Intelligent precision adjustment wheel 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, which belongs to the field of track construction equipment. [Background technology]

[0002] The construction process for the CRTSIII track structure requires the laying of a large number of trackbed slabs. Currently, measurement of ballastless track in China is mainly done manually. Using traditional measurement methods, it is difficult to control the elevation and flatness. As a result, the foundation slabs are often uneven during construction, and localized thickness of the self-compacting concrete is insufficient or exceeds the standard requirements. Furthermore, the process is largely manual, which further reduces efficiency and places high demands on the professional skills of builders, making on-site management more difficult.

[0003] Therefore, it is urgent to design an intelligent precision adjusting vehicle to improve construction efficiency and construction accuracy. Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention provides an intelligent precision adjustment vehicle and precision adjustment method that can improve slab laying precision through automatic control force and save manpower. [Means for solving the problem]

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

[0006] An intelligent precision adjusting wheel, comprising: a precision adjusting wheel body, including a frame assembly therein, and configured as a rectangular structure; a lateral movement bracket is attached inside the frame assembly, the lateral movement bracket has a rectangular structure that matches the frame assembly, and a three-dimensional coordinate system is established with the center of the lateral movement bracket as the origin, the long side direction of the lateral movement bracket 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 attached to the side walls of the frame assembly in the X-axis direction, and 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 wheel body to the ground can be adjusted. Two variable span structures on the same side in the Y-axis direction are grouped into a set, and each set of variable span structures realizes the change of the distance of the precision adjustment wheel body in the Y-axis direction; A wheel set structure is provided on one side of each variable span structure, and the wheel set structure is located on the side facing the outside of the variable span structure, and when a wheel rotates in the wheel set structure, the precision adjusting wheel body travels at any angle in the X-axis direction, the Y-axis direction, or within a plane formed by the X-axis and the Y-axis; A slab pickup mechanism is further attached to the lateral movement bracket between each pair of variable span structures, and a pickup space for sandwiching the trackbed slab is formed within the slab pickup mechanism, and the spacing of the pickup space in both the Y-axis direction and the X-axis direction is adjustable; A vertical precision adjustment structure is provided between the slab pickup mechanisms on the same side in the X-axis direction, and when the vertical precision adjustment structure is activated, the height of the slab pickup mechanism relative to the ballast slab in the Z-axis direction can be adjusted; A lateral precision adjustment structure is provided in the Y-axis direction at the head and tail positions of the precision adjustment wheel body, and when the lateral precision adjustment structure is activated, the position of the precision adjustment wheel body in the X-axis or Y-axis direction can be adjusted.

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

[0008] In a further 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, wherein an intermediate portion of the variable span upper arm extends outward to form an extension portion, one end of the variable span upper arm is hingedly connected to an end of the frame assembly connection segment and the other end is fixed to an inner wall of the support leg sleeve, and one end of the variable span lower arm is fixed to the frame assembly and the other end is hingedly connected to the support leg sleeve through the extension portion, and the other end of the variable span upper arm is located above the variable span lower arm on the support leg sleeve, A drive cylinder 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 is attached to the outside-facing side of the support leg sleeve, and a wheel set structure is attached to the bottom end of the vertical support leg via a telescopic drive cylinder.

[0009] In a further preferred embodiment of the present invention, the wheel set structure includes a wheel carrier, a rotating toothed disc is attached to the upper end of the wheel carrier, a bottom end of the fixed support leg is fitted into the rotating toothed disc, and the rotating toothed disc is driven by a steering drive motor to rotate relative to the fixed support leg; A tire is mounted inside the wheel carrier, the tire's rotation shaft passes through the wheel carrier, and the end of the rotation shaft is engaged with the wheel carrier via an engagement plate. A tension wheel bracket is attached to a side wall adjacent to the engagement plate provided on the wheel carrier, and two tension wheels are symmetrically attached to the tension wheel bracket. The vehicle further includes a travel drive motor, the motor shaft of which is connected to the tire's rotation shaft via two chains, and one tension wheel is matched and engaged above each chain.

[0010] In a further preferred embodiment of the present invention, the slab pickup mechanism includes a lifting structure, a slab pickup mechanism transition frame, a clamping claw connecting plate, and a clamping claw, wherein at least one lifting structure is attached to the horizontally moving bracket between each pair 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 attached to each side of the slab pickup bracket, the telescopic ends of the pickup drive cylinders face the ends of the adjacent slab pickup brackets, a clamping claw connecting plate is attached to the telescopic ends of the pickup drive cylinders, a clamping claw is attached between the clamping claw connecting plates located on the same side, and a support locking mechanism is further attached to the slab pickup bracket between the clamping claw connecting plates.

[0011] In a further preferred embodiment of the present invention, the lifting structure includes a vertical precision adjustment driving cylinder, a lifting guide post, a universal connection base, and a flange connection base, the vertical precision adjustment driving cylinder is attached to the horizontal movement bracket, one end of the lifting guide post is fixed to the vertical precision adjustment driving cylinder, the other end of the lifting guide post is connected to one end of the flange connection base via the universal connection base, and a slab pick-up mechanism transition frame is fixed to the other end of the flange connection base; The lift guide post is fitted with a guide sleeve for guiding, and the universal connection base is fitted with a universal connection sleeve.

[0012] In a further preferred embodiment of the present invention, two vertical precision adjustment drive cylinders are attached to the lateral movement bracket located at the head position of the precision adjustment wheel body, and one lifting mechanism is attached to the lateral movement bracket located at the tail position of the precision adjustment wheel body, and the two vertical precision adjustment drive cylinders located at the head form a connecting line, and the vertical precision adjustment drive cylinder at the tail is on a vertical line passing through the center of the connecting line; The vertical precision adjustment structure further includes a vertical precision adjustment bracket, both ends of which are fixed to slab pickup mechanisms on the same side in the X-axis direction, and a similar vertical precision adjustment bracket is fixed to another slab pickup mechanism on the same side in the X-axis direction.

[0013] In a further preferred embodiment of the present invention, the lateral precision adjustment structure includes three lateral precision adjustment drive cylinders, one of which is attached to the head position of the precision adjustment wheel body, the fixed end of the lateral precision adjustment drive cylinder being attached to the frame assembly, and the movable end being connected to the long side of the lateral movement bracket; Two lateral precision adjustment drive cylinders are mounted at the tail position of the precision adjustment wheel body, and the fixed ends of the two lateral precision adjustment drive cylinders are both mounted at the connecting segment of the tail of the frame assembly, and the fixed ends of the two lateral precision adjustment drive cylinders are spaced apart in the Y-axis direction; The movable ends of the two lateral precision adjustment drive cylinders are simultaneously attached to the same position on the lateral movement bracket, and the movable ends are also on a vertical line passing through the center of the connecting line.

[0014] The precision adjustment method based on the intelligent precision adjustment wheel, specifically, Step S1: start the precision adjusting car body, the travel drive motor drives the tire to operate, the precision adjusting car body travels to the precision adjusting station, the built-in drive cylinder of the support leg sleeve starts, controls the contraction of the vertical support leg, retracts the tire, makes the fixed support leg hit the ground, and fixes the precision adjusting car body; Step S2: measuring the coordinates of the precision control vehicle body, calculating the relative position between the slab pickup mechanism in the precision control vehicle body and the ballast slab, and matching the position of the slab pickup mechanism to the position of the ballast slab; Step S3: starting the slab pickup mechanism, causing the clamping claws to extend and clamp the vertical supports of the ballast slab to pick up the ballast slab; Step S4: starting the lateral accuracy adjustment drive cylinder and the vertical accuracy adjustment drive cylinder to perform a first accuracy adjustment; Step S5: locking the support legs of the vertical supports on the ballast slab by the support locking mechanism to support the ballast slab; Step S6 of measuring the coordinates of the ballast slab and calculating the position of the ballast slab; In step S6, if the position of the ballast slab reaches the reference, the clamping claws are released, and if the position of the ballast slab does not reach the reference, compensation accuracy is adjusted in step S7. Step S8: recalculating the coordinates of the ballast slab; if there is a deviation in the height of the ballast slab in the Z-axis direction, the support locking mechanism adjusts the height of the support leg to compensate; if there is no deviation in the height of the ballast slab in the Z-axis direction, the support locking mechanism is retracted; and step S9 of starting the built-in drive cylinder of the support leg sleeve to extend the vertical support leg and extend the tire synchronously, so that the precision adjustment wheel body is ready to enter the next precision adjustment station.

[0015] In a further preferred embodiment of the present invention, in step S7, if the position of the ballast slab does not reach the reference value, the step of adjusting the compensation accuracy is Step S71: starting the lateral accuracy adjustment drive cylinder and the vertical accuracy adjustment drive cylinder to perform accuracy adjustment again; After the accuracy is adjusted again, the support legs are locked and the position of the ballast slab is measured and calculated in step S72 until the position of the ballast slab reaches the standard.

[0016] By virtue of the above technical solutions, compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The intelligent precision adjusting vehicle of the present invention can significantly improve formwork construction efficiency by 2 to 4 times.

[0018] 2. The intelligent precision adjustment vehicle of the present invention has low skill requirements for the operator during operation, which can reduce the number of workers required for precision adjustment or precision measurement and save human resources.

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

[0020] The present invention will now be further described with reference to the drawings and examples. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a schematic diagram of the overall structure of a preferred embodiment of the present invention; [Figure 2] 1 is a structural schematic diagram of a horizontally moving bracket according to a preferred embodiment of the present invention; [Figure 3] 10A and 10B are schematic diagrams illustrating the state of distance adjustment in the X and Y axis directions in a preferred embodiment of the present invention. [Figure 4] 10A and 10B are schematic diagrams illustrating the state of distance adjustment in the X and Y axis directions in a preferred embodiment of the present invention. [Figure 5] FIG. 10 is a schematic diagram showing a preferred embodiment of the present invention in which multiple angles are switched by a wheel set mechanism. [Figure 6] 1 is a schematic diagram showing a specific state in which the slab pick-up mechanism can be adjusted to accommodate different sizes of ballast slabs in a preferred embodiment of the present invention. FIG. [Figure 7] 1 is a structural schematic diagram of a support leg sleeve portion in a preferred embodiment of the present invention; [Figure 8] 1 is a schematic diagram of a wheelset structure in a preferred embodiment of the present invention; [Figure 9] FIG. 2 is a structural schematic diagram of a slab pick-up mechanism in a preferred embodiment of the present invention. [Figure 10] 1 is a cross-sectional view of a slab pick-up mechanism in a preferred embodiment according to the present invention. [Figure 11] 1 is a schematic diagram of a lifting structure in a preferred embodiment of the present invention; [Figure 12]FIG. 10 is a schematic diagram showing a state during an accuracy adjustment operation in a preferred embodiment according to the present invention. [Figure 13] FIG. 1 is a schematic diagram of the location points of prisms in a ballast slab under vertical projection in a preferred embodiment of the present invention. [Figure 14] 1 is a schematic diagram of the internal overall structure of a preferred embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0022] The present invention will now be described in more detail with reference to the drawings. In the description of this application, directions or positional relationships indicated by terms such as "left," "right," "upper," and "lower" are based on the drawings and are intended merely for the convenience and simplification of the description of the present invention. It should be understood that these terms do not indicate or imply that such devices or elements necessarily have a specific orientation or are constructed and operated in a specific direction. It should also be understood that terms such as "first," "second," etc. do not indicate the importance of components and therefore do not limit the present invention. The specific sizes used in this embodiment are merely used to illustrate the technical solutions by way of example and do not limit the scope of protection of the present invention.

[0023] Currently, the construction of ballastless track in China typically involves laying the foundation, insulation layer, elastic buffer cushion layer, self-compacting concrete, track slab, and rails in that order, starting from the bottom. As mentioned in the background art, the construction of these multiple layers is mostly done manually, which often results in two significant problems. First, manual construction often results in uneven foundation slabs and insufficient local thickness of the self-compacting concrete. Second, at the current stage, traditional manual construction methods make it difficult to control elevation and flatness, resulting in low work efficiency.

[0024] Therefore, the present application aims to provide an intelligent precision adjustment vehicle, the overall structure of which is shown in FIG. 1 , and for the convenience of explaining the internal structure, the present application also provides FIG. 14 . The precision adjustment vehicle body includes a frame assembly and a lateral movement bracket 1 located at the bottom of the frame assembly. These two parts cooperate with the precision adjustment structure to achieve precision adjustment in all directions when the precision adjustment vehicle body constructs the track slab in the subsequent process. Specifically, the present application designs a variable span structure 2, a wheel set structure 3, and a slab pickup mechanism 4. The precision adjustment mode is realized by relying on the cooperation between the variable span structure and the wheel set structure at the wheel spacing, and by the slab pickup mechanism for accurate pickup, release, and auxiliary precision adjustment of the track slab. This cooperates with the automation design to improve the overall efficiency of formwork construction and precision adjustment.

[0025] Next, each part of the precision adjusting wheel body will be described in detail with reference to the relevant drawings. First, as shown in Figure 2, the lateral movement bracket of the present application has a rectangular structure and matches the rectangular skeleton of the frame assembly. The intelligent precision adjusting wheel of the present application is established to perform movable point adjustment in a three-dimensional space with six degrees of freedom. Therefore, 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 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.

[0026] Two variable span structures are respectively attached to the side walls of the frame assembly in the X-axis direction, and 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 25, the distance of the precision adjusting wheel body to the ground can be adjusted (here, FIG. 3 is shown as an example). Two variable span structures on the same side in the Y-axis direction are grouped together, and each group of variable span structures realizes the change of the distance of the precision adjusting wheel body in the Y-axis direction (see FIG. 4 as an example). A wheel set structure is provided on one side of each variable span structure, and 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 wheel body runs at any angle in the X-axis direction, the Y-axis direction, or within the plane formed by the X-axis and the Y-axis. In other words, the wheel set structure can realize the precision adjustment wheel body running at multiple angles freely switched. That is, as shown in Figure 5, Figure 5 includes four exemplary running directions, 5a is left-right running (Y-axis direction) from the perspective of the example shown in the figure, 5b is steering from the perspective of the example shown in the figure, 5c is forward-backward running (Z-axis direction) from the perspective of the example shown in the figure, and 5d is diagonal running from the perspective of the example shown in the figure.

[0027] A slab pick-up mechanism is further attached to the lateral movement bracket between each pair of variable span structures, and a pick-up space for sandwiching the ballast slab is formed within the slab pick-up mechanism, and the spacing of the pick-up space in the Y-axis direction and the X-axis direction are both adjustable, and the spacing of the pick-up space in the Y-axis direction is adjusted to accommodate the pick-up needs of ballast slabs of different widths, and the spacing in the X-axis direction is adjusted to accommodate the pick-up needs of ballast slabs of different lengths. Here, in order to clearly express the meaning of the application, a schematic diagram of a specific state after adjustment in the X-axis direction is provided as shown in Figure 6.

[0028] Next, we will explain the accuracy adjustment part. A vertical accuracy adjustment structure is provided between the slab pickup mechanisms on the same side in the X-axis direction, and when the vertical accuracy adjustment structure is activated, the height of the slab pickup mechanism relative to the trackbed slab in the Z-axis direction can be adjusted. A lateral accuracy adjustment structure is provided on the Y-axis between the head and tail positions of the accuracy adjustment vehicle body, and when the lateral accuracy adjustment structure is activated, the position of the accuracy adjustment vehicle body in the X-axis or Y-axis direction can be adjusted.

[0029] In the actual test, in order to facilitate the fastening connection of each member, as shown in FIG. 2, connection segments 11 are provided on the short sides of the frame assembly, respectively, and the connection segments are closely fitted to the short sides of the frame assembly, forming smooth connection segments between the ends of the long sides of the frame assembly and the ends of the connection segments.

[0030] As shown in FIG. 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, and one end of the variable span lower arm is fixed to the frame assembly and the other end is hingedly connected to the support leg sleeve through the extension portion, and 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, and 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 outside-facing side of the support leg sleeve, and a wheel set structure is attached to the bottom end of the vertical support leg, where the extension and retraction of the vertical support leg is controlled by the telescopic drive cylinder, and a sensor 28 is installed in the fixed support leg to monitor the real-time status. As shown in FIG. 8, the wheel set structure includes a wheel carrier 32, a toothed disc 31 attached to the upper end of the wheel carrier, the bottom end of the fixed support leg fitted into the toothed disc, and the toothed disc rotates relative to the fixed support leg when driven by a steering drive motor 38. A tire 33 is attached inside the wheel carrier, the tire's rotation axis passes through the wheel carrier, and the end of the rotation axis is engaged with the wheel carrier via an engagement plate 34. A tension wheel 35 bracket is attached to the side wall adjacent to the engagement plate on the wheel carrier, and two tension wheels are symmetrically attached to the tension wheel bracket. The wheel set structure further includes a travel drive motor 36, the motor shaft of which is connected to the tire's rotation axis via two chains 37, and one tension wheel is mated and engaged above each chain.

[0031] When the precision adjusting wheel body operates, it must travel to the designated precision adjusting station, at which point the wheel set structure is activated, and the rotating toothed disc is provided to realize the rotation of the tire in each direction, and the chain transmission mechanism part (here referring to the meshing of the tension wheel and the chain) realizes the tire's movement in a specific direction. When the precision adjusting wheel body reaches the designated station, the variable span structure is activated to check the spacing in the Y-axis direction, and the built-in driving cylinder in the support leg sleeve is activated, and the fixed support leg supports the precision adjusting wheel body.

[0032] When the precision adjustment wheel main body has completed fixing the position of the precision adjustment wheel at the designated precision adjustment station, the slab pickup mechanism responds. As shown in Figure 9, the slab pickup mechanism includes a lifting structure 41, a slab pickup mechanism transition frame 42, a clamping claw connecting plate 43, and a clamping claw 46. At least one lifting structure is attached to the lateral movement bracket between each pair of variable span structures. A 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 attached to each side of the slab pickup bracket, with the telescopic ends of the pickup drive cylinders facing the ends of the adjacent slab pickup brackets. The clamping claw connecting plates are attached to the telescopic ends of the pickup drive cylinders, and the clamping claws are attached between the clamping claw connecting plates located on the same side. As can be seen from the perspective of Figure 9, two pickup drive cylinders are provided on the portion of the slab pickup bracket facing the visible side. To facilitate the installation of the clamping claw connecting plates, the retractable ends of the pickup drive cylinders face the left and right sides of the visual angle. When a clamping claw connecting plate is attached to the retractable end of the corresponding pickup drive cylinder, operating the pickup drive cylinder causes the clamping claw connecting plate to extend or retract left or right, and a clamping claw is attached between the two clamping claw connecting plates on the same side. The extension and contraction of the pickup drive cylinder allows adjustment of the left-right spacing in the visual angle of Figure 9, i.e., the distance between the clamping claws. This distance corresponds to the spacing in the Y-axis direction of the three-dimensional coordinate system and can be adjusted to accommodate ballast slabs of different widths. In this application, a slab pickup mechanism is also provided on the tail of the precision adjustment vehicle body. 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 accommodate ballast slabs of different lengths, as seen from the perspective of Figure 6.

[0033] Based on Figure 9, a cross-sectional view is shown in Figure 10, mainly to reflect the fact that a support locking mechanism 47 is further attached to the slab pickup bracket between the clamping claw connecting plates. The reason for providing the support locking mechanism is that when the clamping claws clamp the ballast slab, they actually provide vertical support for the picked-up ballast slab, so it is necessary to ensure that the clamping claws can properly grip the ballast slab. Therefore, when positioning the clamping claws, it is also necessary to position the ballast slab, which is achieved by locking and unlocking the support locking mechanism.

[0034] To accurately clamp and release the ballast slab, the slab pickup mechanism not only needs to be adjusted horizontally, but also vertically (in the Z-axis direction), which is where the lifting mechanism comes in. As shown in Figure 11, the lifting mechanism includes a vertical precision-adjusting drive cylinder 5, a lifting guide post 411, a universal connection base 412, and a flange connection base 413. The vertical precision-adjusting drive cylinder is attached to the lateral movement bracket, one end of the lifting guide post is fixed to the vertical precision-adjusting drive cylinder, and the other end of the lifting guide post is connected to one end of the flange connection base via the universal connection base, to which the slab pickup mechanism transition frame is fixed. A guide sleeve 414 is fitted to the lifting guide post for guidance, and a universal connection sleeve 415 is fitted to the universal connection base. When the vertical precision-adjusting drive cylinder is activated, the extension and retraction of the lifting guide post adjusts the height of the clamping jaws relative to the ballast slab.

[0035] Next, we will explain the precision adjustment mechanism, another innovative feature of this application. Two vertical precision adjustment drive cylinders are attached to the lateral movement bracket located at the head position of the precision adjustment vehicle body, and one lifting mechanism is attached to the lateral movement bracket located at the tail position of the precision adjustment vehicle body. The two vertical precision adjustment drive cylinders located at the head form a connecting line, and the vertical precision adjustment drive cylinder at the tail is on a vertical line passing through the center of the connecting line. As can be seen from the perspective of Figure 2, this application includes three vertical precision adjustment drive cylinders, which also have the function of simultaneously sending commands to the slab pickup mechanism to clamp or release the trackbed slab. To better achieve precision adjustment in the Z-axis direction, the two slab pickup mechanisms at the front and rear of the example perspective shown in the figure must work together. The vertical precision adjustment structure further includes vertical precision adjustment brackets 6, both ends of which are fixed to the slab pickup mechanisms on the same side in the X-axis direction, and a similar vertical precision adjustment bracket is fixed to the other slab pickup mechanism on the same side in the X-axis direction.

[0036] As can be further seen from FIG. 2, the lateral precision adjustment structure includes three lateral precision adjustment drive cylinders 7, one of which is mounted at the head position of the precision adjustment wheel body, with the fixed end of the lateral precision adjustment drive cylinder attached to the frame assembly and the movable end connected to the long side of the lateral movement bracket. As can be seen from the figure, the lateral precision adjustment drive cylinder is arranged vertically in the X-axis direction, and in this case, when the lateral precision adjustment drive cylinder is activated, the lateral movement bracket and the frame assembly can be moved relative to each other in the Y-axis direction.

[0037] Two lateral precision adjustment drive cylinders are mounted at the tail of the precision adjustment wheel body, with their movable ends attached to the connecting segment of the tail of the frame assembly. Their fixed ends are spaced apart in the Y-axis direction, and their movable ends are simultaneously attached to the same position on the lateral movement bracket, with the movable ends also on a vertical line passing through the center of the connecting line. When the two lateral precision adjustment drive cylinders at the tail are activated, their movable ends can simultaneously apply thrust to their fixed ends. Because the fixed ends of the two lateral precision adjustment drive cylinders are integrated into the same position on the lateral movement bracket, this position is also on a vertical line passing through the center, and the thrust can move the lateral movement bracket and the frame assembly relative to each other in the X-axis direction. These two cooperative methods achieve precision adjustment of the precision adjustment wheel body in the X-axis and Y-axis directions.

[0038] However, when all the above mechanisms are operated, the relevant control system needs to send commands, which is done by relying on the relevant hydraulic platform assembly and electric platform assembly, which is a control system known in the industry, and a detailed description is omitted here.A cab assembly is further disposed in the precision adjustment vehicle body, which obviously needs to be operated by an operator, which is also known.

[0039] Finally, the present application further provides a precision adjustment method for an intelligent precision adjustment vehicle, which mainly includes several steps, such as fixing the car body as shown in Fig. 12, lifting the car body by cooperating with mechanisms such as precision adjustment and slab pickup, adjusting the gap by the variable span structure, and releasing the car body to complete the operation, and specifically includes the following steps S1 to S9:

[0040] Step S1: The precision adjustment car body is started, the travel drive motor drives the tires to operate, the precision adjustment car 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, retracts the tires, puts the fixed support leg on the ground, and fixes the precision adjustment car body.

[0041] Step S2: Measure the coordinates of the precision control vehicle body, calculate the relative position between the slab pick-up mechanism in the precision control vehicle body and the ballast slab, and match the position of the slab pick-up mechanism to the position of the ballast slab.

[0042] Step S3: The slab pick-up mechanism is started, and the clamping claws are extended to clamp the vertical supports of the ballast slab and pick up the ballast slab.

[0043] Step S4: The horizontal accuracy adjustment drive cylinder and the vertical accuracy adjustment drive cylinder are started to perform the first accuracy adjustment.

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

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

[0046] Step S7: If the position of the ballast slab reaches the standard in step S6, the clamping claws are released, and if the position of the ballast slab does not reach the standard, compensation accuracy adjustment is performed.

[0047] If the position of the ballast slab does not reach the standard, the step of adjusting the compensation accuracy is Step S71: starting the lateral accuracy adjustment drive cylinder and the vertical accuracy adjustment drive cylinder to perform accuracy adjustment again; After the accuracy is adjusted again, the support legs are locked and the position of the ballast slab is measured and calculated in step S72 until the position of the ballast slab reaches the standard.

[0048] Step S8: Recalculate the coordinates of the ballast slab. If there is a deviation in the height of the ballast slab in the Z-axis direction, the support locking mechanism will adjust the height of the support leg to compensate. If there is no deviation in the height of the ballast slab in the Z-axis direction, the support locking mechanism will retract.

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

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

[0051] As shown in Figure 13, the three lateral accuracy adjustment drive cylinders according to the present invention are converted into three points in a coordinate system. First, before the precision adjustment vehicle body enters, the coordinates of the prisms on the ballast slab need to be identified. The five circles shown in the figure represent the positions of the prisms within the ballast slab under vertical projection (A, B, and C are positions corresponding to the three lateral accuracy adjustment drive cylinders, and E and F are positions of the corresponding clamping jaws of the slab pickup mechanism adjacent to A and B). First, the coordinates of the prisms on the ballast slab before the precision adjustment vehicle body enters are measured and are A(xa, ya, za), B(xb, yb, zb), and C(xc, yc, zc), respectively. After the precision adjustment vehicle body enters, the virtual values ​​of the coordinates of the prisms at A and B are M(xm, ym, zm) and N(xn, yn, zn), respectively. In this case, according to theory, calculate the included angle α between the ballast slab and the X-axis, which is tanα=[(ya+yb) / 2-yc] / [xc-(xa+xb) / 2], that is, when the lateral precision adjustment driving cylinder rotates by α°, the precision adjustment requirement can be met, and then M(xm, ym) and N(xn, yn) are used. Next, determine whether the ballast slab is tilted left and right or forward and backward, that is, whether it is biased in the X-axis direction or the Y-axis direction. If za+zb=2zc, then the ballast slab is tilted left and right, and the angle of the ballast slab tilting left and right is θ.

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

[0053] The efficiency of formwork construction is improved by about 2 to 4 times, the time can be controlled to 10 minutes per slab, and the number of workers required for precision adjustment and precision measurement is reduced. Through automation design, the number of workers required for precision adjustment and precision measurement can be reduced from 4 to 6 in the previous operation to 2. In terms of quality, the precision of slab laying can be controlled to 2 to 3 mm through automatic control. Finally, the overall efficiency of precision adjustment of track slabs is improved by 2 to 3 times, saving more than half of the manpower and significantly reducing the demand for technicians, making it suitable for large-scale popularization.

[0054] As will be understood by those skilled in the art, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art. It should be further understood that those terms defined in common dictionaries should be understood to be consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless so defined.

[0055] The term "and / or" as used herein includes each element when present alone or both elements when present together. [Explanation of symbols]

[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 disc, 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 lock mechanism, 5 vertical precision adjustment drive cylinder, 6 Vertical precision adjustment bracket, 7 horizontal precision adjustment drive cylinder

Claims

1. An intelligent precision adjusting wheel, comprising a precision adjusting wheel body, and a frame assembly therein, the precision adjusting wheel being provided as a rectangular structure, A lateral movement bracket (1) is attached inside the frame assembly, and the lateral movement bracket (1) has a rectangular structure that matches the frame assembly. A three-dimensional coordinate system is established with the center of the lateral movement bracket (1) 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 (1) as the Z-axis; Two variable span structures (2) are respectively attached to the side walls of the frame assembly in the X-axis direction, and the variable span structures (2) are close to the short sides of the adjacent frame assemblies. When the variable span structures (2) are supported on the ground by fixed support legs (25), the distance of the precision adjustable wheel body to the ground is adjustable. Two variable span structures (2) on the same side in the Y-axis direction are grouped into a set, and each set of variable span structures (2) realizes the change of the distance of the precision adjustable wheel body in the Y-axis direction; A wheel set structure (3) is provided on one side of each variable span structure (2), and the wheel set structure (3) is located on the outside facing side of the variable span structure (2), and when the wheels rotate within the wheel set structure (3), the precision adjustment wheel body travels in the X-axis direction or the Y-axis direction or at any angle within the plane formed by the X-axis and the Y-axis; A slab pickup mechanism (4) is further attached to the lateral movement bracket between each pair of variable span structures (2), and a pickup space for sandwiching the track bed slab is formed within the slab pickup mechanism (4), and the spacing of the pickup space in both the Y-axis direction and the X-axis direction is adjustable; A vertical accuracy adjustment structure is provided between the slab pickup mechanisms (4) on the same side in the X-axis direction, and when the vertical accuracy adjustment structure is activated, the height of the slab pickup mechanism (4) relative to the track bed slab in the Z-axis direction can be adjusted; A lateral precision adjustment structure is provided in the Y-axis direction at the head and tail positions of the precision adjustment wheel body, and when the lateral precision adjustment structure is activated, the position of the precision adjustment wheel body in the X-axis or Y-axis direction can be adjusted; The lateral precision adjustment structure includes three lateral precision adjustment drive cylinders (7), one of which is mounted at the head position of the precision adjustment wheel body, the fixed end of the lateral precision adjustment drive cylinder (7) being mounted on the frame assembly, and the movable end being connected to the long side of the lateral movement bracket (1); Two lateral precision adjustment drive cylinders (7) are attached to the tail position of the precision adjustment wheel body, and the fixed ends of the two lateral precision adjustment drive cylinders (7) are both attached to the connecting segment (11) of the tail of the frame assembly, and the fixed ends of the two lateral precision adjustment drive cylinders (7) are spaced apart in the Y-axis direction; The movable ends of the two lateral precision adjustment drive cylinders (7) are simultaneously attached to the same position on the lateral movement bracket (1), and the movable ends are also on a vertical line passing through the center of the connecting line.

2. Connection segments (11) are provided on the short side portions of the frame assembly, and the connection segments (11) are in close contact with the short side portions of the frame assembly; 2. The intelligent precision adjusting wheel according to claim 1, wherein a smooth connecting segment (11) is formed between the end of the long side of the frame assembly and the end of the connecting segment (11).

3. The variable span structure (2) comprises 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 (21) extends outward to form an extension portion (23), one end of the variable span upper arm (21) is hingedly connected 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), the variable span lower arm (22) is fixed to the frame assembly at one end and the other end is hingedly connected to the support leg sleeve (24) through the extension portion (23), and the other end of the variable span upper arm (21) is located above the variable span lower arm (22) on the support leg sleeve (24); The intelligent precision adjusting wheel of claim 2, characterized in that 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 outside facing side of the support leg sleeve (24), and a wheel set structure (3) is attached to the bottom end of the vertical support leg (26) via a telescopic drive cylinder.

4. The wheel set structure (3) includes a wheel carrier (32), a rotating toothed disc (31) attached to the upper end of the wheel carrier (32), a bottom end of the fixed support leg (25) fitted into the rotating toothed disc (31), and the rotating toothed disc (31) is driven by a steering drive motor (38) to rotate relative to the fixed support leg (25); The intelligent precision adjusting wheel of claim 3, characterized in that a tire (33) is mounted inside the wheel carrier (32), the rotation axis of the tire (33) passes through the wheel carrier (32), and an 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 a 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, and 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), and one tension wheel (35) is mated and meshed above each chain (37).

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 a clamping claw (46). At least one lifting structure (41) is attached to the horizontal movement bracket (1) between each pair 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 attached to the slab pickup mechanism transition frame (42). Two slab pickup brackets (44) are attached to each side of the slab pickup bracket (44). The intelligent precision adjusting vehicle according to claim 4, characterized in that: each pickup drive cylinder (45) is mounted on the slab pickup bracket (44), the telescopic ends of the pickup drive cylinder (45) face the end of the adjacent slab pickup bracket (44), a clamping claw connecting plate (43) is mounted on the telescopic ends of the pickup drive cylinder (45), a clamping claw (46) is mounted between the clamping claw connecting plates (43) located on the same side, and a support locking mechanism (47) is further mounted on the slab pickup bracket (44) between the clamping claw connecting plates (43).

6. The lifting structure (41) includes a vertical precision-adjusting driving cylinder (5), a lifting guide post (411), a universal connection base (412), and a flange connection base (413). The vertical precision-adjusting driving cylinder (5) is mounted on the horizontal movement bracket (1). One end of the lifting guide post (411) is fixed to the vertical precision-adjusting driving cylinder (5). 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). The other end of the flange connection base (413) is fixed to the slab pick-up mechanism transition frame (42). The intelligent precision adjusting wheel according to claim 5, characterized in that the lifting guide post (411) is fitted with a guide sleeve (414) for guiding, and the universal connecting base (412) is fitted with a universal connecting sleeve (415).

7. Two vertical precision adjustment drive cylinders (5) are attached to the lateral movement bracket (1) located at the head position of the precision adjustment car body, and one lifting structure (41) is attached to the lateral movement bracket (1) located at the tail position of the precision adjustment car body, and the two vertical precision adjustment drive cylinders (5) located at the head form a connecting line, and the vertical precision adjustment drive cylinder (5) at the tail is on a vertical line passing through the center of the connecting line; The intelligent precision adjustment wheel of claim 6, characterized in that the vertical precision adjustment structure further includes vertical precision adjustment brackets (6) each fixed at both ends to a slab pickup mechanism (4) on the same side in the X-axis direction, and one vertical precision adjustment bracket (6) is similarly fixed to another slab pickup mechanism (4) on the same side in the X-axis direction.

8. The precision adjustment method based on the intelligent precision adjustment wheel according to claim 1, specifically comprising: Step S1: the precision adjustment vehicle body is started, the travel drive motor (36) drives and operates the tire (33), 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) on the vehicle side, retracts the tire (33), the fixed support leg (25) touches the ground, and fixes the precision adjustment vehicle body; Step S2: 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 ballast slab, and matching the position of the slab pickup mechanism (4) to the position of the ballast slab; Step S3: activating the slab pickup mechanism (4), so that the clamping claws (46) extend to clamp the vertical supports of the ballast slab and pick up the ballast slab; Step S4: starting the horizontal accuracy adjustment drive cylinder (7) and the vertical accuracy adjustment drive cylinder (5) to perform a first accuracy adjustment; Step S5: a support locking mechanism (47) locks the support legs provided on the vertical supports on the ballast slab side to support the ballast slab; Step S6: measuring the coordinates of the ballast slab and calculating the position of the ballast slab; In step S6, if the position of the ballast slab reaches the reference, the clamping claws (46) are released, and if the position of the ballast slab does not reach the reference, compensation accuracy is adjusted in step S7. Step S8: recalculating the coordinates of the ballast slab, and if there is a deviation in the height of the ballast slab in the Z-axis direction, the support locking mechanism (47) adjusts the height of the support leg on the ballast slab side to compensate, and if there is no deviation in the height of the ballast slab in the Z-axis direction, the support locking mechanism (47) is retracted; and step S9: starting the built-in driving cylinder of the support leg sleeve (24), extending the vehicle-side vertical support leg (26), and synchronously extending the tire (33), so that the precision adjusting wheel body is ready to enter the next precision adjusting station.

9. In step S7, if the position of the ballast slab does not reach the standard, the step of adjusting the compensation accuracy is Step S71: starting the lateral accuracy adjustment drive cylinder (7) and the vertical accuracy adjustment drive cylinder (5) to perform accuracy adjustment again; The method for adjusting the accuracy of an intelligent accuracy adjustment vehicle according to claim 8, further comprising: step S72 of locking the support legs on the ballast slab side after the second accuracy adjustment until the position of the ballast slab reaches the reference position, and measuring and calculating the position of the ballast slab.

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