Intelligent precision adjustment vehicle and precision adjustment method

Abstract

The present invention relates to an intelligent precision adjustment vehicle and a precision adjustment method. The frame assembly is included in the precision adjustment vehicle body. A lateral movement bracket is attached to the bottom of the frame assembly. The lateral movement bracket has a rectangular structure. Taking the center of the lateral movement bracket as the origin, the long side direction as the X-axis, the short side direction as the Y-axis, and the direction perpendicular to the lateral movement bracket as the Z-axis, a three-dimensional coordinate system is established. Two variable span structures are respectively attached to the side walls in the X-axis direction of the frame assembly. The variable span structures are close to the short sides of the adjacent frame assemblies. A wheel set structure is provided on one side of each variable span structure. The wheel set structure is located on the side facing the outside of the variable span structure. A slab pickup mechanism is further attached to the frame assembly between each set of variable span structures. A pickup space for sandwiching the track slab is formed in the slab pickup mechanism. A vertical direction precision adjustment structure is provided between the slab pickup mechanisms on the same side in the X-axis direction. A lateral direction precision adjustment structure is provided in the Y-axis direction at the head and tail positions of the precision adjustment vehicle body. The present invention realizes the improvement of slab laying precision by automatic control force and saves human resources.

Description

Technical Field

[0001] The present invention relates to an intelligent precision adjustment vehicle and a precision adjustment method, and belongs to the field of track construction equipment.

Background Art

[0002] In the construction process of CRTSIII track structure, it is necessary to lay a large number of ballastless track slabs. At present, the measurement of ballastless tracks in China is mainly carried out manually. In the conventional measurement method, it is difficult to control the elevation and flatness. Therefore, during the laying process, there are many phenomena where the base slab is not flat, and there are phenomena where the local thickness of the self-compacting concrete is insufficient or exceeds the standard requirements. In addition, since most of them rely on manual work, the efficiency is even lower, the professional ability requirements for construction workers are high, and the difficulty of on-site management increases.

[0003] Therefore, in order to improve the construction efficiency and construction accuracy, it is urgent to design an intelligent precision adjustment vehicle.

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present invention provides an intelligent precision adjustment vehicle and a precision adjustment method that realize the improvement of slab laying accuracy by automatic control force and save human resources.

Means for Solving the Problems

[0005] The technical solutions adopted by the present invention to solve the technical problems are as follows.

[0006] An intelligent precision adjustment vehicle, including a precision adjustment vehicle body, including a frame assembly inside, provided in a rectangular structure, A lateral movement bracket is installed inside the frame assembly. The lateral movement bracket has a rectangular structure that matches the frame assembly. A three-dimensional coordinate system is established with the center of the lateral movement bracket as the origin, the long side direction as the X-axis, the short side direction as the Y-axis, and the direction perpendicular to the lateral movement bracket as the Z-axis. Two variable span structures are respectively installed on the side walls in the X-axis direction of the frame assembly. The variable span structures are close to the short sides of the adjacent frame assemblies. When the variable span structures are supported on the ground by fixed support legs, the distance of the precision adjustment vehicle body from the ground is adjustable. The two variable span structures on the same side in the Y-axis direction are taken as a set, and each set of variable span structures realizes the change of the distance of the precision adjustment vehicle body in the Y-axis direction. A wheel set structure is provided on one side of each variable span structure. The wheel set structure is located on the side facing the outside of the variable span structure. When the wheels rotate in the wheel set structure, the precision adjustment vehicle body can travel at any angle in the X-axis direction or the Y-axis direction or the plane composed of the X-axis and the Y-axis. A slab pickup mechanism is further installed on the lateral movement bracket between each set of variable span structures. A pickup space for clamping the track slab is formed inside the slab pickup mechanism. The intervals in the Y-axis direction and the X-axis direction of the pickup space are both adjustable. A vertical direction precision adjustment structure is provided between the slab pickup mechanisms on the same side in the X-axis direction. When the vertical direction precision adjustment structure is started, the height of the slab pickup mechanism in the Z-axis direction relative to the track slab is adjustable. A lateral direction precision adjustment structure is provided in the Y-axis direction at the head and tail positions of the precision adjustment vehicle body. When the lateral direction precision adjustment structure is started, the position of the precision adjustment vehicle body in the X-axis or Y-axis direction is adjustable.

[0007] In a more preferred embodiment of the present invention, connection segments are respectively provided at the short side portions of the frame assembly. The connection segments are in close contact with the short side portions of the frame assembly. A smooth connection segment is formed between the end of the long side of the frame assembly and the end of the connection segment.

[0008] In a more preferred embodiment of the present invention, the variable span structure includes a variable span upper arm, a variable span lower arm, and a support leg sleeve. The middle part of the variable span upper arm extends outward to form an extension part. One end of the variable span upper arm is hingedly connected to the end of the frame assembly connection segment, and the other end is fixed to the inner wall of the support leg sleeve. One end of the variable span lower arm is fixed to the frame assembly, and the other end passes through the extension part and is hingedly connected to the support leg sleeve. On the support leg sleeve, the other end of the variable span upper arm is located above the variable span lower arm. A driving cylinder is built into the support leg sleeve, and a fixed support leg is attached to the bottom end of the support leg sleeve. The fixed support leg is connected to the telescopic end of the built-in driving cylinder. A vertical support leg is attached to the side facing the outside of the support leg sleeve, and a wheel set structure is attached to the bottom end of the vertical support leg via a telescopic driving cylinder.

[0009] In a more preferred embodiment of the present invention, the wheel set structure includes a wheel carrier. A disk with rotating teeth is attached to the upper end of the wheel carrier. The bottom end of the fixed support leg is fitted into the disk with rotating teeth. The disk with rotating teeth is driven by a steering drive motor to rotate relative to the fixed support leg. A tire is attached inside the wheel carrier. The rotation axis of the tire passes through the wheel carrier, and the end of the rotation axis is engaged with the wheel carrier via an engagement plate. A tension wheel bracket is attached to the side wall adjacent to the engagement plate provided on the wheel carrier. Two tension wheels are symmetrically attached to the tension wheel bracket. It further includes a traveling drive motor. The motor shaft of the traveling drive motor is connected to the rotation axis of the tire via two chains. One tension wheel matches and meshes above each chain.

[0010] As a further preferred embodiment of the present invention, the slab pickup mechanism includes a lifting structure, a slab pickup mechanism transition frame, a clamping jaw connection plate, and clamping jaws. At least one lifting structure is attached to the lateral movement bracket between each set of variable span structures. A slab pickup mechanism transition frame is fixed to the bottom end of the lifting structure. A slab pickup bracket is attached to the slab pickup mechanism transition frame. Two pickup drive cylinders are respectively attached to each side surface of the slab pickup bracket. The telescopic end of the pickup drive cylinder faces the end of the adjacent slab pickup bracket. A clamping jaw connection plate is attached to the telescopic end of the pickup drive cylinder. Clamping jaws are attached between the clamping jaw connection plates located on the same side. A support and lock mechanism is further attached to the slab pickup bracket between the clamping jaw connection plates.

[0011] As a further preferred embodiment of the present invention, the lifting structure includes a vertical direction accuracy adjustment drive cylinder, a lifting guide post, a universal connection base, and a flange connection base. The vertical direction accuracy adjustment drive cylinder is attached to the lateral movement bracket. One end of the lifting guide post is fixed to the vertical direction accuracy adjustment drive cylinder. The other end of the lifting guide post is connected to one end of the flange connection base via the universal connection base. A slab pickup mechanism transition frame is fixed to the other end of the flange connection base. A guide sleeve is externally mounted on the lifting guide post for guiding, and a universal connection sleeve is externally mounted on the universal connection base.

[0012] As a further preferred embodiment of the present invention, two vertical direction accuracy adjustment drive cylinders are attached to the lateral movement bracket located at the head position of the accuracy adjustment carriage body, and one lifting structure is attached to the lateral movement bracket located at the tail position of the accuracy adjustment carriage body. The two vertical direction accuracy adjustment drive cylinders located at the head form a connection line, and the vertical direction accuracy adjustment drive cylinder at the tail is on the vertical line passing through the center of the connection line. The vertical direction accuracy adjustment structure further includes vertical direction accuracy adjustment brackets respectively fixed to the slab pickup mechanisms with both ends on the same side in the X-axis direction, and one vertical direction accuracy adjustment bracket is similarly fixed to the slab pickup mechanism on the other same side in the X-axis direction.

[0013] In a more preferred embodiment of the present invention, the lateral direction accuracy adjustment structure includes three lateral direction accuracy adjustment driving cylinders. One lateral direction accuracy adjustment driving cylinder is mounted at the head position of the accuracy adjustment vehicle body. The fixed end of the lateral direction accuracy adjustment driving cylinder is mounted on the frame assembly, and the movable end is connected to the long side of the lateral movement bracket. Two lateral direction accuracy adjustment driving cylinders are mounted at the tail position of the accuracy adjustment vehicle body. The fixed ends of the two lateral direction accuracy adjustment driving cylinders are both mounted on the connection segment of the tail of the frame assembly. The fixed ends of the two lateral direction accuracy adjustment driving cylinders have a distance in the Y-axis direction. The movable ends of the two lateral direction accuracy adjustment driving cylinders are simultaneously mounted at the same position of the lateral movement bracket, and the movable ends are also on the vertical line passing through the center of the connection line.

[0014] The accuracy adjustment method based on the intelligent accuracy adjustment vehicle, specifically, Step S1 of starting the accuracy adjustment vehicle body, driving the tires by the traveling drive motor to operate, the accuracy adjustment vehicle body traveling to the accuracy adjustment station, starting the built-in driving cylinder of the support leg sleeve, controlling the contraction of the vertical support leg, pulling in the tires, pressing the fixed support leg against the ground, and fixing the accuracy adjustment vehicle body. Step S2 of measuring the coordinates of the accuracy adjustment vehicle body, calculating the relative position between the slab pickup mechanism in the accuracy adjustment vehicle body and the track slab, and matching the position of the slab pickup mechanism to the position of the track slab. Step S3 of starting the slab pickup mechanism, the clamping claws extending to clamp the vertical support of the track slab, and picking up the track slab. Step S4 of starting the lateral direction accuracy adjustment driving cylinder and the vertical direction accuracy adjustment driving cylinder, and performing the first accuracy adjustment. The support locking mechanism locks the support legs of the vertical support on the track slab, and supports the track slab in step S5, measures the coordinates of the track slab and calculates the position of the track slab in step S6, When the position of the track slab reaches the standard in step S6, the clamping claws are released. When the position of the track slab does not reach the standard, compensation accuracy adjustment is performed in step S7, recalculates the coordinates of the track slab. If there is a deviation in the height of the track slab in the Z-axis direction, the support locking mechanism adjusts the height of the support legs for compensation. If there is no deviation in the height of the track slab in the Z-axis direction, the support locking mechanism is retracted in step S8, includes starting the built-in drive cylinder of the support leg sleeve, extending the vertical support legs, synchronously extending the tires, and preparing for the accuracy adjustment vehicle body to enter the next accuracy adjustment station in step S9.

[0015] In a more preferred embodiment of the present invention, in step S7, the step of performing compensation accuracy adjustment when the position of the track slab does not reach the standard is starting the horizontal accuracy adjustment drive cylinder and the vertical accuracy adjustment drive cylinder, and performing accuracy adjustment again in step S71, after the second accuracy adjustment, locking the support legs until the position of the track slab reaches the standard, and measuring and calculating the position of the track slab in step S72.

[0016] By the above technical solution, compared with the prior art, the present invention has the following beneficial effects.

[0017] 1. The intelligent accuracy adjustment vehicle according to the present invention can significantly improve the formwork construction efficiency by 2 to 4 times.

[0018] 2. The intelligent accuracy adjustment vehicle according to the present invention has low skill requirements for operators during operation, can reduce the workers for accuracy adjustment or measurement, and can save human resources.

[0019] 3. The intelligent precision adjustment vehicle according to the present invention can improve the overall efficiency of the precision adjustment of the track slab by 2 to 3 times through the related precision adjustment method, greatly reduce the requirements for technicians, and save more than half of the human resources.

[0020] The present invention will be further described below with reference to the drawings and embodiments.

Brief Description of the Drawings

[0021]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Embodiments for Carrying out the Invention

[0022] Here, the present invention will be described in more detail with reference to the drawings. In the description of the present application, the directions or positional relationships indicated by terms such as "left side", "right side", "upper part", "lower part", etc. are the directions or positional relationships based on the illustrations, and are only for the convenience of the description of the present invention and for the simplification of the description, and it should be understood that such devices or elements are not necessarily indicated or implied to have a specific direction or to be configured and operated in a specific direction. It should be understood that "first", "second", etc. do not indicate the importance of components and thus do not limit the present invention. The specific sizes adopted in this embodiment are only for explaining the technical solution by way of example and do not limit the protection scope of the present invention.

[0023] Currently, in China, when laying a ballastless track, usually, from the bottom, the foundation, insulation layer, elastic buffer cushion layer, self-filling concrete, track slab, and rails are laid in sequence. In the laying process of these multiple layers, as described in the background art, most are manually operated, so there are often two prominent problems. First, when laying manually, there are often problems such as the foundation slab not being flat and the local thickness of the self-filling concrete being insufficient. Second, at present, the conventional measurement methods based on manual laying are difficult to control the elevation and flatness, and the working efficiency is low.

[0024] Therefore, the present application aims to provide an intelligent precision adjustment vehicle, the overall structure of which is shown in FIG. 1. For the convenience of explaining the internal structure, the present application also provides FIG. 14 simultaneously. Inside the precision adjustment vehicle body, a frame assembly and a transverse movement bracket 1 located at the bottom of the frame assembly are included. By the cooperation of these two parts and the precision adjustment structure, the precision adjustment of the precision adjustment vehicle body in each direction during the subsequent process of constructing the track bed slab can be realized. Specifically, the present application designs a variable span structure 2, a wheel set structure 3, and a slab pickup mechanism 4. The realization of the precision adjustment mode depends on the cooperation between the variable span structure and the wheel set structure at the wheel spacing part, and depends on the accurate pickup, release, and auxiliary precision adjustment of the track bed slab by the slab pickup mechanism, and cooperates with the automated design to realize the overall improvement of the efficiency of formwork construction and precision adjustment.

[0025] Subsequently, each part of the precision adjustment vehicle body will be described in detail with reference to the relevant drawings. First, as shown in FIG. 2, the transverse movement bracket according to the present application has a rectangular structure and matches the rectangular framework of the frame assembly. Since the intelligent precision adjustment vehicle according to the present application is established to perform movable point adjustment in a six-degree-of-freedom three-dimensional space, in order to facilitate the subsequent description of each structure, it is necessary to establish a three-dimensional coordinate system with the center of the transverse movement bracket as the origin, the long side direction as the X-axis, the short side direction as the Y-axis, and the direction perpendicular to the transverse movement bracket as the Z-axis.

[0026] Two variable span structures are respectively attached to the side walls in the X-axis direction of the frame assembly. The variable span structures are close to the short sides of the adjacent frame assemblies. When the variable span structures are supported on the ground by the fixed support legs 25, the distance of the precision adjustment vehicle body from the ground can be adjusted (here, taking FIG. 3 as an example). Two variable span structures on the same side in the Y-axis direction are taken as a set. Each set of variable span structures realizes the change in the distance of the precision adjustment vehicle body in the Y-axis direction (taking FIG. 4 as an example). A wheel set structure is provided on one side of each variable span structure. The wheel set structure is located on the side facing the outside of the variable span structure. When the wheels rotate within the wheel set structure, the precision adjustment vehicle body can travel at any angle in the X-axis direction, Y-axis direction, or within the plane formed by the X-axis and Y-axis. That is, the wheel set structure can realize the free switching and traveling of the precision adjustment vehicle body at multiple angles. That is, as shown in FIG. 5, FIG. 5 includes four exemplary traveling directions. 5a is the left-right traveling (Y-axis direction) viewed from the viewing angle of the example shown in the figure, 5b is the steering viewed from the viewing angle of the example shown in the figure, 5c is the front-back traveling (Z-axis direction) viewed from the viewing angle of the example shown in the figure, and 5d is the diagonal traveling viewed from the viewing angle of the example shown in the figure.

[0027] A slab pickup mechanism is further attached to the lateral movement bracket between each set of variable span structures. A pickup space for sandwiching the track slab is formed within the slab pickup mechanism. The intervals in the Y-axis direction and X-axis direction of the pickup space are both adjustable. The interval in the Y-axis direction of the pickup space is adjusted to adapt to the pickup requirements of track slabs with different widths, and the interval in the X-axis direction is adjusted to adapt to the pickup requirements of track slabs with different lengths. Here, in order to clearly express the meaning of the application, as shown in FIG. 6, a schematic diagram of a specific state after adjustment in the X-axis direction is provided.

[0028] Subsequently, the precision adjustment part will be described. A vertical direction precision adjustment structure is provided between the slab pickup mechanisms on the same side in the X-axis direction. When the vertical direction precision adjustment structure is started, the height of the slab pickup mechanism in the Z-axis direction with respect to the track slab is adjustable. A lateral direction precision adjustment structure is provided in the Y-axis direction at the head and tail positions of the precision adjustment vehicle body. When the lateral direction precision adjustment structure is started, the position of the precision adjustment vehicle body in the X-axis or Y-axis direction is adjustable.

[0029] Regarding the frame assembly, in actual tests, in order to facilitate the clamping connection of each component, as shown in Figure 2, connection segments 11 are respectively provided at the short side portions of the frame assembly. The connection segments are in close contact with the short side portions of the frame assembly, and a smooth connection segment is formed between the end of the long side of the frame assembly and the end of the connection segment.

[0030] As shown in Figure 3, the variable span structure includes a variable span upper arm 21, a variable span lower arm 22, and a support leg sleeve 24. The middle portion of the variable span upper arm extends outward to form an extension portion 23. One end of the variable span upper arm is hingedly connected to the end of the frame assembly connection segment, and the other end is fixed to the inner wall of the support leg sleeve. One end of the variable span lower arm is fixed to the frame assembly, and the other end passes through the extension portion and is hingedly connected to the support leg sleeve. On the support leg sleeve, the other end of the variable span upper arm is located above the variable span lower arm. As shown in FIG. 7, a drive cylinder 27 is built into the support leg sleeve, a fixed support leg is attached to the bottom end of the support leg sleeve, the fixed support leg is connected to the telescopic end of the built-in drive cylinder, a vertical support leg 26 is attached to the side facing the outside of the support leg sleeve, a wheel set structure is attached to the bottom end of the vertical support leg. Here, the telescoping of the vertical support leg is controlled by a telescoping drive cylinder, and a sensor 28 for monitoring the real-time state is attached inside the fixed support leg. As shown in FIG. 8, the wheel set structure includes a wheel carrier 32, a disk with rotating teeth 31 is attached to the upper end of the wheel carrier, the bottom end of the fixed support leg is fitted into the disk with rotating teeth, and the disk with rotating teeth is driven by a steering drive motor 38 to rotate relative to the fixed support leg. A tire 33 is attached inside the wheel carrier, the rotation axis of the tire penetrates the wheel carrier, and the end of the rotation axis is engaged with the wheel carrier through an engagement plate 34. A tension wheel 35 bracket is attached to the side wall adjacent to the engagement plate provided on the wheel carrier, and two tension wheels are symmetrically attached to the tension wheel bracket. It further includes a traveling drive motor 36, and the motor shaft of the traveling drive motor is connected to the rotation axis of the tire through two chains 37, and one tension wheel matches and meshes above each chain.

[0031] When the precision adjustment vehicle body operates, it is necessary to travel to the specified precision adjustment station. At this time, the wheel set structure starts, and by providing the disk with rotating teeth, the rotation of the tire in each direction can be realized, and the movement of the tire in a specific direction is realized by the chain transmission mechanism part (here, referring to the meshing of the tension wheel and the chain). When the precision adjustment vehicle body reaches the specified station, the above variable span structure starts, checks the interval in the Y-axis direction, the built-in drive cylinder in the support leg sleeve starts, and the fixed support leg supports the precision adjustment vehicle body.

[0032] When the position fixing of the precision adjustment vehicle body is completed at the specified precision adjustment station, the slab pickup mechanism responds. As shown in Fig. 9, the slab pickup mechanism includes a lifting structure 41, a slab pickup mechanism transition frame 42, a clamping jaw connection plate 43, and clamping jaws 46. At least one lifting structure is attached to the lateral movement bracket between each set of variable span structures. The slab pickup mechanism transition frame is fixed to the bottom end of the lifting structure. A slab pickup bracket 44 is attached to the slab pickup mechanism transition frame. Two pickup drive cylinders 45 are respectively attached to each side surface of the slab pickup bracket. The telescopic ends of the pickup drive cylinders face the ends of the adjacent slab pickup bracket. A clamping jaw connection plate is attached to the telescopic end of the pickup drive cylinder. Clamping jaws are attached between the clamping jaw connection plates located on the same side. As can be seen from the perspective of Fig. 9, two pickup drive cylinders are provided on the visible side-facing portion of the slab pickup bracket. To facilitate the attachment of the clamping jaw connection plate, the retraction ends of the pickup drive cylinders all face the left and right sides of the perspective. When the clamping jaw connection plate is attached to the retraction end of the corresponding pickup drive cylinder, when the pickup drive cylinder is activated, the clamping jaw connection plate can expand and contract leftward or rightward. Clamping jaws are attached between the two clamping jaw connection plates on the same side. By the expansion and contraction of the pickup drive cylinder, the adjustment of the left and right spacing in the perspective direction of Fig. 9 is realized, that is, the adjustment of the distance between the clamping jaws. This distance corresponds to the spacing in the Y-axis direction in the three-dimensional coordinate system and adapts to sleeperslabs of different widths. In this application, one slab pickup mechanism is further provided at the tail of the precision adjustment vehicle body. At the perspective shown in Fig. 6, the positions of the front and rear slab pickup mechanisms can also be adjusted in the X-axis direction of the three-dimensional coordinate system to meet sleeperslabs of different lengths.

[0033] Based on Figure 9, its cross-sectional view is shown in Figure 10, which is mainly for reflecting that a support locking mechanism 47 is further attached to the slab pickup bracket between the clamping claw connection plates. The reason for providing the support locking mechanism is that when the clamping claws clamp the track bed slab, it is actually the vertical support of the picked-up track bed slab, so it is necessary to ensure that the clamping claws can firmly grip the track bed slab. Therefore, when realizing the positioning of the clamping claws, it is also necessary to position the track bed slab, and here, it is carried out by locking and unlocking the support locking mechanism.

[0034] To accurately clamp and release the track bed slab, in addition to the need to adjust the horizontal distance of the slab pickup mechanism, it is also necessary to adjust in the vertical direction (Z-axis direction), and here, the above lifting structure is used. As shown in Figure 11, the lifting structure includes a vertical direction accuracy adjustment drive cylinder 5, a lifting guide post 411, a universal connection base 412, and a flange connection base 413. The vertical direction accuracy adjustment drive cylinder is attached to the transverse movement bracket. One end of the lifting guide post is fixed to the vertical direction accuracy adjustment drive cylinder, and the other end of the lifting guide post is connected to one end of the flange connection base through the universal connection base. A slab pickup mechanism transition frame is fixed to the other end of the flange connection base. A guide sleeve 414 is externally installed on the lifting guide post for guiding, and a universal connection sleeve 415 is externally installed on the universal connection base. When the vertical direction accuracy adjustment drive cylinder starts, the expansion and contraction of the lifting guide post meet the adjustment of the height of the clamping claws with respect to the track bed slab.

[0035] Next, an explanation will be given of the accuracy adjustment part, which is another innovative point of the present application. Two vertical accuracy adjustment drive cylinders are attached to the transverse movement bracket located at the head position of the accuracy adjustment carriage body, and a lifting structure is attached to the transverse movement bracket located at the tail position of the accuracy adjustment carriage body. The two vertical accuracy adjustment drive cylinders located at the head form a connection line, and the vertical accuracy adjustment drive cylinder at the tail is on the vertical line passing through the center of the connection line. As is clear from the perspective of FIG. 2, the present application includes three vertical accuracy adjustment drive cylinders, and these three vertical accuracy adjustment drive cylinders further have the function of simultaneously sending commands to clamp or release the track slab to the slab pickup mechanism. In order to better achieve the accuracy adjustment in the Z-axis direction, it is necessary to be achieved by the combined action of the two slab pickup mechanisms before and after from the perspective of the example shown in the figure. The vertical accuracy adjustment structure further includes a vertical accuracy adjustment bracket 6 fixed to the slab pickup mechanisms respectively with both ends on the same side in the X-axis direction, and one vertical accuracy adjustment bracket is similarly fixed to the slab pickup mechanism on the other same side in the X-axis direction.

[0036] As can be further seen from FIG. 2, the lateral accuracy adjustment structure includes three lateral accuracy adjustment drive cylinders 7. One lateral accuracy adjustment drive cylinder is attached to the head position of the accuracy adjustment carriage body. The fixed end of the lateral accuracy adjustment drive cylinder is attached to the frame assembly, and the movable end is connected to the long side of the transverse movement bracket. As can be seen from the figure, the lateral accuracy adjustment drive cylinder is arranged perpendicular to the X-axis direction. In this case, when the lateral accuracy adjustment drive cylinder starts, the transverse movement bracket and the frame assembly can be relatively moved in the Y-axis direction.

[0037] Two lateral precision adjustment drive cylinders are attached to the tail position of the precision adjustment vehicle body. The movable ends of the two lateral precision adjustment drive cylinders are both attached to the connection segment of the tail of the frame assembly. The fixed ends of the two lateral precision adjustment drive cylinders have a distance in the Y-axis direction. The movable ends of the two lateral precision adjustment drive cylinders are simultaneously attached to the same position of the transverse movement bracket, and the movable ends are also on the vertical line passing through the center of the connection line. Starting the two lateral precision adjustment drive cylinders at the tail, the movable ends can simultaneously apply thrust to the fixed ends. The fixed ends of the two lateral precision adjustment drive cylinders are integrated at the same position of the transverse movement bracket, and this position is on the central vertical line. Therefore, the thrust can relatively move the transverse movement bracket and the frame assembly in the X-axis direction. The above two cooperation methods realize the precision adjustment of the precision adjustment vehicle body in the X-axis and Y-axis directions.

[0038] However, when all the above mechanisms operate, the relevant control system needs to send commands, which is carried out depending on the relevant hydraulic platform assembly and electrical platform assembly. It is a control system known in the industry, and detailed description is omitted here. A cab assembly is further arranged inside the precision adjustment vehicle body. Obviously, an operator needs to operate it during operation, which is also well-known.

[0039] Finally, the present application further provides a precision adjustment method for an intelligent precision adjustment vehicle. This precision adjustment method mainly includes several steps such as vehicle body fixing, precision adjustment, cooperation of mechanisms such as slab pickup to lift the vehicle, interval adjustment by a variable span structure, vehicle body release and operation completion as shown in FIG. 12. Specifically, it includes the following steps S1 to S9.

[0040] Step S1: Start the precision adjustment vehicle body, the driving motor drives the tires to operate, the precision adjustment vehicle body travels to the precision adjustment station, the built-in drive cylinder of the support leg sleeve starts, controls the contraction of the vertical support leg, pulls in the tires, presses the fixed support leg against the ground, and fixes the precision adjustment vehicle body.

[0041] Step S2: Measure the coordinates of the precision adjustment vehicle body, calculate the relative position between the slab pickup mechanism inside the precision adjustment vehicle body and the track slab, and match the position of the slab pickup mechanism to the position of the track slab.

[0042] Step S3: Start the slab pickup mechanism, extend the clamping claws to clamp the vertical support of the track slab, and pick up the track slab.

[0043] Step S4: Start the lateral precision adjustment drive cylinder and the vertical precision adjustment drive cylinder to perform the first precision adjustment.

[0044] Step S5: The support locking mechanism locks the support legs of the vertical support on the track slab to support the track slab.

[0045] Step S6: Measure the coordinates of the track slab and calculate the position of the track slab.

[0046] Step S7: When the position of the track slab reaches the standard in Step S6, release the clamping claws; when the position of the track slab does not reach the standard, perform compensation precision adjustment.

[0047] The steps for performing compensation precision adjustment when the position of the track slab does not reach the standard are starting the lateral precision adjustment drive cylinder and the vertical precision adjustment drive cylinder to perform precision adjustment again in Step S71, and after the repeated precision adjustment, locking the support legs until the position of the track slab reaches the standard, and measuring and calculating the position of the track slab in Step S72.

[0048] Step S8: Recalculate the coordinates of the track slab. If there is a deviation in the height of the track slab in the Z-axis direction, the support locking mechanism adjusts the height of the support legs for compensation; if there is no deviation in the height of the track slab in the Z-axis direction, retract the support locking mechanism.

[0049] Step S9: Start the built-in drive cylinder of the support leg sleeve, extend the vertical support leg, synchronously extend the tire, and prepare for the precision adjustment vehicle body to enter the next precision adjustment station.

[0050] In the above precision adjustment method, multiple coordinate position calculation steps are described. This is because, in order to execute according to the calculated angle, it is necessary to obtain the adjustment criteria theoretically required by real-time coordinate identification. In order to more intuitively reflect the precision adjustment steps, the present application provides, as an example, the detailed calculation process of the precision adjustment in the X-axis and Y-axis directions when the slab pickup mechanism performs the slab pickup operation.

[0051] As shown in FIG. 13, the three lateral precision adjustment drive cylinders according to the present application are converted into three points in the coordinate system. First, before the precision adjustment vehicle body enters, it is necessary to identify the coordinates of the prism of the track bed slab. The five circles shown in the figure are the positions of the prisms in the track bed slab under vertical projection (A, B, and C are the positions corresponding to the three lateral precision adjustment drive cylinders, and E and F are the positions of the corresponding clamping claws of the slab pickup mechanism adjacent to A and B). First, measure the coordinates of the prism of the track bed slab before the precision adjustment vehicle body enters, which are A(xa, ya, za), B(xb, yb, zb), and C(xc, yc, zc) respectively. The virtual values of the coordinates of the prisms at A and B after the precision adjustment vehicle body enters are M(xm, ym, zm) and N(xn, yn, zn) respectively. In this case, theoretically, calculate the included angle α between the track bed slab and the X-axis, and tanα = [(ya + yb) / 2 - yc] / [xc - (xa + xb) / 2]. That is, when the lateral precision adjustment drive cylinder rotates by α°, the precision adjustment requirements can be met. At this time, M(xm, ym), N(xn, yn). Next, determine whether the track bed slab tilts left and right or front and back, that is, whether it deviates in the X-axis direction or the Y-axis direction. If za + zb = 2zc, the track bed slab tilts left and right. Let the angle at which the track bed slab tilts left and right be θ.

Equation

Number

Number

[0052] As described above, the intelligent precision adjustment vehicle and the precision adjustment method according to the present application can achieve the following several objectives.

[0053] Improve the formwork construction efficiency by about 2 - 4 times, control the time to 10 min / slab, reduce the workers for precision adjustment and precision measurement, and by the automated design, reduce the 4 - 6 people required for the conventional operation to 2 people. In terms of quality, control the precision of slab laying to 2 - 3 mm by the automatic control force. Finally, improve the overall efficiency of the precision adjustment of the track slab by 2 - 3 times, save more than half of the human resources, greatly reduce the demand for technicians, and are suitable for large-scale popularization.

[0054] As will be understood by those skilled in the art, unless otherwise specifically defined, all terms (including technical and scientific terms) used herein shall have the same meaning as commonly understood by those skilled in the art. Further to be understood is that those terms defined in a general dictionary shall be construed to be consistent with the meaning in the context of the prior art and shall not be construed in an idealized or overly formal sense unless so defined herein.

[0055] The meaning of "and / or" described in this application refers to including the case where each exists alone or both exist simultaneously.

Description of Reference Numerals

[0056] 1 Lateral movement bracket, 11 Connection segment, 2 Variable span structure, 21 Variable span upper arm, 22 Variable span lower arm, 23 Extension part, 24 Support leg sleeve, 25 Fixed support leg, 26 Vertical support leg, 27 Built-in drive cylinder, 28 Sensor, 3 Wheel set structure, 31 Rotating toothed disk, 32 Wheel carrier, 33 Tire, 34 Engagement plate, 35 Tension wheel, 36 Travel drive motor, 37 Chain, 38 Steering drive motor, 4 Slab pickup mechanism, 41 Lifting structure, 411 Lifting guide post, 412 Universal connection base, 413 Flange connection base, 414 Guide sleeve, 415 Universal connection sleeve, 42 Slab pickup mechanism transition frame, 43 Clamping claw connection plate, 44 Slab pickup bracket, 45 Pickup drive cylinder, 46 Clamping claw, 47 Support and lock mechanism, 5 Vertical direction accuracy adjustment drive cylinder, 6 Vertical direction accuracy adjustment bracket, 7 Lateral direction accuracy adjustment drive cylinder

Claims

1. An intelligent precision adjustment vehicle that includes a precision adjustment vehicle body, which contains a frame assembly inside and is provided in a rectangular structure, A transverse movement bracket (1) is attached inside the frame assembly. The transverse movement bracket (1) has a rectangular structure that matches the frame assembly. Taking the center of the transverse movement bracket (1) as the origin, its long side direction as the X-axis, its short side direction as the Y-axis, and the direction perpendicular to the transverse movement bracket (1) as the Z-axis, a three-dimensional coordinate system is established. Two variable span structures (2) are respectively attached to the side walls of the frame assembly in the X-axis direction. The variable span structure (2) is close to the short side of the adjacent frame assembly. When the variable span structure (2) is supported on the ground by a fixed support leg (25), the distance between the precision adjustment vehicle body and the ground is adjustable. Taking two variable span structures (2) on the same side in the Y-axis direction as a set, each set of variable span structures (2) realizes the change in the distance of the precision adjustment vehicle body in the Y-axis direction. A wheel set structure (3) is provided on one side of each variable span structure (2). The wheel set structure (3) is located on the side facing the outside of the variable span structure (2). When the wheels rotate within the wheel set structure (3), the precision adjustment vehicle body can travel at any angle in the X-axis direction or the Y-axis direction or the plane formed by the X-axis and the Y-axis. A slab pickup mechanism (4) is further attached to the transverse movement bracket between each set of variable span structures (2). A pickup space for sandwiching the track slab is formed inside the slab pickup mechanism (4). The intervals in the Y-axis direction and the X-axis direction of the pickup space are both adjustable. A vertical direction precision adjustment structure is provided between the slab pickup mechanisms (4) on the same side in the X-axis direction. When the vertical direction precision adjustment structure is started, the height of the slab pickup mechanism (4) relative to the track slab in the Z-axis direction is adjustable. A lateral direction precision adjustment structure is provided in the Y-axis direction at the head and tail positions of the precision adjustment vehicle body. When the lateral direction precision adjustment structure is started, the position of the precision adjustment vehicle body in the X-axis or Y-axis direction is adjustable. An intelligent precision adjustment vehicle is characterized by this.

2. Connection segments (11) are respectively provided at the short side parts of the frame assembly. The connection segments (11) are in close contact with the short side parts of the frame assembly. The intelligent precision adjustment vehicle according to claim 1, characterized in that a smooth connection segment (11) is formed between the end of the long side of the frame assembly and the end of the connection segment (11).

3. The variable span structure (2) includes a variable span upper arm (21), a variable span lower arm (22), and a support leg sleeve (24). The middle part of the variable span upper arm (21) extends outward to form an extension part (23). One end of the variable span upper arm (21) is hinged to the end of the frame assembly connection segment (11), and the other end is fixed to the inner wall of the support leg sleeve (24). One end of the variable span lower arm (22) is fixed to the frame assembly, and the other end passes through the extension part (23) and is hinged to the support leg sleeve (24). On the support leg sleeve (24), the other end of the variable span upper arm (21) is located above the variable span lower arm (22). A drive cylinder is built into the support leg sleeve (24), a fixed support leg (25) is attached to the bottom end of the support leg sleeve (24), the fixed support leg (25) is connected to the telescopic end of the built-in drive cylinder, a vertical support leg (26) is attached to the side of the support leg sleeve (24) facing the outside, and a wheel set structure (3) is attached to the bottom end of the vertical support leg (26) via a telescopic drive cylinder. The intelligent precision adjustment vehicle according to claim 2 is characterized by this.

4. The wheel set structure (3) includes a wheel carrier (32). A disk with rotating teeth (31) is attached to the upper end of the wheel carrier (32). The bottom end of the fixed support leg (25) is fitted into the disk with rotating teeth (31). The disk with rotating teeth (31) is driven by a steering drive motor (38) to rotate with respect to the fixed support leg (25). A tire (33) is mounted inside a wheel carrier (32). The rotation axis of the tire (33) penetrates the wheel carrier (32). The end of the rotation axis is engaged with the wheel carrier (32) via an engagement plate (34). A tension wheel (35) bracket is mounted on the side wall adjacent to the engagement plate (34) provided on the wheel carrier (32). Two tension wheels (35) are symmetrically mounted on the tension wheel (35) bracket. It further includes a traveling drive motor (36). The motor shaft of the traveling drive motor (36) is connected to the rotation axis of the tire (33) via two chains (37). One tension wheel (35) is matched and engaged above each chain (37). The intelligent precision adjustment vehicle according to claim 3, characterized in that.

5. The slab pickup mechanism (4) includes a lifting structure (41), a slab pickup mechanism transition frame (42), a clamping claw connection plate (43), and clamping claws (46). At least one lifting structure (41) is mounted on the lateral movement bracket (1) between each set of variable span structures (2). A slab pickup mechanism transition frame (42) is fixed to the bottom end of the lifting structure (41). A slab pickup bracket (44) is mounted on the slab pickup mechanism transition frame (42). Two pickup drive cylinders (45) are respectively mounted on each side surface of the slab pickup bracket (44). The telescopic end of the pickup drive cylinder (45) faces the end of the adjacent slab pickup bracket (44). A clamping claw connection plate (43) is mounted on the telescopic end of the pickup drive cylinder (45). Clamping claws (46) are mounted between the clamping claw connection plates (43) located on the same side. A support and lock mechanism (47) is further mounted on the slab pickup bracket (44) between the clamping claw connection plates (43). The intelligent precision adjustment vehicle according to claim 4, characterized in that.

6. The lifting structure (41) includes a vertical direction precision adjustment drive cylinder (5), a lifting guide post (411), a universal connection base (412), and a flange connection base (413). The vertical direction precision adjustment drive cylinder (5) is attached to the lateral movement bracket (1). One end of the lifting guide post (411) is fixed to the vertical direction precision adjustment drive cylinder (5), and the other end of the lifting guide post (411) is connected to one end of the flange connection base (413) via the universal connection base (412). A slab pickup mechanism transition frame (42) is fixed to the other end of the flange connection base (413). The intelligent precision adjustment vehicle according to claim 5, wherein a guide sleeve (414) is externally mounted on the lifting guide post (411) for guiding, and a universal connection sleeve (415) is externally mounted on the universal connection base (412).

7. Two vertical direction precision adjustment drive cylinders (5) are attached to the lateral movement bracket (1) located at the head position of the precision adjustment vehicle body, and one lifting structure (41) is attached to the lateral movement bracket (1) located at the tail position of the precision adjustment vehicle body. The two vertical direction precision adjustment drive cylinders (5) located at the head form a connection line, and the vertical direction precision adjustment drive cylinder (5) at the tail is on a vertical line passing through the center of the connection line. The intelligent precision adjustment vehicle according to claim 6, further comprising a vertical direction precision adjustment bracket (6) respectively fixed to the slab pickup mechanisms (4) with both ends on the same side in the X-axis direction. Similarly, one vertical direction precision adjustment bracket (6) is fixed to the slab pickup mechanism (4) on the other same side in the X-axis direction.

8. The lateral direction precision adjustment structure includes three lateral direction precision adjustment drive cylinders (7). One lateral direction precision adjustment drive cylinder (7) is attached to the head position of the precision adjustment vehicle body. The fixed end of the lateral direction precision adjustment drive cylinder (7) is attached to the frame assembly, and the movable end is connected to the long side of the lateral movement bracket (1). At the tail position of the precision adjustment vehicle body, two lateral precision adjustment drive cylinders (7) are attached. The fixed ends of the two lateral precision adjustment drive cylinders (7) are both attached to the connection segment (11) of the tail of the frame assembly. The fixed ends of the two lateral precision adjustment drive cylinders (7) have a distance in the Y-axis direction. The movable ends of the two lateral precision adjustment drive cylinders (7) are simultaneously attached to the same position of the transverse movement bracket (1). The intelligent precision adjustment vehicle according to claim 7, characterized in that the movable ends are also on a vertical line passing through the center of the connection line.

9. A precision adjustment method based on the intelligent precision adjustment vehicle according to claim 8, specifically, Starting the precision adjustment vehicle body, the traveling drive motor (36) drives the tire (33) to operate, the precision adjustment vehicle body travels to the precision adjustment station, the built-in drive cylinder of the support leg sleeve (24) starts, controls the contraction of the vertical support leg (26), pulls in the tire (33), applies the fixed support leg (25) to the ground, and fixes the precision adjustment vehicle body in step S1. Measuring the coordinates of the precision adjustment vehicle body, calculating the relative position between the slab pickup mechanism (4) in the precision adjustment vehicle body and the track slab, and matching the position of the slab pickup mechanism (4) with the position of the track slab in step S2. Starting the slab pickup mechanism (4), the clamping claws (46) extend to clamp the vertical support of the track slab and pick up the track slab in step S3. Starting the lateral precision adjustment drive cylinder (7) and the vertical precision adjustment drive cylinder (5) to perform the first precision adjustment in step S4. The support lock mechanism (47) locks the support support legs of the vertical support on the track slab to support the track slab in step S5. Measuring the coordinates of the track slab and calculating the position of the track slab in step S6. When the position of the track slab reaches the standard in step S6, releasing the clamping claws (46); when the position of the track slab does not reach the standard, performing compensation precision adjustment in step S7. Recalculating the coordinates of the track slab. When there is a deviation in the height of the track slab in the Z-axis direction, the support lock mechanism (47) adjusts the height of the support support legs to perform compensation. When there is no deviation in the height of the track slab in the Z-axis direction, retracting the support lock mechanism (47) in step S8. Step S9 of starting the built-in drive cylinder of the support leg sleeve (24), extending the vertical support leg (26), synchronously extending the tire (33), and preparing for the precision adjustment vehicle body to enter the next precision adjustment station, and the precision adjustment method based on the intelligent precision adjustment vehicle according to claim 8, characterized by including this step.

10. In step S7, the step of performing compensation precision adjustment when the position of the track slab does not reach the standard is starting the lateral precision adjustment drive cylinder (7) and the vertical precision adjustment drive cylinder (5), and performing precision adjustment again in step S71; After the second precision adjustment, locking the support legs until the position of the track slab reaches the standard, and measuring and calculating the position of the track slab in step S72, and the precision adjustment method of the intelligent precision adjustment vehicle according to claim 9, characterized by including these steps.

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