Steel rail bolt fastening device

Abstract

The utility model relates to the technical field of railway engineering, in particular to a steel rail bolt fastening device, which comprises a traveling mechanism with a cross beam and further comprises a mounting frame, a steel rail bolt fastening device and a steel rail bolt fastening device, the sliding frame is transversely arranged on the mounting frame in a sliding manner through a linear module; the support is arranged on the inner wall of the sliding frame in a sliding mode through a transverse moving mechanism; the movable seat is arranged on the side wall of the support through a lifting mechanism, and the lifting mechanism is used for driving the support to vertically move; the two rotating rods are symmetrically and rotationally connected to the moving seat, and tightening heads are fixedly connected to the lower ends of the two rotating rods; the screwing mechanism is arranged on the side wall of the moving seat and used for driving a rotating rod connected with a screwing head to rotate; the control operation system is used for controlling knob operation of the tightening head; through mutual cooperation of the structures, automatic positioning and fastening operation of the steel rail bolts is achieved, the labor intensity is relieved, and the fastening operation consistency is improved.

Description

Technical Field

[0001] This utility model relates to the field of railway engineering technology, and in particular to a rail bolt fastening device. Background Technology

[0002] In the construction and routine maintenance of railways, the installation, removal, and tightening of railway rail stud bolts are crucial operational steps. For a long time, this work has relied primarily on manual operation using simple hand-held or electric torque wrenches. This traditional manual method has significant limitations. Firstly, it is physically demanding, requiring workers to expend considerable energy on repetitive tightening and loosening actions, easily leading to fatigue and impacting work efficiency and quality. Secondly, manual operation is relatively inefficient and cannot meet the demands of the rapidly growing railway construction and maintenance schedule. Furthermore, manual tightening makes it difficult to precisely control the bolt torque, potentially leading to uneven tightening force and the risk of under-tightening or over-tightening. This not only affects the stability and reliability of the rail connection but may also pose a safety hazard to train operations.

[0003] With the rapid development of railway construction and the increasing demands for operational safety, existing manual operation techniques are no longer sufficient to meet the needs of modern railway construction and maintenance for efficient, precise, and automated fastening operations. Therefore, there is an urgent need for an automated or semi-automated device that can improve operational efficiency, reduce labor intensity, and ensure fastening quality. Utility Model Content

[0004] The purpose of this utility model is to address the shortcomings of existing technologies by proposing a rail bolt fastening device.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a rail bolt fastening device, comprising a traveling mechanism with a crossbeam, and further comprising: a mounting frame, fixedly connected above the crossbeam; a sliding frame, laterally slidably mounted on the mounting frame via a linear module; a support, slidably mounted on the inner wall of the sliding frame via a transverse movement mechanism; a movable seat, mounted on the side wall of the support via a lifting mechanism, the lifting mechanism being used to drive the support to move vertically; two rotating rods, symmetrically rotatably connected to the movable seat, the lower ends of the two rotating rods being fixedly connected to tightening heads; a tightening mechanism, mounted on the side wall of the movable seat, for driving the rotating rods connected to the tightening heads to rotate; and a control operating system for controlling the knob operation of the tightening heads.

[0006] Furthermore, this application also proposes that the linear module includes: two first screws, symmetrically rotatably mounted on both sides of the mounting frame, with a connector provided between each first screw and the side wall of the sliding frame; two first synchronous pulleys, respectively fixedly connected to the ends of the two first screws; a first servo motor, fixedly mounted on the inner wall of the mounting frame, with two second synchronous pulleys fixedly connected to the output shaft end of the first servo motor, and a first belt drivingly connecting the two second synchronous pulleys and the corresponding two first synchronous pulleys.

[0007] Furthermore, this application also proposes that the connecting member includes: two first slide rods fixedly connected to the mounting bracket, the two first slide rods being located on the upper and lower sides of the screw respectively; and a slider slidably connected to the surface of the two first slide rods, the side wall of the slider being fixedly connected to the side wall of the sliding bracket, and the slider being threadedly connected to the first screw through a first threaded sleeve.

[0008] Furthermore, this application also proposes that the transverse movement mechanism includes: two second slide rods fixedly connected to the inner wall of the sliding frame, and the support slidably connected to the surfaces of the two second slide rods; a second screw located between the two second slide rods and rotatably connected to the sliding frame, a second threaded sleeve threadedly connected to the surface of the second screw, and the second threaded sleeve fixedly connected to the support; and a drive mechanism disposed on the side wall of the sliding frame for driving the second screw to rotate.

[0009] Furthermore, this application also proposes that the drive mechanism includes: a third synchronous pulley, fixedly connected to the end of the second screw; a second servo motor, fixedly mounted on the side wall of the sliding frame, a fourth synchronous pulley fixedly connected to the end of the output shaft of the second servo motor, and a second belt drivingly connecting the third synchronous pulley and the fourth synchronous pulley.

[0010] Furthermore, this application also proposes that the lifting mechanism includes: a dual-axis motor, fixedly installed on the top of the support, with gears fixedly connected to the ends of the two output shafts of the dual-axis motor; a limiting sleeve, fixedly installed on the side wall of the support, with racks symmetrically and vertically slidably connected to the inner wall of the limiting sleeve, the racks meshing with the gears, and the lower side walls of the two racks being fixedly connected to the movable seat.

[0011] Furthermore, this application also proposes that the turning mechanism includes: a third servo motor, fixedly installed on the side wall of the movable seat, with a fifth synchronous pulley fixedly connected to the end of the output shaft of the third servo motor; two sixth synchronous pulleys, respectively fixedly installed on the upper ends of the two rotating rods, with a third belt drivingly connecting the two sixth synchronous pulleys and the two fifth synchronous pulleys.

[0012] Furthermore, this application also proposes that the control operating system includes: a control system for controlling the operation of electrical components; a torque sensor connected in series between the tightening head and the rotating rod; and a machine vision system for acquiring images of all bolts at the pre-tightening station and transmitting their coordinate information to the control system after conversion.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] This application provides a rail bolt fastening device that, by setting up a traveling mechanism, mounting frame, sliding frame, support, moving seat, rotating rod, tightening head, screwing mechanism, and control operating system, realizes automatic positioning and fastening operation of rail bolts, which can reduce labor intensity, improve work efficiency, and improve the consistency of fastening operation. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a partial structural schematic diagram of the present invention;

[0017] Figure 3 This is a schematic diagram showing the connection between the third servo motor and the moving base of this utility model;

[0018] Figure 4 This is a schematic diagram of the meshing structure of the gear and rack of this utility model.

[0019] In the diagram: 1. Walking mechanism; 2. Crossbeam; 3. Mounting frame; 4. Sliding frame; 5. Support; 6. Moving seat; 7. Rotating rod; 8. Tightening head; 9. First screw; 10. First servo motor; 11. First belt; 12. First slide bar; 13. Slider; 14. Second slide bar; 15. Second screw; 16. Second servo motor; 17. Second belt; 18. Dual-axis motor; 19. Gear; 20. Limit sleeve; 21. Rack; 22. Third servo motor; 23. Third belt. Detailed Implementation

[0020] The following description is intended to disclose the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0021] like Figures 1 to 4 The rail bolt fastening device shown includes a traveling mechanism 1 with a crossbeam 2, and further includes:

[0022] Mounting bracket 3 is fixedly connected to the top of crossbeam 2;

[0023] The sliding frame 4 is horizontally slidably mounted on the mounting frame 3 via a linear module;

[0024] Support 5 is slidably mounted on the inner wall of sliding frame 4 via a transverse sliding mechanism;

[0025] The movable seat 6 is mounted on the side wall of the support 5 via a lifting mechanism, which is used to drive the support 5 to move vertically.

[0026] Two rotating rods 7 are symmetrically connected to the movable seat 6, and tightening heads 8 are fixedly connected to the lower ends of the two rotating rods 7.

[0027] The screwing mechanism is set on the side wall of the movable seat 6 and is used to drive the rotating rod 7, which is connected to the tightening head 8, to rotate.

[0028] The control system is used to control the knob operation of the tightening head 8.

[0029] Specifically, during the construction and daily maintenance of railways, the disassembly and tightening of railway rail stud bolts have always relied on manual operation by workers using simple hand torque wrenches or electric torque wrenches. This not only consumes a lot of workers' physical strength but also has low construction efficiency. This device aims to solve the technical problems of low efficiency and high labor intensity in tightening rail bolts.

[0030] The device moves along the rail direction to the bolt to be tightened via a traveling mechanism 1. The traveling mechanism uses a trolley, a common technology. The mounting frame 3 is fixed to the crossbeam 2 of the traveling mechanism 1, serving as support for the entire working unit. A sliding frame 4 moves laterally on the mounting frame 3 via a linear module, achieving rough lateral positioning. A support 5 slides on the inner wall of the sliding frame 4 via a lateral movement mechanism, achieving precise positioning of the tightening head 8. A moving seat 6 moves vertically on the side wall of the support 5 via a lifting mechanism, adjusting the height of the tightening head 8 to align with the bolt. Two rotating rods 7 are symmetrically connected to the moving seat 6, with their lower ends connected to the tightening head 8 for the actual tightening operation. A screwing mechanism is located on the side wall of the moving seat 6, driving the rotating rods 7 to rotate and provide the required torque for tightening. The control system coordinates the actions of the traveling mechanism 1, linear module, lateral movement mechanism, lifting mechanism, and screwing mechanism, controlling the tightening process, for example, by controlling the tightening torque and speed according to preset parameters. By automating or semi-automating the positioning and tightening of bolts, traditional manual operations are replaced, thereby improving construction efficiency and reducing the labor intensity of workers.

[0031] In some specific embodiments, the traveling mechanism 1 moves along the rail to the position of a bolt group. The mounting frame 3 is fixed to the crossbeam 2 of the traveling mechanism 1. The sliding frame 4 moves laterally 150 mm on the mounting frame 3 via a linear module, bringing the support 5 to a position approximately aligned with the bolt. The support 5 is then finely adjusted laterally by 20 mm on the inner wall of the sliding frame 4 via a lateral movement mechanism to achieve precise horizontal alignment of the bolt. The moving seat 6 moves downward on the side wall of the support 5 via a lifting mechanism, causing the tightening head 8 to contact the top of the bolt. The tightening mechanism drives two rotating rods 7 to rotate synchronously, causing the tightening head 8 to tighten the bolt. The control system monitors the tightening torque; when the preset torque is reached, the rotation of the tightening mechanism stops, completing the tightening of one bolt. Subsequently, the device can be moved or adjusted in position to operate on the next bolt.

[0032] As one embodiment of this utility model, the linear module includes:

[0033] Two first screws 9 are symmetrically rotated and installed on both sides of the mounting frame 3, and each first screw 9 is provided with a connector between it and the side wall of the sliding frame 4;

[0034] Two first synchronous pulleys are respectively fixedly connected to the ends of two first screws 9;

[0035] The first servo motor 10 is fixedly installed on the inner wall of the mounting bracket 3. Two second synchronous pulleys are fixedly connected to the output shaft end of the first servo motor 10. The two second synchronous pulleys are connected to the corresponding two first synchronous pulleys by a first belt 11.

[0036] In implementation, to address the need for stable, precise, and synchronized lateral movement of the sliding frame 4 along the mounting frame 3, a twin-screw drive structure is employed in the linear module. A first servo motor 10 provides power, and two second synchronous pulleys on its output shaft are connected to two first synchronous pulleys at the ends of the two first screws 9 via a first belt 11. This connection ensures that the two first screws 9 rotate synchronously at the same speed and direction. Each first screw 9 is connected to the side wall of the sliding frame 4 via a connector. When the first screw 9 rotates, the connector converts the rotational motion into linear motion of the sliding frame 4. Because the two first screws 9 rotate synchronously, they jointly drive the sliding frame 4 to move smoothly, parallel, and precisely laterally along the mounting frame 3. The first servo motor 10 provides controllable driving force, allowing for precise control of the sliding frame 4's speed and position. The two symmetrically arranged screw structures enhance system stability, prevent the sliding frame 4 from skewing during movement, and ensure accurate lateral positioning.

[0037] As one embodiment of this utility model, the connecting member includes:

[0038] Two first slide rods 12 are fixedly connected to the mounting bracket 3, and the two first slide rods 12 are located on the upper and lower sides of the screw respectively;

[0039] The slider 13 is slidably connected to the surface of the two first sliders 12. The side wall of the slider 13 is fixedly connected to the side wall of the sliding frame 4. The slider 13 is threadedly connected to the screw through the first threaded sleeve.

[0040] In implementation, this solution addresses the potential issue of insufficient guidance and support in the connectors of the linear module by providing a specific connector structure. Two first slide rods 12 are fixed to the mounting bracket 3, providing stable linear guidance for the slider 13. The slider 13 is slidably mounted on the first slide rods 12, restricting its direction of movement. The slider 13 is fixedly connected to the sliding frame 4, allowing the sliding frame 4 to move with the slider 13. A first threaded sleeve is fixed to the slider 13 and threadedly connected to the first screw 9. When the first screw 9 is driven to rotate by the first servo motor 10, the threaded connection converts the rotational motion into linear motion of the first threaded sleeve. Since the first threaded sleeve is fixed to the slider 13, and the slider 13 is guided by the first slide rods 12, the slider 13 moves linearly along the direction of the first slide rods 12. The fixed connection between the slider 13 and the sliding frame 4 enables the sliding frame 4 to achieve smooth lateral sliding on the mounting bracket 3. The cooperation between the first slide rods 12 and the slider 13 provides stable support and precise guidance, improving the motion accuracy and stability of the sliding frame 4.

[0041] As one embodiment of this utility model, the transverse movement mechanism includes:

[0042] Two second slide rods 14 are fixedly connected to the inner wall of the sliding frame 4, and the support 5 is slidably connected to the surface of the two second slide rods 14;

[0043] The second screw 15 is located between the two second slide rods 14 and is rotatably connected to the slide frame 4. A second threaded sleeve is threadedly connected to the surface of the second screw 15, and the second threaded sleeve is fixedly connected to the support 5.

[0044] The drive mechanism is located on the side wall of the sliding frame 4 and is used to drive the second screw 15 to rotate.

[0045] In practice, during railway construction and routine maintenance, the installation and tightening of railway rail stud bolts have traditionally relied on manual operation by workers using simple hand or electric torque wrenches. This not only consumes a significant amount of worker's physical strength but also results in low construction efficiency. In some embodiments of this application, a lateral movement mechanism is proposed to drive the support 5 to slide on the inner wall of the sliding frame 4. However, in this process, a specific structure is lacking to achieve stable, precise, and controlled lateral movement of the support 5 on the inner wall of the sliding frame 4. The lateral movement mechanism uses two second sliding rods 14 as guide rails, and the support 5 obtains a stable movement path by sliding connection to the sliding rods. The second screw 15 is rotatably connected to the sliding frame 4, and its second threaded sleeve is fixedly connected to the support 5, forming a screw-nut pair. The drive mechanism drives the second screw 15 to rotate, converting the rotational motion into linear lateral movement of the support 5 through screw-nut transmission. Thus, precise position control and stable movement of the support 5 on the inner wall of the sliding frame 4 are achieved, solving the problem of the lack of specific control means for the lateral movement of the support 5.

[0046] As one embodiment of this utility model, the driving mechanism includes:

[0047] The third synchronous pulley is fixedly connected to the end of the second screw 15;

[0048] The second servo motor 16 is fixedly mounted on the side wall of the sliding frame 4. The output shaft end of the second servo motor 16 is fixedly connected to the fourth synchronous pulley, and the third synchronous pulley and the fourth synchronous pulley are connected by a second belt 17.

[0049] In implementation, when the second servo motor 16 rotates, it transmits power to the second screw 15 via the fourth synchronous pulley, the second belt 17, and the third synchronous pulley, causing the second screw 15 to rotate. The rotation of the second screw 15, through its threaded connection with the second threaded sleeve on the support 5, converts the rotational motion into linear motion of the support 5, thereby achieving lateral sliding of the support 5 on the inner wall of the sliding frame 4. Using the second servo motor 16 as the drive source allows for control of the rotation angle and speed of the second screw 15, thus controlling the lateral position of the support 5. The combination of the fourth synchronous pulley, the third synchronous pulley, and the second belt 17 constitutes a synchronous belt drive system, ensuring that the rotation of the second servo motor 16 is transmitted to the second screw 15, maintaining a stable transmission ratio, and improving the positioning of the lateral movement mechanism.

[0050] As one embodiment of this utility model, the lifting mechanism includes:

[0051] A dual-axis motor 18 is fixedly installed on the top of the support 5, and gears 19 are fixedly connected to the ends of the two output shafts of the dual-axis motor 18.

[0052] The limiting sleeve 20 is fixedly installed on the side wall of the support 5. The inner wall of the limiting sleeve 20 is symmetrically and vertically slidably connected with racks 21. The racks 21 mesh with the gears 19. The lower side walls of the two racks 21 are fixedly connected to the movable seat 6.

[0053] During implementation, after adjusting the lateral position of the device, when the vertical position of the movable seat 6 needs to be adjusted, the control system sends a command to the dual-axis motor 18. The dual-axis motor 18 starts and rotates its two output shafts synchronously according to the commanded direction and speed. The two gears 19 connected to the output shafts rotate synchronously. Since the gears 19 mesh with the two racks 21 fixedly connected to the movable seat 6, the rotational motion of the gears 19 is converted into vertical linear motion through the racks 21. The two racks 21 slide vertically in the guide grooves provided inside the limiting sleeves 20 installed on the side wall of the support 5. Since both racks 21 are fixedly connected to the movable seat 6 and synchronously driven by the same dual-axis motor 18, both sides of the movable seat 6 will move vertically at the same speed and displacement, which facilitates the tightening head 8 to tighten the bolts. The limiting sleeves 20 constrain and guide the vertical sliding of the racks 21, ensuring that the movable seat 6 maintains a horizontal posture throughout the lifting process, avoiding tilting, jamming, or instability caused by asynchronous movement on both sides. This achieves precise vertical positioning and stable lifting of the movable seat 6, solving the problems of stability and synchronization when the movable seat 6 moves vertically.

[0054] As one embodiment of this utility model, the screwing mechanism includes:

[0055] The third servo motor 22 is fixedly mounted on the side wall of the movable base 6, and the output shaft end of the third servo motor 22 is fixedly connected to the fifth synchronous pulley;

[0056] Two sixth synchronous pulleys are fixedly installed on the upper ends of two rotating rods 7 respectively, and a third belt 23 is connected between the two sixth synchronous pulleys and the two fifth synchronous pulleys.

[0057] In implementation, the tightening mechanism addresses the challenge of precisely, synchronously, and efficiently driving the two rotating rods 7 during rail bolt tightening. A third servo motor 22 is fixedly mounted on the side wall of the movable base 6, with its output shaft connected to a fifth synchronous pulley, providing rotational power. Sixth synchronous pulleys are fixedly connected to the upper ends of the two rotating rods 7. The fifth synchronous pulley is connected to the two sixth synchronous pulleys via a third belt 23. When the third servo motor 22 rotates, it simultaneously and synchronously drives the two rotating rods 7 through the fifth synchronous pulley, the third belt 23, and the two sixth synchronous pulleys. This structure utilizes the precise control capability of the servo motor, combined with the synchronicity of the synchronous belt drive, to ensure that the two tightening heads 8 rotate at a predetermined speed and in a predetermined manner, thereby achieving effective tightening of the rail bolts. The third servo motor 22 provides controllable power, and the fifth and sixth synchronous pulleys, along with the third belt 23, form a transmission chain that transmits power and motion to the rotating rods 7, enabling the rotation of the tightening heads 8. This achieves precise and synchronous driving of the two rotating rods 7, improving tightening efficiency and quality.

[0058] As one embodiment of this utility model, the control operating system includes:

[0059] Control system, which controls the operation of electrical components;

[0060] A torque sensor is connected in series between the tightening head 8 and the rotating rod 7;

[0061] The machine vision system is used to acquire images of all bolts at the pre-tightening station, convert their coordinate information, and then transmit it to the control system.

[0062] In practice, the machine vision system acquires images of the work area through image acquisition equipment, uses image processing algorithms to identify the bolt positions in the images, and calculates the precise coordinates of each bolt. This coordinate information is sent to the control system. Based on the received bolt coordinates, the control system instructs the corresponding actuator to move the tightening head 8 above the first group of bolts. Subsequently, the control system activates the tightening mechanism to rotate the tightening head 8, beginning the tightening of the bolts. During the tightening process, a torque sensor connected in series between the tightening head 8 and the rotating rod 7 measures the torque acting on the bolts in real time and transmits the measurement signal to the control system. The control system continuously monitors the torque value fed back by the torque sensor and compares it with a preset tightening torque target value. When the measured torque reaches or exceeds the target value, the control system immediately issues a command to stop the rotation of the tightening mechanism, thereby completing the tightening operation of the current bolt. Then, based on the coordinates of the next group of bolts provided by the machine vision system, the control system repeats the above positioning and tightening process until all identified bolts are tightened. This achieves automatic bolt position identification and precise control of tightening torque, improving work efficiency and tightening quality.

[0063] In some specific embodiments, the machine vision system may include an industrial camera and an image processing unit. The industrial camera is fixedly mounted on the device to capture images of the rail bolt area. The image processing unit receives the image data acquired by the camera, runs bolt recognition and positioning algorithms, and outputs the two-dimensional coordinates of each bolt in the device's coordinate system. For example, the image processing unit identifies the pixel coordinates of the bolt center point in the image and converts these pixel coordinates into millimeter-level coordinates on the device's working plane using pre-calibrated camera and device structural parameters. The torque sensor may be a strain gauge torque sensor, whose output analog signal is converted into a digital signal by an analog-to-digital converter and then input to the control system's processor. The control system internally stores target tightening torque values ​​required for different types of bolts or different working conditions. The control system processor executes a control program, controlling the device's movement based on the bolt coordinates provided by the machine vision system, and comparing the real-time torque value input from the torque sensor with the target value to control the start / stop and speed of the tightening mechanism's drive motor. For example, when the real-time torque value reaches 95% of the target value, the control system can switch to a low-speed tightening mode, and immediately stop the motor when the target value is reached.

[0064] Working principle of this utility model:

[0065] The device moves along the rail direction via a traveling mechanism 1 to the position of the bolt to be tightened. The mounting frame 3 is fixed to the crossbeam 2 of the traveling mechanism 1, serving as support for the entire working unit. A sliding frame 4 moves laterally on the mounting frame 3 via a linear module, achieving rough lateral positioning. A support 5 slides on the inner wall of the sliding frame 4 via a lateral movement mechanism, achieving precise positioning of the tightening head 8. A moving seat 6 moves vertically on the side wall of the support 5 via a lifting mechanism, adjusting the height of the tightening head 8 to align with the bolt. Two rotating rods 7 are symmetrically connected to the moving seat 6, with their lower ends connected to the tightening head 8 for the actual tightening operation. A screwing mechanism is located on the side wall of the moving seat 6, driving the rotating rods 7 to rotate and provide the required torque for tightening. The control system coordinates the actions of the traveling mechanism 1, linear module, lateral movement mechanism, lifting mechanism, and screwing mechanism, controlling the tightening process, for example, by controlling the tightening torque and speed according to preset parameters. By automating or semi-automating the positioning and tightening of bolts, traditional manual operation is replaced, thereby improving construction efficiency and reducing the labor intensity of workers.

[0066] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope. All such changes and modifications fall within the scope of protection claimed by this utility model, which is defined by the appended claims and their equivalents.

Claims

1. A rail bolt fastening device, comprising a traveling mechanism (1) with a crossbeam (2), characterized in that, Also includes: Mounting bracket (3) is fixedly connected above the crossbeam (2); The sliding frame (4) is laterally slidably mounted on the mounting frame (3) via a linear module; The support (5) is slidably mounted on the inner wall of the sliding frame (4) via a transverse movement mechanism; The movable seat (6) is set on the side wall of the support (5) through a lifting mechanism. The lifting mechanism is used to drive the support (5) to move vertically. Two rotating rods (7) are symmetrically rotatably connected to the movable seat (6), and tightening heads (8) are fixedly connected to the lower ends of the two rotating rods (7). A screwing mechanism is provided on the side wall of the movable seat (6) to drive the rotating rod (7) connected to the tightening head (8) to rotate. The control system is used to control the knob operation of the tightening head (8).

2. The rail bolt fastening device according to claim 1, characterized in that, The linear module includes: Two first screws (9) are symmetrically rotated and installed on both sides of the mounting frame (3), and each first screw (9) is provided with a connector between it and the side wall of the sliding frame (4); Two first synchronous pulleys are respectively fixedly connected to the ends of the two first screws (9); The first servo motor (10) is fixedly installed on the inner wall of the mounting bracket (3). The output shaft end of the first servo motor (10) is fixedly connected to two second synchronous pulleys. The two second synchronous pulleys are connected to the corresponding two first synchronous pulleys by a first belt (11).

3. The rail bolt fastening device according to claim 2, characterized in that, The connector includes: Two first slide rods (12) are fixedly connected to the mounting bracket (3), and the two first slide rods (12) are located on the upper and lower sides of the screw respectively; The slider (13) is slidably connected to the surface of the two first slide rods (12). The side wall of the slider (13) is fixedly connected to the side wall of the slide frame (4). The slider (13) is threadedly connected to the first screw (9) through the first threaded sleeve.

4. The rail bolt fastening device according to claim 1, characterized in that, The lateral movement mechanism includes: Two second slide rods (14) are fixedly connected to the inner wall of the sliding frame (4), and the support (5) is slidably connected to the surface of the two second slide rods (14); The second screw (15) is located between the two second slide rods (14) and is rotatably connected to the slide frame (4). A second threaded sleeve is threaded on the surface of the second screw (15), and the second threaded sleeve is fixedly connected to the support (5). A drive mechanism is provided on the side wall of the sliding frame (4) for driving the second screw (15) to rotate.

5. A rail bolt fastening device according to claim 4, characterized in that, The drive mechanism includes: The third synchronous pulley is fixedly connected to the end of the second screw (15); The second servo motor (16) is fixedly installed on the side wall of the sliding frame (4). The output shaft end of the second servo motor (16) is fixedly connected to the fourth synchronous pulley. The third synchronous pulley and the fourth synchronous pulley are connected by a second belt (17).

6. The rail bolt fastening device according to claim 1, characterized in that, The lifting mechanism includes: A dual-axis motor (18) is fixedly installed on the top of the support (5), and gears (19) are fixedly connected to the ends of the two output shafts of the dual-axis motor (18). The limiting sleeve (20) is fixedly installed on the side wall of the support (5). The inner wall of the limiting sleeve (20) is symmetrically and vertically slidably connected with racks (21). The racks (21) mesh with the gears (19). The lower side walls of the two racks (21) are fixedly connected to the moving seat (6).

7. A rail bolt fastening device according to claim 1, characterized in that, The screwing mechanism includes: The third servo motor (22) is fixedly installed on the side wall of the movable seat (6), and the output shaft end of the third servo motor (22) is fixedly connected to the fifth synchronous pulley; Two sixth synchronous pulleys are fixedly installed on the upper ends of the two rotating rods (7), and a third belt (23) is connected between the two sixth synchronous pulleys and the two fifth synchronous pulleys.

8. A rail bolt fastening device according to claim 1, characterized in that, The control operating system includes: Control system, which controls the operation of electrical components; A torque sensor is connected in series between the tightening head (8) and the rotating rod (7); The machine vision system is used to acquire images of all bolts at the pre-tightening station, convert their coordinate information, and then transmit it to the control system.

Images