Longitudinal rail changing crane capable of walking on steel rail

Abstract

The utility model discloses a longitudinal rail changing crane capable of walking on steel rails, which comprises a walking frame, four wheel assemblies, two suspension arm assemblies and a manipulator assembly, the four wheel assemblies are distributed below the walking frame in a dot matrix manner, and the two suspension arm assemblies are symmetrically arranged at the front end of the walking frame. The suspension arm assembly comprises a large mechanical arm, a small mechanical arm, a joint body, a large arm rotating air cylinder, a large arm oscillating air cylinder and a small arm oscillating air cylinder, the large mechanical arm is connected with the small mechanical arm through a pin shaft, the manipulator assembly is installed at the tail end of the small mechanical arm, the root of the large mechanical arm is connected with the joint body through a pin shaft, and the driving end of the large arm oscillating air cylinder is connected with the large mechanical arm through a pin shaft; the driving end of the small arm oscillating cylinder is connected with the mechanical small arm through a pin shaft; the crane can meet the working requirements of track maintenance and track construction along the track, is higher and more flexible in overall maneuverability, is not limited in walking range, synchronously and independently operates the tracks on the two sides of the track, and is high in working efficiency, simple in overall structure, light in overall weight, low in investment cost and simple and convenient to operate.

Description

Technical Field

[0001] This utility model relates to the field of rail transportation technology, specifically to a longitudinal rail-changing crane that can travel on steel rails. Background Technology

[0002] In existing railway maintenance and construction, track replacement or repair is frequently required. Traditional track replacement operations rely heavily on manual labor, which is inefficient and labor-intensive. To improve the efficiency and safety of track replacement, several technical solutions using cranes have been developed. One approach involves using a gantry crane, which is a fixed-rail type and has limited mobility, making it difficult to adapt flexibly to track replacement needs at different locations. Another approach involves mounting the crane on a track transport vehicle, facilitating operation along the track. However, this method is heavy, and since both sides of the track replacement are performed using this crane, the efficiency needs improvement. Furthermore, the track transport vehicle is a traction-driven vehicle with low stopping accuracy and insufficient braking and driving flexibility. Therefore, there is an urgent need to design a crane that can travel along the rails and is flexibly suitable for track replacement operations. Utility Model Content

[0003] The purpose of this utility model is to overcome the defects of the prior art and provide a longitudinal rail-changing crane that can travel on steel rails, thereby solving one or more problems mentioned in the background art.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows:

[0005] A longitudinal rail-changing crane that can travel along rails includes a traveling frame, wheel assemblies, boom assemblies and robotic arm assemblies. The four wheel assemblies are distributed in a matrix and installed under the traveling frame for traveling along the rail. Two boom assemblies are symmetrically arranged at the front end of the traveling frame. The two wheel assemblies or four wheel assemblies at the rear end of the robotic arm assembly are self-driven.

[0006] The boom assembly includes a mechanical boom, a mechanical forearm, a joint body, a boom rotation cylinder, a boom swing cylinder, and a forearm swing cylinder. The mechanical boom and mechanical forearm are connected by a pin. The manipulator assembly pin is installed at the end of the mechanical forearm. The root pin of the mechanical boom is connected to the joint body. The joint body pin is installed at the front end of the traveling frame. The boom rotation cylinder is installed on the traveling frame, and its drive end pin is connected to the joint body to drive the mechanical boom and the joint body to rotate synchronously laterally. The boom swing cylinder is installed on the joint body, and its drive end is connected to the mechanical boom pin to drive the mechanical boom to swing vertically. The forearm swing cylinder is installed on the mechanical boom, and its drive end is connected to the mechanical forearm pin to drive the mechanical forearm to swing relative to the mechanical boom.

[0007] Furthermore, a connecting lug is provided at the end of the robotic arm, and the robotic arm assembly is mounted on the underside of the robotic arm via a pin offset.

[0008] Furthermore, the robotic arm assembly includes two sets of grippers, gripping cylinders, gripper bases, drive sliders, and two pairs of drive linkages. The two sets of gripper pins are mounted on the gripper bases, arranged front to back, and their gripping centerlines are collinear. The gripping cylinders are vertically inverted and mounted on the gripper bases. The drive sliders are located at the lower end of the gripping cylinders. The two pairs of drive linkages connect the two sets of grippers to the two ends of the drive sliders, respectively, to synchronously drive the two sets of grippers to rotate and open synchronously to form two-point gripping.

[0009] Furthermore, the wheel assembly includes a rail wheel, a wheel base, mounting pins, and a buffer device. The rail wheel is mounted on the side of the wheel base, the wheel base is connected to the running frame through several evenly distributed mounting pins, and a buffer device is provided between the wheel base and the running frame.

[0010] Furthermore, four wheel guide frames are provided above and below the traveling frame, each containing a wheel mounting space. The front and rear sides of the wheel mounting space are guide planes perpendicular to the track. The wheel base has two vertical side plates on the front and rear sides, and guide frame wear plates are provided on the vertical side plates. The two guide frame wear plates are respectively attached to the guide plane to guide and limit the track wheels.

[0011] Compared with the prior art, the longitudinal rail-changing crane that can travel on steel rails according to this utility model has the following beneficial effects:

[0012] This crane features a self-driven wheel assembly under the traveling frame and two boom assemblies with three degrees of freedom at the front end of the traveling frame. Therefore, it can meet the work requirements for track maintenance and track construction along the track. It has stronger overall mobility and flexibility, and its travel range is unrestricted. It can operate on both sides of the track simultaneously and independently, resulting in high work efficiency. In addition, the crane has a simple overall structure, light weight, low investment cost, and is easy and convenient to operate, making it suitable for widespread use in track laying, track replacement, and track maintenance operations. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the crane of this utility model.

[0014] Figure 2 for Figure 1 3D structural diagram of the central boom assembly;

[0015] Figure 3 for Figure 1 Three-dimensional structural diagram of the wheel assembly;

[0016] Figure 4 for Figure 1The three-dimensional structure of the robotic arm assembly.

[0017] In the diagram: 1. Walking frame; 11. Wheel guide frame; 2. Wheel assembly; 21. Rail wheel; 22. Wheel base; 23. Wheel-side motor; 24. Buffer device; 25. Guide frame wear plate; 3. Boom assembly; 31. Boom rotation cylinder; 32. Connecting seat; 33. Joint body; 331. Cylinder lug; 332. Horizontal rotation seat; 34. Boom swing cylinder; 35. Mechanical boom; 36. Forearm swing cylinder; 37. Mechanical forearm; 38. Connecting lug; 4. Robotic arm assembly; 41. Clamping cylinder; 42. Gripper base; 43. Gripper; 44. Drive slider; 45. Drive linkage. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only the preferred embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0019] This embodiment provides a longitudinal rail-changing crane that can travel on steel rails, such as... Figures 1-4 As shown, it includes a traveling frame 1, wheel assembly 2, boom assembly 3, and robotic arm assembly 4; the traveling frame 1 is a square combined frame structure with a certain length and weight to keep the chassis stable when clamped by the rails; the four wheel assemblies 2 are installed below the traveling frame 1 in a rectangular dot matrix distribution, and the spacing between them in the width direction is adapted to the double rail spacing of the track; the two wheel assemblies 2 or the four wheel assemblies 2 at the rear end are self-driven, that is, rail wheels 21 with wheel-side motors 23, which increases the weight of the crane at the rear and helps to increase the lifting capacity;

[0020] like Figure 3 As shown, the wheel assembly 2 also includes a wheel base 22, mounting pins, and a buffer device 24. The wheel base 22 serves as the mounting connector for the track wheel 21. Several evenly distributed mounting pins are provided on its upper end. The mounting pins are interference-fitted with the traveling frame 1. The buffer device 24 uses rubber stacks to buffer the impact of vibration on the movement of the robot arm assembly 4 during movement. The rubber stacks are sleeved on the mounting pins and clamped between the wheel base 22 and the traveling frame 1. For the track wheel 21 with a wheel-side motor 23, the wheel base 22 is fixedly connected to the wheel-side motor 23. For the track wheel 21 without a wheel-side motor 23, the wheel base 22 is connected to the track wheel 21 through a rotating shaft.

[0021] In addition, in order to improve the straight-line accuracy of the track wheel 21 traveling along the track, the rotation center of the track wheel 21 is guided. As shown in 1 and 3, four wheel guide frames 11 are set above and below the traveling frame 1, which have wheel mounting space inside. The front and rear sides of the wheel mounting space are guide planes perpendicular to the track. The wheel base 22 is integrally formed with two vertical side plates on the front and rear sides. The vertical side plates are perpendicular to the mounting plate of the track wheel 21. The guide frame wear plate 25 is set on the vertical side plate. The guide frame wear plate 25 contacts the guide plane to guide and limit the straight-line travel of the track wheel 21.

[0022] Two boom assemblies 3 are symmetrically arranged at the front end of the traveling frame 1, respectively used for laying the rails on both sides of the track. The laying work on both sides is carried out simultaneously, which helps to improve work efficiency; such as Figure 2 As shown, the boom assembly 3 has three degrees of freedom, which are respectively driven by the boom rotation cylinder 31, the boom swing cylinder 34 and the boom swing cylinder 36. It includes a mechanical boom 35, a mechanical boom 37, a joint body 33 and a connecting seat 32. The joint body 33 is composed of two parts: a horizontal rotating seat 332 and a cylinder lug seat 331.

[0023] The connecting seat 32 is fixed on the walking frame 1. The horizontal rotating seat 332 is installed on the connecting seat 32 through a pin and has horizontal rotational freedom. The boom rotating cylinder 31 is installed on the walking frame 1, and its driving end is connected to the mechanical boom 35 through a pin, driving the joint body 33, the mechanical boom 35 and the mechanical arm 37 to rotate horizontally.

[0024] The root of the mechanical arm 35 is connected to the horizontal rotating seat 332 by a pin to form a vertical swing degree of freedom. The root of the arm swing cylinder 34 is connected to the cylinder ear seat 331 by a pin, and its driving end is connected to the pin of the mechanical arm 35 to drive the mechanical arm 35 and the mechanical arm 37 to swing vertically.

[0025] The mechanical upper arm 35 and the mechanical lower arm 37 are connected by a pin to form a relative swinging degree of freedom. The pin at the root of the lower arm swing cylinder 36 is connected to the mechanical upper arm 35, and its drive end is connected to the pin of the mechanical lower arm 37 to drive the mechanical lower arm 37 to swing relative to the mechanical upper arm 35 and adjust the longitudinal position of the robot arm assembly 4 at the end of the mechanical lower arm 37.

[0026] The robotic arm assembly 4 is mounted on the end of the robotic arm 37 via a connecting ear plate 38. The connecting ear plate 38 offsets the robotic arm assembly 4 to the lower side of the robotic arm 37, providing space for the robotic arm assembly 4 to rotate relative to the robotic arm 37. Since the robotic arm assembly 4 is mounted on the connecting ear plate 38 via a pin, it has only one support center that can rotate relatively vertically. Therefore, under the influence of gravity, the clamping center of the robotic arm assembly 4 always remains horizontal, so as to quickly adapt to and clamp horizontally placed rails.

[0027] Refer again Figure 4 To accommodate the clamping of long, narrow steel rails, the robotic arm assembly 4 is equipped with two clamping points. The same clamping action can simultaneously clamp both points on a horizontally placed steel rail. Specifically, it includes two sets of grippers 43, a clamping cylinder 41, a gripper 43 base 42, a drive slider 44, and two pairs of drive linkages 45. The clamping cylinder 41 is vertically inverted and mounted on the gripper 43 base 42 to drive the drive slider 44 at its end to move up and down. The gripper 43 base 42 has two gripper 43 mounting spaces symmetrically arranged with respect to the rotation center of the robotic arm assembly 4, and is equipped with guide drives. The slider 44 slides up and down through a groove, and the two ends of the slider 44 pass through the groove and extend into the installation space of the gripper 43. The two sets of gripper 43 are connected to the other end of a pair of drive linkages 45 in the installation space of each gripper 43 by pins. The two sets of gripper 43 pins are respectively installed in the installation space of the gripper 43 and are arranged symmetrically about the center of rotation. The clamping center lines of the two are collinear. One end of the drive linkage 45 is connected to the upper end of the gripper 43. Under the drive of the slider 44, the two pairs of drive linkages 45 synchronously drive the two pairs of grippers 43 to rotate synchronously, forming a relative opening and closing clamping action to realize the clamping and placement of the rail.

[0028] The directional words and relational descriptions mentioned in this article, such as "front," "back," "up," "down," "side," "end," "longitudinal," and "horizontal," are based on... Figures 1-4 The corresponding figures show the orientation or coordinate relationships of the track laying operation sequence. These terms are primarily for the purpose of better describing the present invention and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation;

[0029] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the terms "above" and "inside" may also be used in certain situations to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A longitudinal rail-changing crane capable of traveling on steel rails, characterized in that: It includes a traveling frame, wheel assemblies, boom assemblies, and robotic arm assemblies. The four wheel assemblies are distributed in a matrix and installed below the traveling frame for traveling along a track. Two boom assemblies are symmetrically arranged at the front end of the traveling frame, and the robotic arm assembly is located at the end of the boom assemblies. The two or four wheel assemblies at the rear end are self-driving wheel assemblies. The boom assembly includes a mechanical boom, a mechanical forearm, a joint body, a boom rotation cylinder, a boom swing cylinder, and a forearm swing cylinder. The mechanical boom and the mechanical forearm are connected by a pin. The manipulator assembly pin is installed at the end of the mechanical forearm. The root pin of the mechanical boom is connected to the joint body. The joint body pin is installed at the front end of the traveling frame. The boom rotation cylinder is installed on the traveling frame, and its drive end pin is connected to the joint body for driving the mechanical boom and the joint body to rotate synchronously laterally. The boom swing cylinder is installed on the joint body, and its drive end is connected to the mechanical boom pin for driving the mechanical boom to swing vertically. The forearm swing cylinder is installed on the mechanical boom, and its drive end is connected to the mechanical forearm pin for driving the mechanical forearm to swing relative to the mechanical boom.

2. The longitudinal rail-changing crane capable of traveling on rails according to claim 1, characterized in that: The end of the robotic arm is provided with a connecting ear plate, and the robotic arm assembly is mounted on the underside of the robotic arm by means of a pin.

3. The longitudinal rail-moving crane capable of traveling on rails according to claim 2, characterized in that: The robotic arm assembly includes two sets of grippers, a gripping cylinder, a gripper base, a drive slider, and two pairs of drive linkages. The two sets of grippers are mounted on the gripper base with pins, arranged front to back, and their gripping centerlines are collinear. The gripping cylinder is vertically inverted on the gripper base, and the drive slider is located at the lower end of the gripping cylinder. The two pairs of drive linkages connect the two sets of grippers to the two ends of the drive slider, respectively, for synchronously driving the two sets of grippers to rotate and open synchronously to form two-point gripping.

4. The longitudinal rail-moving crane capable of traveling on rails according to claim 1, characterized in that: The wheel assembly includes a track wheel, a wheel base, mounting pins, and a buffer device. The track wheel is mounted on the side of the wheel base. The wheel base is connected to the running frame through several evenly distributed mounting pins. The buffer device is provided between the wheel base and the running frame.

5. The longitudinal rail-moving crane capable of traveling on rails according to claim 4, characterized in that: The traveling frame is provided with four wheel guide frames above and below, each containing a wheel mounting space. The front and rear sides of the wheel mounting space are guide planes perpendicular to the track. The wheel base has two vertical side plates on the front and rear sides. Guide frame wear plates are provided on the vertical side plates. The two guide frame wear plates are respectively attached to the guide planes to guide and limit the track wheels.

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