CN110281970A - A kind of suspension type railway freight automatic decoupling device, system and method - Google Patents
A kind of suspension type railway freight automatic decoupling device, system and method Download PDFInfo
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- CN110281970A CN110281970A CN201910708497.5A CN201910708497A CN110281970A CN 110281970 A CN110281970 A CN 110281970A CN 201910708497 A CN201910708497 A CN 201910708497A CN 110281970 A CN110281970 A CN 110281970A
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- decoupling device
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- decoupling
- hump
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
- B61G7/00—Details or accessories
- B61G7/04—Coupling or uncoupling by means of trackside apparatus
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Abstract
The present invention provides a kind of suspension type railway freight automatic decoupling device, system and method, and device includes: hump monitoring unit, awareness apparatus and decoupling device robot.Pass through the real time communication of hump monitoring unit and monitoring center, the information such as sorting list and locomotive parameters are obtained, while analyzing the information of awareness apparatus acquisition, assign decoupling device instruction to decoupling device robot, then each unit cooperation of decoupling device robot completes decoupling device task.Present inventive concept is ingenious, structurally reasonable, easy to use, adjustment is flexible, versatile, easy to maintain, significantly improves railway freight marshalling yard working efficiency, can be widely used in various electric railway construction.
Description
Technical field
The present invention relates to railroad freight cars to organize into groups technical field, specifically, more particularly to a kind of suspension type railway goods
Transport automatic decoupling device, system and method.
Background technique
In the prior art, shipping marshalling yard flatter makees mainly by what is be accomplished manually, and decoupling device staff is according to job ticket
Requirement, compartment is recorded when walking with locomotive by quantity, finds suitable decoupling device position by rule of thumb, passes through and holds unlocking handle
Coupler knuckle pin is mentioned out, so that the hitch compressed automatically turns under the driving of hook vehicle self gravity, completes decoupling device work.
It has the following disadvantages:
Artificial decoupling device operating condition complexity, large labor intensity, it is contemplated that the factors such as personal safety limit, the maximum of disintegration car team push away
It send speed to can only achieve 6~7km/h, limits further increasing for hump marshalling station working efficiency；
Especially under the bad weathers such as wind, frost, rain, snow, mist, job ticket is easy to cause to be stained, lose, adds personnel
Work strain, often miscounts compartment, disintegrated passenger car misordering, and rolling coded sequence and subscription plan are not inconsistent, make
The phenomenon that at wrong hook, leakage hook, further result in safety accident；
In order to exclude the mistakes such as wrong hook, leakage hook, needs to transfer other staff on related work post and assist to find
Wrong hook compartment retracts again and pushes away crest segment progress grouping operation, reduces hump disintegration efficiency.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of suspension type railway freight automatic decoupling device, substitutes decoupling device
Personnel complete the automatic decoupling of train, improve marshalling yard's vehicle marshalling working efficiency and eliminate worker operation security risk.
The technological means that the present invention uses is as follows:
A kind of suspension type railway freight automatic decoupling robot device, including suspended rail and pressed in the suspended rail
The robot body of set direction sliding, the robot body include:
Pedestal is hung,
Stretch out the left driving wheel of the suspension pedestal certain distance, the cooperation suspended rail sliding；
Pass through the left driving motor of left driving wheel described in driving axis connection；
Do the symmetrically arranged right driving wheel of driving wheel with described, and with the symmetrically arranged right driving of the left driving motor
Motor；
Perpendicular to the first telescopic oil cylinder of the suspension pedestal setting, pedestal is connected and fixed below the telescopic oil cylinder；
It is parallel to the second telescopic oil cylinder of the fixed pedestal surface setting；The flexible second telescopic oil cylinder driving is mechanical
Arm device moves back and forth on the sliding rail for being located at the fixed pedestal marginal position.
Further, the robot device include sequentially connected robot drives motor, shaft coupling, retarder and
Manipulator.
Further, the automatic decoupling robot device further includes the controller being set to above the suspension pedestal,
The control terminal of the controller is separately connected left driving motor, right driving motor, the hydraulic stem drive for acting on the first telescopic oil cylinder
Dynamic motor, and act on the robot drives motor of the second telescopic oil cylinder.
Further, the suspended rail includes biserial annular walking track and 5 supply lines, hangs on locomotive rail in parallel
The right side in road.
Described device further includes being set to the suspension pedestal close to the first video camera of train side and being set to described
Second video camera of the fixed pedestal close to train side；First video camera is used to acquire license number coding, hitch video image,
Second video camera is for further acquiring the accurate video image of hitch；The hitch video image, license number encoded video figure
It is handled as sending to controller.
The present invention also provides a kind of suspension type railway freight automatic decoupling system, including described in above-mentioned any one from
Dynamic decoupling device robot device.
Further, the suspension type railway freight automatic decoupling system further includes that hump monitoring unit and perception are set
It is standby；
The hump monitoring unit is deployed in marshalling yard's information machine room, including active and standby monitoring host computer, active and standby video server,
Active and standby interchanger and redundancy UPS module；Real time communication of the hump monitoring unit to realize system and data center obtains
Sorting list and locomotive parameters information, while the information of awareness apparatus acquisition is analyzed, and assign and pluck to decoupling device robot
Hook instruction；
The awareness apparatus includes that air velocity transducer, precipitation rain fall sensor, the snow depth being deployed near hump on bracket sense
Device, and it is deployed in the wheel counting apparatus of locomotive operation track two sides, the air velocity transducer, precipitation rain fall sensor, snow depth sensor are used
To acquire the working environment information of decoupling device robot, the wheel counting apparatus is to record to decoupling device compartment through several and locomotive operation
Speed.
Further, the hump monitoring unit quantity is configured according to the hump quantity of hump marshalling station.
The present invention also provides a kind of suspension type railway freight automatic decoupling methods, applied to described in above-mentioned any one
Automatic decoupling system, step include:
Step 1: hump monitoring unit and monitoring center keep real time communication, obtain sorting list and locomotive operation
Parameter, and differentiate decoupling device robot working environment, if working environment is normal, decoupling device instruction is assigned to decoupling device robot；
Step 2: decoupling device robot slides into suspended rail starting position and awaits orders, by being deployed in pushing away for motorcycle track two sides
Send that wheel counting apparatus record in part passes through to decoupling device compartment number, until reaching hitch compartment to be plucked；
Step 3: decoupling device robot accelerates starting, while obtaining compartment number by video camera, decoupling device compartment is checked, if multiple
Core mistake, then Real-time Feedback warning message, carries out decoupling device task after waiting alarm release, if review is correct, is based on video camera
Video data adjusts decoupling device robot, until manipulator is parallel with hitch to be plucked, then makes the operation of its speed of travel and locomotive
Speed is consistent, it is ensured that decoupling device robot and locomotive are opposing stationary；
Step 4: decoupling device robot is mobile in vertical direction, is corrected based on locomotive information and camera video data,
Until the manipulator and lancet handle of decoupling device robot are maintained at sustained height；
Step 5: decoupling device robot moves in the horizontal direction, and is corrected based on camera video data, until decoupling device machine
The manipulator of device people catches lancet handle；
Step 6: decoupling device revolute manipulator further rotates lancet handle and carries out lancet, and lancet operation is completed；
Step 7: decoupling device robot controls manipulator, makes manipulator that lancet state be kept to carry out anchor, passes through video camera reality
When detect two array carriage positions until break off relations；
Step 8: decoupling device robot resets, and continues to slide into suspended rail area in preparation.
Further, the automatic decoupling method, further includes:
Step 9: hump monitoring unit is recorded to decoupling device compartment by awareness apparatus through number, is checked compartment number and is come really
Whether correct recognize decoupling device compartment, if decoupling device mistake, Real-time Feedback warning message carries out plucking next time after waiting alarm release
Hook task waits decoupling device task next time if decoupling device is correct.
Compared with the prior art, the invention has the following advantages that
1, the present invention is completed the automatic decoupling of train, is disappeared by control decoupling device robot automatic decoupling, substitution decoupling device personnel
It except worker operation security risk, further, effectively shortens and averagely pushes away peak removal time, improve marshalling yard's vehicle marshalling work effect
Rate；
2, the key equipment of present apparatus hump monitoring unit is worked using two-node cluster hot backup mode, and simultaneity factor has certainly
Body status monitoring and fault alarm function effectively increase the reliability of system work；
3, the present apparatus supports deployment Duo Tao decoupling device robot to realize parallel decoupling device, into one by hanging annular Track desigh
Step promotes marshalling yard's working efficiency.
Present inventive concept is ingenious in summary, structurally reasonable, easy to use, adjustment is flexible, versatile, easy to maintain,
Railway freight marshalling yard working efficiency significantly is improved, can be widely used in various electric railway construction.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is suspension type railway freight automatic decoupling device decoupling device of the present invention robot side view.
Fig. 2 is suspension type railway freight automatic decoupling device open air floor plan.
Fig. 3 is suspension type railway freight automatic decoupling system composition figure.
Fig. 4 is suspension type railway freight automatic decoupling system hump monitoring unit composition figure.
Fig. 5 is suspension type railway freight automatic decoupling method work flow diagram.
In figure: 1, revolver driving motor；2, drive shaft；3, left driving wheel；4, power supply line；5, controller；6, the first liquid
Compression bar driving motor；7, the first hydraulic oil container；8, right wheel driving motor；9, right driving wheel；10, the first telescopic oil cylinder；11, fixed
Screw；12, fixed pedestal；13, the second hydraulic oil container；14, the second telescopic oil cylinder；15, sliding rail；16, robot drives electricity
Machine；17, driving motor fixing piece；18, shaft coupling；19, retarder；20, manipulator；21, the second hydraulic stem driving motor；22,
Hang pedestal；23, the first video camera；24, left support wheel；25, right support wheel；26, lancet handle；27, latch hook device；28, it pushes away
Send part wheel counting apparatus；29, rolling down section wheel counting apparatus；30, the second video camera.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to exemplary embodiments of the present invention.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention: the noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection scope.
As shown in Figs. 1-2, a kind of suspension type railway freight automatic decoupling robot device, including suspended rail and in institute
The robot body that suspended rail is slided by set direction is stated, the robot body includes: suspension pedestal, stretches out the suspension
The left driving wheel that pedestal certain distance, the cooperation suspended rail slide；Pass through the left drive of left driving wheel described in driving axis connection
Dynamic motor；Do the symmetrically arranged right driving wheel of driving wheel with described, and with the symmetrically arranged right driving of the left driving motor
Motor；Perpendicular to the first telescopic oil cylinder of the suspension pedestal setting, pedestal is connected and fixed below the telescopic oil cylinder；It is parallel to
Second telescopic oil cylinder of the fixed pedestal surface setting；The flexible second telescopic oil cylinder driving manipulator device is being located at institute
It states and is moved back and forth on the sliding rail of fixed pedestal marginal position.Further, the robot device includes sequentially connected
Robot drives motor, shaft coupling, retarder and manipulator.Further, the automatic decoupling robot further includes setting
Controller above the suspension pedestal, the control terminal of the controller are separately connected left driving motor, right driving motor, work
For the hydraulic stem driving motor of the first telescopic oil cylinder, and act on the robot drives motor of the second telescopic oil cylinder.Device
It further include being set to the suspension pedestal close to the first video camera of train side and being set to the fixed pedestal close to train
Second video camera of side；First video camera is used for acquiring license number coding, hitch video image, second video camera
In the further acquisition accurate video image of hitch；The hitch video image, license number encoded video image send to controller into
Row processing.
As the preferable embodiment of the present invention, this gives a kind of suspension type railway freight automatic decoupling machines
People, including control unit, video camera, walking unit, vertical displacement unit, horizontal displacement unit and decoupling device unit, for realizing
Specific decoupling device operation.In actual use, decoupling device robot particular number can be adjusted according to marshalling yard's scale, in this implementation
In example, every suspended rail disposes 2 sets of decoupling device robots, and 1# is used to decoupling device, and the area in preparation 2# is undetermined, in turn decoupling device.
The control unit includes power module, video processing module, programmable logic controller (PLC), wireless communication module
And frequency converter, realize camera video data analytical calculation, while exchanging number by wireless communication between hump monitoring unit
According in the present embodiment, wherein video processing module uses the processing modules implement for adding DSP architecture based on ARM, wherein may be programmed
Logic controller and wireless communication module, which carry wireless communication module by technical grade PLC, to be realized, other modules select technical grade logical
Use product；
The video camera includes high-definition camera, for acquiring hitch and license number encoded video information to be plucked in real time, and
Video data transmission to video processing module is subjected to analytical calculation, it is synchronous be wirelessly transferred to hump monitoring unit into
Row assistant analysis selects technical grade outdoor WirelessHD video camera in the present embodiment.
The walking unit includes revolver driving motor, right wheel driving motor, transmission shaft, driving wheel and support wheel, is connect
The operational order of control unit is received to drive parallel sliding of the decoupling device robot on suspended rail.
The vertical displacement unit includes the first driving motor, the first hydraulic oil container and the first telescopic oil cylinder, receives control
The operational order of unit processed drives decoupling device unit in the lifting moving of vertical direction, realizes the manipulator and lancet of decoupling device unit
Handle is maintained at sustained height.
The horizontal displacement unit includes the second driving motor, the second hydraulic oil container, the second telescopic oil cylinder and sliding rail
Road, the operational order of reception control unit drive decoupling device unit transverse shifting in the horizontal direction, realize the machine of decoupling device unit
Tool hand can catch lancet handle.
The decoupling device unit includes driving motor, retarder, shaft coupling and manipulator, and the operation of reception control unit refers to
The rotation for carrying out driving manipulator is enabled, further, decoupling device, in the present embodiment, manipulator are completed in the rotation for the lancet handle that links
Decoupling device lancet handle on typical No. 13 standard hitches is won, and Rotation Design is with reference to 120 ° of rotation in 0.2s.
As shown in Fig. 2, the suspended rail includes hanging on biserial circular orbit on the right side of motorcycle track and 5 in parallel
Track supply lines；The track supply lines provides the three phase mains of decoupling device robot work, in the present embodiment, using three
Phase alternating current, master-slave redundancy power supply.
As shown in figure 3, the present invention also provides a kind of suspension type railway freight automatic decoupling system using above-mentioned apparatus,
Including hump monitoring unit, awareness apparatus, decoupling device robot and suspended rail；The hump monitoring unit is used to realize and supervise
The real time communication at control center obtains the information such as sorting list and locomotive parameters, while analyzing the letter of awareness apparatus acquisition
Breath assigns decoupling device instruction to decoupling device robot, and then each unit cooperation of decoupling device robot, completes decoupling device task；Institute
The awareness apparatus stated provides acquisition signal and analyzes use to hump monitoring unit；The decoupling device robot wirelessly with
Hump monitoring unit is communicated；The suspended rail is for decoupling device robot ambulation and takes electricity.Next it is discussed in detail respectively
The working principle of modules.
Hump monitoring unit, as shown in figure 4, including active and standby monitoring host computer, active and standby video server, active and standby interchanger and superfluous
Remaining UPS module；Two monitoring host computer network interfaces 1 access the active and standby network of marshalling yard by two interchangers respectively；It is described
Two monitoring host computer network interfaces 2 be directly connected to, the work state information of oneself is mutually transmitted to other side, synchronization only has one
Monitoring host computer output control decoupling device robot, another monitoring host computer, which only calculates, does not do output control, when detect control it is defeated
When monitoring host computer out goes wrong, another monitoring host computer starts to execute output order；Two monitoring host computers
The data of wind speed, rainfall, snow depth sensor and wheel counting apparatus are acquired by hardwire interface；Two video servers connect respectively
Enter two interchangers, for analyzing and storing the video data of decoupling device robot acquisition in real time, and analysis result is fed back into prison
Control host；The redundancy UPS module supports two-way 220V power input, for hump monitoring unit internal unit after commercial power interruption
Power supply；In the present embodiment, each hump disposes a set of hump monitoring unit, and wherein monitoring host computer, video server are counted by industry
Calculation machine realizes that interchanger is realized using industrial management type interchanger, and redundancy UPS module uses standard rack type 220VUPS.
Awareness apparatus, as shown in figure 4, including air velocity transducer, precipitation rain fall sensor, snow depth sensor and wheel counting apparatus, difference
Be deployed on the bracket near hump and the two sides of locomotive operation track, for acquire decoupling device robot working environment information and
It records to decoupling device compartment through several and locomotive running speed；Wheel counting apparatus includes humping section wheel counting apparatus and rolling down section meter shaft
Device, humping section is for decoupling device work prelocalization decoupling device compartment, and rolling down section is for checking whether decoupling device is correct after decoupling device work.
In the present embodiment, each hump disposes a set of air velocity transducer, precipitation rain fall sensor, snow depth sensor, every locomotive operation rail
Road two sides humping section and rolling down section respectively dispose a set of wheel counting apparatus, are all made of the realization of technical grade sensor.
As shown in figure 5, the present invention also provides a kind of suspension type railway goods applied to system described in above-mentioned any one
Automatic decoupling method is transported, the present embodiment executes control output with hump monitoring unit monitoring host computer A, and control decoupling device robot 1 is
Example is illustrated.Specific workflow is as follows:
Step 1: hump monitoring unit and monitoring center keep real time communication, obtain sorting list and locomotive operation
Parameter covers locomotive running speed, compartment specification, decoupling device specification etc., when receiving decoupling device instruction, passes through perception
Equipment air velocity transducer, precipitation rain fall sensor, snow depth sensor acquire outdoor wind speed information, differentiate decoupling device robot working environment,
If working environment is abnormal, alarm signal is issued, decoupling device task is carried out after alarm release and is started if working environment is normal
Decoupling device task is executed, assigns decoupling device instruction to the controller of decoupling device robot；
Step 2: robot built-in controller control decoupling device robot slides into suspended rail starting position and awaits orders, and passes through portion
Affix one's name to that the humping section wheel counting apparatus record in motorcycle track two sides passes through to decoupling device compartment number, until reaching hitch compartment to be plucked；
Step 3: robot built-in controller controls decoupling device robot ambulation unit, make the speed of travel of decoupling device robot with
The speed of service of locomotive is consistent, it is ensured that decoupling device robot and locomotive are opposing stationary；
Step 4: robot built-in controller controls decoupling device robot vertical displacement unit, makes decoupling device robot decoupling device unit
In vertical direction lifting moving, until the manipulator and lancet handle of decoupling device unit are maintained at sustained height；
Step 5: robot built-in controller controls decoupling device robot horizontal displacement unit, makes decoupling device robot decoupling device unit
Transverse shifting in the horizontal direction, until the manipulator of decoupling device unit catches lancet handle；
Step 6: robot built-in controller controls decoupling device robot decoupling device unit, rotates manipulator, further linkage turns
Dynamic lancet handle carries out lancet, and lancet operation is completed；
Step 7: robot built-in controller controls decoupling device robot decoupling device unit, and manipulator keeps lancet state, carries out
Anchor, by two array carriage of video camera real-time detection until breaking off relations；
Step 8: robot built-in controller controls decoupling device robot horizontal displacement unit, resets decoupling device unit transverse,
Decoupling device robot vertical displacement unit is controlled, resets decoupling device unit longitudinally, decoupling device robot ambulation unit is controlled, makes decoupling device machine
Device people, which continues to move ahead, slides into suspended rail area in preparation.
Step 9: hump monitoring unit is recorded to decoupling device compartment by awareness apparatus rolling down section wheel counting apparatus through number,
Compartment number is checked to confirm whether decoupling device compartment is correct, if decoupling device mistake, Real-time Feedback warning message waits alarm release
Decoupling device task next time is carried out afterwards, if decoupling device is correct, waits decoupling device task next time.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of suspension type railway freight automatic decoupling robot device, including suspended rail and in the suspended rail by both
Determine the robot body of direction sliding, which is characterized in that the robot body includes:
Pedestal is hung,
Stretch out the left driving wheel of the suspension pedestal certain distance, the cooperation suspended rail sliding；
Pass through the left driving motor of left driving wheel described in driving axis connection；
The symmetrically arranged right driving wheel of driving wheel is done with described, and electric with the symmetrically arranged right driving of the left driving motor
Machine；
Perpendicular to the first telescopic oil cylinder of the suspension pedestal setting, pedestal is connected and fixed below the telescopic oil cylinder；
It is parallel to the second telescopic oil cylinder of the fixed pedestal surface setting；The flexible second telescopic oil cylinder driving manipulator dress
It sets and is moved back and forth on the sliding rail for being located at the fixed pedestal marginal position.
2. automatic decoupling robot device according to claim 1, which is characterized in that the robot device includes successively
Robot drives motor, shaft coupling, retarder and the manipulator of connection.
3. automatic decoupling robot device according to claim 1, which is characterized in that the automatic decoupling robot also wraps
The controller being set to above the suspension pedestal is included, the control terminal of the controller is separately connected left driving motor, right driving
Motor, the hydraulic stem driving motor for acting on the first telescopic oil cylinder, and act on the robot drives electricity of the second telescopic oil cylinder
Machine.
4. automatic decoupling robot device according to claim 1, which is characterized in that the suspended rail includes biserial ring
Shape walking track and 5 supply lines, hang on the right side of motorcycle track in parallel.
5. automatic decoupling robot device according to claim 1, which is characterized in that described device further includes being set to institute
Suspension pedestal is stated close to the first video camera of train side and the second camera shooting for being set to the fixed pedestal close to train side
Machine；First video camera is used for further collecting vehicle for acquiring license number coding, hitch video image, second video camera
The accurate video image of hook；The hitch video image, license number encoded video image send to controller and are handled.
6. a kind of suspension type railway freight automatic decoupling system, which is characterized in that including described in any one of claim 1-5
Automatic decoupling robot device.
7. automatic decoupling system according to claim 6, which is characterized in that the suspension type railway freight automatic decoupling system
System further includes hump monitoring unit and awareness apparatus；
The hump monitoring unit is deployed in marshalling yard's information machine room, including active and standby monitoring host computer, active and standby video server, active and standby
Interchanger and redundancy UPS module；Real time communication of the hump monitoring unit to realize system and data center obtains and disintegrates
Job ticket and locomotive parameters information, while the information of awareness apparatus acquisition is analyzed, and assign decoupling device to decoupling device robot and refer to
It enables；
The awareness apparatus includes the air velocity transducer being deployed in hump nearby on bracket, precipitation rain fall sensor, snow depth sensor, with
And it is deployed in the wheel counting apparatus of locomotive operation track two sides, the air velocity transducer, precipitation rain fall sensor, snow depth sensor are to acquire
The working environment information of decoupling device robot, the wheel counting apparatus is to record to decoupling device compartment through several and locomotive running speed.
8. automatic decoupling system according to claim 7, which is characterized in that the hump monitoring unit quantity is according to hump
The hump quantity of marshalling yard configures.
9. a kind of suspension type railway freight automatic decoupling method is applied to system described in any one of claim 6-8, special
Sign is that step includes:
Step 1: hump monitoring unit and monitoring center keep real time communication, obtain sorting list and locomotive operation ginseng
Number, and differentiate decoupling device robot working environment, if working environment is normal, decoupling device instruction is assigned to decoupling device robot；
Step 2: decoupling device robot slides into suspended rail starting position and awaits orders, by the push part for being deployed in motorcycle track two sides
Point wheel counting apparatus record pass through to decoupling device compartment number, until reaching hitch compartment to be plucked；
Step 3: decoupling device robot accelerates starting, while obtaining compartment number by video camera, decoupling device compartment is checked, if review is wrong
It misses, then Real-time Feedback warning message, carries out decoupling device task after waiting alarm release, if review is correct, based on camera video
Then data point reuse decoupling device robot makes the speed of service of its speed of travel and locomotive until manipulator is parallel with hitch to be plucked
It is consistent, it is ensured that decoupling device robot and locomotive are opposing stationary；
Step 4: decoupling device robot is mobile in vertical direction, is corrected based on locomotive information and camera video data, until
The manipulator and lancet handle of decoupling device robot are maintained at sustained height；
Step 5: decoupling device robot moves in the horizontal direction, and is corrected based on camera video data, until decoupling device robot
Manipulator catch lancet handle；
Step 6: decoupling device revolute manipulator further rotates lancet handle and carries out lancet, and lancet operation is completed；
Step 7: decoupling device robot controls manipulator, makes manipulator that lancet state be kept to carry out anchor, is examined in real time by video camera
Two array carriage positions are surveyed until breaking off relations；
Step 8: decoupling device robot resets, and continues to slide into suspended rail area in preparation.
10. automatic decoupling method according to claim 9, which is characterized in that the method also includes:
Step 9: hump monitoring unit is recorded to decoupling device compartment by awareness apparatus through number, is checked compartment number and is plucked to confirm
Whether hook compartment is correct, if decoupling device mistake, Real-time Feedback warning message waits the decoupling device carried out next time after alarm release to appoint
Business, if decoupling device is correct, waits decoupling device task next time.
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| CN111332951A (en) * | 2020-03-11 | 2020-06-26 | 焦瑞敏 | Intelligent fuel loading and unloading control system and control method |
| CN111572585A (en) * | 2020-05-25 | 2020-08-25 | 攀钢集团西昌钢钒有限公司 | Train overturning line and empty line auxiliary hook equipment thereof |
| CN111591315A (en) * | 2020-05-25 | 2020-08-28 | 攀钢集团西昌钢钒有限公司 | Train overturning line and automatic unhooking device for heavy train line |
| CN112060102A (en) * | 2020-07-27 | 2020-12-11 | 山西科达自控股份有限公司 | Clear stifled manipulator device |
| CN112249077A (en) * | 2020-11-12 | 2021-01-22 | 通号万全信号设备有限公司 | Automatic unhooking method for factory and mine railways |
| CN112406937A (en) * | 2020-11-27 | 2021-02-26 | 中冶京诚（湘潭）重工设备有限公司 | Hook control device of blast furnace tapping traction locomotive and traction locomotive |
| CN112429031A (en) * | 2020-11-12 | 2021-03-02 | 泰安万川电器设备有限公司 | Method for hooking and unhooking mine car |
| CN112441055A (en) * | 2020-12-18 | 2021-03-05 | 北京汇力智能科技有限公司 | Train unhooking robot unhooking control method |
| CN116161070A (en) * | 2022-12-12 | 2023-05-26 | 国能河北定州发电有限责任公司 | Uncoupling device for coupler |
| CN118545112A (en) * | 2024-07-24 | 2024-08-27 | 四迪瑞达(北京)科技有限公司 | Safety early warning device for adding and subtracting hanging of railway carriage |
-
2019
- 2019-08-01 CN CN201910708497.5A patent/CN110281970A/en not_active Withdrawn
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332951A (en) * | 2020-03-11 | 2020-06-26 | 焦瑞敏 | Intelligent fuel loading and unloading control system and control method |
| CN111572585A (en) * | 2020-05-25 | 2020-08-25 | 攀钢集团西昌钢钒有限公司 | Train overturning line and empty line auxiliary hook equipment thereof |
| CN111591315A (en) * | 2020-05-25 | 2020-08-28 | 攀钢集团西昌钢钒有限公司 | Train overturning line and automatic unhooking device for heavy train line |
| CN112060102A (en) * | 2020-07-27 | 2020-12-11 | 山西科达自控股份有限公司 | Clear stifled manipulator device |
| CN112249077A (en) * | 2020-11-12 | 2021-01-22 | 通号万全信号设备有限公司 | Automatic unhooking method for factory and mine railways |
| CN112429031A (en) * | 2020-11-12 | 2021-03-02 | 泰安万川电器设备有限公司 | Method for hooking and unhooking mine car |
| CN112406937A (en) * | 2020-11-27 | 2021-02-26 | 中冶京诚（湘潭）重工设备有限公司 | Hook control device of blast furnace tapping traction locomotive and traction locomotive |
| CN112441055A (en) * | 2020-12-18 | 2021-03-05 | 北京汇力智能科技有限公司 | Train unhooking robot unhooking control method |
| CN116161070A (en) * | 2022-12-12 | 2023-05-26 | 国能河北定州发电有限责任公司 | Uncoupling device for coupler |
| CN116161070B (en) * | 2022-12-12 | 2024-02-06 | 国能河北定州发电有限责任公司 | Uncoupling device for coupler |
| CN118545112A (en) * | 2024-07-24 | 2024-08-27 | 四迪瑞达(北京)科技有限公司 | Safety early warning device for adding and subtracting hanging of railway carriage |
| CN118545112B (en) * | 2024-07-24 | 2024-09-27 | 四迪瑞达(北京)科技有限公司 | Safety early warning device for adding and subtracting hanging of railway carriage |
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Application publication date: 20190927 |