阅读说明：本技术 一种自动平行机构 (Automatic parallel mechanism ) 是由 覃强 陈志远 杨浩 华正兴 邓柳 龚明 余磊 王虎勇 于 2021-08-25 设计创作，主要内容包括：本发明公开了一种自动平行机构。它包括作业部件连接座、转轴、转轴固定板、平衡铰链、自动平衡楔块和平衡从动板；作业部件连接座包括作业部件支承圆筒和作业部件连接板、转轴固定前板、转轴固定后板；转轴两端分别安装在两块转轴固定板顶部偏离中心的位置；平衡铰链一端与转轴连接,平衡铰链另一端与平衡从动板连接；平衡从动板两端分别固定安装在转轴固定前板、转轴固定后板的中上部位置；机械臂前端套装在转轴上；自动平衡楔块固定安装在机械臂前端底部,自动平衡楔块顶在平衡从动板上,使机械臂始终保持与平衡从动板呈一定倾斜角度,使作业部件始终保持与被作业部件平行。该自动平行机构,具有结构简单、设计合理等优点。(The invention discloses an automatic parallel mechanism. The automatic balancing device comprises an operation part connecting seat, a rotating shaft fixing plate, a balancing hinge, an automatic balancing wedge block and a balancing driven plate; the operation part connecting seat comprises an operation part supporting cylinder, an operation part connecting plate, a rotating shaft fixing front plate and a rotating shaft fixing rear plate; two ends of the rotating shaft are respectively arranged at the positions deviating from the center of the tops of the two rotating shaft fixing plates; one end of the balance hinge is connected with the rotating shaft, and the other end of the balance hinge is connected with the balance driven plate; two ends of the balance driven plate are respectively and fixedly arranged at the middle upper parts of the rotating shaft fixed front plate and the rotating shaft fixed rear plate; the front end of the mechanical arm is sleeved on the rotating shaft; the automatic balancing wedge block is fixedly arranged at the bottom of the front end of the mechanical arm and abuts against the balanced driven plate, so that the mechanical arm always keeps a certain inclination angle with the balanced driven plate, and the operation part always keeps parallel to the operated part. The automatic parallel mechanism has the advantages of simple structure, reasonable design and the like.)

1. An automatic parallel mechanism is characterized by comprising an operation part connecting seat, a rotating shaft fixing plate, a balance hinge, an automatic balance wedge block and a balance driven plate; the operation part connecting seat comprises an operation part supporting cylinder, three upright operation part connecting plates, a rotating shaft fixing front plate and a rotating shaft fixing rear plate which are sequentially arranged; the rotating shaft fixing front plate and the rotating shaft fixing rear plate are arranged oppositely and connected through a connecting plate; the centers of the operation part connecting plate and the rotating shaft fixed front plate are round holes; the operation part connecting plate is connected with the rotating shaft fixing front plate through a transverse operation part supporting cylinder, the operation part connecting plate is used for fixing the front part of the operation part, and the operation part supporting cylinder and the rotating shaft fixing front plate are used for supporting the middle part of the operation part; the center of the rotating shaft fixed rear plate is provided with a hole for supporting the rear part of the operation part; two ends of the rotating shaft are respectively arranged at the positions deviating from the center of the tops of the two rotating shaft fixing plates; one end of the balance hinge is connected with the rotating shaft, and the other end of the balance hinge is connected with the balance driven plate; two ends of the balance driven plate are respectively and fixedly arranged at the middle upper parts of the rotating shaft fixed front plate and the rotating shaft fixed rear plate; the front end of the mechanical arm is sleeved on the rotating shaft; the automatic balancing wedge block is fixedly arranged at the bottom of the front end of the mechanical arm and abuts against the balanced driven plate, so that the mechanical arm always keeps a certain inclination angle with the balanced driven plate, and the operation part always keeps parallel to the operated part.

2. The auto-parallel mechanism according to claim 1, wherein the working component is a laser cleaning head; the operation part connecting seat is a laser cleaning head connecting seat; the mechanical arm is a laser head connecting rod.

3. The automatic parallel mechanism according to claim 2, wherein said laser cleaning head connecting base comprises a laser cleaning head supporting cylinder and three upright laser cleaning head connecting plates, a rotating shaft fixed front plate and a rotating shaft fixed rear plate which are arranged in sequence; the rotating shaft fixing front plate and the rotating shaft fixing rear plate are arranged oppositely and connected through a connecting plate; the centers of the laser cleaning head connecting plate and the rotating shaft fixed front plate are round holes; the laser cleaning head connecting plate is connected with the rotating shaft fixing front plate through a transverse laser cleaning head supporting cylinder, the laser cleaning head connecting plate is used for fixing the front part of the laser cleaning head, and the laser cleaning head supporting cylinder and the rotating shaft fixing front plate are used for supporting the middle part of the laser cleaning head; a square hole is formed in the center of the rotating shaft fixing rear plate and used for supporting the rear part of the laser cleaning head; two ends of the rotating shaft are respectively arranged at the positions of the top parts of the rotating shaft fixed front plate and the rotating shaft fixed rear plate which deviate from the center; one end of the balance hinge is connected with the rotating shaft, and the other end of the balance hinge is connected with the balance driven plate; two ends of the balance driven plate are respectively and fixedly arranged at the middle upper parts of the rotating shaft fixed front plate and the rotating shaft fixed rear plate; the front end of the laser head connecting rod is sleeved on the rotating shaft; the automatic balance wedge block is fixedly arranged at the bottom of the front end of the laser head connecting rod and abuts against the balance driven plate, so that the laser head connecting rod always keeps a certain inclination angle with the balance driven plate, the laser cleaning head always keeps parallel to a track, and the laser emission direction of the laser cleaning head always keeps perpendicular to the track web.

4. The automatic parallel mechanism according to claim 1, 2 or 3, wherein the balance driven plate is fixedly mounted at both ends thereof at the middle upper positions of the rotation shaft fixed front plate and the rotation shaft fixed rear plate, respectively, by screws.

5. The automatic parallel mechanism as claimed in claim 4, wherein the balance driven plate is provided at a rear portion thereof with an upward projection, one end of the balance hinge is connected to the rotation shaft, and the other end of the balance hinge is connected to the upward projection of the balance driven plate.

6. The automatic parallel mechanism as claimed in claim 5, wherein one end of the balance hinge is connected to the rotation shaft, and the other end of the balance hinge is connected to the upward protruding block of the balance driven plate through a pin shaft.

7. The automatic parallel mechanism as claimed in claim 1, 2 or 3, wherein one end of the balance hinge is fitted around the rotation shaft.

8. The automatic parallel mechanism of claim 3, wherein the front end of the laser head connecting rod is a round head, and the automatic balancing wedge is fixedly installed at the bottom of the round head at the front end of the laser head connecting rod.

Technical Field

The invention belongs to the technical field of intelligent robots, and relates to an automatic parallel mechanism.

Background

When a mechanical arm and an operating part at the front end of the mechanical arm are used for mechanical operation of a multi-purpose robot, the mechanical arm needs to be automatically stretched and retracted, and the operating part is required to be always parallel to an operated part when the mechanical arm is retracted. For example, when the track marking robot works on the track marking, the rust on the rail waist must be removed first to enhance the adhesive force of paint and prolong the service life; because the rail is provided with a large number of spikes and the distance between the rail and the ground is very close, huge workload is brought to the traditional rust cleaning work, and because the rail is related to the life safety of people, the rail operation does not allow any chemical reaction to be utilized to clean the rail waist rust; therefore, people need to design a track intelligence laser cleaning robot who carries out self-cleaning specially to track web of rail corrosion, require that the arm (laser head connecting rod) of this kind of laser cleaning robot and the operation part (the laser cleaning head of installing at laser head connecting rod front end) of arm front end not the time spent draw in, stretch out during the use, it is rotatory downwards again, make the laser cleaning head stretch into (be close to) the track below the machine, and, require that laser cleaning head (operation part) remain throughout when receiving and releasing with the track (by the operation part) parallel, high energy fiber laser is launched to the orbital web of rail of vertical alignment all the time, in order to realize the self-cleaning to the web of rail corrosion. Therefore, it is necessary to design an automatic parallel mechanism which can realize the function and has simple structure and reasonable design.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide an automatic parallel mechanism which has a simple structure and reasonable design and can ensure that a mechanical arm and an operating part at the front end of the mechanical arm are always parallel to an operated part when being folded and unfolded (so that a laser cleaning head is always parallel to a rail when being folded and unfolded).

The purpose of the invention is realized by the following technical scheme:

the invention relates to an automatic parallel mechanism, which comprises an operation part connecting seat, a rotating shaft fixing plate, a balance hinge, an automatic balance wedge block and a balance driven plate, wherein the operation part connecting seat is connected with the rotating shaft; the operation part connecting seat comprises an operation part supporting cylinder, three upright operation part connecting plates, a rotating shaft fixing front plate and a rotating shaft fixing rear plate which are sequentially arranged; the rotating shaft fixing front plate and the rotating shaft fixing rear plate are arranged oppositely and connected through a connecting plate; the centers of the operation part connecting plate and the rotating shaft fixed front plate are round holes; the operation part connecting plate is connected with the rotating shaft fixing front plate through a transverse operation part supporting cylinder, the operation part connecting plate is used for fixing the front part of the operation part, and the operation part supporting cylinder and the rotating shaft fixing front plate are used for supporting the middle part of the operation part; the center of the rotating shaft fixed rear plate is provided with a hole for supporting the rear part of the operation part; two ends of the rotating shaft are respectively arranged at the positions deviating from the center of the tops of the two rotating shaft fixing plates; one end of the balance hinge is connected with the rotating shaft, and the other end of the balance hinge is connected with the balance driven plate; two ends of the balance driven plate are respectively and fixedly arranged at the middle upper parts of the rotating shaft fixed front plate and the rotating shaft fixed rear plate; the front end of the mechanical arm is sleeved on the rotating shaft; the automatic balancing wedge block is fixedly arranged at the bottom of the front end of the mechanical arm and abuts against the balanced driven plate, so that the mechanical arm always keeps a certain inclination angle with the balanced driven plate, and the operation part always keeps parallel to the operated part.

Further, the working component is a laser cleaning head; the operation part connecting seat is a laser cleaning head connecting seat; the mechanical arm is a laser head connecting rod; the automatic parallel mechanism is used in the track laser cleaning robot.

Furthermore, the laser cleaning head connecting seat comprises a laser cleaning head supporting cylinder, three vertical laser cleaning head connecting plates, a rotating shaft fixing front plate and a rotating shaft fixing rear plate which are sequentially arranged; the rotating shaft fixing front plate and the rotating shaft fixing rear plate are arranged oppositely and connected through a connecting plate; the centers of the laser cleaning head connecting plate and the rotating shaft fixed front plate are round holes; the laser cleaning head connecting plate is connected with the rotating shaft fixing front plate through a transverse laser cleaning head supporting cylinder, the laser cleaning head connecting plate is used for fixing the front part of the laser cleaning head, and the laser cleaning head supporting cylinder and the rotating shaft fixing front plate are used for supporting the middle part of the laser cleaning head; a square hole is formed in the center of the rotating shaft fixing rear plate and used for supporting the rear part of the laser cleaning head; two ends of the rotating shaft are respectively arranged at the positions of the top parts of the rotating shaft fixed front plate and the rotating shaft fixed rear plate which deviate from the center; one end of the balance hinge is connected with the rotating shaft, and the other end of the balance hinge is connected with the balance driven plate; two ends of the balance driven plate are respectively and fixedly arranged at the middle upper parts of the rotating shaft fixed front plate and the rotating shaft fixed rear plate; the front end of the laser head connecting rod is sleeved on the rotating shaft; the automatic balance wedge block is fixedly arranged at the bottom of the front end of the laser head connecting rod and abuts against the balance driven plate, so that the laser head connecting rod always keeps a certain inclination angle with the balance driven plate, and the laser cleaning head always keeps parallel to the track (the laser emission direction of the laser cleaning head always keeps vertical to the track web).

Furthermore, two ends of the balance driven plate are respectively and fixedly arranged at the middle upper parts of the rotating shaft fixed front plate and the rotating shaft fixed rear plate through screws.

Furthermore, an upward protruding block is arranged at the rear part of the balance driven plate, one end of the balance hinge is connected with the rotating shaft, and the other end of the balance hinge is connected with the upward protruding block of the balance driven plate.

Furthermore, one end of the balance hinge is connected with the rotating shaft, and the other end of the balance hinge is connected with the upward protruding block of the balance driven plate through a pin shaft.

Furthermore, one end of the balance hinge is sleeved on the rotating shaft.

Furthermore, the front end of the laser head connecting rod is a round head, and the automatic balancing wedge block is fixedly arranged at the bottom of the round head at the front end of the laser head connecting rod.

The working principle of the automatic parallel mechanism of the invention is as follows: the eccentric of the installation position of the rotating shaft is utilized to ensure that the gravity center of the operation part is positioned outside the rotating shaft; when the mechanical arm and the operation part at the front end of the mechanical arm do linear motion in the horizontal direction under the action of the automatic telescopic mechanism, the rotating shaft and the balance hinge are movable, and the balance driven plate, the operation part connecting seat and the operation part are arranged below the center of gravity of the balance driven plate, the operation part connecting seat and the operation part, the balance driven plate and the operation part are always kept at the lower position through the rotating shaft and the balance hinge, so that the operation part is always kept parallel to the operated part by utilizing the principle of overcoming the gravity eccentricity of the operation part when the mechanical arm and the operation part are folded and unfolded.

The invention has the beneficial effects that:

the invention provides an automatic parallel mechanism which can enable a mechanical arm and an operation part at the front end of the mechanical arm to be always parallel to an operated part when the mechanical arm and the operation part are folded and unfolded (enable a laser cleaning head to be always parallel to a rail when the mechanical arm and the operation part are folded and unfolded, and enable the laser emission direction of the laser cleaning head to be always vertical to the rail waist of the rail).

The automatic parallel mechanism has the advantages of simple structure, reasonable design and the like.

Drawings

Fig. 1 is a schematic view of the overall structure of a track laser cleaning robot in a retracted position in which the automatic parallel mechanism 7 of the present invention is employed in the embodiment;

fig. 2 is a schematic view of the overall structure of a track laser cleaning robot in a working position in which the automatic parallel mechanism 7 of the present invention is employed in the embodiment;

fig. 3 is a schematic diagram of the internal structure of a track laser cleaning robot in a working position in which the automatic parallel mechanism 7 of the present invention is employed in the embodiment;

FIG. 4 is a schematic structural diagram of a track laser cleaning robot with a housing in a retracted position in an embodiment in which the automatic parallel mechanism 7 of the present invention is employed;

fig. 5 is a front view schematically showing the structure of the automatic retracting mechanism 5 in the embodiment (the hinge 56, the slider 57 are located on one side);

fig. 6 is a side view schematically showing the structure of the automatic retracting mechanism 5 in the embodiment;

fig. 7 is a front view schematically showing the structure of the automatic retracting mechanism 5 in the embodiment (hinge 56, slider 57 in the middle);

fig. 8 is a schematic side view of the automatic retracting mechanism 5 in the embodiment (a-a cut view of fig. 7);

fig. 9 is a schematic perspective view of a laser head connecting rod 60 in the embodiment;

fig. 10 is a schematic top view of the laser head connecting rod 60 in the embodiment;

FIG. 11 is a schematic front view of an automatic parallelizing mechanism 7 (without a laser cleaning head 8) according to an embodiment of the present invention;

FIG. 12 is a schematic front view showing a laser cleaning head 8 mounted on an automatic parallel mechanism 7 according to the present invention;

FIG. 13 is a schematic side view of an automatic parallel mechanism 7 with a laser cleaning head 8 according to the present invention.

In the figure: 1. the automatic walking platform comprises an automatic walking platform 2, a motor driving unit 3, a laser control box 4, a battery 5, an automatic telescopic mechanism 6, an electric appliance control box 7, an automatic parallel mechanism 8, a laser cleaning head 9, a laser 10, a housing 11, a rail 12, a handle 13 and a housing mounting seat

51. Synchronous pulley 52, stepping motor 53, lead screw 54, guide rail 55, mounting support 56, hinge 57, slider 58, rotating shaft 59, rotating shaft assembly 60, laser head connecting rod 61, parallel guide wheel 62, bearing 63, bottom plate 64, fixed vertical plate 65, fixed vertical plate 66, lug plate 67, upper support 68, lower support 69, connecting rib 600, shaft hole 601, round head 602, square rod 603, bending plate 604, screw hole 605 and convex block

70. Laser cleaning head connecting plate 71, rotating shaft fixing front plate 72, rotating shaft 73, rotating shaft fixing rear plate 74, balance hinge 75, automatic balance wedge 76, balance driven plate 77, square hole 78, laser cleaning head supporting cylinder 79, connecting plate 80, pin shaft 81, upward protruding block 82, laser emission port G, gravity direction

Detailed Description

The invention is further described below with reference to the following figures and examples.

Examples

As shown in fig. 1 and 2, a rail laser cleaning robot using the automatic parallel mechanism 7 of the present invention is an automatic dedicated device for removing rust, grease, moisture and other stickies on a rail web, and discharges high-energy fiber laser with micron or nanometer wavelength emitted by a laser cleaning head 8 connected with a laser 9 to the rail web to clean the rail web rust, grease, moisture and other stickies. Fig. 1 and 2 show the laser cleaning head 8 in the working position and the laser cleaning head 8 in the retracted position, respectively.

As shown in fig. 3 and 4, a track laser cleaning robot using the automatic parallel mechanism 7 of the present invention mainly comprises an automatic walking platform 1, a motor driving unit 2, a laser control box 3, a battery 4, an automatic telescopic mechanism 5, an electric appliance control box 6, an automatic parallel mechanism 7, a laser cleaning head 8 and a laser 9; the automatic walking platform 1 is positioned at the bottom of the machine; the automatic walking platform 1 comprises a frame, a walking motor and two walking wheels; the two travelling wheels are arranged at the front end and the rear end of the frame and can travel on the single steel rail 11; the two traveling wheels are connected with a traveling motor; the walking motor is connected with the motor driving unit 2, so that the automatic walking platform 1 has a single-rail automatic walking function. The motor driving unit 2, the battery 4, the automatic telescopic mechanism 5, the electric appliance control box 6 and the laser 9 are all fixedly arranged on the frame of the automatic walking platform 1; a microcontroller is arranged in the electric appliance control box 6; the motor driving unit 2 is connected with the output end of a microcontroller in the electric appliance control box 6 (the input end of the microcontroller is connected with the track identification data acquisition module); the motor driving unit 2 is connected with a walking motor of the automatic walking platform 1 and can drive the automatic walking platform 1 to walk; the motor driving unit 2 is also connected with the stepping motor 52 of the automatic telescoping mechanism 5, and can drive the stepping motor 52 of the automatic telescoping mechanism 5 to rotate so as to realize automatic telescoping; the laser 9 is arranged in the middle of the automatic walking platform 1; the laser control box 3 is fixedly arranged on the laser 9 and is electrically connected with the laser 9; the laser 9 is electrically connected with the laser cleaning head 8; the motor driving unit 2, the laser control box 3, the electric appliance control box 6, the laser cleaning head 8 and the laser 9 are all connected with the battery 4; the automatic telescopic mechanism 5 is connected with the automatic parallel mechanism 7; the laser cleaning head 8 is connected with the automatic parallel mechanism 7. The automatic telescopic mechanism 5 is responsible for automatic retraction and extension of the laser cleaning head 8 at a working position (the working position is determined by the focal length of a field lens of the laser cleaning head 8) and a retraction position (see fig. 1 and 2). When the laser cleaning head 8 is folded and unfolded, the automatic parallel mechanism 7 utilizes the principle of overcoming the gravity eccentricity of the laser cleaning head 8 to ensure that the laser cleaning head 8 is always parallel to the rail when folded and unfolded and ensure that the laser emission direction of the laser cleaning head is always vertical to the rail web of the rail.

As shown in fig. 3 and 2, the track laser cleaning robot further includes a housing mounting base 13 and a housing 10; the housing mounting seat 13 is fixedly arranged on the frame of the automatic walking platform 1; the housing 10 is fixedly mounted on the housing mount 13. Two handles 12 are respectively arranged at two sides of the housing 10 for carrying.

As shown in fig. 5-8, the automatic telescoping mechanism 5 mainly comprises a synchronous pulley 51, a stepping motor 52, a screw 53, a guide rail 54, a mounting support 55, a hinge 56, a slider 57, a rotating shaft assembly 59, a laser head connecting rod 60, and the like. The rotating shaft assembly 59 includes a rotating shaft 58 and a bearing 62; the mounting bracket 55 comprises an upper bracket 67 and a lower bracket 68 which are connected together; the upper support 67 comprises a bottom plate 63 and fixed vertical plates 64 at the front side and the rear side; two ends of the screw rod 53 are respectively arranged on the fixed vertical plates 64 at the front side and the rear side; the synchronous belt wheel 51 is arranged at one end of the screw 53, and the synchronous belt wheel 51 is connected with an output shaft of the stepping motor 52 through a transmission belt; a guide rail 54 is arranged on the bottom plate 63 of the upper support; the left side and the right side of the bottom plate 63 of the upper support close to the front part are provided with a left ear plate and a right ear plate 66; two ends of the rotating shaft 58 are transversely arranged on the left lug plate 66 and the right lug plate 66 through bearings 62; the cross section of the lower support 68 is in an inverted T shape; the left ear plate 66 and the right ear plate 66 are respectively positioned at two sides of the upper part of the lower support 68; the stepping motor 52 is connected with the screw 53 through the synchronous pulley 51; the bottom of the sliding block 57 is provided with a pulley which is arranged on the guide rail 54, and the sliding block 57 can reciprocate on the guide rail 54; the upper part of the sliding block 57 is sleeved outside the screw rod 53 (the screw rod 53 penetrates through the upper part of the sliding block 57); the hinge 56 includes two left and right symmetrically disposed; one end of the hinge 56 is fixedly connected with the middle part of the sliding block 57; the other end of the hinge 56 is fixedly connected with the rear end of the laser head connecting rod 60.

As shown in fig. 9 and 10, the laser head connecting rod 60 includes two L-shaped connecting pieces at left and right sides which are symmetrically arranged; the left and right L-shaped connecting pieces are connected by a front connecting rib 69; each L-shaped connecting piece comprises an upper square rod 602 and a lower square rod 602 in the middle, a bending plate 603 at the rear end and a round head 601 at the front end and provided with a shaft hole 600; the outer side of the bottom of the bending plate 603 at the rear end is provided with a convex block 605 which is connected with the hinge 56 and is provided with a screw hole 604 (the hinge 56 is connected with the laser head connecting rod 60 through a screw); the front ends and the rear ends of the upper square rod 602 and the lower square rod 602 are connected together; the two parallel guide wheels 61 are respectively and fixedly arranged on the upper surfaces of the laser head connecting rods 60 and the rear ends of the two square rods 602; as shown in fig. 5-8, the two parallel guide wheels 61 are supported above and below the bottom plate 63 of the upper support 67; the rotating shaft 58 transversely penetrates through the upper square rod 602 and the lower square rod 602 of the left L-shaped connecting piece and the right L-shaped connecting piece (namely transversely penetrates through the upper square rod and the lower square rod); the laser head connecting rod 60 can make a linear motion in the horizontal direction (from the back to the front, i.e. from the position in fig. 7 to the position in fig. 5) on the rotating shaft 58 (under the restriction of the rotating shaft 58) under the guidance of two parallel guide wheels 61; when the rear end of the upper and lower square rods 602 moving to the laser head connecting rod 60 abuts against the rotating shaft 58 (by the rotating shaft 58), the laser head connecting rod 60 starts to rotate around the rotating shaft 58.

The working principle of the automatic telescopic mechanism 5 is as follows: the stepping motor 52 drives the screw rod 53 to rotate through the synchronous pulley 51 to push the slider 57 to reciprocate on the guide rail 54, when the slider 56 drives the hinge 56 to push the laser head connecting rod 60 to do linear motion in the horizontal direction under the guide of the two parallel guide wheels 61, and the laser head connecting rod 60 moves to the constraint position of the rotating shaft 58, under the constraint of the rotating shaft 58, the linear motion in the horizontal direction is changed into the rotating motion with the rotating shaft 58 as the central shaft, so that the laser head connecting rod 60, the automatic parallel mechanism 7 and the laser cleaning head 8 can stretch (retract and retract). The laser head connecting rod 60 is connected with the laser cleaning head 8 through the automatic parallel mechanism 7.

As shown in fig. 11-13, the automatic parallel mechanism 7 of the present invention mainly comprises a laser cleaning head connecting seat, a rotating shaft 72, a rotating shaft fixing plate, a balance hinge 74, an automatic balance wedge 75 and a balance driven plate 76; the laser cleaning head connecting seat comprises a laser cleaning head supporting cylinder 78, three vertical laser cleaning head connecting plates 70, a rotating shaft fixing front plate 71 and a rotating shaft fixing rear plate 73 which are sequentially arranged; the rotating shaft fixed front plate 71 and the rotating shaft fixed rear plate 73 are arranged oppositely and connected through a connecting plate 79; the centers of the laser cleaning head connecting plate 70 and the rotating shaft fixing front plate 71 are round holes; the laser cleaning head connecting plate 70 is connected with the rotating shaft fixing front plate 71 through a transverse laser cleaning head supporting cylinder 78, the laser cleaning head connecting plate 70 is used for fixing the front part of the laser cleaning head 8, and the laser cleaning head supporting cylinder 78 and the rotating shaft fixing front plate 71 are used for supporting the middle part of the laser cleaning head 8; the center of the rotating shaft fixing back plate 73 is provided with a square hole 77 for supporting the back part of the laser cleaning head 8; the front part of the laser cleaning head 8 is fixed on a laser cleaning head connecting plate 70, the middle part of the laser cleaning head passes through a supporting cylinder 78, the laser cleaning head connecting plate 70 and a central circular hole of a rotating shaft fixing front plate 71, and the rear part of the laser cleaning head 8 passes through a central square hole 77 of a rotating shaft fixing rear plate 73 of a laser cleaning head connecting seat 71; two ends of the rotating shaft 72 are respectively arranged at the positions of two vertical plates behind the laser cleaning head connecting seat 71, namely the positions of the tops of the rotating shaft fixed front plate 71 and the rotating shaft fixed rear plate 73 deviated from the center (the installation position of the rotating shaft 72 is eccentric); one end of the balance hinge 74 is connected with the rotating shaft 72 (the front end of the balance hinge 74 is sleeved on the rotating shaft 72), and the other end of the balance hinge 74 is connected with an upward protruding block 81 of the balance driven plate 76 through a pin shaft 80; two ends of the balance driven plate 76 are respectively and fixedly arranged at the middle upper parts of two vertical plates behind the laser cleaning head connecting seat 71, namely a rotating shaft fixing front plate 71 and a rotating shaft fixing rear plate 73 through screws; the front end of the laser head connecting rod 60 is sleeved on the rotating shaft 72 (the rotating shaft 72 is inserted into the shaft hole 600 of the round head 601 at the front end of the laser head connecting rod 60); the automatic balancing wedge block 75 is fixedly arranged at the bottom of a round head 601 at the front end of the laser head connecting rod 60, and the automatic balancing wedge block 75 is propped against the balanced driven plate 76, so that the laser head connecting rod 60 always keeps a certain inclination angle with the balanced driven plate 76, and the laser cleaning head 8 always keeps parallel to a track.

The working principle of the automatic parallel mechanism 7 of the invention is as follows: the eccentricity of the installation position of the rotating shaft 72 is utilized to make the center of gravity of the laser cleaning head 8 outside the rotating shaft 72 (as shown in fig. 13, the gravity direction G is outside the rotating shaft 72); when the laser head connecting rod 60 together with the automatic parallel mechanism 7 and the laser cleaning head 8 do the linear motion in the horizontal direction under the action of the automatic telescopic mechanism 5, since the rotating shaft 72 and the balance hinge 74 are movable, and since the balance driven plate 76 together with the center of gravity of the laser cleaning head attachment base 71 and the laser cleaning head 8 is located below, therefore, the balance driven plate 76, the laser cleaning head connecting seat 71 and the laser cleaning head 8 can be always kept at the lower position through the rotating shaft 72 and the balance hinge 74, when the automatic parallel mechanism 7 promotes the laser cleaning head 8 to be folded and unfolded through the automatic telescopic mechanism 5, by overcoming the gravity eccentricity principle of the laser cleaning head 8, the laser cleaning head 8 is always kept parallel to the rail, and the laser emission direction of the laser cleaning head 8 is always kept perpendicular to the rail web of the rail (that is, the laser emitted from the laser emission port 82 in fig. 13 is perpendicular to the rail web of the rail).

When the laser head connecting rod 60, together with the automatic parallel mechanism 7 and the laser cleaning head 8, do linear motion in the horizontal direction and do rotary motion under the action of the automatic telescopic mechanism 5, the laser head connecting rod 60 positioned on the inner side of the rotating shaft 72 is abutted against the balance driven plate 76 by the blocking of the automatic balance wedge block 75, so that the laser cleaning head 8 is always kept parallel to the track, and the laser emission direction of the laser cleaning head 8 is always kept perpendicular to the track web. As shown in fig. 11, the center of gravity of the laser cleaning head 8 is located outside the rotating shaft 72 (the gravity direction G is located on the left side in fig. 11), the laser cleaning head 8 on the left side has a tendency to move downward, the balance driven plate 76 on the right side has a tendency to move upward, and the balance driven plate 76 is pushed by the automatic balance wedge 75, so that the laser cleaning head 8 cannot move downward (i.e., cannot rotate) and cannot rotate, and the automatic parallel mechanism 7 can make the laser cleaning head 8 always parallel to the rail by overcoming the gravity eccentricity principle of the laser cleaning head 8 when the automatic telescopic mechanism 5 makes the laser cleaning head 8 retract and release, and the high-energy fiber laser emitted by the laser cleaning head 8 always keeps vertical to the rail waist of the rail.

The automatic parallel mechanism 7 of the invention can ensure that the laser cleaning head is always kept parallel to the track when being folded and unfolded, and the laser emission direction of the laser cleaning head is always kept vertical to the track web. The automatic parallel mechanism 7 has the advantages of simple structure, reasonable design and the like.