CN218661815U - Automatic unhooking robot for railway hump operation - Google Patents

Abstract

The utility model discloses an automatic unhooking robot of railway hump operation, include tilting mechanism, insert the device to one side, carry hook manipulator triplex, insert the device connection to one side and locate on tilting mechanism, carry hook manipulator to connect and locate to one side and insert the device on, tilting mechanism comprises upset servo motor, RV speed reducer, speed reducer fixed plate, ring flange connecting plate, 45 degrees arms and manipulator anticollision hinges. The utility model belongs to the technical field of railway operation robot, specifically provide an unhook time is short, and the unhook mode is reasonable, and whole equipment adopts the lightweight design, and the compatibility of unhook mode is high, can realize the automatic unhook robot of railway hump operation of automatic unhook operation.

Description

Automatic unhooking robot for railway hump operation

Technical Field

The utility model belongs to the technical field of railway operation robot, specifically indicate an automatic unhooking robot of railway hump operation.

Background

At present, hump operation in marshalling stations in China is completely finished manually, and the specific process is as follows: the operator of the lifting hook knows the carriage needing lifting hook and the times needing to be decombined through the lifting hook operation list transmitted from the railway control center, and pushes the carriage number needing to be decombined to enter the hump operation platform through the locomotive. The locomotive controls the advancing speed of the carriage through a three-color indicator lamp on the hump operation platform; the hook operator needs to visually observe whether the air pipe at the lower end of the advancing carriage is opened, the number of the carriage and the number of the carriage. If the air pipes of the carriages needing to be de-woven are not disconnected, the two train carriages cannot be separated after the car coupler is pulled. After a lifting hook operator finds a carriage needing operation, the lifting hook operator needs to move along with the carriage in the next time, hold a lifting hook handle, break off the car hook handle for multiple times, keep action to perform hook protection operation with one end distance, judge a car hook separation point according to own experience, and slide the carriage needing to be decombined to a marshalling station port of a corresponding track through a slope due to own gravity and inertia after the carriage needing to be separated reaches the hook separation point.

The manual work condition is more complicated, because the hump operation of the train needs the operation of 24 hours without rest all day, needs personnel to carry out shift work, and the fatigue strength is higher. The occurrence probability of safety accidents is high, and the safety accidents are seriously influenced by the weather.

As the whole process needs manual operation and visual observation of a hook lifting operator, the situations of missing picking and wrong picking are easy to occur, and if the situations occur, a locomotive needs to enter a marshalling station to pull the wrong carriage back to a hump operation platform for recomposing operation, so that the efficiency of the recomposing operation is reduced.

The comprehensive railway decoupling technology research at home and abroad shows that; the railway unhooking technology researched abroad is not suitable for domestic marshalling station operation, and the domestic research result is not suitable for field requirements. Some of the cost of the results and technical reasons cannot be applied or widely used. The prior unhooking technology has the following difficulties in combination:

1. the vehicle coupler is in a structural form. The vehicle coupler of the domestic vehicle is not uniformly adjusted due to various types of vehicles in China. The shapes of the coupler rings are different, and the positions of the couplers are different, so that the robot cannot perform simple and repeated operation to complete uncoupling operation.

2. The vehicle couplers differ in shape. The train which is used in the marshalling station in China at present is not partially used for a long time, the hook ring has certain goods loss, and the hook handle has certain deformation, so that the robot is more difficult to automatically unhook.

3. The single hook lifting time is short. The running speed of the train is about 3-5km/h and the unhooking distance is about 8-10 meters in the process of unhooking, so that a unhooking person needs to unhook the hook in a short time. The use of robots instead of human unhooking presents certain difficulties.

4. The space for lifting the hook is limited. The range of the lifting hook is limited to the gap between two connected carriages for carrying out the lifting hook operation, and because the carriages have different shapes, the extending edges of the carriages shield the front face of the car coupler, thereby bringing difficulty to the lifting hook operation.

In the prior art, the unhooking device mainly comprises three types: the first is a pneumatic unhooking manipulator, and the defects are as follows: the air cylinder is adopted as a drive, although the speed is high, only the corresponding position of the movement needs to be increased for detection, and the whole equipment is enlarged due to the pneumatic drive and the air compressor which needs to be added on the whole equipment; the second type is a unhooking device based on a four-bar linkage, and has the defects that: the train coupler is additionally provided with equipment, so that the running total number of the train and the freight train in China is too large, and the cost is too high. In the long-time movement process of the train, the instability factors are more, and the stability of the product is not easy to guarantee; the third is a driving uncoupling device installed at the coupler, which has disadvantages in that: the uncoupling device can only aim at single vehicle type and cannot be applied to various vehicle types, and because the types of the vehicles currently running in China are very many and the types of the couplers are many, the uncoupling device cannot meet the current requirements.

Therefore, the automatic unhooking robot for railway hump operation is designed for solving the problems.

SUMMERY OF THE UTILITY MODEL

To the above situation, for overcoming prior art's defect, the utility model provides an unhook time is short, and the unhook mode is reasonable, and whole equipment adopts the lightweight design, and the compatibility of unhook mode is high, can realize the automatic unhook robot of railway hump operation of automatic unhook operation.

The utility model adopts the following technical scheme: the utility model relates to an automatic unhooking robot of railway hump operation, include tilting mechanism, insert device, lifting hook manipulator triplex to one side, insert the device connection to one side and locate on tilting mechanism, lifting hook manipulator connects and locates on the device is inserted to one side.

As preferred scheme, tilting mechanism comprises upset servo motor, RV speed reducer, speed reducer fixed plate, ring flange connecting plate, 45 degrees arms and manipulator anticollision hinge, the installation is located on the speed reducer fixed plate after upset servo motor links to each other with the RV speed reducer, and the upper end of speed reducer fixed plate is connected to on the bottom plate of removal module, ring flange connecting plate and 45 degrees arms are connected, the RV speed reducer is equipped with RV speed reduction ring flange with the one side that the speed reducer fixed plate is connected, 45 degrees arms are connected with RV speed reduction ring flange through the ring flange connecting plate, the other end at 45 degrees arms is fixed to manipulator anticollision hinge.

In the preferable scheme, the flange plate connecting plate is connected with a 45-degree mechanical arm in a welding mode, and the mechanical arm anti-collision hinge is fixed at the other end of the 45-degree mechanical arm and connected with the front end portion of the railway hump operation automatic unhooking robot. Because the rotating speed of the turnover mechanism is low, but the borne torque is large, an RV speed reducer which can bear large torque and has good overload bearing capacity is selected; the 45-degree mechanical arm is adopted, so that the front end mechanical arm is ensured to contact the car coupler at an angle of 45 degrees in the hook lifting operation, and a blocking object is prevented from being arranged in front of the car coupler of a part of car type compartments; the manipulator anticollision hinge can avoid the guarantee that the manipulator collides the barrier at the carriage when stretching out after finishing the operation, can make whole manipulator outwards rotate etc. and when returning to whole, return to original position because of the spring effort down. After the specified position is reached and the operation of the hook lifting manipulator at the front end is finished, the turnover mechanism drives the whole body to carry out 90-degree turnover operation through the work of the turnover servo motor, and returns to the original position after a period of time, so that the turnover operation is finished.

Further, the oblique insertion device comprises an oblique insertion servo motor, an oblique insertion guide rail sliding block, an oblique insertion connecting plate, an oblique insertion rod thickening plate, an oblique insertion rod middle clamping plate, an oblique insertion rod finger device, an oblique insertion rod bottom thickening plate, an oblique insertion contact rod, a displacement sensor, an oblique socket, an oblique insertion driving synchronous pulley, an oblique insertion synchronous belt, an oblique insertion driven synchronous pulley, a synchronous belt idler wheel mounting seat, a synchronous belt idler wheel, an oblique insertion lead screw supporting seat, an oblique insertion ball screw nut, an oblique insertion ball screw and an oblique insertion lead screw fixing seat, wherein the oblique insertion connecting plate is fixed on the manipulator anti-collision hinge, the oblique insertion guide rail sliding block is arranged on the oblique insertion connecting plate, the oblique socket is connected with the oblique insertion connecting plate through the oblique insertion guide rail sliding block, the displacement sensor is arranged on the oblique socket, the oblique insertion rod is fixedly arranged on the oblique socket, the inclined insertion rod finger device, the inclined insertion rod bottom thickened plate, the inclined insertion contact rod and the inclined insertion rod thickened plate are arranged on the inclined insertion rod, the inclined insertion rod middle clamping plate is arranged between the inclined insertion rod thickened plate and the inclined insertion rod, a groove is formed in the inclined insertion rod and used for installing an inclined insertion part guide rail sliding block, the inclined insertion contact rod is connected with the inclined insertion part guide rail sliding block, the inclined insertion servo motor is arranged on a vertical surface of the inclined insertion connecting plate, the inclined insertion driving synchronous pulley is rotatably arranged on the vertical surface of the inclined insertion connecting plate, the inclined insertion lead screw fixing seat is vertically connected to one side of the bottom of the vertical surface of the inclined insertion connecting plate, the inclined insertion driven synchronous pulley is rotatably arranged on the inclined insertion lead screw fixing seat, the inclined insertion synchronous belt rotating sleeve is arranged outside the inclined insertion driving synchronous pulley and the inclined insertion driven synchronous pulley, and the synchronous belt mounting seat is arranged on the outer side surface of the vertical surface of the inclined insertion connecting plate, the synchronous belt idler is rotatably installed in the synchronous belt idler installation seat, the synchronous belt idler contacts with an oblique insertion synchronous belt, one end of an oblique insertion ball screw is rotatably installed on the oblique insertion screw fixing seat, the oblique insertion ball screw is coaxially connected with an oblique insertion driven synchronous pulley, the bottom opposite side of the oblique insertion connecting plate is connected to the oblique insertion screw supporting seat, and the other side of the oblique insertion ball screw is connected with the oblique insertion screw supporting seat through an oblique insertion ball screw nut.

Further, the lifting hook manipulator includes chain backplate, chain telescopic link, telescopic connection board, lifting hook pole, lifting hook roof, lifting hook lead screw support, lifting hook connecting rod, lifting hook ball, lifting hook guide block, lifting hook base, lifting hook lead screw seat, lifting hook shaft coupling, lifting hook servo motor, lifting hook lead screw supporting seat, lifting hook roof guide block and lifting hook top slider connecting seat are constituteed, the lifting hook base is fixed and is located the oblique socket side, lifting hook guide block installs on the lifting hook base, lifting hook lead screw supporting seat locates on the other end of lifting hook base, lifting hook lead screw support and lifting hook ball nut connect the installation locate on lifting hook guide block, lifting hook ball one side is fixed to be located on the lifting hook lead screw seat, and connects through lifting hook shaft coupling and lifting hook servo motor, lifting hook ball's the other end is fixed to be located on the lifting hook lead screw supporting seat, lifting hook connecting rod that lifting hook lead screw support and lifting hook lead screw intermediate junction alternately set up and down the multistage plays the effect that makes lifting hook platform lift connecting rod, the upper end that the cross lifting hook connecting rod is equipped with lifting hook connecting block is equipped with lifting hook chain connecting plate respectively lifting hook connecting seat the lifting hook chain connection board, lifting hook connecting seat, lifting hook connecting rod upper end of telescopic link chain mounting hook connecting seat, lifting hook pole, lifting hook connecting seat, lifting hook connecting rod. The working process is as follows: when the oblique inserting contact rod touches the train hook handle, the oblique inserting contact rod can move in the opposite direction along with the extension of the oblique inserting device, the chain guard plate connected with the oblique inserting contact rod moves along with the oblique inserting device, the telescopic rod at the upper end of the chain can drive the telescopic connecting plate connected with the lifting hook rod, and the lifting hook rod can rotate and move in the direction of the oblique inserting rod along with the telescopic connecting plate. When the inclined insertion device reaches the corresponding position, the lifting hook motor works to drive the ball screw to move, the cross connecting rods are compressed, the platform at the top of the whole lifting hook rises, the hook handle rises from the bottom end of the hook ring, and then the turning operation is carried out.

This scheme automatic unhooking robot of railway hump operation adopts above-mentioned structure the utility model discloses the beneficial effect who gains as follows:

1. the automatic unhooking robot for railway hump operation provided by the application adopts a motor driving mode. All electric modes are adopted. The electric drive can accurately control the required position control, and the real-time feedback of the feeding speed and the feeding position can be obtained in the master control room.

2. All parts add among the automatic unhooking robot of railway hump operation that this application provided have linear guide to play the effect of direction and bearing capacity, all can add polyurethane blotter in every part device to reduce the rigidity collision that brings in the motion.

3. The automatic unhooking robot for railway hump operation provided by the application can split the whole unhooking process into the inclined-inserting part, the hook lifting part and the turning part, and can perform different unhooking operations on different types of car couplers by a manipulator. The diversity of the equipment is ensured, and the requirements of large types of train marshalling stations and various types of couplers can be met.

4. The closed loop detection on all positions is realized in the railway hump operation automatic unhooking robot provided by the application, and the whole position feedback of the hook handle entering the front end manipulator is detected, so that the hook entering front end device is provided to enable all data, whether the current position meets the unhooking condition is convenient to detect, and the success rate of unhooking is improved by fine adjustment.

5. The utility model provides a manipulator anticollision hinge and the coupling part of inserting the connecting plate to one side adopt the hinge mode among the automatic unhooking robot of railway hump operation, have guaranteed that the work produces to insert the part to one side and appear angular deviation under long-term operating condition, can guarantee a stability of angle before the contact through adjusting this angle problem. The service life of the equipment can be prolonged. The manipulator is prevented from being collided when retreating from the car hook after finishing the operation, and is safely withdrawn.

6. The application provides an adopt chain and chain telescopic link among the automatic unhooking robot of railway hump operation, after inserting contact lever and hook handle to one side and contacting, during the backward motion, the lifting hook pole is close to the rotation of oblique inserted bar direction, has prevented that lifting hook pole and train shackle from colliding.

Drawings

Fig. 1 is a schematic view of the overall structure of an automatic unhooking robot for railway hump operation according to the present invention;

FIG. 2 is a schematic structural view of the oblique insertion device and the hook lifting mechanism in the present embodiment;

FIG. 3 is a schematic view of a partial structure of the oblique insertion device according to the present embodiment;

fig. 4 is a schematic view of a part of the structure of the hook lifting manipulator in the scheme.

Wherein, 1, a turning servo motor, 2, an RV reducer, 3, a reducer fixing plate, 4, a flange plate connecting plate, 5, a 45-degree mechanical arm, 6, a manipulator anti-collision hinge, 7, an oblique-insertion servo motor, 8, an oblique-insertion-position guide rail slide block, 9, an oblique-insertion connecting plate, 10, an oblique-insertion-rod thickening plate, 11, an oblique-insertion-rod middle clamping plate, 12, an oblique-insertion rod, 13, an oblique-insertion-rod finger device, 14, an oblique-insertion-rod bottom thickening plate, 15, an oblique-insertion contact rod, 16, a chain guard plate, 17, a chain, 18, a chain telescopic rod, 19, a telescopic connecting plate, 20, a hook lifting rod, 21, a hook lifting top plate, 22, a hook lifting screw rod support, 23, a hook lifting connecting rod, 24 and a hook lifting ball screw, 25, lifting hook guide rail slide block, 26, lifting hook base, 27, lifting hook screw seat, 28, lifting hook shaft coupling, 29, lifting hook servo motor, 30, displacement sensor, 31, oblique socket, 32, lifting hook screw support seat, 33, oblique insertion driving synchronous pulley, 34, oblique insertion synchronous belt, 35, oblique insertion driven synchronous pulley, 36, synchronous belt idler installation seat, 37, synchronous belt idler, 38, lifting hook top plate guide rail slide block, 39, lifting hook top slide block connection seat, 40, oblique insertion rod bottom thickening plate, 41, oblique insertion screw support seat, 42, oblique insertion ball screw nut, 43, oblique insertion ball screw, 44, oblique insertion screw fixing seat.

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments; 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. 1-4, the utility model relates to an automatic unhooking robot for railway hump operation, which comprises a turnover mechanism, an oblique insertion device and a hook lifting manipulator, wherein the oblique insertion device is connected to the turnover mechanism, and the hook lifting manipulator is connected to the oblique insertion device.

As shown in fig. 1, the turnover mechanism is composed of a turnover servo motor 1, an RV reducer 2, a reducer fixing plate 3, a flange plate connecting plate 4, a 45-degree mechanical arm 5 and a manipulator anti-collision hinge 6, the turnover servo motor 1 is connected with the RV reducer 2 and then installed on the reducer fixing plate 3, the upper end of the reducer fixing plate 3 is connected to a bottom plate of a mobile module, the flange plate connecting plate 4 is connected with the 45-degree mechanical arm 5, an RV reduction flange is arranged on one side of the RV reducer 2 connected with the reducer fixing plate 3, the 45-degree mechanical arm 5 is connected with the RV reduction flange through the flange plate connecting plate 4, the flange plate connecting plate 4 is connected with the 45-degree mechanical arm 5 in a welding mode, the manipulator anti-collision hinge 6 is fixed at the other end of the 45-degree mechanical arm 5, and the manipulator anti-collision hinge 6 is fixed at the other end of the 45-degree mechanical arm 5 and is connected with the front end part of the automatic unhooking robot for railway hump operation.

As shown in fig. 2, 3 and 4, the oblique insertion device comprises an oblique insertion servo motor 7, an oblique insertion guide rail slider 8, an oblique insertion connecting plate 9, an oblique insertion rod thickened plate 10, an oblique insertion rod middle clamping plate 11, an oblique insertion rod 12, an oblique insertion rod finger device 13, an oblique insertion rod bottom thickened plate 14, an oblique insertion contact rod 15, a displacement sensor 30, an oblique insertion seat 31, an oblique insertion driving synchronous pulley 33, an oblique insertion synchronous belt 34, an oblique insertion driven synchronous pulley 35, a synchronous belt idler mounting seat 36, a synchronous belt idler 37, an oblique insertion lead screw supporting seat 41, an oblique insertion ball screw nut 42, an oblique insertion ball screw 43 and an oblique insertion lead screw fixing seat 44, the oblique insertion connecting plate 9 is fixed on the manipulator anti-collision hinge 6, the oblique insertion guide rail slider 8 is installed on the oblique insertion connecting plate 9, the oblique insertion seat 31 is connected with the oblique insertion connecting plate 9 through the oblique insertion guide rail slider 8, the displacement sensor 30 is installed on the oblique insertion seat 31, an inclined insertion rod 12 is fixedly arranged on an inclined socket 31, an inclined insertion rod finger device 13, an inclined insertion rod bottom thickened plate 14, an inclined insertion contact rod 15 and an inclined insertion rod thickened plate 10 are arranged on the inclined insertion rod 12, an inclined insertion rod middle clamping plate 11 is arranged between the inclined insertion rod thickened plate 10 and the inclined insertion rod 12, a groove is formed in the inclined insertion rod 12 and used for installing an inclined insertion part guide rail sliding block 8, the inclined insertion contact rod 15 is connected with the inclined insertion part guide rail sliding block 8, an inclined insertion servo motor 7 is arranged on a vertical surface of an inclined insertion connecting plate 9, an inclined insertion driving synchronous belt wheel 33 is rotatably arranged on the vertical surface of the inclined insertion connecting plate 9, an inclined insertion lead screw fixing seat 44 is vertically connected to one side of the bottom of the vertical surface of the inclined insertion connecting plate 9, an inclined insertion driven synchronous belt wheel 35 is rotatably arranged on the inclined insertion lead screw fixing seat 44, an inclined insertion synchronous belt 34 is rotatably sleeved outside the inclined insertion driving synchronous belt wheel 33 and the inclined insertion driven synchronous belt wheel 35, synchronous belt idler mount 36 is installed and is located on the lateral surface of oblique spigot joint board 9 vertical plane, synchronous belt idler 37 is rotatory to be installed and is located in synchronous belt idler mount 36 installation, synchronous belt idler 37 contacts with oblique spigot synchronous belt 34, insert ball 43 one end rotation installation to one side and locate on oblique spigot fixing base 44, and insert ball 43 and insert driven synchronous pulley 35 coaxial coupling to one side, insert the bottom opposite side of locating oblique spigot joint board 9 to one side and insert ball support 41 erection joint to one side through inserting ball nut 42 to one side to insert ball 43's opposite side.

As shown in fig. 2, the hook lifting manipulator comprises a chain guard 16, a chain 17, a chain telescopic rod 18, a telescopic connecting plate 19, a hook lifting rod 20, a hook lifting top plate 21, a hook lifting screw rod support 22, a hook lifting connecting rod 23, a hook lifting ball screw 24, a hook lifting guide rail slider 25, a hook lifting base 26, a hook lifting screw base 27, a hook lifting coupler 28, a hook lifting servo motor 29, a hook lifting screw rod support base 32, a hook lifting top plate guide rail slider 38 and a hook lifting top slider connection base 39, wherein the hook lifting base 26 is fixedly arranged on the side of an inclined socket 31, the hook lifting guide rail slider 25 is arranged on the hook lifting base 26, the hook lifting screw rod support base 32 is arranged on the other end of the hook lifting base 26, the hook lifting screw rod support 22 and the hook lifting ball screw rod 24 are connected and arranged on the hook lifting guide rail slider 25 through nuts, one side of the hook lifting ball screw rod 24 is fixedly arranged on the hook lifting screw base 27, the lifting hook is connected with a lifting hook servo motor 29 through a lifting hook coupler 28, the other end of a lifting hook ball screw 24 is fixedly arranged on a lifting hook screw support seat 32, a lifting hook connecting rod 23 which is formed by connecting multiple sections in a crossed mode is connected between a lifting hook screw support 22 and the lifting hook screw support seat 32, the lifting hook platform is lifted, a lifting hook top slider connecting seat 39 and a lifting hook top plate 21 are respectively connected to the upper end of the crossed lifting hook connecting rod 23, a lifting hook top plate guide rail slider 38 is connected to the upper end of the lifting hook top slider connecting seat 39, a lifting hook rod 20 is arranged on the lifting hook top plate 21, a telescopic connecting plate 19 is connected to the other side of the lifting hook rod 20, a chain guard plate 16 is arranged on one side of an oblique inserting plate, the chain 17 is rotatably arranged in the chain guard plate 16, a connecting telescopic rod is arranged on the chain 17, and a chain 18 at the upper end of the chain 17 penetrates through a hole in the telescopic connecting plate 19.

The specific used distancing process is as follows: after the equipment reaches the designated position, after the operation of the hook lifting manipulator at the front end is finished, the turnover mechanism drives the whole body to carry out 90-degree turnover operation through the work of the turnover servo motor 1, and returns to the original position after a period of time, so that the turnover operation is finished.

As a further explained embodiment, because the rotating speed of the turnover mechanism is low, but the bearing torque ratio is large, the RV reducer 2 which can bear large torque and has good overload bearing capacity is selected; the 45-degree mechanical arm 5 is adopted, so that the front end mechanical arm is ensured to contact with the car coupler at an angle of 45 degrees in the hook lifting operation, and a blocking object is prevented from being arranged in front of the car coupler of a part of car type compartments; the manipulator anticollision hinge 6 can avoid the guarantee that the manipulator collides with the barrier at the carriage when stretching out after finishing the operation, and can make the whole manipulator rotate outwards and return to the initial position due to the action force of the spring when the whole returns.

Meanwhile, the inclined insertion servo motor 7 works to drive the inclined insertion driving synchronous belt pulley 33 to rotate, and the inclined insertion driven synchronous belt pulley 35 is driven to rotate through the transmission effect of the inclined insertion synchronous belt 34, so that the inclined insertion ball screw nut 42 moves forwards, when the front end inclined insertion contact rod 15 contacts a train carriage hook handle, the inclined insertion contact rod 15 moves backwards through the inclined insertion guide rail sliding block 8, the inclined socket 31 can drive the inclined insertion rod finger device 13, the finger top end of the inclined insertion rod finger device 13 rotates inwards to prevent the hook handle from sliding off, the displacement sensor 30 can follow the inclined insertion contact rod 15 to perform compression displacement, and the fact that the robot operation platform can read the deep distance length of the hook handle in real time is guaranteed.

In order to avoid that the coupler shank of a partial car type is too short, the shank slides away from the upper end of the inclined insert rod 12, thickened plates are added on the upper surface and the lower surface of the lifting hook rod 20, the inclined insert rod finger device 13 is placed between the inclined insert rod 12 and the inclined insert rod thickened plates 10, and after the shank enters, the inclined insert rod finger device 13 moves backwards along with inclined insert contact and the tip of a finger rotates inwards at the same time, so that the shank is prevented from sliding outwards in the rotating process. The precision of each position in the movement process can be ensured by adopting a servo motor, a synchronous belt and a ball screw, and the volume of the front-end manipulator is greatly reduced by adopting an installation mode that the motor is arranged in the motor and the ball screw is arranged below the ball screw, so that unnecessary collision with a train carriage in the operation process due to overlarge volume is avoided; the inclined insertion synchronous belt 34 adopts a tensioning mode that a synchronous belt idler pulley 37 is added on the outer side, so that the condition that the synchronous belt slides due to abrasion of the equipment in long-term operation is ensured.

When the oblique inserting contact rod 15 touches the train hook handle, the oblique inserting contact rod 15 moves in the opposite direction along with the extension of the oblique inserting device, the chain guard plate 16 connected with the oblique inserting contact rod 15 moves along with the oblique inserting device, the telescopic rod at the upper end of the chain 17 drives the telescopic connecting plate 19 connected with the lifting hook rod 20, and then the lifting hook rod 20 rotates and moves towards the oblique inserting rod 12. When the oblique insertion device reaches the corresponding position, the lifting hook servo motor 29 works to drive the lifting hook ball screw 24 to move, the crossed lifting hook connecting rod 23 is compressed, the whole lifting hook top platform is lifted, the hook handle is lifted from the bottom end of the hook ring, and then the overturning operation is carried out.

Because the inclined insert rod 12 and the lifting hook rod 20 are in a parallel state when inserted into a train coupler at an angle of 45 degrees, but the lifting hook rod 20 is longer than the inclined insert rod 12 in length, and the lifting hook rod 20 collides with a train coupler shackle after being inserted, the inclined insert contact rod 15 contacts the coupler in a mode of adopting a chain 17, a telescopic connecting rod and a telescopic connecting plate 19, moves backwards and drives the lifting hook rod 20 to rotate inwards, so that the collision with the shackle is avoided; the feeding speed and the feeding distance can be accurately mastered by adopting motor control, and data feedback is obtained; the adoption of the transverse motor, the ball screw and the cross connecting rod reduces the longitudinal volume of the hook lifting mechanism and reduces the effective stroke of the up-and-down moving module.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

The present invention and the embodiments thereof have been described above, but the description is not limited thereto, and the embodiment shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should understand that they should not be limited to the embodiments described above, and that they can design the similar structure and embodiments without departing from the spirit of the invention.

Claims (4)

1. The utility model provides an automatic unhook robot of railway hump operation which characterized in that: the device comprises a turnover mechanism, an inclined insertion device and a hook lifting manipulator, wherein the inclined insertion device is connected to the turnover mechanism, and the hook lifting manipulator is connected to the inclined insertion device; tilting mechanism comprises upset servo motor (1), RV speed reducer (2), speed reducer fixed plate (3), ring flange connecting plate (4), 45 degrees arm (5) and manipulator anticollision hinge (6), upset servo motor (1) links to each other with RV speed reducer (2) the back installation and locates on speed reducer fixed plate (3), and on the upper end of speed reducer fixed plate (3) was connected to the bottom plate of removal module, ring flange connecting plate (4) and 45 degrees arm (5) were connected, RV speed reducer (2) is equipped with RV speed reduction ring flange with one side that speed reducer fixed plate (3) are connected, 45 degrees arm (5) are connected with RV speed reduction ring flange through ring flange connecting plate (4), the other end at 45 degrees arm (5) is fixed in manipulator anticollision hinge (6).

2. The automatic unhooking robot for railway hump operation according to claim 1, characterized in that: the oblique insertion device comprises an oblique insertion servo motor (7), an oblique insertion guide rail sliding block (8), an oblique insertion connecting plate (9), an oblique insertion rod thickening plate (10), an oblique insertion rod middle clamping plate (11), an oblique insertion rod (12), an oblique insertion rod finger device (13), an oblique insertion rod bottom thickening plate (14), an oblique insertion contact rod (15), a displacement sensor (30), an oblique insertion seat (31), an oblique insertion driving synchronous pulley (33), an oblique insertion synchronous belt (34), an oblique insertion driven synchronous pulley (35), a synchronous belt idler installation seat (36), a synchronous belt idler (37), an oblique insertion lead screw support seat (41), an oblique insertion ball screw (43) nut (42), an oblique insertion ball screw (43) and an oblique insertion lead screw fixing seat (44), the oblique insertion connecting plate (9) is fixed on the manipulator anti-collision hinge (6), the oblique insertion guide rail sliding block (8) is installed on the oblique insertion connecting plate (9), the oblique insertion socket (31) is connected with the oblique insertion connecting plate (9) through the oblique insertion guide rail sliding block (8), the oblique insertion rod fixing device (31) is arranged on the oblique insertion rod (31), the oblique insertion rod (15) and the oblique insertion rod (31) fixing device (31) is arranged on the oblique insertion rod bottom thickening plate (15), the inclined inserted bar thickened plate (10) is arranged on an inclined inserted bar (12), the inclined inserted bar middle clamping plate (11) is arranged between the inclined inserted bar thickened plate (10) and the inclined inserted bar (12), a groove is arranged in the inclined inserted bar (12) and is used for installing an inclined inserted guide rail sliding block (8), the inclined inserted contact rod (15) is connected with the inclined inserted guide rail sliding block (8), the inclined inserted servo motor (7) is arranged on a vertical surface of an inclined inserted connecting plate (9), the inclined inserted driving synchronous belt pulley (33) is rotatably arranged on the vertical surface of the inclined inserted connecting plate (9), the inclined inserted lead screw fixing seat (44) is vertically connected with one side of the bottom of the vertical surface of the inclined inserted connecting plate (9), insert driven synchronous pulley (35) to one side rotatory locate insert lead screw fixing base (44) to one side, insert synchronous belt (34) rotating sleeve to one side and locate insert driving synchronous pulley (33) and insert driven synchronous pulley (35) to one side outside to one side, hold-in range idler mount pad (36) are installed and are located on the lateral surface of inserting the connecting plate (9) vertical plane to one side, hold-in range idler (37) are rotatory to be installed and are located in hold-in range idler mount pad (36) installation, hold-in range idler (37) contact with inserting synchronous belt (34) to one side, insert ball (43) one end rotation installation to one side and locate to one side on insert lead screw fixing base (44), just insert ball (43) and insert driven synchronous pulley (35) coaxial coupling to one side, the inclined insertion lead screw supporting seat (41) is connected to the other side of the bottom of the inclined insertion connecting plate (9), and the other side of the inclined insertion ball lead screw (43) is connected with the inclined insertion lead screw supporting seat (41) in an installing mode through an inclined insertion ball lead screw (43) nut (42).

3. The automatic unhooking robot for railway hump operation according to claim 2, characterized in that: the lifting hook manipulator comprises a chain guard plate (16), a chain (17), a chain telescopic rod (18), a telescopic connecting plate (19), a lifting hook rod (20), a lifting hook top plate (21), a lifting hook screw support (22), a lifting hook connecting rod (23), a lifting hook ball screw (24), a lifting hook guide rail slider (25), a lifting hook base (26), a lifting hook screw base (27), a lifting hook shaft coupling (28), a lifting hook servo motor (29), a lifting hook screw support base (32), a lifting hook top plate guide rail slider (38) and a lifting hook top slider connecting base (39), wherein the lifting hook base (26) is fixedly arranged on the side of an inclined socket (31), the lifting hook guide rail slider (25) is arranged on the lifting hook base (26), the lifting hook screw support base (32) is arranged on the other end of the lifting hook base (26), the lifting hook screw support base (22) and a lifting hook ball screw (24) are connected and installed on the lifting hook guide rail slider (25), one side of the lifting hook screw (24) is fixedly arranged on the lifting hook screw base (27), the lifting hook supporting base (32) is connected with a lifting hook through the lifting hook ball screw support base (28), and the lifting hook rod (29) and the lifting hook connecting base (32) and the lifting hook rod (23) is arranged on the lifting hook connecting base), the upper end of crisscross lifting hook connecting rod (23) is connected respectively and is equipped with lifting hook top slider connecting seat (39) and lifting hook roof (21), lifting hook top slider connecting seat (39) upper end is connected and is equipped with lifting hook roof guide rail slider (38), lifting hook pole (20) installation is located on lifting hook roof (21), the opposite side of lifting hook pole (20) is connected and is equipped with expansion joint board (19), chain backplate (16) are located on one side of oblique picture peg, chain (17) rotate locate in chain backplate (16), it locates on chain (17) to connect the telescopic link installation, chain telescopic link (18) of chain (17) upper end passes the hole on expansion joint board (19).

4. The automatic unhooking robot for railway hump operation according to claim 1, characterized in that: the flange plate connecting plate (4) is connected with the 45-degree mechanical arm (5) in a welding mode, the manipulator anti-collision hinge (6) is fixed to the other end of the 45-degree mechanical arm (5) and connected with the front end portion of the railway hump operation automatic unhooking robot.

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