CN114261420B - Automatic anti-slip system and method - Google Patents
Automatic anti-slip system and method Download PDFInfo
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- CN114261420B CN114261420B CN202111644301.4A CN202111644301A CN114261420B CN 114261420 B CN114261420 B CN 114261420B CN 202111644301 A CN202111644301 A CN 202111644301A CN 114261420 B CN114261420 B CN 114261420B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 89
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 86
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 80
- 239000010959 steel Substances 0.000 claims abstract description 80
- 229910052742 iron Inorganic materials 0.000 claims abstract description 43
- 230000001360 synchronised effect Effects 0.000 claims description 70
- 230000001681 protective effect Effects 0.000 claims description 19
- 230000003287 optical effect Effects 0.000 claims description 16
- 230000002441 reversible effect Effects 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 210000000078 claw Anatomy 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The invention discloses an automatic anti-slip system and an automatic anti-slip method, and belongs to the technical field of railway safety protection. The system comprises: a control box; the control box is fixedly connected beside the railway steel rail, a mechanical arm is connected in the control box, and a grabbing mechanism is connected to the mechanical arm; the gripping mechanism is used for placing or withdrawing the anti-slip robot from the railway steel rail; the anti-slip robot is used for placing or withdrawing the anti-slip iron shoes at the anti-slip positions on the railway steel rails. According to the invention, the manipulator in the control box drives the grabbing mechanism to place the anti-slip robot and the anti-slip iron shoe on the railway steel rail, and then the anti-slip robot is used for placing the anti-slip iron shoe at the anti-slip position, so that the degree of automation of anti-slip operation is improved, the labor intensity is reduced, and the safety is improved.
Description
Technical Field
The invention relates to the technical field of railway safety protection, in particular to an automatic anti-slip system and method.
Background
In the railway transportation operation process, the anti-slip brake of the iron shoes is always an important work of railway train work, the anti-slip operation of the iron shoes is completed by manually placing the iron shoes for a long time, and the situation of heavy anti-slip work task and high labor intensity is always faced. The workers walk back and forth on the track and take and place the iron shoes under the car body, so that the automatic anti-slip system and method are needed to improve the degree of automation of anti-slip operation, reduce the labor intensity and improve the safety.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an automatic anti-slip system and an automatic anti-slip method. The technical scheme is as follows:
in one aspect, an automatic anti-slip system is provided, the system comprising: a control box;
the control box is fixedly connected beside the railway steel rail, a mechanical arm is connected in the control box, and a grabbing mechanism is connected to the mechanical arm;
the gripping mechanism is used for placing or withdrawing the anti-slip robot from the railway steel rail;
the anti-slip robot is used for placing or withdrawing the anti-slip iron shoes at the anti-slip positions on the railway steel rails.
Further, a plurality of fixing plates are fixedly connected to the lower surface of the railway steel rail, a box body installation base is fixedly connected to the lower surface of the control box, and the box body installation base is fixedly connected with the fixing plates;
an opening and closing door is hinged to one side of the control box, the opening and closing door faces the railway steel rail, a linear motor is fixedly connected in the control box, and the output end of the linear motor is hinged to the inner side of the opening and closing door;
the mechanical arm includes: the base, base fixed connection is in the control box, be connected with a elevating system on the base, be connected with rotary mechanism on the elevating system, fixedly connected with first cantilever on the rotary mechanism, be connected with on the first cantilever snatch the mechanism.
Further, the first lifting mechanism includes: a lifting screw rod and a lifting driving motor;
the lifting screw rod is movably connected to the base, the lower end of the lifting screw rod is fixedly connected with a lifting driven synchronous pulley, a first screw nut is screwed on the lifting screw rod, and an upper movable plate and a lower movable plate are fixedly connected to the first screw nut;
the lifting driving motor is fixedly connected to the base, a lifting driving synchronous pulley is fixedly connected to a rotating shaft of the lifting driving motor, and a lifting transmission synchronous belt is connected between the lifting driven synchronous pulley and the lifting driving synchronous pulley;
the rotation mechanism includes: a rotary driving motor and a first rotary shaft;
the upper movable plate and the lower movable plate are provided with first through holes, the first rotating shaft is movably connected in the first through holes, and the lower end of the first rotating shaft is connected with a rotary driven synchronous pulley;
the rotary driving motor is fixedly connected to the upper and lower movable plates, and a rotary driving synchronous pulley is fixedly connected to a rotary shaft of the rotary driving motor;
a rotary transmission synchronous belt is connected between the rotary driven synchronous pulley and the rotary driving synchronous pulley;
The first cantilever is fixedly connected to the first rotating shaft.
Further, the grabbing mechanism includes: a second rotation shaft;
the first cantilever is provided with a second through hole, and the second rotating shaft is movably connected in the second through hole;
the upper end of the second rotating shaft is fixedly connected with a directional driven synchronous pulley, the upper end of the first rotating shaft is fixedly connected with a directional driving synchronous pulley, and a directional driving synchronous belt is connected between the directional driven synchronous pulley and the directional driving synchronous pulley;
the lower end of the second rotating shaft is fixedly connected with a connecting plate, the side surface of the connecting plate is fixedly connected with a double-head reverse screw rod motor, two screw rods of the double-head reverse screw rod motor are both movably connected with a second screw rod nut, the second screw rod nut is fixedly connected with a clamping plate,
the clamping plates are in contact with two opposite sides of the anti-slip robot.
Further, the anti-slip robot includes: the box body and the two second cantilevers;
the second lifting mechanism and the driving mechanism are fixedly connected in the box body;
at least two fourth through holes are formed in the bottom plate of the box body, the driving mechanism is connected with at least two driving side wheels through the fourth through holes, and the driving side wheels are respectively contacted with the inner side and the outer side of the railway steel rail;
Two third through holes are formed in the side face of the box body, the third through holes correspond to the direction of placing the iron shoes, one ends of the two second cantilevers are fixedly connected with the second lifting mechanism through the third through holes respectively, the size of the third through holes is larger than the cross section of the second cantilevers in the third through holes, the other ends of the second cantilevers are fixedly connected with lifting arms, and the anti-slip iron shoes are placed on the lifting arms;
the clamping plates are contacted with two opposite sides of the box body;
the two opposite sides of the box body are fixedly connected with fixing rods, guide rollers are movably connected to the fixing rods, and the guide rollers are contacted with the rail head tread of the steel rail;
the first visual sensor and the second visual sensor are fixedly connected to the two opposite sides of the box body respectively, and face towards the two ends of the steel rail respectively.
Further, the second elevating mechanism includes: a screw motor is arranged on the upper surface of the screw rod,
the screw rod motor is fixedly connected in the box body, a third screw rod nut is connected to the screw rod of the screw rod motor in a threaded mode, a moving plate is fixedly connected to the third screw rod nut, and one end of the second cantilever is fixedly connected with the moving plate through the third through hole;
The driving mechanism includes: at least two linear bearings and a motor driver;
the motor driver and the linear bearing are fixedly connected in the box body, the motor driver is in communication connection with the driving side wheel, the linear bearing is movably connected with an optical axis through a clamp spring, the movement direction of the optical axis faces the inner side and the outer side of the steel rail respectively, a first spring is sleeved on the optical axis, a movable baffle is fixedly connected on the optical axis, a push rod is fixedly connected on the side face of the movable baffle, the two push rods face the inner side and the outer side of the steel rail respectively,
a fifth through hole is formed in two opposite sides of the box body, the fifth through hole corresponds to the ejector rod in position, and the ejector rod is located in the fifth through hole;
an elastic rotating shaft is movably connected in the fourth through hole, an elastic baffle is fixedly connected on the elastic rotating shaft, the elastic baffle is connected with the movable baffle, a driving wheel cantilever is fixedly connected below the elastic rotating shaft, and the driving wheel cantilever is connected with the driving side wheel;
the clamping plate is fixedly connected with a hem facing the double-end reverse screw rod motor, the hem is fixedly connected with an unlocking pressing plate, a top plate of the box body protrudes towards the inner side and the outer side of the steel rail, the hem is in contact with the box body and the protruding, and the unlocking pressing plate is in contact with the ejector rod.
Further, the anti-slip skate includes: a shoe body and a U-shaped anti-theft clamping jaw;
the lower surface of the shoe body is contacted with the tread of the railway steel rail, the upper surface of the shoe body is fixedly connected with a protective shell, the interior of the protective shell is hollow, a seventh through hole is arranged on the upper surface of the protective shell, sixth through holes are arranged on two opposite sides of the protective shell, the sixth through holes respectively correspond to the inner side and the outer side of the railway steel rail,
the two U-shaped anti-theft clamping jaws are respectively and movably connected in the sixth through hole, a groove is formed in the upper surface of one end of each U-shaped anti-theft clamping jaw, which is movably connected with the sixth through hole, an unlocking plate is movably connected in the groove, and the other end of each U-shaped anti-theft clamping jaw is respectively contacted with the inner side and the outer side of the rail web of the railway steel rail;
the pressure trigger device comprises a protective shell, wherein a limiting plate is movably connected in the protective shell, two ends of the limiting plate are respectively positioned in a groove, the limiting plate is positioned right above an unlocking plate, an eighth through hole is formed in the limiting plate, a connecting rod is movably connected in the eighth through hole, the upper end of the connecting rod is fixedly connected with a pressure trigger rod, the upper end of the pressure trigger rod is positioned in the seventh through hole, the diameter of the connecting rod is smaller than that of the pressure trigger rod, a second spring is sleeved on the connecting rod, and the second spring is positioned between the limiting plate and the pressure trigger rod;
The lower end of the connecting rod is fixedly connected with a lower pressing plate, the lower pressing plate is in contact with the upper surface of the unlocking plate, a guide shaft guide sleeve is fixedly connected to the upper penetration of the limiting plate, a guide shaft inner shaft is fixedly connected to the lower pressing plate, and the guide shaft inner shaft is positioned in the guide shaft guide sleeve;
a lower sliding guide post is fixedly connected below the lower pressing plate, a third spring is sleeved on the lower sliding guide post, and the third spring is contacted with the bottom of the inner side of the protective shell;
the anti-theft clamping jaw is characterized in that an unlocking hole is formed in the side face of the groove of the U-shaped anti-theft clamping jaw, the unlocking hole is located on the outer side of the protection shell, and the lifting arm is located in the unlocking hole and below the unlocking plate.
Further, the two opposite sides of the shoe body are fixedly connected with guide plates, and the guide plates are respectively contacted with the rail head side surfaces of the railway steel rail;
the upper surface of the protection shell is inclined downwards towards the direction of the wheels and is arranged in an arc shape, openings are formed in the two opposite sides of the protection shell, and the openings face to the two ends of the railway steel rail respectively; a distance detector is fixedly connected in the protective shell;
the anti-theft clamping jaw protection casing is characterized in that anti-theft clamping jaw protection casings and support plates are fixedly connected to two opposite sides of the protection casing, the anti-theft clamping jaw protection casings are located right above the sixth through holes, the support plates are located right below the sixth through holes, limit grooves are formed in one sides, away from the protection casings, of the support plates, and the side faces of the U-shaped anti-theft clamping jaws are located in the limit grooves.
In another aspect, an automatic anti-slip method is provided, through which anti-slip is performed: the method comprises the following steps:
step (1): the mechanical arm drives the grabbing mechanism to place the anti-slip robot on the railway steel rail;
step (2): the anti-slip robot conveys the anti-slip iron shoes to an anti-slip position on a railway steel rail;
step (3): after the anti-slip is finished, the anti-slip robot withdraws the anti-slip skate from the anti-slip position,
the mechanical arm drives the grabbing mechanism to grab the anti-slip robot and the anti-slip iron shoe back into the control box.
Further, the step (1) specifically includes: the grabbing mechanism clamps the anti-slip robot, the rotating mechanism drives the first cantilever to rotate, the anti-slip robot is rotated to the position right above the railway steel rail, the rotating mechanism drives the first cantilever to rotate and simultaneously drives the grabbing mechanism to rotate, and the direction of the anti-slip robot is adjusted to be in a parallel state with the railway steel rail; after the adjustment, the first lifting mechanism drives the first cantilever to move downwards, the anti-slip robot is placed on a railway steel rail, the grabbing mechanism is separated from the anti-slip robot, and the driving side wheels are tightly held on two sides of the steel rail;
The step (2) specifically comprises: when the anti-slip robot approaches the wheels, the second lifting mechanism drives the second cantilever to move downwards, so that the anti-slip shoes are placed on the rail tread and are continuously pushed forwards until the anti-slip shoes are completely placed in place, the anti-slip robot withdraws from the anti-slip shoes, and the U-shaped anti-theft clamping jaws fall down to clamp the rails;
the step (3) specifically comprises: the lifting arm enters an unlocking hole of the U-shaped anti-theft clamping jaw, the second lifting mechanism drives the second cantilever to move upwards to unlock the U-shaped anti-theft clamping jaw, the anti-slip iron shoe is lifted upwards by continuing to move upwards to separate from a steel rail, the anti-slip robot moves reversely to the lower part of the grabbing mechanism, the grabbing mechanism clamps the anti-slip robot, the driving side wheels separate from two sides of a railway steel rail, and finally the anti-slip robot and the anti-slip iron shoe are retracted into the control box through the first lifting mechanism and the rotating mechanism.
The technical scheme provided by the embodiment of the invention has the beneficial effects that: according to the invention, the manipulator in the control box drives the grabbing mechanism to place the anti-slip robot and the anti-slip iron shoe on the railway steel rail, and then the anti-slip robot is used for placing the anti-slip iron shoe at the anti-slip position, so that the degree of automation of anti-slip operation is improved, the labor intensity is reduced, and the safety is improved; secondly, the anti-slip iron shoe is connected with a U-shaped anti-theft clamping jaw for tightly holding the steel rail, and the U-shaped anti-theft clamping jaw is combined with a video monitor on the anti-slip iron shoe, so that the anti-slip iron shoe has a physical anti-theft function and an electronic monitoring function at the same time, and anti-theft is realized. In addition, the mechanical arm comprises a first lifting mechanism and a rotating mechanism, the first lifting mechanism and the rotating mechanism can accurately place the anti-slip robot clamped on the grabbing mechanism on a railway steel rail, a second lifting mechanism and a driving mechanism are connected to the anti-slip robot, a driving side wheel is driven to run on the steel rail through the driving mechanism, and the anti-slip iron shoes are placed and supported through the second lifting mechanism, so that automatic anti-slip operation can be realized, the labor intensity is reduced, and the safety is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an automatic anti-slip system according to the present invention;
FIG. 2 is a schematic view of an installation structure of the automatic anti-slip system provided by the invention;
FIG. 3 is a schematic view of an installation structure of the automatic anti-slip system provided by the invention;
fig. 4 is a schematic structural view of a gripping mechanism according to the present invention;
FIG. 5 is a schematic view of a anti-slip robot and anti-slip skate provided by the present invention on a railroad rail;
FIG. 6 is a schematic view of a construction of an anti-roll robot according to the present invention;
FIG. 7 is a schematic view of the internal structure of an anti-slip robot according to the present invention;
FIG. 8 is a schematic view of the internal structure of an anti-slip robot according to the present invention;
FIG. 9 is a schematic view of a construction of an anti-running shoe according to the present invention;
FIG. 10 is a schematic cross-sectional view of a cleated article of footwear in accordance with the present invention;
FIG. 11 is a side view of a cleated article of footwear provided in accordance with the present invention;
FIG. 12 is a front view of a roll-resistant skate provided by the present invention.
Reference numerals: 1-a control box; 2-an opening and closing door; 3-a base; 4-a first cantilever; 5-lifting the screw rod; 6-lifting driving motor; 7-lifting the driven synchronous pulley; 8-upper and lower movable plates; 9-a controller; 10-lifting a driving synchronous pulley; 11-lifting transmission synchronous belts; 12-a rotary drive motor; 13-a first rotation axis; 14-rotating a driven synchronous pulley; 15-rotating a driving synchronous pulley; 16-a rotary transmission synchronous belt; 17-a second rotation axis; 18-a directional driven synchronous pulley; 19-orienting a driving synchronous pulley; 20-orienting an active synchronous belt; 21-connecting plates; 22-a double-ended reverse screw motor; 23-clamping plates; 24-a box body; 25-cantilever; 26-driving side wheels; 27-a third through hole; 28-screw motor; 29-a motion plate; 30-a linear bearing; 31-a first spring; 32-a movable baffle; 33-ejector pins; 34-elastic spindle; 35-an elastic baffle; 36-drive wheel cantilever; 37-unlocking the press plate; 38-shoe body; 39-U type anti-theft clamping jaw; 40-guide plates; 41-a protective housing; 42-unlocking plate; 43-limiting plates; 44-connecting rods; 45-pressure trigger lever; 46-a second spring; 47-a lower press plate; 48-guiding the guiding sleeve of the guiding shaft; 49-guiding the shaft inner shaft; 50-sliding guide posts downwards; 51-a third spring; 52-a box body mounting base; 53-a fixed plate; 54-linear motor; 55-lifting linear guide rails; 56—positioning the sensor 56; 57-splint; 58-guiding rod; 59-a fixed rod; 60-guiding rollers; 61-a first vision sensor; 62-a second vision sensor; 63-a positioner; 64-travel switch; 65-motor driver; 66-anti-theft jaw protection housing; 67-supporting plates; 68-unlocking the hole; 69-lifting arm.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1-12, an automatic anti-slip system, comprising: the control box 1, the bottom of the control box 1 is fixedly connected with a box body installation base 52 through bolts, the bottom of the railway steel rail is connected with a plurality of fixing plates 53 through bolts, the fixing plates 53 can be installation angle steels, and the installation base 52 is fixedly connected to the fixing plates 53 through bolts; one side of the control box 1 is hinged with an opening and closing door 2, the opening and closing door 2 faces to a railway steel rail, the inner wall of the control box 1 is fixedly connected with a linear motor 54 through a screw, and the output end of the linear motor 54 is hinged with the inner wall of the opening and closing door 2; the control box 1 is internally connected with a mechanical arm, the mechanical arm is connected with a grabbing mechanism, the grabbing mechanism is clamped with an anti-slip robot, and anti-slip iron shoes are placed on the anti-slip robot.
The mechanical arm comprises: base 3 and upper and lower fly leaf 8, base 3 includes: the lifting control box comprises a top plate and a bottom plate, wherein the top plate and the bottom plate are respectively fixed at the top and the bottom of the inner side of the control box 1 through screws, a side plate is welded between the top plate and the bottom plate, a mounting plate is welded in the middle of the side plate, first mounting holes are formed in the top plate and the mounting plate, a lifting screw rod 5 is rotationally connected in the first mounting holes through bearings, a lifting driving motor 6 is fixedly connected on the mounting plate through bolts, a lifting driven synchronous pulley 7 is fixedly connected to the lower end of the lifting screw rod 5, a rotating shaft of the lifting driving motor 6 faces downwards, a lifting driving synchronous pulley 10 is fixedly connected to the rotating shaft of the lifting driving motor 6, the lifting driven synchronous pulley 7 and the lifting driving synchronous pulley 10 are at the same height, a lifting transmission synchronous belt 11 is connected between the lifting driven synchronous pulley 7 and the lifting driving synchronous pulley 10, a second mounting hole is formed in the upper movable plate 8, a first screw rod nut is screwed on the lifting screw rod 5, and the first screw rod nut is fixedly connected in the second mounting hole; the side plates are vertically provided with lifting linear guide rails 55, the side surfaces of the upper and lower movable plates 8 corresponding to the side plates are welded with sliding blocks matched with the lifting linear guide rails 55, the sliding blocks are slidably connected to the lifting linear guide rails 55, and positioning sensors 56 are arranged on the lifting linear guide rails 55.
The upper and lower movable plates 8 are provided with first through holes, a first rotary shaft 13 is rotationally connected in the first through holes through bearings, the lower end of the first rotary shaft 13 is fixedly connected with a rotary driven synchronous pulley 14, the upper end of the first rotary shaft 13 is fixedly connected with a directional driving synchronous pulley 19, the upper and lower movable plates 8 are connected with a rotary driving motor 12 through bolts, the rotary shaft of the rotary driving motor 12 faces downwards, the rotary driving synchronous pulley 15 is fixedly connected with the rotary shaft of the rotary driving motor 12, the rotary driven synchronous pulley 14 and the rotary driving synchronous pulley 15 are at the same height, a rotary transmission synchronous belt 16 is connected between the rotary driven synchronous pulley 14 and the rotary driving synchronous pulley 15, two clamping plates 57 are welded on the first rotary shaft 13, a first cantilever 4 is fixedly connected between the two clamping plates 57 through bolts, one end of the first cantilever 4 far away from the first rotary shaft 13 is provided with a second through hole, a second rotating shaft 17 is rotatably connected in the second through hole through a bearing, the upper end of the second rotating shaft 17 is fixedly connected with a directional driven synchronous pulley 18, the directional driven synchronous pulley 18 and the directional driving synchronous pulley 19 are positioned at the same height, a directional driving synchronous belt 20 is connected between the directional driven synchronous pulley 18 and the directional driving synchronous pulley 19, the lower end of the second rotating shaft 17 is fixedly connected with a connecting plate 21, the side surface of the connecting plate 21, far away from the first cantilever 4, is fixedly connected with a double-head reverse screw motor 22 through bolts, two screws of the double-head reverse screw motor 22 face the left side and the right side of the first cantilever 4, two screws of the double-head reverse screw motor 22 are respectively connected with a second screw nut in a threaded manner, a clamping plate 23 is welded on the second screw nuts, a hem facing the double-head reverse screw motor 22 is welded below the clamping plate 23, the side of the clamping plate 23 is welded with a Z-shaped unlocking pressure plate 37.
The anti-slip robot includes: a case 24 and two second cantilevers 25; the bottom of the inner side of the box 24 is fixedly connected with a screw motor 28 and four linear bearings 30 through bolts, a screw rod of the screw motor 28 is connected with a third screw nut in a threaded manner, a moving plate 29 is fixedly connected to the third screw nut, a plurality of guide rods 58 are welded at positions, corresponding to the moving plate 29, of the bottom of the inner side of the box 24, the moving plate 29 is movably connected to the guide rods 58 through the linear bearings, two third through holes 27 are formed in the side, corresponding to the direction of placing the anti-slip iron shoes, of the box 24, and one ends of two second cantilevers 25 are welded with the moving plate 29 through the third through holes 27 respectively; four fourth through holes are formed in the bottom plate of the box body 24, the fourth through holes are movably connected with an elastic rotating shaft 34 through bearings, and the upper end of the elastic rotating shaft 34 is connected with an elastic baffle 35 through bolts; the inside of the linear bearing 30 is movably connected with an optical axis, the optical axis is limited on the outer side of the linear bearing through a clamp spring, so that the optical axis does not slide out of the linear bearing, the linear bearing 30 is in a group of two groups, the movement direction of the optical axis of the two groups of linear bearings 30 faces the inner side and the outer side of a steel rail respectively, a first spring 31 is sleeved on the optical axis of the linear bearing 30, movable baffles 32 are welded on the other ends of the optical axes of the two groups of linear bearings 30, ejector rods 33 are welded on one sides of the movable baffles 32 far away from the optical axis, fifth through holes are formed in the sides of the box 24, which correspond to the ejector rods 33, the ejector rods 33 are positioned in the fifth through holes, an elastic baffle 35 is connected with the movable baffles 32, the connecting position is positioned on the same side as the optical axis, the lower end of an elastic rotating shaft 34 is connected with driving wheel cantilever 36 through bolts, the driving wheel cantilever 36 is fixedly connected with a driving side wheel 26 through bolts, and the driving side wheel 26 contacts with the inner side and the outer side of the steel rail respectively; the opposite sides of the top plate of the box 24 are provided with protrusions facing the inner side and the outer side of the rails, respectively, and the flanges of the clamping plate 23 are in contact with the protruding portions of the top plate of the box 24, and the unlocking pressing plate 37 is in contact with the ejector rods 33. Wherein, the drive side wheel 26 is internally provided with a hub motor, and the box 24 is internally provided with a motor driver 65 which is in communication connection with the hub motor.
In addition, two fixing rods 59 are welded on two opposite sides of the box 24 respectively, the two fixing rods 59 correspond to two ends of a railway steel rail respectively, guide rollers 60 are movably connected to the two fixing rods 59, and the guide rollers 60 are contacted with the tread of the rail head of the steel rail and used for ensuring the movement direction of the anti-slip robot; the first visual sensor 61 and the second visual sensor 62 are fixedly connected to the two opposite sides of the box 24 through bolts respectively, and the first visual sensor 61 and the second visual sensor 62 face the two ends of the railway steel rail respectively, so that the anti-slip robot can detect the front and rear environmental states during movement, and the success of anti-slip setting or withdrawal can be ensured; the box 24 is also fixedly connected with a positioner 63 through bolts, so that the anti-slip robot can position; the travel switch 64 is fixedly connected in the box 24 through bolts, the side surface, far away from the third through hole 27, of the box 24 is provided with a jack, and the contact of the travel switch 64 is positioned outside the box 24 through the jack.
The anti-slip skate comprises: shoe body 38 and U type theftproof clamping jaw 39, fixedly connected with deflector 40 on the side that shoe body 38 is relative, the below of shoe body 38 is with the railhead tread contact of railway rail, deflector 40 is with the railhead both sides contact of railway rail respectively, fixedly connected with protection casing 41 above shoe body 38, the upper face of protection casing 41 is to the downward sloping of train wheel direction and arc setting, thereby the convenience is in contact with the train wheel, protection casing 41 inside is hollow form, the opening has been seted up to the relative both sides of protection casing 41, the opening is towards the both ends of railway rail respectively, the sixth through-hole has all been seted up to the relative both sides of protection casing 41, the sixth through-hole corresponds with the inboard and outside direction of railway rail respectively, the seventh through-hole has been seted up on the upper face of protection casing 41, fixedly connected with distance detector in the protection casing 41, the both sides welding that protection casing 41 is relative has theftproof clamping jaw protection casing 66 and backup pad 67, theftproof protection casing 66 is located the sixth through-hole directly over, backup pad 67 is located under the sixth through-hole, the limit groove has been seted up to one side that backup pad 67 kept away from protection casing 41.
Two U-shaped anti-theft clamping claws 39 are arranged, one end of each U-shaped anti-theft clamping claw 39 is movably connected in the sixth through hole through a rotating shaft, a groove is formed in the upper surface of one end of each U-shaped anti-theft clamping claw 39, which is rotatably connected with the sixth through hole, an unlocking plate 42 is movably connected in the groove through the rotating shaft, and the other end of each U-shaped anti-theft clamping claw 39 is contacted with two opposite sides of a railway steel rail; the side surface of the U-shaped anti-theft clamping jaw 39 is positioned in the limit groove of the supporting plate 67; the protection casing 41 is internally and movably connected with a limiting plate 43, two ends of the limiting plate 43 are respectively positioned in grooves, two end parts are in contact with opposite side surfaces of the two grooves, the unlocking plate 42 is Z-shaped, the middle part is movably connected in the grooves through a rotating shaft, one end in the protection casing 41 is lower than one end outside the protection casing 41, the lower surface of the limiting plate 43 is in contact with the upper surface of one end of the unlocking plate 42 outside the protection casing 41, an eighth through hole is formed in the limiting plate 43, a connecting rod 44 is movably connected in the eighth through hole, the upper end of the connecting rod 44 is welded with a pressure triggering rod 45, the upper end of the pressure triggering rod 45 is positioned in a seventh through hole, the diameter of the connecting rod 44 is smaller than the diameter of the pressure triggering rod 45, a second spring 46 is sleeved on the connecting rod 44, the second spring 46 is positioned between the limiting plate 43 and the lower end of the pressure triggering rod 45, the lower end of the connecting rod 44 is connected with a lower pressing plate 47 through a screw, a third mounting hole is formed in the limiting plate 43 and the lower surface of the unlocking plate 42, a guide shaft 47 is welded in the third mounting hole, a guide shaft 47 is sleeved on the upper surface of the inner shaft, the lower shaft 49 is welded with the guide shaft 48, the lower shaft is positioned on the lower shaft 49 and is in the inner shaft 50, and is in contact with the lower shaft 50, and the guide shaft is in the inner shaft 50. Both ends of the unlocking plate 42 and the bottoms of the grooves are provided with gaps, unlocking holes 68 are formed in the side faces of the grooves, the unlocking holes 68 are located on the outer side of the protective shell 41, and lifting arms 69 are located in the unlocking holes 68 and are in contact with the unlocking plate 42 below the outer side of the protective shell 41.
It should be noted that, this automatic anti-slip system still includes controller 9 and host computer, and controller 9 installs in control box 1, and the host computer can be computer etc. still is provided with wireless communication module, wireless charging module and video monitor in control box 1, the anti-slip shoes and the anti-slip robot to and provides the battery of electric quantity for corresponding subassembly. Secondly, wireless charging module, the video monitor, the battery, the host computer, linear electric motor 54, lift driving motor 6, location sensor 57, rotary driving motor 12, double-end reverse lead screw motor 22, lead screw motor 28, motor driver 65, first vision sensor 61, second vision sensor 62, locator 63, travel switch 64, distance detector all pass through wireless communication module and controller 9 communication connection, the staff can prevent swift current robot, prevent swift current running state, battery power etc. circumstances such as the swift current shoes antiskid through the host computer control. In addition, the U-shaped anti-theft clamping jaw 39 of the anti-slip iron shoe is tightly clamped on the steel rail and is combined with a video monitor on the anti-slip iron shoe, so that the anti-theft iron shoe has a physical anti-theft function and an electronic monitoring function at the same time, and anti-theft is realized.
The complete workflow of the invention may be: when the anti-slip robot needs to be anti-slip, a worker controls the linear motor 54 to start through the upper computer, the output end of the linear motor 54 stretches to push the opening and closing door 2 open, then the rotary driving motor 12 is started, the rotary shaft of the rotary driving motor 12 drives the rotary driving synchronous pulley 15 to rotate, the first rotary shaft 13 is driven to rotate through the rotary driving synchronous belt 16 and the driven synchronous pulley 14, the first cantilever 4 is turned to the railway rail, the anti-slip robot is located right above the railway rail, the first rotary shaft 13 rotates, the directional driving synchronous pulley 19 and the directional driving synchronous belt 20 drive the directional driven synchronous pulley 18 to rotate, the second rotary shaft 17 rotates, the connecting plate 21 is driven to rotate, and the direction of the anti-slip robot is adjusted to be parallel to the railway rail.
After the anti-slip robot is adjusted, the lifting driving motor 6 is started, the rotating shaft of the lifting driving motor 6 drives the lifting driving synchronous pulley 10 to rotate, thereby the lifting driven synchronous pulley 7 is driven to rotate through the lifting transmission synchronous belt 11, the lifting driven synchronous pulley 7 drives the lifting screw rod 5 to rotate, the upper movable plate 8 and the lower movable plate 8 move downwards on the lifting screw rod 5, the anti-slip robot is placed on the tread of a railway steel rail, the double-head reverse screw rod motor 22 is started after the anti-slip robot is placed, the clamping plates 23 and the locking plates 37 on the two sides move outwards, at the moment, the compressed first springs 31 stretch to push the movable baffle 32 outwards, the movable baffle 32 drives the elastic baffle 35 to rotate outwards, the elastic baffle 35 drives the elastic rotating shaft 34 to rotate, the elastic rotating shaft 19 rotates the driving wheel cantilever 36, and the driving wheel cantilever 36 rotates the driving side wheels 26 inwards, so that the four driving side wheels 26 clamp the two sides of the steel rail.
After the anti-slip robot is placed, the driving side wheels 26 are controlled to start, the driving side wheels 26 move forwards on two sides of the steel rail, when the distance detector detects that the anti-slip robot is 0.5 meter away from the bottom of the wheel, the speed is reduced, the distance between the driving side wheels and the anti-slip robot is detected in real time, when the front end of the anti-slip shoe is 10mm away from the wheel (the distance between the iron tread and the wheel), the control screw rod motor 28 is controlled to start, the screw rod of the screw rod motor 28 rotates, the moving plate 29 moves downwards, the anti-slip shoe is placed on the steel rail tread, the driving side wheels continue to push forwards until the anti-slip shoe is completely placed in place, after the anti-slip arrangement is completed, the anti-slip robot starts to travel reversely, and two ascending arms 69 of the anti-slip robot withdraw from unlocking holes 68 of the U-type anti-theft clamping jaws 39 fall down to clamp the steel rail. The anti-slip robot reversely runs to the lower part of the grabbing mechanism and is retracted into the control box by the grabbing mechanism.
When the train wheel contacts the upper end of the pressure trigger rod 45, the pressure trigger rod 45 moves downwards to drive the connecting rod 44 to move downwards, the connecting rod 44 pushes the pressing plate 47 downwards, the pressing plate 47 pushes the unlocking plate 42 downwards, the unlocking plate 42 rotates on the rotating shaft, the limiting plate 43 is tilted firstly when the unlocking plate 42 rotates, the limiting plate 43 is tilted out of the groove, the pressure trigger rod 45 continues to move downwards, the unlocking plate 42 continues to rotate, the unlocking plate 42 can drive the U-shaped anti-theft clamping jaw 39 to tilt up, the locking state of the steel rail is relieved, and the release anti-slip iron shoe can slide along the steel rail direction under the driving of the wheel. After the anti-slip is finished, the train wheel leaves the top end of the pressure trigger rod 45, the third spring 51 is restored, the pressing plate 47 is jacked upwards, the second spring 46 is restored, the pressure trigger rod 45 is jacked out of the seventh through hole, the U-shaped anti-theft clamping jaw 39 falls down to clamp the steel rail tightly, the limiting plate 43 falls into the groove, and the U-shaped anti-theft clamping jaw 39 cannot rotate upwards under the action of external force, so that the anti-theft effect is achieved.
When the anti-slip robot needs to be withdrawn, the anti-slip robot is placed on a rail again, the anti-slip robot runs, two lifting arms 69 of the anti-slip robot enter unlocking holes 68 of the U-shaped anti-theft clamping jaw 39 and are in contact with the lower surfaces of the unlocking plates 42, the screw rod motor 28 is started, the moving plate 29 moves upwards, the two lifting arms 69 are driven to rotate one end of the unlocking plates 42, which is positioned outside the protection shell 41, upwards to jack the limiting plates 43, the unlocking plates 42 and the limiting plates 43 are separated from contact with the side surfaces of the grooves, the second cantilever 25 continues to move upwards to lift the shoe body 38 upwards to separate from the steel rail, the anti-slip robot reversely moves to the lower part of the grabbing mechanism, the anti-slip robot is clamped by the clamping plates 23, the locking pressing plates 37 push the ejector rods 33 inwards, the driving side wheels 26 are separated from two sides of the steel rail, and finally the anti-slip robot and the anti-slip iron shoes are retracted into the control box 1 by the first lifting mechanism and the rotating mechanism.
It is worth to say that in the invention, the manipulator in the control box drives the grabbing mechanism to place the anti-slip robot and the anti-slip iron shoe on the railway steel rail, and then the anti-slip robot places the anti-slip iron shoe at the anti-slip position, so that the degree of automation of anti-slip operation is improved, the labor intensity is reduced, and the safety is improved; secondly, the anti-slip iron shoe is connected with a U-shaped anti-theft clamping jaw for tightly holding the steel rail, and the U-shaped anti-theft clamping jaw is combined with a video monitor on the anti-slip iron shoe, so that the anti-slip iron shoe has a physical anti-theft function and an electronic monitoring function at the same time, and anti-theft is realized. In addition, the mechanical arm comprises a first lifting mechanism and a rotating mechanism, the first lifting mechanism and the rotating mechanism can accurately place the anti-slip robot clamped on the grabbing mechanism on a railway steel rail, a second lifting mechanism and a driving mechanism are connected to the anti-slip robot, a driving side wheel is driven to run on the steel rail through the driving mechanism, and the anti-slip iron shoes are placed and supported through the second lifting mechanism, so that automatic anti-slip operation can be realized, the labor intensity is reduced, and the safety is improved.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (9)
1. An automatic anti-slip system, the system comprising: a control box (1);
the control box (1) is fixedly connected beside a railway steel rail, a mechanical arm is connected in the control box (1), and a grabbing mechanism is connected to the mechanical arm;
the mechanical arm includes: the base (3), base (3) fixedly connected in control box (1), be connected with first elevating system on base (3), be connected with rotary mechanism on the first elevating system, fixedly connected with first cantilever (4) on the rotary mechanism, be connected with on the first cantilever (4) snatch the mechanism;
the gripping mechanism is provided with an anti-slip robot in a clamping mode, the gripping mechanism is used for placing or withdrawing the anti-slip robot from a railway steel rail, and the gripping mechanism comprises: a second rotation shaft (17);
the lower end of the second rotating shaft (17) is fixedly connected with a connecting plate (21), the side surface of the connecting plate (21) is fixedly connected with a double-head reverse screw motor (22), two screws of the double-head reverse screw motor (22) are respectively and movably connected with a second screw nut, and a clamping plate (23) is fixedly connected to the second screw nut;
The clamping plates (23) are contacted with two opposite sides of the anti-slip robot;
the anti-slip robot is provided with an anti-slip iron shoe, and is used for placing or withdrawing the anti-slip iron shoe from an anti-slip position on a railway steel rail, and comprises: a box (24) and two second cantilevers (25);
a second lifting mechanism and a driving mechanism are fixedly connected in the box body (24);
at least two fourth through holes are formed in the bottom plate of the box body (24), the driving mechanism is connected with at least two driving side wheels (26) through the fourth through holes, and the driving side wheels (26) are respectively contacted with the inner side and the outer side of the railway steel rail;
two third through holes (27) are formed in the side face of the box body (24), the third through holes (27) correspond to the direction of placing the iron shoes, one ends of the two second cantilevers (25) are fixedly connected with the second lifting mechanism through the third through holes (27) respectively, the size of the third through holes (27) is larger than the cross section size of the second cantilevers (25) in the third through holes (27), lifting arms (69) are fixedly connected to the other ends of the second cantilevers (25), and the anti-slip iron shoes are placed on the lifting arms (69);
The clamping plates (23) are in contact with opposite sides of the box body (24);
the driving mechanism includes: at least two linear bearings (30) and a motor drive (65);
the motor driver (65) and the linear bearing (30) are fixedly connected in the box body (24), the motor driver (65) and the driving side wheel (26) are in communication connection, the linear bearing (30) is movably connected with an optical axis through a clamp spring, the movement direction of the optical axis faces the inner side and the outer side of a steel rail respectively, a first spring (31) is sleeved on the optical axis, a movable baffle (32) is fixedly connected on the optical axis, a push rod (33) is fixedly connected on the side face of the movable baffle (32), the two push rods (33) face the inner side and the outer side of the steel rail respectively,
a fifth through hole is formed in two opposite sides of the box body (24), the fifth through hole corresponds to the ejector rod (33), and the ejector rod (33) is located in the fifth through hole;
an elastic rotating shaft (34) is movably connected in the fourth through hole, an elastic baffle (35) is fixedly connected on the elastic rotating shaft (34), the elastic baffle (35) is connected with the movable baffle (32), a driving wheel cantilever (36) is fixedly connected below the elastic rotating shaft (34), and the driving wheel cantilever (36) is connected with the driving side wheel (26);
A flange facing the double-end reverse screw motor (22) is fixedly connected below the clamping plate (23), an unlocking pressing plate (37) is fixedly connected below the flange, a top plate of the box body (24) protrudes towards the inner side and the outer side of the steel rail, the flange contacts with the box body (24) and the protruding part, and the unlocking pressing plate (37) contacts with the ejector rod (33);
the anti-slip skate includes: a shoe body (38) and a U-shaped anti-theft clamping jaw (39);
the lower surface of the shoe body (38) is contacted with the tread of the railway steel rail, the upper surface of the shoe body (38) is fixedly connected with a protective shell (41), the interior of the protective shell (41) is hollow, a seventh through hole is formed on the upper surface of the protective shell (41), sixth through holes are formed on two opposite sides of the protective shell (41), the sixth through holes respectively correspond to the inner side and the outer side of the railway steel rail,
two U-shaped anti-theft clamping jaws (39) are arranged, one end of each U-shaped anti-theft clamping jaw (39) is movably connected in the sixth through hole, a groove is formed in the upper surface of one end of each U-shaped anti-theft clamping jaw (39) which is movably connected with the sixth through hole, an unlocking plate (42) is movably connected in the groove, and the other end of each U-shaped anti-theft clamping jaw (39) is respectively contacted with the inner side and the outer side of a rail web of a railway;
The protection shell is characterized in that a limiting plate (43) is movably connected in the protection shell (41), two ends of the limiting plate (43) are respectively located in the grooves, the limiting plate (43) is located right above the unlocking plate (42), an eighth through hole is formed in the limiting plate (43), a connecting rod (44) is movably connected in the eighth through hole, a pressure trigger rod (45) is fixedly connected to the upper end of the connecting rod (44), the upper end of the pressure trigger rod (45) is located in the seventh through hole, the diameter of the connecting rod (44) is smaller than that of the pressure trigger rod (45), a second spring (46) is sleeved on the connecting rod (44), and the second spring (46) is located between the limiting plate (43) and the pressure trigger rod (45);
the lower end of the connecting rod (44) is fixedly connected with a lower pressing plate (47), the lower pressing plate (47) is in contact with the upper surface of the unlocking plate (42), a guide shaft guide sleeve (48) is fixedly connected to the limiting plate (43) in a penetrating mode, a guide shaft inner shaft (49) is fixedly connected to the lower pressing plate (47), and the guide shaft inner shaft (49) is positioned in the guide shaft guide sleeve (48);
a lower sliding guide column (50) is fixedly connected below the lower pressing plate (47), a third spring (51) is sleeved on the lower sliding guide column (50), and the third spring (51) is contacted with the bottom of the inner side of the protective shell (41);
An unlocking hole (68) is formed in the side face of the groove of the U-shaped anti-theft clamping jaw (39), the unlocking hole (68) is located on the outer side of the protection shell (41), and the lifting arm (69) is located in the unlocking hole (68) and below the unlocking plate (42).
2. An automatic anti-slip system according to claim 1, characterized in that a plurality of fixing plates (53) are fixedly connected to the lower surface of the railway rail, a box body installation base (52) is fixedly connected to the lower surface of the control box (1), and the box body installation base (52) is fixedly connected with the fixing plates (53);
one side of the control box (1) is hinged with an opening and closing door (2), the opening and closing door (2) faces towards a railway steel rail, a linear motor (54) is fixedly connected in the control box (1), and the output end of the linear motor (54) is hinged with the inner side of the opening and closing door (2).
3. The automatic anti-slip system of claim 2, wherein the first lifting mechanism comprises: a lifting screw rod (5) and a lifting driving motor (6);
the lifting screw rod (5) is movably connected to the base (3), the lower end of the lifting screw rod (5) is connected with a lifting driven synchronous pulley (7), the upper thread of the lifting screw rod (5) is provided with a first screw nut, and the first screw nut is fixedly connected with an upper movable plate and a lower movable plate (8);
The lifting driving motor (6) is fixedly connected to the base (3), a lifting driving synchronous pulley (10) is fixedly connected to a rotating shaft of the lifting driving motor (6), and a lifting transmission synchronous belt (11) is connected between the lifting driven synchronous pulley (7) and the lifting driving synchronous pulley (10);
the rotation mechanism includes: a rotary drive motor (12) and a first rotary shaft (13);
the upper and lower movable plates (8) are provided with first through holes, the first rotating shaft (13) is movably connected in the first through holes, and the lower end of the first rotating shaft (13) is connected with a rotary driven synchronous pulley (14);
the rotary driving motor (12) is fixedly connected to the upper and lower movable plates (8), a rotary driving synchronous pulley (15) is fixedly connected to a rotating shaft of the rotary driving motor (12), and a rotary transmission synchronous belt (16) is connected between the rotary driven synchronous pulley (14) and the rotary driving synchronous pulley (15);
the first cantilever (4) is fixedly connected to the first rotating shaft (13).
4. An automatic anti-slip system according to claim 3, characterized in that the first cantilever (4) is provided with a second through hole, and the second rotating shaft (17) is movably connected in the second through hole;
The upper end of the second rotating shaft (17) is fixedly connected with a directional driven synchronous pulley (18), the upper end of the first rotating shaft (13) is fixedly connected with a directional driving synchronous pulley (19), and a directional driving synchronous belt (20) is connected between the directional driven synchronous pulley (18) and the directional driving synchronous pulley (19).
5. The automatic anti-slip system according to claim 4, wherein fixed rods (59) are fixedly connected to opposite sides of the box body (24), guide rollers (60) are movably connected to the fixed rods (59), and the guide rollers (60) are in contact with the head tread of the steel rail;
the two opposite sides of the box body (24) are fixedly connected with a first visual sensor (61) and a second visual sensor (62) respectively, and the first visual sensor (61) and the second visual sensor (62) face towards the two ends of the steel rail respectively.
6. The automatic anti-slip system of claim 5, wherein the second lifting mechanism comprises: a screw motor (28),
the screw rod motor (28) is fixedly connected in the box body (24), a third screw nut is connected to the screw rod of the screw rod motor (28) in a threaded mode, a moving plate (29) is fixedly connected to the third screw nut, and one end of the second cantilever (25) is fixedly connected with the moving plate (29) through the third through hole (27).
7. An automatic anti-slip system according to claim 6, characterized in that the opposite sides of the shoe body (38) are fixedly connected with guide plates (40), said guide plates (40) respectively contacting the rail head sides of the railway rail;
the upper surface of the protective shell (41) is inclined downwards towards the direction of the wheels and is arranged in an arc shape, openings are formed in the two opposite sides of the protective shell (41), and the openings face the two ends of the railway steel rail respectively; a distance detector is fixedly connected in the protective shell (41);
the anti-theft clamping jaw protection device is characterized in that anti-theft clamping jaw protection shells (66) and support plates (67) are fixedly connected to two opposite sides of the protection shells (41), the anti-theft clamping jaw protection shells (66) are located right above the sixth through holes, the support plates (67) are located right below the sixth through holes, limit grooves are formed in one sides, away from the protection shells (41), of the support plates (67), and the side faces of the U-shaped anti-theft clamping jaws (39) are located in the limit grooves.
8. An automatic anti-slip method for anti-slip using an automatic anti-slip system according to any one of claims 1-7, said method comprising:
step (1): the mechanical arm drives the grabbing mechanism to place the anti-slip robot on the railway steel rail;
Step (2): the anti-slip robot conveys the anti-slip iron shoes to an anti-slip position on a railway steel rail;
step (3): after the anti-slip is finished, the anti-slip robot withdraws the anti-slip iron shoes from the anti-slip position, and the mechanical arm drives the grabbing mechanism to grab the anti-slip robot and the anti-slip iron shoes back into the control box.
9. The automatic anti-slip method according to claim 8, wherein the step (1) specifically comprises: the grabbing mechanism clamps the anti-slip robot, the rotating mechanism drives the first cantilever (4) to rotate, the anti-slip robot is rotated to be right above the railway steel rail, the rotating mechanism drives the first cantilever (4) to rotate and simultaneously drives the grabbing mechanism to rotate, and the direction of the anti-slip robot is adjusted to be parallel to the railway steel rail; after the adjustment, the first cantilever (4) is driven by the first lifting mechanism to move downwards, the anti-slip robot is placed on a railway steel rail, the grabbing mechanism is separated from the anti-slip robot, and the driving side wheels (26) are tightly held on two sides of the steel rail;
the step (2) specifically comprises: the driving mechanism drives the driving side wheels (26) to run on the railway steel rail, when the anti-slip robot approaches the wheels, the second lifting mechanism drives the second cantilever (25) to move downwards, the anti-slip shoes are placed on the tread of the steel rail and continue to push forwards until the anti-slip shoes are completely placed in place, the anti-slip robot withdraws from the anti-slip shoes, and the U-shaped anti-theft clamping jaw (39) falls down to clamp the steel rail;
The step (3) specifically comprises: the lifting arm (69) enters the unlocking hole (68) of the U-shaped anti-theft clamping jaw (39), the second lifting mechanism drives the second cantilever (25) to move upwards to unlock the U-shaped anti-theft clamping jaw (39), the anti-slip iron shoe is lifted upwards continuously by moving upwards, the anti-slip robot is separated from the steel rail and moves reversely to the lower part of the grabbing mechanism, the grabbing mechanism clamps the anti-slip robot, the driving side wheels (26) are separated from two sides of the railway steel rail, and finally the anti-slip robot and the anti-slip iron shoe are retracted into the control box (1) through the first lifting mechanism and the rotating mechanism.
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| CN202111644301.4A CN114261420B (en) | 2021-12-30 | 2021-12-30 | Automatic anti-slip system and method |
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| CN202111644301.4A CN114261420B (en) | 2021-12-30 | 2021-12-30 | Automatic anti-slip system and method |
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