WO2021217765A1 - Crts iii-type track slab rapid smart precision adjustment system and precision adjustment method - Google Patents

Abstract

A CRTS III-type track slab rapid smart precision adjustment system and precision adjustment method, the precision adjustment system comprises a measurement system and a control system (020), and further comprises an execution system, a wireless communication system, and an information management system; the precision adjustment method comprises S1, creating a precision adjustment data file; S2, installing the execution system; S3, setting up a measurement apparatus; S4, free stationing using a total station (011); S5, turning on a precision adjustment robot (031); S6, precision adjustment robot (031) positioning; S7, measurement mold positioning and connecting an adjustment apparatus; S8, measuring; S9, performing precision adjustment; S10, performing verification. By means of the precision adjustment robot (031), the present construction precision adjustment method can improve construction efficiency, and can also implement real-time data transmission of on-site construction precision adjustment data between a backend server and a user end, allowing for performing checking in real-time and abnormal data real-time reporting.

Description

A kind of CRTSⅢ type track board rapid intelligent fine adjustment system and fine adjustment method Technical field

The invention relates to the technical field of high-speed railway ballastless track construction, in particular to a CRTSⅢ type track plate rapid intelligent fine adjustment system and a fine adjustment method.

Background technique

CRTS Ⅲ slab ballastless track technology is a new type of new ballastless track structure technology with independent intellectual property rights developed by my country on the basis of introducing, digesting and absorbing foreign ballastless track technology. Composed of concrete base, self-compacting concrete and CRTSⅢ track slab, it has changed the existing slab ballastless track limit method, expanded the under-slab filling material, optimized the track slab structure and track elasticity, and has higher smoothness and safety. Sex and durability, have more promotion value. Summarizing the previous CRTSⅢ slab ballastless track construction experience, track slab laying is an extremely important process in the entire ballastless track construction, including rough laying of track slabs, fine adjustment, compaction, edge sealing and self-compacting concrete pouring. The fine adjustment of the slab is the top priority of the track slab laying process. Because the control standard of the track slab is high and the accuracy is greatly affected by the temperature difference, the fine adjustment work can only be carried out at night, and the effective working time is short. At present, the method of fine adjustment of the track plate is to manually place 4 measurement frames on the second row of rail support and the second last row of the track plate to be adjusted, and use the total station to measure the 4 prisms on the frame respectively. The three-dimensional space coordinates of the center are calculated, and the deviation values of the measured coordinates of each center point and the design coordinates are calculated, and converted into vertical and horizontal adjustment values. According to the adjustment values, a torque wrench is used to set the adjustment screw of the track plate fine adjustment claw manually. , Adjust the vertical screw first, then adjust the horizontal screw, and gradually adjust the track plate to the designed position. Since the vertical and horizontal are not adjusted simultaneously, the adjustments in the two directions affect each other during the adjustment process, which often takes many times. Repeated adjustments and repeated measurements make the entire measurement process and fine-tuning process very cumbersome. It takes at least 2 technicians and 4 workers to adjust a track plate, and it takes 15 minutes on average. It takes up a lot of manpower, low work efficiency, and the accuracy of measurement frame placement and the quality of fine adjustment of the track plate are greatly affected by factors such as human responsibility and proficiency, and the quality of fine adjustment cannot be effectively guaranteed.

For this reason, the research on the rapid intelligent fine-tuning system and method to realize the integration, automation, intelligence and precision of track slab measurement and fine-tuning will have extremely important significance for the development of my country's CRTSⅢ slab ballastless track technology.

Summary of the invention

The CRTSⅢ type track plate rapid intelligent fine adjustment system provided by the present invention can solve the technical problems of the existing track plate fine adjustment method that is laborious and the fine adjustment quality is low.

In order to achieve the above objectives, the present invention adopts the following technical solutions:

A CRTSⅢ type track plate rapid intelligent fine adjustment system, including a measurement system and a control system, as well as an execution system, a wireless transmission system and an information management system;

The measurement system, execution system, and information management system communicate with the control system respectively;

in,

The measurement system includes an ATR total station, data acquisition software, and a radio station, which are used to automatically collect the three-dimensional space coordinates of the track plate bearing platform and calculate the deviation value from the theoretical value at the same time;

The control system includes a controller and a control software system, which are used to control the mutual linkage between the measurement system and the execution system;

The wireless transmission system wirelessly connects the data information between the measurement system, the execution system, the control system, and the information management system, ensuring the real-time transmission of data and information between the measurement system, the execution system, the information management system, and the control system, and the information Real-time transmission of information between the center and the APP client;

The information management system includes a server, data management and analysis software, and a user terminal, completes data analysis and management of measurement and fine adjustment, provides the user terminal with required data information in real time, and alarms abnormal data in real time.

Further, the execution system includes two fine-tuning robots and two pairs of two-way regulators;

Wherein, the two-way adjuster includes a two-way adjuster base, a vertical adjustment screw, a lateral adjustment screw, and a steering wheel;

The vertical adjustment screw is fixed on the base of the two-way adjuster and is arranged perpendicular to the base of the two-way adjuster. When the vertical adjustment screw is rotated, it moves up and down; the side of the vertical adjustment screw is connected with the fixed connecting plate, and the fixed connection The plate is used to connect the track plate;

The lateral adjustment screw and the vertical adjustment screw are arranged in the same direction and are also perpendicular to the base of the two-way adjuster, so as to facilitate connection with the nut sleeve on the adjustment arm of the fine adjustment robot;

The horizontal adjustment screw is connected with the steering wheel, and the steering wheel is arranged on the upper part of the adjuster base to convert the vertical rotation force of the horizontal adjustment screw into a lateral rotation force;

The two-way adjuster base is placed on the ballastless track base and fixed on the side of the track plate;

The horizontal adjustment screw and the vertical adjustment screw are driven by the adjustment arm servo motor of the fine adjustment robot to complete the synchronous adjustment of the plane and elevation of the track plate without affecting each other. The horizontal adjustment screw is used to adjust the plane and vertical of the track plate. The adjustment screw is used to adjust the elevation of the track plate.

Further, the fine-tuning robot includes a controller, and a walking device, a guide positioning device, a detection device, and an adjustment device that are respectively communicatively connected with the controller;

in,

The walking device includes 2 pairs of walking wheels, which are arranged symmetrically before and after. Each walking wheel is composed of a plurality of rollers that can freely rotate. The axis of the roller and the axis of the wheel are designed to form an angle α. The elliptical cylindrical roller moves forward with the traveling wheel and drives itself to rotate at the same time. Through the rotation of the roller itself, it is realized that when the traveling wheel moves forward, it can move sideways synchronously. The two pairs of traveling wheels are arranged symmetrically before and after, and used in combination, and The coordinated control of the rotation direction and speed of each wheel enables the robot to move in any direction synchronously while moving.

Further, the guiding and positioning device includes two precision laser sensors and a bracket. The bracket is installed and fixed on one side of the robot. According to the structure size of the track plate bearing platform, the height of the bracket is designed to be 3 cm from the bottom of the walking wheel. The length of the space is designed to be 1.3m, and the laser sensor is designed to be installed at the same height position at both ends of the robot fixed support;

The arc surface of the rail platform on the track plate is the sensing area of the laser sensor, and the gap between two adjacent rail platforms is the non-sensing area. When the robot is walking in the middle of the track plate, the laser sensors at the head and tail can be ensured. Enter the sensing area at the same time or enter the non-sensing area at the same time;

When the robot enters the sensing area of the sensor, the laser sensor starts measuring and transmits the measurement data information to the control system in real time. The control system calculates through the loop control algorithm software. According to the calculation results, the robot posture position is adjusted in real time, which greatly improves the fine adjustment. The positioning efficiency and positioning accuracy of the robot.

Further, the loop control algorithm of the fine-tuned robot is to calculate the error e between the set value and the actual value of the robot in the motion state as the main control strategy, and the error e includes the mileage direction deviation value and the center line direction of the robot during positioning. Deviation value and the deviation value of the inclination direction of the fuselage;

The calculation model is as follows:

Direction deviation calculated _{mileage: e = v i · t i} (8)

Calculation of the deviation value of the center line direction:

Calculation of the deviation value of the tilt direction:

Loop control algorithm:

Wherein, e represents the error between the actual value and the set value of the robot; v _i represents the linear velocity of the wheel; t _i represents the time variation value of the sensor enters a sensing area; D represents the distance between the same two rows of rail-end; K _p represents a ratio coefficient; T _i represents the integration time constant; [tau] represents sensor measurements; T represents a time sensing area of the sensor; dt represents the time integration unit; de represents an adjustment amount integration unit; c (t) indicates the time differentiation unit;

When the fine-tuning robot is in motion, real-time calculation and analysis through laser sensor real-time measurement and control system software, real-time adjustment of the body, when de is less than the set value, it means that the robot's posture has been adjusted to the set position.

Further, the detection device includes a lifting bracket, a rail support detection mold, and an elastic connecting device;

The lifting bracket and the detection mold are elastically connected through an elastic connecting device, and the lifting bracket is controlled by a hydraulic control system to lift; the elastic connecting device ensures that the detection mold is freely adjusted when it is positioned in the rail support groove of the track plate;

The detection mold of the supporting rail table includes a precision prism, a tray, and a contact sensor. The precision prism rod is fixed at the center of the bottom of the tray and is perpendicular to the bottom of the tray. The contact sensors are installed on the bottom and sides of the tray. Equilateral triangle design and installation, two touch sensors are installed on the two sides of the tray, and each side sensor is installed at the same height;

The detection method of the detection device includes:

After the fine-tuning robot is accurately positioned, the lifting bracket is lowered, and the detection mold falls into the rail groove with the bracket. Under the action of the elastic connecting device, the detection mold makes precise adjustments to its position until the bottom and sides of the tray and the detection rail platform The bottom surface and each jaw surface are completely attached;

The contact sensor further detects the close contact between the bottom and side of the pallet and the detection surface of the rail platform in real time. If a certain surface is not close, the sensor will display data abnormal alarm in real time, ensuring the positioning accuracy of the detection mold;

The rail-supporting platform detection mold simulates two structural dimensions of the standard rail on the rail-supporting platform for design and manufacturing, one is the track structure height H, and the other is the standard gauge L;

The inspection mold is placed in the rail platform of the standard track plate, and all the contact sensors on the bottom of the pallet and the side of the pallet are in close contact with the rail platform and jaw surface. The center of the prism of the inspection mold is after the standard rail is laid on the rail platform. Rail center.

Further, the method for detecting and calibrating the accuracy of the rail-bearing platform detecting mold includes:

S1. The standard track plate is installed on the standard inspection platform; before installation, the elevation and flatness of the inspection platform surface are detected by a precision electronic level to ensure the flatness and level of the platform surface;

S2. Establish the relative coordinate system of the standard track plate, take the direction of the line connecting the center of the left and right bearing platforms of the standard track plate as the Y axis, the center O of the center line of the left and right bearing platforms as the origin of the coordinate system, and the direction of the Y axis perpendicular to the point O is X axis; set the coordinate origin O coordinate to (0,0), according to the standard track plate design structure size, the center distance between the left and right rail platforms in the same row is 1.5156m, then the _left coordinate of the left rail platform center B is calculated as (0 , -0.7578), the right _{coordinate of the center B of the right} rail platform (0,0.7578);

S3. The method of calculating the center coordinates of the top surface of the rail after the standard rail is laid on the track slab: According to the design drawing of the rail support and the standard track structure, the rail support surface is designed with a slope of 1/40, and the center distance of the left and right support rails in the same row is 1.5156m. track structure height is 0.21m; _{the left} center of the theoretical coordinate of the left rail to G (X _left, Y _left), the center G of the right rail to _{the right} theoretical coordinate (X _Right, Y _right), using analytical geometry:

X _left = 0.21·cos α

Y _left = -0.7578+0.21·sin α

X _right = 0.21·cos α

Y _right =0.7578-0.21·sin α

Center distance between left and right rails:

Through the above calculations, the theoretical coordinates of the left rail center G is _left (0.2099, -0.7526), the theoretical coordinates of the right rail center G is _right (0.2099, 0.7526); the left and right gauge L=1.0522m;

S4. Total station construction: the high-precision intelligent total station is set up at a set distance in the axis direction of the detection platform, and the height of the total station is basically the same as the height of the track plate on the detection platform;

The two precision ball prisms mounted about the central bore to the rail-bearing, the ball of the prism center of rail-center, center of the table according to _{the left} around the rail of the projections B S2, B is the _right-left coordinates and right coordinates of the center of the ball of the prism , The total station uses the spherical prisms and coordinates in the center holes of the left and right track supports to measure and build the station, and the total station coordinate system is calculated to be consistent with the track plate coordinate system;

S5. Inspection of the accuracy of the inspection mold: Take out the precision ball prisms on the rail platform, and place the inspection molds on the left and right rail platforms respectively. All contact sensor contacts are in close contact with the bottom surface of the rail platform and each jaw surface; the whole station precision instrument, respectively prisms on the left and right dies measured results about the actual coordinates of the center of the prism, with said estimated _left S3, G, G _{and right} theoretical coordinate values were compared, the difference is less than 0.3mm, the detection of qualified mold, Otherwise, the testing mold should be calibrated and tested again until the requirements are met.

Further, the adjusting device includes a lifting bracket, a hydraulic transmission system, a two-way adjusting arm and a servo motor;

The hydraulic transmission system provides power for the lifting of the lifting bracket to complete the lifting function of the lifting bracket;

The lifting bracket includes a hydraulic bearing and a bracket beam, and the upper end of the hydraulic bearing is fixedly connected with the middle of the bracket beam;

The two-way adjusting arm includes a horizontal adjusting arm and a vertical adjusting arm, which are respectively composed of a fixed arm and a movable arm. The ball is connected and can swing back and forth, left and right, or in any direction;

The other end of the movable arm is designed as a nut with a bell mouth, which is convenient for quick connection with the adjusting screw on the two-way adjuster, which improves the adaptive connection effect between the two-way adjusting arm and the adjusting screw of the two-way adjuster;

The servo motor provides power for the rotation of the two-way adjusting arm, driving the two-way adjusting arm to rotate, and at the same time driving the adjusting screw of the adjuster to rotate, completing the synchronous and precise adjustment of the plane and the elevation of the track plate.

Further, the center distance between the lifting bracket of the detection device and the lifting bracket of the adjusting device is designed according to the track plate structure design drawing, that is, the second or the penultimate bolt on the lateral center line of the track plate bearing platform and the side of the track plate The horizontal distance between the center lines of the holes, because the CRTSⅢ track plate has many different specifications and models. This embodiment takes three as an example, the second or the last two track plate bolts on the horizontal center line of the rail bearing platform and the side of the track plate There are also 3 design values for the horizontal distance between the center lines of the holes;

In order to ensure that the fine-tuning robot can be used for different plate types, it also includes a channel steel for longitudinal sliding of the hydraulic bearing of the lifting bracket. The channel steel is fixed on the surface of the fuselage. There are 3 limit holes on the channel steel, corresponding to For the above three different plate types, the lower end of the hydraulic bearing can slide longitudinally in the channel steel. The control system can accurately control the hydraulic bearing of the lifting bracket to move to the corresponding limit hole according to the adjusted track plate model. The hydraulic system is hydraulic bearing The movement provides power, and the limit hole fixes the lower end of the hydraulic bearing to ensure that the bracket will not move when it is raised and lowered.

On the other hand, the present invention also discloses a rapid intelligent fine adjustment method for CRTSⅢ type track plate, based on the above-mentioned CRTSⅢ type track plate rapid intelligent fine adjustment system,

It includes the following steps:

S1. Establish a fine-tuning data file:

Input the basic data files into the track plate fine adjustment software system of the backend server, including horizontal and vertical curve elements, starting and ending mileage, curve superelevation, beam length, beam seam, track plate model, the software system automatically calculates and analyzes, and generates the track plate fine adjustment Data files, and transmit the fine-tuned data files to the controller of the construction site control system in real time through the wireless transmission system;

S2. Install the execution system:

According to the model specification and structure design drawing of the track plate, install the two-way adjuster under the track plate, and install 4 two-way adjusters under each track plate, and the adjuster is fixed to the side of the track plate; the intelligent fine-tuning robot is installed on site and will be installed. The two intelligent fine-tuning robots of the company are initially placed on the middle position of the track plate;

S3. Set up measuring device:

Set up the total station in the middle position of the base plate at the set distance of the track plate to be adjusted, and connect it to the radio communication equipment;

Three to four pairs of CPⅢ precision control devices are installed on the front and back of the instrument with precision prisms;

S4. Free construction of total station:

Turn on the power of the controller, open the fine-tuning system software, call the relevant information of the station, start the free station measurement function menu of the total station, and the total station will automatically observe the precision prisms on all CPⅢ precision control points set by the station. , Analyze the accuracy of each point, intelligently remove the control points with poor accuracy, complete the station construction, and wait for the measurement instruction before the fine-tuning of the robot;

S5. Fine-tune the start of the robot:

At the same time, start the switching power supply of 2 fine-tuning robots, and adjust the working state of the fine-tuning robot to "automatic"; start the robot working menu in the fine-tuning system software of the controller;

S6. Fine-tune robot positioning:

According to the model of the track plate to be adjusted, the control system calculates the respective positioning information of the two fine-tuning robots on the track plate, and sends the positioning information to the fine-tuning robot. 1 rail support starts intelligent counting, the first fine-tuning robot automatically walks to the bottom of the track plate to be adjusted, the second rail-supporting laser sensing area, and the second fine-tuning robot automatically walks to the order of the track plate to be adjusted The laser sensing area of the second rail platform, through the real-time measurement data of the precision laser sensor and the cyclic control algorithm software calculation of the robot control system, adjusts the posture of the fuselage to the set position calculated by the software system;

S7. Detecting mold positioning and adjusting device connection:

After the precise positioning of the fine-tuning robot, the detection device and the adjustment device are simultaneously lowered through the hydraulic system, and the detection mold is accurately positioned to the center of the rail platform through the hydraulic pressure and the adaptive elastic connection device, and the bottom and side surfaces of the mold are further detected and measured by the contact sensor. Whether it is in complete contact with the bottom surface of the rail platform and the jaw surface; under the action of hydraulic pressure, the adjusting device positions the two-way adjusting arm to the center position of the adjusting screw of the two-way adjuster on the side of the track plate. Driven by the servo motor, the adjusting arm moves the arm The bell-mouth nut and the adjusting screw on the two-way adjuster are adaptively connected and locked;

S8. Measurement:

After the fine-tuning robot detects the precise positioning of the mold, the adjusting device and the regulator are connected and locked, the information is sent to the controller of the control system in real time, and the control system starts to control the total station to measure, and then measure the left and right precision prisms and 2 of the 1# fine-tuning robot in turn #Fine adjustment of the left and right precision prisms of the robot, calculate the difference between the measured data and the design data in real time through the system software, and convert the difference into the adjustment amount of the adjusting arm;

S9. Fine tuning:

The control system automatically starts to fine-tune the servo motor on the robot adjusting arm, driving the two-way adjusting arm to rotate, and at the same time driving the adjusting screw of the two-way adjuster to rotate, and adjusting according to the number of turns of the adjusting arm calculated by the system software to realize the plane of the track plate. And adjustment of the elevation direction;

S10. Check:

After the fine-tuning of the fine-tuning robot is completed, the control system controls the total station to measure the precision prisms of the two fine-tuning robots again, calculates the deviation between the measured data and the design data in real time, and further analyzes the deviation:

When the deviation value meets the requirements of the specification, the fine-tuning robot adjusting arm and the two-way regulator of the track plate are automatically unlocked, the detection device and the adjusting device rise through the hydraulic system, and the fine-tuning robot automatically advances to the next track plate for fine adjustment, and executes S6 ~ S10 step;

When the deviation value does not meet the specification setting requirements, re-measurement and re-fine adjustment are required, and steps S9 to S10 are executed until the deviation value of the verification data meets the specification.

It can be seen from the above technical scheme that the present invention provides a CRTSⅢ type track plate rapid intelligent fine adjustment system, which uses intelligent robots to place measurement frames instead of manual measurement frames, software algorithms instead of artificial algorithms, and machine fine adjustments instead of artificial fine adjustments. Big data information management replaces manual management. At the same time, real-time transmission of information instructions between the measuring mechanism and the fine-tuning robot is realized through the automatic control system and the wireless communication system. The entire measurement process and the fine-tuning process are completed automatically without manual intervention. The purpose of integration, automation, intelligence and informatization of measurement and fine-tuning is realized. High efficiency, high precision, less human resources and cost saving.

Compared with the traditional fine-tuning mode, this method has the following advantages:

1) The traditional construction fine adjustment method of CRTSⅢ track slab requires 2 technicians and 4 workers, one technician to set up the total station, observation total station, and the other to place the measurement frame, CPⅢ prism, and guide Workers fine-tuned, 4 workers each operate the 4 fine-tuned claws under the track plate; this method only requires 1 technician and 1 auxiliary person, 1 technician is responsible for the erection and guarding of the total station, and the auxiliary person is responsible for Placing the CPⅢ prism reduces the number of operators by 3 times compared with the traditional measurement mode;

2) The traditional manual construction fine-tuning method takes an average of 15 minutes to fine-tune each board, and the intelligent fine-tuning robot construction fine-tuning method takes an average of 5 minutes per board, and the work efficiency is 3 times that of the traditional method;

3) The traditional construction fine-tuning method has no information management platform, data cannot be shared, and information cannot be transmitted in real time; this method establishes real-time data transmission and real-time viewing between the on-site construction fine-tuning data and the back-end server, the server and the client, and it is abnormal Data real-time alarm.

Description of the drawings

Figure 1 is a schematic diagram of an application scenario of the present invention;

Figure 2 is a schematic diagram of the front view of the fine-tuning robot of the present invention;

Figure 3 is a schematic side view of the structure of the fine-tuning robot of the present invention;

4 is a schematic diagram of the three-dimensional structure of the fine-tuning robot of the present invention;

Figure 5 is a schematic diagram of the structure of the fine-tuning robot guiding and positioning device of the present invention;

Figures 6 and 7 are schematic diagrams of the structure of the detection device of the fine-tuning robot;

Figures 8 and 9 are schematic diagrams of the structure of the adjustment device of the fine-tuning robot;

Figure 10 is a schematic side view of the structure of the two-way regulator of the present invention;

Figure 11 is a three-dimensional schematic diagram of the two-way adjuster of the present invention;

Figures 12 and 13 are schematic diagrams of the method for detecting the accuracy of a mold according to the present invention;

Figure 14 is a schematic diagram of the fine-tuning workflow of the present invention;

Figures 15 and 16 are schematic diagrams of the calculation principle of the motion mode of the gear train of the robot body of the present invention;

Figure 17 is a schematic diagram of the internal structure of the two-way regulator of the present invention.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are a part of the embodiments of the present invention, but not all of the embodiments.

As shown in Figure 1, the CRTSⅢ type track plate rapid intelligent fine adjustment system in this embodiment includes:

A CRTSⅢ type track plate rapid intelligent fine adjustment system includes a measurement system, a control system 020, an execution system, a wireless transmission system and an information management system.

The measurement system is composed of ATR total station 011, data acquisition software, and radio station. It automatically collects the three-dimensional space coordinates of the track plate bearing platform, and calculates the deviation value from the theoretical value at the same time;

The control system 020 is composed of a controller and a software system, which is used to control the mutual linkage between the measurement system and the execution system;

The wireless transmission system wirelessly connects the data information between the measurement system, the execution system, the control system 020 and the information management system, ensuring the real-time transmission of data and information between the measurement system, the execution system, the information management system, and the control system, as well as the information center Real-time transmission of information with APP client;

The information management system consists of a server, data management and analysis software, and user terminals. It completes the data analysis and management of measurement and fine-tuning, provides the user terminals with required data information in real time, and alarms abnormal data in real time.

The execution system consists of 2 fine-tuning robots 031 and 2 pairs of bidirectional regulators 032.

As shown in Figures 10 and 11, the two-way adjuster 032 is composed of a base 0321, a fixing bolt, a vertical adjustment screw 0322, a lateral adjustment screw 0323, and a steering wheel 0324;

The vertical adjusting screw 0322 is fixed on the two-way adjuster base 0321, and is arranged perpendicular to the two-way adjuster base 0321. When the vertical adjusting screw 0322 is rotated, it moves up and down; the side of the vertical adjusting screw 0322 and the fixed connecting plate 0325 Connection, the fixed connection plate 0325 is used to connect the track plate;

The horizontal and vertical adjustment screws are designed to be in the same direction and perpendicular to the base surface, which is convenient to connect with the nut sleeve on the adjustment arm of the fine adjustment robot 031. The steering wheel 0324 is built in the upper middle of the two-way adjuster. The vertical rotation force is transformed into the lateral rotation force; the base 0321 of the two-way adjuster is placed on the base of the ballastless track, and is fixed in the bolt hole on the side of the track plate by its fixing bolts. The bidirectional adjuster base 0321 is designed in a zigzag shape, so that the bottom friction will be greater and firmer. The horizontal and vertical adjustment screw of the two-way adjuster is driven by the adjustment arm servo motor of the fine adjustment robot 031 to complete the synchronous adjustment of the plane and elevation of the track plate without affecting each other. The horizontal adjustment screw 0323 is used to adjust the horizontal direction of the track plate ( Plane), the vertical adjustment screw 0322 is used to adjust the vertical (elevation) of the track plate.

Specifically, the working principle of the two-way regulator 032:

The bottom surface of the base 0321 is designed in a zigzag shape, so the friction between the bottom and the base surface is very large. When the fine adjuster and the track plate are fixedly connected by fixing bolts, the position will not slide due to the bottom friction.

The fixed connecting plate 0325 and the track plate are connected together by bolts. When the fine-tuning robot drives the vertical adjustment screw to rotate, the fixed connecting plate 0325 will move up or down, thereby driving the three-shaped track plate to move up or down, and when the fine-tuning robot drives the horizontal adjustment screw 0323 to rotate, it passes through the steering The transmission of the two gears in the wheel will change the vertical rotation of the horizontal adjustment screw into the horizontal movement of the horizontal screw, so as to realize the horizontal movement of the track plate.

As shown in Figure 17, the steering wheel 0324 includes a steering wheel assembly 03241;

It also includes a transverse gear 03242 and a longitudinal gear 03243 arranged inside the steering wheel assembly 03241. The transverse gear 03242 is arranged directly below the transverse adjustment screw 0323. The bottom of the transverse adjustment screw 0323 is fixedly connected with the transverse gear 03242, and the rotation is adjusted horizontally. The screw 0323 drives the transverse gear 03242 to rotate in the horizontal direction, the longitudinal gear 03243 meshes with the transverse gear 03242, and the rotation of the transverse gear 03242 drives the longitudinal gear 03243 to rotate in the vertical direction;

It also includes a horizontal screw 03244, a sliding nut 03245 and an adjuster housing 03246. The adjuster housing 03246 is fixed on the top of the two-way adjuster base 0321, and the sliding nut 03245 is fixed inside the adjuster housing 03246;

The transverse screw rod 03244 is horizontally arranged in the steering wheel assembly 03241. One end of the transverse screw rod 03244 is threadedly connected with the sliding nut 03245, and the other end is fixed with the longitudinal gear 03243, that is, rotating the transverse screw rod 03244 can drive the steering wheel assembly 03241 to face each other. The sliding nut 03245 moves left and right.

The transverse gear 03242 and the longitudinal gear 03243 are respectively supported and connected with the steering wheel assembly 03241 through a bearing 03247. The bearing only supports the rotating shaft and reduces the friction coefficient during the rotation.

The vertical adjustment screw 0322 is fixed above the adjuster housing 03246 by setting a fixed block, and the vertical adjustment screw 0322 can be connected to the fixed block in rotation. Specifically, it also includes the associated block 03232 and the connecting board 03231;

The lateral adjustment screw 0323 and the fixed connecting plate 0325 are connected by a connecting plate 03231;

The associated block 03232 is provided with a horizontal through hole and a longitudinal through hole, and the connecting plate 03231 passes through the horizontal through hole of the associated block 03232;

At the same time, adjusting holes are provided at the corresponding positions of the connecting plate 03231, and the vertical adjusting screws 0322 respectively pass through the longitudinal through holes of the associated block 03232 and the adjusting holes on the connecting plate 03231;

The connecting plate 03231 can slide horizontally relative to the associated block 03232; at the same time, the connecting plate 03231 moves left and right relative to the connecting plate 03231 through the adjustment hole;

The associated block 03232 and the vertical adjustment screw 0322 are threadedly connected. That is, the connecting plate 03231 can move left and right and up and down within a certain range in the internal space of the associated block 03232.

The fine adjustment robot 031 is composed of a controller 0311, a walking device 0312, a guide positioning device 0313, a detection device 0314, an adjustment device 0315, and a longitudinal movement limit device 0316 for the adjustment device.

Among them, the controller 0311 includes a control display panel, control switches, control software and circuit equipment, etc.; the display panel is used to display the setting parameters, working status information and warning information of the fine-tuning machine; the control switch is used to turn on the fine-tuning machine. , Off state setting, automatic and manual function setting; control software is used to control the walking, positioning, detection device and adjustment device of the fine adjustment machine Overall linkage;

The walking device 0312 consists of 2 pairs (4) of walking wheels, which are symmetrically designed and installed in the front and rear. Each walking wheel is composed of multiple elliptical cylindrical rollers that can freely rotate. The roller axis and the wheel axis are designed to form an angle α, and the walking wheels move forward. At the same time, the elliptical cylindrical roller on the wheel moves forward with the traveling wheel, and at the same time drives itself to rotate. Through the rotation of the roller itself, it is realized that the traveling wheel can move sideways synchronously. Through the symmetrical design of the two pairs of traveling wheels, Combined use, and coordinated control of the rotation direction and speed of each wheel, can make the robot move in any direction while moving. The specific design and movement principle are as follows:

The fine-tuning robot walking device 0312 is designed as 2 pairs (4) walking wheels, 1 pair at the front and rear of the fuselage, arranged symmetrically, and driven by the corresponding 4 sets of servo motors to roll forward, according to the design angle of the roller axis and the wheel axis. There are two types of left-hand and right-hand rotation. The wheels on the same axis are arranged symmetrically (that is, one is designed to rotate in the left direction, and the other is designed to rotate in the right direction). .

A relative coordinate system ΣO is established on the fuselage with the midpoint O of the robot fuselage as the origin. The forward direction of the robot is the x-axis direction, and the leftward driving direction is the y-axis direction. Assuming that the length of the fuselage is 2L, the width is 2l, and the angle between the axis of the traveling hub and the axis of the roller is α, correspondingly _Vi (i=1, 2, 3, 4) is the linear velocity generated by the four wheels driven by the motor, V _i = R _W × θ _i , where R _W is the radius of the wheel, and θ _i is the rotational angular velocity of the corresponding wheel. The kinematic analysis, the linear velocity of the four wheels V _{i (i} = 1,2,3,4) can be obtained separately, (2), (3), (4) calculated by the following formula (1):

V ₁ =V _x -V _y ·tan α-(L·tan α+l)·ω _z (1)

V ₂ =V _x +V _y ·tan α+(L·tan α+l)·ω _z (2)

V ₃ =V _x -V _y ·tan α+(L·tan α+l)·ω _z (3)

V ₄ =V _x +V _y ·tan α-(L·tan α+l)·ω _z (4)

In the above formula, V _x , V _y , ω _z are respectively the speed of each gear train in the relative coordinate system ΣO, moving in the X direction, moving speed in the Y direction, and the angular velocity of the vertical axis around the center point O, which can be passed through this The rotational angular velocity of the 4 wheels obtains the omni-directional movement of the wheels. The calculation formulas for the speed of the robot in the relative coordinate system ΣO are shown in (5), (6), (7):

According to the analysis of typical movement conditions such as forward and backward movement, left and right movement, in-situ rotation, oblique movement, etc., the rotation direction and speed of each wheel can be calculated by the above formula, and the wheel steering relationship of the common wheel train omni-directional movement can be obtained. .

Through the innovative design of the fine-tuning robot 031 wheel train, the research on the theoretical calculation method of the automatic control of the robot's running speed and the rotation speed of the wheel train, it is realized that the fine-tuning robot can adjust the direction and posture of the fuselage in real time while moving, which improves the fine tuning. The effect of robot posture adjustment.

The guide positioning device 0313 is composed of two precision laser sensors 03131 and a bracket 03132. The bracket is installed and fixed on one side of the robot. According to the structure size of the track plate bearing platform, the bracket height is designed to be 3cm from the bottom of the walking wheel, between the two ends of the bracket. The length is designed to be 1.3m, and the precision laser sensor 03131 is designed to be installed at the same height at both ends of the robot fixed bracket. The arc surface of the rail platform on the track plate is the sensing area of the laser sensor, and the gap between two adjacent rail platforms is the non-sensing area. When the robot is walking in the middle of the track plate, the laser sensors at the head and tail can be ensured. Enter the sensing area at the same time or enter the non-sensing area at the same time. When the robot enters the sensing area of the sensor, the laser sensor starts measuring and transmits the measurement data information to the control system in real time. The control system calculates through the cyclic control algorithm software. The deviation value in any direction) greatly improves the positioning efficiency and positioning accuracy of the fine-tuning robot. The loop control algorithm is to calculate the error e between the set value and the actual value of the robot in the motion state as the main control strategy. The error e includes the mileage direction deviation value, the center line direction deviation value and the fuselage tilt direction deviation value during the positioning of the robot. . The calculation model is as follows:

Direction deviation calculated _{mileage: e = v i · t i} (8)

Calculation of the deviation value of the center line direction:

Calculation of the deviation value of the tilt direction:

Loop control algorithm:

Wherein, e represents the error between the actual value and the set value of the robot; v _i represents the linear velocity of the wheel; t _i represents the time variation value of the sensor enters a sensing area; D represents the distance between the same two rows of rail-end; K _p represents a ratio coefficient; T _i represents the integration time constant; [tau] represents sensor measurements; T represents a time sensing area of the sensor; dt represents the time integration unit; de represents an adjustment amount integration unit; c (t) indicates the time differentiation unit;

When the fine-tuning robot 031 is in motion, real-time calculation and analysis through laser sensor real-time measurement and control system software, real-time adjustment of the body, when de is small enough and less than the set value, it means that the robot's posture has been adjusted to the set position.

Through the innovative combination design of the guide positioning device 0313, the walking device 0312 and the cyclic motion control method, the technical problem of the precise positioning of the fine-tuning robot 031 is solved, and the positioning efficiency and positioning accuracy of the fine-tuning robot are improved.

The detection device 0314 is composed of a lifting bracket 03141, a rail support detection mold 03142, and an elastic connecting device 03143. The lifting bracket and the detection mold are elastically connected by an elastic connection device, and the lifting bracket is controlled by the hydraulic control system to lift; the elastic connection device ensures that the detection mold can be adjusted freely when it is positioned in the rail groove of the track plate;

The rail platform detection mold 03142 is composed of a precision prism 031421, a tray 031422, and a contact sensor 031423. The precision prism rod is fixed at the center of the bottom of the tray 031422, perpendicular to the bottom surface of the tray. The contact sensor 031423 is installed on the bottom and side of the tray, respectively, at the bottom of each tray. Install 3 contact sensors and install them according to an equilateral triangle design. 2 contact sensors are installed on each of the two sides of the tray, and each side sensor is installed at the same height.

When the fine adjustment robot 031 is accurately positioned, the lifting bracket is lowered, and the detection mold falls into the rail groove with the bracket. Under the action of the elastic connecting device, the detection mold makes precise adjustments to its position until the bottom and sides of the pallet and the detection support rail The bottom surface of the table and each jaw surface are completely adhered; the contact sensor further detects the adherence of the bottom and side surfaces of the tray to the detection surface of the rail platform in real time. If one of the surfaces is not adhered, the sensor displays the data abnormality alarm in real time to ensure the detection The positioning accuracy of the mold.

The testing die of the rail support is the core part of the testing device. It is designed and manufactured by simulating the two important structural dimensions of the standard rail on the rail support. It is the standard gauge L (the distance between the centers of the two rails is 1.505m). The inspection mold is placed in the rail platform of the standard track plate, and all the contact sensors on the bottom of the pallet and the side of the pallet are in close contact with the rail platform and jaw surface. The center of the prism of the inspection mold is after the standard rail is laid on the rail platform. Rail center (that is, the distance between the center of the prism and the center of the rail platform is 0.21m, and the distance between the centers of the prisms of the two inspection molds is 1.505m); if there is a deviation in the manufacturing accuracy of the inspection mold, then the prism center of the inspection mold is not It can be accurately stated that it is the center of the rail, and the precision inspection should be carried out before the inspection mold is used in the factory.

The method of testing and calibrating the accuracy of the mold for the rail-bearing platform (as shown in Figure 11 and 12):

(1) The standard track plate is installed on the standard inspection platform; before installation, use a precision electronic level to detect the elevation and flatness of the inspection platform surface to ensure that the platform surface is flat and level;

(2) Establish the relative coordinate system of the standard track plate, take the direction of the center line of the left and right bearing platforms of the standard track plate as the Y axis, the center O of the center line of the left and right bearing platforms is the origin of the coordinate system, and the Y axis direction is perpendicular to the point O Is the X axis; set the coordinate origin O coordinate to (0,0), according to the standard track plate design structure size, the center distance of the left and right rail platforms in the same row is 1.5156m, then the _left coordinate of the left rail platform center B can be calculated as (0, -0.7578), the _right coordinate of the center B of the right rail platform (0, 0.7578);

(3) The method of calculating the center coordinates of the top surface of the rail after the standard rail is laid on the track slab: According to the design drawing of the rail support and the standard track structure, the rail support surface is designed with a slope of 1/40, and the center distance of the left and right support rails in the same row is 1.5156m , The design height of the track structure is 0.21m. Left center G of _{the left} rail to theoretical coordinate (X _left, Y _left), the center G of the right rail to _{the right} theoretical coordinate (X _Right, Y _right), using analytical geometry:

X _left = 0.21·cos α

Y _left = -0.7578+0.21·sin α

X _right = 0.21·cos α

Y _right =0.7578-0.21·sin α

Center distance between left and right rails (gauge):

Through the above calculations, the theoretical coordinates of the left rail center G is _left (0.2099, -0.7526), the theoretical coordinates of the right rail center G is _right (0.2099, 0.7526); the left and right gauge L=1.0522m.

(4) Total station construction:

The high-precision intelligent total station is installed on the axis of the detection platform, about 20 meters, the height of the total station is basically the same as the height of the track plate on the detection platform; two precision ball prisms are placed in the center holes of the left and right rail platforms respectively The center of the spherical prism is the center of the rail platform. The _left and _right coordinates of the center of the left and right rail platform B calculated according to (2) are the center coordinates of the left and right spherical prisms. The total station uses the The spherical prism and coordinates are used to measure and build a station, and it can be calculated that the coordinate system of the total station station is consistent with the coordinate system of the track plate;

(5) Inspection of mold accuracy:

Take out the precision ball prisms on the rail platform, and place the detection molds on the left and right rail platforms. All contact sensor contacts are in close contact with the bottom surface of the rail platform and each jaw surface; The precision prism is measured, and the actual coordinates of the center of the left and right prisms are obtained _{. Compare and analyze the theoretical coordinates of G left} and G _right calculated in the above step (3). The difference is less than 0.3mm, and the inspection mold is qualified. Otherwise, the inspection mold should be performed. Perform calibration and test again until the requirements are met.

Through the above-mentioned innovative design and method of the detection device, the manufacturing accuracy of the detection mold and the positioning accuracy in the rail platform are ensured, and the positioning efficiency of the detection mold is improved. Under the automatic control of the control system, the detection mold is realized Intelligent and precise detection.

The adjusting device 0315 is composed of a lifting bracket 03151, a hydraulic transmission system 03152, a bidirectional adjusting arm 03153 and a servo motor 03154. The hydraulic transmission system provides power for the lifting of the lifting bracket to complete the lifting function of the lifting bracket;

The lifting bracket is composed of a hydraulic shaft 031511 and a bracket crossbeam 031512. The upper end of the hydraulic bearing and the middle of the bracket crossbeam 031512 are fixedly connected by a connecting block 031513; the two-way adjustment arm 03153 refers to the horizontal adjustment arm 031531 and the vertical adjustment arm 031532, which are respectively composed of a fixed arm and It is composed of a movable arm. One end of the fixed arm of the two-way adjusting arm is fixedly connected to the end of the lifting bracket cross beam. One end of the movable arm and the other end of the fixed arm are connected by a twisted ball, which can swing back and forth or in any direction. The other end of the movable arm is designed as a bell mouth The nut is convenient for quick connection with the adjusting screw on the two-way adjuster, which improves the adaptive connection effect between the two-way adjusting arm and the adjusting screw of the two-way adjuster; the movable arm and the fixed arm cannot rotate relative to each other, avoiding the fixed arm and the adjusting screw. The adjustment error caused by the non-synchronous rotation of the movable arm ensures the accuracy of the fine adjustment of the track plate. The servo motor provides power for the rotation of the two-way adjusting arm, driving the two-way adjusting arm to rotate, and at the same time driving the adjusting screw of the adjuster to rotate, completing the synchronous and precise adjustment of the plane and the elevation of the track plate.

The center distance between the lifting bracket of the detection device and the lifting bracket of the adjusting device is designed according to the track plate structure design drawing, that is, the horizontal distance between the horizontal center line of the track plate bearing platform and the bolt hole center line on the side of the track plate. There are a variety of embodiments with three different specifications and models. There are also three design values for the horizontal distance between the horizontal center line of the rail plate bearing platform and the bolt hole center line on the side of the rail plate. In order to ensure that the fine-tuning robot can be used for different plate types For use, a channel steel for longitudinal sliding of the hydraulic bearing of the lifting bracket 2 is designed. The channel steel is fixed on the surface of the fuselage. There are 3 limit holes on the channel steel, corresponding to the above 3 different plate types, and the lower end of the hydraulic bearing. It can slide longitudinally in the channel steel. The control system can accurately control the hydraulic bearing of the lifting bracket 2 to move to the corresponding limit hole according to the adjusted rail plate model. The hydraulic system provides power for the movement of the hydraulic bearing, and the limit hole fixes the hydraulic pressure. The lower end of the bearing ensures that the bracket 2 will not move when it is raised and lowered. Through the innovative design of channel steel and limit holes, combined with the control system, different types of track plates are realized, and the intelligent fine-tuning robot can all be fine-tuned.

Through the above-mentioned innovative design of the adjusting device and the positioning method of the adjusting arm, the traditional manual fine-tuning mode is changed, and a new pattern of automatic intelligent fine-tuning of the track plate is realized.

Fine-tune the workflow (Figure 14)

S1. Establish a fine adjustment data file: input the basic data file in the track plate fine adjustment software system of the back-end server, including horizontal and vertical curve elements, starting and ending mileage, curve superelevation, beam length, beam seam, track plate model, etc., the software system Automatic calculation and analysis, generate the track plate fine adjustment data file, and transmit the fine adjustment data file to the controller of the construction site control system in real time through the wireless transmission system (network);

S2. Installation execution system: According to the track plate model specification and structure design drawing, install two-way adjusters under the track plate, install 4 two-way adjusters under each track plate, and fix the adjuster to the side of the track plate; install intelligent fine adjustment on site Robots, and initially place the two installed intelligent fine-tuning robots on the middle position of the track plate;

S3. Erection of the measuring device: set up the total station in the middle of the base plate about 50 meters from the track plate to be adjusted, and connect it to communication equipment such as radio stations; install precision prisms on 3 to 4 pairs of CPⅢ device 002 before and after the instrument;

S4. Automatic station construction of the total station: turn on the power of the controller, open the fine-tuning system software, and call the relevant information of the station (installed 3 to 4 pairs of CPⅢ precision control point numbers, and the track plate model that needs to be fine-tuned for this station) , Start the free station survey function menu of the total station, and the total station will automatically observe the precise prisms on all CPⅢ precise control points set by this station, analyze the accuracy of each point, and intelligently remove the control points with poor accuracy to complete the station construction. , Waiting for the measurement instruction before the fine-tuning of the robot;

S5. Start fine-tuning robot: start the switching power supply of 2 fine-tuning robots at the same time, and adjust the working state of the fine-tuning robot to the "automatic" state; start the robot working menu in the fine-tuning system software of the controller;

S6. Fine-tuning robot positioning: The control system calculates the respective positioning information of the two fine-tuning robots on the track-board according to the model of the track-board to be adjusted, and sends the positioning information to the fine-tuning robot. The fine-tuning robot starts walking. Intelligent counting starts from the first rail support of the track plate to be adjusted, the first fine-tuning robot automatically walks to the laser sensing area of the penultimate rail support of the track plate to be adjusted, and the second fine-tuning robot automatically walks to it The laser sensing area of the second orbital track plate to be adjusted is adjusted by the real-time measurement data of the precision laser sensor and the loop control algorithm software calculation of the robot control system to adjust the posture of the fuselage to the setting calculated by the software system. Fixed position

S7. Detecting mold positioning and adjusting device connection: After the precise positioning of the fine-tuning robot, its detecting device and adjusting device are lowered at the same time through the hydraulic system, and the detecting mold is accurately positioned to the center position of the rail platform through the hydraulic pressure and the adaptive elastic connecting device, and The contact sensor is used to further detect whether the bottom surface and side surface of the measuring mold are completely close to the bottom surface of the rail platform and the jaw surface; under the action of hydraulic pressure, the two-way adjusting arm is positioned to the center position of the adjusting screw of the two-way adjuster on the side of the track plate. Driven by the servo motor, the bell mouth nut of the movable arm of the adjusting arm is adaptively connected and locked with the adjusting screw on the two-way adjuster;

S8. Measurement: After the fine-tuning robot detects the precise positioning of the mold, the adjusting device and the regulator are connected and locked, the information is sent to the controller of the control system in real time, and the control system starts to control the total station to measure, and then measure the left and right sides of the 1# fine-tuning robot in turn Precision prism and 2# precision adjustment robot's left and right precision prisms are used to calculate the difference between the measured data and the design data in real time through the system software, and convert the difference into the adjustment amount of the adjustment arm (the number of rotations of the nut);

S9. Fine adjustment: The control system automatically starts the servo motor on the adjustment arm of the fine adjustment robot, drives the two-way adjustment arm to rotate, and at the same time drives the adjustment screw of the two-way adjuster to rotate, and adjusts the rotation according to the number of turns of the adjustment arm calculated by the system software. Adjustment of the centerline and elevation direction of the track plate;

S10. Check: After the fine-tuning of the fine-tuning robot is completed, the control system controls the total station to measure the precision prisms of the two fine-tuning robots again, calculate the deviation value of the measured data and the design data in real time, and further analyze the deviation value:

When the deviation value meets the requirements of the specification, the fine-tuning robot adjusting arm and the two-way regulator of the track plate are automatically unlocked, the detection device and the adjusting device rise through the hydraulic system, and the fine-tuning robot automatically advances to the next track plate for fine adjustment, and executes S6 ~ S10 step;

When the deviation value does not meet the specification setting requirements, re-measurement and re-fine adjustment are required, and steps S9 to S10 are executed until the deviation value of the verification data meets the specification.

Compared with the traditional fine-tuning mode, this method has the following advantages:

1) The traditional construction fine adjustment method of CRTSⅢ track slab requires 2 technicians and 4 workers, one technician to set up the total station, observation total station, and the other to place the measurement frame, CPⅢ prism, and guide Workers fine-tuned, 4 workers each operate the 4 fine-tuned claws under the track plate; this method only requires 1 technician and 1 auxiliary person, 1 technician is responsible for the erection and guarding of the total station, and the auxiliary person is responsible for Placing the CPⅢ prism reduces the number of operators by 3 times compared with the traditional measurement mode;

2) The traditional manual construction fine-tuning method takes an average of 15 minutes to fine-tune each board, and the intelligent fine-tuning robot construction fine-tuning method takes an average of 5 minutes per board, and the work efficiency is 3 times that of the traditional method;

3) The traditional construction fine-tuning method has no information management platform, data cannot be shared, and information cannot be transmitted in real time; this method establishes real-time data transmission and real-time viewing between the on-site construction fine-tuning data and the back-end server, the server and the client, and it is abnormal Data real-time alarm.

The above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, a person of ordinary skill in the art should understand that: The recorded technical solutions are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

A CRTSⅢ type track plate rapid intelligent fine adjustment system, including a measurement system and a control system (020), characterized in that it also includes an execution system, a wireless transmission system and an information management system; The measurement system, execution system, and information management system communicate with the control system (020) respectively; in, The measurement system includes an ATR total station (011), data acquisition software, and a radio station, which are used to automatically collect the three-dimensional space coordinates of the track plate bearing platform and calculate the deviation value from the theoretical value at the same time; The control system (020) includes a controller and a control software system for controlling the mutual linkage between the measurement system and the execution system; The wireless transmission system wirelessly connects the data information between the measurement system, the execution system, the control system (020), and the information management system, ensuring the data between the measurement system, the execution system, the information management system, and the control system (020). Real-time transmission of information, and real-time transmission of information between the information center and APP client; The information management system includes a server, data management and analysis software, and a user terminal, completes data analysis and management of measurement and fine adjustment, provides the user terminal with required data information in real time, and alarms abnormal data in real time. The CRTSⅢ type track plate rapid intelligent fine adjustment system according to claim 1, characterized in that: The execution system includes 2 fine-tuning robots (031) and 2 pairs of two-way regulators (032); Wherein, the two-way adjuster (032) includes a two-way adjuster base (0321), a vertical adjustment screw (0322), a lateral adjustment screw (0323) and a steering wheel (0324); The vertical adjusting screw (0322) is fixed on the two-way adjuster base (0321), and is arranged perpendicular to the two-way adjuster base (0321), and the vertical adjusting screw (0322) is rotated to move it up and down; the vertical adjusting screw The side surface of (0322) is connected with a fixed connecting plate (0325), and the fixed connecting plate (0325) is used for connecting a track plate; The lateral adjustment screw (0323) and the vertical adjustment screw (0322) are arranged in the same direction and also perpendicular to the base of the two-way adjuster (0321), which is convenient for connecting with the nut sleeve on the adjustment arm of the fine adjustment robot (031) ； The lateral adjustment screw (0323) is connected with the steering wheel (0324), and the steering wheel (0324) is arranged on the upper part of the adjuster base (0321) to convert the vertical rotation force of the lateral adjustment screw (0323) into a lateral rotation force; The two-way adjuster base (0321) is placed on the ballastless track base and fixed on the side of the track plate (001); The horizontal adjustment screw (0323) and the vertical adjustment screw (0322) are driven by the adjustment arm servo motor of the fine adjustment robot (031) to complete the horizontal and elevation synchronous adjustment of the track plate without affecting each other. The horizontal adjustment screw (0323) It is used to adjust the plane of the track plate, and the vertical adjustment screw is used to adjust the elevation of the track plate. The CRTSⅢ type track plate rapid intelligent fine adjustment system according to claim 2, characterized in that: the fine adjustment robot (031) includes a controller (0311), and a walking device ( 0312), guide positioning device (0313), detection device (0314), adjustment device (0315); in, The walking device (0312) includes 2 pairs of walking wheels, which are arranged symmetrically before and after. Each walking wheel is composed of a plurality of rollers that can rotate freely. The axis of the roller and the axis of the wheel are designed to form an angle α. , The elliptical cylindrical roller on the wheel moves forward with the traveling wheel and drives itself to rotate. Through the rotation of the roller itself, it is realized that the traveling wheel can move sideways synchronously. The two pairs of traveling wheels are arranged symmetrically before and after the combination. Using, and coordinated control of the rotation direction and speed of each wheel, the robot can move in any direction synchronously while it is moving. The CRTSⅢ type track plate rapid intelligent fine adjustment system according to claim 3, characterized in that: The guiding and positioning device (0313) includes 2 precision laser sensors and brackets. The brackets are installed and fixed on one side of the robot. According to the structure size of the track plate bearing platform, the bracket height is designed to set the height position from the bottom of the walking wheel. The length between is designed as a set value, and the laser sensor is installed at the same height position at both ends of the robot fixed support; The arc surface of the rail platform on the track plate is the sensing area of the laser sensor, and the gap between two adjacent rail platforms is the non-sensing area. When the robot is walking in the middle of the track plate, the laser sensors at the head and tail can be ensured. Enter the sensing area at the same time or enter the non-sensing area at the same time; When the robot enters the sensing area of the sensor, the laser sensor starts measuring and transmits the measurement data information to the control system in real time. The control system calculates through the loop control algorithm software. According to the calculation results, the robot posture position is adjusted in real time, which greatly improves the fine adjustment. The positioning efficiency and positioning accuracy of the robot. The CRTSⅢ type track plate rapid intelligent fine-tuning system according to claim 4, characterized in that: the loop control algorithm of the fine-tuning robot (031) is to calculate the error between the set value and the actual value of the robot in the state of motion e, the error e includes the deviation value of the mileage direction of the robot during positioning, the deviation value of the center line direction and the deviation value of the tilt direction of the fuselage; The calculation model is as follows: Direction deviation calculated _{mileage: e = v i · t i} (8) Calculation of the deviation value of the center line direction:

Calculation of the deviation value of the tilt direction:

Loop control algorithm:

Wherein, e represents the error between the actual value and the set value of the robot; v _i represents the linear velocity of the wheel; t _i represents the time variation value of the sensor enters a sensing area; D represents the distance between the same two rows of rail-end; K _p represents a ratio coefficient; T _i represents the integration time constant; [tau] represents sensor measurements; T represents a time sensing area of the sensor; dt represents the time integration unit; de represents an adjustment amount integration unit; c (t) indicates the time differentiation unit; The fine-tuning robot (031) uses laser sensor real-time measurement and control system software to calculate and analyze in real time, and the body is adjusted in real time. When de is less than the set value, it means that the robot's posture has been adjusted to the set position. The CRTSⅢ type track plate rapid intelligent fine adjustment system according to claim 5, characterized in that: The detection device (0314) includes a lifting bracket one (03141), a rail support detection mold (03142), and an elastic connecting device (03143); The lifting bracket one (03141) is elastically connected with the rail support detection mold (03142) through the elastic connecting device (03143), and the lifting bracket one (03141) is controlled by the hydraulic control system to lift; the elastic connecting device (03143) ensures The detection mold can be adjusted freely when it is positioned in the track groove of the track plate; The rail support inspection mold (03142) includes a precision prism (031421), a tray (011422), and a contact sensor (031423). The precision prism rod is fixed at the center of the bottom of the tray, perpendicular to the bottom surface of the tray, and the contact sensors are installed on the bottom and side of the tray respectively. , Three contact sensors are installed at the bottom of each tray, which are installed according to an equilateral triangle design. Two contact sensors are installed on each of the two sides of the tray, and each side sensor is installed at the same height; The detection method of the detection device (0314) includes: After the fine-tuning robot is accurately positioned, the lifting bracket is lowered, and the detection mold falls into the rail groove with the bracket. Under the action of the elastic connecting device, the detection mold makes precise adjustments to its position until the bottom and sides of the tray and the detection rail platform The bottom surface and each jaw surface are completely attached; The contact sensor further detects the close contact between the bottom and side of the pallet and the detection surface of the rail platform in real time. If a certain surface is not close, the sensor will display data abnormal alarm in real time, ensuring the positioning accuracy of the detection mold; The rail-supporting platform detection mold simulates two structural dimensions of the standard rail on the rail-supporting platform for design and manufacturing, one is the track structure height H, and the other is the standard gauge L; The inspection mold is placed in the rail platform of the standard track plate, and all the contact sensors on the bottom of the pallet and the side of the pallet are in close contact with the rail platform and jaw surface. The center of the prism of the inspection mold is after the standard rail is laid on the rail platform. Rail center. The CRTSⅢ type track plate rapid intelligent fine adjustment system according to claim 6, characterized in that: The method for detecting and calibrating the accuracy of the rail-bearing platform detecting mold includes: S1. The standard track plate is installed on the standard inspection platform; before installation, the elevation and flatness of the inspection platform surface are detected by a precision electronic level to ensure the flatness and level of the platform surface; S2. Establish the relative coordinate system of the standard track plate, take the direction of the line connecting the center of the left and right bearing platforms of the standard track plate as the Y axis, the center O of the center line of the left and right bearing platforms as the origin of the coordinate system, and the direction of the Y axis perpendicular to the point O is X axis; set the coordinate origin O coordinate to (0,0), according to the standard track plate design structure size, the center distance between the left and right rail platforms in the same row is 1.5156m, then the _left coordinate of the left rail platform center B is calculated as (0 , -0.7578), the right _{coordinate of the center B of the right} rail platform (0,0.7578); S3. The method of calculating the center coordinates of the top surface of the rail after the standard rail is laid on the track slab: According to the design drawing of the rail support and the standard track structure, the rail support surface is designed with a slope of 1/40, and the center distance of the left and right support rails in the same row is 1.5156m. track structure height is 0.21m; _{the left} center of the theoretical coordinate of the left rail to G (X _left, Y _left), the center G of the right rail to _{the right} theoretical coordinate (X _Right, Y _right), using analytical geometry: _Left X = 0.21 · cosα Y _left = -0.7578+0.21·sinα X _right = 0.21·cosα Y _right =0.7578-0.21·sinα

Center distance between left and right rails:

Through the above calculations, the theoretical coordinates of the left rail center G is _left (0.2099, -0.7526), the theoretical coordinates of the right rail center G is _right (0.2099, 0.7526); the left and right gauge L=1.0522m; S4. Total station construction: the high-precision intelligent total station is set up at a set distance in the axis direction of the detection platform, and the height of the total station is basically the same as the height of the track plate on the detection platform; The two precision ball prisms mounted about the central bore to the rail-bearing, the ball of the prism center of rail-center, center of the table according to _{the left} around the rail of the projections B S2, B is the _right-left coordinates and right coordinates of the center of the ball of the prism , The total station uses the spherical prisms and coordinates in the center holes of the left and right track supports to measure and build the station, and the total station coordinate system is calculated to be consistent with the track plate coordinate system; S5. Inspection of the accuracy of the inspection mold: Take out the precision ball prisms on the rail platform, and place the inspection molds on the left and right rail platforms respectively. All contact sensor contacts are in close contact with the bottom surface of the rail platform and each jaw surface; the whole station precision instrument, respectively prisms on the left and right dies measured results about the actual coordinates of the center of the prism, with said estimated _left S3, G, G _{and right} theoretical coordinate values were compared, the difference is less than 0.3mm, the detection of qualified mold, Otherwise, the testing mold should be calibrated and tested again until the requirements are met. The CRTSⅢ type track plate rapid intelligent fine adjustment system according to claim 3, characterized in that: The adjusting device (0315) includes the second lifting bracket (03151), a hydraulic transmission system (03152), a two-way adjusting arm (03153) and a servo motor (03154); The hydraulic transmission system (03152) provides power for the lifting of the second lifting bracket (03151) to complete the lifting function of the lifting bracket; Lifting bracket two (03151) includes hydraulic bearing (031511), bracket beam (031512), the upper end of the hydraulic bearing is fixedly connected with the middle of the bracket beam; The two-way adjusting arm (03153) includes a horizontal adjusting arm (031531) and a vertical adjusting arm (031532), which are respectively composed of a fixed arm and a movable arm. One end of the arm is connected with the other end of the fixed arm through a twisted ball, which can swing back and forth, left and right, or in any direction; The other end of the movable arm is designed as a nut with a bell mouth, which is convenient for quick connection with the adjusting screw on the two-way adjuster, which improves the adaptive connection effect between the two-way adjusting arm and the adjusting screw of the two-way adjuster; The servo motor provides power for the rotation of the two-way adjusting arm, driving the two-way adjusting arm to rotate, and at the same time driving the adjusting screw of the adjuster to rotate, completing the synchronous and precise adjustment of the plane and the elevation of the track plate. The CRTSⅢ type track plate rapid intelligent fine adjustment system according to claim 7, characterized in that: The center distance of the lifting bracket 1 (03141) of the detecting device (0314) and the lifting bracket 2 (03151) of the adjusting device is designed according to the track plate structure design drawing, that is, the second or the penultimate track plate supporting rail platform is horizontal The horizontal distance between the center line and the center line of the bolt hole on the side of the track plate, because CRTS Ⅲ type track plate has 3 different specifications and models, the second or the penultimate bolt on the horizontal center line of the track plate bearing platform and the side of the track plate There are also 3 design values for the horizontal distance between the center lines of the holes; In order to ensure that the fine-tuning robot can be used for different plate types, it also includes a channel steel for longitudinal sliding of the hydraulic bearing (031511) of the lifting bracket. The channel steel is fixed on the surface of the fuselage, and 3 limits are designed on the channel steel. Hole, corresponding to the above three different plate types, the lower end of the hydraulic bearing can slide longitudinally in the channel steel. The control system can accurately control the hydraulic bearing of the lifting bracket to move to the corresponding limit hole according to the adjusted track plate model. The hydraulic system is The movement of the hydraulic bearing provides power, and the limit hole fixes the lower end of the hydraulic bearing to ensure that the bracket will not move when it is raised and lowered. A CRTSⅢ type track plate rapid intelligent fine adjustment method, based on the CRTSⅢ type track plate rapid intelligent fine adjustment system according to any one of claims 1-9, characterized in that: It includes the following steps: S1. Establish a fine-tuning data file: Input the basic data files into the track plate fine adjustment software system of the backend server, including horizontal and vertical curve elements, starting and ending mileage, curve superelevation, beam length, beam seam, track plate model, the software system automatically calculates and analyzes, and generates the track plate fine adjustment Data files, and transmit the fine-tuned data files to the controller of the construction site control system in real time through the wireless transmission system; S2. Install the execution system: According to the model specification and structure design drawing of the track plate, install the two-way adjuster under the track plate, and install 4 two-way adjusters under each track plate, and the adjuster is fixed to the side of the track plate; the intelligent fine-tuning robot is installed on site and will be installed. The two intelligent fine-tuning robots of the company are initially placed on the middle position of the track plate; S3. Set up measuring device: Set up the total station in the middle position of the base plate at the set distance of the track plate to be adjusted, and connect it to the radio communication equipment; Three to four pairs of CPⅢ precision control devices are installed on the front and back of the instrument with precision prisms; S4. Free construction of total station: Turn on the power of the controller, open the fine-tuning system software, call the relevant information of the station, start the free station measurement function menu of the total station, and the total station will automatically observe the precision prisms on all CPⅢ precision control points set by the station. , Analyze the accuracy of each point, intelligently remove the control points with poor accuracy, complete the station construction, and wait for the measurement instruction before the fine-tuning of the robot; S5. Fine-tune the start of the robot: At the same time, start the switching power supply of 2 fine-tuning robots, and adjust the working state of the fine-tuning robot to "automatic"; start the robot working menu in the fine-tuning system software of the controller; S6. Fine-tune robot positioning: According to the model of the track plate to be adjusted, the control system calculates the respective positioning information of the two fine-tuning robots on the track plate, and sends the positioning information to the fine-tuning robot. 1 rail support starts to intelligently count, the first fine-tuning robot automatically walks to the bottom of the track plate to be adjusted, and the second rail-supporting platform laser sensing area, and the second fine-tuning robot automatically walks to the order of the track plate to be adjusted The laser sensing area of the second rail platform, through the real-time measurement data of the precision laser sensor and the cyclic control algorithm software calculation of the robot control system, adjusts the posture of the fuselage to the set position calculated by the software system; S7. Detecting mold positioning and adjusting device connection: After the precise positioning of the fine-tuning robot, the detection device and the adjustment device are simultaneously lowered through the hydraulic system, and the detection mold is accurately positioned to the center of the rail platform through the hydraulic pressure and the adaptive elastic connection device, and the bottom and side surfaces of the mold are further detected and measured by the contact sensor. Whether it is in complete contact with the bottom surface of the rail platform and the jaw surface; under the action of hydraulic pressure, the adjusting device positions the two-way adjusting arm to the center position of the adjusting screw of the two-way adjuster on the side of the track plate. Driven by the servo motor, the adjusting arm moves the arm The bell-mouth nut and the adjusting screw on the two-way adjuster are adaptively connected and locked; S8. Measurement: After the fine-tuning robot detects the precise positioning of the mold, the adjusting device and the regulator are connected and locked, the information is sent to the controller of the control system in real time, and the control system starts to control the total station to measure, and then measure the left and right precision prisms and 2 of the 1# fine-tuning robot in turn #Fine adjustment of the left and right precision prisms of the robot, calculate the difference between the measured data and the design data in real time through the system software, and convert the difference into the adjustment amount of the adjusting arm; S9. Fine tuning: The control system automatically starts to fine-tune the servo motor on the robot adjusting arm, driving the two-way adjusting arm to rotate, and at the same time driving the adjusting screw of the two-way adjuster to rotate, and adjusting according to the number of turns of the adjusting arm calculated by the system software to realize the plane of the track plate. Synchronous adjustment with elevation direction; S10. Check: After the fine-tuning of the fine-tuning robot is completed, the control system controls the total station to measure the precision prisms of the two fine-tuning robots again, calculates the deviation between the measured data and the design data in real time, and further analyzes the deviation: When the deviation value meets the requirements of the specification, the fine-tuning robot adjusting arm and the two-way regulator of the track plate are automatically unlocked, the detection device and the adjusting device rise through the hydraulic system, and the fine-tuning robot automatically advances to the next track plate for fine adjustment, and executes S6 ~ S10 step; When the deviation value does not meet the specification setting requirements, re-measurement and re-fine adjustment are required, and steps S9 to S10 are executed until the deviation value of the verification data meets the specification.

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