CN211388868U - Railway unhooking robot walking clamping mechanism - Google Patents
Railway unhooking robot walking clamping mechanism Download PDFInfo
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- CN211388868U CN211388868U CN201922371039.5U CN201922371039U CN211388868U CN 211388868 U CN211388868 U CN 211388868U CN 201922371039 U CN201922371039 U CN 201922371039U CN 211388868 U CN211388868 U CN 211388868U
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- unhooking
- train
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Abstract
The utility model provides a railway unhooking robot walking clamping mechanism, which comprises a robot track, a frame connected with the robot track, a first arm-embracing mechanism connected with the frame and a second arm-embracing mechanism connected with the frame, wherein the robot track is fixed on the ground and is parallel to a train walking rail, the first arm-embracing mechanism is arranged on the right side of the frame, the second arm-embracing mechanism is arranged on the left side of the frame, and the frame drives the first arm-embracing mechanism and the second arm-embracing mechanism to jointly walk along the robot track; the first arm-holding mechanism comprises an arm-holding I connected with a rear clamping point of the train and a first driving device used for driving the arm-holding I to rotate; the second arm-embracing mechanism comprises an arm II connected with a front clamping point of the train and a second driving device used for driving the arm II to rotate. The utility model discloses can realize that the unhooking robot is at the unhooking in-process and the train is fast altogether, keeps relative quiescent condition in order to guarantee other mechanism's even running of unhooking robot, can reduce intensity of labour, avoids the emergence of incident.
Description
Technical Field
The utility model relates to a railway unhook machine people technical field especially relates to a railway unhook machine people walking fixture.
Background
Railway transportation is a transportation mode for transporting goods by using railway trains, and plays an important role in social substance production. It features large transportation quantity, fast speed, low cost, no limitation of weather condition and suitable for long-distance transportation of bulk and heavy goods. However, the weight of one train carriage is 30-40 tons, and the carriage is connected with the carriage through a coupler because the weight of the train carriage is large. The car coupler consists of a coupler head, a coupler body and a coupler tail, wherein the coupler head comprises a coupler knuckle, a latch pin and a lock pin; the hook tail is a vertical lock hole, and the hook tail and the lock hole are buckled and interlocked with each other to ensure that the train keeps stable in the process of constant speed and acceleration and deceleration running.
At present, the train unhooking work in China is finished by manual operation. The operation process is mainly as follows: when a train to be unhooked drives into a hump area, a hook lifting person follows the hump pushing train, holds the hook lifting rod to quickly lift after the hook pressing action of the hump pushing train is finished, determines the separation position of the car hook according to work experience, and separates the pressed car hook from another hook head after reaching a hook separation point to finish the unhooking work. In the manual unhooking process, a unhooking worker needs to hold a record list to record the passing number of passing vehicles and follow the peak pushing train, and the requirements on experience and physical strength of operators are high. The manual unhooking work condition is complicated, the labor intensity is high, and safety accidents are easy to happen.
The railway unhooking robot can replace manpower to finish all operations of train unhooking. The unhooking robot can realize that unhooking work can be completed in a short time according to different structural forms of the car coupler in a narrow space, and the unhooking success rate is high through practice verification.
The unhooking robot generally needs to have the same speed as the train in operation. Aiming at the problem that the speed change of a train is complex in the unhooking process, in order to enable the unhooking robot and the train to be unhooked to have the same speed, a walking clamping mechanism with good adaptability is needed.
Therefore, in view of the above, there is a need to provide a new traveling clamping mechanism to solve the deficiencies of the prior art.
SUMMERY OF THE UTILITY MODEL
According to the technical problem, the walking clamping mechanism of the railway unhooking robot is provided. The utility model discloses mainly utilize first armful arm mechanism embrace arm I and second armful arm mechanism embrace arm II and the train around the centre gripping be connected to accomplish the common speed operation of unhooking robot and train. The utility model discloses a technical means as follows:
a railway unhooking robot walking fixture comprises: the robot track is fixed on the ground and is parallel to a train running rail, the first arm-embracing mechanism is arranged on the right of the rack, the second arm-embracing mechanism is arranged on the left of the rack, and the rack drives the first arm-embracing mechanism and the second arm-embracing mechanism to jointly travel along the robot track;
the first arm embracing mechanism comprises an arm I connected with a rear clamping point of the train and a first driving device used for driving the arm I to rotate; the second arm-embracing mechanism comprises an arm II connected with a front clamping point of the train and a second driving device used for driving the arm II to rotate; and the common-speed operation of the unhooking robot and the train is completed through the arm I and the arm II.
Further, first drive arrangement includes cylinder unable adjustment base, sharp cylinder, unsteady joint and embraces the arm supporting seat, cylinder unable adjustment base is fixed in the frame, the end of sharp cylinder with cylinder unable adjustment base links to each other, the front end of sharp cylinder's cylinder push rod is connected with unsteady joint, it is fixed in through end-to-end connection to embrace the arm supporting seat in the frame, it is equipped with on the arm I and embraces the arm connecting block to embrace the arm connecting block with unsteady joint links to each other.
Further, the second driving device includes: the cylinder connecting plate is fixedly connected with the upper part of the sliding block through the I-steel, the arm pressing cylinder is connected with the cylinder connecting plate through the cylinder connecting block, a pressing arm is arranged on the arm pressing cylinder, and the pressing arm is connected with the arm holding II;
the linear air cylinder is arranged between the two slide rails and fixed on the bottom plate through the air cylinder support plate, an air cylinder push rod of the linear air cylinder is connected with the sliding table connecting frame, the sliding table connecting frame is fixedly connected with the air cylinder connecting plate, and the reciprocating motion of the air cylinder push rod drives the air cylinder connecting plate to move linearly along the slide rails.
Furthermore, a buffering elastic cushion is arranged at the contact end of the arm I and the train body.
Furthermore, the arm I is hinged to the arm supporting seat through a hinge shaft, and the arm I rotates around the hinge shaft.
Furthermore, the rotation angle of the arm holding I is 0-90 degrees.
Further, the arm-embracing connecting block is hinged with the floating joint through a hinge shaft.
Furthermore, a buffering elastic cushion is fixed on the end, contacting with the train body, of the arm II.
Further, the arm II is driven by the pressure arm cylinder and rotates along with the pressure arm.
Furthermore, the rotation angle of the arm II is 0-90 degrees.
Compared with the prior art, the utility model has the advantages of it is following:
1. the utility model provides a railway unhooking robot walking fixture embraces arm II and the front and back centre gripping point of train through the armful arm I of first armful arm mechanism and second armful arm mechanism and is connected, can realize the operation of the machine people that unhooks at the same speed of unhooking in-process and train.
2. The utility model provides a railway unhooking robot walking fixture can realize that the unhooking robot keeps relative quiescent condition when the unhooking in-process is fast with the train altogether to guarantee other mechanism's even running of unhooking robot, can reduce intensity of labour, avoid the emergence of incident.
Based on the reason, the utility model discloses can carry out field extensive popularization such as unhook operation using railway unhook robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the first arm-embracing mechanism of the present invention.
Fig. 3 is a schematic structural view of the second arm-embracing mechanism of the present invention.
In the figure: 1. a first arm-embracing mechanism; 2. a second arm-embracing mechanism; 3. a cylinder fixing base; 4. a linear cylinder; 5. a cylinder push rod; 6. a floating joint; 7. an arm-embracing connecting block; 8. an arm-embracing supporting seat; 9. a buffer spring pad; 10. a holding arm I; 11. a frame; 12. a robot track; 13. a cylinder support plate; 14. a slide rail; 15. a slider; 16. i-shaped steel; 17. a cylinder connecting plate; 18. a sliding table connecting frame; 19. a cylinder connecting block; 20. a holding arm II; 21. a pressure arm cylinder; 22. pressing the arm; 23. a base plate; 24. a front nip point; 25. a rear nip point; 26. a rail.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1-3, the utility model provides a railway unhooking robot walking fixture, include: the robot track 12, the frame 11 that links to each other with the robot track 12, the first armful of arm mechanism 1 that links to each other with frame 11 and the second armful of arm mechanism 2 that links to each other with frame 11, at least two parallel robot tracks 12 are fixed subaerial, and are parallel with train walking rail 26, and frame 11 bottom is equipped with the pulley to frame 11 moves on robot track 12. First armful of arm mechanism 1 and second armful of arm mechanism 2 are all fixed in frame 11, and right-hand of frame 11 is arranged in to first armful of arm mechanism 1, and the left of frame 11 is arranged in to second armful of arm mechanism 2, and frame 11 drives first armful of arm mechanism 1 and second armful of arm mechanism 2 and walks along robot track 12 jointly. The first arm embracing mechanism 1 comprises an arm embracing I10 connected with a rear clamping point 25 of a train and a first driving device for driving the arm embracing I10 to rotate; the second arm-holding mechanism 2 comprises an arm-holding II 20 connected with a front clamping point 24 of the train and a second driving device for driving the arm-holding II 20 to rotate; the common-speed operation of the unhooking robot and the train is completed through the arm I10 and the arm II 20.
First drive arrangement includes cylinder unable adjustment base 3, sharp cylinder 4, floating joint 6 and embraces arm supporting seat 8, cylinder unable adjustment base 3 is fixed in on the frame 11, and sharp cylinder 4's end links to each other with cylinder unable adjustment base 3, and the front end of sharp cylinder 4's cylinder push rod 5 is connected with floating joint 6, embraces arm I10 through end-to-end connection embrace arm supporting seat 8 be fixed in on the frame 11, embrace and be equipped with on arm I10 and embrace arm connecting block 7, embrace arm connecting block 7 and float and connect 6 continuously. Wherein, embrace arm I10 and embrace arm supporting seat 8 and articulate through the hinge pin, embrace arm I10 and rotate around the hinge pin. The arm holding connecting block 7 is hinged to the floating joint 6 through a hinge shaft, the arm holding connecting block 7 can rotate around the hinge shaft, and the rotating angle of the arm holding I10 is 0-90 degrees. A buffering elastic cushion 9 is arranged at the contact end of the arm I10 and the train body.
The second driving device includes: the base plate 23, a slide rail 14, a slide block 15, I-steel 16, a linear cylinder 4, a cylinder support plate 13, a cylinder connecting plate 17, a sliding table connecting frame 18, a cylinder connecting block 19 and a pressure arm cylinder 21, wherein the base plate 23 is fixed on the frame 11, at least two slide rails 14 are arranged on the base plate 23 and are arranged on the base plate 23 in parallel, the upper part of the slide rail 14 is connected with the slide block 15, the cylinder connecting plate 17 is fixedly connected with the upper part of the slide block 15 through the I-steel 16, the pressure arm cylinder 21 is connected with the cylinder connecting plate 17 through the cylinder connecting block 19, a pressure arm 22 is arranged on the pressure arm cylinder 21. A linear cylinder 4 is arranged between the two sliding rails 14, the linear cylinder 4 is fixed on a bottom plate 23 through a cylinder support plate 13, a cylinder push rod 5 of the linear cylinder 4 is connected with a sliding table connecting frame 18, the sliding table connecting frame 18 is fixedly connected with a cylinder connecting plate 17, and the reciprocating motion of the cylinder push rod 5 drives the cylinder connecting plate 17 to perform linear motion along the sliding rails 14. The arm II 20 is driven by the pressure arm cylinder 21 and rotates along with the pressure arm 22, and the rotating angle of the arm II 20 is 0-90 degrees; and a buffer elastic cushion 9 is fixed on the contact end of the arm II 20 and the train body.
The working process is as follows: firstly, under the action of an external driving force, the frame 11 drives the first arm-holding mechanism 1 and the second arm-holding mechanism 2 to move on the robot track 12 in the same direction with a train behind the first arm-holding mechanism at a speed lower than the running speed of the train, and when a rear clamping point 25 on the train runs to the first arm-holding mechanism 1, the first arm-holding mechanism 1 starts to act. The arm I10 is hinged to the arm supporting seat 8, the arm connecting block 7 is hinged to the floating joint 6, when the linear cylinder 44 in the first arm mechanism 1 drives the cylinder push rod 5 to extend out, the arm I10 is driven to rotate through the arm connecting block 7 and the arm supporting seat 8, when the linear cylinder 4 reaches the maximum stroke, the arm I10 just rotates 90 degrees, meanwhile, the buffering elastic cushion 9 moves to the rear clamping point 25, and at the moment, the arm I10 is changed from a state parallel to the rack 11 to a state perpendicular to the rack 11; because the running speed of the train is higher than that of the frame 11, when the arm I10 is opened and acts on the position of the rear clamping point 25 with the train, the train drives the frame 11 to move forward together.
After the first arm embracing mechanism 1 finishes the arm embracing action, the second arm embracing mechanism 2 starts to act, at the moment, the arm pressing cylinder 21 is started, and the arm embracing II 20 rotates by 90 degrees through the arm pressing cylinder 22 and is horizontal to the arm embracing I10; the linear cylinder 4 of the second arm-embracing mechanism 2 drives the cylinder push rod 5 to drive the cylinder connecting plate 17 and the arm II 20 to move towards the direction close to the first arm-embracing mechanism 1, and when the buffering elastic cushion 9 moves to the front clamping point 24, the linear cylinder 4 reaches the maximum stroke and stops acting; so that the common speed operation of the unhooking robot and the train can be completed.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a railway unhook robot walking fixture which characterized in that includes: the robot track comprises a robot track (12), a rack (11) connected with the robot track (12), a first arm embracing mechanism (1) connected with the rack (11) and a second arm embracing mechanism (2) connected with the rack (11), wherein the robot track (12) is fixed on the ground and is parallel to a train running rail (26), the first arm embracing mechanism (1) is arranged on the right side of the rack (11), the second arm embracing mechanism (2) is arranged on the left side of the rack (11), and the rack (11) drives the first arm embracing mechanism (1) and the second arm embracing mechanism (2) to jointly run along the robot track (12);
the first arm embracing mechanism (1) comprises an arm embracing I (10) connected with a rear clamping point (25) of a train and a first driving device for driving the arm embracing I (10) to rotate; the second arm-embracing mechanism (2) comprises an arm II (20) connected with a front clamping point (24) of the train and a second driving device for driving the arm II (20) to rotate; the common-speed operation of the unhooking robot and the train is completed through the arm I (10) and the arm II (20).
2. The railway unhooking robot walking clamping mechanism according to claim 1, wherein the first driving device comprises a cylinder fixing base (3), a linear cylinder (4), a floating joint (6) and an arm holding support seat (8), the cylinder fixing base (3) is fixed on the rack (11), the tail end of the linear cylinder (4) is connected with the cylinder fixing base (3), the front end of a cylinder push rod (5) of the linear cylinder (4) is connected with the floating joint (6), the arm holding I (10) is fixed on the rack (11) through the arm holding support seat (8) which is connected with the tail end, an arm holding connecting block (7) is arranged on the arm holding I (10), and the arm holding connecting block (7) is connected with the floating joint (6).
3. The railway unhooking robot walking gripper mechanism of claim 1, wherein the second drive means comprises: the hydraulic cylinder pressing mechanism comprises a bottom plate (23), a sliding rail (14), a sliding block (15), I-shaped steel (16), a linear cylinder (4), a cylinder support plate (13), a cylinder connecting plate (17), a sliding table connecting frame (18), a cylinder connecting block (19) and a pressing arm cylinder (21), wherein the bottom plate (23) is fixed on the frame (11), the sliding rail (14) is at least provided with two sliding plates which are parallelly mounted on the bottom plate (23), the sliding rail (14) is connected with the sliding block (15) above the sliding rail, the cylinder connecting plate (17) is fixedly connected with the upper part of the sliding block (15) through the I-shaped steel (16), the pressing arm cylinder (21) is connected with the cylinder connecting plate (17) through the cylinder connecting block (19), a pressing arm (22) is arranged on the pressing arm cylinder (21), and the pressing arm (22) is connected with the arm II (20);
two put in the middle of slide rail (14) sharp cylinder (4), sharp cylinder (4) pass through cylinder extension board (13) are fixed in on bottom plate (23), the cylinder push rod (5) of sharp cylinder (4) with slip table link (18) link to each other, slip table link (18) with cylinder connecting plate (17) fixed connection, the reciprocating motion of cylinder push rod (5) drives cylinder connecting plate (17) are followed slide rail (14) carry out linear motion.
4. The railway unhooking robot walking clamping mechanism according to claim 2, wherein a buffering elastic cushion (9) is arranged at the end, contacting with a train body, of the arm I (10).
5. The railway unhooking robot walking clamping mechanism according to claim 2, characterized in that the arm I (10) is hinged with the arm support base (8) through a hinge shaft, and the arm I (10) rotates around the hinge shaft.
6. The railway unhooking robot walking clamping mechanism according to claim 5, characterized in that the rotation angle of the arm holding I (10) is 0-90 degrees.
7. Railway unhooking robot walking gripper mechanism according to claim 2, characterized in that the boom connection block (7) is hinged with the floating joint (6) by a hinge axis.
8. The railway unhooking robot walking clamping mechanism according to claim 3, wherein a buffering elastic cushion (9) is fixed on the end, in contact with a train body, of the arm II (20).
9. Railway unhooking robot walking gripper mechanism according to claim 3, characterized in that said arm II (20) is driven by said press arm cylinder (21) and rotates with said press arm (22).
10. The railway unhooking robot walking gripper mechanism according to claim 9, characterized in that the rotation angle of the arm ii (20) is 0-90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922371039.5U CN211388868U (en) | 2019-12-26 | 2019-12-26 | Railway unhooking robot walking clamping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922371039.5U CN211388868U (en) | 2019-12-26 | 2019-12-26 | Railway unhooking robot walking clamping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211388868U true CN211388868U (en) | 2020-09-01 |
Family
ID=72223658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922371039.5U Expired - Fee Related CN211388868U (en) | 2019-12-26 | 2019-12-26 | Railway unhooking robot walking clamping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211388868U (en) |
-
2019
- 2019-12-26 CN CN201922371039.5U patent/CN211388868U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200901 Termination date: 20211226 |
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| CF01 | Termination of patent right due to non-payment of annual fee |