CN111591315A - Train overturning line and automatic unhooking device for heavy train line - Google Patents
Train overturning line and automatic unhooking device for heavy train line Download PDFInfo
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- CN111591315A CN111591315A CN202010448818.5A CN202010448818A CN111591315A CN 111591315 A CN111591315 A CN 111591315A CN 202010448818 A CN202010448818 A CN 202010448818A CN 111591315 A CN111591315 A CN 111591315A
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- unhooking
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
- B65G67/32—Unloading land vehicles using fixed tipping installations
- B65G67/48—Vehicle tipplers
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Abstract
The invention discloses an automatic unhooking device for a heavy train line of a train rollover line, which comprises: the identification device is used for identifying the position of the unhooking handle; the special gripper is used for applying driving force to the unhooking handle; the multi-dimensional driving device is used for driving the special gripper to move to the unhooking handle and driving the unhooking handle to move along the unlocking direction so as to finish the unhooking operation; the controller can control the multi-dimensional driving device to drive the special hand grip according to the position of the unhooking handle identified by the identification device, and drive the unhooking handle according to the preset unlocking action corresponding to the current unhooking in the prestored multiple preset unlocking actions so as to finish the unhooking operation. The automatic unhooking device for the heavy train line of the train rollover line can solve the problem of automatic unhooking of the heavy train line of the train rollover line. The invention also discloses a train overturning line comprising the automatic unhooking device of the heavy train line robot of the train overturning line.
Description
Technical Field
The invention relates to the technical field of rail car unloading, in particular to automatic unhooking equipment for a heavy car line of a train rollover line, and further relates to a train rollover line comprising the automatic unhooking equipment for a heavy car line robot of the train rollover line.
Background
At present, a train tippler line and a shunting system thereof comprise a tippler body, a shunting machine, an empty shunting machine, a transfer platform, a wheel clamp, a one-way stopper, a safety stopper, a water spraying dust suppression device, a control system, a hydraulic system, an electric operating room, a hydraulic station and the like. There is no automatic unhooking device for heavy vehicle lines. The train tipping line can not completely realize automation, and the hooking of the train wagon on the heavy train line needs to be finished manually, so that the method is a main restriction condition. The common mechanical equipment can not meet the requirements of working conditions, and the difficulty is that the train carriages are different in type and the train hook groups are different in type and are divided into old type train hook groups and new type train hook groups; the train is different in model and hook-off mode, and the train is divided into an upper hook-off mode and a lower hook-off mode; the positions, the shapes and the limiting modes of the pull rods are different in different unhooking modes.
In summary, how to effectively solve the problem that the automatic unhooking of the heavy train line of the train rollover line cannot be realized is a problem which needs to be solved by technicians in the field at present.
Disclosure of Invention
In view of the above, a first object of the present invention is to provide an automatic unhooking device for a heavy train line of a train rollover line, which can effectively solve the problem that the automatic unhooking of the heavy train line of the train rollover line cannot be realized, and a second object of the present invention is to provide a train rollover line including the automatic unhooking device for a robot for the heavy train line of the train rollover line.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic unhooking device for a heavy train line of a train rollover line, comprising: the identification device is used for identifying the position of the unhooking handle; the special gripper is used for applying driving force to the unhooking handle; the multi-dimensional driving device is used for driving the special gripper to move to the unhooking handle and driving the special gripper to move so as to drive the unhooking handle to move along an unlocking direction to complete the unhooking operation; the controller can control the multi-dimensional driving device to drive the special hand grip according to the position of the unhooking handle identified by the identification device, and drive the unhooking handle according to the preset unlocking action corresponding to the current unhooking piece in the prestored multiple preset unlocking actions so as to finish the unhooking operation.
In the automatic unhooking device for the heavy train line of the train rollover line, when the automatic unhooking device is applied, the automatic unhooking device is installed at an unhooking working position of the heavy train line, when a front carriage of a train coming from a train set moves to the unhooking working position, the controller controls the multidimensional driving device to drive the special gripper to move based on a recognition result of the recognition device, so that the special gripper moves to the unhooking handle, grabs the unhooking handle and moves to drive the unhooking handle to unhooking operation, and then the unhooking operation is automatically completed. In the automatic unhooking device for the heavy train line of the train rollover line, the unhooking operation is automatically completed through the special gripper, the identification device, the multi-dimensional driving device and the controller, and manual operation is not needed. And a plurality of preset unlocking actions corresponding to different types of hook picking parts are stored in the controller, so that different unlocking actions are adopted according to different hook picking parts, and the adaptability of the whole automatic hook picking device for the heavy train line is fully ensured, and the automatic hook picking device for the heavy train line of the train rollover line can effectively solve the problem that the automatic hook picking of the heavy train line of the train rollover line cannot be realized.
Preferably, the device further comprises indexing means for driving the identification means and the dedicated gripper along the track so as to be able to drive the dedicated gripper from one end of the single-section car to the other.
Preferably, the identification means is capable of identifying the current hook type of hook acquisition.
Preferably, the multi-dimensional hand gripping device comprises a base, the special hand gripping device, the identification device and the multi-dimensional driving device are fixed on the base, the transposition device is used for driving the base to move from one end of the single carriage to the other end of the single carriage, and the base is provided with a fixing device fixedly connected with the carriage.
Preferably, the fixing device is an electromagnet.
Preferably, after the base is driven by the transposition device to move backwards for a distance of a carriage from a unhooking working position, and after the identification device identifies the position of the unhooking handle hooked at the position, the controller can control the multi-dimensional driving device on the base to drive the special gripper to move to the unhooking handle hooked at the current position, and control the multi-dimensional driving device to drive the special gripper to grip the unhooking handle.
In order to achieve the second purpose, the invention further provides a train overturning line, which comprises any one of the automatic unhooking devices for the heavy train line robot of the train overturning line, and the train overturning line further comprises a shunting machine arranged at an unhooking position, wherein the shunting machine is used for moving the heavy train unit forwards by the length of one single carriage, and after a front train of the heavy train unit is unhooked, the front train of the heavy train unit is pulled to enter the overturning position and push out an empty train at the overturning position. Because the automatic unhooking device of the heavy train line robot for the train rollover line has the technical effects, the train rollover line with the automatic unhooking device of the heavy train line robot for the train rollover line also has corresponding technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of an installation structure of an automatic unhooking device of a heavy train line robot on a train rollover line provided by an embodiment of the invention;
fig. 2 is a schematic end face structure diagram of an automatic unhooking device of a train line-switching heavy-duty robot according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a dedicated gripper according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a coupler position configuration for a decoupled coupler for two cars.
The drawings are numbered as follows:
the device comprises a carriage 1, a decoupling working position 2, a tipper 3, a special gripper 4, a multi-dimensional driving device 5, a transposition device 6, a shunting machine 7, a decoupling piece 8, a coupler 9, a coupler knuckle 10 and an identification device 11.
Detailed Description
The embodiment of the invention discloses automatic unhooking equipment for a heavy train line of a train rollover line, which aims to effectively solve the problem that the automatic unhooking of the heavy train line of the train rollover line cannot be realized.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, fig. 1 is a schematic view of an installation structure of an automatic unhooking device of a train line-switching heavy-duty robot according to an embodiment of the present invention; fig. 2 is a schematic end face structure diagram of an automatic unhooking device of a train line-switching heavy-duty robot according to an embodiment of the present invention; fig. 3 is a schematic structural view of a dedicated gripper according to an embodiment of the present invention; FIG. 4 is a schematic diagram of a coupler position configuration for a decoupled coupler for two cars.
In one embodiment, the present embodiment provides an automatic unhooking device for a heavy train line of a train rollover line, which is mainly installed at an unhooking work site 2 of the heavy train line. The train set mainly comprises a heavy train set and an empty train set, wherein each carriage of the heavy train set is a carriage for loading cargoes, and each carriage of the empty train set is an empty carriage. For a train set, the carriages are hooked through a coupler 9, the two adjacent carriages are rotatably connected with the coupler 9, two coupler tongues 10 of the coupler 9 are mutually meshed to realize hooking, the coupler tongues 10 are rotatably connected with a coupler 9 body, locking parts are arranged, the mutually meshed coupler tongues 10 cannot be unhooked when the locking parts are locked, and the mutually meshed coupler tongues 10 can be separated when the locking parts are unhooked even if the locking parts move along the unlocking direction (unhooking direction). The coupler 13 is rotatably connected to the cars about a vertical axis to facilitate the connected cars to be arranged in an arc.
Wherein the train tipper line mainly comprises a heavy train line and an empty train line which are connected in sequence, on the heavy train line, each section of carriage 1 is sequentially connected by a coupler 9 to transmit power on a track extension line, after the train runs to a unhooking working position 2, in a heavy train group formed by each section of carriage 1 connected by the coupler, the hooking operation is carried out on the hooking connection between the front single section of carriage 1 and the carriage 1 which is immediately behind the front single section of carriage, namely, the hooking part is driven to move according to the hooking operation to drive the locking part to enter an unlocking position so as to unlock the hooking connection, further the hooking connection can be separated, then the unhooked single section of carriage 1 is pushed to a tipper 3 of the tipper position, the tipper 3 is used for tipper to pour out internal goods, namely, the open carriage 1 loaded with a large amount of goods is overturned to incline or invert the internal goods, and then the goods are righted again, at the moment, the heavy vehicle becomes an empty vehicle, then the overturning position is pushed out, and then the heavy vehicle is conveyed to an empty vehicle line. In the empty train, the newly entered single-section carriage 1 needs to move to the empty train group along the track, so that the connecting end of the newly entered single-section carriage 1 enters the hook working position, and the carriages adjacent to the empty train group are hooked through the hook 9.
In practical application, the hook-releasing handle of the hook-releasing member is generally driven to move along the hook-releasing direction, so that the hook-releasing member completes the hook-releasing action and further completes the hook-releasing operation. The unhooking operation can be realized only by finishing different unlocking actions by different unhooking pieces. These unhooking actions may be a single rotation operation or a single translation operation, but also a superposition of several identical or different actions in sequence. Although there are many different kinds of hooks, the hooking operation is the same for the same kind of hooks, and the kinds of hooks are limited at present. The automatic unhooking equipment for the heavy vehicle line mainly comprises a recognition device 11, a special gripper 4, a multi-dimensional driving device 5 and a controller. So as to automatically complete the integrated unhooking operation from the identification of the unhooking handle to the operation of the unhooking handle.
Specifically, the special gripper 4 is used for applying a driving force to the unhooking handle, the multidimensional driving device 5 is used for driving the special gripper 4 to move in a three-dimensional space, so that the multidimensional driving device 5 can drive the special gripper 4 to move to the unhooking handle to be in butt joint with the unhooking handle, and then the multidimensional driving device 5 can drive the special gripper 4 to move according to a preset moving step to drive the unhooking handle to move according to a preset moving step, so that the unhooking operation is completed. The device formed by combining the special gripper 4 and the multidimensional driving device 5 is generally a mechanical arm, and the multidimensional driving device 5 is mainly used for fine operation.
It should be noted here that, in the case where the dedicated hand grip 4 applies the driving force to the unhooking handle, it is not required that the driving force in each direction can be transmitted between the dedicated hand grip 4 and the unhooking handle, but at least the driving force for driving the unhooking handle to move in the unlocking direction can be transmitted. Specifically, the unhooking handle is in a rod shape, and the unlocking action mainly comprises radial movement and rotation around a non-central line, wherein the rotation around the non-central line means that the unhooking handle does not rotate around a self-central line, but rotates around an axis which is parallel to the self-central line and is spaced at a certain distance, and the unhooking handle rotates along an arc line. When the unlocking action only comprises radial movement and non-center line rotation, the special gripper 4 can be clamped and fixed with the unhooking handle at the moment, such as a clamping jaw, so as to transmit driving force in all directions; the special gripper 4 may also be provided with a sleeve ring sleeved on the unhooking handle, and the sleeve ring may also be a clamping ring, which is not clamped and fixed on the unhooking handle, but is only loosely sleeved on the unhooking handle, so as to transmit the driving force in each radial direction. The lantern ring can drive the unhooking handle to move radially and the non-central line rotates, and then can guarantee that even the cover is established and is connected, still can drive the unhooking handle and move along the unblock direction in proper order, and the multidimensional drive arrangement 5 that corresponds should drive the lantern ring cover and establish on the unhooking handle. Specifically, the connection mode between the special gripper 4 and the unhooking handle may be specifically defined according to the requirement of the unhooking handle for unlocking action, so as to complete the unlocking action, which is not specifically defined herein.
The identification device 11 is mainly used for identifying the position of the unhooking handle. The recognition device 11 may be a high-level intelligent means, and the recognition device 11 may specifically adopt a machine vision system, where the machine vision system converts a photographed target into an image signal through a machine vision product, i.e., an image pickup device, transmits the image signal to a special image processing system to obtain form information of the photographed target, and converts the form information into a digitized signal according to information such as pixel distribution, brightness, color, and the like; the image system performs various operations on these signals to extract the characteristics of the target, and further acquires the position of the target. Certainly, the identification device 11 may be a general identification device 11, for example, the identification device 11 may include a touch switch for abutting against the side wall of the car 1 or a distance detector for detecting a distance from the side wall of the car 1, the touch switch may run empty and may not touch the side wall of the car 1, and then identify the end surface of the car 1, and the distance detector may not detect the side wall of the car 1 because of encountering a gap, and then identify the end surface of the car 1, and after identifying the end surface of the car 1, the position of the end surface of the car 1 in the track extending direction may be further defined, and the relative positional relationship between the car 1 and the track is further defined, and according to the characteristics of the car 1, the position between the unhooking handle and the car 1 is further defined, and further, the position of the unhooking handle may be further identified. Of course, considering that the unhooking handle generally extends transversely, the unhooking handle has a certain fault-tolerant space in the transverse direction of the rail, so that the position of the unhooking handle in the transverse direction of the rail and the longitudinal direction of the rail can be determined, and on the basis, only a touch switch needs to be arranged to identify the position of the unhooking handle in the vertical direction.
The controller is used for controlling the multi-dimensional driving device 5 to drive the special gripper 4 to move according to the unhooking handle position identified by the identification device 11, so that the special gripper 4 is moved to the unhooking handle position, grabs the unhooking handle and moves to drive the unhooking handle to unlock, and the multi-dimensional driving device 5 can be further controlled to drive the special gripper 4 to reset. Specifically, the controller can control the multi-dimensional driving device 5 to drive the special gripper 4 to move to the unhooking handle according to the unhooking handle position identified by the identification device 11, namely, the special gripper 4 is moved to be close to the unhooking handle according to the identified unhooking handle position, if the current position of the special gripper 4 is taken as a zero coordinate, the unhooking handle position is converted into a three-dimensional coordinate through the identified unhooking handle position, and then the special gripper 4 is driven to move to the three-dimensional coordinate position. Then the special gripper 4 clamps or sleeves the unhooking handle, and then the controller controls the multi-dimensional driving device 5 to drive the special gripper 4 to move according to the preset unhooking action corresponding to the current unhooking piece in the prestored multiple preset unhooking actions so as to drive the unhooking handle to finish the unhooking operation. It should be noted that how the controller selects the predetermined unlocking action corresponding to the current hook picking from the multiple predetermined unlocking actions, the corresponding predetermined unlocking action may be obtained according to a manually input selection instruction, or the current hook picking type may be obtained according to detection performed by the identification device 11 or other detection devices. The identification device 11 can acquire the general characteristics of the current unhooking through photographing and data analysis for the unhooking identification, and then identify which type of unhooking the current unhooking belongs to through several prestored unhooking characteristics, so as to select the corresponding preset unlocking action.
In the automatic unhooking device for the heavy train line of the train rollover line, when the automatic unhooking device is applied, the automatic unhooking device is installed at an unhooking working position 2 of the heavy train line, when a front section carriage 1 of a train coming from a train set moves to the unhooking working position, based on the identification result of the identification device 11, the controller controls the multi-dimensional driving device 5 to drive the special gripper 4 to move so as to finish the operation that the special gripper 4 moves to the unhooking handle, grabs the unhooking handle and moves to drive the unhooking handle to unhook, and then the unhooking operation is automatically finished. In the automatic unhooking device for the heavy train line of the train rollover line, the automatic unhooking operation is automatically completed through the special gripper 4, the recognition device 11, the multi-dimensional driving device 5 and the controller, and manual operation is not needed. And a plurality of preset unlocking actions corresponding to different types of hook picking parts are stored in the controller, so that different unlocking actions are adopted according to different hook picking parts, and the adaptability of the whole automatic hook picking device for the heavy train line is fully ensured, and the automatic hook picking device for the heavy train line of the train rollover line can effectively solve the problem of insufficient automation of hook picking of the heavy train line of the train rollover line.
Further, it is considered that, in the heavy-duty line, after the shunting machine 7 moves the first connection point of the heavy-duty train unit to the unhooking work position 2, the automatic unhooking device finishes unhooking at this time, then the shunting machine 7 pushes the front unhooking carriage 1 to pull the overturning position, and pushes out the empty carriage in the overturning position in the process of pulling the currently unhooked heavy-duty train to the overturning position, and then the shunting machine 7 returns to the unhooking position, and in the process of finishing unhooking to returning to the unhooking position, a certain time is generally spent. In order to improve the working efficiency, it is preferred here to further include a transposition device 6 for driving the special gripper 4 and the recognition device 11 to move along the rail, so that the special gripper 4 can be driven from one end of the individual car 1 to the other end, so that when applied, the transposition device 6 can drive the special gripper 4 from the unhooking station 2 and the recognition device 11 to move one car 1 distance backwards from the unhooking station 2, so that after the automatic unhooking equipment completes unhooking at the unhooking station, the special gripper 4 and the recognition device 11 are driven by the transposition device 6 to move to the previous car connection point, and then the unhooking handle is recognized at this position to determine the unhooking handle position, and then the car hauler 7 returns to the unhooking station 2 to pull the first connection point of the subsequent train, i.e. the connection point where the unhooking handle currently recognized by the recognition device 11 is located, moves one car 1 distance forwards into the unhooking station 2, then waiting for the automatic unhooking equipment to finish unhooking, and then pulling the unhooked heavy vehicle by the shunting machine 7 to enter the overturning parking space and pushing out the empty vehicle in the overturning parking space. And in the process that the shunting machine 7 pushes the unhooked heavy vehicle to enter the overturning parking space and return to the unhooking working position 2, the recognition device 11 moves backwards by a distance of one carriage to complete the unhooking handle recognition at the last connecting point.
Further, for more intelligent operation, it is preferable that the recognition device 11 is capable of recognizing the type of the current unhooking handle, specifically, as described above, the recognition device 11 takes a picture through the electronic camera, obtains an unhooking picture, and transmits the picture to the controller, and the controller analyzes structural characteristics of image unhooking, matches with prestored unhooking characteristics to obtain an unhooking type, and then controls to select a corresponding predetermined unlocking action according to the analyzed unhooking type. The controller analyzes the structural characteristics of the unhooking hook in the image, is similar to a face recognition analysis technology, and for the unhooking hook, if only an upper unhooking hook and a lower unhooking hook need to be distinguished, only the extending direction of the unhooking hook handle needs to be analyzed, or different unhooking hook types can be distinguished through the quantity of unhooking hook bending points.
The transposition driving device is used for driving the special gripper 4 and the recognition device 11 to move, and particularly for faster operation, the transposition driving device preferably comprises a base, the special gripper 4, the recognition device 11 and the multidimensional driving device 5 are fixed on the base, the transposition device 6 is used for driving the base to move from one end to the other end of the single-section carriage 1, and the base is provided with a fixing device fixedly connected with the carriage 1, so that after the recognition device 11 recognizes the unhooking handle position, the base can be fixedly connected with the carriage 1 at the moment, the base can better move to the unhooking working position 2 along with the carriage 1, and the relative position relation between the base and the carriage 1 is ensured. The fixing device may be an electric clamping device or an electromagnet to generate magnetic attraction force when being electrified so as to be adsorbed on the carriage 1.
For better improvement of the working efficiency, it is preferable here that after the transposition device 6 drives the base to move backward a distance of the car 1 from the unhooking working position 2, and after the recognition device 11 recognizes the position of the unhooking handle of the hook connection, the controller controls the multidimensional driving device 5 on the base to drive the special gripper 4 to move to the unhooking handle of the current hook connection, and controls the multidimensional driving device 5 to drive the special gripper 4 to grip the unhooking handle, then the shunting machine 7 returns to the unhooking working position 2 to pull the train unit to move forward a length of the car 1, so that the unhooking handle of the current hook connection moves to the unhooking working position 2, and then the controller controls the multidimensional driving device 5 to drive the unhooking handle to complete the unlocking action.
Based on the automatic unhooking device of the train line-turning robot in the embodiment, the invention further provides a train line-turning, the train line-turning comprises the automatic unhooking device of the train line-turning robot in any one of the embodiments, the train line-turning further comprises a shunting machine 7 arranged at the unhooking position, the shunting machine 7 is used for moving the heavy vehicle group forward by the length of one single carriage 1, and after a front vehicle of the heavy vehicle group is unhooked, the front vehicle of the heavy vehicle group is pulled to enter the overturning position and push out an empty vehicle of the overturning position. Because the train rollover line adopts the automatic unhooking device of the heavy train line robot of the train rollover line in the embodiment, the beneficial effects of the train rollover line refer to the embodiment.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides an automatic unhooking equipment of heavy train line of train rollover line which characterized in that includes:
the identification device is used for identifying the position of the unhooking handle;
the special gripper is used for applying driving force to the unhooking handle;
the multi-dimensional driving device is used for driving the special gripper to move to the unhooking handle and driving the special gripper to move so as to drive the unhooking handle to move along an unlocking direction to complete the unhooking operation;
the controller can control the multi-dimensional driving device to drive the special hand grip according to the position of the unhooking handle identified by the identification device, and drive the unhooking handle according to the preset unlocking action corresponding to the current unhooking piece in the prestored multiple preset unlocking actions so as to finish the unhooking operation.
2. The automatic unhooking apparatus of a train tipper line weight robot of claim 1 further comprising indexing means for driving said identification means and said dedicated hand grip along a track to enable driving said dedicated hand grip from one end of a single car to the other.
3. The automatic unhooking device of the train tipper line weight robot of claim 2, wherein the identification means is capable of identifying and obtaining a current unhooking type.
4. The automatic unhooking device of the train tipper line and heavy train line robot of claim 3, wherein the automatic unhooking device comprises a base, the special gripper, the recognition device and the multi-dimensional driving device are fixed on the base, the transposition device is used for driving the base from one end to the other end of the single carriage, and a fixing device used for being fixedly connected with the carriage is arranged on the base.
5. The automatic unhooking device of the train tipper line weight robot of claim 4, wherein the fixing means is an electromagnet or a clamping means.
6. The automatic unhooking device of the heavy train line robot for the train rollover line according to claim 5, wherein after the transposition device drives the base to move backward for a distance of a carriage from an unhooking working position and after the identification device identifies the position of the unhooking handle hooked at the position, the controller can control the multi-dimensional driving device on the base to drive the special gripper to move to the unhooking handle hooked at the current position and control the multi-dimensional driving device to drive the special gripper to grip the unhooking handle.
7. A train tippler line comprises a shunting machine arranged at a unhooking position, wherein the shunting machine is used for moving a heavy vehicle group forward by a single carriage length, and pulling a front vehicle of the heavy vehicle group into a tippler position and pushing out an empty vehicle at the tippler position after the front vehicle of the heavy vehicle group is unhooked, and the train tippler line automatic unhooking device is characterized by further comprising the automatic robot unhooking device for the train tippler line according to any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010448818.5A CN111591315A (en) | 2020-05-25 | 2020-05-25 | Train overturning line and automatic unhooking device for heavy train line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010448818.5A CN111591315A (en) | 2020-05-25 | 2020-05-25 | Train overturning line and automatic unhooking device for heavy train line |
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| CN111591315A true CN111591315A (en) | 2020-08-28 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115571185A (en) * | 2022-09-30 | 2023-01-06 | 山东交通学院 | Automatic unhooking device for open wagon and working method |
| RU2804564C1 (en) * | 2022-10-10 | 2023-10-02 | Александр Павлович Тарасенко | Device for automatic uncoupling of cars in a rotary car dumper |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115571185A (en) * | 2022-09-30 | 2023-01-06 | 山东交通学院 | Automatic unhooking device for open wagon and working method |
| CN115571185B (en) * | 2022-09-30 | 2023-08-08 | 山东交通学院 | Automatic unhooking device of open wagon and working method |
| RU2804564C1 (en) * | 2022-10-10 | 2023-10-02 | Александр Павлович Тарасенко | Device for automatic uncoupling of cars in a rotary car dumper |
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