Elevation adjustment device for ballastless track panel fine-tuning robot

Abstract

The present utility model relates to the technical field of track engineering, and particularly to an elevation adjustment device for a ballastless track panel fine-tuning robot, the elevation adjustment device comprising: a connection mechanism, a sliding rail and a clamping jaw, wherein the connection mechanism comprises a servo motor that is transversely arranged and a rotating shaft motor arranged on one side of the servo motor and that is vertically arranged, and the servo motor is configured to control the adjustment device to be parallel to an elevation adjustment stud of a ballastless track panel; the sliding rail is arranged directly below the rotating shaft motor, and the sliding rail and the rotating shaft motor are movably connected by means of a rotating shaft; and the clamping jaw is arranged at the bottom of the sliding rail and fits with the sliding rail, a jaw tip is provided at the bottom end of the clamping jaw, and the jaw tip is configured to fit with a hole at the top of the elevation adjustment stud. The present utility model has the advantages that a construction process of rail adjustment is simplified, full automation of an adjustment process is realized, the construction efficiency is improved, the accuracy of panel elevation adjustment is improved, and the elevation adjustment device can be additionally mounted on a mechanical arm of a robot, is easy to remove and has high flexibility. The clamping jaw can also be replaced with other clamping jaws of different sizes, thereby expanding the scope of application.

Description

Ballastless track panel fine-tuning robot elevation adjustment device Technical Field

[0001] This utility model relates to the field of track engineering technology, specifically to an elevation adjustment device for a ballastless track panel fine-tuning robot. Background Technology

[0002] With the rapid development of my country's rail transit industry and the continuous increase in line operating speeds, the requirements for the smoothness and stability of track lines are becoming increasingly stringent. The faster the operating speed of high-speed lines, the smaller the requirements for the actual spatial position elevation and lateral deviation range of the track slabs after adjustment. Traditional track adjustment methods utilize wedge-shaped block assemblies in the track for adjustment and locking, requiring repeated adjustments and involving complex procedures. Moreover, traditional methods rely on manual control of the adjustment amount, resulting in larger errors and lower efficiency. In sections where manual operation is unsuitable, the shortcomings of traditional track adjustment methods become even more pronounced.

[0003] Therefore, there is an urgent need to design an elevation adjustment device for a ballastless track panel fine-tuning robot. Utility Model Content

[0004] The purpose of this utility model is to overcome the shortcomings of the existing technology and provide a ballastless track panel fine-tuning robot elevation adjustment device to realize the mechanization and automation of track panel adjustment, and improve the accuracy and construction efficiency of track panel elevation adjustment operations.

[0005] To achieve the above objectives, a height adjustment device for a ballastless track panel fine-tuning robot is designed, comprising: a connecting mechanism, a slide rail, and a gripper; the connecting mechanism includes a horizontally arranged servo motor and a vertically arranged shaft motor located on one side of the servo motor, the servo motor being used to control the adjustment device to be parallel to the height adjustment stud of the ballastless track panel; the slide rail is located directly below the shaft motor, and the slide rail and the shaft motor are movably connected via a shaft; the gripper is located at the bottom of the slide rail and cooperates with the slide rail, the bottom end of the gripper having an end claw head, the end claw head being used to cooperate with the hole at the top of the height adjustment stud.

[0006] Preferably, the present invention further includes: a connector is provided on one side of the servo motor for connecting to the robot's robotic arm or support.

[0007] Preferably, the present invention further includes: the slide rail includes: a guide rail disposed within the slide rail; a base that slides in cooperation with the guide rail; and a drive mechanism that cooperates with the base to drive the base to move on the guide rail.

[0008] Preferably, the present invention further includes: two micro motors respectively provided at both ends of the slide rail, the micro motors being connected to the drive mechanism, the drive mechanism including a chain, lead screw, or rack.

[0009] Preferably, the present invention further includes: a sensing plate and a limiter are provided on the side of the base away from the slide rail, the sensing plate is used to sense the position of the base, and the limiter is used to prevent the base from colliding with the two ends of the slide rail.

[0010] Preferably, the present invention further includes: the top end of the gripper is connected to the driving device through a base, and the driving device drives the gripper to make a lateral opening and closing movement on the slide rail.

[0011] Preferably, the present invention further includes: the gripper is two symmetrically arranged L-shaped structures.

[0012] Preferably, the present invention further includes: a reinforcing rib provided on the inner side of the bend of the L-shaped structure of the gripper.

[0013] Preferably, the present invention further includes: a visual sensor is provided on the inner side of the bend of the L-shaped structure of the gripper, for detecting whether the end claw head is aligned with the top hole of the stud.

[0014] Compared with the prior art, the advantages of this utility model are:

[0015] 1. It simplifies the track adjustment process and achieves full automation of the adjustment process, thereby improving construction efficiency.

[0016] 2. By eliminating unstable factors such as human intervention, the accuracy of track panel elevation adjustment has been improved.

[0017] 3. It can be mounted on a robot arm and is easy to disassemble, offering high flexibility. The grippers can also be replaced with different sizes, expanding its applicability. Attached Figure Description

[0018] Figure 1 is a front view of this utility model;

[0019] Figure 2 is an isometric view of this utility model;

[0020] Figure 3 is a partial schematic diagram of the gripper of this utility model;

[0021] Figure 4 is an isometric view of the slide rail of this utility model;

[0022] In the diagram: 1 connecting mechanism, 2 slide rail, 3 gripper, 4 stud, 101 connector, 102 servo motor, 103 rotating shaft, 104 rotating shaft motor, 201 base, 202 limiter, 203 sensor plate, 204 guide rail, 205 micro motor, 301 reinforcing rib, 302 end claw, 303 vision sensor. Detailed Implementation

[0023] To make the purpose, principle and structure of this utility model clearer, the following description is provided in conjunction with the accompanying drawings and specific embodiments.

[0024] Referring to Figures 1 to 4, this utility model provides an elevation adjustment device for a ballastless track panel fine-tuning robot.

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

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

[0027] The connector 101 connects the robot arm and the elevation adjustment device. A horizontally positioned servo motor 102 is provided between the connector 101 and the elevation adjustment device to rotate the elevation adjustment device to be parallel to the stud 4. Since the stud 4 changes with the angle of the ballastless track, it will not always remain horizontal to the ground. The elevation adjustment device's tilt angle relative to the horizontal plane needs to be adjusted accordingly based on the stud 4's tilt angle. The servo motor 102 drives the elevation adjustment device to swing up and down relative to the horizontal plane, adjusting the angle between the elevation adjustment device and the horizontal plane. This ensures the elevation adjustment device is parallel to the stud 4, preventing unnecessary shearing force from being applied to the stud 4 during subsequent rotation operations due to misalignment of the elevation adjustment device and the stud 4, thus avoiding damage to the stud 4's structure during rotation adjustment.

[0028] A vertically positioned rotary motor 104 is provided on the side of the horizontally positioned servo motor 102. The rotary motor 104 is connected to the slide rail 2 via a rotary shaft 103, and the connection point between the rotary shaft 103 and the slide rail 2 is the center point of symmetry of the slide rail 2. After adjustment by the servo motor 102, the slide rail 2 is parallel to the track plate of the ballastless track. The rotary motor 104 drives the rotary shaft 103, which in turn causes the gripper 3 to rotate in a plane parallel to the track plate, thereby aligning the gripper 3 with the holes on the studs 4 used for adjusting the elevation of the track plate.

[0029] The slide rail 2 consists of a base 201, a limiter 202, a sensor 203, a guide rail 204, and a micro motor 205. Two guide rails 204 are arranged parallel to each other within the slide rail 2, and two bases 201 are slidably engaged with the guide rails 204. The two bases 201 are respectively connected to two claw hooks within the gripper 3. The limiter 202 and the sensor 203 are located on the side of the base 201 away from the guide rails 204, ensuring that the gripper 3 does not collide with the slide rail 2 housing as it moves along the guide rails 204 with the base 201, and limiting and controlling the distance the gripper 3 moves with the base 201. Two micro motors 205 are respectively located at both ends of the outer side of the slide rail 2 housing, passing through the slide rail 2 housing and connected to the drive mechanism inside the slide rail 2. The drive mechanism can be a chain, belt, rack, or lead screw. The drive mechanism is fixedly connected to the base 201. The micro motors 205 cooperate with the chain, belt, rack, or lead screw of the drive mechanism to drive the drive mechanism to move. The base 201, fixedly connected to the drive mechanism, moves accordingly, thereby realizing the movement of the base 201 on the guide rail 204. The gripper 3 connected to the base 201, under the combined action of the above components, performs a lateral clamping movement along the guide rail 204.

[0030] The gripper 3 comprises two symmetrically arranged L-shaped structures made of low-carbon steel. A reinforcing rib 301 and a vision sensor 303 are located on the inner side of the bend of the L-shaped structure. An end claw 302 is located at the lower horizontal section of the L-shaped structure. The end claw 302 can be a cylindrical structure with a radius slightly smaller than the radius of the hole in the elevation adjusting screw 4. The reinforcing rib 301 enhances the connection strength between the horizontal and vertical sections of the gripper 3.

[0031] Regarding the specific embodiments of this utility model:

[0032] The elevation adjustment device of the ballastless track panel fine-tuning robot is installed at the end of the robot arm used for track panel fine-tuning, serving as an actuating component. The robot and the elevation adjustment device are connected via connector 101. Driven by servo motor 102, the entire device swings up and down around servo motor 102 as the rotation center, making the gripper 3 parallel to the elevation adjustment screw 4. Then, the robot arm moves the device towards the elevation adjustment screw 4, stopping when the center symmetry line of the gripper 3 overlaps with the center symmetry line of the elevation adjustment screw 4. Rotary shaft motor 104 drives rotating shaft 103, causing slide rail 2 to rotate until the end claw 302 of the gripper 3 is coaxial with the center line of the hole in the elevation adjustment screw 4 (i.e., the end claw 302 is aligned with the hole). Next, micro motor 205 drives base 201, causing the gripper 3 to move on the slide groove in a lateral clamping motion until the top surfaces of the two end claws 302 of the gripper 3 contact each other within the through hole of the screw 4. Finally, the rotating shaft motor 104 drives the rotating shaft 103 to rotate the gripper 3, thereby turning the screw 4. The height of the device can also be slightly adjusted accordingly, thus adjusting the elevation of the screw 4 and consequently the track slab of the ballastless track. By inputting the corresponding construction requirements parameters into the control robot arm and the host computer of the device, the device can automatically control the adjustment amount according to the work requirements. When the device retracts, the gripper 3 releases, and it retracts laterally until the induction plate 203 reaches the limit switch 202 position.

[0033] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in this utility model, based on the technical solution and novel concept of this utility model, should be included within the protection scope of this utility model.

Claims

1. A height adjustment device for a ballastless track panel fine-tuning robot, characterized in that, include: Connecting mechanism, slide rail and gripper; The connecting mechanism includes a horizontally arranged servo motor and a vertically arranged rotating shaft motor located on one side of the servo motor. The servo motor is used to control the adjustment device to be parallel to the elevation adjustment stud of the ballastless track panel. The slide rail is located directly below the rotating shaft motor, and the slide rail and the rotating shaft motor are movably connected via a rotating shaft. The gripper is located at the bottom of the slide rail and cooperates with the slide rail. The bottom end of the gripper is provided with a terminal claw, which is used to cooperate with the hole at the top of the elevation adjustment stud.

2. The elevation adjustment device for a ballastless track panel fine-tuning robot according to claim 1, characterized in that, A connector is provided on one side of the servo motor for connecting to the robot's robotic arm or support.

3. The elevation adjustment device for a ballastless track panel fine-tuning robot according to claim 1, characterized in that, The slide rail includes: a guide rail disposed within the slide rail; a base that slides in cooperation with the guide rail; and a drive mechanism that cooperates with the base to drive the base to move on the guide rail.

4. The elevation adjustment device for a ballastless track panel fine-tuning robot according to claim 3, characterized in that, Two micro motors are respectively installed at both ends of the slide rail. The micro motors are connected to the drive mechanism, which includes a chain, lead screw, or rack.

5. The elevation adjustment device for a ballastless track panel fine-tuning robot according to claim 3, characterized in that, The base is also equipped with a sensor and a limiter on the side away from the slide rail. The sensor is used to sense the position of the base, and the limiter is used to prevent the base from colliding with the two ends of the slide rail.

6. The elevation adjustment device for a ballastless track panel fine-tuning robot according to claim 1, characterized in that, The top of the gripper is connected to the drive unit via a base, and the drive unit drives the gripper to make a lateral opening and closing motion on the slide rail.

7. The elevation adjustment device for a ballastless track panel fine-tuning robot according to claim 1, characterized in that, The gripper consists of two symmetrically arranged L-shaped structures.

8. The elevation adjustment device for a ballastless track panel fine-tuning robot according to claim 7, characterized in that, The L-shaped structure of the gripper has reinforcing ribs on the inside of the bend.

9. The elevation adjustment device for a ballastless track panel fine-tuning robot according to claim 7, characterized in that, A vision sensor is also provided on the inside of the bend of the L-shaped structure of the gripper to detect whether the end claw head is aligned with the top hole of the stud.

Images