Railway fastener bolt assembling, disassembling and oiling device based on visual imaging technology

Abstract

The utility model discloses a railway fastener bolt assembling, disassembling and oiling device based on a visual imaging technology, belongs to the technical field of railway fastener bolt maintenance devices, and aims at solving the problems that an existing railway fastener bolt oiling means is low in efficiency and uneven in oiling. The device comprises a bolt dismounting module, an oil coating module, a bolt recognition module, a control module, a walking module, a power module and a main frame body, the main frame body achieves reciprocating motion on two target rails through the walking module, and the oil coating module is used for conducting oil coating treatment on fastener bolts; the bolt dismounting module is used for dismounting fastener bolts on the two sides of a target track corresponding to the bolt dismounting module, the bolt recognition module is installed on the bolt dismounting module and used for recognizing the fastener bolts, the control module is used for controlling the working state of all the modules, and the power module is used for supplying power to all the modules. The railway fastener bolt maintenance device is mainly used for maintaining railway fastener bolts.

Description

TECHNICAL FIELD

[0001] The utility model belongs to railway fastener bolt maintenance device technical field, concretely relates to a railway fastener bolt dismounting and oiling device based on visual imaging technique. BACKGROUND

[0002] Railway fastener bolt is the important connecting part in railway line, and its installation and dismounting need to consume a lot of manpower and time. Meanwhile, in order to ensure the anticorrosion performance and service life of bolt, it needs to oil bolt nut regularly. At present, the requirement of oiling in railway standard is to unscrew fastener nut first, then oil, and then tighten fastener nut. However, the existing technical means has many problems, such as low efficiency, uneven oiling, etc., and one worker needs to use bolt machine to tighten and unscrew nut, and another operator needs to oil. Therefore, it is very practical to develop a device that can be completed by one person to improve the working efficiency of bolt oiling work. SUMMARY

[0003] The utility model discloses in order to solve the problem of low efficiency and uneven oiling of the existing railway fastener bolt oiling means, and provide a railway fastener bolt dismounting and oiling device based on visual imaging technique;

[0004] A railway fastener bolt dismounting and oiling device based on visual imaging technique, the railway fastener bolt dismounting and oiling device includes bolt dismounting module, oiling module, bolt identification module, control module, running module, power module and main frame body, the running module and the oiling module are installed at the bottom of the main frame body, the main frame body is realized reciprocating motion on two target tracks through the running module, the oiling module is used to oil the fastener bolt, the bolt dismounting module, the control module and the power module are installed at the top of the main frame body, the bolt dismounting module is located above one target track, the bolt dismounting module is used to dismount the fastener bolt on both sides of the corresponding target track, the bolt identification module is installed on the bolt dismounting module, the bolt identification module is used to identify the fastener bolt, the control module is used to control the working state of the bolt dismounting module, the oiling module, the bolt identification module and the running module, and the power module is used to supply power to the bolt dismounting module, the oiling module, the bolt identification module, the control module and the running module;

[0005] Further, the bolt dismounting module comprises a mounting shell, a lifting motor, a connecting plate and two rotating units, the mounting shell is installed on the top of the main frame body and is located above a target track, the lifting motor is arranged in the mounting shell in the vertical direction, and the shell of the lifting motor is detachably connected with the inner bottom of the mounting shell, the connecting plate is arranged on the movable end of the lifting motor and is detachably connected with the movable end of the lifting motor, the two rotating units are both installed on the connecting plate and are arranged on the two sides of the target track respectively, the two rotating units are synchronously lifted with the movable end of the lifting motor through the connecting plate, the bottom end of each rotating unit passes through the bottom of the mounting shell and the main frame body in sequence and extends below the main frame body, the power input end of the lifting motor is connected with the power output end of the power module through wires, and the signal input end of the lifting motor is connected with the control module in signal;

[0006] Further, the rotating unit comprises a rotating motor, a speed reducer, a floating connecting shaft assembly and a sleeve, the rotating motor, the speed reducer, the floating connecting shaft assembly and the sleeve are arranged in sequence from top to bottom, the rotating motor is installed on the connecting plate through its shell, and the rotating output end of the rotating motor is arranged vertically downward, the speed reducer is arranged on the rotating output end of the rotating motor, and the shell of the speed reducer is installed on the connecting plate, the input end of the speed reducer is connected with the rotating output end of the rotating motor, the floating connecting shaft assembly is arranged on the power output end of the speed reducer, one end of the floating connecting shaft assembly is connected with the power output end of the speed reducer, and the sleeve is arranged on the other end of the floating connecting shaft assembly and is fixedly connected with the other end of the floating connecting shaft assembly, the power input end of the rotating motor is connected with the power output end of the power module through wires, and the signal input end of the rotating motor is connected with the control module in signal.

[0007] Further, the floating connecting shaft assembly comprises a connecting sleeve, a floating shaft and a return spring, one end of the connecting sleeve is a closed end, the closed end of the connecting sleeve is connected with the power output end of the speed reducer, the floating shaft is inserted in the open end of the connecting sleeve and is slidably connected with the connecting sleeve, the return spring is arranged between the connecting sleeve and the sleeve and is sleeved on the outside of the floating shaft, one end of the return spring is connected with the open end of the connecting sleeve, and the other end of the return spring is connected with the sleeve.

[0008] Further, a guide groove is processed on the outer circular surface of the floating shaft in the extension direction of the axis of the floating shaft, a guide pin is installed on the open end of the connecting sleeve, the axis of the guide pin is arranged vertically to the axis of the floating shaft, one end of the guide pin extends into the guide groove on the floating shaft, and the connecting sleeve is slidably connected with the floating shaft through the cooperation of the guide pin and the guide groove.

[0009] Further, the oiling module comprises an oil tank, an oil pump, a pipeline and four nozzles, the oil tank and the oil pump are respectively arranged at two ends of the power module, the oil tank is fixed on the main frame body through a mounting frame, the oil pump is fixed on the main frame body through a mounting frame, the power input end of the oil pump is connected with the power output end of the power module through a wire, the signal input end of the oil pump is connected with the signal of the control module, the liquid outlet end of the oil tank is connected with the liquid inlet end of the oil pump through a pipeline, the pipeline is fixed on the main frame body through a mounting seat, the liquid inlet end of the pipeline is connected with the liquid outlet end of the oil pump, four liquid outlet ends are arranged in the pipeline, and each nozzle is correspondingly arranged on one liquid outlet end and is in communication with the pipeline;

[0010] Further, the connecting branch is arranged on the outer side of the shell of the bolt dismounting module;

[0011] Further, the bolt dismounting module comprises a camera, a light supplementing lamp, a shell and an image processing device, the shell is arranged on the connecting branch on the outer side of the bolt dismounting module, the camera is arranged in the shell, the shooting end of the camera is arranged towards the target track corresponding to the bolt dismounting module, the light supplementing lamp is arranged in the shell, the irradiation end of the light supplementing lamp is arranged towards the target track corresponding to the bolt dismounting module, the image processing device is arranged on the control module, the image input end of the camera is connected with the image input end of the image processing device through a wire, and the image output end of the image processing device is connected with the image input end of the control module through a wire;

[0012] Further, the walking module comprises a driving unit and a driven unit, the driving unit and the driven unit are arranged on the bottom of the main frame body, the driving unit is arranged at the rear side of the driven unit, the driving unit provides power for the movement of the railway fastener bolt dismounting and oiling device, and the driven unit is used for ensuring the stability of the railway fastener bolt dismounting and oiling device during movement;

[0013] The driving unit comprises a power motor, a transmission shaft and two driving wheels, the power motor is fixed on the bottom of the main frame body through a mounting frame, the power input end of the power motor is connected with the power output end of the power module through a wire, the transmission shaft is rotatably connected with the bottom of the main frame body through two bearing seats with bearings, the transmission shaft is in transmission connection with the power output end of the power motor, each end of the transmission shaft extends above a target track, each driving wheel is correspondingly sleeved on one end of the transmission shaft, and each driving wheel is arranged on the corresponding target track and rolls along the extension direction of the target track;

[0014] The driven unit comprises a driven shaft and two driven wheels, the driven shaft is arranged at the front side of the transmission shaft, and the axis of the driven shaft is arranged in parallel with the axis of the transmission shaft, the driven shaft is rotatably connected with the bottom of the main frame body through two bearing seats of belt bearings, each end of the driven shaft extends above a target track, each driven wheel is correspondingly sleeved on one end of the driven shaft, and each driven wheel is arranged on the corresponding target track and rolls along the extension direction of the target track;

[0015] Further, a push handle is mounted on the top of the main frame body;

[0016] The application has the following beneficial effects relative to the prior art:

[0017] The railway fastener bolt loading and unloading and oiling device provided by the application is of integrated design, combines the functions of the original oiling machine and the bolt screwing machine, and can complete the loading and unloading and oiling of the railway fastener bolt by using one device, thereby greatly reducing the work cost of the loading and unloading and oiling of the railway fastener bolt.

[0018] The railway fastener bolt loading and unloading and oiling device provided by the application has higher work efficiency compared with the traditional technical means, the nut screwing and oiling work can be independently completed by one person, the device is automatically operated to avoid personnel labor, the oiling effect of each railway fastener bolt is consistent, and the uniformity and stability of oiling are ensured.

[0019] The railway fastener bolt loading and unloading and oiling device provided by the application uses a high-precision camera as a visual module and is beneficial to bolt positioning by pure vision, is different from proximity switch positioning and laser ranging positioning, has accurate positioning and high positioning precision. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The figure is a structural schematic view of the loading and unloading and oiling device;

[0021] Figure 2 The figure is a front view schematic view of the loading and unloading and oiling device;

[0022] Figure 3 The figure is a rear view schematic view of the loading and unloading and oiling device;

[0023] Figure 4 The figure is a side view schematic view of the loading and unloading and oiling device;

[0024] Figure 5 The figure is a top view schematic view of the loading and unloading and oiling device;

[0025] Figure 6The internal structure diagram of the bolt dismounting module in the loading and unloading and oiling device described in the application;

[0026] Figure 7 The structure diagram of the oiling module in the loading and unloading and oiling device described in the application;

[0027] Figure 8 The structure diagram of the bolt identification module in the loading and unloading and oiling device described in the application;

[0028] In the figure, 1 is a bolt dismounting module, 11 is a lifting motor, 12 is a connecting plate, 13 is a rotating motor, 14 is a speed reducer, 15 is a floating connection shaft assembly, 16 is a sleeve, 2 is an oiling module, 21 is an oil tank, 22 is an oil pump, 23 is a pipeline, 24 is a nozzle, 3 is a bolt identification module, 31 is a camera, 32 is a light supplementing lamp, 33 is a shell, 34 is an image processing device, 4 is a control module, 5 is a walking module, 51 is a power motor, 52 is a transmission shaft, 53 is a driving wheel, 6 is a power module, 7 is a main frame body, and 8 is a target track. DETAILED DESCRIPTION

[0029] Specific implementation one: combined Figures 1 to 8 In this embodiment, a railway fastener bolt loading and unloading and oiling device based on visual imaging technology is provided, which includes a bolt dismounting module 1, an oiling module 2, a bolt identification module 3, a control module 4, a walking module 5, a power module 6, and a main frame body 7. The walking module 5 and the oiling module 2 are both installed at the bottom of the main frame body 7, the main frame body 7 realizes reciprocating motion on two target tracks 8 through the walking module 5, and the oiling module 2 is used for oiling treatment of the fastener bolts. The bolt dismounting module 1, the control module 4, and the power module 6 are all installed at the top of the main frame body 7, the bolt dismounting module 1 is located above one target track 8, and is used for dismounting the fastener bolts on both sides of the corresponding target track 8. The bolt identification module 3 is installed on the bolt dismounting module 1, and is used for identifying the fastener bolts. The control module 4 is used for controlling the working states of the bolt dismounting module 1, the oiling module 2, the bolt identification module 3, and the walking module 5. The power module 6 is used for power supply to the bolt dismounting module 1, the oiling module 2, the bolt identification module 3, the control module 4, and the walking module 5.

[0030] In this embodiment, the position of the bolt dismounting module 1 can be moved as needed, and there are multiple maintenance modes in the actual maintenance process of the railway fastener bolt. One working condition is to directly use the oiling module 2 to spray oil on the target fastener bolt, and in this working condition, the bolt dismounting module 1 does not work. When the walking module 5 drives the whole device to move along the two target tracks 8, the oiling module 2 directly oils the target fastener bolt after reaching the position of the target fastener bolt, which is surface maintenance. Another working condition is to screw the target fastener bolt to loosen the bolt and the nut, and then oil the connecting surface of the bolt and the nut, which is connecting surface maintenance. In the connecting surface maintenance, only the fastener bolts on both sides of the single track can be maintained at a time, and the oiling module 2 also oils the fastener bolts on both sides of the single track. Based on the differences between the two working conditions, the working position of the bolt dismounting module 1 is designed to be variable. The whole is fixed to the main frame 7 by bolt fastening. When it is necessary to change the side, the bolt dismounting module 1 is dismounted from the original installation position together with the bolt recognition module 3, and then moved to the upper side of the other target track 8 and fixed to the main frame 7.

[0031] Specific embodiment two: combination Figures 1 to 8 In this embodiment, the bolt dismounting module 1 includes an installation shell, a lifting motor 11, a connecting plate 12 and two rotating units. The installation shell is installed on the top of the main frame 7, and the installation shell is located above one target track 8. The lifting motor 11 is arranged in the installation shell in the vertical direction, and the shell of the lifting motor 11 is detachably connected to the inner bottom of the installation shell. The connecting plate 12 is arranged on the movable end of the lifting motor 11, and the connecting plate 12 is detachably connected to the movable end of the lifting motor 11. The two rotating units are installed on the connecting plate 12, and the two rotating units are arranged on both sides of the target track 8. The two rotating units are synchronously lifted with the movable end of the lifting motor 11 through the connecting plate 12. The bottom end of each rotating unit extends to the lower side of the main frame 7 through the bottom of the installation shell and the main frame 7 in sequence. The power input end of the lifting motor 11 is connected to the power output end of the power module 6 through wires, and the signal input end of the lifting motor 11 is connected to the control module 4. The other components and connection modes are the same as those of the first embodiment.

[0032] Specific embodiment three: combination Figures 1 to 8The embodiment is described. The embodiment is different from the second specific embodiment in that the rotating unit comprises a rotating motor 13, a speed reducer 14, a floating connecting shaft assembly 15 and a sleeve 16, the rotating motor 13, the speed reducer 14, the floating connecting shaft assembly 15 and the sleeve 16 are arranged in sequence from top to bottom, the rotating motor 13 is mounted on the connecting plate 12 through its shell, and the rotating output end of the rotating motor 13 is arranged vertically downward, the speed reducer 14 is arranged on the rotating output end of the rotating motor 13, and the shell of the speed reducer 14 is mounted on the connecting plate 12, the input end of the speed reducer 14 is connected with the rotating output end of the rotating motor 13, the floating connecting shaft assembly 15 is arranged on the power output end of the speed reducer 14, one end of the floating connecting shaft assembly 15 is connected with the power output end of the speed reducer 14, the sleeve 16 is arranged on the other end of the floating connecting shaft assembly 15, and the sleeve 16 is fixedly connected with the other end of the floating connecting shaft assembly 15, the power input end of the rotating motor 13 is connected with the power output end of the power supply module 6 through a wire, and the signal input end of the rotating motor 13 is signal-connected with the control module 4. The other components and connection modes are the same as those in the second specific embodiment.

[0033] The fourth specific embodiment is combined. Figures 1 to 8 The embodiment is described. The embodiment is different from the third specific embodiment in that the floating connecting shaft assembly 15 comprises a connecting sleeve, a floating shaft and a reset spring, one end of the connecting sleeve is a closed end, the closed end of the connecting sleeve is connected with the power output end of the speed reducer 14, the floating shaft is inserted into the open end of the connecting sleeve, and the floating shaft is slidingly connected with the connecting sleeve, the reset spring is arranged between the connecting sleeve and the sleeve 16, and the reset spring is sleeved outside the floating shaft, one end of the reset spring is connected with the open end of the connecting sleeve, and the other end of the reset spring is connected with the sleeve 16. The other components and connection modes are the same as those in the third specific embodiment.

[0034] The fifth specific embodiment is combined. Figures 1 to 8 The embodiment is described. The embodiment is different from the fourth specific embodiment in that a guide groove is processed on the outer circular surface of the floating shaft in the extension direction of the floating shaft axis, a guide pin is mounted on the open end of the connecting sleeve, the axis of the guide pin is arranged vertically with the axis of the floating shaft, one end of the guide pin extends into the guide groove on the floating shaft, and the connecting sleeve is slidingly connected with the floating shaft through the cooperation of the guide pin and the guide groove. The other components and connection modes are the same as those in the fourth specific embodiment.

[0035] As described in combination with specific embodiment two to specific embodiment five, the fastener bolts to be maintained by the application are arranged in pairs, and multiple pairs of fastener bolts are arranged equidistantly along the length direction of the target track, two rotating units are arranged in the bolt dismounting module 1, and the two rotating units are located above the multiple pairs of fastener bolts. With the movement of the device, the target fastener bolt is moved to the working position, and the target bolt is screwed. When the rotating unit works, the sleeve 16 is first sleeved on the nut by moving downward through the connecting plate 12, and the rotating unit works to drive the nut to reverse to realize the loosening action. After the nut is loosened under the driving of the sleeve 16, the nut moves upward by a certain distance. When the nut rises, the floating connecting shaft assembly 15 plays a role in compensating the rising height of the nut through the relative displacement of the connecting sleeve and the floating shaft, so as to avoid the dead point. After the connecting surface of the nut and the bolt is exposed, the sleeve 16 is separated from the target nut by the upward movement of the connecting plate. At this time, the oiling module 2 starts to perform the oiling treatment on the nut and the bolt. After the oiling is completed, the sleeve 16 is sleeved on the nut again, and the nut is screwed to be fixed on the bolt again.

[0036] Specific embodiment six: in combination with Figures 1 to 8 In this embodiment, the oiling module 2 includes an oil tank 21, an oil pump 22, a pipeline 23, and four nozzles 24. The oil tank 21 and the oil pump 22 are arranged at two ends of the power module 6 respectively. The oil tank 21 is fixed on the main frame body 7 through a mounting bracket, and the oil pump 22 is fixed on the main frame body 7 through a mounting bracket. The power input end of the oil pump 22 is connected with the power output end of the power module 6 through a wire, and the signal input end of the oil pump 22 is connected with the control module 4. The liquid outlet end of the oil tank 21 is connected with the liquid inlet end of the oil pump 22 through a pipeline. The pipeline 23 is fixed on the main frame body 7 through a mounting seat, and the liquid inlet end of the pipeline 23 is connected with the liquid outlet end of the oil pump 22. Four liquid outlet ends are arranged in the pipeline 23, and each nozzle 24 is installed on one liquid outlet end and is in communication with the pipeline 23. The other components and connection modes are the same as those in specific embodiment five.

[0037] In this embodiment, the oil tank 21 is used to store long-acting oil, the oil pump 22 is used to deliver the oil, the pipeline 23 is used to complete the oil delivery, and the nozzles 24 can adjust the angle to spray oil on the exposed part of the bolt. The four nozzles 24 are evenly divided into two groups, and each group of nozzles 24 corresponds to the fastener nut on one target track 8. When the maintenance work is performed, the four nozzles 24 work simultaneously. The nozzles 24 corresponding to one group of the bolt dismounting module 1 are used to perform the oiling maintenance on the connecting surface of the bolt and the nut, and the nozzles 24 corresponding to the other group are used to perform the oiling maintenance on the surface of the bolt and the nut.

[0038] Specific embodiment seven: in combination with Figures 1 to 8The difference between this embodiment and embodiment six is that a connecting arm is installed on the outer side of the bolt dismounting module 1, and the bolt identification module 3 is installed on the connecting arm on the outer side of the bolt dismounting module 1. The other components and connection modes are the same as those of embodiment six.

[0039] In this embodiment, the connecting arm is in L-shaped structure, the vertical part of which is installed on the mounting shell by bolts, and the horizontal part extends forward and is above the target track 8, and the bolt identification module 3 is installed on the end of the horizontal part away from the vertical part, so as to ensure that the body part of the device does not affect the identification of the bolt.

[0040] Embodiment eight: combination Figures 1 to 8 The difference between this embodiment and embodiment seven is that the bolt identification module 3 comprises a camera 31, a light supplement lamp 32, a shell 33 and an image processing device 34, the shell 33 is installed on the connecting arm on the outer side of the bolt dismounting module 1, the camera 31 is installed in the shell 33, and the shooting end of the camera 31 is arranged towards the target track 8 corresponding to the bolt dismounting module 1, the light supplement lamp 32 is installed in the shell 33, and the irradiation end of the light supplement lamp 32 is arranged towards the target track 8 corresponding to the bolt dismounting module 1, the image processing device 34 is installed on the control module 4, the image input end of the camera 31 is connected to the image input end of the image processing device 34 through wires, and the image output end of the image processing device 34 is connected to the image input end of the control module 4 through wires. The other components and connection modes are the same as those of embodiment seven.

[0041] In this embodiment, the position of the camera 31 is at the front end of the working direction of the device, above a target track 8, and the edge of the picture is parallel to the steel rail, for photographing the fastener, the light supplement lamp 32 is used for light supplement when the camera 31 works, the camera 31 transmits the image to the image processing device 34 after photographing, the image processing device 34 processes the picture and outputs the processing result, the control module 4 receives the processing result and controls the walking module 5 to move to a specified position, and then the bolt dismounting module 1 and the oiling module 2 are operated to work.

[0042] Embodiment nine: combination Figures 1 to 8 The difference between this embodiment and embodiment eight is that the walking module 5 comprises a driving unit and a driven unit, both of which are installed on the bottom of the main frame 7, and the driving unit is located at the rear side of the driven unit, the driving unit provides power for the movement of the railway fastener bolt dismounting and oiling device, and the driven unit is used to ensure the stability of the railway fastener bolt dismounting and oiling device during movement.

[0043] The active driving unit comprises a power motor 51, a transmission shaft 52 and two active wheels 53, the power motor 51 is fixed on the bottom of the main frame body 7 through a mounting frame, the power input end of the power motor 51 is connected with the power output end of the power module 6 through a wire, the transmission shaft 52 is rotatably connected with the bottom of the main frame body 7 through two bearing seats with bearings, and the transmission shaft 52 is in transmission connection with the power output end of the power motor 51, each end of the transmission shaft 52 extends above a target track 8, and each active wheel 53 is correspondingly sleeved on one end of the transmission shaft 52, and each active wheel 53 is arranged on the corresponding target track 8 and rolls along the extension direction of the target track 8;

[0044] The driven unit comprises a driven shaft and two driven wheels, the driven shaft is arranged on the front side of the transmission shaft 52, and the axis of the driven shaft is arranged in parallel with the axis of the transmission shaft 52, the driven shaft is rotatably connected with the bottom of the main frame body 7 through two bearing seats with bearings, each end of the driven shaft extends above a target track 8, and each driven wheel is correspondingly sleeved on one end of the driven shaft, and each driven wheel is arranged on the corresponding target track 8 and rolls along the extension direction of the target track 8. The other components and connection modes are the same as those in the eighth embodiment.

[0045] In the embodiment, the active driving unit is used for providing the device with forward power, and the driven unit cooperates with the active driving unit to ensure the stability of the movement of the device, wherein the active wheels 53 and the driven wheels are all made of wear-resistant nylon wheels or steel wheels, and the walking motor 51 is a servo motor for accurate positioning of walking.

[0046] Specific embodiment ten: Figures 1 to 8 In this embodiment, the main frame body 7 is provided with a push handle on the top. The other components and connection modes are the same as those in the ninth embodiment.

[0047] The above-mentioned embodiments are disclosed in the preferred embodiments of the utility model, however, not used to limit the present application, any skilled person in the art, without departing from the technical scheme of the present application, can make some changes or modifications to the above-mentioned disclosed structure and technical content for equivalent embodiments, but any simple modification, equivalent change and modification made on the above-mentioned embodiments according to the technical essence of the present application are still within the scope of the technical scheme of the present application.

[0048] Working principle

[0049] The present application needs to be calibrated when the device is shipped. The checkerboard calibration board is placed at the height of the fastener bolt, and the camera is used to take a photo of the fastener bolt and the checkerboard calibration board, so as to obtain the proportional relationship between each pixel n and the actual size s at this plane:

[0050] h = s / n (the ratio of actual size and pixel)

[0051] At the same time, find the center line of the image in the direction of the device traveling, measure the distance L1 between the center line of the image and the center line of the sleeve (14).

[0052] In use, the operator manually operates the railway fastener bolt dismounting and oiling device, and can select "single loosening", "single tightening", "loosening + oiling + tightening" and other instructions, and the device starts to work automatically. Taking the "loosening + oiling + tightening" instruction as an example, during work, the light supplement lamp 32 is used for lighting, and the camera 31 is used for taking pictures, and the pictures are processed by the image processing device 34. First, the edge profile of the nut and the bolt is identified, then the pixel position of the center of the nut and the bolt on the image is calculated using the edge profile of the nut and the bolt, and the pixel coordinate N1 (N1 has positive and negative) of the center of the nut and the bolt from the center line of the image is calculated. Then, using the ratio of the actual size and the pixel, a size can be calculated:

[0053] L = L1 + N1 * h

[0054] The image processing device 34 sends the displacement L to the control module 4, and the control module 4 controls the walking motor 51 to move L distance, at this time the sleeve 16 is just above the fastener bolt, the lifting motor 11 is lowered, the sleeve 16 is sleeved into the fastener nut, the rotating motor 13 is reversed, the nut is loosened, the lifting motor 11 is raised, the fastener bolt nut is exposed, and the oil pump 22 works to spray oil on the bolt nut. After spraying oil, the lifting motor 11 is lowered, the sleeve 16 is sleeved into the fastener nut again, the rotating motor 13 is rotated in the positive direction, the nut is tightened, the lifting motor 11 is raised, and a working process is completed. At this time, the camera 31 takes pictures of the next group of fastener bolt nuts, and the cycle is repeated to complete the maintenance work of the fastener bolt nuts on the whole steel rail.

Claims

1. A device for loading, unloading, and oiling railway fastener bolts based on visual imaging technology, characterized in that: The device comprises a bolt dismounting module (1), an oiling module (2), a bolt identification module (3), a control module (4), a walking module (5), a power module (6) and a main frame (7). The walking module (5) and the oiling module (2) are installed at the bottom of the main frame (7). The main frame (7) can move back and forth on two target tracks (8) through the walking module (5). The oiling module (2) is used for oiling the bolts. The bolt dismounting module (1), the control module (4) and the power module (6) are installed at the top of the main frame (7). The bolt dismounting module (1) is above one target track (8) and is used for dismounting the bolts on both sides of the corresponding target track (8). The bolt identification module (3) is installed on the bolt dismounting module (1) and is used for identifying the bolts. The control module (4) is used for controlling the working states of the bolt dismounting module (1), the oiling module (2), the bolt identification module (3) and the walking module (5). The power module (6) is used for supplying power to the bolt dismounting module (1), the oiling module (2), the bolt identification module (3), the control module (4) and the walking module (5).

2. The railway fastener bolt assembling and disassembling and oiling device based on visual imaging technology according to claim 1, characterized in that: The bolt dismounting module (1) comprises a mounting shell, a lifting motor (11), a connecting plate (12) and two rotating units. The mounting shell is installed at the top of the main frame (7) and above one target track (8). The lifting motor (11) is arranged in the mounting shell in the vertical direction and is detachably connected with the inner bottom of the mounting shell. The connecting plate (12) is arranged on the movable end of the lifting motor (11) and is detachably connected with the movable end of the lifting motor (11). The two rotating units are installed on the connecting plate (12) and are arranged on both sides of the target track (8). The two rotating units are synchronously lifted with the movable end of the lifting motor (11) through the connecting plate (12). The bottom end of each rotating unit extends to below the main frame (7) through the bottom of the mounting shell and the main frame (7). The power input end of the lifting motor (11) is connected with the power output end of the power module (6) through wires. The signal input end of the lifting motor (11) is connected with the control module (4).

3. The railway fastener bolt assembling and disassembling and oiling device based on visual imaging technology according to claim 1, characterized in that: The rotating unit comprises a rotating motor (13), a speed reducer (14), a floating connection shaft assembly (15) and a sleeve (16), which are arranged in sequence from top to bottom, the rotating motor (13) is mounted on the connecting plate (12) through its shell, and the rotating output end of the rotating motor (13) is arranged vertically downward, the speed reducer (14) is arranged on the rotating output end of the rotating motor (13), and the shell of the speed reducer (14) is mounted on the connecting plate (12), the input end of the speed reducer (14) is connected with the rotating output end of the rotating motor (13), the floating connection shaft assembly (15) is arranged on the power output end of the speed reducer (14), and one end of the floating connection shaft assembly (15) is connected with the power output end of the speed reducer (14), the sleeve (16) is arranged on the other end of the floating connection shaft assembly (15), and the sleeve (16) is fixedly connected with the other end of the floating connection shaft assembly (15), the power input end of the rotating motor (13) is connected with the power output end of the power supply module (6) through a wire, and the signal input end of the rotating motor (13) is signal-connected with the control module (4).

4. The railway fastener bolt assembling and disassembling and oiling device based on visual imaging technology according to claim 3, characterized in that: The floating connection shaft assembly (15) comprises a connecting sleeve, a floating shaft and a reset spring, one end of the connecting sleeve is a closed end, the closed end of the connecting sleeve is connected with the power output end of the speed reducer (14), the floating shaft is inserted into the open end of the connecting sleeve, and the floating shaft is slidably connected with the connecting sleeve, the reset spring is arranged between the connecting sleeve and the sleeve (16), and the reset spring is sleeved on the outer side of the floating shaft, one end of the reset spring is connected with the open end of the connecting sleeve, and the other end of the reset spring is connected with the sleeve (16).

5. A railway fastener bolt assembling and oiling device based on visual imaging technology according to claim 4, characterized in that: A guide groove is formed on the outer circular surface of the floating shaft in the extension direction of the axis of the floating shaft, a guide pin is mounted on the open end of the connecting sleeve, the axis of the guide pin is arranged vertically to the axis of the floating shaft, one end of the guide pin extends into the guide groove on the floating shaft, and the connecting sleeve is slidably connected with the floating shaft through the cooperation of the guide pin and the guide groove.

6. A railway fastener bolt installation and oiling device based on visual imaging technology according to claim 5, characterized in that: The oiling module (2) comprises an oil tank (21), an oil pump (22), a pipeline (23) and four nozzles (24), the oil tank (21) and the oil pump (22) are arranged at two ends of the power supply module (6) respectively, the oil tank (21) is fixed on the main frame body (7) through a mounting frame, the oil pump (22) is fixed on the main frame body (7) through a mounting frame, the power input end of the oil pump (22) is connected with the power output end of the power supply module (6) through a wire, the signal input end of the oil pump (22) is signal-connected with the control module (4), the liquid outlet end of the oil tank (21) is connected with the liquid inlet end of the oil pump (22) through a pipeline, the pipeline (23) is fixed on the main frame body (7) through a mounting seat, the liquid inlet end of the pipeline (23) is connected with the liquid outlet end of the oil pump (22), four liquid outlet ends are arranged in the pipeline (23), and each nozzle (24) is correspondingly arranged on one liquid outlet end and is arranged in communication with the pipeline (23).

7. The railway fastener bolt assembling and disassembling and oiling device based on visual imaging technology according to claim 6, characterized in that: The outer side of the shell of the bolt dismounting module (1) is provided with a connecting branch, and the bolt identification module (3) is arranged on the connecting branch of the outer side of the bolt dismounting module (1).

8. The railway fastener bolt assembling and disassembling and oiling device based on visual imaging technology according to claim 7, characterized in that: The bolt identification module (3) comprises a camera (31), a light supplement lamp (32), a shell (33) and an image processing device (34), the shell (33) is installed on the connecting branch arm outside the bolt dismounting module (1), the camera (31) is installed in the shell (33), and the shooting end of the camera (31) is arranged towards the target track (8) corresponding to the bolt dismounting module (1); the light supplement lamp (32) is installed in the shell (33), and the irradiation end of the light supplement lamp (32) is arranged towards the target track (8) corresponding to the bolt dismounting module (1); the image processing device (34) is installed on the control module (4), the image input end of the camera (31) is connected with the image input end of the image processing device (34) through wires, and the image output end of the image processing device (34) is connected with the image input end of the control module (4) through wires.

9. The railway fastener bolt assembling and disassembling and oiling device based on visual imaging technology according to claim 7, characterized in that: The walking module (5) comprises a driving unit and a driven unit, both of which are installed at the bottom of the main frame body (7), and the driving unit is located at the rear side of the driven unit, the driving unit provides power for the movement of the railway fastener bolt dismounting and oiling device, and the driven unit is used for ensuring the stability of the railway fastener bolt dismounting and oiling device during movement; The driving unit comprises a power motor (51), a transmission shaft (52) and two driving wheels (53), the power motor (51) is fixed at the bottom of the main frame body (7) through a mounting frame, the power input end of the power motor (51) is connected with the power output end of the power module (6) through wires, the transmission shaft (52) is rotatably connected with the bottom of the main frame body (7) through two bearing seats with bearings, and the transmission shaft (52) is in transmission connection with the power output end of the power motor (51), each end of the transmission shaft (52) extends above a target track (8), and each driving wheel (53) is correspondingly sleeved on one end of the transmission shaft (52), and each driving wheel (53) is arranged on the corresponding target track (8) and rolls along the extension direction of the target track (8); The driven unit comprises a driven shaft and two driven wheels, the driven shaft is arranged at the front side of the transmission shaft (52), and the axis of the driven shaft is arranged in parallel with the axis of the transmission shaft (52), the driven shaft is rotatably connected with the bottom of the main frame body (7) through two bearing seats with bearings, and each end of the driven shaft extends above a target track (8), and each driven wheel is correspondingly sleeved on one end of the driven shaft, and each driven wheel is arranged on the corresponding target track (8) and rolls along the extension direction of the target track (8).

10. The railway fastener bolt assembling and disassembling and oiling device based on visual imaging technology according to claim 7, characterized in that: A push handle is installed at the top of the main frame body (7).

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