a connecting plate A that is fixedly connected to the top wall of the vertical bar of the first bending rod on the same side. A cylinder A is connected between two adjacent connecting plates A. The bottom wall of each group of second bending rod vertical rods is fixedly connected to the second clamping plate on the same side. Above each second clamping plate is a connecting rod B fixedly connected to the top wall of the second bending rod vertical rod on the same side. A cylinder B is connected between two adjacent connecting rods B.

[0006] The track laying device also includes a sensor control unit and a traveling mechanism; The sensing control unit includes a lidar or vision sensor, a displacement sensor, a pressure sensor, and a controller. The detection plane of the lidar or vision sensor is in the same vertical plane as the inner side of the first clamping plate or has a known fixed offset. The displacement sensor is used to detect the stroke of the cylinder A and the cylinder B. The pressure sensor is disposed on the clamping surface of the first clamping plate and the second clamping plate. The walking mechanism is used to drive the entire device to move laterally and to rise and fall vertically. The controller is electrically connected to cylinder A, cylinder B, lidar or vision sensor, displacement sensor, pressure sensor, and walking mechanism, and is configured to: After the second clamping plate is clamped to the rail to be hoisted, the cylinder A is extended to move the first clamping plate outward by a preset distance D, so as to transform the inner side of the first clamping plate into the track gauge positioning reference. Based on the detection signals from the laser radar or vision sensor, the traveling mechanism is controlled to move laterally until the inner side of the first clamping plate reaches a predetermined alignment with the corresponding side of the installed rail. Then, the traveling mechanism is controlled to descend and lower onto the rail. Based on the above technical solution, the track laying device for transportation construction of the present invention can be further improved as follows: Furthermore, it has two longitudinally arranged first frames and two transversely arranged second frames, the second frames being perpendicular to the first frames, and the top walls of the second frames being fixedly connected to the bottom walls of the two first frames respectively. Each of the first frames has two mirror-image first bent rods slidably connected within it, and each of the second frames has two mirror-image second bent rods slidably connected within it.

[0007] Furthermore, the synchronous movement of the two first clamping plates can be achieved by closed-loop control of the two cylinders A using displacement sensors, or by a mechanical synchronization mechanism. In a preferred embodiment, side support frames A are fixedly installed on the sides of the two first frames that are close to each other. A gear A is rotatably connected within the side support frame A, and racks A are meshed with both the upper and lower sides of the gear A. The left end of the upper rack A is fixedly connected to the left connecting plate A, and the right end of the lower rack A is fixedly connected to the right connecting plate A.

[0008] Furthermore, a side support frame B is fixedly installed on each of the two second frames that are close to each other. A gear B is rotatably connected inside the side support frame B. A rack B is meshed with both the upper and lower sides of the gear B. The front end of the upper rack B is fixedly connected to the front connecting rod B, and the rear end of the lower rack B is fixedly connected to the rear connecting rod B.

[0009] A method for laying tracks for transportation construction, using a track laying device including a sensor control unit and a traveling mechanism, wherein the sensor control unit includes a lidar or vision sensor, a displacement sensor, a pressure sensor, and a controller, comprising the following steps: Initial centering steps: The controller controls cylinder A to retract, causing the two first clamping plates to move synchronously towards each other, pushing the rail to be hoisted to the lateral center position of the device; then, the controller controls cylinder B to retract, causing the two second clamping plates to move synchronously towards each other, rigidly clamping the web of the rail to be hoisted; during the clamping process, the clamping force is monitored in real time by a pressure sensor, and clamping stops when a preset threshold is reached. Reference switching steps: The second clamping plate remains clamped, and the controller controls the cylinder A to extend, so that the two first clamping plates move outward synchronously by a preset distance D, and a gap is formed between the inner side of the first clamping plate and the same side of the rail to be hoisted; the preset distance D is set such that when the inner side of the first clamping plate makes contact with the corresponding side of the installed rail or reaches a predetermined alignment relationship, the center distance between the rail to be hoisted and the installed rail conforms to the standard gauge. Lateral positioning steps: The controller controls the walking mechanism to drive the device and the rail to be hoisted to move laterally as a whole. At the same time, the laser radar or vision sensor is used to monitor the distance between the inner side of the first clamping plate and the corresponding side of the installed rail in real time based on the known fixed offset between the inner side and the inner side of the first clamping plate. When the inner side contacts the corresponding side of the installed rail or reaches a preset small gap, the lateral movement stops. The rail lowering process involves the controller controlling the traveling mechanism to lower the entire system of the device and the rail to be lifted, placing the rail at the target position. Before or during the lowering process, the controller controls the first clamping plate to move further outward by a preset avoidance distance based on sensor signals to prevent interference with the already installed rail. Reset procedure: The controller controls cylinder B to extend, causing the second clamping plate to loosen from the rail, and then controls cylinder A to reset, completing one hoisting operation.

[0010] Furthermore, the preset distance D is determined by the following formula: ; Wherein, G is the standard gauge between the center lines of two adjacent rails, and W is the width of the rail head to be hoisted at the clamping height of the first clamping plate. The controller automatically sets the extension stroke of cylinder A in the reference switching step based on the pre-stored standard track gauge G and the width parameter W of the hoisted rail.

[0011] Furthermore, the preset distance D is an adjustable parameter, and the controller stores the G value corresponding to different track gauges and the W value corresponding to different rail types, supporting switching between standard rail, broad rail, and narrow rail modes; the stroke of the cylinder A is controlled by a displacement sensor in a closed loop or positioned by a limit switch.

[0012] Furthermore, in the lateral positioning step, the alignment status of the inner side of the first clamping plate with the corresponding side of the installed rail is determined by lidar point cloud data or visual image edge detection algorithm; when the gap between the inner side and the side of the installed rail is less than a preset threshold, the controller automatically locks the walking mechanism and maintains the positioning.

[0013] Furthermore, the detection plane of the lidar or vision sensor is in the same vertical plane as the inner side of the first clamping plate, or has a known fixed offset, so that the sensor can directly detect distance information related to the positioning reference plane of the first clamping plate.

[0014] Compared with existing technologies, the beneficial effects of the track laying device and method for transportation construction provided by this invention are: Functional reuse innovation: For the first time, the function of the transverse clamping plate is changed from "clamping and positioning" to "track gauge positioning reference". No additional independent positioning device is required. Precise positioning can be achieved simply by improving the control logic, which significantly reduces equipment costs.

[0015] High accuracy of contact positioning: Positioning is achieved through physical contact between the first clamping plate and the installed rail, eliminating errors caused by complex coordinate transformation. The final track gauge error can be controlled at the millimeter level, which is far better than the allowable deviation specified by relevant standards.

[0016] Sensor and reference integrated design: By rigidly connecting the detection plane of the lidar / vision sensor with the positioning reference plane of the first clamping plate, the conventional "adding a sensor" is transformed into an "integrated design of sensor and positioning reference", which significantly enhances the creativity of the technical solution.

[0017] Flexible control methods: Synchronous drive can adopt either a displacement sensor-based electronic control closed-loop scheme or a purely mechanical synchronization scheme to adapt to different cost and accuracy requirements; Reasonable mechanical design: The longitudinal clamping plate is used to hold the rail web as the main load-bearing component. The clamping points are arranged at the preset lifting points at both ends of the rail determined by mechanical calculations. The maximum deflection is effectively controlled, avoiding permanent deformation of the rail.

[0018] Significantly improved work efficiency: The laying time for a single track is greatly shortened, making it particularly suitable for emergency maintenance work within railway maintenance windows, which can significantly reduce the impact of construction on railway operations.

[0019] Safety is significantly enhanced: it reduces the time spent on manual on-orbit operations and eliminates the safety hazard of electromagnetic chucks falling due to power failure; at the same time, it is equipped with multiple safety interlocking mechanisms to ensure that the operation process is safe and reliable. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is the overall front view of the device; Figure 2 This is an overall side view of the device; Figure 3 This is an overall isometric drawing of the device; The attached diagram lists the components represented by each number as follows: 1. First clamping plate; 10. First frame; 11. First bending rod; 12. Connecting plate A; 13. Cylinder A; 2. Second clamping plate; 20. Second frame; 21. Second bending rod; 22. Connecting rod B; 23. Cylinder B; 30. Side support frame A; 31. Gear A; 32. Rack A; 40. Side support frame B; 41. Gear B; 42. Rack B; 5. Pressure sensor; 6. Displacement sensor; 7. LiDAR. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. 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.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] Example 1 like Figure 1 As shown, the present invention provides a track laying device for transportation construction, comprising two longitudinally extending first clamping plates 1 and two transversely extending second clamping plates 2, wherein the first clamping plates 1 and the second clamping plates 2 are located on the same plane; It has two sets of first bending rods 11 that drive the first clamping plate 1 to move laterally and two sets of second bending rods 21 that drive the second clamping plate 2 to move longitudinally. The first bending rods 11 and the second bending rods 21 both include horizontal rods and vertical rods. The bottom wall of the vertical rod of the first bending rod 11 in each group is fixedly connected to the first clamping plate 1 on the same side. The top of the first clamping plate 1 is provided with a connecting plate A12 fixedly connected to the top wall of the vertical rod of the first bending rod 11 on the same side. A cylinder A13 is connected between two adjacent connecting plates A12. The bottom wall of the vertical rod of each group of second bending rods 21 is fixedly connected to the second clamping plate 2 on the same side. The upper part of the second clamping plate 2 is provided with a connecting rod B22 fixedly connected to the top wall of the vertical rod of the second bending rod 21 on the same side. A cylinder B23 is connected between two adjacent connecting rods B22. The track laying device also includes a sensor control unit and a traveling mechanism; The sensing and control unit includes a lidar 7 or a vision sensor, a displacement sensor 6, a pressure sensor 5, and a controller. The detection plane of the lidar 7 or the vision sensor is in the same vertical plane as the inner side of the first clamping plate 1 or has a known fixed offset. The displacement sensor 6 is used to detect the stroke of the cylinders A13 and B23. The pressure sensor 5 is disposed on the clamping surface of the first clamping plate 1 and the second clamping plate 2. The walking mechanism is used to drive the entire device to move laterally and to rise and fall vertically. The controller is electrically connected to cylinder A13, cylinder B23, lidar 7 or vision sensor, displacement sensor 6, pressure sensor 5, and walking mechanism, and is configured as follows: After the second clamping plate 2 is clamped to the rail to be hoisted, the cylinder A13 is extended to move the first clamping plate 1 outward by a preset distance D, so as to transform the inner side of the first clamping plate 1 into the track gauge positioning reference. Based on the detection signal from the lidar 7 or the vision sensor, the walking mechanism is controlled to move laterally until the inner side of the first clamping plate 1 reaches a predetermined alignment with the corresponding side of the installed rail. Then, the walking mechanism is controlled to descend and fall onto the rail.

[0028] Optionally, in the above technical solution, there are two longitudinally arranged first frames 10 and two transversely arranged second frames 20, the second frames 20 are perpendicular to the first frames 10, and the top walls of the second frames 20 are fixedly connected to the bottom walls of the two first frames 10 respectively. Each first frame 10 has two mirror-image first bent rods 11 slidably connected within it, and each second frame 20 has two mirror-image second bent rods 21 slidably connected within it.

[0029] Optionally, to further improve synchronization accuracy and simplify control logic, in the above technical solution, side support frames A30 are fixedly installed on the side of the two first frames 10 that are close to each other. Gear A31 is rotatably connected inside the side support frame A30. Racks A32 are meshed on both the upper and lower sides of gear A31. The left end of the upper rack A32 is fixedly connected to the left connecting plate A12, and the right end of the lower rack A32 is fixedly connected to the right connecting plate A12.

[0030] Optionally, in the above technical solution, a side support frame B40 is fixedly installed on the side of each of the two second frames 20 that are close to each other. A gear B41 is rotatably connected inside the side support frame B40. A rack B42 is meshed on both the upper and lower sides of the gear B41. The front end of the upper rack B42 is fixedly connected to the front connecting rod B22, and the rear end of the lower rack B42 is fixedly connected to the rear connecting rod B22.

[0031] Optionally, the lidar 7 or a vision sensor is mounted above the first clamping plate, and the parallelism error between its detection plane and the inner side of the first clamping plate is ≤0.1°.

[0032] Optionally, the second clamping plate has an L-shaped structure, including a horizontal lifting part and a vertical clamping part. When clamping, the horizontal lifting part supports the bottom of the rail, and the vertical clamping part clamps the web of the rail.

[0033] The synchronous movement of the first clamping plate and the second clamping plate can be achieved by mechanical synchronization or electronic synchronization. This embodiment takes a gear and rack synchronization mechanism as an example for explanation.

[0034] This invention provides a track laying method for transportation construction, using a track laying device including a sensing control unit and a traveling mechanism. The sensing control unit includes a lidar 7 or a vision sensor, a displacement sensor 6, a pressure sensor 5, and a controller. The method includes the following steps: Initial centering steps: The controller controls the cylinder A13 to retract, causing the two first clamping plates 1 to move synchronously towards each other, pushing the rail to be hoisted to the lateral center position of the device; then the controller controls the cylinder B23 to retract, causing the two second clamping plates 2 to move synchronously towards each other, rigidly clamping the web of the rail to be hoisted; during the clamping process, the clamping force is monitored in real time by the pressure sensor 5, and clamping stops when the preset threshold is reached. Reference switching steps: The second clamping plate 2 remains clamped, and the controller controls the cylinder A13 to extend, so that the two first clamping plates 1 move outward synchronously by a preset distance D, and a gap is formed between the inner side of the first clamping plate 1 and the same side of the rail to be hoisted; the preset distance D is set such that when the inner side of the first clamping plate 1 makes contact with the corresponding side of the installed rail or reaches a predetermined alignment relationship, the center distance between the rail to be hoisted and the installed rail conforms to the standard gauge. Lateral positioning steps: The controller controls the walking mechanism to drive the device and the rail to be hoisted to move laterally as a whole. At the same time, the laser radar 7 or vision sensor is used to monitor the distance between the inner side of the first clamping plate 1 and the corresponding side of the installed rail in real time based on the known fixed offset between the inner side and the inner side of the first clamping plate 1. When the inner side contacts the corresponding side of the installed rail or reaches a preset small gap, the lateral movement stops. The rail lowering process is as follows: The controller controls the walking mechanism to drive the device and the rail to be lifted to descend as a whole, and places the rail to be lifted at the target position; before or during the descent, the controller controls the first clamping plate 1 to move further outward by a preset avoidance distance according to the sensor signal to avoid interference with the already installed rail; Reset procedure: The controller controls cylinder B23 to extend, causing the second clamping plate 2 to loosen the rail, and then controls cylinder A13 to reset, completing one hoisting operation.

[0035] Optionally, in the above technical solution, the preset distance D is determined by the following formula: ; Wherein, G is the standard gauge between the center lines of two adjacent rails, and W is the width of the rail head to be hoisted at the clamping height of the first clamping plate 1. The controller automatically sets the extension stroke of cylinder A13 during the reference switching step based on the pre-stored standard gauge G and the width parameter W of the hoisted rail.

[0036] Optionally, in the above technical solution, the preset distance D is an adjustable parameter, the controller stores the G value corresponding to different track gauges and the W value corresponding to different rail types, and supports switching between standard rail, broad rail, and narrow rail modes; the stroke of cylinder A13 is controlled by the displacement sensor 6 in a closed loop or positioned by a limit switch.

[0037] Optionally, in the above technical solution, in the lateral positioning step, the alignment status of the inner side of the first clamping plate 1 with the corresponding side of the installed rail is determined by the point cloud data of the lidar 7 or the visual image edge detection algorithm; when the gap between the inner side and the side of the installed rail is less than a preset threshold (0-2mm), the controller automatically locks the walking mechanism and maintains the positioning.

[0038] Optionally, in the above technical solution, the detection plane of the lidar 7 or the vision sensor is in the same vertical plane as the inner side of the first clamping plate 1, or has a known fixed offset, so that the sensor can directly detect the distance information related to the positioning reference plane of the first clamping plate 1.

[0039] Furthermore, the sensing control unit includes: LiDAR 7: Installed above the first clamping plate 1 on the left side, its detection plane is in the same vertical plane as the inner side of the first clamping plate 1, the scanning frequency is 20Hz, the detection distance is 0.5-5m, and the positioning accuracy is ±0.5mm; Displacement sensor 6: A magnetostrictive displacement sensor 6 is used, which is installed on the piston rods of cylinders A13 and B23 respectively, with a resolution of 0.1mm; Pressure sensor 5: A thin-film pressure sensor 5 is adopted and is respectively attached to the clamping surfaces of the first clamping plate 1 and the second clamping plate 2, with a measuring range of 0-100kN; Controller: A PLC controller is used, which is installed on the side of the hoisting frame and is equipped with a touch screen and manual operation buttons; The traveling mechanism includes a lateral moving trolley and an electric hoist, which are used for the lateral translation and vertical lifting of the device, respectively.

[0040] The installation position of the lidar 7 is precisely calibrated, and the parallelism error between its detection plane and the inner side of the first clamping plate 1 is ≤0.1°, ensuring that the detection distance is consistent with the actual distance of the first clamping plate 1.

[0041] Furthermore, the automated hoisting process in this embodiment is as follows: System initialization and self-test: After the controller is powered on, it automatically executes a self-test program to check the working status of each sensor and drive mechanism in sequence. If the self-test is normal, it controls the first clamping plate 1 and the second clamping plate 2 to open to their initial maximum positions (the distance between the first clamping plates is 2000mm, and the distance between the second clamping plates is 26mm).

[0042] Automatic centering and clamping control: The hoisting device moves above the rail to be hoisted, positioning it within the area enclosed by the four clamping plates. The controller activates cylinder A13 to retract, driving the two first clamping plates 1 to move synchronously towards each other at a speed of 0.5 m / s via gear A31 and rack A32. When the pressure sensor 5 inside the first clamping plate 1 detects that the clamping force reaches 7 kN, cylinder A13 stops, completing the centering and positioning of the rail to be hoisted.

[0043] Then, cylinder B23 is activated to retract, causing the two second clamping plates 2 to move synchronously towards each other at a speed of 0.3 m / s. The second clamping plates 2 have an L-shaped structure; their horizontal supporting parts first support the bottom of the rail, and then their vertical clamping parts clamp the rail web. When the pressure sensor 5 inside the second clamping plate 2 detects that the clamping force reaches 45 kN, cylinder B23 stops and maintains a pressure-holding state, completing the load-bearing clamping.

[0044] Automatic reference switching control: The controller initiates the extension of cylinder A13, causing the two first clamping plates 1 to move synchronously in opposite directions at a speed of 0.2 m / s. Displacement sensor 6, mounted on the piston rod of cylinder A13, monitors the extension stroke in real time. When the stroke reaches the preset distance D, cylinder A13 immediately stops, completing the conversion of the track gauge positioning reference.

[0045] Contact-based automatic positioning control: LiDAR 7 scans the area in front at a frequency of 20Hz along a direction perpendicular to the length of the rail to acquire continuous distance point cloud data. The controller processes each line of point cloud data: calculates the distance difference between two adjacent point clouds, and when the difference is greater than 40mm, the point is determined to be a lateral edge point of the rail (the height difference between the rail and the ground is about 176mm, resulting in a significant abrupt change in distance).

[0046] The RANSAC algorithm is used to fit straight lines to all edge points, and outliers are removed to obtain the baseline of the installed rail. Since the detection plane of the lidar 7 is coplanar with the inner side of the first clamping plate 1, the lateral distance between the baseline and the projection line of the inner side of the first clamping plate 1 is the deviation to be adjusted.

[0047] The controller controls the walking mechanism to move the device slowly laterally at a speed of 0.1 m / s. When the inner side of the first clamping plate 1 contacts the side of the installed rail and the pressure sensor 5 detects a contact force of 50 N, the movement stops and the walking mechanism is locked, completing the positioning.

[0048] Smooth rail lowering and safety interlock: After positioning, the controller controls the electric hoist to lower the device at a speed of 0.2 m / s. When the displacement sensor 6 detects that the rail is 80 mm away from the top surface of the sleeper, the lowering speed is automatically reduced to 0.05 m / s. When the pressure sensor 5 on the sleeper detects that the rail pressure reaches 2 kN, the lowering stops.

[0049] During the descent, the lidar 7 continuously scans the area below. If an obstacle is detected or the positional deviation exceeds ±5mm, the descent will stop immediately and an audible and visual alarm will be issued. The operation will continue after the fault is manually rectified.

[0050] System reset: The controller starts cylinder B23 to extend, causing the second clamping plate 2 to loosen the rail; then cylinder A13 is started to reset to the initial open position; finally, the traveling mechanism is controlled to rise to a safe height, completing one automated hoisting operation.

[0051] Furthermore, the value of the preset distance D in this invention is derived based on strict geometric relationships to ensure that the track gauge accuracy after positioning meets the railway standard requirements.

[0052] Let G be the standard gauge (the distance between the center lines of two adjacent rails), with a standard gauge of 1435 mm; W be the width of the rail head at the clamping height of the first clamping plate, with a width of 70.8 mm for 60 kg / m rails; and D be the distance the first clamping plate moves outward from its initial clamping position.

[0053] During initial centering and clamping, the inner side of the first clamping plate is in contact with the side of the rail to be hoisted. At this time, the distance between the inner side of the first clamping plate and the center line of the rail to be hoisted is... .

[0054] After the reference is switched, the first clamping plate moves outward by a distance D. At this time, the distance between the inner side of the first clamping plate and the side of the rail to be hoisted is D.

[0055] To ensure that the distance between the centerline of the rail to be hoisted and the centerline of the already installed rail is equal to the standard gauge G after positioning, the following geometric relationship must be satisfied: ; Simplifying, we get: ; Substituting the standard rail parameters, we get: D = 1435mm - 70.8mm = 1364.2mm.

[0056] The controller sends this value to the displacement control module of cylinder A to establish a precise positioning reference.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A track laying device for transportation construction, comprising two longitudinally extending first clamping plates (1) and two transversely extending second clamping plates (2), characterized in that, The first clamping plate (1) and the second clamping plate (2) are located on the same plane; It has two sets of first bending rods (11) that drive the first clamping plate (1) to move laterally and two sets of second bending rods (21) that drive the second clamping plate (2) to move longitudinally. The first bending rod (11) and the second bending rod (21) each include a horizontal rod and a vertical rod. The bottom wall of the vertical rod of the first bending rod (11) in each group is fixedly connected to the first clamping plate (1) on the same side. The top of the first clamping plate (1) is provided with a connecting plate A (12) fixedly connected to the top wall of the vertical rod of the first bending rod (11) on the same side. A cylinder A (13) is connected between two adjacent connecting plates A (12). The bottom wall of the vertical rod of each group of the second bending rod (21) is fixedly connected to the second clamping plate (2) on the same side. The upper part of the second clamping plate (2) is provided with a connecting rod B (22) fixedly connected to the top wall of the vertical rod of the second bending rod (21) on the same side. A cylinder B (23) is connected between two adjacent connecting rods B (22). The track laying device also includes a sensor control unit and a traveling mechanism; The sensing control unit includes a lidar (7) or a vision sensor, a displacement sensor (6), a pressure sensor (5), and a controller. The detection plane of the lidar (7) or the vision sensor is in the same vertical plane as the inner side of the first clamping plate (1) or has a known fixed offset. The displacement sensor (6) is used to detect the stroke of the cylinder A (13) and the cylinder B (23). The pressure sensor (5) is disposed on the clamping surface of the first clamping plate (1) and the second clamping plate (2). The walking mechanism is used to drive the entire device to move laterally and to rise and fall vertically. The controller is electrically connected to cylinder A (13), cylinder B (23), lidar (7) or vision sensor, displacement sensor (6), pressure sensor (5), and walking mechanism, and is configured to: After the second clamping plate (2) clamps the rail to be hoisted, the cylinder A (13) is extended to move the first clamping plate (1) outward by a preset distance D. The preset distance D is set such that when the inner side of the first clamping plate (1) and the corresponding side of the installed rail reach a predetermined alignment relationship, the center distance between the rail to be hoisted and the installed rail meets the standard gauge, so as to transform the inner side of the first clamping plate (1) into a gauge positioning reference. Based on the detection signal from the lidar (7) or vision sensor, the walking mechanism is controlled to move laterally until the inner side of the first clamping plate (1) and the corresponding side of the installed rail reach a predetermined alignment relationship, and then the walking mechanism is controlled to descend and fall onto the rail.

2. The track laying device for transportation construction according to claim 1, characterized in that, It has two longitudinally arranged first frames (10) and two transversely arranged second frames (20), the second frames (20) being perpendicular to the first frames (10), and the top walls of the second frames (20) being fixedly connected to the bottom walls of the two first frames (10) respectively. Each of the first frames (10) has two mirror-image first bent rods (11) slidably connected, and each of the second frames (20) has two mirror-image second bent rods (21) slidably connected.

3. A track laying device for transportation construction according to claim 2, characterized in that, A side support frame A (30) is fixedly installed on the side of each of the two first frames (10) that are close to each other. A gear A (31) is rotatably connected inside the side support frame A (30). A rack A (32) is meshed on both the upper and lower sides of the gear A (31). The left end of the upper rack A (32) is fixedly connected to the left connecting plate A (12), and the right end of the lower rack A (32) is fixedly connected to the right connecting plate A (12).

4. A track laying device for transportation construction according to claim 2, characterized in that, A side support frame B (40) is fixedly installed on the side of each of the two second frames (20) that are close to each other. A gear B (41) is rotatably connected inside the side support frame B (40). A rack B (42) is meshed on both the upper and lower sides of the gear B (41). The front end of the upper rack B (42) is fixedly connected to the front connecting rod B (22), and the rear end of the lower rack B (42) is fixedly connected to the rear connecting rod B (22).

5. A method for laying tracks for transportation construction, using a track laying device comprising a sensor control unit and a traveling mechanism, wherein the sensor control unit comprises a lidar (7) or a vision sensor, a displacement sensor (6), a pressure sensor (5), and a controller, characterized in that, Includes the following steps: Initial centering steps: The controller controls cylinder A (13) to retract, causing the two first clamping plates (1) to move synchronously towards each other, pushing the rail to be hoisted to the lateral center position of the device; then the controller controls cylinder B (23) to retract, causing the two second clamping plates (2) to move synchronously towards each other, rigidly clamping the web of the rail to be hoisted; during the clamping process, the clamping force is monitored in real time by the pressure sensor (5), and clamping stops after reaching the preset threshold; Reference switching steps: The second clamping plate (2) is kept clamped, and the controller controls the cylinder A (13) to extend, so that the two first clamping plates (1) move outward synchronously by a preset distance D, and a gap is formed between the inner side of the first clamping plate (1) and the same side of the rail to be hoisted; the preset distance D is set such that when the inner side of the first clamping plate (1) makes contact with the corresponding side of the installed rail or reaches a predetermined alignment relationship, the center distance between the rail to be hoisted and the installed rail conforms to the standard gauge. Lateral positioning steps: The controller controls the walking mechanism to drive the device and the rail to be hoisted to move laterally as a whole. At the same time, the laser radar (7) or vision sensor is used to monitor the distance between the inner side of the first clamping plate (1) and the corresponding side of the installed rail in real time based on the known fixed offset between the laser radar (7) and the inner side of the first clamping plate (1). When the inner side contacts the corresponding side of the installed rail or reaches a preset small gap, the lateral movement stops. The rail lowering process is as follows: the controller controls the walking mechanism to drive the device and the rail to be lifted to descend as a whole, and places the rail to be lifted at the target position; before or during the descent, the controller controls the first clamp (1) to move further outward by a preset avoidance distance according to the sensor signal to avoid interference with the installed rail; Reset steps: The controller controls the cylinder B (23) to extend, causing the second clamp (2) to loosen the rail, and then controls the cylinder A (13) to reset, completing one hoisting operation.

6. The method for laying tracks for transportation construction according to claim 5, characterized in that, The preset distance D is determined by the following formula: ; in, W is the standard gauge between the center lines of two adjacent rails, and W is the width of the rail head to be hoisted at the clamping height of the first clamping plate (1). The controller automatically sets the extension stroke of the cylinder A (13) in the reference switching step according to the pre-stored standard gauge G and the width parameter W of the hoisted rail.

7. A method for laying tracks for transportation construction according to claim 5, characterized in that, The preset distance D is an adjustable parameter. The controller stores the G value corresponding to different track gauges and the W value corresponding to different rail types, and supports switching between standard rail, wide rail, and narrow rail modes. The stroke of the cylinder A (13) is controlled by the displacement sensor (6) in a closed loop or positioned by the limit switch.

8. A method for laying tracks for transportation construction according to claim 5, characterized in that, In the lateral positioning step, the alignment status of the inner side of the first clamping plate (1) with the corresponding side of the installed rail is determined by the point cloud data of the lidar (7) or the visual image edge detection algorithm; when the gap between the inner side and the side of the installed rail is less than a preset threshold, the controller automatically locks the walking mechanism and maintains the positioning.

9. A method for laying tracks for transportation construction according to claim 5, characterized in that, The detection plane of the laser radar (7) or vision sensor is in the same vertical plane as the inner side of the first clamping plate (1), or has a known fixed offset, so that the sensor can directly detect the distance information related to the positioning reference plane of the first clamping plate (1).

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