CN113529503A

CN113529503A - Intelligent device and method for fastening railway track fastener bolt

Info

Publication number: CN113529503A
Application number: CN202110934532.2A
Authority: CN
Inventors: 李建军; 王志军; 赵前进; 徐超; 铁启宝; 刘树朋; 邸文园; 张之伟; 王超; 李宝蕴; 蒿利; 刘少波; 田广飞
Original assignee: XI'AN MODERN CONTROL CO Ltd; China Railway No 3 Engineering Group Co Ltd; Track and Bridges Engineering Co Ltd of China Railway No 3 Engineering Group Co Ltd
Current assignee: XI'AN MODERN CONTROL CO Ltd; China Railway No 3 Engineering Group Co Ltd; Track and Bridges Engineering Co Ltd of China Railway No 3 Engineering Group Co Ltd
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2021-10-22
Anticipated expiration: 2041-08-16
Also published as: CN113529503B

Abstract

The invention discloses an intelligent device and a method for fastening a railway track fastener bolt, wherein the device comprises a fastener bolt fastening unit and a power unit, the fastener bolt fastening unit comprises a running underframe, a rotary power mechanism and a control box, and the rotary power mechanism comprises an upper plate, a lower plate, a rotary power part and a guide sliding part; the rotary power component comprises a telescopic component, a rotary component and a sleeve component, and a front laser ranging sensor and a rear laser ranging sensor are arranged at the bottom of the running underframe; the method comprises the following steps: firstly, setting fastening parameters of a fastener bolt; secondly, installing a railway track fastener bolt fastening intelligent device; thirdly, dividing and initially operating fastener bolts on the railway track; fourthly, judging the operation of the fastener bolt; fifthly, fastening the fastener bolt; sixthly, loosening the fastener bolt. The invention realizes the lifting, rotation and running of the sleeve part and can quickly finish the fastening or loosening work of the railway track fastener bolt.

Description

Intelligent device and method for fastening railway track fastener bolt

Technical Field

The invention belongs to the technical field of railway construction, and particularly relates to an intelligent device and a method for fastening a railway track fastener bolt.

Background

In the process of laying railway tracks, after the sleeper and the long steel rail are assembled, repeated adjustment is necessary for many times, fastener bolts need to be fastened or unscrewed in each adjustment, and 6600 fastener bolts in a single line need to be fastened or unscrewed sequentially.

At present, the internal combustion bolt spanner is mainly manually operated and is adjusted one by one, a lot of manpower investment is needed, meanwhile, the labor is very heavy, the torque of the internal combustion bolt spanner is limited by an elastic mechanical device, the error is large, and therefore the manual fastening efficiency is low, and the torque value is unstable.

How to adjust the fastener bolt fast reduces the human input, is one of the urgent problems that need to solve in the railway construction process.

Therefore, lack a railway track fastener bolt fastening intelligent device, realize the lift, rotation and the travel of sleeve part, can accomplish railway track fastener bolt's fastening or the work of unscrewing fast, need not artifical frequent intervention, use manpower sparingly and material resources, improved efficiency of construction and personnel security.

Disclosure of Invention

The invention aims to solve the technical problem of providing an intelligent device for fastening the bolt of the railway track fastener, which has the advantages of simple structure and reasonable design, realizes the lifting, rotation and running of a sleeve part, can quickly finish the fastening or unscrewing of the bolt of the railway track fastener, does not need frequent manual intervention, saves manpower and material resources and improves the construction efficiency and the personnel safety.

In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a railway rails fastener bolt-up intelligent device which characterized in that: the power unit comprises a fastener bolt fastening unit which is arranged on the railway track and can run along the railway track, and a power unit which is detachably connected with the fastener bolt fastening unit;

the fastener bolt fastening unit comprises a running chassis, two groups of rotating power mechanisms, a control box, a protective cover and a control module, wherein the running chassis is arranged on a steel rail in a railway track and can run on a steel rail tread, the two groups of rotating power mechanisms are symmetrically arranged on the running chassis and respectively fasten or unscrew fastener bolts at the side parts of the two steel rails, the control box is arranged between the two rotating power mechanisms, the protective cover is arranged outside the rotating power mechanisms, and the control module is arranged in the control box;

the two groups of rotary power mechanisms have the same structure and comprise an upper plate positioned above the running underframe, a lower plate arranged in the running underframe and parallel to the upper plate, two groups of rotary power components symmetrically arranged on the upper plate and used for fastening or loosening fastener bolts at two sides of each steel rail, and four groups of guide sliding components arranged between the upper plate and the lower plate;

the two groups of rotary power components have the same structure, each rotary power component comprises a telescopic component arranged on the upper plate, a rotary component arranged on the telescopic component and a sleeve component connected with the rotary component, and the telescopic components are connected with the guide sliding components so that the telescopic components drive the rotary component and the sleeve component to be adjusted up and down;

the bottom of the travelling chassis is provided with a front laser ranging sensor and a rear laser ranging sensor, the travelling chassis, the rotating part and the telescopic part are controlled by the control module, and the front laser ranging sensor and the rear laser ranging sensor are connected with the control module.

Foretell intelligent device of railway rails fastener bolt-up, its characterized in that: the driving underframe comprises a main frame, two groups of driving parts symmetrically arranged at the bottoms of two ends of the main frame and four handle parts symmetrically arranged at two ends of the main frame;

the two groups of driving parts have the same structure, each driving part comprises a driving wheel and a driven wheel which are arranged at the bottom of the main frame and a motor part in transmission connection with the driving wheel, each motor part comprises a driving motor which is arranged on the main frame and vertically distributed and a speed reducer in transmission connection with an output shaft of the driving motor, the driving wheel is in transmission connection with the output shaft of the speed reducer through a wheel shaft, the speed reducer is positioned between the two steel rails, the driving motors are controlled by the control module, and the driving wheel and the driven wheel are both positioned on the steel rails;

the handle component comprises a mounting seat arranged at the end part of the main frame and a carrying handle arranged on the mounting seat.

Foretell intelligent device of railway rails fastener bolt-up, its characterized in that: the main frame comprises a first rectangular frame body and a second rectangular frame body which can stretch into and extend out of the first rectangular frame body, and the first rectangular frame body comprises two first longitudinal beams which are arranged in parallel and a plurality of first connecting cross beams arranged between the two first longitudinal beams;

the second rectangle support body includes that two parallels lay the second longeron and a plurality of second that set up between two second longerons connect the crossbeam, the one end that the second longeron is close to first longeron is provided with flexible longeron, flexible longeron stretches into in the first longeron, just be provided with waist shape hole on the first longeron, waist shape hole is laid along the length of first longeron tip, the end of stretching into of flexible longeron is provided with the connecting hole, waist shape hole with the connecting hole passes through bolted connection.

Foretell intelligent device of railway rails fastener bolt-up, its characterized in that: the four groups of guide sliding components are arranged at four corners between the upper plate and the lower plate, have the same structure and comprise guide rods connected between the upper plate and the lower plate and slide blocks sleeved on the guide rods;

the rotating part comprises an upper motor and an upper speed reducer in transmission connection with an output shaft of the upper motor, and the sleeve part is in transmission connection with the output shaft of the upper speed reducer;

the telescopic component comprises an air cylinder arranged on the upper plate and a U-shaped seat connected with the telescopic end of the air cylinder, the outer side wall of the U-shaped seat is connected with a sliding block, the upper speed reducer is connected with a cylinder body of the air cylinder, and the air cylinder and the upper motor are controlled by the control module.

Foretell intelligent device of railway rails fastener bolt-up, its characterized in that: the sleeve part comprises a connecting cylinder, a universal joint and a sleeve which are sequentially connected from top to bottom, the connecting cylinder comprises an upper connecting cylinder and a lower connecting cylinder which is integrally formed with the upper connecting cylinder, the upper connecting cylinder is in transmission connection with an output shaft of an upper speed reducer, the inner diameter of the lower connecting cylinder is larger than that of the upper connecting cylinder, so that a step surface is formed at the joint of the inner side wall of the lower connecting cylinder and the inner side wall of the upper connecting cylinder, a pressure spring is arranged between the top of the universal joint extending into the lower connecting cylinder and the step surface, and the outer side wall of the pressure spring is attached to the inner side wall of the lower connecting cylinder; the bottom of the universal joint is provided with a transition block, the sleeve is arranged on the transition block, and the sleeve, the transition block and the bottom of the universal joint are connected through a bolt;

the top of universal joint connects is provided with and runs through radial regulation hole, two pinholes have been seted up to the symmetry on the lateral wall of connecting cylinder down, two the pinhole with wear to be equipped with the spacer pin in the regulation hole.

Foretell intelligent device of railway rails fastener bolt-up, its characterized in that: the control box comprises a box body, a top cover and a display screen, wherein the top cover is arranged at the top of the box body through a hinge;

the control module comprises a controller, a running motor driver, an upper motor driver and a wireless receiver, wherein the controller, the running motor driver, the upper motor driver and the wireless receiver are arranged in the box body, the input ends of the running motor driver and the upper motor driver are connected with the output end of the controller, the output end of the running motor driver is connected with the input end of a running motor in the running chassis, the output end of the upper motor driver is connected with the input end of an upper motor in the rotating part, and the display screen is controlled by the controller;

and the front laser ranging sensor and the rear laser ranging sensor are both connected with the input end of the controller.

Foretell intelligent device of railway rails fastener bolt-up, its characterized in that: the power unit comprises a chassis frame, driven wheels arranged at four corners of the bottom of the chassis frame, a diesel generator, a tool box and an air compressor, wherein the diesel generator, the tool box and the air compressor are arranged on the chassis frame, and the tool box and the air compressor are positioned on two sides of the diesel generator;

the side wall of the chassis frame is provided with four lifting lugs which are enclosed into a rectangle, the middle part of the side wall of the chassis frame, which is close to the running chassis, is provided with a connecting lug, the middle part of the side wall of the running chassis, which is close to the chassis frame, is provided with a matching connecting lug, and a connecting rod is detachably connected between the matching connecting lug and the connecting lug.

Meanwhile, the invention also discloses a fastening method of the railway track fastener bolt, which has the advantages of simple method steps, reasonable design, convenient realization and good use effect, and is characterized by comprising the following steps:

step one, setting fastening parameters of a fastener bolt:

step 101, setting the fastening working condition of the fastener bolts to be a one-by-one fastening working condition, an interval fastening working condition or an automatic identification fastening working condition;

102, setting the working condition of unscrewing the bolts of the fasteners to be a one-by-one unscrewing working condition, an interval unscrewing working condition or an automatic identification unscrewing working condition;

step two, installing the intelligent device for fastening the railway track fastener bolt:

step 201, a constructor installs a fastener bolt fastening unit on a railway track through a carrying handle and hoists a power unit to the railway track through a lifting lug;

step 202, connecting a fastener bolt fastening unit with a power unit through a connecting rod, and connecting an air compressor on the power unit with an air cylinder on the fastener bolt fastening unit through a pipeline;

step three, dividing and initially operating fastener bolts on the railway track:

step 301, sequentially recording fastener bolts to be fastened as a 1 st fastener bolt, a 2 nd fastener bolt, an I th fastener bolt and an I th fastener bolt along the extension direction of the railway track; wherein I and I are positive integers, I is more than or equal to 1 and less than or equal to I, and the 2 nd fastener bolt to the ith fastener bolt are positioned in front of the 1 st fastener bolt;

step 302, manually installing and rotating the I fastener bolts for two circles to ensure that the I fastener bolts are vertically arranged, and obtaining the minimum distance L between the tops of the fastener bolts and the top of the steel rail according to the distance between the top of each fastener bolt and the top of the steel rail_min；

Step 303, recording the distance between the bottom detection surface of the front laser ranging sensor and the top of the steel rail as l to obtain front laser measurementMinimum distance L between the bottom sensing surface of the sensor and the top of the fastener bolt_min+l；

Step 304, manually moving the intelligent device for fastening the bolt of the railway track fastener to a fastener bolt behind the 1 st track screw so that the deviation between the axis of the sleeve part in the intelligent device for fastening the bolt of the railway track fastener and the axis of the fastener bolt behind the 1 st track screw is not more than 50 mm;

step four, judging the operation of the fastener bolt:

when the fastening operation of the fastener bolt is required, executing a fifth step; when the fastener bolt needs to be unscrewed, executing a sixth step;

step five, fastening the fastener bolt by the intelligent device for fastening the fastener bolt of the railway track fastener:

when the intelligent device of railway track fastener bolt-up carries out automatic identification fastening operating mode, specific process is as follows:

step 501, a controller controls a running motor to work through a running motor driver, the running motor works to drive a speed reducer to rotate, and the speed reducer rotates to drive a fastener bolt fastening unit and a power unit to run along a steel rail tread through a driving wheel, a driven wheel and a driven wheel;

step 502, in the process that the fastener bolt fastening unit and the power unit travel along the steel rail tread, a travel encoder detects the travel distance of the fastener bolt fastening unit and sends the detected travel distance to a controller until the travel distance received by the controller meets a travel distance judgment value, and a laser ranging sensor supplies power to work before operation; wherein the value range of the driving distance judgment value is 500-520 mm;

step 503, operating the fastener bolt fastening unit and the power unit to continue running along the steel rail tread, detecting the front distance in real time by the front laser distance measuring sensor, sending the detected front distance to the controller, comparing the received front distance with a height set value required to be adjusted by the fastener bolt by the controller, and enabling the current distance to meet the requirement [ L ]_min+l，L_max) Then, step 504 and step 505 are executed; otherwise, go to step 506; wherein L is_maxThe distance between the top of the fastener bolt and the detection surface at the bottom of the front laser ranging sensor is shown when the fastener bolt is fastened in place;

step 504, before operation, the laser ranging sensor stops working, the rear laser ranging sensor supplies power to work, the fastener bolt fastening unit and the power unit continue to run along the tread of the steel rail, the rear laser ranging sensor detects in real time and sends the detected rear distance to the controller, and the controller sends the received rear distance and the received L distance to the controller_dComparing, when the rear spacing satisfies [ L ]_d-2.5mm,L_d+2.5mm]When the laser ranging sensor works, the controller controls the running motor to stop working through the running motor driver, the fastener bolt fastening unit and the power unit stop running, and the rear laser ranging sensor stops working; wherein L is_dThe distance between the detection surface of the rear laser ranging sensor and the highest top of the elastic strip is represented;

505, operating the rotating power mechanism to rotate and descend to fasten the 1 st fastener bolt, and finishing the judgment and fastening of the 1 st fastener bolt;

step 506, the fastener bolt fastening unit and the power unit continue to run along the rail tread, the running encoder detects the running distance of the fastener bolt fastening unit and sends the detected running distance to the controller until the running distance received by the controller meets the sleeper distance requirement value, and the judgment and fastening of the 1 st fastener bolt is completed; wherein the required value of the distance between the sleepers is 580 mm-620 mm;

507, finishing the judgment and fastening of the 2 nd fastener bolt according to the method in the steps 501 to 506, the judgment and fastening of the I-th section of railway fastener bolt, and the judgment and fastening of the I-th section of railway fastener bolt;

when the intelligent device of railway rails fastener bolt-up fastens the operating mode one by one, specific process is as follows:

step 50A, according to the method in step 501 and step 502, until the driving distance received by the controller meets the driving distance judgment value;

step 50B, after operation, the laser ranging sensor supplies power to work, and the fastener bolt fastening unit and the power unit continue to work along the tread of the steel railContinuously driving, detecting by the rear laser ranging sensor in real time, sending the detected rear distance to the controller, and sending the received rear distance and the received L by the controller_dComparing, when the rear spacing satisfies [ L ]_d-2.5mm,L_d+2.5mm]When the laser ranging sensor works, the controller controls the running motor to stop working through the running motor driver, the fastener bolt fastening unit and the power unit stop running, and the rear laser ranging sensor stops working;

step 50C, operating the rotary power mechanism to rotate and descend to fasten the 1 st fastener bolt;

step 50D, fastening a 2 nd fastener bolt, fastening an ith fastener bolt, and fastening an ith fastener bolt according to the method of the steps 50A to 50C;

when the intelligent device of railway track fastener bolt-up carries out interval fastening operating mode, specific process is as follows:

step 50I, according to the method in the step 501 and the step 502, until the driving distance received by the controller meets the interval distance judgment value; wherein the interval distance judgment value is equal to the sum of c times of the sleeper distance requirement value and the running distance judgment value; wherein c is a positive integer;

step 50II, fastening the 1+ C fastener bolt according to the step 50B and the step 50C;

step 50III, finishing fastening the alpha fastener bolt according to the method described in the step 50I and the step 50II until finishing fastening the I fastener bolt; wherein alpha is a positive integer;

sixthly, loosening the fastener bolt by the intelligent railway track fastener bolt fastening device:

when the intelligent device of railway track fastener bolt-up carries out automatic identification unscrewing operating mode, specific process is as follows:

operating a rotary power mechanism to rotate reversely and ascend according to the method in the steps 501 to 507 to finish judging and unscrewing the 1 st fastener bolt, judging and unscrewing the 2 nd fastener bolt, judging and unscrewing the I-th section of railway fastener bolt, and judging and unscrewing the I-th section of railway fastener bolt;

when the intelligent device of railway rails fastener bolt-up fastens the unscrewing one by one, specific process is as follows:

operating a rotary power mechanism to reversely rotate and lift according to the method in the steps 50A to 50D to complete the unscrewing of the 1 st fastener bolt, the unscrewing of the 2 nd fastener bolt, the unscrewing of the I-th fastener bolt, and the unscrewing of the I-th fastener bolt;

when railway rails fastener bolt-up intelligent device carries out interval unscrewing operating mode, specific process is as follows:

and operating the rotary power mechanism to reversely rotate and rise according to the method in the steps 50I and 50III to loosen the fastening of the alpha fastener bolt until the loosening of the I fastener bolt is completed.

The above method is characterized in that: in step 505, the rotating power mechanism is operated to rotate and descend to fasten the fastener bolt, and the specific process is as follows:

step 5051, the controller controls the cylinder to extend, the cylinder extends to drive the rotating part and the sleeve part to descend along the guide sliding part, and in the process that the rotating part and the sleeve part descend along the guide sliding part, meanwhile, the controller controls the upper motor to work through the upper motor driver, the upper motor works to drive the upper speed reducer to rotate, the upper speed reducer rotates to drive the connecting cylinder, the universal joint and the sleeve to rotate, so that the sleeve rotates while descending until the sleeve is inserted into the fastener bolt, and the cylinder stops extending;

step 5052, the controller controls the upper motor to work through the upper motor driver, the upper motor works to drive the upper speed reducer to rotate, the upper speed reducer rotates to drive the connecting cylinder, the universal joint and the sleeve to continue rotating, the sleeve rotates to drive the fastener bolt to fasten, and the torque value of the upper motor reaches the required fastening torque value until the current fastener bolt is locked;

5053, controlling the reverse rotation of the upper motor by the controller through the upper motor driver so as to drive the sleeve to rotate reversely by 2-3 degrees;

in step 5054, the cylinder contracts to drive the rotating component and the sleeve component to ascend along the guide sliding component for resetting.

The above method is characterized in that: and in the sixth step, the rotating power mechanism is operated to rotate reversely and rise to finish the unscrewing of the fastener bolt, and the concrete process is as follows:

6031, according to the method described in 5051, the cylinder stops extending until the sleeve is inserted into the fastener bolt;

6032, controlling the upper motor to rotate reversely by the controller through the upper motor driver, rotating the upper speed reducer reversely by the upper motor, rotating the upper speed reducer reversely to drive the connecting cylinder, the universal joint and the sleeve to rotate reversely, rotating the sleeve reversely to drive the fastener bolt to unscrew until the time of rotating the upper motor reversely reaches the set rotating time, and unscrewing the current fastener bolt;

and step 6033, the cylinder contracts to drive the rotating component and the sleeve component to ascend along the guide sliding component to reset.

Compared with the prior art, the invention has the following advantages:

1. the track laying and maintaining device is simple in structure, reasonable in design, simple and convenient to install and arrange, convenient to operate and capable of achieving automation of track laying and maintaining processes.

2. The adopted telescopic component drives the rotating component and the sleeve component to move up and down, so that the sleeve component can be sleeved on the fastener bolt to be fastened, and the sleeve component can be separated from the fastener bolt after fastening is completed and can run along with the running underframe; the rotating part is arranged to drive the sleeve part to rotate, and the fastener bolt is driven to be fastened or unscrewed in the rotating process of the sleeve part; the running underframe is arranged so that the running underframe drives the rotary power mechanism to run on the steel rail tread to realize the running of the sleeve part; through the lifting, the rotation and the running of the sleeve part, the fastening or the unscrewing of the railway track fastener bolt can be quickly completed, and the requirement on the length of the railway track can be met.

3. The guiding sliding component is used for ensuring the verticality of the telescopic component driving the rotating component and the sleeve component to move up and down, so that the sleeve component is effectively sleeved or separated from the fastener bolt, and the working efficiency and accuracy are ensured.

4. The running underframe can improve the running requirement of the fastener bolt fastening intelligent device, and can be matched with the rotating component and the sleeve component to realize the work of the sleeve component in the extending direction of the railway track.

5. The front laser ranging sensor is used for judging whether the front distance detected by the front laser ranging sensor in real time meets the set value of the height of the fastener bolt to be adjusted, so that whether the fastener bolt needs to be fastened or rotated or not is judged conveniently, and automatic identification is facilitated.

6. The rear laser ranging sensor is used for detecting whether the rear distance of the rear laser ranging sensor meets the requirement of L_d-2.5mm,L_d+2.5mm]Therefore, the axial line of the sleeve in the sleeve component and the axial line of the fastener bolt are convenient to judge to be approximately overlapped, the position of the sleeve is measured and positioned through the back laser, and the sleeve is convenient to insert into the fastener bolt.

7. The fastening method of the railway track fastener bolt has the advantages of simple steps, convenience in implementation and simplicity and convenience in operation, and ensures constant torque for fastening the railway track fastener bolt.

8. The railway track fastener bolt fastening method has good use effect, firstly, fastener bolt fastening parameters are set, secondly, the intelligent railway track fastener bolt fastening device is installed, secondly, the fastener bolt on the railway track is divided and initially operated, and then when the fastener bolt needs to be fastened, the intelligent railway track fastener bolt fastening device is used for fastening the fastener bolt; when the fastener bolt needs to be unscrewed, the intelligent device for fastening the fastener bolt of the railway track fastener is used for unscrewing the fastener bolt, so that the fastening or unscrewing work of the railway track fastener bolt is met.

In conclusion, the railway track fastener bolt fastening device is simple in structure and reasonable in design, the lifting, the rotation and the running of the sleeve part are realized, the fastening or unscrewing work of the railway track fastener bolt can be quickly finished, the manual frequent intervention is not needed, the manpower and the material resources are saved, and the construction efficiency and the personnel safety are improved.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

Fig. 1 is a schematic structural view of an intelligent device for fastening a railway track fastener bolt.

Fig. 2 is a front view of fig. 1 with the drop way track removed.

Fig. 3 is a rear view of fig. 1 with the drop way track removed.

Fig. 4 is a schematic structural view of a main frame of the intelligent bolt fastening device for railway track fasteners according to the invention.

FIG. 5 is a schematic view of the fastener bolt fastening unit of the intelligent device for fastening the fastener bolt of the railway track of the present invention without the protective cover.

Fig. 6 is a schematic structural view of a rotary power mechanism of the intelligent device for fastening the bolt of the railway track fastener.

Fig. 7 is a left side view of fig. 6.

FIG. 8 is a schematic structural diagram of a sleeve component of the bolt-fastening intelligent device for the railway track fastener of the invention.

Fig. 9 is a schematic structural diagram of a transition block of the intelligent device for fastening the bolt of the railway track fastener.

Fig. 10 is a schematic structural view of a universal joint of the bolt-fastening intelligent device for the railway track fastener.

Fig. 11 is a schematic circuit block diagram of the intelligent device for fastening the railway track fastener bolt according to the invention.

FIG. 12 is a block flow diagram of a method for bolting railway rail fasteners in accordance with the present invention.

Description of reference numerals:

1-a running chassis; 1-a main frame;

1-1-1-a first stringer; 1-1-2-second stringer;

1-1-3-a first connecting beam; 1-1-4-telescoping stringers; 1-1-5-kidney-shaped holes;

1-1-6-a second connecting beam; 1-1-7-a first mounting cavity; 1-1-8-a second mounting cavity;

1-2-mounting seats; 1-3-carrying handle; 1-4-a travel motor;

1-5-speed reducer; 1-6-driving wheel; 1-7-driven wheel;

1-8-matching connecting lugs; 2-a control box; 2-1-box body;

2-top cover; 2-3-display screen; 2-4-a travel motor driver;

2-5-upper motor drive; 2-6-wireless receiver; 2-7-a controller;

2-8-hand-held remote controller; 3-protective cover;

4, a rotary power mechanism; 4-1-upper plate; 4-2-lower plate;

4-3-rotation element; 4-3-1-upper motor; 4-3-2-upper reducer;

4-a guide slide member; 4-4-1-guide bar; 4-4-2-slide block;

4-5-telescoping parts; 4-5-1-cylinder; 4-5-2-U-shaped seat;

4-5-3-L-shaped connecting plates; 4-6-sleeve member; 4-6-1-connecting cylinder;

4-6-11-upper connecting cylinder; 4-6-12-lower connecting cylinder; 4-6-2-universal joint;

4-6-21-adjustment holes; 4-6-22-connector; 4-6-3-sleeve;

4-6-31-linker; 4-6-32-slope; 4-6-a spacing pin;

4-6-4-pressure spring; 4-6-5-transition block; 4-7-mounting holes;

4-8-lower waist-shaped hole; 5-a power unit; 5-1-a chassis frame;

5-2-a driven wheel; 5-3-tool box; 5-4, positioning the convex edge;

5-wheel seat; 5-6-diesel generator; 5-7, an air compressor;

5-8-lifting lugs; 5-9-connecting lug; 6-railway track;

6-1-steel rail; 6-2-sleeper; 7-fastener bolt;

8-a connecting rod; 9-front laser ranging sensor; 10-rear laser ranging sensor;

11-laser mounting seat; 12-a walking encoder; 13-spring bar.

Detailed Description

An intelligent device for fastening a railway rail fastener bolt as shown in fig. 1 to 11 comprises a fastener bolt fastening unit which is arranged on a railway rail 6 and can run along the railway rail 6, and a power unit 5 which is detachably connected with the fastener bolt fastening unit;

the fastener bolt fastening unit comprises a running underframe 1 which is arranged on a steel rail 6-1 in a railway track 6 and can run on a tread of the steel rail 6-1, two groups of rotary power mechanisms 4 which are symmetrically arranged on the running underframe 1 and respectively fasten or unscrew fastener bolts 7 at the side parts of the two steel rails 6-1, a control box 2 arranged between the two rotary power mechanisms 4, a protective cover 3 arranged outside the rotary power mechanisms 4 and a control module arranged in the control box 2;

the two groups of rotary power mechanisms 4 have the same structure, and each rotary power mechanism 4 comprises an upper plate 4-1 positioned above the running underframe 1, a lower plate 4-2 arranged in the running underframe 1 and parallel to the upper plate 4-1, two groups of rotary power components symmetrically arranged on the upper plate 4-1 and used for fastening or loosening fastener bolts 7 at two sides of each steel rail 6-1, and four groups of guide sliding components 4-4 arranged between the upper plate 4-1 and the lower plate 4-2;

the two groups of the rotary power parts have the same structure, the rotary power parts comprise telescopic parts 4-5 arranged on the upper plate 4-1, rotary parts 4-3 arranged on the telescopic parts 4-5 and sleeve parts 4-6 connected with the rotary parts 4-3, and the telescopic parts 4-5 are connected with the guide sliding parts 4-4, so that the telescopic parts 4-5 drive the rotary parts 4-3 and the sleeve parts 4-6 to be adjusted up and down;

the bottom of the travelling chassis 1 is provided with a front laser ranging sensor 9 and a rear laser ranging sensor 10, the travelling chassis 1, the rotating parts 4-3 and the telescopic parts 4-5 are controlled by the control module, and the front laser ranging sensor 9 and the rear laser ranging sensor 10 are connected with the control module.

As shown in fig. 2 and 3, in the present embodiment, the traveling chassis 1 includes a main frame 1-1, two sets of traveling driving parts symmetrically disposed at the bottoms of both ends of the main frame 1-1, and four handle parts symmetrically disposed at both ends of the main frame 1-1;

the two groups of driving parts have the same structure, each driving part comprises a driving wheel 1-6 and a driven wheel 1-7 which are arranged at the bottom of a main frame 1-1 and a motor part in transmission connection with the driving wheel 1-6, each motor part comprises a driving motor 1-4 which is arranged on the main frame 1-1 and vertically distributed and a speed reducer 1-5 in transmission connection with an output shaft of the driving motor 1-4, each driving wheel 1-6 is in transmission connection with an output shaft of the speed reducer 1-5 through a wheel shaft, each speed reducer 1-5 is positioned between two steel rails 6-1, each driving motor 1-4 is controlled by the control module, and each driving wheel 1-6 and each driven wheel 1-7 are positioned on the steel rails 6-1;

the handle component comprises a mounting seat 1-2 arranged at the end part of the main frame 1-1 and a carrying handle 1-3 arranged on the mounting seat 1-2.

As shown in fig. 4, in the present embodiment, the main frame 1-1 includes a first rectangular frame body and a second rectangular frame body capable of extending into and out of the first rectangular frame body, and the first rectangular frame body includes two first longitudinal beams 1-1-1 arranged in parallel and a plurality of first connecting cross beams 1-1-3 arranged between the two first longitudinal beams 1-1-1;

the second rectangular frame body comprises two second longitudinal beams 1-1-2 which are arranged in parallel and a plurality of second connecting cross beams 1-1-6 which are arranged between the two second longitudinal beams 1-1-2, one end of the second longitudinal beam 1-1-2 close to the first longitudinal beam 1-1-1 is provided with a telescopic longitudinal beam 1-1-4, the telescopic longitudinal beams 1-1-4 extend into the first longitudinal beam 1-1-1, and the first longitudinal beam 1-1-1 is provided with a waist-shaped hole 1-1-5, the waist-shaped holes 1-1-5 are distributed along the length of the end part of the first longitudinal beam 1-1-1, the stretching end of the telescopic longitudinal beam 1-1-4 is provided with a connecting hole, and the waist-shaped hole 1-1-5 is connected with the connecting hole through a bolt.

As shown in fig. 5 and fig. 6, in this embodiment, four sets of the guiding sliding components 4-4 are arranged at four corners between the upper plate 4-1 and the lower plate 4-2, the four sets of the guiding sliding components 4-4 have the same structure, and the guiding sliding components 4-4 include a guiding rod 4-4-1 connected between the upper plate 4-1 and the lower plate 4-2 and a sliding block 4-4-2 sleeved on the guiding rod 4-4-1;

the rotating part 4-3 comprises an upper motor 4-3-1 and an upper speed reducer 4-3-2 in transmission connection with an output shaft of the upper motor 4-3-1, and the sleeve part 4-6 is in transmission connection with an output shaft of the upper speed reducer 4-3-2;

the telescopic component 4-5 comprises a cylinder 4-5-1 arranged on the upper plate 4-1 and a U-shaped seat 4-5-2 connected with the telescopic end of the cylinder 4-5-1, the outer side wall of the U-shaped seat 4-5-2 is connected with a sliding block 4-4-2, the upper speed reducer 4-3-2 is connected with the cylinder body of the cylinder 4-5-1, and the cylinder 4-5-1 and the upper motor 4-3-1 are controlled by the control module.

In the present embodiment, as shown in fig. 7, the sleeve member 4-6 includes a connecting cylinder 4-6-1, a universal joint 4-6-2 and a sleeve 4-6-3 which are connected in sequence from top to bottom, the connecting cylinder 4-6-1 includes an upper connecting cylinder 4-6-11 and a lower connecting cylinder 4-6-12 which is integrally formed with the upper connecting cylinder 4-6-11, the upper connecting cylinder 4-6-11 is in transmission connection with an output shaft of an upper speed reducer 4-3-2, an inner diameter of the lower connecting cylinder 4-6-12 is larger than an inner diameter of the upper connecting cylinder 4-6-11, so that a connecting portion between an inner side wall of the lower connecting cylinder 4-6-12 and an inner side wall of the upper connecting cylinder 4-6-11 forms a step surface, a pressure spring 4-6-4 is arranged between the top of the universal joint 4-6-2 extending into the lower connecting cylinder 4-6-12 and the step surface, and the outer side wall of the pressure spring 4-6-4 is attached to the inner side wall of the lower connecting cylinder 4-6-12; the bottom of the universal joint 4-6-2 is provided with a transition block 4-6-5, the sleeve 4-6-3 is arranged on the transition block 4-6-5, and the sleeve 4-6-3, the transition block 4-6-5 and the bottom of the universal joint 4-6-2 are connected through bolts;

the top of the universal joint 4-6-2 is provided with a radial adjusting hole 4-6-21, the side wall of the lower connecting cylinder 4-6-12 is symmetrically provided with two pin holes, and the two pin holes and the adjusting hole 4-6-21 are penetrated by a limiting pin 4-6-6.

As shown in fig. 11, in this embodiment, the control box 2 includes a box body 2-1, a top cover 2-2 disposed on the top of the box body 2-1 through a hinge, and a display screen 2-3 disposed on the top cover 2-2;

the control module comprises a controller 2-7, a running motor driver 2-4, an upper motor driver 2-5 and a wireless receiver 2-6 connected with the controller 2-7, which are arranged in the box body 2-1, the input ends of the running motor driver 2-4 and the upper motor driver 2-5 are connected with the output end of the controller 2-7, the output end of the running motor driver 2-4 is connected with the input end of the running motor 1-4 in the running chassis 1, the output end of the upper motor driver 2-5 is connected with the input end of the upper motor 4-3-1 in the rotating component 4-3, and the display screen 2-3 is controlled by the controller 2-7;

the front laser ranging sensor 9 and the rear laser ranging sensor 10 are connected with the input ends of the controllers 2-7.

As shown in fig. 2 and 3, in the present embodiment, the power unit 5 includes a chassis frame 5-1, driven wheels 5-2 disposed at four corners of the bottom of the chassis frame 5-1, and a diesel generator 5-6, a tool box 5-3, and an air compressor 5-7 disposed on the chassis frame 5-1, wherein the tool box 5-3 and the air compressor 5-7 are disposed on two sides of the diesel generator 5-6;

four lifting lugs 5-8 which are enclosed into a rectangle are arranged on the side wall of the chassis frame 5-1, connecting lugs 5-9 are arranged in the middle of the side wall of the chassis frame 5-1 close to the running chassis 1, matching connecting lugs 1-8 are arranged in the middle of the side wall of the running chassis 1 close to the chassis frame 5-1, and connecting rods 8 are detachably connected between the matching connecting lugs 1-8 and the connecting lugs 5-9.

In this embodiment, the bottom of the main frame 1-1 is provided with a laser mounting seat 11 for mounting the front laser ranging sensor 9 and the rear laser ranging sensor 10, respectively, so that the detection surfaces of the front laser ranging sensor 9 and the rear laser ranging sensor 10 face downward horizontally.

In the embodiment, the railway track 6 comprises a plurality of sleepers 6-2 arranged along the extension direction of the railway, and two steel rails 6-1 symmetrically arranged on the sleepers 6-2, wherein the steel rails 6-1 and the sleepers 6-2 are connected through fastener bolts 7;

in this embodiment, in actual use, the front laser ranging sensor 9 and the rear laser ranging sensor 10 are symmetrically arranged with respect to the sleeve 4-6-3, and the detection surfaces of the front laser ranging sensor 9 and the rear laser ranging sensor 10 face downward;

the distance between the center of the detection surface of the rear laser ranging sensor 10 and the center of the sleeve 4-6-3 is matched with the distance between the highest top of the elastic strip 13 and the center of the top of the fastener bolt 7, so that when the detection surface of the rear laser ranging sensor 10 detects the highest top of the elastic strip 13, the projection of the center of the sleeve 4-6-3 and the center of the top of the fastener bolt 7 are approximately superposed, and the sleeve 4-6-3 can be conveniently inserted into the top of the fastener bolt 7.

In the embodiment, the waist-shaped holes 1-1-5 are arranged to adjust the length of the telescopic longitudinal beams 1-1-4 extending into the first longitudinal beam 1-1-1, so that the length of the main frame 1-1 is adjusted to adapt to the distance between the two steel rails 6-1, and the positioning convex edges 5-4 are attached to the inner side surfaces of the steel rails 6-1 for positioning.

In this embodiment, in practical use, the first longitudinal beam 1-1-1 is provided with a through hole into which the telescopic longitudinal beam 1-1-4 extends.

In this embodiment, in actual use, one set of the driving parts that travel is located on the first rectangular frame body, and the other set of the driving parts that travel is located on the second rectangular frame body.

In the embodiment, the upper plate 4-1 is provided with mounting holes 4-7 for two groups of rotary power parts to penetrate through, the cylinder body of the cylinder 4-5-1 penetrates through the mounting holes 4-7, and the upper plate 4-1 is provided with an L-shaped connecting plate 4-5-3 fixedly connected with the cylinder body of the cylinder 4-5-1;

the lower plate 4-2 is provided with a lower kidney-shaped hole 4-8 for the sleeve part 4-6 to pass through, and the length direction of the lower kidney-shaped hole 4-8 is along the width direction between the two steel rails 6-1.

In this embodiment, a first mounting cavity 1-1-7 is formed in the first rectangular frame body, and in a second mounting cavity 1-1-8 formed in the second rectangular frame body, one lower plate 4-2 is located in the first mounting cavity 1-1-7, and the other lower plate 4-2 is located in the second mounting cavity 1-1-8.

In this embodiment, the number of the upper motors 4-3-1 is four, and the upper motor drivers 2-5 and the upper motors 4-3-1 are the same in number and are in one-to-one correspondence. The number of the running motors 1-4 is two, and the number of the running motor drivers 2-4 is the same as that of the running motors 1-4, and the running motors are in one-to-one correspondence.

In this embodiment, the traveling motors 1 to 4 are servo motors. More preferably, the running motors 1-4 are SMC80S-0075-30AAK-3LKH servo motors, the speed reducers 1-5 can refer to NMRVO63 speed reducers, and the running motor drivers 2-4 can refer to servo motor drivers.

In this embodiment, the upper motor 4-3-1 is an ECMA-C31010ES tyndard servo motor, the upper reducer 4-3-2 is an AB115_70_ S2_ P2 reducer, and the upper motor driver 2-5 can refer to a tyndard motor driver.

In this embodiment, the TEC-172 industrial controller may be referred to as the controller 2-7, and the wireless receiver 2-6 may be a Chuanhao K2-6/8RX receiver.

In this embodiment, the device is actually used and further comprises a hand-held remote controller 2-8 which is communicated with the wireless receiver 2-6.

In this embodiment, the handheld remote controllers 2 to 8 may be handheld remote controllers of Chuanhu K2 to 6/8 TX.

In the embodiment, during actual use, the handheld remote controller 2-8 can also send commands, the microcontroller 2-7 receives the commands through the wireless receiver 2-6, and fastens according to the fastening working condition, the interval fastening working condition or the automatic identification fastening working condition one by one, or unscrews according to the unscrewing working condition, the interval unscrewing working condition or the automatic identification unscrewing working condition one by one, and other actions are carried out, so that long-distance wireless control is realized.

In the embodiment, the driving wheels 1-6 and the driven wheels 1-7 are respectively installed at four corners of the bottom of the main frame 1-1 through wheel seats 5-5, the driven wheels 5-2 are respectively installed at four corners of the chassis frame 5-1 through wheel seats 5-5, and positioning convex edges 5-4 for realizing the positioning of the steel rail 6-1 are arranged on the inner sides of the driving wheels 1-6, the driven wheels 1-7 and the driven wheels 5-2.

In the embodiment, the diesel generators 5-6 are 6kW AC220V generators.

In the embodiment, the air compressor 5-7 is connected with the cylinder 4-5-1 through a pipeline, the pipeline is provided with an electromagnetic valve 14, the electromagnetic valve 14 is controlled by a controller 2-7, the controller 2-7 operates the electromagnetic valve 14 to be opened, the air compressor 5-7 supplies compressed gas to the cylinder 4-5-1, and the cylinder 4-5-1 extends; the controller 2-7 operates the solenoid valve 14 to close and the cylinder 4-5-1 to contract.

In this embodiment, as shown in fig. 8, in actual use, the sleeve 4-6-3 includes a connecting portion 4-6-31 and a sleeve portion, the connecting portion 4-6-31 is fitted with the transition block 4-6-5, the connecting portion 4-6-31 and the universal joint 4-6-2 are both provided with mounting holes for mounting bolts, the bottom of the inner side wall of the sleeve portion is provided with a slope 4-6-32, and the cross section of the inner side wall of the slope 4-6-32 is larger than that of the inner side wall of the sleeve portion.

In this embodiment, as shown in fig. 9 and 10, the transition block 4-6-5 and the connecting portion 4-6-31 are mounted on the connecting portion 4-6-22 at the bottom of the universal joint 4-6-2.

In the embodiment, the pressure spring 4-6-4 is arranged to enable the sleeve 4-6-3 to have an elastic expansion function, so that the buffer effect of the lifting process of the sleeve 4-6-3 is realized; the universal joint 4-6-2 is arranged to enable the sleeve 4-6-3 to have a universal swing function, and to realize swing when the projection of the sleeve 4-6-3 is not concentric with the fastener bolt 7, so that the sleeve 4-6-3 can be smoothly inserted into the fastener bolt 7.

In the embodiment, the adjusting holes 4-6-21 are waist-shaped holes, and the length direction of the adjusting holes 4-6-21 is arranged along the height direction of the universal joint 4-6-2, so that the universal joint 4-6-2 can move up and down along the limiting pins 4-6-6 through the adjusting holes 4-6-21, a foundation is provided for the up-and-down movement of the universal joint 4-6-2, and the up-and-down fine adjustment of the sleeve 4-6-3 is realized.

In the embodiment, the limiting pin 4-6-6 is arranged, on one hand, the connection between the universal joint 4-6-2 and the lower connecting cylinder 4-6-12 is realized, and on the other hand, the perpendicularity of the lifting of the universal joint 4-6-2 and the sleeve 4-6-3 is ensured through the limiting of the limiting pin 4-6-6.

In the embodiment, the diesel generator 5-6 outputs 220V power to power the electric modules such as the running motor driver 2-4, the upper motor driver 2-5, the upper motor 4-3-1 and the running motor 1-4, and the output 220V is converted into 24V power to power the controller 2-7 through the 220V to 24V module.

A fastening method of a railway fastener bolt as shown in fig. 12, comprising the steps of:

step one, setting fastening parameters of a fastener bolt:

step 201, a constructor installs a fastener bolt fastening unit on a railway track 6 through a carrying handle 1-3 and hoists a power unit 5 to the railway track 6 through a lifting lug 5-8;

step 202, connecting a fastener bolt fastening unit with a power unit 5 through a connecting rod 8, and connecting an air compressor 5-7 on the power unit 5 with an air cylinder 4-5-1 on the fastener bolt fastening unit through a pipeline;

step 301, along the extending direction of the railway track 6, sequentially recording fastener bolts 7 to be fastened as a 1 st fastener bolt, a 2 nd fastener bolt, an I th fastener bolt, and an I th fastener bolt; wherein I and I are positive integers, I is more than or equal to 1 and less than or equal to I, and the 2 nd fastener bolt to the ith fastener bolt are positioned in front of the 1 st fastener bolt;

step 302, manually installing and rotating the I fastener bolts for two circles to ensure that the I fastener bolts are vertically arranged, and obtaining the minimum distance L between the tops of the fastener bolts and the top of the steel rail 6-1 according to the distance between the top of each fastener bolt and the top of the steel rail 6-1_min；

Step 303, recording the distance between the bottom detection surface of the front laser ranging sensor 9 and the top of the steel rail 6-1 as L, and obtaining the minimum distance L between the bottom detection surface of the front laser ranging sensor 9 and the top of the fastener bolt_min+l；

Step 304, manually moving the intelligent device for fastening the bolt of the railway track fastener to a fastener bolt behind the 1 st track bolt so that the deviation between the axis of the sleeve part 4-6 in the intelligent device for fastening the bolt of the railway track fastener and the axis of the fastener bolt behind the 1 st track bolt is not more than 50 mm;

step four, judging the operation of the fastener bolt:

step 501, a controller 2-7 controls a running motor 1-4 to work through a running motor driver 2-4, the running motor 1-4 works to drive a speed reducer 1-5 to rotate, and the speed reducer 1-5 rotates to drive a fastener bolt fastening unit and a power unit 5 to run along a steel rail 6-1 tread through a driving wheel 1-6, a driven wheel 1-7 and a driven wheel 5-2;

step 502, in the process that the fastener bolt fastening unit and the power unit 5 run along the steel rail 6-1 tread, the running encoder 12 detects the running distance of the fastener bolt fastening unit and sends the detected running distance to the controller 2-7 until the running distance received by the controller 2-7 meets the running distance judgment value, and the laser ranging sensor 9 supplies power before operation; wherein the value range of the driving distance judgment value is 500-520 mm;

step 503, operating the fastener bolt fastening unit and the power unit 5 to continue running along the tread of the steel rail 6-1, detecting the front distance in real time by the front laser distance measuring sensor 9, sending the detected front distance to the controller 2-7, comparing the received front distance with a height set value required to be adjusted by the fastener bolt by the controller 2-7, and enabling the current distance to meet [ L ]_min+l，L_maxThen, step 504 and step 505 are executed; otherwise, go to step 506; wherein L is_maxThe distance between the top of the fastener bolt and the detection surface at the bottom of the front laser ranging sensor 9 is shown when the fastener bolt is fastened in place;

step 504, before operation, the laser ranging sensor 9 stops working, the rear laser ranging sensor 10 supplies power to work, and the fastener bolt fastening unit and the power unitThe element 5 continues to run along the tread of the steel rail 6-1, the rear laser ranging sensor 10 detects in real time and sends the detected rear distance to the controller 2-7, and the controller 2-7 sends the received rear distance and the L_dComparing, when the rear spacing satisfies [ L ]_d-2.5mm,L_d+2.5mm]When the vehicle runs, the controller 2-7 controls the running motor 1-4 to stop working through the running motor driver 2-4, the fastener bolt fastening unit and the power unit 5 stop running, and then the laser ranging sensor 10 stops working; wherein L is_dIndicating the distance between the detection surface of the rear laser ranging sensor 10 and the highest top of the elastic strip 13;

step 505, operating the rotary power mechanism 4 to rotate and descend to fasten the 1 st fastener bolt, and finishing the judgment and fastening of the 1 st fastener bolt;

step 506, the fastener bolt fastening unit and the power unit 5 continue to run along the tread of the steel rail 6-1, the running encoder 12 detects the running distance of the fastener bolt fastening unit and sends the detected running distance to the controller 2-7 until the running distance received by the controller 2-7 meets the sleeper distance requirement value, and the judgment and fastening of the 1 st fastener bolt is completed; wherein the required value of the distance between the sleepers is 580 mm-620 mm;

step 50A, according to the method of step 501 and step 502, until the driving distance received by the controller 2-7 meets the driving distance judgment value;

step 50B, supplying power to the laser ranging sensor 10 to work after operation, enabling the fastener bolt fastening unit and the power unit 5 to continue running along the tread of the steel rail 6-1, detecting the rear distance in real time by the rear laser ranging sensor 10, sending the detected rear distance to the controller 2-7, and enabling the controller 2-7 to receive the rear distance and the L distance_dComparing, when the rear spacing satisfies [ L ]_d-2.5mm,L_d+2.5mm]Time, controlThe system 2-7 controls the running motor 1-4 to stop working through the running motor driver 2-4, the fastener bolt fastening unit and the power unit 5 stop running, and the laser ranging sensor 10 stops working;

step 50C, operating the rotary power mechanism 4 to rotate and descend to fasten the 1 st fastener bolt;

step 50I, according to the method in the step 501 and the step 502, until the driving distance received by the controller 2-7 meets the interval distance judgment value; wherein the interval distance judgment value is equal to the sum of c times of the sleeper distance requirement value and the running distance judgment value; wherein c is a positive integer;

step 50III, completing fastening of the alphac +1 th fastener bolt according to the method described in the step 50I and the step 50II until the fastening of the I-th fastener bolt is completed; wherein alpha is a positive integer;

according to the method in steps 501 to 507, operating the rotary power mechanism 4 to rotate reversely and ascend to complete judgment of unscrewing of the 1 st fastener bolt, judgment of unscrewing of the 2 nd fastener bolt, judgment of unscrewing of the I-section railway fastener bolt, and judgment of unscrewing of the I-section railway fastener bolt;

according to the method in the steps 50A to 50D, operating the rotary power mechanism 4 to rotate reversely and lift up to complete the unscrewing of the 1 st fastener bolt, the unscrewing of the 2 nd fastener bolt, the unscrewing of the I-th fastener bolt, and the unscrewing of the I-th fastener bolt;

according to the method described in step 50I and step 50III, the rotational power mechanism 4 is operated to rotate reversely and rise, so as to loosen the fastening of the first fastener bolt α c +1, until the loosening of the first fastener bolt is completed.

In this embodiment, in step 505, the rotating power mechanism 4 is operated to rotate and descend to fasten the fastener bolt, and the specific process is as follows:

in step 5051, the controller 2-7 controls the cylinder 4-5-1 to extend, the cylinder 4-5-1 extends to drive the rotating part 4-3 and the sleeve part 4-6 to descend along the guide sliding part 4-4, and in the process that the rotating part 4-3 and the sleeve part 4-6 descend along the guide sliding part 4-4, the controller 2-7 controls the upper motor 4-3-1 to work through the upper motor driver 2-5, the upper motor 4-3-1 works to drive the upper speed reducer 4-3-2 to rotate, the upper speed reducer 4-3-2 rotates to drive the connecting cylinder 4-6-1, the universal joint 4-6-2 and the sleeve 4-6-3 to rotate, so that the sleeve 4-6-3 rotates while descending, until the sleeve 4-6-3 is inserted into the fastener bolt 7, the cylinder 4-5-1 stops extending;

step 5052, the controller 2-7 controls the upper motor 4-3-1 to work through the upper motor driver 2-5, the upper motor 4-3-1 works to drive the upper speed reducer 4-3-2 to rotate, the upper speed reducer 4-3-2 rotates to drive the connecting cylinder 4-6-1, the universal joint 4-6-2 and the sleeve 4-6-3 to continue to rotate, the sleeve 4-6-3 rotates to drive the fastener bolt 7 to fasten until the torque value of the upper motor 4-3-1 reaches the required fastening torque value, and the current fastener bolt 7 is locked;

step 5053, the controller 2-7 controls the upper motor 4-3-1 to rotate reversely through the upper motor driver 2-5, and further drives the sleeve 4-6-3 to rotate reversely for 2 degrees to 3 degrees;

in step 5054, the cylinder 4-5-1 contracts to drive the rotating component 4-3 and the sleeve component 4-6 to ascend and reset along the guide sliding component 4-4.

In this embodiment, the rotating power mechanism 4 is operated to rotate reversely and lift up in the sixth step to loosen the fastener bolt, and the specific process is as follows:

6031, following the method described in 5051, until the sleeve 4-6-3 is inserted into the fastener bolt 7, the cylinder 4-5-1 stops elongating;

6032, controlling the upper motor 4-3-1 to rotate reversely by the controller 2-7 through the upper motor driver 2-5, rotating the upper speed reducer 4-3-2 to rotate reversely by the upper motor 4-3-1, driving the connecting cylinder 4-6-1, the universal joint 4-6-2 and the sleeve 4-6-3 to rotate reversely by the upper speed reducer 4-3-2 to rotate reversely, driving the fastener bolt 7 to unscrew by the sleeve 4-6-3 to rotate reversely, and completing unscrewing of the current fastener bolt 7 until the time of the reverse rotation of the upper motor 4-3-1 reaches the set rotation time;

and step 6033, the air cylinder 4-5-1 contracts to drive the rotating component 4-3 and the sleeve component 4-6 to ascend and reset along the guide sliding component 4-4.

In this embodiment, the walking encoder 12 is mounted on the wheel axle of the driving wheels 1-6 and is in coaxial transmission connection.

In the embodiment, the required fastening torque value is 1N-3N, and the reduction ratio of the upper speed reducer 4-3-2 is 70:1, so that the maximum output torque of the upper speed reducer 4-3-2 reaches 210N, and the 170N maximum torque requirement of the fastener bolt is met.

In this embodiment, when the electric motor is used specifically, the speed of the reverse rotation of the upper motor 4-3-1 is 4500r/min, and the set rotation time is 0.6s to 2.0 s.

In the present embodiment, the rotation speed during fastening is 4500 r/min.

In the present embodiment, the front laser distance measuring sensor 9 is a distance measuring sensor that is close to the traveling direction.

In the embodiment, it should be noted that, the running motor 1-4 operates to drive the speed reducer 1-5 to rotate in the reverse direction, the speed reducer 1-5 rotates to drive the fastener bolt fastening unit and the power unit 5 to run in the reverse direction along the tread of the steel rail 6-1 through the driving wheel 1-6, the driven wheel 1-7 and the driven wheel 5-2, in the process of running in the reverse direction, the rear laser ranging sensor 9 is marked as a front laser ranging sensor, and the front laser ranging sensor 10 is marked as a rear laser ranging sensor; so that the device can be driven in the forward direction to fasten or unscrew and can also be driven in the backward direction to fasten or unscrew.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. The utility model provides a railway rails fastener bolt-up intelligent device which characterized in that: comprises a fastener bolt fastening unit which is arranged on a railway track (6) and can run along the railway track (6), and a power unit (5) which is detachably connected with the fastener bolt fastening unit;

the fastener bolt fastening unit comprises a running chassis (1) which is arranged on a steel rail (6-1) in a railway track (6) and can run on a tread of the steel rail (6-1), two groups of rotary power mechanisms (4) which are symmetrically arranged on the running chassis (1) and respectively fasten or unscrew fastener bolts (7) at the side parts of the two steel rails (6-1), a control box (2) arranged between the two rotary power mechanisms (4), a protective cover (3) arranged outside the rotary power mechanisms (4) and a control module arranged in the control box (2);

the two groups of rotary power mechanisms (4) have the same structure, and each rotary power mechanism (4) comprises an upper plate (4-1) positioned above the running chassis (1), a lower plate (4-2) arranged in the running chassis (1) and parallel to the upper plate (4-1), two groups of rotary power components which are symmetrically arranged on the upper plate (4-1) and used for fastening or loosening fastener bolts (7) on two sides of each steel rail (6-1), and four groups of guide sliding components (4-4) arranged between the upper plate (4-1) and the lower plate (4-2);

the two groups of rotary power components have the same structure, the rotary power components comprise telescopic components (4-5) arranged on the upper plate (4-1), rotary components (4-3) arranged on the telescopic components (4-5) and sleeve components (4-6) connected with the rotary components (4-3), and the telescopic components (4-5) are connected with the guide sliding components (4-4) so that the rotary components (4-3) and the sleeve components (4-6) are driven by the telescopic components (4-5) to be adjusted up and down;

the laser ranging device is characterized in that a front laser ranging sensor (9) and a rear laser ranging sensor (10) are arranged at the bottom of the traveling chassis (1), the rotating parts (4-3) and the telescopic parts (4-5) are controlled by the control module, and the front laser ranging sensor (9) and the rear laser ranging sensor (10) are connected with the control module.

2. The intelligent device for fastening the bolts of the railway track fastener according to claim 1, wherein: the travelling underframe (1) comprises a main frame (1-1), two groups of travelling driving components symmetrically arranged at the bottoms of the two ends of the main frame (1-1) and four handle components symmetrically arranged at the two ends of the main frame (1-1);

the two groups of driving parts have the same structure, the driving parts comprise driving wheels (1-6) and driven wheels (1-7) which are arranged at the bottom of the main frame (1-1) and motor parts which are in transmission connection with the driving wheels (1-6), the motor component comprises a traveling motor (1-4) which is arranged on the main frame (1-1) and is vertically distributed and a speed reducer (1-5) which is in transmission connection with an output shaft of the traveling motor (1-4), the driving wheel (1-6) is in transmission connection with an output shaft of the speed reducer (1-5) through a wheel shaft, the speed reducer (1-5) is positioned between the two steel rails (6-1), the running motor (1-4) is controlled by the control module, the driving wheels (1-6) and the driven wheels (1-7) are both positioned on the steel rails (6-1);

the handle component comprises a mounting seat (1-2) arranged at the end part of the main frame (1-1) and a carrying handle (1-3) arranged on the mounting seat (1-2).

3. The intelligent device for fastening the bolts of the railway track fastener according to claim 2, wherein: the main frame (1-1) comprises a first rectangular frame body and a second rectangular frame body which can stretch into and extend out of the first rectangular frame body, wherein the first rectangular frame body comprises two first longitudinal beams (1-1-1) which are arranged in parallel and a plurality of first connecting cross beams (1-1-3) which are arranged between the two first longitudinal beams (1-1-1);

the second rectangular frame body comprises two second longitudinal beams (1-1-2) which are arranged in parallel and a plurality of second connecting cross beams (1-1-6) which are arranged between the two second longitudinal beams (1-1-2), one end, close to the first longitudinal beam (1-1-1), of each second longitudinal beam (1-1-2) is provided with a telescopic longitudinal beam (1-1-4), each telescopic longitudinal beam (1-1-4) extends into the corresponding first longitudinal beam (1-1-1), each first longitudinal beam (1-1-1) is provided with a waist-shaped hole (1-1-5), each waist-shaped hole (1-1-5) is arranged along the length of the end of the corresponding first longitudinal beam (1-1-1), and the extending end of each telescopic longitudinal beam (1-1-4) is provided with a connecting hole, the waist-shaped holes (1-1-5) are connected with the connecting holes through bolts.

4. The intelligent device for fastening the bolts of the railway track fastener according to claim 1, wherein: the four groups of guide sliding components (4-4) are arranged at four corners between the upper plate (4-1) and the lower plate (4-2), the four groups of guide sliding components (4-4) have the same structure, and each guide sliding component (4-4) comprises a guide rod (4-4-1) connected between the upper plate (4-1) and the lower plate (4-2) and a sliding block (4-4-2) sleeved on the guide rod (4-4-1);

the rotating part (4-3) comprises an upper motor (4-3-1) and an upper speed reducer (4-3-2) in transmission connection with an output shaft of the upper motor (4-3-1), and the sleeve part (4-6) is in transmission connection with an output shaft of the upper speed reducer (4-3-2);

the telescopic component (4-5) comprises an air cylinder (4-5-1) arranged on the upper plate (4-1) and a U-shaped seat (4-5-2) connected with the telescopic end of the air cylinder (4-5-1), the outer side wall of the U-shaped seat (4-5-2) is connected with the sliding block (4-4-2), the upper speed reducer (4-3-2) is connected with the cylinder body of the air cylinder (4-5-1), and the air cylinder (4-5-1) and the upper motor (4-3-1) are controlled by the control module.

5. The intelligent device for fastening the bolts of the railway track fastener according to claim 4, wherein: the sleeve part (4-6) comprises a connecting cylinder (4-6-1), a universal joint (4-6-2) and a sleeve (4-6-3) which are sequentially connected from top to bottom, the connecting cylinder (4-6-1) comprises an upper connecting cylinder (4-6-11) and a lower connecting cylinder (4-6-12) which is integrally formed with the upper connecting cylinder (4-6-11), the upper connecting cylinder (4-6-11) is in transmission connection with an output shaft of an upper speed reducer (4-3-2), the inner diameter of the lower connecting cylinder (4-6-12) is larger than that of the upper connecting cylinder (4-6-11), so that a step surface is formed at the connection part of the inner side wall of the lower connecting cylinder (4-6-12) and the inner side wall of the upper connecting cylinder (4-6-11), a pressure spring (4-6-4) is arranged between the top of the universal joint (4-6-2) extending into the lower connecting cylinder (4-6-12) and the step surface, and the outer side wall of the pressure spring (4-6-4) is attached to the inner side wall of the lower connecting cylinder (4-6-12); a transition block (4-6-5) is arranged at the bottom of the universal joint (4-6-2), the sleeve (4-6-3) is installed on the transition block (4-6-5), and the sleeve (4-6-3), the transition block (4-6-5) and the bottom of the universal joint (4-6-2) are connected through bolts;

the top of the universal joint (4-6-2) is provided with a radial through adjusting hole (4-6-21), the side wall of the lower connecting cylinder (4-6-12) is symmetrically provided with two pin holes, and the two pin holes and the adjusting hole (4-6-21) are internally provided with a limiting pin (4-6-6).

6. The intelligent device for fastening the bolts of the railway track fastener according to claim 1, wherein: the control box (2) comprises a box body (2-1), a top cover (2-2) arranged at the top of the box body (2-1) through a hinge and a display screen (2-3) arranged on the top cover (2-2);

the control module comprises a controller (2-7) arranged in the box body (2-1), a driving motor driver (2-4), an upper motor driver (2-5) and a wireless receiver (2-6) connected with the controller (2-7), the input ends of the driving motor driver (2-4) and the upper motor driver (2-5) are connected with the output end of the controller (2-7), the output end of the driving motor driver (2-4) is connected with the input end of the driving motor (1-4) in the driving chassis (1), the output end of the upper motor driver (2-5) is connected with the input end of an upper motor (4-3-1) in the rotating part (4-3), and the display screen (2-3) is controlled by a controller (2-7);

the front laser ranging sensor (9) and the rear laser ranging sensor (10) are connected with the input end of the controller (2-7).

7. The intelligent device for fastening the bolts of the railway track fastener according to claim 1, wherein: the power unit (5) comprises a chassis frame (5-1), driven wheels (5-2) arranged at four corners of the bottom of the chassis frame (5-1), a diesel generator (5-6), a tool box (5-3) and an air compressor (5-7) which are arranged on the chassis frame (5-1), wherein the tool box (5-3) and the air compressor (5-7) are positioned on two sides of the diesel generator (5-6);

the side wall of the chassis frame (5-1) is provided with four lifting lugs (5-8) which are enclosed into a rectangle, the middle part of the side wall of the chassis frame (5-1) close to the running chassis (1) is provided with a connecting lug (5-9), the middle part of the side wall of the running chassis (1) close to the chassis frame (5-1) is provided with a matching connecting lug (1-8), and a connecting rod (8) is detachably connected between the matching connecting lug (1-8) and the connecting lug (5-9).

8. A method of fastening a fastening bolt of a railway track using the apparatus of claim 1, the method comprising the steps of:

step one, setting fastening parameters of a fastener bolt:

step 201, a constructor installs a fastener bolt fastening unit on a railway track (6) through a carrying handle (1-3), and hoists a power unit (5) to the railway track (6) through a lifting lug (5-8);

202, connecting a fastener bolt fastening unit with a power unit (5) through a connecting rod (8), and connecting an air compressor (5-7) on the power unit (5) with a cylinder (4-5-1) on the fastener bolt fastening unit through a pipeline;

step 301, along the extension direction of the railway track (6), sequentially recording fastener bolts (7) to be fastened as a 1 st fastener bolt, a 2 nd fastener bolt, an I th fastener bolt, and an I th fastener bolt; wherein I and I are positive integers, I is more than or equal to 1 and less than or equal to I, and the 2 nd fastener bolt to the ith fastener bolt are positioned in front of the 1 st fastener bolt;

step 302, manually installing and rotating the I fastener bolts for two circles to ensure that the I fastener bolts are vertically arranged, and obtaining the minimum distance L between the tops of the fastener bolts and the top of the steel rail (6-1) according to the distance between the top of each fastener bolt and the top of the steel rail (6-1)_min；

Step 303, recording the distance between the bottom detection surface of the front laser ranging sensor (9) and the top of the steel rail (6-1) as L, and obtaining the minimum distance L between the bottom detection surface of the front laser ranging sensor (9) and the top of the fastener bolt_min+l；

Step 304, manually moving the intelligent device for fastening the bolt of the railway track fastener to a fastener bolt behind the 1 st track screw so that the deviation between the axis of a sleeve part (4-6) in the intelligent device for fastening the bolt of the railway track fastener and the axis of a fastener bolt behind the 1 st track screw is not more than 50 mm;

step four, judging the operation of the fastener bolt:

step 501, a controller (2-7) controls a running motor (1-4) to work through a running motor driver (2-4), the running motor (1-4) works to drive a speed reducer (1-5) to rotate, and the speed reducer (1-5) rotates to drive a fastener bolt fastening unit and a power unit (5) to run along a steel rail (6-1) tread through a driving wheel (1-6), a driven wheel (1-7) and a driven wheel (5-2);

step 502, in the process that the fastener bolt fastening unit and the power unit (5) travel along the tread of the steel rail (6-1), the travel encoder (12) detects the travel distance of the fastener bolt fastening unit and sends the detected travel distance to the controller (2-7) until the travel distance received by the controller (2-7) meets the travel distance judgment value, and the laser ranging sensor (9) supplies power before operation;

step 503, operating the fastener bolt fastening unit and the power unit (5) to continue running along the tread of the steel rail (6-1), detecting the front laser distance measuring sensor (9) in real time, sending the detected front distance to the controller (2-7), comparing the received front distance with a height set value required to be adjusted by the fastener bolt by the controller (2-7), and enabling the current distance to meet the requirement that [ L ] is met_min+l，L_max) Then, step 504 and step 505 are executed; otherwise, go to step 506; wherein L is_maxThe distance between the top of the fastener bolt and the detection surface at the bottom of the front laser ranging sensor (9) is shown when the fastener bolt is fastened in place;

step 504, the laser distance measuring sensor (9) stops working before operation, the rear laser distance measuring sensor (10) supplies power to work, the fastener bolt fastening unit and the power unit (5) continue to run along the tread of the steel rail (6-1), the rear laser distance measuring sensor (10) detects in real time and sends the detected rear distance to the controller (2-7), and the controller (2-7) sends the received rear distance and the received L distance to the controller_dComparing, when the rear spacing satisfies [ L ]_d-2.5mm,L_d+2.5mm]When the laser ranging device is used, the controller (2-7) controls the running motor (1-4) to stop working through the running motor driver (2-4), the fastener bolt fastening unit and the power unit (5) stop running, and the laser ranging sensor (10) stops working; wherein L is_dThe distance between the detection surface of the rear laser ranging sensor (10) and the highest top of the elastic strip (13) is shown;

505, operating the rotary power mechanism (4) to rotate and descend to fasten the 1 st fastener bolt, and finishing the judgment and fastening of the 1 st fastener bolt;

step 506, the fastener bolt fastening unit and the power unit (5) continue to run along the tread of the steel rail (6-1), the running encoder (12) detects the running distance of the fastener bolt fastening unit and sends the detected running distance to the controller (2-7) until the running distance received by the controller (2-7) meets the sleeper interval requirement value, and judgment and fastening of the 1 st fastener bolt are completed;

step 50A, according to the method of step 501 and step 502, until the driving distance received by the controller (2-7) meets the driving distance judgment value;

step 50B, supplying power to the laser ranging sensor (10) to work after operation, enabling the fastener bolt fastening unit and the power unit (5) to continue running along the tread of the steel rail (6-1), enabling the rear laser ranging sensor (10) to detect in real time, sending the detected rear distance to the controller (2-7), and enabling the controller (2-7) to receive the rear distance and the L distance_dComparing, when the rear spacing satisfies [ L ]_d-2.5mm,L_d+2.5mm]When the laser ranging device is used, the controller (2-7) controls the running motor (1-4) to stop working through the running motor driver (2-4), the fastener bolt fastening unit and the power unit (5) stop running, and the laser ranging sensor (10) stops working;

step 50C, operating the rotary power mechanism (4) to rotate and descend to fasten the 1 st fastener bolt;

step 50I, according to the method in the step 501 and the step 502, until the driving distance received by the controller (2-7) meets the interval distance judgment value; wherein the interval distance judgment value is equal to the sum of c times of the sleeper distance requirement value and the running distance judgment value; wherein c is a positive integer;

step 50III, completing the fastening of the alpha (c +1) th fastener bolt according to the method described in the step 50I and the step 50II until the fastening of the I-th fastener bolt is completed; wherein alpha is a positive integer;

according to the method in the steps 501 to 507, operating a rotary power mechanism (4) to rotate reversely and lift up to finish judging unscrewing of a 1 st fastener bolt, judging unscrewing of a 2 nd fastener bolt, judging unscrewing of an I-th section of railway fastener bolt, and judging unscrewing of an I-th section of railway fastener bolt;

according to the method in the steps 50A to 50D, operating a rotary power mechanism (4) to rotate reversely and lift up to complete the unscrewing of the 1 st fastener bolt, the unscrewing of the 2 nd fastener bolt, the unscrewing of the ith fastener bolt, and the unscrewing of the I th fastener bolt;

according to the method of the steps 50I and 50III, the rotary power mechanism (4) is operated to rotate reversely to rise, so that the fastening of the fastener bolt of the alpha (c +1) th is loosened until the loosening of the fastener bolt of the I th is completed.

9. The method of claim 6, wherein: in step 505, the rotating power mechanism (4) is operated to rotate and descend to fasten the fastener bolt, and the specific process is as follows:

in the step 5051, the controller (2-7) controls the cylinder (4-5-1) to extend, the cylinder (4-5-1) extends to drive the rotating part (4-3) and the sleeve part (4-6) to descend along the guide sliding part (4-4), and in the process that the rotating part (4-3) and the sleeve part (4-6) descend along the guide sliding part (4-4), the controller (2-7) controls the upper motor (4-3-1) to work through the upper motor driver (2-5), the upper motor (4-3-1) works to drive the upper speed reducer (4-3-2) to rotate, the upper speed reducer (4-3-2) rotates to drive the connecting cylinder (4-6-1), the universal joint (4-6-2) and the sleeve (4-6-3) to rotate, so that the sleeve (4-6-3) rotates while descending until the sleeve (4-6-3) is inserted into the fastener bolt (7), and the cylinder (4-5-1) stops extending;

step 5052, the controller (2-7) controls the upper motor (4-3-1) to work through the upper motor driver (2-5), the upper motor (4-3-1) works to drive the upper speed reducer (4-3-2) to rotate, the upper speed reducer (4-3-2) rotates to drive the connecting cylinder (4-6-1), the universal joint (4-6-2) and the sleeve (4-6-3) to continue rotating, the sleeve (4-6-3) rotates to drive the fastener bolt (7) to fasten until the torque value of the upper motor (4-3-1) reaches the required fastening torque value, and the current fastener bolt (7) is locked;

step 5053, the controller (2-7) controls the upper motor (4-3-1) to rotate reversely through the upper motor driver (2-5), and further drives the sleeve (4-6-3) to rotate reversely for 2 degrees to 3 degrees;

in step 5054, the air cylinder (4-5-1) contracts to drive the rotating component (4-3) and the sleeve component (4-6) to ascend and reset along the guide sliding component (4-4).

10. The method of claim 9, wherein: and in the sixth step, the rotating power mechanism (4) is operated to rotate reversely and rise to finish the unscrewing of the fastener bolt, and the concrete process is as follows:

6031, following the method described in 5051, until the sleeve (4-6-3) is inserted into the fastener bolt (7), the cylinder (4-5-1) stops elongating;

6032, controlling an upper motor (4-3-1) to rotate reversely by a controller (2-7) through an upper motor driver (2-5), rotating an upper speed reducer (4-3-2) to rotate reversely by the upper motor (4-3-1), rotating the upper speed reducer (4-3-2) reversely to drive a connecting cylinder (4-6-1), a universal joint connector (4-6-2) and a sleeve (4-6-3) to rotate reversely, rotating the sleeve (4-6-3) reversely to drive a fastener bolt (7) to unscrew until the time of the reverse rotation of the upper motor (4-3-1) reaches the set rotation time, and completing the unscrewing of the current fastener bolt (7);

and step 6033, the cylinder (4-5-1) contracts to drive the rotating component (4-3) and the sleeve component (4-6) to ascend and reset along the guide sliding component (4-4).