CN212861458U - Train unhooking robot system - Google Patents
Train unhooking robot system Download PDFInfo
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- CN212861458U CN212861458U CN202021983274.4U CN202021983274U CN212861458U CN 212861458 U CN212861458 U CN 212861458U CN 202021983274 U CN202021983274 U CN 202021983274U CN 212861458 U CN212861458 U CN 212861458U
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- unhooking
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- car puller
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Abstract
The utility model discloses a train unhook robot system contains: the unhooking main frame runs on a car puller track of an external car puller; the linear moving device is arranged in parallel with the track of the car puller; and the unhooking executing device is fixedly arranged on the side surface of the unhooking main frame and is used for executing the unhooking action. The utility model is common rail with the car puller and can avoid the special buffer stop of the car puller, thereby saving the cost and ensuring the safety; the gear rack is used for guiding, so that the train unhooking device is not easy to slip, high in precision and strong in guidance performance, and the parallelism between the unhooking executing device and a train carriage is improved; meanwhile, the main connecting frame and the train carriage are kept at a proper distance, collision interference is avoided, the distance between the main connecting frame and the train carriage can be reduced through the adjustment of the joint arm of the multi-shaft manipulator, the design size is optimized, and the economical efficiency is improved.
Description
Technical Field
The utility model relates to a technical field is carried to the material, in particular to train unhook robot system.
Background
The train needs to be manually unhooked to separate the carriages due to the railway transportation scheduling requirement. The train transportation of the tippler system needs to separate each train or every two trains according to the tippler capacity (such as single-tipping and double-tipping).
The manual unhooking operation needs to master certain skills, has a section of adaptive and familiar process, and often causes the operation of a new replacing person to be unskilled and out of place, thereby reducing the operation efficiency of the system; in addition, manual unhooking and automatic system of tipper are alternately operated dynamically, and manual unhooking operation of the operation section is carried out by selecting machines under the condition that automatic operation of the tipper is not interrupted, so that the method has great potential safety hazard and becomes the largest danger source of the tipper operation area, and in recent years, power plants are continuously generated in China to cause personal casualty accidents in the link.
Disclosure of Invention
According to the embodiment of the utility model provides a train unhook robot system contains:
the unhooking main frame runs on a car puller track of an external car puller;
the linear moving device is arranged in parallel with the track of the car puller;
and the unhooking executing device is fixedly arranged on the side surface of the unhooking main frame and is used for executing the unhooking action.
Further, the linear moving device comprises a rack and a gear which are matched with each other, the rack is parallel to the track of the car puller, the gear is horizontally arranged at the bottom of the unhooking main frame, the gear is matched with the rack, and when the gear rotates, the gear is matched with the rack to drive the unhooking main frame to move along the track of the car puller.
Furthermore, the bottom of the unhooking main frame is of a hollow structure, and the bottom space of the unhooking main frame can completely accommodate the buffer stop at one end of the track of the external car puller.
Further, the unhooking execution device comprises: the mechanical arm module is fixedly arranged at the far end of the main connecting frame.
Further, the main connecting frame is connected with the unhooking main frame through a hinge, and the main connecting frame can perform pitching motion through the hinge.
Further, the unhooking execution device further comprises: the rope winder is arranged on the hook picking main frame, one end of the traction rope is connected to the rope winder, and the other end of the traction rope is connected to the far end of the main connecting frame.
Further, the robot arm module includes: the controller is used for controlling the action of the multi-axis manipulator, the controller is arranged on the unhooking main frame and connected with the multi-axis manipulator through a circuit, and the multi-axis manipulator executes the unhooking action.
Further, the robot arm module further comprises: the horizontal movement module, the horizontal movement module sets up the distal end at the main link, and the multi-axis manipulator sets up on the horizontal movement module, and the horizontal movement module drives the multi-axis manipulator and removes along the direction parallel with the car puller track.
Further, the horizontal moving module is a rack and pinion assembly.
Furthermore, the horizontal moving module drives the multi-axis manipulator to move horizontally at a speed of 0.5-1 m/s.
According to the train unhooking robot system provided by the embodiment of the utility model, the common rail with the car puller can avoid the buffer stop special for the car puller, thereby saving the cost and ensuring the safety; the gear rack is used for guiding, so that the train unhooking device is not easy to slip, high in precision and strong in guidance performance, and the parallelism between the unhooking executing device and a train carriage is improved; meanwhile, through the multi-axis manipulator, even if the train track is far away, the distance between the multi-axis manipulator and the train carriage can be reduced through joint adjustment, the design size is optimized, and the economy is improved.
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 front view of a train unhooking robot system according to an embodiment of the present invention;
fig. 2 is a side view of a train unhooking robot system according to an embodiment of the present invention;
fig. 3 is a schematic view of the operation state of a train unhooking robot system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a state of a train unhooking robot system avoiding a car puller according to the embodiment of the present invention;
fig. 5 is a top view of the position of the buffer stop of the car puller.
Detailed Description
The present invention will be further described with reference to the following detailed description of preferred embodiments thereof, which is to be read in connection with the accompanying drawings.
First, a train unhooking robot system according to an embodiment of the present invention will be described with reference to fig. 1 to 5, which is used for unhooking train cars and has a wide application range.
As shown in fig. 1 and 3, the train unhooking robot system of the embodiment of the present invention has: a hook-off main frame 1, a linear moving device 2 and a hook-off executing device 3.
Specifically, as shown in fig. 3 and 5, the unhooking main frame 1 runs on the car puller rail 6 of the external car puller 5, so that a common rail with the car puller 5 is realized, and a new running rail of the unhooking main frame 1 is not needed, thereby saving the cost and saving the precious field operation space.
As shown in fig. 5, one end of the car puller track 6 is provided with a buffer stop 7 for buffering and limiting the car puller 5, in this embodiment, as shown in fig. 1 to 4, the bottom of the unhooking main frame 1 is of a hollow structure, that is, the unhooking main frame 1 is of a pass-through structure, the bottom space of the unhooking main frame 1 can completely accommodate the buffer stop 7 at one end of the car puller track 6 outside, and due to the common rail with the car puller 5, when the car puller 5 needs to be avoided for operation, as shown in fig. 4, the unhooking main frame 1 passes through the buffer stop 7 dedicated for the car puller 5 along the car puller track 6 or spans over the buffer stop 7, thereby ensuring that the operation of the car puller 5 and the unhooking main frame 1 does not interfere with each other, and ensuring the safety of the common rail of the main frame 1 and the car.
Specifically, as shown in fig. 1 to 5, the linear movement device 2 is arranged in parallel with the car puller rail 6, the linear movement device 2 is provided with a rack 21 and a gear 22 which are matched with each other, the rack 21 is parallel with the car puller rail 6, the gear 22 is horizontally arranged at the bottom of the unhooking main frame 1, the gear 22 is matched with the rack 21, when the gear 22 rotates, the gear 22 is matched with the rack 21 to drive the unhooking main frame 1 to move along the car puller rail 6, and through the guiding of the rack-and-pinion linear mechanism, the unhooking executing device 3 is not easy to slip, and has strong guidance, the parallelism of the train carriage is improved, and the unhooking precision is improved.
Specifically, as shown in fig. 1 and 3, the unhooking executing device 3 is fixedly arranged on a side surface of the unhooking main frame 1, and is used for executing the unhooking action, and the unhooking executing device 3 comprises: the main connecting frame 31 is connected with the unhooking main frame 1 through a hinge 4, the main connecting frame 31 can perform pitching motion through the hinge 4, and the main connecting frame 31 is lifted up in a non-working state, so that the occupied space is small, and the communication of an operator is facilitated; the robot arm module 32 is fixedly disposed at a distal end of the main link frame 31 for unhooking of the train car.
Further, as shown in fig. 1 and 3 to 5, the unhooking execution device 3 further includes: rope winder 33 and tractive rope 34, rope winder 33 sets up on unhooking main frame 1, the one end of tractive rope 34 is connected on rope winder 33, the distal end at main link 31 is connected to the other end of tractive rope 34, rope winder 33 receive and releases tractive rope 34, thereby drive main link 31 and carry out the every single move action around hinge 4, not only can dodge the arm 51 of dialling car machine 5, the operation workman, guarantee field operation safety, can pass through the regulation of every single move again, guarantee suitable distance with the carriage, both avoid the collision to interfere, do not influence the unhooking operation, the design size has been optimized again, the economy has been improved.
Of course, the pitch mode of the main link frame 31 may be realized by other modes such as a hydraulic push rod.
Further, as shown in fig. 1 and 4, the robot arm module 32 includes: the controller 321 is used for controlling the action of the multi-axis manipulator 322, the controller 321 is arranged on the unhooking main frame 1, the controller 321 is connected with the multi-axis manipulator 322 through a circuit, and the multi-axis manipulator 322 executes the unhooking action.
Further, as shown in fig. 1, 2 and 4, the robot arm module 32 further includes: the horizontal moving module 323 is arranged at the far end of the main connecting frame 31, the multi-axis manipulator 322 is arranged on the horizontal moving module 323, and the horizontal moving module 323 drives the multi-axis manipulator 322 to move along the direction parallel to the car puller track 6. In the present embodiment, the horizontal moving module 323 is a rack and pinion assembly.
Further, in this embodiment, the horizontal movement module 323 drives the multi-axis manipulator 322 to move horizontally at a speed of 0.5-1 m/s, which is specifically set according to the equipment debugging situation, so as to ensure that the multi-axis manipulator 322 has sufficient linear speed to complete the unhooking operation.
When the coupler is in operation, the hook main rack 1 is driven by the gear 22 and the rack 21 to move slowly along the track 6 of the car puller, the pitch angle of the main connecting frame 31 is adjusted, the joint arm of the multi-axis manipulator 322 is adjusted to adjust and reduce the distance between the coupler and the train carriage, and the horizontal moving module 323 applies a faster horizontal speed to the multi-axis manipulator 322 to assist the multi-axis manipulator 322 in completing the hook-off action.
When the car puller 5 needs to be avoided, the unhooking main frame 1 moves to one end of the car puller track 6 and is arranged above the buffering stop dog 7 in a spanning mode, and even if the car puller 5 reaches the buffering stop dog 7, the unhooking main frame 1 cannot be interfered.
In the above, with reference to fig. 1 to 5, a train unhooking robot system according to an embodiment of the present invention is described, and is common-rail with a car puller and can avoid a buffer stop dedicated for the car puller, so that not only is the cost saved, but also the safety is ensured; the gear rack is used for guiding, so that the train unhooking device is not easy to slip, high in precision and strong in guidance performance, and the parallelism between the unhooking executing device and a train carriage is improved; meanwhile, through the multi-axis manipulator, even if the train track is far away, the distance between the multi-axis manipulator and the train carriage can be reduced through joint adjustment, the design size is optimized, and the economy is improved.
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 thereof, it should be understood that the above description should not be taken as limiting the present invention. Numerous modifications and alterations to the present invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (10)
1. A train unhooking robot system, comprising:
the unhooking main frame runs on a car puller track of an external car puller;
the linear moving device is arranged in parallel with the track of the car puller;
and the unhooking executing device is fixedly arranged on the side surface of the unhooking main frame and is used for executing the unhooking action.
2. The train decoupling robot system of claim 1, wherein the linear movement mechanism comprises a rack and a gear that are engaged with each other, the rack is parallel to the track of the train puller, the gear is horizontally disposed at the bottom of the decoupling main frame, the gear is engaged with the rack, and when the gear rotates, the gear is engaged with the rack to drive the decoupling main frame to move along the track of the train puller.
3. A train decoupling robot system as in claim 1 wherein the bottom of said decoupling main frame is hollow and the bottom space of said decoupling main frame fully accommodates the bumper stop of one end of said puller track on the outside.
4. A train unhooking robot system according to claim 1, wherein said unhooking performing means comprises: the mechanical hook comprises a main connecting frame and a mechanical arm module, wherein the near end of the main connecting frame is connected with the side face of the unhooking main frame, and the mechanical arm module is fixedly arranged at the far end of the main connecting frame.
5. The train decoupling robot system of claim 4 wherein said primary link is connected to said decoupling main frame by a hinge, said primary link being luffable by said hinge.
6. The train decoupling robot system of claim 5 wherein said decoupling actuator further comprises: the rope winding device is arranged on the unhooking main frame, one end of the traction rope is connected to the rope winding device, and the other end of the traction rope is connected to the far end of the main connecting frame.
7. The train unhooking robot system according to claim 4, wherein said robot arm module comprises: the controller is used for controlling the action of the multi-axis manipulator, the controller is arranged on the unhooking main frame and connected with the multi-axis manipulator through a circuit, and the multi-axis manipulator executes the unhooking action.
8. The train unhooking robot system according to claim 7, wherein said robotic arm module further comprises: the horizontal movement module is arranged at the far end of the main connecting frame, the multi-axis manipulator is arranged on the horizontal movement module, and the horizontal movement module drives the multi-axis manipulator to move in the direction parallel to the track of the car puller.
9. A train unhooking robot system according to claim 8, wherein said horizontal movement module is a rack and pinion assembly.
10. A train unhooking robot system according to claim 8 or 9, wherein the speed of the horizontal moving module moving the multi-axis manipulator horizontally is 0.5-1 m/s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021983274.4U CN212861458U (en) | 2020-09-11 | 2020-09-11 | Train unhooking robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021983274.4U CN212861458U (en) | 2020-09-11 | 2020-09-11 | Train unhooking robot system |
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| Publication Number | Publication Date |
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| CN212861458U true CN212861458U (en) | 2021-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021983274.4U Active CN212861458U (en) | 2020-09-11 | 2020-09-11 | Train unhooking robot system |
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| CN (1) | CN212861458U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU208417U1 (en) * | 2021-07-21 | 2021-12-17 | Руслан Рамзанович Садуев | Industrial robot for automatic uncoupling of moving freight wagons |
| 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 |
-
2020
- 2020-09-11 CN CN202021983274.4U patent/CN212861458U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU208417U1 (en) * | 2021-07-21 | 2021-12-17 | Руслан Рамзанович Садуев | Industrial robot for automatic uncoupling of moving freight wagons |
| 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 |
| 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 |
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