CN109940580B - Frame type railway unhooking manipulator - Google Patents
Frame type railway unhooking manipulator Download PDFInfo
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- CN109940580B CN109940580B CN201910242291.8A CN201910242291A CN109940580B CN 109940580 B CN109940580 B CN 109940580B CN 201910242291 A CN201910242291 A CN 201910242291A CN 109940580 B CN109940580 B CN 109940580B
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- 230000007246 mechanism Effects 0.000 claims abstract description 122
- 230000008878 coupling Effects 0.000 claims abstract description 25
- 238000010168 coupling process Methods 0.000 claims abstract description 25
- 238000005859 coupling reaction Methods 0.000 claims abstract description 25
- 230000009471 action Effects 0.000 claims abstract description 10
- 210000000078 claw Anatomy 0.000 claims abstract description 5
- 230000003028 elevating effect Effects 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims 1
- 230000003068 static effect Effects 0.000 abstract 1
- 210000000707 wrist Anatomy 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Abstract
The patent discloses a can pluck frame-type railway unhook manipulator of train coupling handle at marshalling station, including fixed arm mechanism, unhook arm mechanism, the unhook hand claw mechanism that has between running gear, main part elevating system, main part and the carriage that advances along the rail direction, its characterized in that: the unhooking manipulator moves along the guide rail above the frame, so that the unhooking action requirement is met, and meanwhile, a large ground space is saved. The running mechanism can enable the whole manipulator main body and the carriage to keep relatively static, the main body lifting mechanism can enable the unhooking arm to finish up-down lifting, the fixed arm mechanism can stretch out to be adsorbed on the carriage, stable operation of operation is guaranteed, the unhooking arm mechanism can deliver the unhooking paw to a handle to be lifted, the unhooking paw mechanism can clamp the handle, lifting and twisting actions are completed, and the train carriage is separated.
Description
One, belonging to the technical field
The invention introduces a specific structural design of a frame type railway unhooking manipulator, and a main body of the frame type railway unhooking manipulator comprises a walking mechanism of the unhooking manipulator, a main body lifting mechanism, a fixed arm mechanism, a unhooking arm mechanism and a structure of a unhooking claw.
Second, background Art
The current China railway is in a high-speed development stage, and the railway freight volume is greatly improved. The freight train marshalling station is used as an important node of the railway freight network, and the working efficiency of the freight train marshalling station directly influences the operation efficiency of the whole railway freight network. Unfortunately, at present, the freight train marshalling station is still in an incomplete development stage, and although most of work is performed automatically, the decomposition of the train is still realized on a hump line by adopting a traditional method of manual unhooking, so that the work efficiency of the marshalling station is greatly influenced, and the economic development is indirectly hindered to a certain extent. Therefore, the automation of hook-off of hump railway is urgent, and an effective railway hook-off manipulator is needed to be designed to realize the automation of railway hook-off.
Patent CN201210081425 designs a train unhooking robot, which comprises a wrist unhooking mechanism, a lifting mechanism and a traversing mechanism, wherein the wrist unhooking mechanism comprises a first motor, a speed reducer and a paw, and the first motor is connected with the speed reducer; the lifting mechanism comprises a rod, a sliding bearing, a sliding screw rod, a sliding nut, a coupling, a second motor and a bottom plate; the transverse moving mechanism comprises a rack, a third motor, a sliding guide rail and a gear shaft; the wrist unhooking mechanism is arranged on a bottom plate of the lifting mechanism, and the lifting mechanism is arranged on the transverse moving mechanism. The automatic unhooking device realizes automatic unhooking of the train carriage, reduces the working strength of workers, improves the working efficiency, and has the advantages of simple and reliable structure and accurate action. However, in practical application, a track which is parallel to a rail and is specially used for the robot to walk needs to be erected beside the train, so that excessive ground space is occupied, and other ground operations are influenced.
Third, the invention
1. Objects of the invention
Compared with the prior art that a track erecting robot is additionally arranged on the ground beside a train to pick up the hook between the trains, the frame type railway unhooking manipulator greatly saves the ground space, enhances the action flexibility and improves the working efficiency.
2. Technical solution of the invention
Aiming at the defects of the robot, the invention designs a frame type mechanical arm.
The frame-type unhooking manipulator is characterized in that a higher track is erected near the unhooking place, and the unhooking manipulator walks in the air to complete the unhooking operation. The mechanical arm which is not operated can be contracted upwards, thus greatly saving the ground space. The main body of the device mainly comprises five parts, namely a track and walking mechanism, a fixed arm mechanism, a main body lifting mechanism, a unhooking arm mechanism and a unhooking paw mechanism. The track and walking mechanism comprises a frame, a rack, a first sliding guide rail, a first sliding block, a main shell of a mechanical arm, a first servo motor, a first coupling, a second-stage gear reduction mechanism, a clutch, a rack and an exposed gear meshed with the rack on the frame; the fixed arm mechanism comprises a servo motor II, a fixed arm mechanism shell, a coupler II, a ball screw I, a nut I, a sliding guide rail II, a sliding block II and an electromagnet; the main body lifting mechanism comprises a servo motor III, a coupling III, a fixed block, a ball screw II, a nut II, a sliding guide rail III and a sliding block III; the unhooking arm mechanism mainly comprises a first shell, a second-level gear transmission mechanism, a fourth coupler, a fourth servo motor, a main shell of the unhooking arm, a fifth servo motor, a fifth coupler and a bevel gear transmission mechanism which are connected with the lifting mechanism; the unhooking mechanical paw mainly comprises a second shell connected with an unhooking arm, a sixth servo motor, a fourth sliding guide rail, a lifting cylinder, a clamping cylinder and a four-bar mechanism clamping jaw.
The main running mechanism of the invention is that a mechanical arm is connected with a supporting frame through two parallel guide rails, one side of the frame close to the vertical surface of the mechanical arm main body is provided with a rack which is meshed with an exposed gear, and the gear is connected with a motor through a clutch, a reducer and a coupler. When the gear rotates, the manipulator body can do linear motion along the guide rail on the frame.
The main body lifting mechanism of the invention is characterized in that a servo motor is connected with a screw nut mechanism through a coupler, thereby controlling the lifting of a unhooking arm. In order to prevent the lead screw nut mechanism from bearing overlarge radial force, a sliding guide rail and a sliding block are additionally arranged to share the radial force.
The invention relates to a fixed arm mechanism, wherein a servo motor is connected with a screw nut mechanism through a coupler, a sliding guide rail and a sliding block are additionally arranged on a main shell of a unhooking arm, and an electromagnet is arranged at the other end of a fixed arm opposite to the motor. When the motor drives the screw nut mechanism to rotate, the nut is fixed, so that the whole fixed arm can move along the axial direction of the fixed arm.
The invention relates to a unhooking arm mechanism, which is characterized in that a servo motor is connected with a secondary gear transmission mechanism through a coupler and is connected with a lifting mechanism. And the tail end of the unhooking arm is connected with a bevel gear transmission mechanism through a coupler by a servo motor so as to control the rotation of the paw.
The unhooking paw is connected with the tail part of an unhooking arm, the lifting of the unhooking paw body is controlled through a lifting cylinder, and a motor is arranged at the upper end of the lifting cylinder and can control the rotation of the unhooking paw. The inside clamping cylinder and the four-bar mechanism clamping jaw that contain of unhook hand claw main part for the lifting hook handle on the tight train of clamp.
3. Effects of the invention
The invention is to erect a higher rail near the unhooking place, so that the unhooking manipulator travels in the air to complete the unhooking action. Compared with other forms of unhooking robots, the frame-type unhooking manipulator can be upwards contracted when not in operation, so that the ground space is greatly saved, the complex working condition can be met, and the working efficiency is improved.
Fourthly, the attached drawings and the brief description of the attached drawings
FIG. 1 is a schematic diagram of the operation of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the axle of the traveling mechanism of the present invention;
FIG. 4 is a front view of the arm securing mechanism of the present invention;
FIG. 5 is a front view of the main body elevating mechanism of the present invention;
FIG. 6 is a front view of the unhooking arm mechanism of the present invention;
FIG. 7 is an enlarged view of a portion of the upper portion of the unhooking arm mechanism of the present invention;
FIG. 8 is an enlarged view of a portion of the lower part of the unhooking arm mechanism of the present invention;
FIG. 9 is a side view of the unhooking gripper shaft of the present invention;
FIG. 10 is an enlarged view of a portion of the unhooking gripper of the present invention;
001. the automatic unhooking device comprises a carriage, 002, a frame, 003, a unhooking manipulator, 100, a walking mechanism, 200, a fixed arm mechanism, 300, a main body lifting mechanism, 400, a unhooking arm mechanism, 500, a unhooking claw, 101, a sliding guide rail I, 102, a sliding block I, 103, a servo motor I, 104, a coupling I, 105, a secondary gear speed reducing mechanism, 106, a clutch, 107, an exposed gear, 108, a rack, 201, a servo motor II, 202, a fixed arm shell, 203, a coupling II, 204, a ball screw I, 205, a nut I, 206, a sliding guide rail II, 207, an electromagnet, 208, a sliding block II, 301, a servo motor III, 302, a coupling III, 303, a fixed block, 304, a ball screw II, 305, a nut II, 306, a sliding guide rail III, 307, 401, a connecting shell I, 402, a secondary gear transmission mechanism, 403, a coupling IV, 404, a servo motor IV, a servo motor II, a servo motor, a motor V, a motor B, 405. the four-bar mechanism clamping device comprises a decoupling arm shell, 406, a servo motor, a coupling, a bevel gear transmission mechanism, 501, a connecting shell, a servo motor, a sliding guide rail, 504, a lifting cylinder, 505, a clamping cylinder and 506, and four-bar mechanism clamping jaws.
Fifth, detailed description of the invention
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the frame-type railway unhooking manipulator is composed of a traveling mechanism 100, a fixed arm mechanism 200, a main body lifting mechanism 300, an unhooking arm mechanism 400 and an unhooking paw mechanism 500; the first sliding guide rail 101 is arranged on a frame 002 which is erected above a train and is parallel to a rail, the first sliding block 102 can move on the first sliding guide rail 101 and can drive the whole manipulator 003 to move along the rail direction, the first servo motor 103 is connected with a second-stage gear speed reducing mechanism 105 through a first coupling 104 and further connected with a lower exposed gear 107 through a clutch 106 and meshed with a rack 108 attached to the frame through the first coupling to drive the whole manipulator to move; a second servo motor 201 is positioned at one end, far away from the train track, of the fixed arm mechanism 200 and is connected with a ball screw 204 through a second coupling 203, a first nut 205 and a second slider 208 are fixed on the whole manipulator main body, a second sliding guide 206 is positioned at two sides of the fixed arm shell 202, so that the whole fixed arm can do telescopic motion, and an electromagnet 207 is positioned at one end, close to the track, of the whole arm and can be adsorbed on a carriage during operation; a servo motor III 301 is positioned at the bottom end of the whole main body lifting mechanism and is connected with a ball screw II 304 through a coupling III 302 above the servo motor III, the ball screw II 304 is stabilized by a fixing block 303, a sliding guide rail III 306 is fixed at two sides of the main body lifting mechanism, a sliding block III 307 and a nut II 305 are both connected with a connecting shell 401, and a hook-removing arm mechanism can be driven to move up and down along the sliding guide rail III 306; a servo motor IV 404 is positioned above the interior of the unhooking arm mechanism shell 405 and is connected with the secondary gear transmission mechanism 402 through a coupling IV 403, and a servo motor V406 is positioned below the unhooking arm mechanism shell 405 and is connected with the bevel gear transmission mechanism 408 through a coupling V407; the lifting cylinder 504 is fixed inside the connecting shell II 501, and can push the servo motor six 502 above the lifting cylinder to move up and down along the sliding guide rails four 503 on the two sides of the motor, the clamping cylinder 505 is arranged inside the four-bar mechanism clamping jaw 506 and controls the clamping of the clamping jaw, and the four-bar mechanism clamping jaw is connected with the servo motor six 502 and can perform twisting motion.
When the first servo motor 103 of the traveling mechanism 100 rotates, the second-stage gear reduction mechanism 105 is driven to rotate through the first coupling 104, and then the exposed gear 107 is driven to rotate through the clutch 106, and the whole manipulator can move at the maximum speed of 5m/s along the first sliding guide rail 101 on the frame because the gear is meshed with the rack 108 fixed on the frame.
After the speed of the whole manipulator is close to the same as the advancing speed of a train, in order to ensure the stability during unhooking, the second servo motor 201 rotates, the first ball screw 204 is driven to rotate through the second coupling 203, and the first nut 205 and the second slider 208 are fixed on the manipulator body, so that the whole fixing arm can extend out and be adsorbed on a carriage by using the electromagnet 207, and the unhooking action is stably completed.
The main body lifting mechanism 300 and the servo motor III 301 are located at the bottom end of the main body lifting mechanism 300, when the main body lifting mechanism 300 rotates, the ball screw II 304 is driven to rotate through the coupling III 302, the nut II 305 further moves up and down, and the nut II 305 and the slider III 307 are connected with the connecting shell I401, so that the unhooking arm can be driven to lift up and down along the sliding guide rail III 307.
In the unhooking arm mechanism 400, when the servo motor four 404 rotates, the second-level gear transmission mechanism 402 can be driven to rotate through the coupler four 403, so that the unhooking arm swings from 0 degree to 90 degrees, and when the servo motor five 406 rotates, the bevel gear transmission mechanism 408 is driven to rotate through the coupler five 407, so that the unhooking paw rotates from 0 degree to 90 degrees.
The unhooking gripper mechanism 500 is provided with a clamping cylinder 505 which is telescopic, so that the four-bar mechanism clamping jaw can be clamped, and the hooking action can be finished; the lifting cylinder 504 pushes the servo motor six 502 to move up and down along the sliding guide rails four 503 on the two sides of the servo motor six, so that the hook lifting action of the paw can be completed; when the six 502 motors of the servo motor rotate, the clamping jaw can be driven to complete the twisting action.
The above preferred embodiments are merely illustrative of the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention belong to the scope of the present invention.
Claims (1)
1. The utility model provides a frame-type railway unhook manipulator, includes running gear, main part elevating system, fixed arm mechanism, unhook paw mechanism, characterized by: a frame rail parallel to the railway is erected above the railway, so that the ground space is saved, and the working efficiency is improved;
the traveling mechanism comprises a frame, a rack, a sliding guide rail I, a sliding block I, a main shell of the mechanical arm, a servo motor I, a coupling I, a secondary gear reduction mechanism, a clutch and an exposed gear meshed with the rack on the frame; the fixed arm mechanism comprises a servo motor II, a fixed arm mechanism shell, a coupler II, a ball screw I, a nut I, a sliding guide rail II, a sliding block II and an electromagnet; the main body lifting mechanism comprises a servo motor III, a coupling III, a fixed block, a ball screw II, a nut II, a sliding guide rail III and a sliding block III; the unhooking arm mechanism mainly comprises a first shell, a second-level gear transmission mechanism, a fourth coupler, a fourth servo motor, a main shell of the unhooking arm, a fifth servo motor, a fifth coupler and a bevel gear transmission mechanism which are connected with the main body lifting mechanism; the unhooking paw mechanism mainly comprises a second shell connected with an unhooking arm, a sixth servo motor, a fourth sliding guide rail, a lifting cylinder, a clamping cylinder and a four-bar mechanism clamping jaw;
in the frame type railway unhooking manipulator, a first servo motor in a travelling mechanism drives a secondary gear speed reducing mechanism to rotate through a coupler, and drives an exposed gear to rotate through a clutch, and the exposed gear is meshed with a rack on a frame, so that the manipulator can move on the frame; a servo motor II in the fixed arm mechanism drives a ball screw I to rotate through a coupling II, and a nut I and a slide block II are fixed on the manipulator main body, so that the fixed arm can extend out and is adsorbed on a carriage by utilizing an electromagnet, and the unhooking action can be completed more stably; a servo motor tee joint in the main body lifting mechanism drives a ball screw II to rotate through a coupling III, and a nut II on the ball screw II can drive a unhooking arm to lift up and down; a servo motor four-way in the unhooking arm mechanism drives the secondary gear transmission mechanism to rotate through a coupler four-way, so that the unhooking arm can swing; the servo motor five drives the bevel gear transmission mechanism to rotate through the coupling five, so that the unhooking paw swings; a lifting cylinder in the unhooking paw mechanism can lift the unhooking paw, a servo motor six can drive the unhooking paw to rotate, and the contraction of the clamping cylinder can clamp the clamping jaw of the four-bar mechanism;
the walking mechanism is characterized in that a mechanical arm is connected with a support frame through two parallel guide rails, a rack is arranged on one side of the frame, close to the vertical surface of a mechanical arm main body, and is meshed with an exposed gear, and the gear is connected with a servo motor I through a clutch, a speed reducer and a coupling I; when the gear rotates, the manipulator body can do linear motion along the guide rail on the frame;
the fixed arm mechanism is characterized in that a second servo motor is connected with a screw nut mechanism through a second coupling, a sliding guide rail and a sliding block are additionally arranged on a shell of the fixed arm mechanism, and an electromagnet is arranged at the other end, opposite to the second servo motor, of the fixed arm; when the servo motor II drives the screw rod nut mechanism to rotate, the nut is fixed, so that the whole fixed arm can move along the axial direction of the fixed arm;
the unhooking arm mechanism is used for connecting the servo motor IV with the secondary gear transmission mechanism through a coupler IV and then connecting the servo motor IV with the lifting mechanism; the tail end of the unhooking arm is connected with a bevel gear transmission mechanism through a fifth coupler by a fifth servo motor so as to control the rotation of the paw;
the unhooking paw is connected with the tail part of the unhooking arm, the lifting of the unhooking paw body is controlled by a lifting cylinder, and the upper end of the lifting cylinder is provided with a servo motor six which can control the rotation of the unhooking paw; the inside clamping cylinder and the four-bar mechanism clamping jaw that contain of unhook hand claw main part for the lifting hook handle on the tight train of clamp.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910242291.8A CN109940580B (en) | 2019-03-28 | 2019-03-28 | Frame type railway unhooking manipulator |
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| CN201910242291.8A CN109940580B (en) | 2019-03-28 | 2019-03-28 | Frame type railway unhooking manipulator |
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| CN109940580A CN109940580A (en) | 2019-06-28 |
| CN109940580B true CN109940580B (en) | 2022-04-22 |
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| CN114987571B (en) * | 2022-06-28 | 2023-11-10 | 华电重工股份有限公司 | Mechanical arm tail end jig, unhooking robot and train unhooking method |
| CN115571185B (en) * | 2022-09-30 | 2023-08-08 | 山东交通学院 | Automatic unhooking device of open wagon and working method |
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Effective date of registration: 20240423 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Country or region after: China Address before: 110870, No. 111, Shen Xi Road, Shenyang economic and Technological Development Zone, Shenyang, Liaoning Patentee before: SHENYANG University OF TECHNOLOGY Country or region before: China |
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Effective date of registration: 20240513 Address after: 130000 Economic Development Zone, Helong Town, Nong'an County, Changchun City, Jilin Province (West of Huaneng thermal power plant) Patentee after: Changchun jingyijing railway passenger car accessories Co.,Ltd. Country or region after: China Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Country or region before: China |