CN208515602U - Train decoupling device robot - Google Patents
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- CN208515602U CN208515602U CN201821048713.5U CN201821048713U CN208515602U CN 208515602 U CN208515602 U CN 208515602U CN 201821048713 U CN201821048713 U CN 201821048713U CN 208515602 U CN208515602 U CN 208515602U
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- 230000002787 reinforcement Effects 0.000 claims description 5
- 230000005389 magnetism Effects 0.000 claims 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The utility model provides a kind of train decoupling device robot, train decoupling device robot includes: Y-axis linear motion component, the Z axis linear motion component being arranged on Y-axis linear motion component, the X-axis linear motion component that Z axis linear motion component is arranged in and the gripper being arranged on X-axis linear motion component, gripper is articulated in the hitch bar on X-axis linear motion component and being used for clamp or release hitch, when gripper is in stationary state, Z axis linear motion component driving gripper mentions hitch bar upwards；When gripper is in rotation status, Z axis linear motion component and Y-axis linear motion component move driving gripper rotation simultaneously to take hitch bar.The utility model solves the problems, such as that decoupling device in the prior art carries out decoupling device and cause driving structure more complicated by the movement and a rotating operation in three directions.
Description
Technical field
The utility model relates to train technical fields, and in particular to a kind of train decoupling device robot.
Background technique
Currently, hitch is the important device of the two section railway carriages connected in train, it also enough plays certain traction and buffering
Effect.When using tippler dumping train, permutation train is needed to dismantle for one group by two sections, enters end in tippler, by plucking
Hook personnel unsnap the hitch of train, then position two section railway carriage of handlebar and lead the entrance into overturning machine platform, by car puller
Railway carriage is led into overturning machine platform, tippler rotates two section railway carriage of dumping, in the outlet of tippler, by positive hook personnel train
Two section railway carriages are released tippler again by hitch righting, car puller, and so circulation completes the coal dumping of a permutation train.
Since the above-mentioned manpower that fully relies in the prior art carries out decoupling device, that is, decoupling device personnel is needed to rotate counterclockwise train vehicle
The decoupling device bar of skin, then decoupling device bar rotation lifts train coupler arranged pin, thus the hitch for train of unsnaping.Artificial decoupling device has
Following defect: operation interval is narrow, and train does not come to a complete stop, that is, starts artificial decoupling device operation, leans on micro-judgment decoupling device opportunity, and safety is hidden
Suffer from very big.In addition also people less and less is ready to do decoupling device work, and cost is higher and higher.
In view of the foregoing drawbacks, patent document CN204920691U discloses a kind of decoupling device for hitch, the decoupling device
Device includes pedestal and seat of honour module, and seat of honour module includes decoupling device module and the seat of honour, and the seat of honour passes through the first retractable driving device edge
First level direction X is slidably connected to pedestal, and Z is slidably along the vertical direction by the second retractable driving device for decoupling device module
Ground is connected to the seat of honour, and being provided in decoupling device module can be around the decoupling device portion that the rotation axis for being parallel to first level direction X rotates
Part, decoupling device module includes driving mechanism and Z is slidably connected to the module rack at the seat of honour along the vertical direction, and decoupling device component can wrap
Swingle and the fixedly connected part positioned at the end of swingle are included, swingle is rotatably mounted in module rack and and driving mechanism
It is connected by power, driving mechanism may include can be along the rotation of the second horizontal direction Y stretching motion perpendicular to first level direction X
Bull stick retractable driving device, one end link block frame of swingle retractable driving device, other end connection have the movement of rack gear
Portion, rack gear can be supported by being connected to the yoke assy rack support of module rack, and the tooth being engaged with rack can be set on swingle
Wheel, can be rotated by the mobile drive swingle of rack gear.
Above-mentioned decoupling device passes through the movement in three directions and a rotary motion carries out decoupling device, and driving structure is more multiple
It is miscellaneous, higher cost.
Utility model content
The main purpose of the utility model is to provide a kind of train decoupling device robots, are filled with solving decoupling device in the prior art
It sets and the problem that decoupling device causes driving structure more complicated is carried out by the movement and a rotating operation in three directions.
To achieve the above object, the utility model provides a kind of train decoupling device robot, comprising: Y-axis linear motion group
Part, the Z axis linear motion component being arranged on Y-axis linear motion component, the X-axis straight line fortune that Z axis linear motion component is set
Dynamic component and the gripper being arranged on X-axis linear motion component, gripper are articulated on X-axis linear motion component and for pressing from both sides
Hitch bar that is tight or unclamping hitch, when gripper is in stationary state, Z axis linear motion component driving gripper mentions hitch upwards
Bar；When gripper is in rotation status, Z axis linear motion component and Y-axis linear motion component move driving gripper rotation simultaneously
Turn to take hitch bar.
Further, X-axis linear motion component is equipped with fixing piece, and gripper is articulated on fixing piece.
Further, fixing piece is equipped with the first magnetic part, and gripper is equipped with the second magnetic part, the first magnetic part and the
When two magnetic parts are attracted, gripper is in stationary state, and when the first magnetic part and the second magnetic part separate, gripper is in rotation
State.
Further, gripper includes the pawl main body being articulated on fixing piece and a pair of of clamping jaw for being arranged in pawl main body,
A pair of of clamping jaw, which can relatively move, to be clamped hitch bar and is away from each other mobile release hitch bar, and pawl main body, which is equipped with, drives a pair of of clamping jaw fortune
Dynamic driving part.
Further, clamping jaw is equipped with pressure sensor, and/or, pawl main body, which is equipped with, is located at connecing between a pair of of clamping jaw
Nearly switch, and/or, pawl main body is equipped with locating piece, with measure hitch bar whether deflection and clamping jaw to hitch bar distance.
Further, gripper further includes return unit, and after the completion of decoupling device, return unit resets gripper from rotation status
To original state.
Further, X-axis linear motion component is retractable structure.
Further, Y-axis linear motion component includes Y-axis pedestal, the y-axis motor being fixed on Y-axis pedestal and Y-axis electricity
The Y-axis lead screw of the output axis connection of machine and the Y-axis slide being fixedly connected with the nut of Y-axis lead screw.
Further, Z axis linear motion component includes the Z axis pedestal being fixed on Y-axis slide, is fixed on Z axis pedestal
Z axis motor, with the Z axis lead screw of the output axis connection of Z axis motor and the Z axis slide being fixedly connected with the nut of Z axis lead screw.
Further, Y-axis pedestal is equipped with Y-axis guide rail, has the Y-axis pilot hole cooperated with Y-axis guide rail on Y-axis slide,
And/or Z axis pedestal is equipped with Z axis guide rail, has the Z axis pilot hole cooperated with Z axis guide rail on Z axis slide, and/or, Z axis bottom
Reinforcement structure is connected between seat and Y-axis slide.
Technical solutions of the utility model, when having the advantages that decoupling device, railway carriage comes to a complete stop, by train decoupling device robot
Fix progress just positioning on the ground, it will by Y-axis linear motion component, Z axis linear motion component and X-axis linear motion component
Gripper is moved to crawl position, and gripper clamps hitch bar；Then Z axis linear motion component driving gripper mentions hitch upwards
Bar, during mentioning hitch bar upwards, gripper is in stationary state, i.e. gripper is not able to rotate；After completing lancet movement,
Gripper is adjusted to rotation status, last Z axis linear motion component and Y-axis linear motion component move driving gripper simultaneously
Hitch bar is taken in rotation；Gripper unclamps hitch bar after completing decoupling device, and train decoupling device robot playback, waiting is plucked next time
Hook.Above structure moves the rotation fortune during realizing decoupling device by Z axis linear motion component and Y-axis linear motion component simultaneously
It is dynamic, so there is no need to which a rotating mechanism is separately provided, simplifies driving structure, reduce cost.And it is replaced by robot
Personnel's operation, improves efficiency, and reduces personal injury risk.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.In the accompanying drawings:
Fig. 1 shows the stereoscopic schematic diagram of the embodiment of train decoupling device according to the present utility model robot；
Fig. 2 shows the stereoscopic schematic diagrams of the gripper of the train decoupling device robot of Fig. 1.
Wherein, the appended drawing reference in above-mentioned attached drawing are as follows:
10, Y-axis linear motion component；11, Y-axis pedestal；12, y-axis motor；13, Y-axis slide；14, Y-axis guide rail；20, Z axis
Linear motion component；21, Z axis pedestal；22, Z axis motor；23, Z axis slide；24, Z axis guide rail；30, X-axis linear motion component；
40, gripper；41, pawl main body；42, clamping jaw；43, the second magnetic part；44, return unit；45, pressure sensor；46, close to open
It closes；47, locating piece；48, fixed plate；49, pin shaft；61, fixing piece；62, the first magnetic part；70, reinforcement structure.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
As shown in Figure 1, the train decoupling device robot of the present embodiment include: Y-axis linear motion component 10, setting it is straight in Y-axis
Z axis linear motion component 20 on line moving parts 10, the X-axis linear motion component 30 that Z axis linear motion component 20 is set
With the gripper 40 being arranged on X-axis linear motion component 30, gripper 40 is articulated on X-axis linear motion component 30 and is used for
The hitch bar of clamp or release hitch, when gripper 40 is in stationary state, Z axis linear motion component 20 drive gripper 40 to
Above mention hitch bar；When gripper 40 is in rotation status, Z axis linear motion component 20 and the same luck of Y-axis linear motion component 10
Dynamic driving gripper 40 is rotated relative to X-axis linear motion component 30 to take hitch bar.
Using the train decoupling device robot of the present embodiment, when decoupling device, railway carriage comes to a complete stop, and train decoupling device robot is fixed
Just positioning is carried out on the ground, passes through Y-axis linear motion component 10, Z axis linear motion component 20 and X-axis linear motion component 30
Gripper 40 is moved to crawl position, gripper 40 clamps hitch bar；Then Z axis linear motion component 20 drives gripper 40
Hitch bar is mentioned upwards, during mentioning hitch bar upwards, gripper 40 is in stationary state, i.e. gripper 40 is not able to rotate；
After completing lancet movement, gripper 40 is adjusted to rotation status, last Z axis linear motion component 20 and Y-axis linear motion group
Part 10 moves the driving rotation of gripper 40 simultaneously and takes hitch bar；Gripper 40 unclamps hitch bar after completing decoupling device, train
The playback of decoupling device robot, waits decoupling device next time.Above structure passes through Z axis linear motion component 20 and Y-axis linear motion component
10 move the rotary motion realized during decoupling device simultaneously, so there is no need to which a rotating mechanism is separately provided, simplify driving
Structure reduces cost.And it is operated, is improved efficiency instead of personnel by robot, reduce personal injury risk.
In the present embodiment, as shown in Fig. 2, X-axis linear motion component 30 is equipped with fixing piece 61, gripper 40 is articulated in
On fixing piece 61, simplifies the structure of X-axis linear motion component 30, be easily installed gripper.
In the present embodiment, fixing piece 61 is equipped with the first magnetic part 62, and gripper 40 is equipped with the second magnetic part 43, the
When one magnetic part 62 and the second magnetic part 43 are attracted, gripper 40 is in stationary state, the first magnetic part 62 and the second magnetic part
When 43 separation, gripper 40 is in rotation status.The setting of first magnetic part 62 and the second magnetic part 43 is cut convenient for gripper 40
State is changed, structure is simpler.Specifically, when upward lancet, the first magnetic part 62 and the second magnetic part 43 are attracted, and gripper 40 is protected
Stationary state is held, after completing lancet movement, the first magnetic part 62 and the separation of the second magnetic part 43 release the rotation of gripper certainly
By spending, and then adapt to the rotation of hitch bar.Specifically, the first magnetic part 62 and the second magnetic part 43 are electromagnet.
In the present embodiment, gripper 40 includes the pawl main body 41 being articulated on fixing piece 61 and is arranged in pawl main body 41
A pair of of clamping jaw 42, a pair of of clamping jaw 42 can relatively move clamp hitch bar and be away from each other it is mobile unclamp hitch bar, in pawl main body 41
Equipped with the driving part for driving a pair of of clamping jaw 42 to move, opening size is less than the straight of hitch bar when a pair of of clamping jaw 42 is closed completely
Diameter, such hitch bar cannot come off when rotating.Specifically, pawl main body 41 is equipped with fixed plate 48, and the setting of the second magnetic part 43 exists
In fixed plate 48.Gripper has certain flexibility and fault-tolerance.
In the present embodiment, clamping jaw 42 is equipped with pressure sensor 45.Pressure sensor 45 can feed back clamping jaw chucking power,
42 chucking power of two sides clamping jaw difference adjustable state when larger.Pawl main body 41, which is equipped with, is located at approaching between a pair of of clamping jaw 42
Switch 46.Close to switch 46 as protection, the case where robot overloads is moved on after preventing robot from encountering hitch bar.Pawl master
Body 41 is equipped with locating piece 47, and locating piece 47 measures hitch bar, and whether deflection and clamping jaw 42 arrive the distance of hitch bar.Specifically,
Locating piece 47 can be laser sensor.
In the present embodiment, gripper 40 further includes return unit 44, after the completion of decoupling device, return unit 44 make gripper 40 from
Rotation status is reset to original state.When gripper 40 is in original state, gripper keeps horizontality；When upward lancet,
Gripper is sucked electromagnet on fixing piece, keeps horizontality；After completing lancet movement, the electromagnet on fixing piece unclamps
Gripper discharges the rotary freedom of gripper, to adapt to the rotation of hitch bar；After completing spinning movement, gripper can lead to
It crosses return unit 44 and completes homing action, continue to keep horizontality.
Specifically, by the way that on pin shaft 49, return unit 44 is torsional spring, torsional spring is set in pin shaft 49 for pawl main body 41 and fixing piece 61
Upper and its two free end is connect with pawl main body 41 with fixing piece 61 respectively.
In the present embodiment, X-axis linear motion component 30 is retractable structure, and X-axis linear motion component 30 can be along vertical
Straight train rail direction free extension can avoid compartment operation.
In the present embodiment, as shown in Figure 1, Y-axis linear motion component 10 includes Y-axis pedestal 11, is fixed on Y-axis pedestal 11
On y-axis motor 12, with the Y-axis lead screw of the output axis connection of y-axis motor 12 and the Y-axis being fixedly connected with the nut of Y-axis lead screw
Slide 13.The structure of Y-axis linear motion component 10 is simple, easy to use.Specifically, the installation of Y-axis pedestal 11 consolidating on the ground
On fixed rack.Certainly, Y-axis linear motion component may be linear motor, synchronous belt drive mechanism or uniaxial driver.
In the present embodiment, Z axis linear motion component 20 includes the Z axis pedestal 21 being fixed on Y-axis slide 13, is fixed on
Z axis motor 22 on Z axis pedestal 21 is fixed with the Z axis lead screw of the output axis connection of Z axis motor 22 and with the nut of Z axis lead screw
The Z axis slide 23 of connection.The structure of Z axis linear motion component 20 is simple, easy to use.Certainly, Z axis linear motion component can also
Think linear motor, synchronous belt drive mechanism or uniaxial driver.
In the present embodiment, Y-axis pedestal 11 is equipped with Y-axis guide rail 14, has on Y-axis slide 13 and cooperates with Y-axis guide rail 14
Y-axis pilot hole.Z axis pedestal 21 is equipped with Z axis guide rail 24, and there is the Z axis cooperated with Z axis guide rail 24 to be oriented on Z axis slide 23
Hole.
To meet three-axis robot integral rigidity, in the present embodiment, it is connected between Z axis pedestal 21 and Y-axis slide 13
Reinforcement structure 70.Specifically, reinforcement structure 70 is strengthening version.
The course of work of decoupling device robot is illustrated below:
Railway carriage comes to a complete stop, and decoupling device robot just positions.It is moved respectively by X, Y, Z axis linear motion component, gripper
Reach crawl position.Catch drives gripper above to mention hitch bar after hitch bar by Z axis linear motion component, and then Y-axis and Z axis are straight
Line moving parts move simultaneously rotates hitch bar counterclockwise, and gripper unclamps hitch bar, decoupling device machine after completing lancet movement
People's playback waits the movement of decoupling device next time.Wherein, in the horizontal plane, Y-axis linear motion component is parallel with track for a train, and Z axis is straight
In the vertical direction, X-axis linear motion component is vertical with track for a train direction for line moving parts.
It can be seen from the above description that the above embodiments of the present invention realized the following chievements:
By three linear motion components, three coordinate machine device people, in tri- coordinate stroke range of X, Y, Z, gripper are formed
Can arbitrarily move, realize automation decoupling device, can Weigh sensor, no personnel's security risk, longtime running, overall cost is low,
Promote car dumper operation efficiency.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (10)
1. a kind of train decoupling device robot, comprising: Y-axis linear motion component (10) is arranged in the Y-axis linear motion component
(10) Z axis linear motion component (20) on, setting the Z axis linear motion component (20) X-axis linear motion component
(30) and gripper (40) on the X-axis linear motion component (30) is set,
It is characterized in that,
The gripper (40) is articulated in the hitch on the X-axis linear motion component (30) and being used for clamp or release hitch
Bar, when the gripper (40) is in stationary state, the Z axis linear motion component (20) drives the gripper (40) upward
Mention the hitch bar；When the gripper (40) is in rotation status, the Z axis linear motion component (20) and the Y-axis are straight
Line moving parts (10) move driving gripper (40) rotation simultaneously to take the hitch bar.
2. train decoupling device according to claim 1 robot, which is characterized in that on the X-axis linear motion component (30)
Equipped with fixing piece (61), the gripper (40) is articulated on the fixing piece (61).
3. train decoupling device according to claim 2 robot, which is characterized in that the fixing piece (61) is equipped with the first magnetic
Property part (62), the gripper (40) be equipped with the second magnetic part (43), first magnetic part (62) and it is described second magnetism
When part (43) is attracted, the gripper (40) is in the stationary state, first magnetic part (62) and second magnetism
When part (43) separates, the gripper (40) is in the rotation status.
4. train decoupling device according to claim 2 robot, which is characterized in that the gripper (40) includes being articulated in institute
A pair of of the clamping jaw (42) stating the pawl main body (41) on fixing piece (61) and being arranged on the pawl main body (41), a pair of clamping jaw
(42) it can relatively move and clamp the hitch bar and be away from each other the mobile release hitch bar, the pawl main body (41), which is equipped with, drives
The driving part of dynamic a pair of clamping jaw (42) movement.
5. train decoupling device according to claim 4 robot, which is characterized in that the clamping jaw (42) is equipped with pressure sensing
Device (45), and/or, the pawl main body (41) be equipped be located between a pair of clamping jaw (42) close to switch (46), and/
Or, the pawl main body (41) is equipped with locating piece (47), to measure the hitch bar, whether deflection and the clamping jaw (42) are arrived
The distance of the hitch bar.
6. train decoupling device according to claim 1 robot, which is characterized in that the gripper (40) further includes return unit
(44), after the completion of decoupling device, the return unit (44) makes the gripper (40) be reset to original state from the rotation status.
7. train decoupling device according to claim 1 robot, which is characterized in that the X-axis linear motion component (30) is
Retractable structure.
8. train decoupling device according to claim 1 robot, which is characterized in that Y-axis linear motion component (10) packet
Include Y-axis pedestal (11), the y-axis motor (12) being fixed on the Y-axis pedestal (11), the output shaft with the y-axis motor (12)
The Y-axis lead screw of connection and the Y-axis slide (13) being fixedly connected with the nut of the Y-axis lead screw.
9. train decoupling device according to claim 8 robot, which is characterized in that Z axis linear motion component (20) packet
Include the Z axis pedestal (21) being fixed on the Y-axis slide (13), the Z axis motor (22) being fixed on the Z axis pedestal (21),
With the Z axis lead screw of the output axis connection of the Z axis motor (22) and the Z axis slide being fixedly connected with the nut of the Z axis lead screw
(23)。
10. train decoupling device according to claim 9 robot, which is characterized in that the Y-axis pedestal (11) is equipped with Y-axis
Guide rail (14) has the Y-axis pilot hole cooperated with the Y-axis guide rail (14) on the Y-axis slide (13), and/or, the Z axis
Pedestal (21) is equipped with Z axis guide rail (24), and there is the Z axis cooperated with the Z axis guide rail (24) to be oriented on the Z axis slide (23)
Hole, and/or, reinforcement structure (70) are connected between the Z axis pedestal (21) and the Y-axis slide (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821048713.5U CN208515602U (en) | 2018-07-03 | 2018-07-03 | Train decoupling device robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821048713.5U CN208515602U (en) | 2018-07-03 | 2018-07-03 | Train decoupling device robot |
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| Publication Number | Publication Date |
|---|---|
| CN208515602U true CN208515602U (en) | 2019-02-19 |
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| CN201821048713.5U Active CN208515602U (en) | 2018-07-03 | 2018-07-03 | Train decoupling device robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940580A (en) * | 2019-03-28 | 2019-06-28 | 沈阳工业大学 | Frame-type railway decoupling device manipulator |
| CN109987109A (en) * | 2019-05-08 | 2019-07-09 | 杨飞 | Railroad train automates hook disgorger |
| 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 |
| CN112775980A (en) * | 2019-11-08 | 2021-05-11 | 广东宝丰数字印刷科技有限公司 | Four-degree-of-freedom clamping robot for package printing |
| 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 |
| CN114802335A (en) * | 2022-03-25 | 2022-07-29 | 北京汇力智能科技有限公司 | Robot for pulling pin and picking air pipe of train coupler |
| CN114834497A (en) * | 2022-04-24 | 2022-08-02 | 国能(天津)大港发电厂有限公司 | Coupling lifter device |
| CN115571185A (en) * | 2022-09-30 | 2023-01-06 | 山东交通学院 | Automatic unhooking device for open wagon and working method |
| CN116330314A (en) * | 2023-03-24 | 2023-06-27 | 武汉道翔电力科技有限公司 | Special mechanical arm for unhooking robot |
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| CN109940580B (en) * | 2019-03-28 | 2022-04-22 | 沈阳工业大学 | Frame type railway unhooking manipulator |
| CN109940580A (en) * | 2019-03-28 | 2019-06-28 | 沈阳工业大学 | Frame-type railway decoupling device manipulator |
| CN109987109A (en) * | 2019-05-08 | 2019-07-09 | 杨飞 | Railroad train automates hook disgorger |
| CN109987109B (en) * | 2019-05-08 | 2023-09-26 | 杨飞 | Automatic coupler for railway train |
| CN112775980A (en) * | 2019-11-08 | 2021-05-11 | 广东宝丰数字印刷科技有限公司 | Four-degree-of-freedom clamping robot for package printing |
| 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 |
| 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 |
| CN113942539B (en) * | 2021-05-07 | 2022-12-16 | 北京汇力智能科技有限公司 | Unhooking and re-hooking robot and unhooking operation method thereof |
| CN114802335B (en) * | 2022-03-25 | 2023-08-22 | 北京汇力智能科技有限公司 | Robot for pulling out pin and wind picking pipe of train coupler |
| CN114802335A (en) * | 2022-03-25 | 2022-07-29 | 北京汇力智能科技有限公司 | Robot for pulling pin and picking air pipe of train coupler |
| CN114834497A (en) * | 2022-04-24 | 2022-08-02 | 国能(天津)大港发电厂有限公司 | Coupling lifter device |
| CN115571185B (en) * | 2022-09-30 | 2023-08-08 | 山东交通学院 | Automatic unhooking device of open wagon and working method |
| CN115571185A (en) * | 2022-09-30 | 2023-01-06 | 山东交通学院 | Automatic unhooking device for open wagon and working method |
| CN116330314A (en) * | 2023-03-24 | 2023-06-27 | 武汉道翔电力科技有限公司 | Special mechanical arm for unhooking robot |
| CN116330314B (en) * | 2023-03-24 | 2023-10-20 | 武汉道翔电力科技有限公司 | Special mechanical arm for unhooking robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Train uncoupling robot Granted publication date: 20190219 Pledgee: China Construction Bank Corporation Beijing Fengtai Branch Pledgor: BEIJING HUILI INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2024110000131 |