阅读说明：本技术 一种用于拆除轨道钉机器人 (Robot for removing rail spike ) 是由 童中林 于 2020-05-25 设计创作，主要内容包括：本发明公开了一种用于拆除轨道钉机器人,包括机器人主体,所述机器人主体中设置有电机腔,所述电机腔左端壁中固定设置有动力电机,所述电机腔右侧设置有转盘腔,所述动力电机右端动力连接有向右延伸的动力轴,在轨道上前进的同时通过滑动块和第三梯形块斜面之间的配合改变运动状态,对轨道钉进行自动拔除,自动化程度较高,代替了传统的通过人工对轨道钉进行拔除的操作,节省人力,在提升工作效率的同时降低人工成本,同时杜绝铁路中突发情况对人造成伤害的可能性,提高安全系数,且通过存储空间对拔出的轨道钉能进行存放,在移动过程中传动稳定,降低机构之间的磨损,后期维护成本较低,具有很高的实用性,容易推广使用。(The invention discloses a robot for removing rail nails, which comprises a robot main body, wherein a motor cavity is arranged in the robot main body, a power motor is fixedly arranged in the left end wall of the motor cavity, a turntable cavity is arranged on the right side of the motor cavity, a power shaft extending rightwards is in power connection with the right end of the power motor, the motion state is changed through the matching between a sliding block and the inclined surface of a third trapezoidal block while the robot moves forwards on a rail, the rail nails are automatically pulled out, the automation degree is higher, the traditional operation of manually pulling out the rail nails is replaced, the labor is saved, the labor cost is reduced while the working efficiency is improved, the possibility of injury to people caused by sudden situations in a railway is eliminated, the safety coefficient is improved, the pulled out rail nails can be stored through a storage space, the transmission is stable during the moving process, and the abrasion between mechanisms is reduced, the later maintenance cost is lower, has very high practicality, uses widely easily.)

1. The utility model provides a be used for demolising spike-in-orbit robot, includes the robot main part, its characterized in that: the robot comprises a robot body, a motor cavity is arranged in the robot body, a power motor is fixedly arranged in the left end wall of the motor cavity, a turntable cavity is arranged on the right side of the motor cavity, the right end of the power motor is in power connection with a power shaft extending rightwards, the right end of the power shaft can rotatably extend into the turntable cavity, a turntable fixedly arranged at the right end of the turntable cavity is arranged in the turntable cavity, a sliding space extending downwards is communicated with the right end of the turntable cavity, a sliding block is slidably arranged in the sliding space and is hinged with the turntable through a connecting rod, a nail pulling block is arranged on the lower side of the robot body, an installation rod is fixedly connected to the upper end of the nail pulling block, the upper end of the installation rod can slidably extend into the sliding space and is connected with the nail pulling block, a driven cavity is arranged on the lower side of the motor cavity, and a belt wheel cavity is arranged, a pulley shaft is rotatably arranged between the driven cavity and the pulley cavity, the power shaft transmits power to the pulley shaft through a gear set, the pulley cavity is provided with front and back symmetrical wheel cavities with downward openings, a wheel shaft is rotatably arranged between the left and right end walls of the wheel cavity, moving wheels fixedly arranged on the outer surfaces of the wheel shafts are respectively arranged in the front and back wheel cavities in a left-right symmetrical mode, and the pulley shaft transmits power to the wheel shafts through a transmission belt to drive the moving wheels to rotate.

2. A robot for removing spikes according to claim 1, characterized in that: the rotary disc cavity is internally provided with a hinged shaft fixedly arranged at the right end of the rotary disc, the right end of the hinged shaft extends into the sliding space, the sliding block is internally provided with a hinged groove which penetrates through the front and the back and has an upward opening, a connecting shaft is rotatably arranged between the left end wall and the right end wall of the hinged groove, the hinged groove is internally provided with a connecting rod fixedly arranged on the outer surface of the connecting shaft, the connecting rod extends upwards and is in rotating fit connection with the hinged shaft, the sliding block is internally provided with a buffer space, a buffer block is slidably arranged in the buffer space, a first spring is fixedly arranged between the upper end surface of the buffer block and the upper end wall of the buffer space, the upper end of the mounting rod slidably extends into the buffer space and is fixedly connected with the buffer block, the nail pulling block is internally provided with a storage space with a right opening, and the lower end wall, all communicate in the end wall about pressing from both sides tight chamber and be provided with the spring chamber, be provided with first trapezoidal piece in the spring chamber slidable, and control two first trapezoidal piece terminal surfaces that back on the back respectively with fixedly connected with second spring about the spring chamber between the end wall, it is provided with the spread groove all to communicate in the end wall about pressing from both sides tight chamber, controls all to rotationally be provided with the second trapezoidal piece through the connecting axle in two spread grooves.

3. A robot for removing spikes according to claim 1, characterized in that: the sliding block left end face is provided with a transmission inclined face extending to the upper right, the sliding space left end wall is communicated with the sliding groove, a third trapezoidal block matched with the transmission inclined face is arranged in the sliding groove in a sliding mode, a third spring is fixedly arranged between the third trapezoidal block left end face and the sliding groove left end wall, a transmission cavity is arranged between the motor cavity and the driven cavity, a connecting groove is formed in the transmission cavity right end wall in a communicating mode, a connecting block is arranged in the connecting groove in a sliding mode, a fourth spring is fixedly arranged between the connecting block right end face and the connecting groove right end wall, a pull wire is fixedly arranged at the right end of the connecting block, and the pull wire is far away from one end of the connecting block, which can extend into the sliding groove in a sliding mode and is fixedly connected with the.

4. A robot for removing spikes according to claim 1, characterized in that: a driving bevel gear fixedly arranged on the outer surface of the power shaft is arranged in the motor cavity, a connecting shaft is rotatably arranged between the driving cavity and the motor cavity, a driven bevel gear fixedly arranged on the upper side of the connecting shaft and meshed with the driving bevel gear is arranged in the motor cavity, a connecting bevel gear fixedly arranged on the lower side of the connecting shaft is arranged in the driving cavity, a matching shaft is rotatably arranged on the left end surface of the connecting block, a matching bevel gear fixedly arranged at the left end of the matching shaft and meshed with the connecting bevel gear is arranged in the driving cavity, a meshing shaft is rotatably arranged between the driven cavity and the driving cavity, a meshing bevel gear fixedly arranged on the upper side of the meshing shaft and meshed with the matching bevel gear is arranged in the driving cavity, and a mounting bevel gear fixedly arranged on the lower side of the meshing shaft is arranged in the driven cavity, the driven cavity is internally provided with a rotating bevel gear which is fixedly arranged at the left end of the belt pulley shaft and is meshed with the mounting bevel gear, and the belt pulley cavity is internally provided with a transmission belt pulley which is fixedly arranged on the outer surface of the belt pulley shaft.

5. A robot for removing spikes according to claim 1, characterized in that: the chain wheel is characterized in that a chain wheel space is formed in the right side of the belt wheel cavity in a communicated mode, the front end wall and the rear end wall of the chain wheel space are respectively communicated with the front wheel cavity and the rear wheel cavity, a chain wheel shaft is rotatably arranged between the left end wall of the belt wheel cavity and the right end wall of the chain wheel space, a driven belt wheel fixedly installed on the outer surface of the chain wheel shaft is arranged in the belt wheel cavity, a transmission belt wheel is connected with the driven belt wheel through a transmission belt, a transmission chain wheel fixedly installed on the outer surface of the chain wheel shaft is arranged in the chain wheel space, a driven chain wheel fixedly installed on the outer surface of the wheel shaft is arranged in the wheel cavity, a transmission chain is arranged between the transmission chain wheel and the front driven chain wheel and the rear driven chain.

Technical Field

The invention relates to the technical field of railways, in particular to a robot for removing rail spikes.

Background

Along with the fact that the national capital construction hot fire is carried out towards the world, the railway laying region is wider and wider, old rails need to be dismantled, and new rails need to be laid again, the method for dismantling the rail nails in the process of dismantling the rails is always a difficult problem, the traditional dismantling method mostly adopts a manual dismantling method, the efficiency is low, the manpower waste is serious, the later-stage labor cost is higher, and meanwhile, the potential safety hazard is higher due to more uncontrollable factors of the environment in the process of manual dismantling;

the existing dismantling robots are low in automation degree, the dismantling rail nails are usually discarded in situ, the phenomenon of resource waste exists, meanwhile, the operation stability is poor, the damage is easily caused, the maintenance cost in the later period is high, the practicability is low, and the dismantling robot is not suitable for popularization and use.

Disclosure of Invention

The object of the present invention is to provide a robot for removing spikes, which overcomes the above-mentioned drawbacks of the prior art.

The robot for removing the rail nails comprises a robot main body, wherein a motor cavity is arranged in the robot main body, a power motor is fixedly arranged in the left end wall of the motor cavity, a rotary disc cavity is arranged on the right side of the motor cavity, a power shaft extending rightwards is in power connection with the right end of the power motor, the right end of the power shaft can rotatably extend into the rotary disc cavity, a rotary disc fixedly arranged at the right end of the rotary disc cavity is arranged in the rotary disc cavity, a sliding space extending downwards is communicated with the right end of the rotary disc cavity, a sliding block is slidably arranged in the sliding space and is hinged with the rotary disc through a connecting rod, a nail pulling block is arranged on the lower side of the robot main body, an installation rod is fixedly connected to the upper end of the nail pulling block, and the upper end of the installation rod slidably extends into the sliding space and is connected with the nail pulling block, the belt wheel type power transmission device is characterized in that a driven cavity is arranged on the lower side of the motor cavity, a belt wheel cavity is arranged on the right side of the driven cavity, a belt wheel shaft is rotatably arranged between the driven cavity and the belt wheel cavity, the power shaft transmits power to the belt wheel shaft through a gear set, the belt wheel cavity is provided with wheel cavities which are symmetrical in the front and back and are provided with downward openings, the wheel shaft is rotatably arranged between the left end wall and the right end wall of the wheel cavity, moving wheels fixedly mounted on the outer surfaces of the wheel shafts are respectively arranged in the front wheel cavity and the rear wheel cavity in a bilateral symmetry mode, and the belt wheel shaft transmits power to the wheel shafts through a.

In a further technical scheme, a hinged shaft fixedly installed at the right end of the rotary disc is arranged in the rotary disc cavity, the right end of the hinged shaft extends into the sliding space, a hinged groove which penetrates through the front and the back and is provided with an upward opening is arranged in the sliding block, a connecting shaft is rotatably arranged between the left end wall and the right end wall of the hinged groove, a connecting rod fixedly installed on the outer surface of the connecting shaft is arranged in the hinged groove, the connecting rod extends upwards and is connected with the hinged shaft in a rotating matching manner, a buffer space is arranged in the sliding block, a buffer block is slidably arranged in the buffer space, a first spring is fixedly arranged between the upper end surface of the buffer block and the upper end wall of the buffer space, the upper end of the installation rod slidably extends into the buffer space and is fixedly connected with the buffer block, and a storage space with a right, the storage space lower end wall is provided with a clamping cavity communicated with the outside, the clamping cavity left and right end walls are communicated with a spring cavity, a first trapezoidal block is arranged in the spring cavity in a sliding mode, the end faces of the left and right first trapezoidal blocks, which are opposite to each other, are respectively fixedly connected with a second spring between the left and right end walls, the clamping cavity left and right end walls are communicated with a connecting groove, and the left and right end walls are rotatably provided with a second trapezoidal block through a connecting shaft.

According to the technical scheme, a transmission inclined plane extending to the upper right side is arranged on the left end face of the sliding block, the sliding space left end wall is communicated with the sliding groove, a third trapezoidal block matched with the transmission inclined plane is arranged in the sliding groove in a sliding mode, a third spring is fixedly arranged between the left end face of the third trapezoidal block and the left end wall of the sliding groove, a transmission cavity is arranged between the motor cavity and the driven cavity, a connecting groove is formed in the right end wall of the transmission cavity in a communicating mode, a connecting block is arranged in the connecting groove in a sliding mode, a fourth spring is fixedly arranged between the right end face of the connecting block and the right end wall of the connecting groove, a pull wire is fixedly arranged at the right end of the connecting block, and one end of the pull wire far away from the connecting block stretches into the sliding groove.

In a further technical scheme, a transmission bevel gear fixedly arranged on the outer surface of the power shaft is arranged in the motor cavity, a connecting shaft is rotatably arranged between the transmission cavity and the motor cavity, a driven bevel gear fixedly arranged on the upper side of the connecting shaft and meshed with the transmission bevel gear is arranged in the motor cavity, a connection bevel gear fixedly arranged on the lower side of the connecting shaft is arranged in the transmission cavity, a matching shaft is rotatably arranged on the left end surface of the connecting block, a matching bevel gear fixedly arranged on the left end of the matching shaft and meshed with the connection bevel gear is arranged in the transmission cavity, a meshing shaft is rotatably arranged between the driven cavity and the transmission cavity, a meshing bevel gear fixedly arranged on the upper side of the meshing shaft and meshed with the matching bevel gear is arranged in the transmission cavity, the belt wheel assembly is characterized in that a mounting bevel gear fixedly mounted on the lower side of the meshing shaft is arranged in the driven cavity, a rotating bevel gear fixedly mounted at the left end of the belt wheel shaft and meshed with the mounting bevel gear is arranged in the driven cavity, and a transmission belt wheel fixedly mounted on the outer surface of the belt wheel shaft is arranged in the belt wheel cavity.

According to the technical scheme, a chain wheel space is communicated with the right side of the belt wheel cavity, the front end wall and the rear end wall of the chain wheel space are respectively communicated with the front wheel cavity and the rear wheel cavity, a chain wheel shaft is rotatably arranged between the left end wall of the belt wheel cavity and the right end wall of the chain wheel space, a driven belt wheel fixedly mounted on the outer surface of the chain wheel shaft is arranged in the belt wheel cavity, the driving belt wheel is connected with the driven belt wheel through a driving belt, a driving chain wheel fixedly mounted on the outer surface of the chain wheel shaft is arranged in the chain wheel space, a driven chain wheel fixedly mounted on the outer surface of the wheel shaft is arranged in the wheel cavity, a driving chain is arranged between the driving chain wheel and the front driven chain wheel and the rear driven chain wheel, and moving wheels fixedly mounted on the outer.

The invention has the beneficial effects that: the rail nail pulling device is simple in structure and convenient to operate, changes the motion state through the matching between the sliding block and the inclined surface of the third trapezoid block while advancing on the rail, automatically pulls out the rail nail, is high in automation degree, replaces the traditional operation of manually pulling out the rail nail, saves manpower, reduces labor cost while improving working efficiency, simultaneously stops the possibility of injury to people due to emergency in the railway, improves safety factor, can store the pulled out rail nail through the storage space, is stable in transmission in the moving process, reduces abrasion among mechanisms, is low in later maintenance cost, has high practicability, and is easy to popularize and use.

Drawings

FIG. 1 is a schematic diagram of the internal structure of a robot for removing the rail spikes according to the present invention;

FIG. 2 is an enlarged partial schematic view of FIG. 1 at A in accordance with the present invention;

FIG. 3 is a schematic view of the structure of the moving wheel in the top view;

fig. 4 is a schematic diagram of the structure of fig. 3 at B-B according to the present invention.

Detailed Description

The invention will now be described in detail with reference to fig. 1-4, for convenience of description, the following orientations will now be defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

Referring to fig. 1 to 4, a robot for removing a spike rail according to an embodiment of the present invention includes a robot main body 100, a motor cavity 101 is disposed in the robot main body 100, a power motor 104 is fixedly disposed in a left end wall of the motor cavity 101, a turntable cavity 134 is disposed on a right side of the motor cavity 101, a power shaft 103 extending rightward is dynamically connected to a right end of the power motor 104, a right end of the power shaft 103 rotatably extends into the turntable cavity 134, a turntable 132 fixedly disposed at a right end of the turntable cavity 134 is disposed in the turntable cavity 134, a sliding space 133 extending downward is communicated with a right end of the turntable cavity 134, a sliding block 137 is slidably disposed in the sliding space 133, the sliding block 137 is hinged to the turntable 132 through a connecting rod 135, a spike pulling block 138 is disposed at a lower side of the robot main body 100, an installation rod 147 is fixedly connected to an upper end of the spike pulling block 138, the upper end of the mounting rod 147 slidably extends into the sliding space 133 and is connected to the nail pulling block 138, a driven cavity 115 is disposed at the lower side of the motor cavity 101, a pulley cavity 121 is disposed at the right side of the driven cavity 115, a pulley shaft 117 is rotatably disposed between the driven cavity 115 and the pulley cavity 121, the power shaft 103 transmits power to the pulley shaft 117 through a gear set, the pulley cavity 121 is provided with pulley cavities 156 which are symmetrical in the front and back direction and have downward openings, a wheel shaft 153 is rotatably disposed between the left and right end walls of the pulley cavity 156, moving wheels 154 fixedly mounted on the outer surfaces of the wheel shafts 153 are symmetrically disposed in the front and back wheel cavities 156, and the pulley shaft 117 transmits power to the wheel shaft 153 through a transmission belt to drive the moving wheels 154 to rotate.

Beneficially or exemplarily, a hinge shaft 131 fixedly installed at the right end of the rotary disc 132 is disposed in the rotary disc cavity 134, the right end of the hinge shaft 131 extends into the sliding space 133, a hinge slot 151 penetrating through the front and back and opening upward is disposed in the sliding block 137, a connecting shaft 152 is rotatably disposed between the left and right end walls of the hinge slot 151, a connecting rod 135 fixedly installed at the outer surface of the connecting shaft 152 is disposed in the hinge slot 151, the connecting rod 135 extends upward and is rotatably engaged with the hinge shaft 131, a buffer space 150 is disposed in the sliding block 137, a buffer block 148 is slidably disposed in the buffer space 150, a first spring 136 is fixedly disposed between the upper end surface of the buffer block 148 and the upper end wall of the buffer space 150, the upper end of the mounting rod 147 slidably extends into the buffer space 150 and is fixedly connected with the buffer block 148, a storage space 146 with a rightward opening is arranged in the nail pulling block 138, a clamping cavity 142 communicated with the outside is arranged in the lower end wall of the storage space 146, spring cavities 141 are respectively communicated and arranged in the left and right end walls of the clamping cavity 142, first trapezoidal blocks 145 are slidably arranged in the spring cavities 141, a second spring 140 is fixedly connected between the end surfaces of the left and right first trapezoidal blocks 145 opposite to each other and the left and right end walls of the spring cavities 141, connecting grooves 144 are respectively communicated and arranged in the left and right end walls of the clamping cavity 142, second trapezoidal blocks 143 are rotatably arranged in the left and right connecting grooves 144 through connecting shafts 139, when the rotary disc 132 rotates and drives the connecting rod 135 to move downwards through the hinge shaft 131, the connecting rod 135 drives the sliding block 137 to move downwards, and the sliding block 137 drives the nail pulling block 138 to move downwards through the mounting rod 147, at this time, the rail nail is inserted into the clamping cavity 142 and is located between the second trapezoidal block 143 and the first trapezoidal block 145, the turntable 132 continues to rotate to drive the nail pulling block 138 to move upwards, at this time, the rail nail is pulled out through the second trapezoidal block 143, when a next rail nail is pulled out, a previous rail nail is driven to move upwards, at this time, the left and right first trapezoidal blocks 145 are driven to move away from each other by overcoming the elastic force of the second spring 140, at this time, the previous rail nail moves into the storage space 146, and the next rail nail is located between the first trapezoidal block 145 and the second trapezoidal block 143.

Beneficially or exemplarily, a left end surface of the sliding block 137 is provided with a transmission inclined surface 129 extending to the upper right, a left end wall of the sliding space 133 is communicated with and disposed on the sliding groove 124, a third trapezoidal block 127 matched with the transmission inclined surface 129 is slidably disposed in the sliding groove 124, a third spring 126 is fixedly disposed between a left end surface of the third trapezoidal block 127 and a left end wall of the sliding groove 124, a transmission cavity 108 is disposed between the motor cavity 101 and the driven cavity 115, a connection groove 123 is communicatively disposed in a right end wall of the transmission cavity 108, a connection block 130 is slidably disposed in the connection groove 123, a fourth spring 128 is fixedly disposed between a right end surface of the connection block 130 and a right end wall of the connection groove 123, a pull wire 125 is fixedly disposed at a right end of the connection block 130, and one end of the pull wire 125 far away from the connection block 130 slidably extends into the sliding groove 124 and is fixedly connected with the left end, when the sliding block 137 moves upward, the third trapezoidal block 127 is pushed by the transmission slope 129 to move leftward against the elastic force of the third spring 126, and at this time, the wire 125 is loosened, and the connecting block 130 moves leftward by the elastic force of the fourth spring 128.

Beneficially or exemplarily, a driving bevel gear 102 fixedly installed on the outer surface of the power shaft 103 is disposed in the motor cavity 101, a connecting shaft 106 is rotatably disposed between the driving cavity 108 and the motor cavity 101, a driven bevel gear 105 fixedly installed on the upper side of the connecting shaft 106 and engaged with the driving bevel gear 102 is disposed in the motor cavity 101, a connecting bevel gear 107 fixedly installed on the lower side of the connecting shaft 106 is disposed in the driving cavity 108, a mating shaft 111 is rotatably disposed on the left end surface of the connecting block 130, a mating bevel gear 110 fixedly installed on the left end of the mating shaft 111 and engaged with the connecting bevel gear 107 is disposed in the driving cavity 108, an engaging shaft 113 is rotatably disposed between the driven cavity 115 and the driving cavity 108, and an engaging bevel gear 112 fixedly installed on the upper side of the engaging shaft 113 and engaged with the mating bevel gear 110 is disposed in the driving cavity 108, a mounting bevel gear 114 fixedly mounted on the lower side of the meshing shaft 113 is arranged in the driven cavity 115, a rotating bevel gear 116 fixedly mounted on the left end of the pulley shaft 117 and meshed with the mounting bevel gear 114 is arranged in the driven cavity 115, a driving pulley 118 fixedly mounted on the outer surface of the pulley shaft 117 is arranged in the pulley cavity 121, the driving motor 104 is started to drive the driving shaft 103 to rotate, the driving shaft 103 drives the connecting shaft 106 to rotate through the meshing relationship between the driving bevel gear 102 and the driven bevel gear 105, the connecting shaft 106 drives the meshing shaft 113 to rotate through the meshing relationship between the connecting bevel gear 107 and the mating bevel gear 110 and the meshing bevel gear 112, and the meshing shaft 113 drives the pulley shaft 117 to rotate through the meshing relationship between the mounting bevel gear 114 and the rotating bevel gear 116, thereby driving the driving pulley 118 to rotate.

Beneficially or exemplarily, a sprocket space 159 is provided to communicate with the right side of the pulley cavity 121, front and rear end walls of the sprocket space 159 are respectively communicated with the front and rear wheel cavities 156, a sprocket shaft 160 is rotatably provided between a left end wall of the pulley cavity 121 and a right end wall of the sprocket space 159, a driven pulley 161 fixedly mounted on an outer surface of the sprocket shaft 160 is provided in the pulley cavity 121, the driving pulley 118 and the driven pulley 161 are connected through a driving belt 120, a driving sprocket 158 fixedly mounted on an outer surface of the sprocket shaft 160 is provided in the sprocket space 159, a driven sprocket 155 fixedly mounted on an outer surface of the wheel shaft 153 is provided in the wheel cavity 156, a driving chain 157 is provided between the driving sprocket 158 and the front and rear driven sprockets 155, moving wheels 154 fixedly mounted on an outer surface of the wheel shaft 153 are provided in each of the front and rear wheel cavities 156 in a left-right symmetrical manner, the pulley shaft 117 drives the wheel shaft 153 to rotate through the transmission relationship between the transmission sprocket 158 and the driven sprocket 155, and further drives the moving wheel 154 to rotate.

In an initial state, the power motor 104 is in a closed state, the hinge shaft 131 moves upward to the maximum extent, at this time, the third trapezoidal block 127 slides leftward to the maximum extent in the slide groove 124, the connecting block 130 slides leftward to the maximum extent under the elastic force of the fourth spring 128, and the mating bevel gear 110 is engaged with the connecting bevel gear 107 and the engaging bevel gear 112.

When in use, the robot body 100 is placed on a railway track, the power motor 104 is started, the power motor 104 drives the power shaft 103 to rotate and drives the pulley shaft 117 to rotate through the meshing relationship between the gear sets, the pulley shaft 117 drives the front and rear two pulley shafts 153 to rotate through the transmission of the pulley sets and further drives the moving wheels 154 to rotate, so as to drive the robot body 100 to move forwards, when the robot body 100 moves to a track nail, the power shaft 103 drives the sliding block 137 to move downwards through the turntable 132, at this time, the third trapezoidal block 127 moves rightwards under the elastic force of the third spring 126 and moves rightwards through the pull wire 125, at this time, the matching bevel gear 110 is disengaged from the connecting bevel gear 107 and the meshing bevel gear 112, at this time, the track nail is positioned between the second trapezoidal block 143 and the first trapezoidal block 145, the rotating disc 132 continues to rotate to pull out the rail nails, and simultaneously drives the third trapezoidal block 127 to move leftward, so that the mating bevel gear 110 is re-engaged with the connecting bevel gear 107 and the engaging bevel gear 112, and the robot main body 100 is driven to move forward continuously.

The invention has the beneficial effects that: the rail nail pulling device is simple in structure and convenient to operate, changes the motion state through the matching between the sliding block and the inclined surface of the third trapezoid block while advancing on the rail, automatically pulls out the rail nail, is high in automation degree, replaces the traditional operation of manually pulling out the rail nail, saves manpower, reduces labor cost while improving working efficiency, simultaneously stops the possibility of injury to people due to emergency in the railway, improves safety factor, can store the pulled out rail nail through the storage space, is stable in transmission in the moving process, reduces abrasion among mechanisms, is low in later maintenance cost, has high practicability, and is easy to popularize and use.

It will be apparent to those skilled in the art that various modifications may be made to the above embodiments without departing from the general spirit and concept of the invention. All falling within the scope of protection of the present invention. The protection scheme of the invention is subject to the appended claims.