CN114802335A - Robot for pulling pin and picking air pipe of train coupler - Google Patents
Robot for pulling pin and picking air pipe of train coupler Download PDFInfo
- Publication number
- CN114802335A CN114802335A CN202210300236.1A CN202210300236A CN114802335A CN 114802335 A CN114802335 A CN 114802335A CN 202210300236 A CN202210300236 A CN 202210300236A CN 114802335 A CN114802335 A CN 114802335A
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- robot
- train
- control cabinet
- pulling
- coupler
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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
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H13/00—Actuating rail vehicle brakes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot for pulling pins and picking air pipes of train couplers, which comprises: a robot-assisted track; the robot chassis is arranged on the robot auxiliary track in a sliding manner; the pitching device is arranged on the robot chassis and used for providing driving force for pitching motion; the large arm assembly is connected with the output end of the pitching device and is used for pulling out a pin and picking an air pipe of the train coupler; the control cabinet is arranged on the robot chassis and is electrically connected with the robot chassis, the pitching device and the large arm assembly; and the carriage detection module is arranged at the top of the control cabinet and is electrically connected with the control cabinet for detecting the position of the train carriage. The device is arranged along the inlet rearrangement line of the tipper system, and performs pin pulling and air pipe removal operation on the car coupler before uncoupling in advance, thereby completely replacing manual pin pulling and air pipe uncoupling. In narrow clearance, realize long-distance deep operation to be equipped with the sheave and can alleviate the load.
Description
Technical Field
The invention relates to the technical field of automation devices, in particular to a robot for pulling pins and picking air pipes of train couplers.
Background
The coupler is used for coupling the locomotive and the carriage or between the carriage and the carriage, transmitting traction force and impact force and keeping a certain distance between the carriages, and coupler bodies are connected with coupler yoke frames arranged at two ends of the carriage through coupler yoke pins and can swing left and right in a certain range by taking the coupler yoke pins as circle centers so as to adapt to railway transportation working conditions of bending and turning.
The coupler consists of a coupler head, a coupler body and a coupler tail, wherein the part of the coupler with a thick front end is called the coupler head, and a coupler knuckle, a coupler knuckle pin, a lock lifting pin, a coupler knuckle push iron and a coupler lock iron are arranged in the coupler head. The rear part of the coupler is called a coupler tail, and a vertical flat lock hole is formed in the coupler tail so as to be connected with a coupler tail frame.
Between the carriages, there is also a brake pipe, commonly called wind pipe, connecting the longitudinal trains.
Open carriages are used in large quantities for the transport of bulk materials such as coal, iron ore and the like, and the unloading is often carried out by using a tippler system. The open wagon carriage is pulled to enter the tipper system after unhooking and splitting, the tipper rotates to rotate the open wagon carriage by about 160 degrees for unloading, the automation degree is high, and the unloading efficiency is high.
Before the open wagon enters the tipper, the open wagon needs to be connected with the open wagon to unhook and disassemble, so that the carriage to be unloaded is separated from the train, and the process comprises air release, pin pulling, air pipe removal and unhooking operation, and then the carriage can be pulled and separated.
The pin pulling and air pipe picking are of great importance as preorder operation procedures before hook picking and separation, the existing processing mode is manual operation in which workers enter a carriage gap, the labor intensity is high, and potential safety risks are prominent.
Disclosure of Invention
According to the embodiment of the invention, a robot for pulling out a coupler pin and picking an air pipe of a train is provided, which comprises:
a robot-assisted track;
the robot chassis is arranged on the robot auxiliary track in a sliding manner;
the pitching device is arranged on the robot chassis and used for providing driving force for pitching motion;
the large arm assembly is connected with the output end of the pitching device and is used for pulling out a pin and picking an air pipe of the train coupler;
the control cabinet is arranged on the robot chassis and is electrically connected with the robot chassis, the pitching device and the large arm assembly;
and the carriage detection module is arranged at the top of the control cabinet and is electrically connected with the control cabinet for detecting the position of the train carriage.
Further, the large arm assembly comprises:
the connecting plate is connected with the output end of the pitching device;
the main arm is connected with the connecting plate;
the supporting and adjusting assembly is connected with the main arm and is electrically connected with the control cabinet;
the first pusher is embedded in the main arm, is electrically connected with the control cabinet and is used for providing a pushing force;
the auxiliary arm is guided and arranged in the main arm, and one end of the auxiliary arm is connected with the output end of the first pusher;
the operation assembly is connected with the other end of the auxiliary arm and is used for pulling out a coupler pin and picking an air pipe of the train;
and the operation detection assembly is connected with the main arm, is electrically connected with the control cabinet and is used for detecting the positions of the train coupler lock pin and the air pipe.
Further, the task module includes:
the air pipe removing device is connected with the other end of the auxiliary arm;
the pin pulling device is connected with the other end of the auxiliary arm.
Further, the air pipe removing device is a U-shaped bracket.
Furthermore, the pin pulling device is an L-shaped drag hook.
Further, the support adjustment assembly includes:
the output end of the second pusher is hinged with the main arm, and the second pusher is electrically connected with the control cabinet and used for providing a pushing force;
the grooved wheel is arranged at the bottom of the second pusher.
Further, the job detection assembly includes: and the operation radar is connected with the main arm, is electrically connected with the control cabinet and is used for detecting the positions of the train coupler lock pin and the air pipe.
Further, the car detection module includes: and the carriage radar is arranged at the top of the control cabinet and is electrically connected with the control cabinet for detecting the position of the train carriage.
Further, the robot chassis includes:
a chassis frame;
the pair of long shafts are respectively arranged at two sides of the chassis frame;
the walking wheels are respectively sleeved at two ends of the pair of long shafts and are arranged on the auxiliary track of the robot;
and the driving mechanism is connected with the chassis frame and the pair of long shafts, and is electrically connected with the control cabinet and used for driving the pair of long shafts to rotate.
Further, the drive mechanism includes:
the motor is connected with the chassis frame and is electrically connected with the control cabinet;
the first synchronous belt transmission mechanism is connected with one long shaft and the output end of the motor;
and the second synchronous belt transmission mechanism is connected with the other long shaft and the output end of the motor.
According to the robot for pulling the pin and removing the air pipe of the train coupler, which is disclosed by the embodiment of the invention, the robot is arranged along the inlet rearrangement line of a car dumper system, and is used for pulling the pin and removing the air pipe of the coupler before uncoupling in advance, so that manual pin pulling and air pipe removal are completely replaced. In narrow clearance, realize long-distance deep operation to be equipped with the sheave and can alleviate the load.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology.
Drawings
Fig. 1 is a schematic structural diagram of a stand-by state of a train coupler yoke key and air extracting pipe robot according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of an operation state of the robot for pulling out a coupler pin and picking an air pipe of a train according to the embodiment of the invention.
Fig. 3 is a schematic structural diagram of a large arm of a train coupler yoke key and air extracting tube robot according to an embodiment of the invention.
Fig. 4 is a schematic front view of a first robot chassis for a train coupler yoke key and air tube picking robot according to an embodiment of the present invention.
Fig. 5 is a schematic top view of a first robot chassis for a train coupler yoke key and air tube picking robot according to an embodiment of the present invention.
Fig. 6 is a schematic top view of a second robot chassis for a train coupler yoke key and air tube picking robot according to an embodiment of the present invention.
Detailed Description
The present invention will be further explained by describing preferred embodiments of the present invention in detail with reference to the accompanying drawings.
First, a robot for pulling out a train coupler and picking an air duct according to an embodiment of the present invention will be described with reference to fig. 1 to 6, which is used for automatically pulling out a train coupler (i.e., pulling out a lock pin iron chain 8) and picking an air duct 7, and has a wide application range.
As shown in fig. 1 to 3, the robot for pulling out a coupler pin and picking an air duct of a train coupler according to the embodiment of the invention comprises a robot auxiliary track 1, a robot chassis 2, a pitching device 3, a large arm assembly, a control cabinet 5 and a carriage detection module.
Specifically, as shown in fig. 1 to 3, in the present embodiment, the robot auxiliary track 1 is installed at a suitable position along the track line of the heavy train, the robot auxiliary track 1 is a channel steel track, the robot chassis 2 is slidably disposed on the robot auxiliary track 1 for performing automatic position adjustment, the pitching device 3 is disposed on the robot chassis 2, the pitching device 3 may adopt a mechanical arm type RV joint reducer structure, the pitching device 3 is used for providing a driving force for pitching motion, so that the boom assembly can perform pitching motion, the boom assembly is connected to an output end of the pitching device 3, the boom assembly is used for pulling out a coupler of the train and picking an air pipe 7, the control cabinet 5 is disposed on the robot chassis 2 and electrically connected to the robot chassis 2, the pitching device 3 and the boom assembly, the control cabinet 5 is used for sending data processing and sending command control, the carriage detection module is arranged at the top of the control cabinet 5, is electrically connected with the control cabinet 5 and is used for detecting the position of the train carriage.
Further, as shown in fig. 1 to 3, in the present embodiment, the boom assembly includes: a link plate 41, a main arm 42, a support adjusting assembly, a first pusher 44, a sub-arm 45, a working assembly, and a working detecting assembly. The connecting plate 41 is connected with the output end of the pitching device 3, the main arm 42 is connected with the connecting plate 41, the connecting plate 41 is used for connecting the main arm 42 with the pitching device 3, the supporting and adjusting component is connected with the main arm 42, the supporting and adjusting component is electrically connected with the control cabinet 5, the supporting and adjusting component is used for supporting the main arm 42 and improving the stability during operation, the first pusher 44 is embedded inside the main arm 42 and is electrically connected with the control cabinet 5, the first pusher 44 is used for providing pushing force so that the auxiliary arm 45 can stretch and retract in the main arm 42, the auxiliary arm 45 is guided and arranged in the main arm 42, one end of the auxiliary arm 45 is connected with the output end of the first pusher 44, the operation component is connected with the other end of the auxiliary arm 45 and is used for carrying out train coupler pulling pin and air pipe removal 7, the operation detection component is connected with the main arm 42 and is electrically connected with the control cabinet 5 and is used for detecting the positions of the train coupler positioning pin and the air pipe 7, the accuracy of the positioning position is ensured, and the operation assembly can accurately reach the operation position.
Further, as shown in fig. 1 to 3, in the present embodiment, the operation assembly includes: a wind pipe removing device 461 and a pin pulling device 462. The air duct removing device 461 is connected with the other end of the auxiliary arm 45, and the pin pulling device 462 is connected with the other end of the auxiliary arm 45. Wherein, the wind pipe removing device 461 is a U-shaped bracket, and the pin pulling device 462 is an L-shaped draw hook. The pin pulling device 462 and the air duct removing device 461 are used for carrying out the operations of pulling the pin of the train coupler and removing the air duct 7.
Further, as shown in fig. 1 to 3, in the present embodiment, the supporting and adjusting assembly includes: a second pusher 431 and a sheave 432. The output end of the second pusher 431 is hinged to the main arm 42, a hinge point is arranged on the main arm 42, the output end of the second pusher 431 is hinged to the hinge point on the main arm 42 through a hinge shaft, the second pusher 431 is electrically connected with the control cabinet 5, the second pusher 431 is used for providing a pushing force, the grooved wheel 432 is arranged at the bottom of the second pusher 431, and when the big arm is driven by the pitching device 3 to perform downward pitching operation, the grooved wheel 432 abuts against a train track, so that the second pusher 431 can operate to lift and fall the big arm around the pitching device 3. This support adjusting part effort is close the coupling, is convenient for realize load optimization and accurate displacement control, and lightweight pitching device 3 improves robot stability simultaneously.
Further, as shown in fig. 1-2, in the present embodiment, the operation detection assembly includes: and the operation radar 471 is connected with the main arm 42 and electrically connected with the control cabinet 5, and is used for detecting the positions of the train coupler positioning pin and the air pipe 7, so that the accuracy of the device during operation is improved.
Further, as shown in fig. 1 to 2, in this embodiment, the car detection module includes: carriage radar 6, carriage radar 6 set up at the top of switch board 5, and with 5 electric connection of switch board, carriage radar 6 is used for detecting railway carriage's position, according to the numerical value that detects to let robot chassis 2 carry out the adjustment of position on supplementary track 1 of robot, carry out the regulation of position, look for the operation position.
When the air duct 7 is picked, the carriage radar 6 detects and searches for a carriage gap, the robot chassis 2 moves and adjusts on the auxiliary track 1 of the robot, the robot chassis 2 is opposite to the carriage gap and stops moving through the detection of the carriage radar 6, the large arm is bent downwards through the pitching device 3 until the grooved wheel 432 strides on an adjacent track, the pitching device 3 keeps the brake open and stops enabling, the first pusher 44 pushes the auxiliary arm 45 out to reach the center of the train track, the operation radar 471 detects and positions the accurate position of the connecting buckle of the air duct 7, then the robot chassis 2 moves on the auxiliary track 1 of the robot, the air duct picking device 461 is positioned under the connecting buckle of the air duct 7, the second pusher 431 operates to adjust the lifting of the main arm 42, the air duct picking device 461 is indirectly lifted to a certain position, the first pusher 44 retracts, and the second propeller continues to push, the air duct 7 is continuously supported according to a set track, the air duct 7 is picked off, whether the air duct 7 is picked off and separated is judged, if the air duct 7 is not picked off and separated successfully, the air duct picking device 461 is reset to the adjusted preset position, the picking operation is continued again until the picking operation is successful, then the first pusher 44 and the second pusher 431 retract, and the pitching device 3 lifts the boom to a standby position.
Further, as shown in fig. 4 to 6, in the present embodiment, the robot chassis 2 includes: chassis frame 21, a pair of long shafts 22, road wheels 23 and a drive mechanism. Chassis frame 21 plays the effect of support, a pair of major axis 22 sets up the both sides at chassis frame 21 respectively, walking wheel 23 suit respectively at the both ends of a pair of major axis 22, walking wheel 23 is installed on supplementary track 1 of robot, actuating mechanism links to each other with chassis frame 21 and a pair of major axis 22, actuating mechanism and switch board electric connection, actuating mechanism is used for driving a pair of major axis 22 and rotates, when using, through the operation of control actuating mechanism, can drive a pair of major axis 22 and rotate, thereby drive walking wheel 23 and walk on supplementary track 1 of robot, make robot chassis 2 remove on supplementary track 1 of robot. ,
further, as shown in fig. 4 to 5, in the present embodiment, the driving mechanism includes: a motor 241, a first synchronous belt drive mechanism 242, and a second synchronous belt drive mechanism 243. The motor 241 is connected with the chassis frame 21, and the motor 241 is electrically connected with the control cabinet; the first synchronous belt transmission mechanism 242 is connected with one long shaft 22 and the output end of the motor 241; a second synchronous belt drive 243 is connected to the other long shaft 22 and the output of the motor 241. Wherein, first synchronous belt drive mechanism 242 and second synchronous belt drive mechanism 243 constitute by action wheel, hold-in range and follow driving wheel to can make motor 241 move, drive a pair of major axis 22 through first synchronous belt drive mechanism 242 and second synchronous belt drive mechanism 243 and rotate, make walking wheel 23 rotate, drive robot chassis 2 and remove on the supplementary track 1 of robot.
As shown in fig. 6, in this embodiment, the driving mechanism may further include a right-angle hollow shaft motor 244 and a third synchronous belt transmission mechanism 245, the right-angle hollow shaft motor 244 is connected to one of the long shafts 22 for driving one of the long shafts 22 to rotate, the third synchronous belt transmission mechanism 245 includes a driving wheel, a synchronous belt and a driven wheel, and the third synchronous belt transmission mechanism 245 is connected to a pair of the long shafts 22, so that when the right-angle hollow shaft motor 244 drives one of the long shafts 22 to rotate, the third synchronous belt transmission mechanism 245 can drive the other long shaft 22 to rotate, thereby realizing rotation of the traveling wheels 23 and driving the robot chassis 2 to move on the robot auxiliary track 1.
When the pin pulling operation is carried out, the carriage radar 6 is used for detecting and searching for a carriage gap, then the robot chassis 2 is enabled to move and adjust on the robot auxiliary track 1, the robot chassis 2 is enabled to face the carriage gap and then stops moving through the detection of the carriage radar 6, the large arm is enabled to bow down to the horizontal position or the set position through the pitching device 3, the pitching device 3 is enabled, the pitching angle can be adjusted according to instructions, the auxiliary arm 45 is pushed out by the first pusher 44 to reach the position of the lock pin iron chain 8, then the operation radar 471 detects and positions the accurate position of the lock pin iron chain 8, then the robot chassis 2 is enabled to move on the robot auxiliary track 1, the pin pulling device 462 enters the loop line of the lock pin iron chain 8, the first pusher retracts the pin pulling device 462 to carry out the pin pulling operation, whether the lock pin is pulled out or not and the iron chain hangs down is judged, if the pin pulling device 462 is not successfully pulled out, the adjusted preset position is reset, the pin pulling work is resumed until the pin pulling is successful, then the first pusher 44 and the second pusher 431 are retracted, and the pitching device 3 lifts the boom to the standby position.
The robot for pulling the coupler pin and removing the air pipe 7 of the train car according to the embodiment of the invention is described above with reference to fig. 1-3, and is arranged along the entrance rearrangement line of a car dumper system, and the operation of pulling the coupler pin and removing the air pipe 7 before uncoupling is carried out in advance, so that the robot can completely replace manual pulling the coupler pin and removing the air pipe 7. In a narrow gap, the remote deep operation is realized, and the sheave 432 is arranged to reduce the load.
It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. The utility model provides a be used for train coupling pulling pin and pluck tuber pipe robot which characterized in that contains:
a robot-assisted track;
the robot chassis is arranged on the robot auxiliary track in a sliding manner;
the pitching device is arranged on the robot chassis and used for providing driving force for pitching action;
the large arm assembly is connected with the output end of the pitching device and is used for pulling out a coupler pin of the train and picking the air pipe;
the control cabinet is arranged on the robot chassis and is electrically connected with the robot chassis, the pitching device and the large arm assembly;
and the carriage detection module is arranged at the top of the control cabinet and electrically connected with the control cabinet and used for detecting the position of the train carriage.
2. A train coupler pin and air tube picking robot as recited in claim 1, wherein said large arm assembly comprises:
the connecting plate is connected with the output end of the pitching device;
a main arm connected to the connecting plate;
the supporting and adjusting assembly is connected with the main arm and is electrically connected with the control cabinet;
the first pusher is embedded in the main arm, is electrically connected with the control cabinet and is used for providing a pushing force;
the auxiliary arm is guided and arranged in the main arm, and one end of the auxiliary arm is connected with the output end of the first pusher;
the operation assembly is connected with the other end of the auxiliary arm and is used for pulling out a coupler pin and picking an air pipe of the train;
and the operation detection assembly is connected with the main arm, is electrically connected with the control cabinet and is used for detecting the positions of the train coupler lock pin and the air pipe.
3. A train coupler pin and air tube picking robot as recited in claim 2, wherein said operational module comprises:
the air pipe picking device is connected with the other end of the auxiliary arm;
and the pin pulling device is connected with the other end of the auxiliary arm.
4. The robot for train coupler pulling and air extracting as set forth in claim 3, wherein said air extracting tube means is a U bracket.
5. The robot for train coupler pulling and air extracting according to claim 3, wherein the pulling pin device is an L-shaped pulling hook.
6. The robot for a train coupler yoke key and air pick tube of claim 2, wherein said support adjustment assembly comprises:
the output end of the second pusher is hinged with the main arm, and the second pusher is electrically connected with the control cabinet and used for providing pushing force;
a sheave disposed at a bottom of the second pusher.
7. The robot for train coupler pulling and air extracting according to claim 2, wherein the operation detecting assembly comprises: and the operation radar is connected with the main arm, is electrically connected with the control cabinet and is used for detecting the positions of the train coupler lock pin and the air pipe.
8. The robot for train coupler pulling and air extracting according to claim 1, wherein the car detection module comprises: and the carriage radar is arranged at the top of the control cabinet and is electrically connected with the control cabinet for detecting the position of the train carriage.
9. A robot for train coupler pins and air ducts as claimed in claim 1, wherein said robot chassis comprises:
a chassis frame;
a pair of long shafts respectively disposed at both sides of the chassis frame;
the walking wheels are sleeved at two ends of the pair of long shafts respectively and are installed on the robot auxiliary track;
and the driving mechanism is connected with the chassis frame and the pair of long shafts, and is electrically connected with the control cabinet and used for driving the pair of long shafts to rotate.
10. A train coupler puller and air picking tube robot as set forth in claim 9 wherein said drive mechanism comprises:
the motor is connected with the chassis frame and is electrically connected with the control cabinet;
the first synchronous belt transmission mechanism is connected with one long shaft and the output end of the motor;
and the second synchronous belt transmission mechanism is connected with the other long shaft and the output end of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210300236.1A CN114802335B (en) | 2022-03-25 | 2022-03-25 | Robot for pulling out pin and wind picking pipe of train coupler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210300236.1A CN114802335B (en) | 2022-03-25 | 2022-03-25 | Robot for pulling out pin and wind picking pipe of train coupler |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114802335A true CN114802335A (en) | 2022-07-29 |
| CN114802335B CN114802335B (en) | 2023-08-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210300236.1A Active CN114802335B (en) | 2022-03-25 | 2022-03-25 | Robot for pulling out pin and wind picking pipe of train coupler |
Country Status (1)
| Country | Link |
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| CN (1) | CN114802335B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20100076631A1 (en) * | 2008-09-19 | 2010-03-25 | Mian Zahid F | Robotic vehicle for performing rail-related actions |
| CN208515602U (en) * | 2018-07-03 | 2019-02-19 | 北京汇力智能科技有限公司 | Train decoupling device robot |
| CN211617712U (en) * | 2019-12-26 | 2020-10-02 | 中国铁道科学研究院集团有限公司 | Railway hump operation unhooking robot system |
| CN211617713U (en) * | 2019-12-26 | 2020-10-02 | 中国铁道科学研究院集团有限公司 | Railway hump operation unhooking robot traveling system |
| CN212861458U (en) * | 2020-09-11 | 2021-04-02 | 上海酷酷机器人有限公司 | Train unhooking robot system |
| CN112758124A (en) * | 2020-12-31 | 2021-05-07 | 陕西航泰电气股份有限公司 | Bolt gripper and application and use method thereof |
| CN113460110A (en) * | 2021-07-27 | 2021-10-01 | 沈阳奇辉机器人应用技术有限公司 | Automatic lifting hook walking robot for railway hump operation |
| CN113942539A (en) * | 2021-05-07 | 2022-01-18 | 北京汇力智能科技有限公司 | Unhooking and re-hooking robot and unhooking operation method thereof |
-
2022
- 2022-03-25 CN CN202210300236.1A patent/CN114802335B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100076631A1 (en) * | 2008-09-19 | 2010-03-25 | Mian Zahid F | Robotic vehicle for performing rail-related actions |
| CN208515602U (en) * | 2018-07-03 | 2019-02-19 | 北京汇力智能科技有限公司 | Train decoupling device robot |
| CN211617712U (en) * | 2019-12-26 | 2020-10-02 | 中国铁道科学研究院集团有限公司 | Railway hump operation unhooking robot system |
| CN211617713U (en) * | 2019-12-26 | 2020-10-02 | 中国铁道科学研究院集团有限公司 | Railway hump operation unhooking robot traveling system |
| CN212861458U (en) * | 2020-09-11 | 2021-04-02 | 上海酷酷机器人有限公司 | Train unhooking robot system |
| CN112758124A (en) * | 2020-12-31 | 2021-05-07 | 陕西航泰电气股份有限公司 | Bolt gripper and application and use method thereof |
| CN113942539A (en) * | 2021-05-07 | 2022-01-18 | 北京汇力智能科技有限公司 | Unhooking and re-hooking robot and unhooking operation method thereof |
| CN113460110A (en) * | 2021-07-27 | 2021-10-01 | 沈阳奇辉机器人应用技术有限公司 | Automatic lifting hook walking robot for railway hump operation |
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| Publication number | Publication date |
|---|---|
| CN114802335B (en) | 2023-08-22 |
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