Elevation adjusting device of ballastless track panel fine adjustment robot

Abstract

The utility model relates to the technical field of track engineering, in particular to a ballastless track panel fine adjustment robot elevation adjusting device which comprises a connecting mechanism, a sliding rail and a clamping jaw. The connecting mechanism comprises a transversely-arranged servo motor and a vertically-arranged rotating shaft motor arranged on one side of the servo motor. The servo motor is used for controlling the adjusting device to be parallel to an elevation adjusting stud of the ballastless track panel. The sliding rail is arranged under the rotating shaft motor, and the sliding rail is movably connected with the rotating shaft motor through a rotating shaft; the clamping jaw is arranged at the bottom of the sliding rail and matched with the sliding rail, and a tail end jaw head is arranged at the bottom end of the clamping jaw and used for being matched with a hole site in the top of the elevation adjusting stud. The track panel elevation adjusting device has the advantages that the track adjusting construction process is simplified, full automation of the adjusting process is achieved, the construction efficiency is improved, the track panel elevation adjusting precision is improved, and the track panel elevation adjusting device can be additionally arranged on a robot mechanical arm, is convenient to disassemble and is high in flexibility. And the clamping jaws can be replaced into different sizes, so that the application range is expanded.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of track engineering, and specifically is a ballastless track track row fine adjustment robot elevation adjusting device. BACKGROUND

[0002] With the rapid development of the rail transit industry in China, the line operation speed is continuously improved, and the smoothness and stability of the track line are increasingly strict. The faster the high-speed line runs, the smaller the actual spatial position elevation and transverse deviation range of the track plate after adjustment. The traditional track adjustment method is to use the wedge block assembly in the line to adjust and lock, which needs to be adjusted repeatedly and the process is complex. Moreover, the traditional method controls the adjustment amount manually, which has large error and low efficiency. In some sections not suitable for manual operation, the deficiencies of the traditional track adjustment method are more prominent.

[0003] Therefore, it is urgent to design a ballastless track track row fine adjustment robot elevation adjusting device. SUMMARY

[0004] The utility model aims at overcoming the prior art's shortcomings, providing a ballastless track track row fine adjustment robot elevation adjusting device to realize the mechanization and automation of track row adjustment and improve the accuracy and construction efficiency in track row elevation adjustment.

[0005] In order to achieve the above-mentioned purpose, a ballastless track track row fine adjustment robot elevation adjusting device is designed, which comprises a connecting mechanism, a sliding rail and a clamping jaw. The connecting mechanism comprises a transversely arranged servo motor and a vertical shaft motor arranged on one side of the servo motor. The servo motor is used to control the elevation adjusting screw column of the ballastless track track row to be parallel to the adjusting device. The sliding rail is arranged directly below the vertical shaft motor and is movably connected to the vertical shaft motor. The clamping jaw is arranged at the bottom of the sliding rail and cooperates with the sliding rail. The bottom end of the clamping jaw is provided with an end jaw head, which is used to cooperate with the hole at the top of the elevation adjusting screw column.

[0006] Preferably, the utility model further comprises a connecting head arranged on one side of the servo motor, which is used to connect with the mechanical arm or support of the robot.

[0007] Preferably, the utility model further comprises a guide rail arranged in the sliding rail, a base in sliding cooperation with the guide rail, and a driving mechanism in cooperation with the base and used to drive the base to move on the guide rail.

[0008] Preferably, the utility model further comprises two micro motors arranged at the two ends of the sliding rail respectively, and the micro motors are drivingly connected to the driving mechanism. The driving mechanism comprises a chain, a lead screw or a rack.

[0009] Preferably, the utility model still include: the base upper side away from slide rail one side still be equipped with inductive sheet and stopper, inductive sheet is used to inductive base position, stopper is used for preventing the both ends of base and slide rail produce the collision.

[0010] Preferably, the utility model still include: the top of clamping jaw is connected with drive arrangement through base, and drive arrangement drives clamping jaw to make transverse opening and closing movement on slide rail.

[0011] Preferably, the utility model still include: the clamping jaw is two symmetrical L-shaped structures.

[0012] Preferably, the utility model still include: the inside of the bending of clamping jaw L-shaped structure is equipped with reinforcing rib.

[0013] Preferably, the utility model still include: the inside of the bending of clamping jaw L-shaped structure is equipped with visual sensor, is used for detecting whether the end jaw head and stud top hole position are aligned.

[0014] Compared with the prior art, the utility model has the advantages that:

[0015] 1. The rail adjustment construction process is simplified, and the whole automatic adjustment process is realized, thereby improving the construction efficiency.

[0016] 2. The unstable factors such as manual work are removed, so that the accuracy of the track row elevation adjustment is improved.

[0017] 3. The device can be installed on a robot mechanical arm, and is convenient to disassemble and has high flexibility. The clamping jaw can be replaced with different sizes, thereby expanding the application range. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 , is the front view of the utility model;

[0019] Fig. 2 , is the isometric view of the utility model;

[0020] Fig. 3 , is the local schematic view of the clamping jaw of the utility model;

[0021] Fig. 4 , is the isometric view of the slide rail of the utility model;

[0022] In the drawing: 1 connecting mechanism, 2 slide rail, 3 clamping jaw, 4 stud, 101 connecting head, 102 servo motor, 103 rotating shaft, 104 rotating shaft motor, 201 base, 202 stopper, 203 inductive sheet, 204 guide rail, 205 micro motor, 301 reinforcing rib, 302 end jaw head, 303 visual sensor. DETAILED DESCRIPTION

[0023] In order to make the utility model purposes, principles and structure more clear, the following further elaboration is made in combination with the drawings and specific embodiments.

[0024] Referring to Figs. 1 to 4 The utility model provides a kind of elevation adjustment device of ballastless track track row fine adjustment robot.

[0025] The elevation adjustment device of ballastless track track row fine adjustment robot adopts an assembled structure design, mainly consisting of a connecting mechanism 1, a slide rail 2 and a clamping jaw 3.

[0026] The connecting mechanism 1 includes a connecting head 101, a servo motor 102 for the connecting head, a rotating shaft 103 and a rotating shaft motor 104.

[0027] The connecting head 101 is used to connect the robot mechanical arm and the elevation adjustment device, and a connecting head servo motor 102 is arranged transversely between the connecting head 101 and the elevation adjustment device to rotate the elevation adjustment device to be parallel to the stud 4. Since the stud 4 changes with the track row angle of the ballastless track, the stud 4 cannot always be horizontal to the ground, and the inclination angle of the elevation adjustment device and the horizontal plane needs to be adjusted accordingly according to the inclination angle of the stud 4. The elevation adjustment device and the horizontal plane are adjusted by the servo motor 102 to make the elevation adjustment device and the stud 4 in a parallel state, so that unnecessary shear force is not applied to the stud 4 due to the inclination of the elevation adjustment device and the stud 4 during the subsequent operation of rotating the stud 4, avoiding damage to the structure of the stud 4 during rotation adjustment.

[0028] A rotating shaft motor 104 is arranged vertically on the side of the transversely arranged servo motor 102, and the rotating shaft motor 104 is connected to the slide rail 2 through a rotating shaft 103. The connection point of the rotating shaft 103 and the slide rail 2 is the symmetry center point of the slide rail 2. After adjustment by the servo motor 102, the slide rail 2 is parallel to the track plate of the ballastless track. The rotating shaft motor 104 drives the rotating shaft 103, and the rotating shaft 103 drives the clamping jaw 3 to rotate in the plane parallel to the track plate, so that the clamping jaw 3 is aligned with the hole on the stud 4 for adjusting the elevation of the track plate.

[0029] The slide rail 2 is composed of a base 201, a position limiter 202, a sensing sheet 203, a guide rail 204 and a micro motor 205. Two guide rails 204 are arranged in parallel in the slide rail 2, and two bases 201 are respectively in sliding fit with the guide rails 204. The two bases 201 are respectively connected with two claw hooks in the clamping jaw 3. The position limiter 202 and the sensing sheet 203 are arranged on the side of the base 201 away from the guide rail 204, so as to ensure that the clamping jaw 3 does not collide with the shell of the slide rail 2 when the base 201 moves on the guide rail 204, and limit and control the distance of the movement of the clamping jaw 3 along with the base 201. Two micro motors 205 are respectively arranged at two ends of the outer side of the shell of the slide rail 2, and are connected with a driving mechanism in the slide rail 2 through the shell of the slide rail 2. The driving mechanism can be a chain, a belt, a rack or a lead screw. The driving mechanism is fixedly connected with the base 201. The micro motor 205 cooperates with the chain, the belt, the rack or the lead screw of the driving mechanism, drives the movement of the driving mechanism, and the base 201 fixedly connected with the driving mechanism moves accordingly, so as to realize the movement of the base 201 on the guide rail 204. The clamping jaw 3 connected with the base 201 moves along the guide rail 204 in transverse clamping movement under the joint action of the above-mentioned parts.

[0030] The clamping jaw 3 comprises two symmetrically arranged L-shaped structures made of low-carbon steel. A reinforcing rib 301 and a visual sensor 303 are arranged on the inner side of the bending part of the L-shaped structure. An end claw head 302 is arranged at the end of the lower horizontal section of the L-shaped structure. The end claw head 302 can be a cylindrical structure with a radius slightly smaller than the hole position radius of the height adjusting screw 4. The reinforcing rib 301 is used to enhance the connection strength of the horizontal section and the vertical section of the clamping jaw 3.

[0031] The specific embodiment of the utility model discloses in the above:

[0032] The height adjusting device of the track panel fine adjustment robot for ballastless track is installed at the end of the robot arm for track panel fine adjustment as an execution component. The robot and the height adjusting device are connected by the connecting head 101, and the whole device is driven to swing up and down with the servo motor 102 as the rotation center, so that the clamping jaw 3 is parallel to the height adjusting screw rod 4. Then, the robot arm drives the device to move towards the height adjusting screw rod 4, and stops when the center symmetry line of the clamping jaw 3 overlaps the center symmetry line of the height adjusting screw rod 4. The rotation shaft motor 104 drives the rotation shaft 103 to rotate the slide rail 2 until the end jaw head 302 of the clamping jaw 3 is coaxial with the hole center line of the height adjusting screw rod 4 (i.e. the end jaw head 302 is aligned with the hole). Then, the micro motor 205 drives the base 201 to move the clamping jaw 3 on the slide groove to make transverse clamping motion until the top surfaces of the two end jaw heads 302 of the clamping jaw 3 contact each other in the through hole of the screw rod 4. Finally, the rotation shaft motor 104 drives the rotation shaft 103 to drive the clamping jaw 3 to screw the screw rod 4, and the height of the device can be slightly adjusted accordingly to adjust the height of the screw rod 4, thereby adjusting the height of the track panel of the ballastless track. By inputting the corresponding construction requirement parameters in the upper computer of the control arm and the device, the device can automatically control the adjustment amount according to the work requirements. When the device is retracted, the clamping jaw 3 is loosened and the transverse retreats to the inductive sheet 203 to the position of the limiter 202.

[0033] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can make equivalent substitutions or changes according to the technical scheme and novel concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A ballastless track track panel fine adjustment robot elevation adjustment device, characterized in that, The utility model relates to a height adjustment device for height adjustment of a track panel of a ballastless track, comprising: a connecting mechanism, a slide rail and a clamping jaw; the connecting mechanism comprises a transversely arranged servo motor and a vertical shaft motor arranged on one side of the servo motor, the servo motor being used to control the height adjustment device to be parallel to the height adjustment stud of the track panel of the ballastless track; the slide rail is arranged directly below the vertical shaft motor and is movably connected to the vertical shaft motor; the clamping jaw is arranged at the bottom of the slide rail and is matched with the slide rail, the bottom end of the clamping jaw being provided with a terminal jaw head, the terminal jaw head being used to be matched with the hole position at the top of the height adjustment stud.

2. The height adjusting device of the ballastless track panel fine adjustment robot according to claim 1, characterized in that, One side of the servo motor is provided with a connecting head, which is used to be connected with the mechanical arm or support of a robot.

3. The height adjusting device of the ballastless track panel fine adjustment robot according to claim 1, characterized in that, The slide rail comprises a guide rail arranged in the slide rail, a base matched with the guide rail in sliding mode, and a driving mechanism matched with the base and used to drive the base to move on the guide rail.

4. The height adjusting device of the fine adjustment robot for the track of the ballastless track according to claim 3, characterized in that, Two micro motors are arranged at the two ends of the slide rail respectively, the micro motors being drivingly connected with the driving mechanism, and the driving mechanism comprising a chain, a lead screw or a rack.

5. The height adjusting device of the fine adjustment robot for the track of the ballastless track according to claim 3, characterized in that, The base is further provided with an inductive sheet and a stopper on the side away from the slide rail, the inductive sheet being used to sense the position of the base, and the stopper being used to prevent the base from colliding with the two ends of the slide rail.

6. The height adjusting device of the fine adjustment robot for the track of the ballastless track according to claim 1, characterized in that, The top end of the clamping jaw is connected with a driving device through the base, and the driving device drives the clamping jaw to move in a transversely opening and closing mode on the slide rail.

7. The height adjusting device of the fine adjustment robot for the track of the ballastless track according to claim 1, characterized in that, The clamping jaw is an L-shaped structure arranged in a symmetrical mode.

8. The height adjusting device of the fine adjustment robot for the track of the ballastless track according to claim 7, characterized in that, The inside of the bending part of the L-shaped structure of the clamping jaw is provided with a reinforcing rib.

9. The height adjusting device of the fine adjustment robot for the track of the ballastless track according to claim 7, characterized in that, The inside of the bending part of the L-shaped structure of the clamping jaw is further provided with a visual sensor, which is used to detect whether the terminal jaw head is aligned with the hole position at the top of the stud.

Images